CN105371837B - A kind of three axis optical fibre gyro synchronism output system and synchronism output method - Google Patents
A kind of three axis optical fibre gyro synchronism output system and synchronism output method Download PDFInfo
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- CN105371837B CN105371837B CN201510985290.4A CN201510985290A CN105371837B CN 105371837 B CN105371837 B CN 105371837B CN 201510985290 A CN201510985290 A CN 201510985290A CN 105371837 B CN105371837 B CN 105371837B
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000015654 memory Effects 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of three axis optical fibre gyro synchronism output system and synchronism output method, the synchronism output system includes X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fibre gyro, arm processor, FPGA processor, Dual-port RAM memory and dsp processor；The synchronism output method includes the following steps: that 1) arm processor generates PWM square wave；2) X-axis optical fibre gyro, Y-axis optical fibre gyro and Z axis optical fibre gyro distinguish output difference signal；3) FPGA processor angular velocity data is deposited into Dual-port RAM memory；4) FPGA processor sends interrupt signal to dsp processor；5) dsp processor reads angular velocity data, and is resolved.The present invention can guarantee the output synchronism of three axis optical fibre gyro, to improve inertial navigation real-time and accuracy.
Description
Technical field
The present invention relates to inertial navigation set technical field more particularly to a kind of three axis optical fibre gyro synchronism output system and
Synchronism output method.
Background technique
In recent years, with the development of technology, optical fibre gyro just gradually replaces flexible gyroscope to be widely used in navigation equipment neck
Domain.Conventional flex gyro uses analog signal output, and when use needs to design it complicated excitation, sample circuit to carry out modulus
To obtain carrier angular speed, precision is lower for conversion；Optical fiber gyroscope precision is higher, but it uses digital signal to export,
Also new problem, the i.e. control problem of gyro output timing are brought while reducing peripheral sample circuit.Common blind
Mode, which exports, will lead to three axis accelerometer data output time and cannot synchronize, to seriously affect the dynamic accuracy of inertial navigation, therefore real
It needs to control effectively to its output timing in the application process of border.
Summary of the invention
In view of the above shortcomings of the prior art, same it is an object of the invention to solve existing three axis optical fibre gyro output
Step property is poor, leads to the problem that inertial navigation real-time is poor, precision is low, provides a kind of three axis optical fibre gyro synchronism output system and synchronizes defeated
Method out, can guarantee the output synchronism of three axis optical fibre gyro, to improve inertial navigation real-time and accuracy.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that such: a kind of three axis optical fibre gyro is same
Walk output system, it is characterised in that: including X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fibre gyro, arm processor, FPGA
Processor, Dual-port RAM memory and dsp processor；
The arm processor can export PWM square wave, and output port is directly connected with FPGA processor all the way, another
Road receives TTL pin with RS422 interface circuit and connect, and the PWM square-wave signal of the another output is converted through RS422 interface circuit
For differential signal, the differential signal sending port of the RS422 interface circuit simultaneously with X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis
The differential signal receiving end of optical fibre gyro is connected；X-axis optical fibre gyro, Y-axis optical fibre gyro, the differential signal of Z axis optical fibre gyro are defeated
Outlet is connect with the differential signal receiving port of RS422 interface circuit respectively, X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fiber
The differential signal of gyro output is input to FPGA processor after RS422 interface circuit is converted to TTL signal；
The FPGA processor is connected by Dual-port RAM memory with dsp processor, and is able to carry out data exchange；Together
When FPGA processor interrupt signal sent to dsp processor, for notifying dsp processor to read twoport by interrupt signal line
The data in storage address are specified in RAM and are resolved.
Further, the arm processor is STM32F407IC type processor, and the FPGA processor is XC6SLX45
Type processor, the dsp processor select TMS320C6713 type, and the Dual-port RAM memory selects the storage of 48LC8M16A2 type
Device.
