CN102799472A

CN102799472A - Real-time information processing and data transmission method for underwater active detection systems

Info

Publication number: CN102799472A
Application number: CN2012101993578A
Authority: CN
Inventors: 冯西安; 张杨梅; 张丽丽
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2012-06-18
Filing date: 2012-06-18
Publication date: 2012-11-28
Anticipated expiration: 2032-06-18
Also published as: CN102799472B

Abstract

The invention relates to a real-time information processing and data transmission method for underwater active detection systems. By implementing instruction and data communication between execution equipment through a uniform format, real-time communication efficiency of the underwater active detection systems can be improved, and overhead of a central processing unit (CPU) is reduced. According to the method, based on a scalable real-time operating system kernel SYSBIOS, task processes queue and wait for execution under dispatching of an application program according to the task and interruption priority, so that the waiting time for executing tasks is effectively reduced, and data throughput of the system is improved. By the method, flexible communication with the execution equipment can be realized; and the method can be conveniently transplanted to the underwater active detection systems with different application functions such as sonar, torpedo homing and mines.

Description

The real-time information processing and the data transmission method of active detection system under water

Technical field

The present invention relates to a kind of real-time information processing and data transmission method of active detection system under water.

Background technology

Aspects such as active detection system target detection and identification under water under water, marine environment detection have broad application prospects.The undersea detection system of current widespread use adopts the control assembly of flush bonding processor as system in a large number, and signal handling capacity is significantly improved.But because the hardware configuration of traditional active detection system under water and software architecture are all relatively more fixing and sealing; It is the autonomous device of a kind of unit list control; Every kind under water active detection system corresponding to different equipment, different purposes; The versatility and the extended capability of equipment are not enough, have limited the expansion and the compatibility of active detection system under water, bring difficulty for the maintenance and the upgrading of system.

Simultaneously; Under storage space and processor processes speed condition of limited, how to make full use of software and hardware resources, the mass data that collects is uploaded to host computer in time; Thereby realizing functions such as real-time processing, diagnosis and demonstration, also is the key of whole active detection system under water.

Summary of the invention

The technical matters that solves

For fear of the weak point of prior art, the present invention proposes a kind of real-time information processing and data transmission method of active detection system under water.

Technical scheme

A kind of real-time information processing and data transmission method of active detection system under water is characterized in that step is following:

Step 1: after processing of active detection system real-time information under water and data transmission system resetted and finish and accomplish initialization, mission thread TSK_Process brought into operation, and system is in the state that sends instructions under the host computer of waiting for;

Step 2: host computer sends instructions and supplemental characteristic under system, triggers mission thread TSK_TCP, and mission thread TSK_Process is seized, and the form of instruction and supplemental characteristic is table 1 and table 2:

Table 1 ethernet communication order format

The instruction head	Instruction type	The plate card number	Length
				8bit	5bit	3bit	16bit

Wherein, an instruction presentation directives begins, and accounts for 1 byte 8bit; Instruction type is the instruction code that host computer issues, and accounts for 5bit; The actuating equipment that plate card number presentation directives is corresponding accounts for 3bit, and wherein: 0x0～0x6 distributes under water each actuating equipment in the active detection system, and 0x7 representes broadcasting, i.e. all devices instruction that all need receive; Length represent this instruction heel with the supplemental characteristic number, account for 2 byte 16bit, 0x0000 representes this instruction printenv data, the length of an instruction is 4 bytes;

Table 2 ethernet communication supplemental characteristic form

Data head	Parameter 1	…	Parameter n
				8bit	16bit	…	16bit

Wherein, data head representes that data begin, and accounts for 1 byte 8bit; Thereafter need the transmission parameters data immediately following this instruction that issues, account for n * 16bit, promptly each supplemental characteristic accounts for 2 byte 16bit; The instruction that host computer issues is different, and the supplemental characteristic number of being followed thereafter is also different;

Step 3: after instruction that mission thread TSK_TCP issues host computer and supplemental characteristic receive and finish, judge through inspection instruction head and data head whether the instruction and the supplemental characteristic that receive effective, and the supplemental characteristic number that receives whether in the and instruction the represented data number of " length " part consistent; If; Then execution in step 4, if not, then abandon this instruction and supplemental characteristic; Mission thread TSK_TCP finishes, and waits for that host computer sends instructions down once more;

