CN109470244A - Fiber strapdown inertial navigation system multi information synchronous and method based on FPGA - Google Patents
Fiber strapdown inertial navigation system multi information synchronous and method based on FPGA Download PDFInfo
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- CN109470244A CN109470244A CN201811570290.8A CN201811570290A CN109470244A CN 109470244 A CN109470244 A CN 109470244A CN 201811570290 A CN201811570290 A CN 201811570290A CN 109470244 A CN109470244 A CN 109470244A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The fiber strapdown inertial navigation system multi information synchronous and method, technical characterstic that the present invention relates to a kind of based on FPGA are: including FPGA module, gyro, accelerometer, temperature sensor, Beidou receiver, odometer and DSP；The FPGA module is connected with gyro；The FPGA module is connected with accelerometer；The FPGA module is connected with temperature sensor, is used for synchronous acquisition temperature data signal；The FPGA module is connected with Beidou receiver；The FPGA module is connected with odometer；The FPGA module is connected with DSP.The present invention is able to ascend data collection synchronous, improves navigation calculation precision.
Description
Technical field
The invention belongs to fiber strapdown inertial navigation system technical field, it is related to navigating by the fiber strapdown of core of FPGA
The multi information synchronous acquisition technology of system, especially a kind of fiber strapdown inertial navigation system multi information synchronous based on FPGA and
Method.
Background technique
Fiber strapdown inertial navigation system is usually by three optical fibre gyros for providing angular acceleration, three offer linear accelerations
Accelerometer and the peripheral components composition such as odometer, altimeter, temperature sensor, satellite receiver, inertial navigation system pass through
Information collection and navigation calculation to inertance element and peripheral component, to obtain the real-time posture of carrier, speed and position letter
Breath.Only each component realizes the synchronous acquisition of multi information, is just avoided that by asynchronous caused navigation calculation error gradually
Accumulation, guarantees the precision index of inertial navigation system.But since inertance element is with peripheral component itself and without synchronous transmission information
Function, therefore, it is necessary to a kind of fiber strapdown inertial navigation system multi information synchronous collection method based on FPGA, to the timing of inertial navigation system
System carries out timing control, completes the real-time synchronization acquisition of multi information, it is ensured that the Online Integer precision of inertial navigation system.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of design rationally, navigation calculation precision it is high and
It is able to ascend the fiber strapdown inertial navigation system multi information synchronous and method based on FPGA of data collection synchronous.
The present invention solves its realistic problem and adopts the following technical solutions to achieve:
A kind of fiber strapdown inertial navigation system multi information synchronous based on FPGA, including FPGA module, gyro, acceleration
Meter, temperature sensor, Beidou receiver, odometer and DSP；The FPGA module is connected with gyro, horizontal for synchronous acquisition
Shake acceleration information, pitch angle acceleration information and Azimuth Acceleration information；The FPGA module is connected with accelerometer,
For synchronous acquisition x wire acceleration information, vertical line acceleration information and vertical linear acceleration information；The FPGA module
It is connected with temperature sensor, is used for synchronous acquisition temperature data signal；The FPGA module is connected with Beidou receiver, uses
In the 1PPS pulse signal and location information of synchronous acquisition time alignment；The FPGA module is connected with odometer, for same
Step acquisition traveling total kilometrage data-signal；The FPGA module is connected with DSP, for realizing synchronous communication.
A kind of fiber strapdown inertial navigation system multi information synchronous collection method based on FPGA, comprising the following steps:
Clock signal is divided internal clock source by step 1, FPGA generates multiple synchronization acquisition clock signal；
Step 2 exports a variety of acquisition clock signals that FPGA frequency dividing generates respectively to optical fibre gyro, accelerometer, temperature
Spend sensor, Beidou receiver and odometer；
Step 3 believes the data of the optical fibre gyro of acquisition, accelerometer, temperature sensor, Beidou receiver, odometer
Breath deposit data buffer zone；
Step 4, all data are stored in after buffer area finishes, and FPGA generates clk200Hz_2 clock signal, after notice
The DSP data ready of level-one, the data in simultaneous buffering area are written into dual port RAM, and subsequent DSP reads dual port RAM immediately
In all data.
Moreover, the specific steps of the step 1 include:
(1) 400Hz clock " clk400Hz " all the way is generated；
(2) two-way clock " clk_acc_1 " and " clk_acc_2 " is generated, frequency 200Hz, phase difference is 180 °, two-way
The failing edge of clock is aligned with the synchronization of " clk400Hz " failing edge.
(3) three road 200Hz clocks " clk200Hz_1 " are generated；
(4) the clock clk200Hz_2 for being later than clk200Hz_10.1us all the way is generated.
