CN109634729A - A kind of parallel calculation method of inertial navigation equipment multi-core DSP - Google Patents
A kind of parallel calculation method of inertial navigation equipment multi-core DSP Download PDFInfo
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention relates to a kind of parallel calculation methods of inertial navigation equipment multi-core DSP, and step is: step 1: inertial navigation equipment powers on CPU initialization；Step 2: distribution and creation multitask；Step 3: inertial navigation scheme being resolved according to multi-core parallel concurrent, TMS320C6657 model DSP is used to be resolved and communicated parallel for double-nuclear DSP；Step 4: verification experimental verification.The present invention makes full use of the performance of multi-core DSP parallel computation, resolves frequency to improve DSP, achievees the purpose that inhibit 3 d pose angular divergence fast under high dynamic environment.The present invention can be improved inertial navigation and resolve frequency, improve equipment response speed, it can be improved inertial navigation/odometer integrated navigation and location precision in a kind of degree, inhibit the 3 d pose error of the equipment in impact and vibratory test to dissipate fast effect simultaneously, there is preferable using effect in practical engineering applications.
Description
Technical field
The invention belongs to navigator fix Service of Timing fields, are related to inertial navigation equipment, especially a kind of inertial navigation equipment
The parallel calculation method of multi-core DSP.
Background technique
Currently, strap-down inertial equipment resolves frequency limit under high dynamic environment, by inertance element sample frequency and DSP
System, especially impact, vibration and odometer integrated positioning orientative experiment, are acquired and are resolved frequency limit, equipment orientation accuracy
It will appear the problem faster than dissipating under normal circumstances with positioning accuracy, it is normal under high dynamic environment to have seriously affected equipment
It uses.It literature has shown that the country has tried to improve inertial reference calculation frequency using two CSTR mode, but is all with serial process
Mode realize that computing speed room for promotion is limited, some scholars propose can be used monolithic FPGA realize multiprocessor simultaneously
Row calculates, but does not further investigate.Common inertial navigation computation usually serially holds resolving process in order.Do not changing
It is hardened under conditions of part, improves equipment sampling and resolving frequency generally has been approached the upper limit, and difficulty is larger, and use multicore
DSP can provide computation capability, but be related to the planning of parallel computation, especially software parallel calculating and inertial navigation
The parallel operation of resolving scheme.
By the retrieval of patent publication us, although thering are more to be related to the technology of multi-core DSP parallel processing, with the present invention
The technical solution for inhibiting the fast problem of 3 d pose angular divergence under high dynamic environment involved in applying, not yet finds.
Summary of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, provide a kind of inertial navigation equipment multi-core DSP simultaneously
Row calculation method, this method introduce multi-core DSP and carry out parallel computation, plan inertial navigation scheme process of solution by serial again
Become parallel thinking, resolves frequency to achieve the purpose that improve inertial navigation, and then improve equipment and determine under high dynamic environment
Position orientation accuracy.
The present invention realizes that the technical solution of purpose is:
A kind of parallel calculation method of inertial navigation equipment multi-core DSP, step is:
Step 1: inertial navigation equipment powers on CPU initialization:
It resolves plate DSP to power on, completes double-core initialization, configure interrupt vector table and interrupt number, hardware interrupts service
(HWI) programmatic binding；Erroneous block is created, is prepared for multitask creation；
Step 2: distribution and creation multitask:
According to calculation amount size and logic sequencing, distribute independent task module it is multiple come complete inertial navigation resolve and
Data communication facility；
Step 3: according to multi-core parallel concurrent resolve inertial navigation scheme, use TMS320C6657 model DSP for double-nuclear DSP into
Row is parallel to be resolved and communicates:
Step 4: simulating, verifying.
Moreover, in the step 1 initialization of multi-core DSP include: the enabled configuration of peripheral hardware, the configuration of GPIO pin multiplexing,
The initialization of GPIO pin, HWI initialization and wrong initialization block.
Moreover, the independent task module in the step 2 is respectively as follows: gyro pulse collection, accelerometer pulse collection, inner
Journey meter pulse collection, Beidou synchronous signal acquisition, the calculating of earth parameter, speed update, posture renewal, location updating, Kalman
Filter forecasting, Kalman filtering update, ethernet communication transmitting-receiving, CAN communication transmitting-receiving, serial communication is received and dispatched, mileage is counted and adopted
Collection, Beidou data receiver.
