CN102183253B - Software time synchronization method for position and orientation system - Google Patents
Software time synchronization method for position and orientation system Download PDFInfo
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Abstract
The invention provides a software time synchronization method for a position and orientation system (POS). The POS comprises an inertial measurement unit, a POS navigation computer, a GPS (Global Positioning System) receiver and the like. The time synchronization method comprises the following steps of: firstly synchronizing system time of the POS navigation computer to world coordinated time by using a GPS second pulse sent by the GPS receiver and a time counter; and synchronizing the data acquisition time of the inertial measurement unit with the world coordinated time through a method of correcting a frequency division period of a data acquisition pulse clock of the inertial measurement unit so as to complete the time synchronization of the POS. In the invention, the problem of reducing of synchronization accuracy of the POS in a short time due to the clock drift is solved through the method of changing the frequency division period of the data acquisition pulse clock, and the software time synchronization method has the characteristics of high accuracy and high anti-interference capacity.
Description
Technical field
(Position and Orientation System, software method for synchronizing time POS) belongs to the Remote Sensing Information Extraction field, is used for the time synchronized of position and attitude measurement system data and external event to the present invention relates to a kind of position and attitude measurement system.
Background technology
Position and attitude measurement system by the POS navigational computer (POS Computer System, PCS), (Inertial Measurement Unit is IMU) with formation such as GPS receiver for Inertial Measurement Unit.PCS at first obtains angular velocity, the acceleration of IMU output; Speed, the position of the output of GPS receiver; And the supplementary of other aiding sensors output; Like data such as temperature, attitudes, PCS carries out the movable information that Data Fusion obtains carrier with high accuracy then, offers application load and uses.
It is nonsensical carrying out fusion treatment for the data of obtaining constantly in difference; So position and attitude measurement system must guarantee the consistance of each several part data on acquisition time in the course of the work; Just will solve POS system that each several part works alone obtains simultaneously and satisfies the problem that the Data Fusion algorithm requires the data time consistency; The data of obtaining from each sensor so just have using value to position and attitude measurement system; The timing tracking accuracy of whole POS system data is high more, and the final navigation information precision that obtains is high more.
So-called software time synchronized be with UTC Universal Time Coordinated (Coordinate Universal Time; UTC) the GPS pulse per second (PPS) of second some high precision alignment is as time reference; The system operation time that the pcs system clock is carried out real-time calibration and control subsystem such as adjustment IMU etc. through software parameter in real time through software approach; Make its work in unity in the UTC time, realize the synchronously whole of position and attitude measurement system time.
Existing position and attitude measurement system method for synchronizing time (publication number 1:CN101105401; Publication number 2:CN101067656) through utilizing the GPS pulse per second (PPS) that system clock is reset or being the time synchronized that benchmark rise time synchronizing pulse is realized system with the GPS pulse per second (PPS); Do not solve two GPS pulse per second (PPS)s at interval the internal cause system clock drift cause the short-term timing tracking accuracy to descend and then cause the not high enough problem of the synchronous overall accuracy of system time, and its time synchronous error always makes the system time synchronous error zigzag saltus step occur to same direction accumulation to look like at short notice at present.To the measurement characteristics of position and attitude measurement system to the exigent problem of timing tracking accuracy; Overcoming system clock drift not in time in the long-term accumulated; Also to consider the problem that two GPS pulse per second (PPS)s interval internal cause system clock drift errors cause timing tracking accuracy to descend; The benchmark owing in two GPS pulse per second (PPS) time intervals, have no time evenly centers on method for synchronizing time and then the raising overall system timing tracking accuracy that true value changes so must propose a kind of timing tracking accuracy and time synchronization error that can improve simultaneously in two GPS pulse per second (PPS)s at interval.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency that overcomes prior art; A kind of sync bit in real time and attitude measurement system time and update the system clock drift are provided, and the position that timing tracking accuracy is high, antijamming capability is strong and the software method for synchronizing time of attitude measurement system.
