CN107809463B - Interaction method between lower computer and upper computer of double-shaft laser strapdown inertial measurement unit - Google Patents
Interaction method between lower computer and upper computer of double-shaft laser strapdown inertial measurement unit Download PDFInfo
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- CN107809463B CN107809463B CN201710880842.4A CN201710880842A CN107809463B CN 107809463 B CN107809463 B CN 107809463B CN 201710880842 A CN201710880842 A CN 201710880842A CN 107809463 B CN107809463 B CN 107809463B
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Abstract
The invention discloses an interaction method between a lower computer and an upper computer of a biaxial laser strapdown inertial measurement unit, which comprises the following steps of: when the data interface has data, the upper computer copies the data to the receiving buffer area; and (3) data processing: copying and processing the data to a processing buffer area, then putting the data into a log buffer area, and writing the data into a file; reading parameters: the upper computer sends a parameter reading instruction to the lower computer, and sends the next parameter reading instruction after the upper computer reads the parameters; a parameter writing step: and the upper computer sends a parameter writing instruction to the lower computer, and after all the parameters are written into the lower computer, the upper computer reads the written parameters in batches and compares the parameters. The invention can effectively solve the problem of data loss of large data serial port acquisition, thereby realizing high-frequency data acquisition; the invention can not only realize high-speed and accurate reading of the parameters, but also ensure all correct parameter writing.
Description
Technical Field
The invention relates to the technical field of a double-shaft laser strapdown inertial measurement unit, in particular to an interaction method between a lower computer and an upper computer of the double-shaft laser strapdown inertial measurement unit.
Background
At present, the double-shaft laser strapdown inertial measurement unit has a large number of internal and external data interfaces. In a research and development stage, a test stage and a maintenance stage, due to technical limitations, an unreasonable interaction mode is adopted between an upper computer and a lower computer in a conventional scheme, the problem of lost data often exists when data acquisition is carried out on the lower computer of a biaxial laser strapdown inertial measurement unit, and acquired data are inaccurate and incomplete; moreover, when the upper computer reads and writes parameters to the lower computer, the conventional scheme cannot give consideration to the accuracy and the speed of parameter reading and writing.
Therefore, how to improve the accuracy and integrity of the upper computer for acquiring the data of the lower computer of the dual-axis laser strapdown inertial measurement unit and how to give consideration to the accuracy and speed of reading and writing the parameters becomes a key point for the technical personnel in the field to urgently solve the technical problems and research all the time.
Disclosure of Invention
In order to solve the problems that data are lost when an upper computer collects data of a double-shaft laser strapdown inertial measurement unit lower computer and the accuracy and speed of parameter reading and writing cannot be considered in the prior art, the invention innovatively provides an interaction method between the double-shaft laser strapdown inertial measurement unit lower computer and the upper computer, and the technical problems are effectively solved by combining a multi-buffering technology and a multi-thread processing technology.
In order to achieve the technical purpose, the invention discloses an interaction method between a lower computer and an upper computer of a biaxial laser strapdown inertial measurement unit, which comprises the following steps,
a data acquisition step: when data exist in a data interface between an upper computer and a lower computer, the upper computer copies the data to a receiving buffer area in an interruption mode;
and (3) data processing: copying the data in the receiving buffer area to a processing buffer area, processing the data in the processing buffer area by taking a frame as a unit, putting the processed data into a log buffer area, and writing the data in the log buffer area into a file;
reading parameters: the upper computer sends a parameter reading instruction to a lower computer, the lower computer sends parameters to the upper computer after receiving the parameter reading instruction, and the upper computer sends a next parameter reading instruction after reading the parameters until the upper computer reads all the parameters;
a parameter writing step: and the upper computer sends a parameter writing instruction to the lower computer at regular time, and after all parameters are written into the lower computer, the upper computer reads the written parameters in batch and compares the parameters.
The invention innovatively adopts the multiple buffering technology, effectively solves the problem of data loss in large-data serial port acquisition, and realizes high-frequency data acquisition; the upper computer of the invention realizes high-speed and accurate reading of parameters by sending the instruction thread and receiving the instruction thread, and ensures all correct parameter writing through batch reading and comparison after parameter writing is finished.