Moreover, the specific steps of the step 2 include:
(1) clk400Hz synchronised clock is transferred to optical fibre gyro, gyro data of every 2.5 milliseconds of acquisitions；
(2) clk_acc_1 and clk_acc_2 are transferred to accelerometer, every 2.5 milliseconds of acquisition primary accelerations count
According to synchronous with gyro data；
(3) clk200Hz_1 is transferred to Beidou receiver, odometer and temperature sensor, number of every 5 milliseconds of acquisitions
According to synchronous with gyro and accelerometer data；
(4) clk200Hz_2 is transferred to DSP, all of above data of every 5 milliseconds of acquisitions.
Moreover, the specific steps of the step 3 include:
(1) start the information of three tunnel optical fibre gyros of reception in clk400Hz clock falling edge, and according to received information
Sequencing within the same resolving period latches；
(2) information of No. three accelerometers and latch are acquired respectively in clk_acc_1, clk_acc_2 clock falling edge；
(3) according to temperature sensor characteristic, temperature information is received in clk200Hz_1 failing edge and is latched；
(4) Beidou receiver information, odometer information are received in clk200Hz_1 failing edge and latched.
Moreover, at the time of clk200Hz_2 in the step 4 with the last acquisition optical fibre gyro information initial time
Between the calculation formula of time interval be:
Wherein, F is the length of each frame, and unit is bit, and B is the baud rate of optical fibre gyro communication.
The advantages of the present invention:
The present invention utilizes the characteristics of FPGA parallel processing, rationally designs internal each functional module, can accurately calculate gyro, add
The data transmission delay of the components such as speedometer, odometer, temperature sensor, satellite receiver is produced on the basis of high-speed clock source
It is raw to meet the control sequential for resolving and needing, data collection synchronous is promoted, navigation calculation precision is improved.
Detailed description of the invention
Fig. 1 is synchronous composition and interface relationship schematic diagram of the invention；
Fig. 2 is synchronous collection method flow chart of the invention；
Fig. 3 is signal synchronous collection clock signal waveform diagram of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing:
A kind of fiber strapdown inertial navigation system multi information synchronous based on FPGA, as shown in Figure 1, include FPGA module,
Gyro, accelerometer, temperature sensor, Beidou receiver, odometer and DSP；The FPGA module is connected with gyro, is used for
Synchronous acquisition roll acceleration information, pitch angle acceleration information and Azimuth Acceleration information；The FPGA module and acceleration
Degree meter is connected, and is used for synchronous acquisition x wire acceleration information, vertical line acceleration information and vertical linear acceleration information；Institute
It states FPGA module to be connected with temperature sensor, is used for synchronous acquisition temperature data signal；The FPGA module and Beidou receive
Machine is connected, the 1PPS pulse signal and location information for synchronous acquisition time alignment；The FPGA module and odometer phase
Connection travels total kilometrage data-signal for synchronous acquisition；The FPGA module is connected with DSP, for realizing synchronous communication.
Each module in the fiber strapdown inertial navigation system multi information synchronous to a kind of based on FPGA carries out separately below
It is described in detail:
(1) there is synchronous acquisition signal all the way between gyro and FPGA, control acquisition time；Three data signal, the wherein road X
Indicate roll acceleration information, the road Y indicates pitch angle acceleration information, and the road Z indicates Azimuth Acceleration information；
(2) there is synchronous acquisition signal all the way between accelerometer and FPGA, control acquisition time；Three data signal,
The middle road X indicates x wire acceleration information, and the road Y indicates vertical line acceleration information, and the road Z indicates vertical linear acceleration information；
(3) there is synchronous acquisition signal all the way between temperature sensor and FPGA, control acquisition time；Temperature data is believed all the way
Number；
(4) there is synchronous acquisition signal all the way between odometer and FPGA, control acquisition time；Total mileage evidence is travelled all the way
Signal；
(5) there is synchronous acquisition signal all the way between Beidou receiver and FPGA, control acquisition time；It is used for the time pair all the way
Quasi- 1PPS pulse signal, all the way location information；
(6) there is Synchronous Transport Signal all the way between DSP and FPGA, control data transmission period；16 dual port RAMs are total all the way
Line realizes bidirectional data communication.
Before using a kind of fiber strapdown inertial navigation system multi information synchronous collection method based on FPGA of the invention, certain type light
Fine strap-down navigation system using FPGA realize data acquisition method be within the same resolving period information needed is complete in order
Portion extracts, and shortens resolve the period as far as possible, and the delay of each module data is ignored in the case where the resolving period is sufficiently small, that is, is thought
The information of acquisition has simultaneity and synchronism.To realize more accurate synchronization, the present invention uses active synchronization mode, by
FPGA issues the synchronised clock of acquisition inertance element and peripheral component, according to the acquisition of specific sequential relationship, stores and processs, from
And realize multi information synchronous acquisition.