A kind of synchronism output method of above-mentioned three axis optical fibre gyro synchronism output system, it is characterised in that: including walking as follows
It is rapid:
1) arm processor generate PWM square wave, and by PWM square wave output port simultaneously be output to FPGA processor and
The sending port of RS422 interface circuit；
2) defeated respectively after the failing edge of X-axis optical fibre gyro, Y-axis optical fibre gyro and Z axis optical fibre gyro response PWM square wave
Differential signal out, and the sending port for passing through RS422 interface circuit sends the angular speed number of X-axis optical fibre gyro to FPGA processor
According to, the angular velocity data of Y-axis optical fibre gyro and the angular velocity data of Z axis optical fibre gyro；
3) FPGA processor receives the angular speed of X-axis optical fibre gyro, the angular speed of Y-axis optical fibre gyro and Z axis optical fiber
After the angular speed of gyro, by the angular velocity data of X-axis optical fibre gyro, the angular velocity data of Y-axis optical fibre gyro and Z axis optical fiber top
The angular velocity data of spiral shell is deposited into the specified storage address of Dual-port RAM memory；
4) it after the rising edge of FPGA processor response PWM square wave, is sent by interrupt mode to dsp processor and interrupts letter
Number；
5) it after dsp processor receives the interrupt signal that FPGA processor is sent, reads the specified of Dual-port RAM memory and deposits
Store up the angular velocity data of X-axis optical fibre gyro, the angular velocity data of Y-axis optical fibre gyro and the angle of Z axis optical fibre gyro in address
Speed data, and resolved.
Further, the frequency for the PWM skull patch that the arm processor generates is 1KHz, duty ratio 80%.
Compared with prior art, the present invention has the advantage that
1) timing control guarantees that data update: data of optical fiber gyroscope output uses RS422 serial communication, the transmission of data
The time is needed, and there is the time difference between the failing edge and rising edge of PWM square wave, it is thus possible to fully ensure that the X-axis received
Optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fibre gyro output data be current newest, and guarantee synchronism and integrality.
2) control gyro input and output using differential signal, strong antijamming capability: gyro output control signal utilizes RS422
The characteristics of difference output of interface circuit transmits, and makes full use of differential signal strong antijamming capability, prevents external interference signals degree
Gyro output timing has an impact.
3) operational capability is improved for data acquisition and data calculation using independent processor: independent using FPGA processing
It is independently used for data calculation for data acquisition, using dsp processor, respective operational capability is made full use of, improves resolving
Frequency, to improve inertial navigation real-time and accuracy.
Detailed description of the invention
Fig. 1 is the functional block diagram of synchronism output system.
Fig. 2 is the flow chart of synchronism output method.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment: referring to Fig. 1, a kind of three axis optical fibre gyro synchronism output system, including X-axis optical fibre gyro, Y-axis optical fiber top
Spiral shell, Z axis optical fibre gyro, arm processor, FPGA processor, double stingy RAM memories and dsp processor；When it is implemented, institute
Stating arm processor is STM32F407IC type processor, and the FPGA processor is XC6SLX45 type processor, the DSP processing
Device selects TMS320C6713 type, and the Dual-port RAM memory selects 48LC8M16A2 type memory.
The arm processor can export PWM square wave, and a timer of arm processor and its corresponding output channel are made
For PWM output port, so as to control output timing.Its (PWM square wave) output port is all the way directly and at FPGA
It manages device to be connected, another way receives TTL pin with RS422 interface circuit and connect, the PWM square-wave signal warp of the another output
RS422 interface circuit is converted to differential signal, the differential signal sending port of the RS422 interface circuit simultaneously with X-axis optical fiber top
Spiral shell, Y-axis optical fibre gyro, the differential signal receiving end of Z axis optical fibre gyro are connected.X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis light
The differential signal outputs of fine gyro are connect with the differential signal receiving port of RS422 interface circuit respectively, X-axis optical fibre gyro, Y
The differential signal that axis optical fibre gyro, Z axis optical fibre gyro export is input to FPGA after RS422 interface circuit is converted to TTL signal
Processor.By RS422 interface circuit, keep signal anti-interference ability in transmission process stronger.
The FPGA processor is connected by Dual-port RAM memory with dsp processor, and is able to carry out data exchange；Together
When FPGA processor interrupt signal sent to dsp processor, for notifying dsp processor to read twoport by interrupt signal line
The data in storage address are specified in RAM and are resolved.