Further, the interaction method also comprises a locking control step;
locking and releasing control steps: the upper computer obtains the burn-in time, circularly sends a locking control instruction and a lowering control instruction to the lower computer in the burn-in time, and directly controls the inertia device to perform locking action and lowering action through the lower computer.
Further, the locking control step comprises the following steps;
step 11, the upper computer obtains the aging time and reads the set target cycle times;
step 12, the upper computer sends a locking control instruction to the lower computer, if the upper computer receives a locking completion instruction sent by the lower computer within a first specified time, the upper computer sends a lowering control instruction to the lower computer after a first interval time, and step 13 is executed; if the upper computer does not receive a locking completion instruction sent by the lower computer within the first specified time, executing the step 14;
step 13, if the upper computer receives a placing completion instruction sent by the lower computer within a second specified time and the historical times of sending a placing control instruction by the upper computer are less than the target cycle times, returning to the step 12 after a second interval time; if the upper computer does not receive the lowering completion instruction sent by the lower computer within the second specified time, executing the step 14;
and 14, reporting an error by the upper computer, and finishing the locking and releasing control step.
Based on the improved technical scheme, the invention adopts an automatic control technology to control the relevant locking and unlocking mechanism to automatically perform the aging process, continuously perform locking operation and lowering operation, grind the locking and unlocking mechanism and prevent the occurrence of unsmooth situation in later use, thereby effectively solving the problem that the conventional zooming control process needs artificial cycle control for thousands of times, and further achieving the technical purposes of saving time and labor and improving the working efficiency.
Furthermore, in the data processing step, an independent thread is adopted in the process of writing the data in the log buffer into the file, and the log buffer is read at intervals of 1 second; writing data to a file under the condition that the data exists in the log buffer; if the log buffer has no data, the log buffer is read after 5 seconds.
Further, in the parameter reading step, if the upper computer does not receive the parameter after sending the parameter reading instruction, the current parameter reading instruction is repeatedly sent.
Further, in the parameter reading step, if the upper computer repeatedly sends the current parameter reading instruction for 3 times and still does not receive the parameter, the parameter reading operation is stopped and an error is reported.
Further, in the parameter reading step, the read parameters are saved by an xls format file in the upper computer.
Further, in the parameter reading step, the upper computer reads the parameters in batch.
Further, in the parameter reading step, the read parameters are displayed on the upper computer.
Further, in the parameter writing step, written parameters and batch read written parameters are correspondingly displayed in columns on the upper computer.
The invention has the beneficial effects that: the invention innovatively adopts the multiple buffering technology, effectively solves the problem of data loss in large-data serial port acquisition, and realizes high-frequency data acquisition; the upper computer of the invention realizes high-speed and accurate reading of the parameters by sending the instruction thread and receiving the instruction thread, and ensures all correct parameter writing through batch reading and comparison after the parameter writing is finished.
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FIG. 1 is a schematic flow chart of an interaction method between a lower computer and an upper computer of a biaxial laser strapdown inertial measurement unit.
FIG. 2 is a flow chart illustrating the lock release control procedure.
Detailed Description
The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit related to the invention is explained and explained in detail below by combining the drawings of the specification.
The double-shaft laser strapdown inertial measurement unit has a plurality of internal and external data interfaces, and in a research and development stage and a test stage, so that in a maintenance stage, an upper computer and a lower computer of the double-shaft laser strapdown inertial measurement unit need to be debugged again to communicate, so that the use is very inconvenient, namely: the upper computer is required to be changed after the lower computer is changed, and disorder is easily caused, and the invention can combine different upper computers, realize reasonable interaction between the upper computer and the lower computer, better assist the research and development, test, production and after-sales service of the lower computer of the biaxial laser strapdown inertial set, and accelerate the research and development progress of the lower computer of the biaxial laser strapdown inertial set.
Specifically, as shown in fig. 1, the invention discloses an interaction method between a lower computer and an upper computer of a biaxial laser strapdown inertial measurement unit, which comprises the following steps.
Locking and releasing control steps: the upper computer obtains the burn-in time, circularly sends a locking control instruction and a lowering control instruction to the lower computer in the burn-in time, and directly controls the inertia device to perform locking action and lowering action through the lower computer.
