CN102589545A - Zero-position self-calibrating voltage frequency conversion device of inertial measurement unit - Google Patents
Zero-position self-calibrating voltage frequency conversion device of inertial measurement unit Download PDFInfo
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Abstract
The invention discloses a zero-position self-calibrating voltage frequency conversion device of an inertial measurement unit, belonging to the technical field of inertial navigation. According to the zero-position self-calibrating voltage frequency conversion device, three independent sampling channels corresponding to three output phases of the inertial measurement unit are formed by three switches and three voltage frequency conversion circuits; a sampling channel which is shared by three outputs of the inertial measurement unit is formed by the other three switches and the other voltage frequency conversion circuit; in six sampling periods, a sampling module of a navigation computer is internally arranged to carry out different kinds of opening and closing control on the six switches at different sampling periods, so that the three independent sampling channels respectively carry out the zero-position self-calibration of respective channels in sequence under the matching of the shared sampling channel. According to the zero-position self-calibrating voltage frequency conversion device of the inertial measurement unit, not only can output signals of the inertial measurement unit be discontinuously sampled, but also the recalibration of a zero position of a voltage frequency conversion channel does not need to be carried out when the environment is changed, so that the zero-position self-calibrating voltage frequency conversion device has the characteristics of wide use range, good stability, and high sampling position and reliability.
Description
Technical field
The invention belongs to the inertial navigation technology field, relate generally to a kind of Inertial Measurement Unit and use the electric voltage frequency conversion equipment, relate in particular to a kind of self-alignment electric voltage frequency conversion equipment of zero-bit that has.
Background technology
Inertial navigation system is rely on to measure information such as the acceleration of carrier (aircraft, ships, rocket etc.) itself and instantaneous course that angular velocity calculates carrier, attitude, speed, position.Because advantages such as its independence is strong, good concealment, antijamming capability are strong make it become a kind of main navigate mode that in many fields such as aviation, navigation, space flight, is widely used.
Inertial Measurement Unit is the important component part of inertial navigation system, and it generally is connected on the carrier, is mainly used in the transient change amount of induction carrier acceleration and angular velocity.The output of output of three road gyro signals of Inertial Measurement Unit and No. three accelerometers is sent into navigational computer through two sampling apparatuses, and navigational computer just can obtain the information such as attitude, speed, position of carrier according to navigation algorithm.So the quality of sampling apparatus can badly influence the performance of inertial navigation system.
The most frequently used sampling cartridge is equipped with analog-digital commutator and electric voltage frequency conversion equipment in the inertial navigation system.The value that Inertial Measurement Unit records is a successive value; Can know by Shannon's sampling theorem; Convert successive value into discrete value through analog-digital commutator and will inevitably cause losing of information; Can the precision of inertial navigation system be impacted, and the electric voltage frequency conversion equipment is through the continuous integration of output data being obtained the output information of Inertial Measurement Unit, having overcome the shortcoming of analog-digital commutator drop-out.Yet the environment for use of inertial navigation system is very complicated; And the relative zero-bit of general electric voltage frequency conversion equipment can change along with the variation of environment; Under the bigger situation of environmental change, just need demarcate again zero-bit, this has just badly influenced the reliability and the range of application of electric voltage frequency conversion equipment.
Summary of the invention
The technical matters that the present invention will solve is, the shortcoming that when environment takes place by bigger the variation, need demarcate again zero-bit to general electric voltage frequency conversion equipment is for Inertial Measurement Unit provides a kind of self-alignment electric voltage frequency conversion equipment of zero-bit that has.