Referring to fig. 2, a kind of synchronism output method of above-mentioned three axis optical fibre gyro synchronism output system, includes the following steps:
1) arm processor generate PWM square wave, and by PWM square wave output port simultaneously be output to FPGA processor and
The sending port of RS422 interface circuit；
2) defeated respectively after the failing edge of X-axis optical fibre gyro, Y-axis optical fibre gyro and Z axis optical fibre gyro response PWM square wave
Differential signal out, and the sending port for passing through RS422 interface circuit sends the angular speed number of X-axis optical fibre gyro to FPGA processor
According to, the angular velocity data of Y-axis optical fibre gyro and the angular velocity data of Z axis optical fibre gyro；
3) FPGA processor receives the angular speed of X-axis optical fibre gyro, the angular speed of Y-axis optical fibre gyro and Z axis optical fiber
After the angular speed of gyro, by the angular velocity data of X-axis optical fibre gyro, the angular velocity data of Y-axis optical fibre gyro and Z axis optical fiber top
The angular velocity data of spiral shell is deposited into the specified storage address of Dual-port RAM memory；
4) it after the rising edge of FPGA processor response PWM square wave, is sent by interrupt mode to dsp processor and interrupts letter
Number；
5) it after dsp processor receives the interrupt signal that FPGA processor is sent, reads the specified of Dual-port RAM memory and deposits
Store up the angular velocity data of X-axis optical fibre gyro, the angular velocity data of Y-axis optical fibre gyro and the angle of Z axis optical fibre gyro in address
Speed data, and resolved.
Wherein, the frequency for the PWM square wave that the arm processor generates is 1KHz, duty ratio 80%；It adopts during the test
About 0.43 milli is needed with 230400,1 start bits of baud rate, 1 stop position, no parity check position transmission 10 byte of gyro communication frames
Second；Therefore, PWM square wave frequency 1KHz, 0.8 millisecond of the low level retention time when duty ratio 80%, i.e., control gyro output time with
It controls dsp processor and reads 0.8 millisecond of data moment difference, fully ensure that and receive gyro data completely and be current newest.
Finally, it should be noted that technical side the above examples are only used to illustrate the technical scheme of the present invention and are not limiting
Case, those skilled in the art should understand that, modification or equivalent replacement of the technical solution of the present invention are made for those, and
The objective and range for not departing from the technical program, are intended to be within the scope of the claims of the invention.
Claims (4)
1. a kind of three axis optical fibre gyro synchronism output system, it is characterised in that: including X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis
Optical fibre gyro, arm processor, FPGA processor, Dual-port RAM memory, dsp processor and RS422 interface circuit；
The arm processor can export PWM square wave, and output port is directly connected with FPGA processor all the way, another way with
RS422 interface circuit receives the connection of TTL pin, and the PWM square-wave signal of the another output is converted to difference through RS422 interface circuit
Sub-signal, the differential signal sending port of the RS422 interface circuit simultaneously with X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fiber
The differential signal receiving end of gyro is connected；The differential signal outputs of X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fibre gyro
It is connect respectively with the differential signal receiving port of RS422 interface circuit, X-axis optical fibre gyro, Y-axis optical fibre gyro, Z axis optical fibre gyro
The differential signal of output is input to FPGA processor after RS422 interface circuit is converted to TTL signal；
The FPGA processor is connected by Dual-port RAM memory with dsp processor, and is able to carry out data exchange；Simultaneously
FPGA processor sends interrupt signal to dsp processor, for notifying dsp processor to read dual port RAM by interrupt signal line
In specify storage address in data and resolved.
2. a kind of three axis optical fibre gyro synchronism output system according to claim 1, it is characterised in that: the ARM processing
Device is STM32F407IC type processor, and the FPGA processor is XC6SLX45 type processor, and the dsp processor is selected
TMS320C6713 type, the Dual-port RAM memory select 48LC8M16A2 type memory.
