CN108168503A - A kind of three-component induction coil attitude data acquisition system and method - Google Patents
A kind of three-component induction coil attitude data acquisition system and method Download PDFInfo
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- CN108168503A CN108168503A CN201711389160.XA CN201711389160A CN108168503A CN 108168503 A CN108168503 A CN 108168503A CN 201711389160 A CN201711389160 A CN 201711389160A CN 108168503 A CN108168503 A CN 108168503A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The present invention discloses a kind of three-component induction coil attitude data acquisition system and method, including：Microcontroller, attitude transducer, GPS module, microcomputer, airborne computer；The microcontroller is connected respectively with the attitude measurement module and the GPS module, for obtaining the attitude data of three-component induction coil and at the first time stamp data and being combined the attitude data of the three-component induction coil and first time stamp data；The microcomputer is connected with the microcontroller, for receiving the attitude data of the three-component induction coil after the combination and at the first time stamp data, and the attitude data and stamp data at the first time of the three-component induction coil after the combination is handled；The airborne computer is connected with the microcomputer, for receiving treated stamp data and the attitude data, and carry out real-time display at the first time.The present invention can be realized to be acquired, handle and shows to the attitude data of three-component induction coil in real time.
Description
Technical field
The present invention relates to Aero Geophysical Survey, more particularly to a kind of three-component induction coil attitude data acquisition system and
Method.
Background technology
Three-component induction coil is mainly applied to Aero Geophysical Survey, is used for detecting mineral, the three-component line of induction
Circle is fixed on gondola, and the attitude information of three-component coil does collected Magnetic Field data inversion with great meaning
Justice, therefore, the posture for understanding three-component coil in real time are most important.At present, the country is to collected three-component coil posture number
According to processing mode be by attitude information and timestamp information storage to after aircrafts in SD card, is waited to land, data are taken out, and and
Other data are matched according to timestamp information, by it is offline it is non real-time in a manner of data are handled.This mode is deposited
The shortcomings that be difficult in flight when find that search coverage mining site distribution, can only the grounding the complete data of post analysis take off again
It goes to detect, it is impossible to realize the real-time acquisition and processing of attitude data, increase the cost of detection.Therefore, it is necessary to provide one
Three-component induction coil attitude data acquisition system is planted to solve the above problems.
Invention content
The object of the present invention is to provide a kind of three-component induction coil attitude data acquisition system and methods, realize to three points
The attitude data of amount induction coil is acquired, handles and shows in real time.
To achieve the above object, the present invention provides following schemes：
A kind of three-component induction coil attitude data acquisition system, including：It is microcontroller, attitude transducer, GPS module, micro-
Type computer, airborne computer, first serial, second serial, third serial ports, spi bus, cable；
The microcontroller, the attitude transducer, the GPS module, the microcomputer are arranged on gondola；It is described
Airborne computer is set aboard；
The microcontroller is connected by first serial with the attitude transducer, for obtaining the appearance of three-component induction coil
State data；
The microcontroller is also connected by second serial with the GPS module, for obtaining stamp data at the first time；
The microcontroller is additionally operable to the attitude data and first time stamp data being combined；
The microcomputer is connected by the third serial ports and the spi bus with the microcontroller, for receiving
Attitude data and stamp data, and being carried out to the attitude data after the combination and first time stamp data at the first time after combination
Processing；
The airborne computer is connected by cable with the microcomputer, for receiving treated the posture number
According to and time stamp data, and carry out real-time display.
Optionally, the first time stamp data acquire the posture of three-component induction coil for the attitude transducer in real time
Time.
Optionally, the described pair of attitude data combined and time data handle and are specifically included：By the posture after combination
Data and first time stamp data are packaged into ROS message packages.
Optionally, time server is installed, when the time server is for obtaining second on the airborne computer
Between stab data；Real-time time on the basis of second time stamp data；
Time-Client end is installed, for obtaining second time stamp data on the microcomputer.
Optionally, the first serial, second serial, third serial ports are UART serial ports.
Optionally, the microcomputer is Raspberry Pi development board.
