CN108279430A - Data synchronize method, apparatus, computer equipment and the storage medium of positioning - Google Patents
Data synchronize method, apparatus, computer equipment and the storage medium of positioning Download PDFInfo
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- CN108279430A CN108279430A CN201711425491.4A CN201711425491A CN108279430A CN 108279430 A CN108279430 A CN 108279430A CN 201711425491 A CN201711425491 A CN 201711425491A CN 108279430 A CN108279430 A CN 108279430A
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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
-
- 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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to method, apparatus, computer equipment and storage mediums that a kind of data synchronize positioning.A kind of method that data synchronize positioning, includes the following steps：According to PPS signal, timing initial time is set, the data of inertial navigation system module are read in timing, obtain inertial navigation data packet, according to default timing cycle, periodic markings inertial navigation data packet, obtain carrying the inertial navigation data packet of the message identification of timing cycle, the time precision of default timing cycle is less than or equal to nanosecond, obtain the data of satellite navigation and location system module, according to the data of the inertial navigation data packet and satellite navigation and location system module of the message identification for carrying timing cycle, positioning result is determined.This programme improves the precision of high data localization method synchronous with satellite navigation and location system data by the delay time error of the delay time error of the data of reduction satellite navigation and location system module and the data of inertial navigation system module.
Description
Technical field
The present invention relates to satellite navigation and positioning fields, synchronize the method, apparatus of positioning more particularly to a kind of data, calculate
Machine equipment and storage medium.
Background technology
Most common combined system is that satellite is led in satellite navigation and positioning field, existing practical high accuracy positioning equipment
Boat positioning system adds inertial navigation system, and the high-precision under mobile environment is realized by the combination of the two system advantage complementation
Positioning.
It is using the mode that satellite navigation and location system adds inertial navigation system to realize high accuracy positioning under existing system：
It configures two serial ports under system to input as reception, the data of the satellite navigation and location system of a serial ports input card, separately
One serial ports inputs the data of the inertial navigation system of another board synchronization identical carrier, and system reads two serial ports respectively
Data parse and obtain the initial data of two systems, parse satellite navigation and location system initial data can obtain it is current
The time of satellite navigation and location system, while the inertial navigation system for marking current serial ports to obtain the time and being obtained after parsing
Initial data, can so acquire one carry time tag inertial navigation data packet, then reuse this
Data packet and the initial data of satellite navigation and location system carry out combined in real time resolving and are exported.Due to the satellite of board output
All there is delay time error in the data of navigation positioning system and the data of inertial navigation system, cause this using satellite navigation and positioning
The precision of the method for the data of system positioning synchronous with the data of inertial navigation system is low.
Invention content
Based on this, it is necessary to be directed to the data positioning synchronous with the data of inertial navigation system of satellite navigation and location system
The low problem of the precision of method provides method, apparatus, computer equipment and storage medium that a kind of data synchronize positioning.
A kind of method that data synchronize positioning, includes the following steps：
Timing initial time is set according to PPS (Pulse Per Second, pulses per second) signal, inertia is read in timing
The data of navigation system module obtain inertial navigation data packet；
According to default timing cycle, periodic markings inertial navigation data packet obtains the message identification for carrying timing cycle
Inertial navigation data packet, preset timing cycle time precision be less than or equal to nanosecond；
Obtain the data of satellite navigation and location system module；
According to the number of the inertial navigation data packet and satellite navigation and location system module of the message identification for carrying timing cycle
According to determining positioning result.
Further include before the step of timing initial time is set according to PPS signal in one of the embodiments,：
Receive PPS signal.
Further include before the step of receiving PPS signal in one of the embodiments,：
The state for detecting satellite navigation and location system module is created when satellite navigation and location system module normally locks
Receive the thread of PPS signal.
Further include before the step of state of detection satellite navigation and location system module in one of the embodiments,：
The thread communicated with satellite navigation and location system module is created, satellite navigation and location system module, configuration are initialized
Satellite navigation and location system module.
