CN107655475B - Synchronous pulse signal acquisition method, navigation data synchronous processing method and system - Google Patents
Synchronous pulse signal acquisition method, navigation data synchronous processing method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a synchronous pulse signal acquisition method, a navigation data synchronous processing method and a system, which relate to the technical field of navigation systems and comprise the following steps: receiving a first pulse signal transmitted by a crystal oscillator clock circuit; receiving a second pulse signal and UTC information transmitted by a satellite signal receiver; when the second pulse signal and UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal; when the second pulse signal and the UTC information are failed to be received, according to the UTC information which is finally received before the reception failure, the first pulse signal is used for resolving, and a synchronous time keeping pulse signal is output, so that the problem that the UTC time information and the UTC pulse signal are interrupted when signal lock losing occurs in an antenna shielding area of the global satellite navigation system is solved, continuous real-time information and the UTC pulse signal are provided for the navigation system, and navigation data are synchronously processed, so that the accuracy and the instantaneity of the navigation system are improved.
Description
Technical Field
The present invention relates to the technical field of navigation systems, and in particular, to a method for acquiring a synchronization pulse signal, a method for processing navigation data in synchronization, and a system thereof.
Background
An inertial navigation system is an autonomous navigation system that does not depend on external information nor radiate energy to the outside. The working environment not only comprises the air and the ground, but also can be underwater. The basic working principle of the inertial navigation system is based on Newton's law of mechanics, and the information of speed, yaw angle, position and the like in the navigation coordinate system can be obtained by measuring the acceleration of the carrier in the inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system.
However, in an integrated navigation system mainly including an inertial navigation system, there is a case where the sampling frequency of the inertial navigation system is not synchronized with the sampling frequency of other auxiliary navigation systems. In general, in a combined system of an inertial navigation system and a global navigation satellite system (Global Navigation Satellite System, abbreviated as GNSS), the sampling frequency of the inertial navigation system is generally 100Hz or higher, and the update frequency of the global navigation satellite system is generally 1Hz, so that in a combined manner of the two systems, the two navigation systems have the problem of non-uniform time scale and non-synchronous time, and therefore, in the navigation calculation process, errors of navigation calculation are caused due to non-synchronous time, so that the accuracy of navigation results is affected.
Currently, for an integrated navigation system mainly comprising an inertial navigation system, the solution of time dissynchronization is to utilize UTC and pulse per second of a global navigation satellite system for time synchronization. The method does not consider the condition that signal unlocking occurs in an antenna shielding area of the global navigation satellite system, so that the proceeding process of time synchronization processing is influenced, and the accuracy of a navigation result is influenced.
Disclosure of Invention
Accordingly, the present invention is directed to a synchronization pulse signal acquisition method, a navigation data synchronization processing method and a navigation data synchronization processing system, so as to solve the technical problem that the existing time-out-of-synchronization solution in the prior art does not consider the situation that signal lock loss occurs in an antenna shielding area of a global navigation satellite system, thereby affecting the progress of time synchronization processing and affecting the accuracy of navigation results.
In a first aspect, an embodiment of the present invention provides a method for acquiring a synchronization pulse signal, including:
receiving a first pulse signal transmitted by a crystal oscillator clock circuit;
receiving a second pulse signal and universal time UTC information transmitted by a satellite signal receiver;
when the second pulse signal and the UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal;
And when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are received last before the receiving failure, calculating through the first pulse signal to obtain a synchronous time-keeping pulse signal.
In a second aspect, an embodiment of the present invention further provides a navigation data synchronization processing method, including:
receiving a first pulse signal transmitted by a crystal oscillator clock circuit;
receiving a second pulse signal and UTC information transmitted by a satellite signal receiver;
respectively acquiring synchronous time service pulse signals or time keeping pulse signals according to the receiving states of the second pulse signals and the UTC information;
and transmitting the time service pulse signal or the time keeping pulse signal to an ARM system of an instruction set computer, so that the ARM system controls the data acquisition time of the acquisition device to be synchronous according to the time service pulse signal or the time keeping pulse signal, and synchronous navigation data is obtained.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the acquiring, according to a receiving state of the second pulse signal and the UTC information, a synchronous time service pulse signal or a time keeping pulse signal respectively specifically includes:
When the second pulse signal and the UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal;
and when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are received last before the receiving failure, calculating through the first pulse signal to obtain a synchronous time-keeping pulse signal.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where when the second pulse signal and the UTC information fail to be received, the calculating, according to the UTC information and the second pulse signal that were last received before the reception failed, by using the first pulse signal, obtains a synchronous time-keeping pulse signal, and specifically includes:
and when the second pulse signal and the UTC information fail to be received, adding one second to the time second bit of the UTC information when the first pulse signal arrives according to the UTC information and the second pulse signal which are finally received before the receiving failure, and obtaining a synchronous time-keeping pulse signal.