More specifically, as shown in fig. 2, the lock release control step in the present invention includes the following steps 11 to 14.
And 11, the upper computer acquires the aging time and reads the set target cycle number, and when the aging time is specifically realized through a program, while cycle can be set, and the cycle number can be smaller than the set target cycle number.
Step 12, the upper computer sends a locking control instruction to the lower computer, the locking control instruction can be sent by calling, if the upper computer receives a locking completion instruction sent by the lower computer within a first specified time, the upper computer sends a lowering control instruction to the lower computer after a first interval time, and step 13 is executed; and if the upper computer does not receive the locking completion instruction sent by the lower computer within the first specified time, executing the step 14.
Step 13, if the upper computer receives a placing completion instruction sent by the lower computer within a second specified time and the historical times of sending a placing control instruction by the upper computer are less than the target cycle times, returning to the step 12 after a second interval time; and if the upper computer does not receive the lowering completion instruction sent by the lower computer within the second specified time, executing the step 14.
And 14, reporting an error by the upper computer, and finishing the locking and releasing control step.
In addition, in the light of the teaching of the present invention, the "first predetermined time", "first interval time", "second predetermined time", and "second interval time" can be selected appropriately and judiciously according to the specific use situation.
A data acquisition step: the acquisition function of the upper computer can integrate various data acquisition protocols, the embodiment is 8 data acquisition protocols, the data acquisition protocols enable the upper computer to be a universal upper computer and to be suitable for different inertial group platforms, and when data exist in a data interface between the upper computer and the lower computer, the upper computer copies the data to a receiving buffer area in an interruption mode;
and (3) data processing: copying the data in the receiving buffer area to a processing buffer area, processing the data in the processing buffer area by taking a frame as a unit, namely processing the data after the data in the processing buffer area is full of one frame, putting the processed data into a log buffer area, assigning a global display variable at the moment to realize a display function of subsequent data acquisition, and writing the data in the log buffer area into a file; in the embodiment, an independent thread is adopted in the process of writing the data in the log buffer into the file, and the log buffer is read at intervals of 1 second; writing data to a file under the condition that the data exists in the log buffer; if the log buffer has no data, the log buffer is read after 5 seconds.
The invention innovatively combines a multiple buffering technology and a multi-line processing technology, and effectively solves the problem of large data serial port acquisition loss, thereby realizing high-frequency data acquisition and realizing data acquisition of 1KHz or even 5 KHz. The acquisition board of the upper computer integrates all data transmission protocols, and effectively solves the problem that a plurality of upper computers need to be switched back and forth when data are acquired in the prior art.
Reading parameters: the parameters used by mathematical models in the biaxial laser strapdown inertial unit are numerous, and the parameters of each biaxial laser strapdown inertial unit are different due to the characteristics of inertial devices, installation errors and the like, so that a large number of parameters need to be acquired in the research and development or production debugging process. When reading the parameters, two threads are arranged in the upper computer for interaction: a send instruction thread and a receive parameter thread. Specifically, firstly, an xls format file for storing parameter data is opened, available information such as parameter addresses and parameter names is obtained, then an upper computer sends a parameter reading instruction to a lower computer and waits, the lower computer sends parameters to the upper computer after receiving the parameter reading instruction, the upper computer sends a next parameter reading instruction after reading the parameters (the process actually receives the parameter data by a parameter thread and informs the sending instruction thread to send the next parameter reading instruction) until the upper computer reads all the parameters, the read parameters are displayed on the upper computer in the reading process, the data display thread is realized by a data display thread, the data display thread adopts a timing mode, time interruption is made according to display requirements, and the current value of a global display variable is read and assigned to a display page; in this embodiment, if the upper computer does not receive the parameter after sending the parameter reading instruction, the current parameter reading instruction is repeatedly sent; if the upper computer repeatedly sends the current parameter reading instruction for 3 times and still does not receive the parameter, stopping the parameter reading operation and reporting an error; in this embodiment, the read parameters are saved by an xls format file in the upper computer, and the upper computer reads the parameters in batches.