It is also wrapped before the step of creating the thread communicated with satellite navigation and location system module in one of the embodiments,
It includes：
The thread communicated with inertial navigation system module is created, inertial navigation system module is initialized.
It is led in one of the embodiments, according to the inertial navigation data packet for the message identification for carrying timing cycle and satellite
It navigates the data of positioning system modules, the step of determining positioning result includes：
Parsing carries the inertial navigation data packet of the message identification of timing cycle, obtains the message identification for carrying timing cycle
Inertial navigation system module data；
According to the inertial navigation system of the data of satellite navigation and location system module and the message identification for carrying timing cycle
The data of module determine positioning result.
Further include before the step of periodic markings inertial navigation data packet in one of the embodiments,：
According to preset data synchronization accuracy demand, adjusts and preset timing cycle.
A kind of data synchronize the device of positioning, including：
First read module, for timing initial time to be arranged according to PPS signal, inertial navigation system module is read in timing
Data, obtain inertial navigation data packet；
Mark module, for according to timing cycle is preset, periodic markings inertial navigation data packet to obtain carrying timing week
The inertial navigation data packet of the message identification of phase, the time precision for presetting timing cycle are less than or equal to nanosecond；
Second read module, the data for obtaining satellite navigation and location system module；
Processing module, for the inertial navigation data packet and satellite navigation and positioning according to the message identification for carrying timing cycle
The data of system module, determine positioning result.
A kind of computer equipment, including processor and memory, memory are stored with computer program, computer program quilt
When processor executes so that processor executes the step of data synchronize the method for positioning.
A kind of computer readable storage medium is stored with computer program, when computer program is executed by processor so that
Processor executes the step of data synchronize the method for positioning.
Above-mentioned data synchronize method, apparatus, computer equipment and the storage medium of positioning, are marked by introducing PPS signal
At the time of remembering that the initial data of satellite navigation and location system occurs, it the operation delay such as can will be packaged inside board and eliminate, reduce
The delay time error of the data of satellite navigation and location system module is arranged timing according to PPS signal and reads inertial navigation system module
Data initial time, correct the cumulative errors of fixed cycle operator, mark whole moment second, when timing cycle arrives, read used
The data of property navigation system module, obtain inertial navigation data packet, with the timing cycle equal to or less than nsec precision
As the label time of inertial navigation data packet, the label time precision of inertial navigation data packet is improved, reduces inertial navigation system
The delay time error of the data for module of uniting, realizes the accurate synchronization of high data, improve high data with
Satellite navigation and location system data synchronize the precision of localization method.
Description of the drawings
Fig. 1 is the flow diagram of one of the method that the data of the application synchronize positioning embodiment；
Fig. 2 is the flow diagram of one of the method that the data of the application synchronize positioning embodiment；
Fig. 3 is the structural schematic diagram that the data of the application synchronize one of the device of positioning embodiment；
Fig. 4 is the structural schematic diagram that the data of the application synchronize one of the device of positioning embodiment.
Specific implementation mode
It is with reference to the accompanying drawings and embodiments, right in order to make the object, technical solution and advantage of the application be more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
Body embodiment purpose, it is not intended that in limitation the application.It should be understood that each step in the flow chart of the application
It is shown successively according to the instruction of arrow, but these steps are not the inevitable sequence indicated according to arrow to be executed successively.Unless
It expressly states otherwise herein, there is no stringent sequences to limit for the execution of these steps, these steps can be with other suitable
Sequence executes.Moreover, at least part step in figure may include multiple sub-steps either these sub-steps of multiple stages or
Stage is not necessarily to execute completion in synchronization, but can execute at different times, these sub-steps or stage
Execution sequence be also not necessarily and carry out successively, but can be with other steps either sub-step of other steps or stage
At least part executes in turn or alternately.
As shown in Figure 1, a kind of method that data synchronize positioning, includes the following steps：
S500：Timing initial time is set according to PPS signal, timing is read the data of inertial navigation system module, obtained
Inertial navigation data packet.