With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the transmitting the time service pulse signal or the time keeping pulse signal to the ARM system, so that the ARM system controls, according to the time service pulse signal or the time keeping pulse signal, data acquisition time synchronization of an acquisition device to obtain synchronous navigation data, includes:
Transmitting the time service pulse signal or the time keeping pulse signal to an ARM system, so that the ARM system controls the data acquisition time synchronization of the micro inertial measurement device, the odometer and the satellite signal receiver according to the time service pulse signal or the time keeping pulse signal to acquire synchronous acquisition data;
and compensating the acquisition delay time of the synchronous acquisition data by a linear interpolation method according to the UTC information to obtain synchronous navigation data.
With reference to the second aspect, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, where the compensating, by a linear interpolation method, the acquisition delay time of the synchronous acquisition data according to the UTC information, to obtain synchronous navigation data specifically includes:
and calculating acquisition delay time of the micro inertial measurement unit, the odometer and the satellite signal receiver according to the UTC information, and compensating the acquisition delay time by a linear interpolation method to obtain synchronous navigation data with a time tag.
With reference to the second aspect, the embodiment of the present invention provides a fifth possible implementation manner of the second aspect, where the method further includes sending the synchronized navigation data to a terminal.
With reference to the second aspect, an embodiment of the present invention provides a sixth possible implementation manner of the second aspect, where the method further includes a control instruction sent by the receiving terminal through a wireless communication connection.
With reference to the second aspect, an embodiment of the present invention provides a seventh possible implementation manner of the second aspect, where the satellite signal receiver is configured to receive data of a global navigation satellite system GNSS.
In a third aspect, an embodiment of the present invention further provides a navigation data synchronization processing system, including: the system comprises a crystal oscillator clock circuit, a satellite signal receiver, a Field Programmable Gate Array (FPGA) chip, an ARM system and a collection device;
the crystal oscillator clock circuit is used for generating and transmitting a first pulse signal to the FPGA chip;
the satellite signal receiver is used for receiving and transmitting a second pulse signal and UTC information to the FPGA chip;
the FPGA chip is used for respectively acquiring a synchronous time service pulse signal or a time keeping pulse signal according to the second pulse signal and the receiving state of the UTC information, and transmitting the time service pulse signal or the time keeping pulse signal to an ARM system;
the ARM system is used for controlling the data acquisition time synchronization of the acquisition device according to the time service pulse signal or the time keeping pulse signal to obtain synchronous navigation data.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: in the method for acquiring the synchronous pulse signal, the method for synchronously processing the navigation data and the system provided by the embodiment of the invention, the method for acquiring the synchronous pulse signal comprises the following steps: firstly, a first pulse signal transmitted by a crystal oscillator clock circuit is received, and a second pulse signal transmitted by a satellite signal receiver and universal standard time UTC information are received at the same time, when the second pulse signal and the UTC information are successfully received, the first pulse signal is corrected through the second pulse signal, so that a synchronous time service pulse signal is obtained, when the second pulse signal and the UTC information are failed to receive, according to the UTC information which is finally received before the reception failure, the first pulse signal is solved, so that a synchronous time service pulse signal is obtained, and therefore, when the signal of a global navigation satellite system is successfully received, the first pulse signal of the crystal oscillator clock circuit can be corrected through the second pulse signal of the global navigation satellite system, so that the synchronous time service pulse signal is obtained, and when the signal of the global navigation satellite system is invalid, the last received before the reception failure is calculated through the first pulse signal of the crystal oscillator clock circuit, so that the synchronous time service pulse signal is obtained, and when the signal of the global navigation satellite system is successfully received, the current time service signal of the global navigation satellite system can not be successfully received, and the problem of the synchronous time service signal in the prior art can not be solved, and the problem that the synchronous time service signal of the current antenna is affected is solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for acquiring a synchronization pulse signal according to a first embodiment of the present invention;
fig. 2 is a flowchart of a navigation data synchronization processing method according to a second embodiment of the present invention;
Fig. 3 is a flowchart of a navigation data synchronization processing method according to a third embodiment of the present invention;
FIG. 4 is another flowchart of a navigation data synchronization processing method according to a third embodiment of the present invention;
FIG. 5 is another flowchart of a navigation data synchronization processing method according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a navigation data synchronization processing system according to a third embodiment of the present invention.