Technical solution of the present invention is: the software method for synchronizing time of a kind of position and attitude measurement system, and performing step is following:
(1) in PCS, PCS is time-synchronized to the UTC time according to GPS pulse per second (PPS) and UTC time data thereof and time counter;
(2) the PCS data acquisition time synchronizing pulse that utilizes GPS pulse per second (PPS), time counter and IMU to send to PCS calculates the time error correction of IMU, and orders to IMU transmitting time error correction through serial ports;
(3) the IMU response PCS error correction order of sending according to the time error correction that receives, is revised its data acquisition pulse clock frequency division cycle, realizes the synchronous of IMU time and UTC time;
(4) IMU utilizes the data acquisition pulse of itself and UTC time synchronized; Gyroscope, accelerometer and other aiding sensors are carried out data acquisition; Make GPS receiver in position and the attitude measurement system, IMU and other aiding sensors uniform data in the UTC time, realize the time synchronized of all data in position and the attitude measurement system;
(5) judge whether POS work finishes, if not, execution in step (1) then continued to step (4), up to end.
It is following in the said step (1) PCS to be time-synchronized to the step of UTC time:
(a) a time counter is set in the middle of PCS, the foundation of calculating as the internal time difference also is used to write down GPS pulse per second (PPS) each time and arrives the time;
(b) when obtaining with after UTC puts the GPS pulse per second (PPS) that high precision aligns second; The time counter zero clearing; And go out the system clock drift rate of PCS according to the time counter numerical value increment real-time calibration in twice GPS pulse per second (PPS) time interval; Obtain the system clock cycle error of PCS, arrive until next GPS pulse per second (PPS) according to the UTC time data corresponding of PCS acquisition and the arbitrary pcs system Time To Event of numerical evaluation of time counter then with the GPS pulse per second (PPS);
(c) when each GPS pulse per second (PPS) arrives; Its corresponding UTC time data is because the communications delay can not arrive PCS immediately; So the UTC time data that previous GPS pulse per second (PPS) is corresponding adds the absolute time interval between these two GPS pulse per second (PPS)s; Promptly obtain the UTC time data of Current GPS pulse per second (PPS), the pcs system incident takes place can to obtain according to the numerical value and the pcs system clock period Error Calculation of GPS pulse per second (PPS) zero-time, time calculator constantly.
It is following that moment computation process takes place pcs system incident described in the step (1): the count value of its time counter takes place constantly to write down in PCS at system event.Calculate according to the corresponding GPS pulse per second (PPS) of this time counter and UTC time data thereof then and obtain the pcs system incident and take place constantly, computing method are: the initial UTC of moment=time counter time+time counter numerical value * (pcs system clock theory cycle-pcs system clock period error) takes place in the pcs system incident;
The concrete obtaining step of IMU time error correction is following in the said step (2): because there is error in the IMU system clock; Suppose that the corresponding data acquisition burst length is shorter in length than the GPS pulse per second (PPS) when the data acquisition clock division cycle of IMU is a; Length is longer than the GPS pulse per second (PPS) corresponding data acquisition burst length when the data acquisition clock division cycle of IMU is a+1; Then PCS obtains the mistiming of GPS pulse per second (PPS) and IMU data sent acquisition time synchronizing pulse through time counter; PCS data acquisition pulse clock frequency division cycle of calculating IMU according to this mistiming is respectively the number of a and the number of a+1 then; So that the data acquisition time synchronizing pulse of IMU aligns with the GPS pulse per second (PPS) when next GPS pulse per second (PPS) arrives; Mistiming is zero, the data acquisition pulse clock frequency division circular error of dividing step period can obtain IMU according to current IMU clock division cycle and the clock that calculates, i.e. the time error correction of IMU;
The process of in the said step (3) the data acquisition pulse clock frequency division cycle of IMU being revised is following: after IMU receives the time error correction that PCS sends through serial ports, voluntarily the data acquisition pulse clock frequency division cycle of its next stage is revised; First kind of situation is for being that the number of a is when being the number of a+1 greater than the frequency division cycle when the data acquisition pulse clock frequency division cycle; Should be that the number of a is the integral multiple of a+1 number and alternately revise clock division cycle of data acquisition pulse with respect to the frequency division cycle according to the frequency division cycle; Make that the clock division cycle is that the number of a is to be the integral multiple of a+1 number and the whole clock division process that both evenly appear at next stage in the clock division cycle; Second kind of situation is to be the number of a when being the number of a+1 less than the frequency division cycle when the data acquisition pulse clock frequency division cycle, and disposal route is opposite with first kind of situation; Guaranteeing that the IMU clock drift error accumulation time realizes the high-precise synchronization of IMU time and UTC time in the shortest.