Optionally, the model STM32F427VI of the microcontroller.
The present invention also provides a kind of three-component induction coil attitude data acquisition method, the method includes：
The attitude data of three-component induction coil is obtained by attitude transducer；
Stamp data at the first time are obtained by GPS module, the first time stamp data is obtain three-component sensing in real time
The time of the posture of coil；
By microcontroller by the attitude data of the three-component induction coil and corresponding first time stab data into
Row combination, and by the data transmission after combination to microcomputer；
First time after the combination is stabbed by data by the microcomputer and attitude data is packaged into ROS message
Packet, and the ROS message packages are transmitted to airborne computer；
By running ROS systems on airborne computer, and it is real by the posture of three-component induction coil to pass through RVIZ softwares
When be shown on the display screen of airborne computer.
Optionally, the method further includes：
Second time stamp data, the second timestamp number are obtained by the time server being mounted on airborne computer
The real-time time on the basis of；
Second time stamp data is obtained, and pass through institute by the Time-Client end being mounted on the microcomputer
When stating microcomputer to be compared first time stamp data and second time stamp data, and judging described first
Between stamp data and second time stamp data difference whether be more than given threshold, obtain judging result；
When the judging result represents that the difference of the first time stamp data and the second time stamp data is more than setting threshold
During value, destroy stamp data at the first time and stab corresponding attitude data at the first time；
When the judging result represents that the difference of the first time stamp data and the second time stamp data is less than setting threshold
During value, retain stamp data at the first time and stab corresponding attitude data at the first time.
According to specific embodiment provided by the invention, the invention discloses following technique effects：
The present invention provides a kind of three-component induction coil attitude data acquisition system and method, is provided with microcontroller, posture
Sensor, GPS module, microcomputer, airborne computer；The microcontroller respectively with the attitude transducer and the GPS
Module is connected, and the microcomputer is connected with the microcontroller, and the airborne computer is connected with the microcomputer, energy
It is enough to realize acquiring, handle and showing in real time to three-component induction coil.Time server is provided on airborne computer,
Time-Client end is provided on microcomputer, can realize the time synchronization of multiple devices.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is three-component induction coil attitude data acquisition system structure chart of the embodiment of the present invention；
Fig. 2 is three-component induction coil attitude data acquisition method flow chart of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of three-component induction coil attitude data acquisition system and methods, realize to three points
The attitude data of amount induction coil is acquired, handles and shows in real time.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is three-component induction coil attitude data acquisition system structure chart of the embodiment of the present invention.It is as shown in Figure 1, a kind of
Three-component induction coil attitude data acquisition system, including：Attitude transducer 101, GPS module 102, microcontroller 103, microcomputer
Calculation machine 104, airborne computer 105, the first UART serial ports, the 2nd UART serial ports, the 3rd UART serial ports, spi bus, cable；
The attitude transducer 101, the GPS module 102, the microcontroller 103, the microcomputer 104 are set
On gondola；The airborne computer 105 is set aboard；
The microcontroller 103 is connected by the first UART serial ports with the attitude transducer 101, for obtaining three-component sense
Answer the attitude data of coil；
The microcontroller 103 is also connected by the 2nd UART serial ports with the GPS module 102, for obtaining at the first time
Stab data；The first time stamp data acquire the time of the posture of three-component induction coil for the attitude transducer in real time.
After the microcontroller 103 collects the attitude data and at the first time stamp data, and by the attitude data and
The first time stamp data are combined, i.e. the T1 moment corresponds to T1 moment corresponding attitude data.
The microcomputer 104 passes through the 3rd UART serial ports and the spi bus and 103 phase of microcontroller
Even, for receiving the attitude data after combining and stamp data, and during to the attitude data after the combination and first at the first time
Between stamp data be packaged into robot operating system (Robot Operating System ROS) message package, with improve processing effect
Rate；
The airborne computer 105 is connected by 150 meters of cable with the microcomputer 104, is packaged for receiving
Attitude data and time stamp data afterwards, and carry out real-time display.