Icon: 4-a navigation data synchronous processing system; 41-a crystal oscillator clock circuit; 42-satellite signal receiver; a 43-FPGA chip; a 44-ARM system; 45-acquisition device.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The current time-out-of-sync solution method does not consider the condition that signal lock loss occurs in the antenna shielding area of the global navigation satellite system, so that the process of time synchronization processing is affected, and the accuracy of navigation results is affected.
For the sake of understanding the present embodiment, first, a method for acquiring a synchronization pulse signal, a method for processing navigation data, and a system for processing navigation data according to the embodiments of the present invention are described in detail.
Embodiment one:
the method for acquiring the synchronization pulse signal provided by the embodiment of the invention can be applied to a Field programmable gate array (Field-Programmable Gate Array is abbreviated as FPGA) chip, and can also be a method for acquiring the synchronization pulse signal of a combined system of a micro inertial navigation system and a global navigation satellite system (Global Navigation Satellite System is abbreviated as GNSS), as shown in fig. 1, the method for acquiring the synchronization pulse signal comprises the following steps:
s11: and receiving a first pulse signal transmitted by the crystal oscillator clock circuit.
The crystal oscillator clock circuit is a high-precision crystal oscillator clock circuit, and is used as a preferable scheme for receiving the clock generated by the crystal oscillator clock circuit and taking the clock as a counting source for generating a synchronous clock after frequency multiplication in the FPGA chip.
S12: the second pulse signal and universal time (Coordinated Universal Time, abbreviated as UTC) information transmitted by the satellite signal receiver are received.
Thus, by this step, the pulse-per-second signal and UTC time frame information provided by the GNSS can be received while the GNSS is active. The UTC information is UTC time frame information.
S121: and when the second pulse signal and UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal.
Specifically, the first pulse signal is corrected by the second pulse signal in this step, so that a synchronous time service pulse signal is obtained. The first Pulse signal refers to the number of clock pulses after frequency multiplication, for example, a 25M crystal oscillator circuit is assumed, an external clock signal of 25MHZ is input to the FPGA chip, the FPGA chip multiplies the clock signal into a 100M clock according to the internal frequency of the 25MHZ signal, and ideally, the number of 100M clock pulses is between two Pulse Per Second (abbreviated as 1 PPS), but because of the deviation of the crystal oscillator itself and the environmental influence, the number may be 90M or 110M, so that we calculate that the clock pulses are separated by 90M clocks through two continuous 1PPS, and then no 1PPS signal is generated next time, and the clock pulses are accumulated to 90M to output a clock signal for keeping the continuity and the accuracy of the 1 PPS.
S122: when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are finally received before the receiving failure, the first pulse signal is used for resolving to obtain a synchronous time-keeping pulse signal.
Specifically, when the GNSS is invalid, the last time second pulse and the time frame information are utilized when the GNSS is valid, the clock information of the high-precision crystal oscillator circuit is utilized, and the FPGA chip is utilized to generate the time frame information integer. Therefore, when the GNSS signal is unlocked, the synchronous time keeping pulse signal can be obtained, so that the continuous acquisition of the synchronous pulse signal can be realized by the method.
The first pulse signal is clock pulse which is multiplied to higher frequency by the FPGA chip according to the clock generated by the received crystal oscillator clock circuit. The second pulse signal is essentially 1PPS of the receiver, and the clock signal generated by the crystal oscillator has errors along with the power-on time or the environmental influence, so that the clock frequency doubled by the FPGA chip also has deviation, and therefore, the 1PPS is used for calibrating the clock signal doubled in real time.