Step 4: mission thread TSK_TCP hangs up, and the right to use of CPU is returned to mission thread TSK_Process; Parsing is instructed in the instruction that mission thread TSK_Process issues host computer, and judging through " plate card number " part of instruction should the corresponding actuating equipment of instruction;

Step 5: mission thread TSK_Process will instruct and supplemental characteristic is handed down to corresponding actuating equipment; Under send instructions and supplemental characteristic before, system needs to adjust the form of instruction and supplemental characteristic, form such as the table 3 and the table 4 of instruction of adjustment back and supplemental characteristic:

Order format between table 3 actuating equipment

Instruction flag	The instruction head	Instruction type	The plate card number
				16bit	8bit	5bit	3bit

The adjustment mode of said instruction is to remove " length " part of the expression supplemental characteristic number of low 16bit in the ethernet communication order format, before the instruction head, adds the 0x0000 " instruction flag " of 16bit, presentation directives, and instruction still is 4 bytes;

Supplemental characteristic form between table 4 actuating equipment

Data Labels	Parameter
		16bit	16bit

The adjustment mode of said supplemental characteristic is to remove 8bit in the ethernet communication supplemental characteristic form " data head ", before the data of each 16bit, adds the 0xFFFF of 16bit, the expression data, and promptly each supplemental characteristic becomes 32bit by original 16bit;

Step 6: mission thread TSK_Process is behind end of transmission instruction of instruction actuating equipment and supplemental characteristic, and the 0x0000FFFF of the 32bit that redispatches " end " sign is represented end of transmission (EOT); When transfer instruction, need not transmission " ends " indicates.System is in waiting status, waits for and instructs actuating equipment to upload instruction execution result;

Step 7: the command adapted thereto actuating equipment is uploaded instruction execution result to system, the form such as the table 5 of instruction execution result after the instruction that is finished:

Table 5 instruction execution result form

The instruction head	Instruction type	The plate card number	The result
				8bit	5bit	3bit	16bit

Wherein, an instruction presentation directives begins, and accounts for 1 byte 8bit; Instruction type is an instruction code, accounts for 5bit; The actuating equipment that plate card number presentation directives is corresponding accounts for 3bit, and wherein: 0x0～0x6 distributes under water each actuating equipment in the active detection system, and 0x7 representes broadcasting, i.e. all devices instruction that all need receive; The result representes the instruction execution result of this instruction, accounts for 2 byte 16bit, and 0x0000 presentation directives runs succeeded, and 0x00FF presentation directives carries out failure;

Step 8: mission thread TSK_Process hangs up, and the right to use of CPU is returned to mission thread TSK_TCP.The instruction execution result that mission thread TSK_TCP will instruct actuating equipment to upload is not done any adjustment; Directly be uploaded to host computer, mission thread TSK_TCP finishes, and mission thread TSK_Process continues operation; If underwater sound signal data writing system is arranged; Then execution in step 9, otherwise system will get into waiting status, wait for that host computer sends instructions down once more;

Step 9: mission thread TSK_UDP is triggered, and mission thread TSK_Process is seized; Mission thread TSK_UDP is with the underwater sound signal packing data and adopt udp protocol to be uploaded to host computer; Up to host computer issue the expression stop to upload the instruction of data after; Mission thread TSK_UDP finishes, and mission thread TSK_Process continues operation, waits for that host computer sends instructions down once more.

Beneficial effect

The real-time information processing and the data transmission method of a kind of active detection system under water that the present invention proposes; Use unified format between each actuating equipment, to instruct and data communication; Can improve the real-time Communication for Power efficient of active detection system under water, and reduce the expense of CPU.This method is based upon on the basis that can cut out The Realtime Operating System Nucleus SYSBIOS; Each task process is waited in line to carry out by task, priority of interrupt under the scheduling of application program; And effectively reduce the stand-by period of executing the task, improve the data throughout of system.

The present invention can communicate with various actuating equipments neatly, can be transplanted to easily in the active detection system under water of different application functions such as sonar, torpedo self-conductance, submarine mine.

The present invention adopts unified instruction and data layout to receive instruction and supplemental characteristic from host computer; And instruction and supplemental characteristic carried out being issued to corresponding actuating equipment after part adjusted; Can be when improving the efficient of active detection system real-time Communication for Power under water; Guarantee the correctness of data communication between the various actuating equipments, and reduce the operation expense of each actuating equipment.