Principle of the present invention is: the present invention is after the GPS pulse per second (PPS) of PCS acquisition and UTC time synchronized; Utilize the internal time counter to calculate and obtain the pcs system time; Realize the synchronous of PCS and UTC time; Relatively IMU mistiming of sending to data acquisition time synchronizing pulse and the GPS pulse per second (PPS) of PCS is obtained the time error correction of IMU then; Through the order of transmitting time error correction the data acquisition pulse clock frequency division cycle of IMU is revised, realized the synchronous of IMU and UTC time, finally realize the synchronously whole of position and attitude measurement system time; Wherein the principle of work block diagram of position and attitude measurement system is as shown in Figure 2; System is made up of PCS, IMU and GPS receiver etc.; The GPS receiver sends the GPS pulse per second (PPS) and UTC time data, IMU carry out data acquisition and collection result and data acquisition time synchronizing pulse are sent to PCS sensors such as gyroscope, accelerometers to PCS, and PCS signal that GPS receiver and IMU are sent is handled and to IMU feedback time error correction signal then.
The present invention utilizes the GPS pulse per second (PPS) to realize process such as Fig. 3 of PCS time and UTC time synchronized.PCS whenever receives a GPS pulse per second (PPS), and logarithmic data during promptly corresponding UTC is write down the numerical value of PCS time counter, simultaneously then to its zero clearing; The clock drift rate that numerical value through the time register before the zero clearing relatively and the UTC mistiming that the time counter begins corresponding GPS pulse per second (PPS) with the finish time obtain time counter is the pcs system clocking error; When a certain pcs system event comes; The numerical value and the pcs system clocking error of time counter can calculate mistiming Δ t constantly to utilize the pcs system event comes; The corresponding UTC time data of GPS pulse per second (PPS) takes place constantly to be and adds this mistiming Δ t in the pcs system incident; The UTC that supposing the system incident 1 takes place is SYS_TIME1 constantly, and the mistiming that when system event 1 arrives, calculates according to time counter is Δ t
1, the corresponding GPS pulse per second (PPS) UTC time data of initial moment of time counter of this moment is UTC1, then system event 1 takes place constantly that SYS_TIME1 is:
SYS_TIME1＝UTC1+Δt
1 (1)
Be time-synchronized to UTC after the time at PCS; Time synchronization process such as Fig. 4 to IMU; IMU sends the data acquisition time synchronizing pulse to PCS when carrying out data acquisition; PCS obtains time error signal Δ t through the mistiming of GPS pulse per second (PPS) relatively and IMU data acquisition time synchronizing pulse, and PCS situation forward according to the time of the size of Δ t and time synchronizing pulse or that lag behind the GPS pulse per second (PPS) calculates IMU time error correction then, and PCS sends to this time error correction IMU and responds this order by IMU with command forms; Realize that Δ t is minimum and fluctuate up and down, accomplish the synchronous of IMU time and UTC time in true value.
The present invention's advantage compared with prior art is:
(1) the present invention realizes PCS and the high-precise synchronization of UTC time through the time counter Calculation Method; Demarcation is measured in the PCS clock drift in real time; It is little to make under the situation that works long hours the POS timing tracking accuracy influenced by clock drift; Has the timing tracking accuracy height, time synchronized good evenness, the advantage of being convenient to realize.
(2) timing tracking accuracy of the present invention is superior to traditional method for synchronizing time; General method for synchronizing time is through introducing GPS pulse per second (PPS) reset system time or be the time synchronized that benchmark rise time synchronizing pulse is realized system with the GPS pulse per second (PPS) then; System clock drift can be to same direction accumulation in twice GPS pulse per second (PPS) at interval like this; Cause the system time synchronous error to be accumulated to same direction; Method for synchronizing time of the present invention then is to have considered the system clock drift error in the GPS pulse per second (PPS) time interval twice, makes the time synchronization error all-the-time stable about true value, realizes the optimum of timing tracking accuracy.
(3) time synchronized reliability of the present invention is high; Method for synchronizing time of the present invention is a software synchronization; Realize control through more newly arriving of computed in software and time synchronization parameter, be easy in real time abnormal conditions differentiated, improve the time synchronized reliability time synchronization process; When the gps signal losing lock; Because change characteristic slowly and system's real-time calibration synchronization parameter update time of clock drift, the time synchronized parameter of system before according to the GPS losing lock carried out time synchronized, also can keep good timing tracking accuracy.