Aiming at the fact that the sampling frequency of a miniature inertial measurement unit (Miniature Inertial Measurement Unit, MIMU for short) is inconsistent with that of a GNSS, the method of the embodiment of the invention utilizes the functions of GNSS time service and high-precision clock time keeping, and synchronizes FPGA (field per second, 1PPS for short) pulses, so that later signal acquisition can be synchronized. Therefore, the FPGA chip has the functions of precisely timing when the GNSS signals are effective and keeping time for a long time when the GNSS signals are ineffective. Therefore, when the GNSS is effective, the method can firstly correct the second pulse of the high-precision crystal oscillator circuit by using the second pulse of the GNSS so that the crystal oscillator circuit is synchronous with the second pulse signal of the GNSS, and the synchronous FPGA chip receives UTC time frame information from the GNSS and provides a precise minimum time step by using a crystal oscillator phase-locked loop (Phase Locked Loop, abbreviated as PLL). In addition, when the GNSS is invalid, the method can also realize that the corrected crystal oscillator circuit is used for providing continuous uninterrupted second pulse, the crystal oscillator circuit and the FPGA chip are used for providing continuous time service signals, and the crystal oscillator PLL is used for providing accurate minimum time step.
Embodiment two:
the method for synchronously processing navigation data provided by the embodiment of the invention can be applied to an FPGA chip, and can also be a time synchronous processing method of a combined system of a micro inertial navigation system and a GNSS, as shown in FIG. 2, the method for synchronously processing navigation data comprises the following steps:
s21: and receiving a first pulse signal transmitted by the crystal oscillator clock circuit.
In this step, the crystal oscillator clock circuit is a high-precision crystal oscillator clock circuit. As a preferable scheme, the clock generated by the crystal oscillator clock circuit is received, and the internal frequency multiplication of the FPGA chip is used as a counting source for generating a synchronous clock.
S22: and receiving the second pulse signal and UTC information transmitted by the satellite signal receiver.
Thus, by this step, the pulse-per-second signal and UTC time frame information provided by the GNSS can be received while the GNSS is active. The UTC information is UTC time frame information.
S23: and respectively acquiring synchronous time service pulse signals or time keeping pulse signals according to the receiving states of the second pulse signals and UTC information.
Furthermore, when the GNSS is effective, the second pulse of the high-precision crystal oscillator circuit can be corrected by the second pulse of the GNSS, so that the crystal oscillator circuit is synchronous with the second pulse signal of the GNSS, the synchronous FPGA chip receives UTC time frame information from the GNSS, and a crystal oscillator phase-locked loop (Phase Locked Loop, abbreviated as PLL) is utilized to provide accurate minimum time step. In addition, when the GNSS is invalid, the corrected crystal oscillator circuit is utilized to provide continuous uninterrupted second pulse, the crystal oscillator circuit and the FPGA chip are utilized to provide continuous time service signals, and the crystal oscillator PLL is utilized to provide accurate minimum time step.
In practical application, the satellite navigation system state information is judged according to the effective zone bit, and the satellite navigation effective time is given time, so that the satellite navigation system can be seamlessly switched to a time keeping function in a defending unlocking state, and the system can perform the time keeping or time giving function.
S24: the time service pulse signal or the time keeping pulse signal is transmitted to an instruction set computer (Advanced RISC Machines, abbreviated as ARM) system, so that the ARM system controls the data acquisition time of the acquisition device to be synchronous according to the time service pulse signal or the time keeping pulse signal, and synchronous navigation data is obtained. As a preferred implementation of this embodiment, the collecting device may include: a micro inertial measurement unit (Inertial measurement unit, IMU for short), an odometer and a satellite signal receiver. Therefore, in the step, according to the accurate time information provided by the corrected crystal oscillator, a time mark is added to the IMU information and the decoded navigation information in the ARM.
Specifically, the time service pulse signal or the time keeping pulse signal is transmitted to an instruction set computer ARM system, so that the ARM system corrects the ARM internal clock signal according to the pulse signal, the ARM internal clock signal is strictly aligned with the second pulse signal, the navigation data acquisition has strict time synchronization, and synchronous navigation data is obtained.
If the synchronous time service pulse signal is acquired in the step S23, transmitting the time service pulse signal to an instruction set computer ARM system; in step S23, if a synchronized clock pulse signal is acquired, the clock pulse signal is transmitted to the instruction set computer ARM system. Therefore, the method is used for synchronizing FPGA pulses through 1PPS by utilizing the functions of GNSS timing and high-precision clock timing aiming at inconsistent sampling frequencies of MIMU, GNSS and mileage (OD for short) signals, so that signal acquisition is synchronous. Therefore, by the method, accurate time service can be realized when the GNSS signals are effective, and meanwhile, long-time service can be realized when the GNSS signals are ineffective, so that the ARM system can control the data acquisition time synchronization of the micro inertial measurement device, the odometer, the satellite signal receiver and other acquisition devices according to the synchronous time service pulse signals or the synchronous time service pulse signals acquired in the previous step, and the acquisition of synchronous navigation data is realized.