Specifically, PPS signal refers to pps pulse per second signal, triggering in one second is primary, which is determined by global navigation satellite
Position system board generate, each second trigger a high or low pulse signal, be characterized as board receive satellite initial data when
It carves, general precision is 100ns (nano second, nanosecond), and general acquiescence is exactly the satellite whole second at the time of triggering the PPS signal
The observation moment of ephemeris.In the present embodiment, the initial data of satellite navigation and location system is marked to send out by introducing PPS signal
At the time of raw, it the operation delay such as can will be packaged inside board and eliminate.Meanwhile PPS signal is mainly used for that fixed cycle operator is arranged
Initial time corrects the accumulated error of fixed cycle operator, when MCU (Microcontroller Unit, micro-control unit) is detected
When PPS signal, the initial time of fixed cycle operator can be reset.
Inertial navigation system is a kind of independent of external information, also not to the self-aid navigation system of external radiation energy
System.Its working environment includes not only aerial, ground, can also be under water.The basic functional principle of inertial navigation system is with ox
Pause based on mechanics law, by measuring carrier in the acceleration of inertial reference system, it integrates the time, and it is become
It changes in navigational coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.Inertial navigation system
Subordination goes out it in calculating navigation mode from the position of a known point according to the heading of moving vehicle angle continuously measured and speed calculation
The position of subsequent point, thus can continuously measure the current location of movable body.Gyroscope in inertial navigation system is used for forming one
A navigational coordinate system makes the measurement axis of accelerometer stablize in the coordinate system, and provides course and attitude angle；Accelerometer is used
The acceleration of movable body is measured, obtains speed by the primary integral to the time, speed is using the primary integral to the time
It can be obtained displacement.
It include IMU (Inertial measurement unit, Inertial Measurement Unit) mould in inertial navigation system module
Block, it is the device for measuring object three-axis attitude angle (or angular speed) and acceleration.In general, an IMU contains three
Uniaxial accelerometer and three uniaxial gyros, accelerometer detection object found the acceleration of three axis in carrier coordinate system unification and independence
Signal, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system, measure the angular speed of object in three dimensions
And acceleration, and calculate with this posture of object.
Further, MCU completes the data to inertial navigation system module by way of I2C or spi bus communication
Reading, when timing cycle arrives, read inertial navigation system module data.The data packet of inertial navigation system module is
Include one group of data of all submodules of inertial navigation system module, MCU can individually read each in inertial navigation system
The data of submodule.
Further, the reading frequency of the data of inertial navigation system module is determined by timing cycle.For example, working as
, it can be achieved that the data of inertial navigation system module of 1 millisecond of reading when timing cycle is set as 1 millisecond, then in one second
Can complete the reading of the data of 1000 inertial navigation system modules, then at this time a PPS signal just just correspond to this 1000
The data of a inertial navigation system module, and the initial time of PPS signal just corresponds to this 1000 inertial navigation system modules
First data of data.
S700：According to default timing cycle, periodic markings inertial navigation data packet obtains the information for carrying timing cycle
The inertial navigation data packet of mark, the time precision for presetting timing cycle are less than or equal to nanosecond.
Specifically, presetting timing cycle first in MCU, when timing cycle arrives, inertial navigation system is read in timing
The data of module obtain inertial navigation data packet, after obtaining inertial navigation data packet, according to preset timing cycle, periodically
Label inertial navigation data packet, obtain carry timing cycle message identification inertial navigation data packet, wherein timing cycle
Message identification refer to the timing length of timing cycle.The time precision of default timing cycle is less than or equal to what nanosecond referred to
The time error for being preset timing cycle is nanosecond or other chronomeres more smaller than nanosecond.
Further, if for example, timing cycle is 1 millisecond, that is, 1000000 nanoseconds, then in timing cycle
When time precision is nanosecond, the timing cycle is centainly between nanosecond 99999 nanoseconds~1000001, and the period is maximum herein
The difference of value and minimum value did not exceeded for 2 nanoseconds.
S800：Obtain the data of satellite navigation and location system module.