Moreover, the specific implementation process of the step 2 are as follows:
To implement in strict accordance with following Period Process, previous step completion is the preceding topic condition that next step starts, and
It is independent operating task module: first is that gyro pulse collection, accelerometer pulse collection, odometer pulse collection, Beidou
Synchronous signal acquisition is basic data acquisition, as subsequent resolved data source；It is calculated second is that calculating earth parameter；Third is that strapdown
Inertial navigation speed updates, attitude angle updates and location updating calculates；Fourth is that Kalman filtering is updated and is calculated with filtering in advance；Fifth is that into
Row Ethernet, the data transmit-receive of CAN bus and serial ports, Beidou data and altimeter data and the data for debugging serial ports are received
Hair.
Moreover, the specific implementation process of the step 3 is
The benefit for selecting real time operating system can be received and be given with sufficiently fast speed when extraneous event generates
The result of processing, processing can control production process again within the defined time or make quick response to processing system,
It dispatches all available resources and completes real-time task, and control the harmonious operation of all real-time tasks；Select TI company hair
The TMS320C6657 type DSP of cloth is double-nuclear DSP, meets multi-core parallel concurrent and calculates demand；To balance DSP dual processors service performance, with
CPU1 is that main core CPU2 is chondromitiome, and wherein equipment Self-debugging serial ports is reserved on main core, main core and chondromitiome shared drive and data
Resource；Realized that the essence of real time operating system is exactly more using the SYS/BIOS real time operating system that TI company issues
The same time carries out the calculating of different task on a CPU, thus achieve the purpose that parallel computation, and SYS/BIOS operating system
It is the real time operating system based on multitask multipriority preemptive type；The SYS/BIOS component that specific Integrated Development external member uses
It is related to clock, hard break and software interrupt, task and semaphore component.
The advantages and positive effects of the present invention are:
1, the present invention makes full use of the performance of multi-core DSP parallel computation, effectively improves DSP and resolves frequency, reaches dynamic in height
The purpose for inhibiting 3 d pose angular divergence fast under state environment.
2, the present invention can be improved inertial navigation and resolve frequency, improves equipment response speed, can mention to a certain extent
High inertial navigation/odometer integrated navigation and location precision, while inhibiting the 3 d pose error hair of the equipment in impact and vibratory test
Fast effect is dissipated, there is preferable using effect in practical engineering applications.
Detailed description of the invention
Fig. 1 is 6657 initialization flowchart of multi-core DSP of the present invention；
Fig. 2, which is that the present invention is parallel, resolves inertial navigation scheme multi-task planning conceptual scheme；
Fig. 3 is the SYS/BIOS component drawings that Integrated Development external member of the present invention uses.
Fig. 4 is Kalman prediction and renewal process, in which: Xk-1And Pk-1Initially to give empirical value.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing；The present embodiment is descriptive, is not to limit
Property, it cannot thus limit the scope of protection of the present invention.
A kind of parallel calculation method of inertial navigation equipment multi-core DSP, step is:
Step 1: inertial navigation equipment powers on CPU initialization:
It resolves plate DSP to power on, completes double-core initialization, configure interrupt vector table and interrupt number, hardware interrupts service
(HWI) programmatic binding；Erroneous block is created, is prepared for multitask creation.
Fig. 1 show specific steps, and the initialization of multi-core DSP includes:
The enabled configuration of peripheral hardware, the configuration of GPIO pin multiplexing, the initialization of GPIO pin, HWI initialization and wrong initialization block.
Step 2: distribution and creation multitask:
According to calculation amount size and logic sequencing, independent task module 15 are distributed altogether and is resolved to complete inertial navigation
And data communication facility.Task module are as follows: 1 gyro pulse collection, 2 accelerometer pulse collections, 3 odometer pulse collections, 4
Beidou synchronous signal acquisition, 5 earth parameters calculate, and 6 speed update, 7 posture renewals, 8 location updatings, and 9 Kalman filterings are pre-
It surveys, 10 Kalman filterings update, the transmitting-receiving of 11 ethernet communications, 12CAN communication receiving/transmission, the transmitting-receiving of 13 serial communications, and 14 mileages count
According to acquisition, 15 Beidou data receivers.
In this step, the gyro pulse collection, accelerometer pulse collection, odometer pulse and Beidou synchronization signal
Acquisition tasks are the basic data sources of inertial navigation equipment, and High Precision Crystal Oscillator outside DSP is used to carry out timing generation interruption,
The original pulse data for periodically (such as 1000Hz) reading inertia component are carried out to carry out driving DSP.