In this embodiment, for time synchronization information continuous throughout the day and throughout the region, the method can combine the information with a plurality of IMU signals and navigation information, and provide synchronization time labels for the information, thereby realizing strict time synchronization data.
The time tag acquisition method is to adopt a linear interpolation method to acquire time delay compensation of information, and the time information and the acquired information of the sensor are transmitted to a terminal or other executing mechanisms for subsequent data processing and analysis.
Embodiment III:
the method for synchronously processing navigation data provided by the embodiment of the invention can be applied to an FPGA chip, and can also be a time synchronous processing method of a combined system of a micro inertial navigation system and a GNSS, as shown in FIG. 3, the method for synchronously processing navigation data comprises the following steps:
s31: and receiving a first pulse signal transmitted by the crystal oscillator clock circuit.
The crystal oscillator clock circuit is a high-precision crystal oscillator clock circuit, and the first pulse signal is a second pulse signal. As a preferable scheme, the clock generated by the crystal oscillator clock circuit is received, and the internal frequency multiplication of the FPGA chip is used as a counting source for generating a synchronous clock.
S32: and receiving the second pulse signal and UTC information transmitted by the satellite signal receiver.
Thus, by this step, the pulse-per-second signal and UTC time frame information provided by the GNSS can be received while the GNSS is active. The second pulse signal is a second pulse signal, and the UTC information is UTC time frame information.
S321: when the second pulse signal and UTC information are successfully received, the first pulse signal is corrected through the second pulse signal, a synchronous time service pulse signal is obtained, and the time service pulse signal is transmitted to the ARM system.
Specifically, the first pulse signal is corrected by the second pulse signal in this step, so that a synchronous time service pulse signal is obtained.
S322: when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are finally received before the receiving failure, the first pulse signal is used for resolving to obtain a synchronous time keeping pulse signal, and the time keeping pulse signal is transmitted to the ARM system.
In this step, when the reception of the second pulse signal and the UTC information fails, according to the UTC information and the second pulse signal that were last received before the reception failed, when the first pulse signal arrives, one second is added to the time second bit of the UTC information, so as to obtain a synchronous time-keeping pulse signal. Specifically, each time a first pulse arrives, the time second bit of the UTC information is incremented by a corresponding number of seconds. It should be noted that, when the multiplied clock pulse count reaches the predetermined value, the first pulse signal arrives, and therefore, when the number of the multiplied clocks reaches the predetermined value, the UTC time increases by one second.
Specifically, when the GNSS is invalid, the last time second pulse and the time frame information are utilized when the GNSS is valid, and the clock information of the high-precision crystal oscillator circuit is utilized to generate a time frame information integer. Therefore, when the GNSS signal is unlocked, the synchronous time keeping pulse signal can be obtained, so that the continuous acquisition of the synchronous pulse signal can be realized through the step.
Therefore, when the GNSS is effective, the second pulse of the high-precision crystal oscillator circuit is corrected by the second pulse of the GNSS, so that the crystal oscillator circuit is synchronous with the second pulse signal of the GNSS, and the synchronous FPGA chip receives UTC time frame information from the GNSS, and provides a precise minimum time step by using the crystal oscillator phase-locked loop (Phase Locked Loop, abbreviated as PLL). Moreover, when the GNSS is invalid, the corrected crystal oscillator circuit is used for providing continuous uninterrupted second pulse, the crystal oscillator circuit and the FPGA chip are used for providing continuous time service signals, and the crystal oscillator PLL is used for providing accurate minimum time step.
S33: and the ARM system controls the data acquisition time synchronization of the micro inertial measurement device, the odometer and the satellite signal receiver according to the time service pulse signal or the time keeping pulse signal to acquire synchronous acquisition data.
S34: and (3) enabling the ARM system to compensate acquisition delay time of the synchronous acquisition data through a linear interpolation method according to the UTC information, and obtaining synchronous navigation data with a time tag.
In the step, the acquisition delay time of the micro inertial measurement unit, the odometer and the satellite signal receiver is calculated according to UTC information, and the acquisition delay time is compensated by a linear interpolation method to obtain synchronous navigation data with a time tag. The micro inertial measurement unit may be a micro inertial measurement unit.