Description of drawings
Fig. 1 is a software method for synchronizing time process flow diagram of the present invention;
Fig. 2 is position and attitude measurement system principle of work block diagram;
Fig. 3 is time-synchronized to UTC time course principle schematic for PCS of the present invention;
Fig. 4 is time-synchronized to UTC time course principle schematic for IMU of the present invention;
Fig. 5 is a POS time synchronization error accumulation situation synoptic diagram of the present invention;
Fig. 6 is PCS of the present invention and IMU time synchronized sequential process flow diagram.
Embodiment
As shown in Figure 2, position and attitude measurement system are made up of PCS, IMU, GPS receiver etc.IMU gathers communicating circuit by three gyroscopes, three accelerometers, other sensor such as temperature sensors etc. and digitized signal accomplishing sensor data acquisition and realize external communication and forms; IMU works alone and gyroscope, accelerometer data is carried out data acquisition, and its system clock is obtained through 25M crystal oscillator frequency division by fpga chip XC3S400-4PQ208C, and according to application need, setting the IMU data acquiring frequency is 100Hz.In the present embodiment PCS adopt dsp chip TMS320C6713B and fpga chip XC3S400-4PQ208C co-ordination mode accomplish PCS time synchronized and to IMU alternately; The time counter of PCS is arranged on FPGA inside, and its minimum time resolution is 1/25M=40ns.
Embodiment of the present invention is as shown in Figure 1:
(1) behind the POS starting up, PCS is time-synchronized to the UTC time.Comprise:
1. POS is when powering on; Start its internal time counter by FPGA; After FPGA receives the GPS pulse per second (PPS), send look-at-me and to the time counter zero clearing to DSP, DSP reads the numerical value that GPS pulse per second (PPS) UTC time data and time counter have been accumulated from FPGA then.
2. the numerical value increment of supposing time counter in twice GPS pulse per second (PPS) in the 1s time interval is n1; And several theoretical values of time counter are that n2 is 25M in the 1s; Then the 25M clock drift error of PCS is in this twice GPS pulse per second (PPS) at interval: 1000000* (n1-n2)/(n1*n2), unit is: microsecond.
3. when producing a certain pcs system incident, the external event time of origin is accomplished the pcs system event time by DSP and is calculated by time counter record and the notice DSP of FPGA; The PCS internal event can be directly accomplished the pcs system event time by DSP time for reading counter values in the FPGA and is calculated, the pcs system clock period error that when carrying out Time Calculation, 2. obtains in real time in the step according to the numerical value of time counter and the simultaneously; Concrete computing method are:
Supposing that the numerical value of time counter was n3 when the pcs system incident took place, is GPS_UTC corresponding to the initial UTC time data of counting start time GPS pulse per second (PPS) of n3, and then the UTC time representation of this pcs system Time To Event SYS_UTC is:
SYS_UTC＝GPS_UTC+n3/25M-n3×1s/(n1-n2) (2)
(2) after POS powers on; IMU begins acquiescence and gyroscope, acceleration are taken into account temperature sensor etc. carries out the 100Hz sampling; And sending to PCS to data acquisition time synchronizing pulse and collection result, the FPGA of PCS compares itself and GPS pulse per second (PPS) time after receiving the data acquisition time synchronizing pulse of IMU; And calculate IMU time error correction, through the RS-422 serial ports this time error correction is sent to IMU then.Wherein the concrete of imu error correction confirms that method is following:
The crystal oscillator of supposing IMU does not have drift, and then the 25M crystal oscillator branch required theoretical system number of cycles of the 10ms recurrent pulse k that occurs frequently is: k=25M*10ms/2=125000; Confirm new periodicity k1 according to 10ms recurrent pulse under the k subsystem clock period with respect to the direction of GPS pulse per second (PPS) drift then; It is that the accumulation of 10ms recurrent pulse is shorter than GPS pulse per second (PPS) length at 100 times under the k1 situation that k1 is satisfied at the system cycle number; And be that the accumulation of 10ms recurrent pulse is longer than GPS pulse per second (PPS) length at 100 times under the k1+1 situation at the system cycle number; General k and k1 difference depend on the crystal oscillator precision less than 10; Time counter according to PCS inside obtains the mistiming Δ t between 10ms recurrent pulse and the GPS pulse per second (PPS) then; Definition Δ t＜0 when supposing 10ms recurrent pulse hysteresis GPS pulse per second (PPS); Otherwise Δ t >=0; And in the 1s IMU through the 25M crystal oscillator carry out 100 10ms that 200 frequency divisions obtain in the cycle system's frequency division number of cycles be k1 have a, the frequency division cycle be k1+1 have b, then have following formula to set up:
(k1+1)*a+k1*b＝(1s-Δt)*25M/2
a+b＝200
Confirm a and b value size and round and guarantee a+b=200 by above formula, by PCS the value of a and b is sent to IMU then.