Specifically, global navigation satellite system, is to dipper system, GPS (Global
PositioningSystem, global positioning system), GLONASS (GLONASS), these lists such as Galileo (Galileo) system
The unified appellation of a satellite navigation and location system can also refer to their enhanced system, and refer to all these satellite navigations
The addition mixture of positioning system and its enhanced system.It is pieced together by multiple satellite navigation and positionings and its enhanced system
The big system of composition.Global navigation satellite system is the star radio navigation system using artificial satellite as guidance station,
Round-the-clock, high-precision Position, Velocity and Time information, therefore it are provided for all kinds of the army and the people's carriers of global land, sea, air, outer space, day
Also known as space-based positioning, navigation and time dissemination system.
Dipper system is the global navigation satellite system that China voluntarily develops, by space segment, ground segment and user segment
Three parts form, can round-the-clock in the world, round-the-clock be all types of user provide in high precision, highly reliable position, navigate, award
When service, and have short message communication capacity, tentatively had area navigation, positioning and time service ability.
GPS is to develop the one kind established by U.S. Department of Defense to have comprehensive, round-the-clock, all the period of time, high-precision satellite
Navigation positioning system can provide the navigation such as low cost, high accuracy three-dimensional position, speed and accurate timing letter for Global Subscriber
Breath, is application examples of the communication technology of satellite in navigation field, it greatly improves the level of IT application of Terre des Hommes's meeting, effectively
Ground has pushed the development of digital economy.
GLONASS is that the second generation military satellite navigation independently developed and controlled by the Soviet Union (now by Russia) Ministry of National Defence is determined
Position system, similar to the GPS in the U.S., which also opens up civilian window.GLONASS technologies can be global aeroamphibious and close
The various military and civilian users in ground space are round-the-clock, continuously provide high accuracy three-dimensional position, three-dimensional velocity and temporal information.
GLONASS position, test the speed and timing accuracy on better than apply selection availability after GPS.
Galileo system is the civilian global navigation satellite system of a new generation dominated by European Union, it is controlled by two ground
Center processed and 30 satellite compositions, wherein 27 are operational satellites, 3 are backup satellite.Satellite orbital altitude about 2.4 ten thousand is public
In, it is located in the orbit plane that 3 inclination angles are 56 degree.
S900：According to the inertial navigation data packet and satellite navigation and location system module of the message identification for carrying timing cycle
Data, determine positioning result.
Specifically, corresponding inertia can be obtained in the inertial navigation data packet for carrying the message identification of timing cycle by parsing
The data of the data of inertial navigation system module and satellite navigation and location system module are carried out group by the data of navigation system module
It closes and resolves, accurate location data can be obtained, positioning result can be determined according to location data.
The method that above-mentioned data synchronize positioning marks the original number of satellite navigation and location system by introducing PPS signal
At the time of according to occurring, it the operation delay such as can will be packaged inside board and eliminate, and reduce the data of satellite navigation and location system module
Delay time error, according to PPS signal be arranged timing read inertial navigation system module data initial time, correction timing grasp
The cumulative errors of work mark whole moment second, when timing cycle arrives, read the data of inertial navigation system module, are used to
Property navigation pack, when using the timing cycle equal to or less than nsec precision as the label of inertial navigation data packet
Between, the label time precision of inertial navigation data packet is improved, the delay time error of the data of inertial navigation system module is reduced, is realized
The accurate synchronization of high data improves high data positioning synchronous with satellite navigation and location system data
The precision of method.
As shown in Fig. 2, further including before S500 in one of the embodiments,：
S400：Receive PPS signal.
Specifically, PPS signal is exported by the pin of the corresponding board of satellite navigation and location system module, believed by PPS
The initial time of the data of inertial navigation system module is read in number setting timing, reduces satellite navigation and location system module and inertia
Time error between navigation system module.
As shown in Fig. 2, further including before S400 in one of the embodiments,：
S300：The state for detecting satellite navigation and location system module, when satellite navigation and location system module normally locks,
Create the thread for receiving PPS signal.