The present invention adopts SYSBIOS, but the various threads of intelligent scheduling have been simplified program design, has solved data-moving and the critical problem of handling this real-time system in real time, and software has extensibility, re-usability and portability.

Description of drawings

Fig. 1 is the present invention's processing of active detection system real-time information under water and the data transmission method position view in the active detection system under water;

The workflow diagram of Fig. 2 the present invention processing of active detection system real-time information under water and data transmission method;

Fig. 3 receives the instruction transmission synoptic diagram after " transmitter self diagnosis " instruction;

Fig. 4 receives instruction and the supplemental characteristic transmission synoptic diagram after " data derivation " instruction;

Fig. 5 receives the task scheduling synoptic diagram after " beginning to survey " instruction.

Embodiment

Combine embodiment, accompanying drawing that the present invention is further described at present:

Present embodiment is that operation platform is realized the system control function in the active detection system under water with the dsp chip, and SYSBIOS is adopted in the software program design, and uses the uniform communication form between each actuating equipment, to instruct and data communication.

SYSBIOS is adopted in the design of the software program of processing of active detection system real-time information under water and data transmission method, according to the functional requirement of active detection system under water, creates 3 mission thread: TSK_Process, TSK_TCP and TSK_UDP.Wherein TSK_TCP is the TCP communication task, be responsible for and host computer between command reception and acknowledge communication, priority is the highest; TSK_UDP is the UDP communication task, and the underwater sound signal data that responsible active detection system under water collects are transferred to host computer with the udp protocol mode, and priority is taken second place; TSK_Process is the information processing thread, is responsible for whole information processing and logic control, can be seized by other 2 mission threads, and operation incessantly all the time when not having other mission threads to carry out, so priority is minimum.

As shown in Figure 1; Processing of active detection system real-time information under water and data transmission method; Be in the key position of whole active detection system under water, main accomplish communicate by letter with host computer, the function such as synchronous of information processing, system and logic control and whole active detection system under water.

The workflow of processing of active detection system real-time information under water and data transmission method is as shown in Figure 2: after system reset finishes; Accomplish initialization, comprise setting, startup TCP and UDP server, the initialization of detecting parameter and the initialization of each standard peripherals interface of initialization, IP and the MAC Address of the initialization of SYSBIOS system kernel, break in service; Carry out self check then, comprise the self check of each actuating equipment (like transmitter, receiver, External memory equipment etc.), and self-detection result is sent to host computer through Ethernet; System gets into waiting status then, waits under the host computer sending instructions; After system receives the instruction that host computer issues, earlier this instruction is resolved the classification of decision instruction (derive instruction or begin/stop probe instructions) like self diagnosis instruction, parameter configuration instruction, data; If instruction is " self diagnosis " or " parameter configuration "; System parses the actuating equipment numbering (being the plate card number) of this instruction from instruction; This instruction is handed down to corresponding actuating equipment; And accomplish and should receive instruction execution result from the instruction actuating equipment in the instruction back at actuating equipment, being uploaded to host computer, system is in waiting status once more; If instruction is " data derivation ", system is handed down to External memory equipment with this instruction, begins reading of data from External memory equipment, gives host computer with the data upload that reads out simultaneously, and system is in waiting status once more; If instruction is " beginning to survey ", system at first notifies transmitter to begin to send detectable signal, and after the signal battery has fired to be detected, the notice receiver begins to receive data, and the packing data that receives is uploaded to host computer; When system received " stopping to survey " instruction of host computer, total system was in waiting status again.

To receive " transmitter self diagnosis " instruction is example; The synoptic diagram of instruction transmission is as shown in Figure 3 in processing of active detection system real-time information under water and the data transmission method: in this example; The defined instruction head is 0x7E, and the instruction code of self diagnosis instruction is 0x02, and the plate card number of transmitter is 0x1; The self diagnosis instruction need not supplemental characteristic; So the binary mode of " transmitter self diagnosis " instruction can be expressed as 01,111,110 00,010 001 00,000,000 00000000, is scaled the sexadecimal form and is 0x7E110000, and is as shown in table 6.

" transmitter self diagnosis " instruction that table 6 host computer issues

Host computer is handed down to system with " transmitter self diagnosis " instruction 0x7E110000, and after parsing is instructed by system, confirming needs this instruction is handed down to transmitter; System is handed down to transmitter with adjusted instruction 0x00007E11 after the part adjustment is carried out in instruction, and is as shown in table 7;

Table 7 system is handed down to transmitter " transmitter self diagnosis " instruction

Transmitter is uploaded to system with diagnostic result " normally " 0x7E110000 or " unusually " 0x7E1100FF after executing " transmitter self diagnosis " instruction, and is as shown in table 8;

Table 8 transmitter is uploaded to system's " transmitter self diagnosis " instruction execution result

System does not carry out any processing to this instruction execution result, directly is uploaded to host computer through Ethernet.