A kind of fiber strapdown inertial navigation system multi information synchronous collection method based on FPGA, as shown in Figure 2, comprising the following steps:
Clock signal is divided internal clock source by step 1, FPGA generates multiple synchronization acquisition clock signal；
System acquisition and resolving period are 5 milliseconds, and optical fibre gyro, acceleration count twice for acquisition in each resolving period
According to acquiring that a satellite receiver synchronization signal, mileage counts and temperature sensor data.The clock signal of data acquisition is such as
Shown in Fig. 2:
Internal clock source is 25MHz crystal oscillator, generate in the time clock feature module of FPGA synchronous 400Hz, clk200Hz_1,
Clk200Hz_2 isochronon signal is acquired and is transmitted for data；
The specific steps of the step 1 include:
(1) 400Hz clock " clk400Hz " all the way is generated；
(2) two-way clock " clk_acc_1 " and " clk_acc_2 " is generated, frequency 200Hz, phase difference is 180 °, two-way
The failing edge of clock is aligned with the synchronization of " clk400Hz " failing edge.
(3) three road 200Hz clocks " clk200Hz_1 " are generated；
(4) the clock clk200Hz_2 for being later than " clk200Hz_1 " 0.1us all the way is generated.
Step 2 exports a variety of acquisition clock signals that FPGA frequency dividing generates respectively to optical fibre gyro, accelerometer, temperature
Spend sensor, Beidou receiver and odometer；
The specific steps of the step 2 include:
(1) clk400Hz synchronised clock is transferred to optical fibre gyro, gyro data of every 2.5 milliseconds of acquisitions；
(2) clk_acc_1 and clk_acc_2 are transferred to accelerometer, every 2.5 milliseconds of acquisition primary accelerations count
According to synchronous with gyro data；
(3) clk200Hz_1 is transferred to Beidou receiver, odometer and temperature sensor, number of every 5 milliseconds of acquisitions
According to synchronous with gyro and accelerometer data；
(4) clk200Hz_2 is transferred to DSP, all of above data of every 5 milliseconds of acquisitions.
Step 3 believes the data of the optical fibre gyro of acquisition, accelerometer, temperature sensor, Beidou receiver, odometer
Breath deposit data buffer zone；
According to Fig.3, the specific steps of the step 3 include:
(1) start the information of three tunnel optical fibre gyros of reception in clk400Hz clock falling edge, and according to received information
Sequencing in same resolving period (5 milliseconds) latches；
(2) information of No. three accelerometers and latch are acquired respectively in clk_acc_1, clk_acc_2 clock falling edge；
(3) according to temperature sensor characteristic, temperature information is received in clk200Hz_1 failing edge and is latched；
(4) Beidou receiver information, odometer information are received in clk200Hz_1 failing edge and latched.
Step 4, all data are stored in after buffer area finishes, and FPGA generates clk200Hz_2 clock signal, after notice
The DSP data ready of level-one, the data in simultaneous buffering area are written into dual port RAM, and subsequent DSP reads dual port RAM immediately
In all data.
At the time of clk200Hz_2 in the step 4 between the last acquisition optical fibre gyro information initial time
The calculation formula of time interval is:
Wherein, F is the length of each frame, and unit is bit, and B is the baud rate of optical fibre gyro communication.
In the present embodiment, different with the speed of each component information collection due to inertance element, FPGA collects whole letters
DSP can be just passed to after breath and carries out data processing, it is therefore desirable to be determined and be read between the data moment at the time of acquisition information with DSP
Time interval Δ t.This delay determines by acquiring most slow component, in the present system, the acquisition rate of optical fibre gyro information
It is most slow, therefore Δ t is calculated with the information collection time of optical fibre gyro, see formula (1).
Wherein F is the length of each frame, and unit is bit, and B is the baud rate of optical fibre gyro communication.F is in this example
110bit, B 115200, Δ t are about 0.95ms.Accelerometer, temperature sensor, Beidou receiver and odometer transmission when
Prolong respectively less than 0.1us, only their acquisition initial time need to be guaranteed earlier than clk200Hz_2 moment 0.1us.Therefore, each
FPGA acquires last group of data moment in a resolving period and DSP receives palpus between the data moment and is greater than 0.95ms.
In view of the reliability and system of information collection resolve the requirement to delay, setting FPGA starts to receive the second frame
Twoport is written in all information in the buffer area in this period by (clk200Hz_2 failing edge) 1.5 milliseconds after the gyro information moment
RAM is read by DSP.For this delay design time backoff algorithm when DSP is resolved, to guarantee the synchronism of acquisition information.