Specifically, PPS signal is unstable when just starting output, by detecting satellite navigation and location system module
State, the PPS signal of i.e. exportable stabilization when satellite navigation and location system module normally locks create receive PPS at this time again
The thread of signal carries out signal transmission.
As shown in Fig. 2, further including before S300 in one of the embodiments,：
S200：The thread communicated with satellite navigation and location system module is created, satellite navigation and location system module is initialized,
Configure satellite navigation and location system module.
Specifically, MCU and satellite navigation and location system module use serial communication between passing through.At the beginning of use, first
Satellite navigation and location system module is configured by serial ports, opens each satellite system, request serial ports exports the original number of each system
According to, while the PPS signal of satellite navigation and location system module being asked to export.
As shown in Fig. 2, further including before S200 in one of the embodiments,：
S100：The thread communicated with inertial navigation system module is created, inertial navigation system module is initialized.
Specifically, MCU completes the initialization to inertial navigation system module by way of I2C or spi bus communication.
As shown in Fig. 2, S900 includes in one of the embodiments,：
S920：Parsing carries the inertial navigation data packet of the message identification of timing cycle, obtains the letter for carrying timing cycle
Cease the data of the inertial navigation system module of mark；
S940：According to the inertial navigation of the data of satellite navigation and location system module and the message identification for carrying timing cycle
The data of system module determine positioning result.
Specifically, can be obtained later by the inertial navigation data packet of the message identification of parsing carrying timing cycle corresponding
The data of inertial navigation system module, by the data of the data of inertial navigation system module and satellite navigation and location system module into
Row combination resolves, and accurate location data can be obtained, positioning result can be determined according to location data.
As shown in Fig. 2, further including before S700 in one of the embodiments,：
S600：According to preset data synchronization accuracy demand, adjusts and preset timing cycle.
Timing cycle is preset specifically, can be adjusted according to the synchronization accuracy demand in specific engineering.
As shown in figure 3, a kind of data synchronize the device of positioning, including：
Read module 500, for timing initial time to be arranged according to PPS signal, inertial navigation system module is read in timing
Data, obtain inertial navigation data packet；
Mark module 700, for according to timing cycle is preset, periodic markings inertial navigation data packet, it to be fixed to obtain carrying
When the period message identification inertial navigation data packet, preset timing cycle time precision be less than or equal to nanosecond；
Acquisition module 800, the data for obtaining satellite navigation and location system module；
Processing module 900 is used for inertial navigation data packet and the satellite navigation of the message identification according to timing cycle is carried
The data of positioning system modules, determine positioning result.
Specifically, the device that above-mentioned data synchronize positioning is first according to PPS signal setting timing by read module 500 first
Begin the moment, the data of inertial navigation system module are read in timing, obtain inertial navigation data packet, then pass through mark module 700
According to default timing cycle, periodic markings inertial navigation data packet obtains the inertial navigation for carrying the message identification of timing cycle
Data packet presets timing cycle and is less than or equal to nanosecond, then obtains satellite navigation and location system mould by acquisition module 800
The data of block, finally by processing module 900 according to the inertial navigation data packet and satellite of the message identification for carrying timing cycle
The data of navigation positioning system module, determine positioning result.
Above-mentioned data synchronize the device of positioning, and the original number of satellite navigation and location system is marked by introducing PPS signal
At the time of according to occurring, it the operation delay such as can will be packaged inside board and eliminate, and reduce the data of satellite navigation and location system module
Delay time error, according to PPS signal be arranged timing read inertial navigation system module data initial time, correction timing grasp
The cumulative errors of work mark whole moment second, when timing cycle arrives, read the data of inertial navigation system module, are used to
Property navigation pack, when using the timing cycle equal to or less than nsec precision as the label of inertial navigation data packet
Between, the label time precision of inertial navigation data packet is improved, the delay time error of the data of inertial navigation system module is reduced, is realized
The accurate synchronization of high data improves high data positioning synchronous with satellite navigation and location system data
The precision of method.
As shown in figure 4, the device that data synchronize positioning in one of the embodiments, further includes receiving module 400.