For solving the problems of the technologies described above; Zero-bit self calibration electric voltage frequency conversion equipment provided by the invention comprises first to fourth voltage frequency conversioning circuit, first to the 6th switch and inserts the sampling module of navigational computer; One end of first, second switch all links to each other with the X passage output terminal of Inertial Measurement Unit; Three, an end of the 4th switch all links to each other with the Y channel output end of Inertial Measurement Unit, and an end of the 5th, the 6th switch all links to each other with the Z channel output end of Inertial Measurement Unit; The first, the 3rd links to each other and constitutes sampling channel X, sampling channel Y and sampling channel Z respectively with the input end of the other end of the 5th switch and first, second and tertiary voltage freq converting circuit is corresponding one by one; The second, the 4th all links to each other with the input end of the 4th voltage frequency conversioning circuit with the other end of the 6th switch and constitutes sampling channel A; The control end of first to the 6th switch all links to each other with the control port of navigational computer; The output terminal of first to fourth voltage frequency conversioning circuit all links to each other with the signals collecting port of navigational computer;
The function of said sampling module is: when getting into for first sampling period, control first to the 6th switch is an off-state, adds up the internal signal that said sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect in this cycle; When getting into for second sampling period; Control the first, the 3rd and the 5th switch becomes closure state by off-state; Calculate the mean value of said sampling channel X, sampling channel Y, sampling channel Z and sampling channel A internal signal in the last sampling period and with calculated value as the zero value of passage separately; Each external signal that said sampling channel X, sampling channel Y, sampling channel Z in this sampling period are collected is sent in the navigation calculation module after deducting the zero value of passage separately respectively in real time, adds up the internal signal that said sampling channel A of this cycle collects; When getting into for the 3rd sampling period; Control first switch by closure state become off-state, second switch becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel X collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel Y and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 4th sampling period; Control first switch by off-state become closure state, second switch becomes off-state by closure state; Calculate the average of sampling channel X of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel Y and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel X is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 5th sampling period; Control the 3rd switch by closure state become off-state, the 4th switch becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel Y collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 6th sampling period; Control the 3rd switch by off-state become closure state, the 4th switch becomes off-state by closure state; Calculate the average of sampling channel Y of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel Y is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 7th sampling period; Control the 5th switch by closure state become off-state, the 6th switch becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel Z collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Y being deducted the zero value of passage separately respectively; First signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 8th sampling period; Control the 5th switch by off-state become closure state, the 6th switch becomes off-state by closure state; Calculate the average of sampling channel Z of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Y being deducted the zero value of passage separately respectively; First signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel Z is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; Repeat the operation in eight cycles of period 3 to the repeatedly, till outage.
The present invention has constituted and three corresponding three independent sample passages of output of Inertial Measurement Unit through three switches and three voltage frequency conversioning circuits; Three shared sampling channels of output of Inertial Measurement Unit have been constituted through other three switches with another voltage frequency conversioning circuit; In six sampling periods; Sampling module through inserting navigational computer carries out different disconnections and closed control in the different sampling periods to six switches; Make three independent sample passages respectively under the cooperation of shared sampling channel, carry out the zero-bit self calibration of passage separately successively.The present invention has overcome general electric voltage frequency conversion equipment needs the shortcoming of demarcation again under the situation that external environment changes; It can carry out continuous self calibration real-time sampling to the Inertial Measurement Unit signal under the situation that external environment changes, have that usable range is wide, good stability, sampling precision and a high reliability features.
Description of drawings
Fig. 1 is the composition and the annexation synoptic diagram of zero-bit self calibration electric voltage frequency conversion equipment of the present invention.
Fig. 2 is the control signal synoptic diagram that sampling module sends to each switch among the present invention.
Fig. 3 is the workflow diagram of inserting sampling module in the navigational computer.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment the present invention is made further detailed description.
According to shown in Figure 1, the preferred embodiment of electric voltage frequency conversion equipment of the present invention is used to gather three road gyro signals output of inertance element.This device comprises first to the 6th K switch 1～K6, first to fourth voltage frequency conversioning circuit and inserts the sampling module of navigational computer.First to the 6th K switch 1～K6 all selects the MAX314ESE switch for use, and first to fourth voltage frequency conversioning circuit is all selected ADVFC32 for use.The end of first, second K switch 1, K2 all links to each other with the X passage output terminal of Inertial Measurement Unit; Three, the end of the 4th K switch 3, K4 all links to each other with the Y channel output end of Inertial Measurement Unit, and the end of the 5th, the 6th K switch 5, K6 all links to each other with the Z channel output end of Inertial Measurement Unit; The first, the 3rd links to each other and constitutes independently sampling channel X, sampling channel Y and sampling channel Z respectively with the input end of the other end of the 5th K switch 1, K3, K5 and first, second and tertiary voltage freq converting circuit is corresponding one by one; The second, the 4th all links to each other with the input end of the 4th voltage frequency conversioning circuit with the other end of the 6th K switch 2, K4, K6 and constitutes the shared sampling channel A of three passages of Inertial Measurement Unit; The control end of first to the 6th K switch 1～K6 all links to each other with the control port of navigational computer; The output terminal of first to fourth voltage frequency conversioning circuit all links to each other with the signals collecting port of navigational computer.
Sampling module is accomplished following operation steps according to Fig. 2 to the workflow of control time sequences of switches and Fig. 3:
The first step when timer t picks up counting, to the control end transmission open command of first to the 6th K switch 1～K6, is added up the internal signal that sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect in this cycle.Timer is separated for calling time with the sampling period, and the length in sampling period is made as T in the present invention.
Second step; When T is arrived in the timing of timer t; Control end to the first, the 3rd and the 5th K switch 1, K3, K5 sends close command; Calculating sampling passage X, sampling channel Y, sampling channel Z and sampling channel A are at the internal signal mean value in last sampling period and as the zero value of passage separately; The external signal that sampling channel X, sampling channel Y, sampling channel Z in the current sampling period are collected is done to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively, adds up the internal signal that this cycle sampling channel A collects.