Further, according to the system self-provided clock, the acquisition delay time of the micro inertial measurement device, the odometer and the satellite signal receiver is calculated, the acquisition delay time is compensated by a linear interpolation method, and the odometer, the micro inertial measurement device, the navigation information of the toilet and the like acquired by the ARM are added with a time tag.
Specifically, for the time tag acquisition method, a linear interpolation method is adopted to obtain time delay compensation of information, and the time information and the acquired information of the sensor are sent to a terminal or other executing mechanisms for subsequent data processing and analysis.
S35: and sending the synchronous navigation data to the terminal.
S36: and receiving a control instruction sent by the terminal through the wireless communication connection.
The satellite signal receiver is used for receiving data of a Global Navigation Satellite System (GNSS).
In practical application, as shown in fig. 4, the FPGA chip may be a time synchronization module, a CPU, or the like. According to the method, time synchronization can be carried out through UTC provided by GNSS, pulse per second 1PPS and 1PPS provided by a high-precision clock, time synchronization 1PPS and UTC are obtained, and the synchronized 1PPS and UTC are sent to a navigation computer, so that the navigation computer can synchronously acquire and process MIMU data of a micro inertial measurement unit, GNSS data received by a satellite signal receiver and mileage data in odometer information according to the synchronized 1PPS and UTC, and further data acquisition and synchronous processing of the navigation computer are carried out. Wherein, the mileage data may include: increment of mileage, speed, etc., GNSS data may include: location, speed, etc., the MIMU data may include: barometric pressure data, geomagnetic data of the geomagnetic field, accelerometer addition data, gyro data of a gyro sensor, and the like. Therefore, the navigation computer synchronously collects data of gyroscopes, addends, geomagnetisms, barometric pressure, increment and speed of the odometer, position and speed of the GNSS and the like of the micro inertial measurement unit.
As shown in fig. 4, in the process of performing signal time synchronization processing, the method provided by the embodiment of the invention uses the external 1PPS to perform time synchronization, so as to synchronize the clock signal of the navigation computer to perform signal acquisition of GNSS data, MIMU data and mileage data, and finally send the acquired synchronization data to a client of a personal computer (personal computer, abbreviated as PC) for storage and display, and meanwhile, a user can also send a control command to the navigation computer through the PC client, so that the user can use the navigation system through terminals such as the PC to acquire accurate navigation data.
As a preferred scheme, as shown in fig. 5, a start task is first executed, a self-test is started after the start, then a satellite signal receiving device such as a GNSS receiving board card receives UTC of a GNSS and a second pulse 1PPS of a first pulse signal, and transmits the UTC and the first pulse signal 1PPS to a time synchronization module, i.e., an FPGA chip, and the time synchronization module also receives 1PPS of a second pulse signal generated by a high-precision clock. The time synchronization module corrects the high-precision clock 1PPS signal when the UTC and 1PPS signal provided by the GNSS are received effectively, namely, during the GNSS effective period, so that the time synchronization module synchronizes with the 1PPS of the GNSS, namely, performs time synchronization processing of time timing, thereby transmitting the synchronized 1PPS and forwarding the UTC of the GNSS; the time synchronization module performs time synchronization processing when receiving the UTC and 1PPS signals provided by the GNSS is invalid, namely, during the GNSS is invalid, namely, time conservation is performed, so that synchronous UTC and synchronous 1PPS obtained according to a high-precision clock are generated.
Specifically, when the GNSS is unlocked, after the time synchronization module determines that the GNSS is unlocked, after receiving the UTC packet from the high-precision clock 1PPS, the time synchronization module adds 1 second to the time second in the UTC packet of the previous second, and generates synchronized UTC and synchronized 1PPS obtained according to the high-precision clock.
And finally, whether the GNSS is effective or ineffective, the obtained UTC and the synchronous 1PSS are transmitted to the ARM system, so that the time synchronization module is ensured to provide external time information UTC and 1PSS for the ARM system.
It should be noted that, after receiving UTC and 1PPS of the time synchronization module, the ARM system performs a process of aligning with the internal clock, that is, calculates a sampling compensation time delay for collecting the MIMU, the GNSS, and the odometer when the sampling frequency is 100Hz, for example, by using the 1PPS to calibrate the sampling clock, and compensates the time delay in real time by using a linear interpolation method, so as to realize 1PPS sampling synchronization of the MIMU, the GNSS, and the OD, and form a combined navigation of the MIMU, the GNSS, and the OD by the ARM system. And finally, navigation calculation is carried out on the navigation result information after time synchronization, time delay is compensated, and finally the navigation result information is sent to the PC client.