As shown in figure 4, the device that data synchronize positioning in one of the embodiments, further includes detection module 300.
As shown in figure 4, the device that data synchronize positioning in one of the embodiments, further includes the second threading models 200.
As shown in figure 4, the device that data synchronize positioning in one of the embodiments, further includes first thread module 100.
As shown in figure 4, processing module 900 further includes parsing module 920 and locating module in one of the embodiments,
940。
As shown in figure 4, the device that data synchronize positioning in one of the embodiments, further includes adjustment module 600.
A kind of computer equipment, including processor and memory, memory are stored with computer program, computer program quilt
When processor executes so that processor executes the step of data synchronize the method for positioning.
Computer equipment includes processor, memory, network interface, input unit and the display connected by system bus
Screen.Wherein, memory includes non-volatile memory medium and built-in storage.The non-volatile memory medium of the computer equipment is deposited
Operating system is contained, computer program can be also stored with, when which is executed by processor, processor may make to realize
The method that data synchronize positioning.Also computer program can be stored in the built-in storage, which is executed by processor
When, it may make processor to execute the method that data synchronize positioning.The display screen of computer equipment can be liquid crystal display or
The input unit of electric ink display screen, computer equipment can be the touch layer covered on display screen, can also be computer
Button, trace ball or the Trackpad being arranged on device housings can also be external keyboard, Trackpad or mouse etc..This field
Technical staff is appreciated that above structure with the relevant part-structure of application scheme, is not constituted to application scheme only
The restriction for the computer equipment being applied thereon, specific computer equipment may include more more or fewer than as shown in the figure
Component either combines certain components or is arranged with different components.
Data provided by the present application synchronize the device positioned and can be implemented as a kind of computer in one of the embodiments,
The form of program, computer program can be run on a computing device.It can be stored in the memory of computer equipment and form the number
According to each program module of the device of synchronous positioning, for example, read module shown in Fig. 3 500, mark module 700, acquisition module
800 and processing module 900, the computer program that each program module is constituted makes processor execute described in this specification
Apply for that the data of each embodiment synchronize the step in the method for positioning.
It is held for example, computer equipment can synchronize the read module 500 in the device positioned by data as shown in Figure 3
Row step S500, mark module 700 execute step S700, acquisition module 800 executes step S800 and processing module 900 executes step
Rapid S900.
Above-mentioned data synchronize the computer equipment of positioning, and satellite navigation and location system is marked by introducing PPS signal
At the time of initial data occurs, it the operation delay such as can will be packaged inside board and eliminate, and reduce satellite navigation and location system module
Data delay time error, according to PPS signal be arranged timing read inertial navigation system module data initial time, correction
The cumulative errors of fixed cycle operator mark whole moment second, when timing cycle arrives, read the data of inertial navigation system module,
Inertial navigation data packet is obtained, using the timing cycle equal to or less than nsec precision as the mark of inertial navigation data packet
Between clocking, the label time precision of inertial navigation data packet is improved, reduces the delay time error of the data of inertial navigation system module,
It realizes the accurate synchronization of high data, it is synchronous with satellite navigation and location system data to improve high data
The precision of localization method.
A kind of computer readable storage medium is stored with computer program, when computer program is executed by processor so that
Processor executes the step of data synchronize the method for positioning.
One of ordinary skill in the art will appreciate that realizing that above-mentioned data synchronize all or part of stream in the method for positioning
Journey is relevant hardware can be instructed to complete by computer program, and the program can be stored in a non-volatile meter
In calculation machine read/write memory medium, the program is when being executed, it may include as above-mentioned data synchronize each implementation of the method for positioning
The flow of example.Wherein, used in each embodiment provided herein to memory, storage, database or other media
Any reference, may each comprise non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory
(ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.It is volatile
Property memory may include random access memory (RAM) or external cache.By way of illustration and not limitation, RAM
It is available in many forms, such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram
(DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus
(Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram
(RDRAM) etc..