A parameter writing step: firstly, an xls format file for storing parameter data is opened, available information such as parameter addresses and parameter names is obtained, an upper computer sends a parameter writing instruction to a lower computer at regular time, and after all parameters are written into the lower computer, the upper computer reads written parameters in batches and compares the written parameters to ensure that all parameter writing is correct. In this embodiment, in order to check the parameter writing condition more intuitively, the written parameters and the written parameters read in batch are displayed on the upper computer in rows correspondingly, specifically, the returned parameters are displayed in the returned parameter row, and the initial value setting row and the returned parameter row are compared to ensure that the parameter writing is all correct.
The invention effectively improves the reading and writing speed on the premise of ensuring the correct parameter reading and writing by reading and writing the batch parameters and increasing the interaction process during parameter reading and writing.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "the present embodiment," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and simplifications made in the spirit of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. An interaction method between a lower computer and an upper computer of a biaxial laser strapdown inertial measurement unit is characterized in that: the interactive method comprises the following steps of,
a data acquisition step: when data exist in a data interface between an upper computer and a lower computer, the upper computer copies the data to a receiving buffer area in an interruption mode;
and (3) data processing: copying the data in the receiving buffer area to a processing buffer area, processing the data in the processing buffer area by taking a frame as a unit, putting the processed data into a log buffer area, and writing the data in the log buffer area into a file;
reading parameters: the upper computer sends a parameter reading instruction to a lower computer, the lower computer sends parameters to the upper computer after receiving the parameter reading instruction, and the upper computer sends a next parameter reading instruction after reading the parameters until the upper computer reads all the parameters;
a parameter writing step: the upper computer sends a parameter writing instruction to the lower computer at regular time, and after all parameters are written into the lower computer, the upper computer reads the written parameters in batch and compares the parameters;
in the data processing step, an independent thread is adopted in the process of writing the data in the log buffer area into the file; in the parameter reading step, two threads are arranged in the upper computer for interaction: sending an instruction thread and receiving a parameter thread; and the read parameters are displayed on the upper computer and are realized through a data display thread.
2. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 1, wherein: the interaction method further comprises a locking and releasing control step;
locking and releasing control steps: the upper computer obtains the burn-in time, circularly sends a locking control instruction and a lowering control instruction to the lower computer in the burn-in time, and directly controls the inertia device to perform locking action and lowering action through the lower computer.
3. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 2, wherein: the locking control step comprises the following steps;
step 11, the upper computer obtains the aging time and reads the set target cycle times;
step 12, the upper computer sends a locking control instruction to the lower computer, if the upper computer receives a locking completion instruction sent by the lower computer within a first specified time, the upper computer sends a lowering control instruction to the lower computer after a first interval time, and step 13 is executed; if the upper computer does not receive a locking completion instruction sent by the lower computer within the first specified time, executing the step 14;
step 13, if the upper computer receives a placing completion instruction sent by the lower computer within a second specified time and the historical times of sending a placing control instruction by the upper computer are less than the target cycle times, returning to the step 12 after a second interval time; if the upper computer does not receive the lowering completion instruction sent by the lower computer within the second specified time, executing the step 14;
and 14, reporting an error by the upper computer, and finishing the locking and releasing control step.
4. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to any one of claims 1 to 3, wherein: in the data processing step, reading a log buffer area every 1 second; writing data to a file under the condition that the data exists in the log buffer; if the log buffer has no data, the log buffer is read after 5 seconds.
5. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 4, wherein: in the parameter reading step, if the upper computer does not receive the parameters after sending the parameter reading instruction, the current parameter reading instruction is repeatedly sent.
6. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 5, wherein: in the parameter reading step, if the upper computer repeatedly sends the current parameter reading instruction for 3 times and still does not receive the parameter, the parameter reading operation is stopped and an error is reported.
7. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 6, wherein: in the parameter reading step, the read parameters are saved through an xls format file in the upper computer.
8. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 1, 6 or 7, wherein: in the parameter reading step, the upper computer reads parameters in batches.
9. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 8, wherein: in the parameter reading step, the read parameters are displayed on the upper computer.
10. The interaction method between the lower computer and the upper computer of the biaxial laser strapdown inertial measurement unit according to claim 1 or 9, wherein: in the parameter writing step, written parameters and batch read written parameters are correspondingly displayed in columns on the upper computer.
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