In this embodiment, when the ARM system collects the MIMU signal, the GNSS signal, and the mileage signal, the time delay of the sampling time is calculated, and the time delay error is compensated by a linear interpolation method, so that the sampling time is strictly aligned with 1PSS, so that the navigation result calculated by the integrated navigation system is synchronized, and finally the collected data such as the sensor information after time synchronization, the navigation result, and the time tag are sent to the PC user terminal through a universal asynchronous receiver transmitter (Universal Asynchronous Receiver, abbreviated as UART) for storage.
Therefore, for the time synchronization information which is continuous throughout the day and the region, the information can be combined with a plurality of IMU signals and navigation information by the method, and a synchronization time label is provided for the information, so that the method has strict time synchronization data.
The time tag acquisition method is to adopt a linear interpolation method to acquire time delay compensation of information, and the time information and the acquired information of the sensor are transmitted to a terminal or other executing mechanisms for subsequent data processing and analysis.
Embodiment four:
as shown in fig. 6, the navigation data synchronization processing system 4 provided in the embodiment of the present invention includes: the system comprises a crystal oscillator clock circuit 41, a satellite signal receiver 42, an FPGA chip 43, an ARM system 44 and a collecting device 45.
The crystal oscillator clock circuit is a high-precision crystal oscillator clock circuit, the first pulse signal is a second pulse signal, and the crystal oscillator clock circuit is used for generating and transmitting the first pulse signal to the FPGA chip. The satellite signal receiver is used for receiving and transmitting the second pulse signal and UTC information to the FPGA chip.
Thus, the FPGA chip may receive the GNSS provided pulse-per-second signal and UTC time frame information when the GNSS is active. The second pulse signal is a second pulse signal, and the UTC information is UTC time frame information.
Further, the FPGA chip is configured to obtain a synchronous time-service pulse signal or a time-keeping pulse signal according to the second pulse signal and the receiving state of the UTC information, and transmit the time-service pulse signal or the time-keeping pulse signal to the ARM system.
In addition, ARM system is used for controlling the data acquisition time synchronization of acquisition device according to time service pulse signal or time keeping pulse signal, obtains synchronous navigation data. Wherein, collection system can include: micro inertial measurement unit, odometer and satellite signal receiver.
Preferably, the time synchronization processing process is to utilize clock signals in an external 1PPS synchronous ARM system to perform signal acquisition, compare clocks in the ARM system with clocks acquired by data of each sensor such as MIMU, GNSS, OD, calculate acquisition time delay, keep each sensor information strictly synchronous through linear interpolation, acquire sensor information with a time tag, and finally send the sensor information to a PC client through URAT for storage.
As another implementation manner of this embodiment, a central processing unit (Central Processing Unit, abbreviated as CPU) in the navigation computer may be a device that combines an FPGA chip with an ARM system. As a preferred scheme, UTC information is transmitted in a format of GPZDA code in a message protocol, and is transmitted to an FPGA chip in a CPU in real time to perform continuous time synchronization processing. Therefore, the FPGA chip performs the processing procedure of early time synchronization, and the ARM system performs the processing procedure of later acquisition synchronization.
Thus, the navigation data synchronization processing system 4 may mainly comprise: the system comprises a micro inertial measurement unit, a satellite signal receiving device such as a GNSS receiving board card, an odometer, a navigation computer, a high-precision clock circuit, a power supply for providing power and a communication module for communicating with a terminal.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.
Like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The navigation data synchronous processing system provided by the embodiment of the invention has the same technical characteristics as the synchronous pulse signal acquisition method and the navigation data synchronous processing method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
As another implementation of this embodiment, the ARM system 44 may also be in the form of a processor, which may be an integrated circuit chip with signal processing capability. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art.