To receive " data derivation " instruction is example; The synoptic diagram of instruction and supplemental characteristic transmission is as shown in Figure 4 in processing of active detection system real-time information under water and the data transmission method: in this example, the defined instruction head is 0x7E, and the instruction code that data derive instruction is 0x1B; The plate card number of the equipment of store data is 0x4; " data derivation " instruction needs 2 supplemental characteristics, and data reference position and ED position are so the binary mode of " data derivation " instruction can be expressed as 01,111,110 11,011 100 00,000,000 00000010; Be scaled the sexadecimal form and be 0x7EDC0002, as shown in table 9;

" data derivation " instruction that table 9 host computer issues

Data head is defined as 0x8C, and the initial and end position of data is with time representation, during zero-time 8 50 minutes (00 10,000,101 0,000 00 or 0x2140), and 20: 23 concluding time (10 0,000 0,010 0,011 00 or 0x808C, as shown in table 10).

The correlation parameter data of " data derivation " instruction that table 10 host computer issues

Data head	Parameter 1	Parameter 2
			10001100	00?1000?0101?0000?00	10?0000?0010?0011?00
0x8C	0x2140	0x808C

Host computer is handed down to system with " data derivation " instruction 0x7EDC0002 and supplemental characteristic 0x8C2140808C, and after parsing is instructed by system, confirming needs this instruction is handed down to the equipment that the plate card number is 0x4 (being External memory equipment); System carries out after part adjust instruction and supplemental characteristic; Adjusted instruction 0x00007EDC and adjusted supplemental characteristic 0xFFFF2140FFFF808C are handed down to actuating equipment; And issue the back that finishes at supplemental characteristic and send 0x0000FFFF and represent that data are sent and finish, shown in table 11 and table 12;

Table 11 system is handed down to External memory equipment " data derivation " instruction

Table 12 system is handed down to the correlation parameter data of External memory equipment " data derivation " instruction

Corresponding actuating equipment is uploaded to system with instruction execution result " normally " 0x7EDC0000 or " unusually " 0x7EDC00FF after executing " data derivation " instruction, and is as shown in table 13;

Table 13 External memory equipment is uploaded to system's " data derivation " instruction execution result

To receive " beginning to survey " instruction is example, and the task scheduling of processing of active detection system real-time information under water and data transmission method is as shown in Figure 5.After system reset end and the completion initialization, mission thread TSK_Process brings into operation; When host computer issues " beginning to survey " instruction, will trigger mission thread TSK_TCP and bring into operation, mission thread TSK_Process is seized, and system receives this instruction and instructs parsing; After system accomplished the instruction parsing and sends the instruction execution result that finishes, mission thread TSK_TCP finished, and the right to use of CPU is returned to mission thread TSK_Process; Mission thread TSK_Process will " begin to survey " instruction and be handed down to transmitter, and behind transmitter battery has fired detectable signal, instruction will be handed down to receiver, and the notice receiver begins to receive data; When underwater sound signal data writing system, mission thread TSK_UDP is triggered, and taking out also, packing data sends to host computer; In mission thread TSK_UDP operational process; If host computer issues " stopping to survey " instruction, mission thread TSK_TCP is triggered, and mission thread TSK_UDP is seized; After the system that treats receives instruction and parsing; System sends instruction execution result and gives host computer, and mission thread TSK_TCP finishes, and the right to use of CPU is returned to mission thread TSK_UDP; After the underwater sound signal data that collect all sent to host computer, mission thread TSK_UDP finished, and mission thread TSK_Process continues operation, waited for that host computer sends instructions down once more.

Claims

1. the real-time information processing and the data transmission method of active detection system under water is characterized in that step is following:

Table 1 ethernet communication order format

Table 2 ethernet communication supplemental characteristic form

Data head Parameter 1 … Parameter n 8bit 16bit … 16bit

Order format between table 3 actuating equipment

Supplemental characteristic form between table 4 actuating equipment

Data Labels Parameter 16bit 16bit

Table 5 instruction execution result form