3. a kind of synchronism output method of three axis optical fibre gyro synchronism output system as described in claim 1, it is characterised in that: packet
Include following steps:
1) arm processor generates PWM square wave, and is output to FPGA processor and RS422 connects simultaneously by PWM square wave output port
The sending port of mouth circuit；
2) after the failing edge of X-axis optical fibre gyro, Y-axis optical fibre gyro and Z axis optical fibre gyro response PWM square wave, difference output difference
Sub-signal, and the sending port for passing through RS422 interface circuit sends angular velocity data, the Y of X-axis optical fibre gyro to FPGA processor
The angular velocity data of axis optical fibre gyro and the angular velocity data of Z axis optical fibre gyro；
3) FPGA processor receives the angular speed of X-axis optical fibre gyro, the angular speed of Y-axis optical fibre gyro and Z axis optical fibre gyro
Angular speed after, by the angular velocity data of X-axis optical fibre gyro, the angular velocity data of Y-axis optical fibre gyro and Z axis optical fibre gyro
Angular velocity data is deposited into the specified storage address of Dual-port RAM memory；
4) after the rising edge of FPGA processor response PWM square wave, interrupt signal is sent to dsp processor by interrupt mode；
5) after dsp processor receives the interrupt signal that FPGA processor is sent, with reading the specified storage of Dual-port RAM memory
The angular speed of the angular velocity data of X-axis optical fibre gyro in location, the angular velocity data of Y-axis optical fibre gyro and Z axis optical fibre gyro
Data, and resolved.
4. synchronism output method according to claim 3, it is characterised in that: the PWM square wave that the arm processor generates
Frequency is 1KHz, duty ratio 80%.
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| CN109533359A (en) * | 2018-12-20 | 2019-03-29 | 西安飞机工业（集团）有限责任公司 | A kind of optical fiber navigation attitude instrument system using electromechanical data indicating equipment |
| CN110209613B (en) * | 2019-06-05 | 2022-01-25 | 哈尔滨工业大学 | NVMe SSD reading speed and optical fiber interface speed self-adaptive matching method |
| CN111159072B (en) * | 2019-12-29 | 2021-07-30 | 武汉华中天勤防务技术有限公司 | Single-path communication method and device for multi-axis fiber-optic gyroscope |
| CN112146642A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Three-axis high-precision fiber-optic gyroscope combination for satellite |
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| CN101105401A (en) * | 2007-08-06 | 2008-01-16 | 北京航空航天大学 | SDINS/GPS combined guidance system time synchronism and synchronous data extraction method |
| CN203758523U (en) * | 2013-12-20 | 2014-08-06 | 河北汉光重工有限责任公司 | Synchronous acquisition device for inertial device of micro-electromechanical system (MEMS) gyroscope navigation system |
| CN104330082A (en) * | 2014-10-22 | 2015-02-04 | 哈尔滨工程大学 | Real-time data synchronization method for MEMS (Micro-Electromechanical System)/GNSS (Global Navigation Satellite System) combined navigation system |
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| US9279680B2 (en) * | 2012-03-15 | 2016-03-08 | Blackberry Limited | Methods and devices for determining orientation |
| WO2014057371A1 (en) * | 2012-10-09 | 2014-04-17 | Nokia Corporation | Method and apparatus for utilizing sensor data for auto bookmarking of information |
| CN103195409B (en) * | 2013-03-29 | 2016-03-09 | 重庆华渝电气仪表总厂 | For the multichannel collecting control system of gyrolevel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101105401A (en) * | 2007-08-06 | 2008-01-16 | 北京航空航天大学 | SDINS/GPS combined guidance system time synchronism and synchronous data extraction method |
| CN203758523U (en) * | 2013-12-20 | 2014-08-06 | 河北汉光重工有限责任公司 | Synchronous acquisition device for inertial device of micro-electromechanical system (MEMS) gyroscope navigation system |
| CN104330082A (en) * | 2014-10-22 | 2015-02-04 | 哈尔滨工程大学 | Real-time data synchronization method for MEMS (Micro-Electromechanical System)/GNSS (Global Navigation Satellite System) combined navigation system |
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