The present invention resolves real-time quick requirement for fiber strapdown inertial navigation system, devises the multi information based on FPGA and synchronizes and adopts
Set method, accurate control acquisition timing, effectively increases synchronizing information.Experiment proves that using system after this method dynamic
Orientation under state keeps precision to be significantly increased than before.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (6)
1. a kind of fiber strapdown inertial navigation system multi information synchronous based on FPGA, it is characterised in that: including FPGA module, top
Spiral shell, accelerometer, temperature sensor, Beidou receiver, odometer and DSP；The FPGA module is connected with gyro, for same
Step acquisition roll acceleration information, pitch angle acceleration information and Azimuth Acceleration information；The FPGA module and acceleration
Meter is connected, and is used for synchronous acquisition x wire acceleration information, vertical line acceleration information and vertical linear acceleration information；It is described
FPGA module is connected with temperature sensor, is used for synchronous acquisition temperature data signal；The FPGA module and Beidou receiver
It is connected, the 1PPS pulse signal and location information for synchronous acquisition time alignment；The FPGA module is connected with odometer
It connects, travels total kilometrage data-signal for synchronous acquisition；The FPGA module is connected with DSP, for realizing synchronous communication.
2. a kind of acquisition side of fiber strapdown inertial navigation system multi information synchronous based on FPGA according to claim 1
Method, it is characterised in that: the following steps are included:
Clock signal is divided internal clock source by step 1, FPGA generates multiple synchronization acquisition clock signal；
Step 2 exports a variety of acquisition clock signals that FPGA frequency dividing generates respectively to optical fibre gyro, accelerometer, temperature biography
Sensor, Beidou receiver and odometer；
Step 3 deposits the data information of the optical fibre gyro of acquisition, accelerometer, temperature sensor, Beidou receiver, odometer
Enter data buffer zone；
Step 4, all data are stored in after buffer area finishes, and FPGA generates clk200Hz_2 clock signal, notifies rear stage
DSP data ready, the data in simultaneous buffering area are written into dual port RAM, and subsequent DSP reads institute in dual port RAM immediately
There are data.
3. a kind of acquisition side of the fiber strapdown inertial navigation system multi information synchronous based on FPGA as claimed in claim 2
Method, it is characterised in that: the specific steps of the step 1 include:
The specific steps of the step 1 include:
(1) 400Hz clock " clk400Hz " all the way is generated；
(2) two-way clock " clk_acc_1 " and " clk_acc_2 " is generated, frequency 200Hz, phase difference is 180 °, two-way clock
The synchronization of failing edge and " clk400Hz " failing edge be aligned；
(3) three road 200Hz clocks " clk200Hz_1 " are generated；
(4) the clock clk200Hz_2 for being later than " clk200Hz_1 " 0.1us all the way is generated.
4. a kind of acquisition side of fiber strapdown inertial navigation system multi information synchronous based on FPGA according to claim 3
Method, it is characterised in that: the specific steps of the step 2 include:
(1) clk400Hz synchronised clock is transferred to optical fibre gyro, gyro data of every 2.5 milliseconds of acquisitions；
(2) clk_acc_1 and clk_acc_2 being transferred to accelerometer, every 2.5 milliseconds of acquisitions primary acceleration counts, with
Gyro data is synchronous；
(3) clk200Hz_1 is transferred to Beidou receiver, odometer and temperature sensor, data of every 5 milliseconds of acquisitions, with
Gyro is synchronous with accelerometer data；
(4) clk200Hz_2 is transferred to DSP, all of above data of every 5 milliseconds of acquisitions.
5. a kind of acquisition side of fiber strapdown inertial navigation system multi information synchronous based on FPGA according to claim 3
Method, it is characterised in that: the specific steps of the step 3 include:
(1) start the information of three tunnel optical fibre gyros of reception in clk400Hz clock falling edge, and according to received information same
One sequencing resolved in the period latches；
(2) information of No. three accelerometers and latch are acquired respectively in clk_acc_1, clk_acc_2 clock falling edge；
(3) according to temperature sensor characteristic, temperature information is received in clk200Hz_1 failing edge and is latched；
(4) Beidou receiver information, odometer information are received in clk200Hz_1 failing edge and latched.
6. a kind of acquisition side of fiber strapdown inertial navigation system multi information synchronous based on FPGA according to claim 3
Method, it is characterised in that: at the time of clk200Hz_2 in the step 4 with the last acquisition optical fibre gyro information initial time
Between the calculation formula of time interval be:
Wherein, F is the length of each frame, and unit is bit, and B is the baud rate of optical fibre gyro communication.
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| CN112729284A (en) * | 2020-12-22 | 2021-04-30 | 重庆华渝电气集团有限公司 | Method for synchronizing strapdown inertial navigation resolving signal and external system clock |
| CN112711213A (en) * | 2021-01-11 | 2021-04-27 | 中国船舶重工集团公司第七0七研究所 | Navigation acquisition resolving Soc processing system based on RiscV kernel and method thereof |
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