(3) IMU changes its data acquisition pulse frequency division cycle through time error correction a and b that response PCS sends, realizes the synchronous of IMU data acquisition time and UTC time.The FPGA of the IMU 10ms cycle data acquisition pulse of utilizing the frequency division cycle constantly to be corrected is gathered and is sent to PCS to sensing datas such as gyroscope, accelerometers and carries out data processing then.The detailed process of the time error correction that IMU response PCS sends is following:
IMU carries out the evenly alternately adjustment of 10ms cycle frequency division number k1 and k1+1 according to the number of a and b, and the frequency division cycle that a and b are represented is evenly distributed in 1s between 200 10ms cycle frequency divisions; When GPS pulse per second (PPS) next time arrives; Again confirm the size of a and b value and carry out same operation; In twice GPS pulse per second (PPS) at interval, equally the IMU system clock is being revised like this; Make IMU time synchronization error drift direction alternately forward or backward, the mistiming minimum that finally point makes IMU data acquisition time and GPS pulse per second (PPS) in the second of next GPS pulse per second (PPS) is shown in the time synchronization error A among Fig. 5; Be different from and only when the GPS pulse per second (PPS) arrives, carry out the classic method that the primary system clock resetting causes the system time synchronous error to be accumulated to same direction, shown in time synchronization error B among Fig. 5.
The program flow diagram of time synchronized is as shown in Figure 6 between PCS and the IMU.
The present invention can be used as a plurality of data acquisition system (DAS)s and carry out the navigation measuring system method for synchronizing time of centralized data processing of working alone of multisensors such as a kind of IMU of being applicable to, GPS receiver, magnetometer, height indicator; Application person can adjust the time synchronized sequential according to its real needs, to realize the synchronously whole of system time.
The content of not doing in the instructions of the present invention to describe in detail belongs to this area professional and technical personnel's known prior art.
Claims (1)
1. the software method for synchronizing time of position and attitude measurement system is characterized in that step is following:
(1) in the POS navigational computer, utilize GPS pulse per second (PPS), UTC Universal Time Coordinated time data and time counter that the POS navigational computer is time-synchronized to UTC Universal Time Coordinated;
(2) in the POS navigational computer, utilize GPS pulse per second (PPS), IMU to send to the data acquisition time synchronizing pulse and the time counter of POS navigational computer; Calculate IMU time error correction, order to IMU transmitting time error correction by the POS navigational computer then;
(3) the IMU response POS navigational computer time error correction order of sending was revised the data acquisition pulse clock frequency division cycle of IMU, accomplished the synchronous of IMU time and UTC Universal Time Coordinated;
(4) IMU utilizes itself and UTC Universal Time Coordinated data in synchronization acquisition pulse that gyroscope, accelerometer and temperature sensor are carried out data acquisition; Make among the POS GPS receiver and IMU Data Acquisition time unification realize the whole time synchronized of position and attitude measurement system data in UTC Universal Time Coordinated;
(5) judge that whether POS work finishes, if do not finish, then continues execution in step (1) to step (4), until end;
The performing step that the POS navigational computer is time-synchronized to UTC Universal Time Coordinated described in the said step (1) is following:
A. arrive the time by the inner time counter record GPS pulse per second (PPS) of POS navigational computer;
B. in the POS navigational computer, be benchmark with continuous two GPS pulse per second (PPS) time intervals; Go out the drift rate of POS navigation computer system clock according to time counter numerical value incremental computations in this time interval; Real-time calibration goes out the system clock error of POS navigational computer; Make that POS navigational computer each several part is minimum because of the time synchronization error that clock drift causes in the follow-up time synchronizing process; Suppose that POS navigation computer system clock nominal frequency is f; The increment of time counter is n in two continuous GPS pulse per second (PPS) time intervals, and then the Error Calculation formula is the POS navigation computer system clock period: 1000000 * (n-f)/(n * f), unit is: microsecond;