Above-mentioned data synchronize the storage medium of positioning, and the original of satellite navigation and location system is marked by introducing PPS signal
At the time of beginning data occur, it the operation delay such as can will be packaged inside board and eliminate, and reduce satellite navigation and location system module
The initial time that the data of inertial navigation system module are read in timing is arranged according to PPS signal in the delay time error of data, and correction is fixed
When the cumulative errors that operate, mark whole moment second, when timing cycle arrives, read the data of inertial navigation system module, obtain
To inertial navigation data packet, using the timing cycle equal to or less than nsec precision as the label of inertial navigation data packet
Time improves the label time precision of inertial navigation data packet, reduces the delay time error of the data of inertial navigation system module, real
It is synchronous with satellite navigation and location system data fixed to improve high data for the accurate synchronization of existing high data
The precision of position method.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method that data synchronize positioning, which is characterized in that include the following steps：
Timing initial time is set according to PPS signal, timing reads the data of inertial navigation system module, obtains inertial navigation number
According to packet；
According to default timing cycle, inertial navigation data packet described in periodic markings obtains the message identification for carrying timing cycle
Inertial navigation data packet, the time precision of the default timing cycle is less than or equal to nanosecond；
Obtain the data of satellite navigation and location system module；
According to the inertial navigation data packet of the message identification for carrying timing cycle and the satellite navigation and location system module
Data, determine positioning result.
2. the method that data according to claim 1 synchronize positioning, which is characterized in that described be arranged according to PPS signal is determined
When initial time the step of before further include：
Receive the PPS signal.
3. the method that data according to claim 2 synchronize positioning, which is characterized in that the reception PPS signal
Further include before step：
The state for detecting the satellite navigation and location system module, when the satellite navigation and location system module normally locks,
Create the thread for receiving the PPS signal.
4. the method that data according to claim 3 synchronize positioning, which is characterized in that the detection satellite navigation is fixed
Further include before the step of state of position system module：
The thread communicated with satellite navigation and location system module is created, the satellite navigation and location system module is initialized, is configured
The satellite navigation and location system module.
5. the data of data synchronization unit according to claim 4 synchronize localization method, which is characterized in that the establishment with
Further include before the step of thread of satellite navigation and location system module communication：
The thread communicated with inertial navigation system module is created, the inertial navigation system module is initialized.
6. the method that data according to claim 1 synchronize positioning, which is characterized in that described according to carrying timing week
The data of the inertial navigation data packet of the message identification of phase and the satellite navigation and location system module, determine the step of positioning result
Suddenly include：
The inertial navigation data packet for parsing the message identification for carrying timing cycle obtains the message identification for carrying timing cycle
Inertial navigation system module data；
According to the inertial navigation of the data of the satellite navigation and location system module and the message identification for carrying timing cycle
The data of system module determine positioning result.
7. the method that data according to claim 1 synchronize positioning, which is characterized in that inertia described in the periodic markings
Further included before the step of navigation pack：
According to preset data synchronization accuracy demand, the default timing cycle is adjusted.
8. a kind of data synchronize the device of positioning, which is characterized in that including：
First read module, for timing initial time to be arranged according to PPS signal, the number of inertial navigation system module is read in timing
According to obtaining inertial navigation data packet；
Mark module, for according to timing cycle is preset, inertial navigation data packet described in periodic markings to obtain carrying timing week
The time precision of the inertial navigation data packet of the message identification of phase, the default timing cycle is less than or equal to nanosecond；
Second read module, the data for obtaining satellite navigation and location system module；
Processing module is used for the inertial navigation data packet according to the message identification for carrying timing cycle and the satellite navigation
The data of positioning system modules, determine positioning result.
9. a kind of computer equipment, including processor and memory, the memory is stored with computer program, the computer
When program is executed by the processor so that the processor perform claim requires the step of any one of 1 to 7 the method.
10. a kind of computer readable storage medium is stored with computer program, when the computer program is executed by processor,
So that the processor perform claim requires the step of any one of 1 to 7 the method.
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| CN113608250A (en) * | 2021-07-30 | 2021-11-05 | 西安广和通无线软件有限公司 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
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