Time server is installed, the time server is for the second timestamp of acquisition on the airborne computer 105
Data；Real-time time on the basis of second time stamp data；
Time-Client end is installed on the microcomputer 104, for obtaining second time stamp data.
Specifically, the microcomputer 104 is Raspberry Pi development board, system is based on (SuSE) Linux OS.
Specifically, the model STM32F427VI of the microcontroller.
Fig. 2 is three-component induction coil attitude data acquisition method flow chart of the embodiment of the present invention.As shown in Fig. 2, this hair
It is bright to still further provide a kind of three-component induction coil attitude data acquisition method, the method includes：
Step 201, attitude data is obtained：The attitude data of three-component induction coil is obtained by attitude transducer；
Step 202, stamp data at the first time are obtained：Stamp data at the first time, the first time are obtained by GPS module
Stab the time of posture of the data to obtain three-component induction coil in real time；
Step 203, to the attitude data and at the first time, stamp data are combined and transmit：By microcontroller by described in
The attitude data of three-component induction coil and the corresponding first time stamp data are combined, and the data after combination are passed
Transport to microcomputer；
Step 204, to the attitude data after combination and at the first time, stamp data are packaged and are transmitted：By described
First time stamp data after the combination and attitude data are packaged into ROS message packages, and the ROS is disappeared by microcomputer
Breath packet is transmitted to airborne computer；
Specifically, described beaten the first time stamp data after the combination and attitude data by the microcomputer
ROS message packages are bundled into specifically include：
1. establish the file of entitled gesture.msg
2. the data type defined in gesture.msg files
Headerheader
Uint 32seq
Time stamp
String frame_id
Time gps_time
Float64roll
Float64pitch
Wherein, Header data types are compound types, and the inside includes seq, stamp, frame_id, and gps_time is
The time that GPS module obtains, Roll is roll angle, and pitch is pitch angle, and the roll angle and pitch angle are attitude data, from
It is read in attitude transducer.
Step 205, the attitude data and at the first time stamp data are shown：By running ROS systems on airborne computer
System, and pass through RVIZ (ros-visualization) softwares by the posture real-time display of three-component induction coil in airborne calculating
On the display screen of machine；
Step 206, the second time stamp data is obtained：Second is obtained by the time server being mounted on airborne computer
Time stamp data, real-time time on the basis of second time stamp data；
Step 207, data and the second time stamp data are relatively stabbed at the first time, obtain comparison result：By being mounted on
It states Time-Client end on microcomputer and obtains second time stamp data, and pass through the microcomputer by described the
One time stamp data and second time stamp data are compared, and judge first time stamp data and it is described second when
Between stamp data difference whether be more than given threshold, obtain judging result；
Step 208, analysis comparison result is drawn a conclusion：When the judging result represents first time stamp data and the
When the difference of two time stamp datas is more than given threshold, destroys stamp data at the first time and stab corresponding posture number at the first time
According to；
When the judging result represents that the difference of the first time stamp data and the second time stamp data is less than setting threshold
During value, retain stamp data at the first time and stab corresponding attitude data at the first time.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Specific case used herein is expounded the principle of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of three-component induction coil attitude data acquisition system, which is characterized in that including：Microcontroller, attitude transducer,
GPS module, microcomputer, airborne computer, first serial, second serial, third serial ports, spi bus, cable；
The microcontroller, the attitude transducer, the GPS module, the microcomputer are arranged on gondola；It is described airborne
Computer installation is aboard；
The microcontroller is connected by first serial with the attitude transducer, for obtaining the posture number of three-component induction coil
According to；
The microcontroller is also connected by second serial with the GPS module, for obtaining stamp data at the first time；
The microcontroller is additionally operable to the attitude data and first time stamp data being combined；
The microcomputer is connected by the third serial ports and the spi bus with the microcontroller, is combined for receiving
Attitude data afterwards and stamp data at the first time, and the attitude data after the combination and first time are stabbed at data
Reason；
The airborne computer is connected by the cable with the microcomputer, for receiving treated the posture number
According to and time stamp data, and carry out real-time display.