C. the time counter record POS navigation computer system incident by the POS navigational computer takes place constantly; Numerical value and POS navigation computer system clocking error according to time counter calculates the mistiming of the POS navigation computer system incident generation moment with respect to the GPS pulse per second (PPS) then; And then the UTC Universal Time Coordinated data computation acquisition POS navigation computer system event time corresponding according to the GPS pulse per second (PPS), realize the synchronous of POS navigational computer time and UTC Universal Time Coordinated;
D. when the GPS pulse per second (PPS) arrived, the UTC Universal Time Coordinated data that previous GPS pulse per second (PPS) is corresponding added two absolute times between the GPS pulse per second (PPS) at interval, promptly obtain the UTC Universal Time Coordinated data of Current GPS pulse per second (PPS);
The computation process of IMU time error correction is following in the said step (2): suppose that the corresponding data acquisition burst length is shorter in length than the GPS pulse per second (PPS) when the data acquisition clock division cycle of IMU is a; Length is longer than the GPS pulse per second (PPS) corresponding data acquisition burst length when the data acquisition clock division cycle of IMU is a+1; Then the POS navigational computer obtains the mistiming of GPS pulse per second (PPS) and IMU data sent acquisition time synchronizing pulse through time counter; POS navigational computer data acquisition pulse clock frequency division cycle of calculating IMU according to this mistiming is respectively the number of a and the number of a+1 then; So that the data acquisition time synchronizing pulse of IMU aligns with the GPS pulse per second (PPS) when next GPS pulse per second (PPS) arrives; Mistiming is zero; Can obtain the data acquisition pulse clock frequency division circular error of IMU, i.e. the time error correction of IMU according to current IMU clock division cycle and clock division cycle of calculating;
It is following in the said step (3) the data acquisition pulse clock frequency division cycle of IMU to be carried out makeover process: IMU revises the data acquisition pulse clock frequency division cycle of its next stage after receiving the time error correction that the POS navigational computer sends through serial ports voluntarily; Specifically can be divided into two kinds of patterns; First kind for when the data acquisition pulse clock frequency division cycle being the number of a when being the number of a+1 greater than the frequency division cycle, should be that the number of a is the integral multiple of a+1 number and alternately revise clock division cycle of data acquisition pulse with respect to the frequency division cycle according to the frequency division cycle; Second kind of pattern is for when the data acquisition pulse clock frequency division cycle being the number of a when being the number of a+1 less than the frequency division cycle, and disposal route is opposite with first kind of pattern; Guaranteeing that the IMU clock drift error accumulation time realizes the synchronous of IMU time and UTC Universal Time Coordinated in the shortest.
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| CN112729290B (en) * | 2020-12-23 | 2023-06-02 | 重庆华渝电气集团有限公司 | Navigation attitude data synchronization error compensation method of inertial navigation equipment |
| CN113633953B (en) * | 2021-06-21 | 2022-05-31 | 国家体育总局体育科学研究所 | Relay baton integrated with positioning module |
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| CN113945229A (en) * | 2021-12-20 | 2022-01-18 | 北京北斗华大科技有限公司 | Embedded INS measuring time calibration system and method based on PPS |
| CN114859386B (en) * | 2022-07-07 | 2022-10-28 | 中国人民解放军国防科技大学 | RTX-based general architecture of real-time satellite navigation signal simulator |
| CN115290120A (en) * | 2022-07-27 | 2022-11-04 | 中机生产力促进中心有限公司 | Time system planning method and device for industrialized star sensor product |
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| CN100487481C (en) * | 2007-05-25 | 2009-05-13 | 北京航空航天大学 | Position attitude system hardware time synchronizing method |
| CN100498232C (en) * | 2007-08-06 | 2009-06-10 | 北京航空航天大学 | SDINS/GPS combined guidance system time synchronism and synchronous data extraction method |
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