The 3rd step is when 2T is arrived in the timing of timer t, to the control end transmission open command of first K switch 1, to the control end transmission close command of second switch K2; Calculate the average of sampling channel A of last one-period internal signal and upgrade the zero value of this passage with it; The internal signal that sampling channel X collects after first signal in this cycle of statistics is done the sampled signal among sampling channel Y and the sampling channel Z to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements X passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta X1 of sampling channel X and the signal delta A1 sum of sampling channel A again; Signal delta X1 is zero value poor of first signal that in this cycle, collects of sampling channel X and sampling channel X, and signal delta A1 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel A are made one group of signal obtaining behind the difference operation with the zero value of sampling channel A respectively.
Because in each data procedures that sampling channel is exported, the electric voltage frequency conversion is what the continuous integration of input signal was realized.When sampling module sends open command and when second switch K2 sends close command to first K switch 1; The X passage output of Inertial Measurement Unit inserts sampling channel A from sampling channel X; Owing in first signal sampling process of second period the switching between the sampling channel has taken place; Thereby the Inertial Measurement Unit X passage isolated at first signal of second sampling period output become two parts; Therefore, certain passage output signal of Inertial Measurement Unit need be handled that signal of switching instant when sampling channel switches according to the signal sum of two passages.
The 4th step is when 3T is arrived in the timing of timer t, to the control end transmission close command of first K switch 1, to the control end transmission open command of second switch K2; Calculate the internal signal average of sampling channel X collection in the last cycle and upgrade the zero value of this passage with it; The internal signal that sampling channel A collects after first signal in this cycle of statistics is done the sampled signal among sampling channel Y and the sampling channel Z to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements X passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta A2 of sampling channel A and the signal delta X2 sum of sampling channel X again; Signal delta A2 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A, and signal delta X2 is zero value poor of first signal that in this cycle, collects of sampling channel X and sampling channel X; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel X are made one group of signal obtaining behind the difference operation with the zero value of sampling channel X respectively.
The 5th step is when 4T is arrived in the timing of timer t, to the control end transmission open command of the 3rd K switch 3, to the control end transmission close command of the 4th K switch 4; Calculate the average of sampling channel A of last one-period internal signal and upgrade the zero value of this passage with it; The internal signal that sampling channel Y collects after first signal in this cycle of statistics is done the sampled signal among sampling channel X and the sampling channel Z to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements Y passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta Y1 of sampling channel Y and the signal delta A3 sum of sampling channel A again; Signal delta Y1 is zero value poor of first signal that in this cycle, collects of sampling channel Y and sampling channel X, and signal delta A3 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel A are made one group of signal obtaining behind the difference operation with the zero value of sampling channel A respectively.
The 6th step is when 5T is arrived in the timing of timer t, to the control end transmission close command of the 3rd K switch 3, to the control end transmission open command of the 4th K switch 4; Calculate the internal signal average of sampling channel Y collection in the last cycle and upgrade the zero value of this passage with it; The internal signal that sampling channel A collects after first signal in this cycle of statistics is done the sampled signal among sampling channel X and the sampling channel Z to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements Y passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta A4 of sampling channel A and the signal delta Y2 sum of sampling channel Y again; Signal delta A4 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A, and signal delta Y2 is zero value poor of first signal that in this cycle, collects of sampling channel Y and sampling channel Y; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel Y are made one group of signal obtaining behind the difference operation with the zero value of sampling channel X respectively.
The 7th step is when 6T is arrived in the timing of timer, to the control end transmission open command of the 5th K switch 5, to the control end transmission close command of the 6th K switch 6; Calculate the average of sampling channel A of last one-period internal signal and upgrade the zero value of this passage with it; The internal signal that sampling channel Z collects after first signal in this cycle of statistics is done the sampled signal among sampling channel X and the sampling channel Y to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements Z passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta Z1 of sampling channel Z and the signal delta A5 sum of sampling channel A again; Signal delta Z1 is zero value poor of first signal that in this cycle, collects of sampling channel Z and sampling channel Z, and signal delta A5 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel A are made one group of signal obtaining behind the difference operation with the zero value of sampling channel A respectively.
The 8th step is when 7T is arrived in the timing of timer t, to the control end transmission close command of the 5th K switch 5, to the control end transmission open command of the 6th K switch 6; Calculate the internal signal average of sampling channel Z collection in the last cycle and upgrade the zero value of this passage with it; The internal signal that sampling channel A collects after first signal in this cycle of statistics is done the sampled signal among sampling channel X and the sampling channel Y to send in real time in the navigation calculation module of navigational computer behind the difference operation with the zero value of passage separately respectively; The output signal of navigation elements Z passage is divided into two parts and sends in succession in the navigation calculation module of navigational computer; Wherein: first is made up of the signal delta A6 of sampling channel A and the signal delta Z2 sum of sampling channel Z again; Signal delta A6 is zero value poor of first signal that in this cycle, collects of sampling channel A and sampling channel A, and signal delta Z2 is zero value poor of first signal that in this cycle, collects of sampling channel X and sampling channel Z; Second portion is that all sampled signals of in this cycle, collecting after first signal of sampling channel Z are made one group of signal obtaining behind the difference operation with the zero value of sampling channel Z respectively.