The computer program product for performing the synchronization pulse signal acquisition method and the navigation data synchronization processing method provided by the embodiment of the invention comprises a computer readable storage medium storing a non-volatile program code executable by a processor, wherein the program code comprises instructions for executing the method described in the foregoing method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A navigation data synchronization processing method, characterized by comprising:
receiving a first pulse signal transmitted by a crystal oscillator clock circuit;
receiving a second pulse signal and UTC information transmitted by a satellite signal receiver;
respectively acquiring synchronous time service pulse signals or time keeping pulse signals according to the receiving states of the second pulse signals and the UTC information;
Transmitting the time service pulse signal or the time keeping pulse signal to an ARM system of an instruction set computer, so that the ARM system controls the data acquisition time of the acquisition device to be synchronous according to the time service pulse signal or the time keeping pulse signal, and synchronous navigation data is obtained;
the step of transmitting the time service pulse signal or the time keeping pulse signal to an ARM system so that the ARM system controls the data acquisition time of the acquisition device to be synchronous according to the time service pulse signal or the time keeping pulse signal to obtain synchronous navigation data, and the method specifically comprises the following steps of:
transmitting the time service pulse signal or the time keeping pulse signal to an ARM system, so that the ARM system controls the data acquisition time synchronization of the micro inertial measurement device, the odometer and the satellite signal receiver according to the time service pulse signal or the time keeping pulse signal to acquire synchronous acquisition data;
compensating the acquisition delay time of the synchronous acquisition data by a linear interpolation method according to the UTC information to obtain synchronous navigation data;
the step of respectively obtaining a synchronous time service pulse signal or a time keeping pulse signal according to the receiving states of the second pulse signal and the UTC information specifically comprises the following steps:
When the second pulse signal and the UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal;
when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are received last before the receiving failure, resolving through the first pulse signal to obtain a synchronous time-keeping pulse signal;
when the reception of the second pulse signal and the UTC information fails, according to the UTC information and the second pulse signal received last before the reception failure, the first pulse signal is used for resolving to obtain a synchronous time-keeping pulse signal, which specifically includes:
and when the second pulse signal and the UTC information fail to be received, adding one second to the time second bit of the UTC information when the first pulse signal arrives according to the UTC information and the second pulse signal which are finally received before the receiving failure, and obtaining a synchronous time-keeping pulse signal.
2. The method for synchronously processing navigation data according to claim 1, wherein the compensating the acquisition delay time of the synchronously acquired data by linear interpolation according to the UTC information to obtain the synchronous navigation data specifically comprises:
And calculating acquisition delay time of the micro inertial measurement unit, the odometer and the satellite signal receiver according to the UTC information, and compensating the acquisition delay time by a linear interpolation method to obtain synchronous navigation data with a time tag.
3. The method for synchronous processing of navigation data according to any one of claims 1 to 2, further comprising transmitting the synchronous navigation data to a terminal.
4. The method for synchronous processing of navigation data according to any one of claims 1 to 2, further comprising receiving a control command transmitted by the terminal through the wireless communication connection.
5. The method according to any one of claims 1-2, wherein the satellite signal receiver is configured to receive data of a global navigation satellite system GNSS.
6. A navigation data synchronization processing system, comprising: the system comprises a crystal oscillator clock circuit, a satellite signal receiver, a Field Programmable Gate Array (FPGA) chip, an ARM system and a collection device;
the crystal oscillator clock circuit is used for generating and transmitting a first pulse signal to the FPGA chip;
the satellite signal receiver is used for receiving and transmitting a second pulse signal and UTC information to the FPGA chip;
The FPGA chip is used for respectively acquiring a synchronous time service pulse signal or a time keeping pulse signal according to the second pulse signal and the receiving state of the UTC information, and transmitting the time service pulse signal or the time keeping pulse signal to an ARM system;
the ARM system is used for controlling the data acquisition time synchronization of the acquisition device according to the time service pulse signal or the time keeping pulse signal to obtain synchronous navigation data;
the FPGA chip is further configured to: transmitting the time service pulse signal or the time keeping pulse signal to an ARM system, so that the ARM system controls the data acquisition time synchronization of the micro inertial measurement device, the odometer and the satellite signal receiver according to the time service pulse signal or the time keeping pulse signal to acquire synchronous acquisition data; compensating the acquisition delay time of the synchronous acquisition data by a linear interpolation method according to the UTC information to obtain synchronous navigation data;
the FPGA chip is specifically used for:
when the second pulse signal and the UTC information are successfully received, correcting the first pulse signal through the second pulse signal to obtain a synchronous time service pulse signal;
when the second pulse signal and the UTC information fail to be received, according to the UTC information and the second pulse signal which are received last before the receiving failure, resolving through the first pulse signal to obtain a synchronous time-keeping pulse signal;
The FPGA chip is further configured to:
and when the second pulse signal and the UTC information fail to be received, adding one second to the time second bit of the UTC information when the first pulse signal arrives according to the UTC information and the second pulse signal which are finally received before the receiving failure, and obtaining a synchronous time-keeping pulse signal.
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