2. a kind of three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that described
One time stamp data acquires the time of the posture of three-component induction coil for the attitude transducer in real time.
3. a kind of three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that described right
Attitude data and first time stamp data after the combination carry out processing and specifically include：By the attitude data after combination and first
Time stamp data is packaged into ROS message packages.
4. a kind of three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that
Time server is installed, the time server is for the second time stamp data of acquisition on the airborne computer；Institute
State real-time time on the basis of the second time stamp data；
Time-Client end is installed, for obtaining second time stamp data on the microcomputer.
5. a kind of three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that described
One serial ports, the second serial, the third serial ports are UART serial ports.
6. a kind of three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that described micro-
Type computer is Raspberry Pi development board.
A kind of 7. three-component induction coil attitude data acquisition system according to claim 1, which is characterized in that the list
The model STM32F427VI of piece machine.
8. a kind of three-component induction coil attitude data acquisition method, which is characterized in that the method includes：
The attitude data of three-component induction coil is obtained by attitude transducer；
Stamp data at the first time are obtained by GPS module, the first time stamp data is obtain three-component induction coil in real time
Posture time；
The attitude data of the three-component induction coil and the corresponding first time are stabbed by data by microcontroller and carry out group
It closes, and by the data transmission after combination to microcomputer；
First time after the combination is stabbed by data by the microcomputer and attitude data is packaged into ROS message packages,
And the ROS message packages are transmitted to airborne computer；
By running ROS systems on airborne computer, and pass through RVIZ softwares and show the posture of three-component induction coil in real time
Show on the display screen of airborne computer.
A kind of 9. three-component induction coil attitude data acquisition method according to claim 8, which is characterized in that the side
Method further includes：
Second time stamp data, the second timestamp number are obtained by the time server being mounted on the airborne computer
The real-time time on the basis of；
Second time stamp data is obtained, and pass through described micro- by the Time-Client end being mounted on the microcomputer
Are stabbed data by the first time for type computer and second time stamp data is compared, and judges the first time stamp
Whether data and the difference of second time stamp data are more than given threshold, obtain judging result；
When the judging result represents that the difference of the first time stamp data and the second time stamp data is more than given threshold,
It destroys the first time stamp data and the first time stabs corresponding attitude data；
When the judging result represents that the difference of the first time stamp data and second time stamp data is less than setting threshold
During value, retain the first time stamp data and the first time stabs corresponding attitude data.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103424115A (en) * | 2013-07-19 | 2013-12-04 | 上海理工大学 | Micro miniature aircraft ground test attitude recorder |
| CN204270149U (en) * | 2014-12-18 | 2015-04-15 | 北京健德乾坤导航系统科技有限责任公司 | A kind of micro air attitude measurement and pen recorder |
| CN106197413A (en) * | 2016-07-08 | 2016-12-07 | 北京航空航天大学 | A kind of airborne distributed location attitude measurement system |
| CN106289250A (en) * | 2016-08-16 | 2017-01-04 | 福建工程学院 | A kind of course information acquisition system |
| CN107270904A (en) * | 2017-06-23 | 2017-10-20 | 西北工业大学 | Unmanned plane auxiliary guiding control system and method based on image registration |
-
2017
- 2017-12-21 CN CN201711389160.XA patent/CN108168503B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103424115A (en) * | 2013-07-19 | 2013-12-04 | 上海理工大学 | Micro miniature aircraft ground test attitude recorder |
| CN204270149U (en) * | 2014-12-18 | 2015-04-15 | 北京健德乾坤导航系统科技有限责任公司 | A kind of micro air attitude measurement and pen recorder |
| CN106197413A (en) * | 2016-07-08 | 2016-12-07 | 北京航空航天大学 | A kind of airborne distributed location attitude measurement system |
| CN106289250A (en) * | 2016-08-16 | 2017-01-04 | 福建工程学院 | A kind of course information acquisition system |
| CN107270904A (en) * | 2017-06-23 | 2017-10-20 | 西北工业大学 | Unmanned plane auxiliary guiding control system and method based on image registration |
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