In the 9th step, when 8T was arrived in timer t timing, giving the timer assignment was 2T, in the 3rd step of rebound, repeated the 3rd and went on foot for the 8th step, till outage.
Claims (1)
1. the zero-bit self calibration electric voltage frequency conversion equipment of an Inertial Measurement Unit; Comprise first to the tertiary voltage freq converting circuit; It is characterized in that: also comprise the 4th voltage frequency conversioning circuit, first to the 6th switch (K1～K6) and the sampling module of inserting navigational computer; One end of first switch (K1), second switch (K2) all links to each other with the X passage output terminal of Inertial Measurement Unit; One end of the 3rd switch (K3), the 4th switch (K4) all links to each other with the Y channel output end of Inertial Measurement Unit, and an end of the 5th switch (K5), the 6th switch (K6) all links to each other with the Z channel output end of Inertial Measurement Unit; The input end of the other end of first switch (K1), the 3rd switch (K3) and the 5th switch (K5) and first, second and tertiary voltage freq converting circuit is corresponding one by one to link to each other and constitutes sampling channel X, sampling channel Y and sampling channel Z respectively; The other end of second switch (K2), the 4th switch (K4) and the 6th switch (K6) all links to each other with the input end of the 4th voltage frequency conversioning circuit and constitutes sampling channel A; (control end of K1～K6) all links to each other with the control port of navigational computer first to the 6th switch; The output terminal of first to fourth voltage frequency conversioning circuit all links to each other with the signals collecting port of navigational computer;
The function of said sampling module is: when getting into for first sampling period, (K1～K6) is an off-state to control first to the 6th switch, adds up the internal signal that said sampling channel X, sampling channel Y, sampling channel Z and sampling channel A collect in this cycle; When getting into for second sampling period; Control first switch (K1), the 3rd switch (K3) and the 5th switch (K5) and become closure state by off-state; Calculate the mean value of said sampling channel X, sampling channel Y, sampling channel Z and sampling channel A internal signal in the last sampling period and with calculated value as the zero value of passage separately; Each external signal that said sampling channel X, sampling channel Y, sampling channel Z in this sampling period are collected is sent in the navigation calculation module after deducting the zero value of passage separately respectively in real time, adds up the internal signal that said sampling channel A of this cycle collects; When getting into for the 3rd sampling period; Control first switch (K1) by closure state become off-state, second switch (K2) becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel X collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel Y and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 4th sampling period; Control first switch (K1) by off-state become closure state, second switch (K2) becomes off-state by closure state; Calculate the average of sampling channel X of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel Y and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel X and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel X is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 5th sampling period; Control the 3rd switch (K3) by closure state become off-state, the 4th switch (K4) becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel Y collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 6th sampling period; Control the 3rd switch (K3) by off-state become closure state, the 4th switch (K4) becomes off-state by closure state; Calculate the average of sampling channel Y of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Z being deducted the zero value of passage separately respectively; First signal that sampling channel Y and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel Y is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 7th sampling period; Control the 5th switch (K5) by closure state become off-state, the 6th switch (K6) becomes closure state by off-state; Calculate the average of sampling channel A of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel Z collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Y being deducted the zero value of passage separately respectively; First signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel A is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; When getting into for the 8th sampling period; Control the 5th switch (K5) by off-state become closure state, the 6th switch (K6) becomes off-state by closure state; Calculate the average of sampling channel Z of last one-period internal signal and be worth the zero value of upgrading this passage with this; The internal signal that said sampling channel A collects after first signal in this cycle of statistics; Send in real time in the said navigation calculation module after sampled signal among sampling channel X and the sampling channel Y being deducted the zero value of passage separately respectively; First signal that sampling channel Z and sampling channel A were gathered respectively in this cycle is deducted and is sent into said navigation calculation module after the zero value of passage is sued for peace separately again, and all sampled signals that sampling channel Z is collected after first signal of this cycle are sent into said navigation calculation module after deducting self passage zero value respectively successively; Repeat the operation in eight cycles of period 3 to the repeatedly, till outage.
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| CN112505409A (en) * | 2020-11-18 | 2021-03-16 | 东南大学 | Multi-channel high-precision sensor acquisition system and frequency measurement method thereof |
| CN113536060A (en) * | 2021-06-23 | 2021-10-22 | 上海市计算技术研究所 | Data acquisition device and method, electronic device, and computer storage medium |
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| CN102589545B (en) | 2014-08-27 |
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