Earth parameter calculates, including terrestrial gravitation acceleration, earth meridian circle radius and prime vertical radius.As follows
It calculates:
G=g0[1+0.00527094sin2L+0.0000232718sin4L]-0.000003086h
Speed, posture, the three classes of position update as follows using formula:
Inertial navigation direction cosine matrix are as follows:
Then: posture are as follows:
θ=sin-1(T32)
Speed are as follows:
Position are as follows:
Kalman prediction and renewal process are referring to fig. 4
The transmitting-receiving process of CAN bus and serial ports and Ethernet interface, be all made of FPGA extension kernel as DSP with outside
The received intermediate conversion part in portion, process with read that the initial data of inertance element is same handles, i.e. the specified ground of periodic reading
Location space then carries out the reading of total data if there is buffered data according to buffered data space size, rather than in using
Disconnected mode.According to engineering experience using the method for intermediate conversion part than using DSP directly to be communicated with external interface
Mode has more stability and reliability.
The module created in step 2 creates a task, in operating system, according to priority implementation process
Carry out Automatic dispatching.The task module for being laterally in Fig. 2 while starting, it is same in main core CPU and chondromitiome heart core cpu
Shi Jinhang parallel computation；Longitudinally in chronological sequence sequentially to create and operating in the task module on different core cpus in Fig. 2,
Previous task module just starts the calculating of next task module after the completion of calculating.Main core CPU is by task order on the left of Fig. 2
It executes, secondary core CPU is executed by task order on the right side of Fig. 2 at the same time, to reach the distribution of double-core CPU task, is reached simultaneously
The purpose that row resolves.
Step 3: inertial navigation scheme is resolved according to multi-core parallel concurrent, is resolved and is communicated parallel:
The benefit for selecting real time operating system can be received and be given with sufficiently fast speed when extraneous event generates
The result of processing, processing can control production process again within the defined time or make quick response to processing system,
It dispatches all available resources and completes real-time task, and control the harmonious operation of all real-time tasks.The publication of TI company
TMS320C6657 type DSP is double-nuclear DSP, meets multi-core parallel concurrent and calculates demand, can use policy control multitask appropriate
Execution, improve the utilization efficiency of resource.The utilization rate of CPU can be made greatly to be played, complicated application layer
Secondaryization makes dsp software laser be easy design and maintenance.It is that main core CPU2 is with CPU1 to balance DSP dual processors service performance
Chondromitiome, wherein equipment Self-debugging serial ports is reserved on main core, and main core and chondromitiome shared drive and data resource were embodied
Journey is shown in Fig. 2.The specific implementation process of the step are as follows:
The present invention uses the SYS/BIOS real time operating system of TI company publication to realize, the essence of real time operating system
It is exactly the calculating of the same time progress different task on multiple CPU, thus achieve the purpose that parallel computation, and SYS/BIOS
Operating system is the real time operating system based on multitask multipriority preemptive type.The SYS/ that specific Integrated Development external member uses
BIOS component is as shown in figure 3, be related to clock, hard break and software interrupt, task and semaphore component.
Step 4: verification experimental verification:
After implementing according to above-mentioned steps one, two, three, experiment proves that, the inertial navigation equipment resolving time is contracted by 1.25ms
0.57ms is reduced to, raising efficiency is about 45%, wherein about 5% is that double-nuclear DSP carries out resource-sharing and internuclear communication and operation system
Expense of uniting occupies, and by using parallel calculation method, the parallel process of solution of reasonable distribution inertial navigation equipment has reached promotion
Resolve the purpose of frequency.
Claims (5)
1. a kind of parallel calculation method of inertial navigation equipment multi-core DSP, it is characterised in that: step is:
Step 1: inertial navigation equipment powers on CPU initialization:
It resolves plate DSP to power on, completes double-core initialization, configure interrupt vector table and interrupt number, hardware interrupts service (HWI) journey
Sequence binding；Erroneous block is created, is prepared for multitask creation；
Step 2: distribution and creation multitask:
According to calculation amount size and logic sequencing, distribute that independent task module is multiple to be resolved and data to complete inertial navigation
Communication function；
Step 3: inertial navigation scheme being resolved according to multi-core parallel concurrent, TMS320C6657 model DSP is used to carry out simultaneously for double-nuclear DSP
Row resolves and communication:
Step 4: simulating, verifying.
2. the parallel calculation method of inertial navigation equipment multi-core DSP according to claim 1, it is characterised in that: the step 1
The initialization of middle multi-core DSP includes: the enabled configuration of peripheral hardware, the configuration of GPIO pin multiplexing, the initialization of GPIO pin, HWI initialization
And wrong initialization block.
3. the parallel calculation method of inertial navigation equipment multi-core DSP according to claim 1, it is characterised in that: the step 2
In independent task module to be respectively as follows: gyro pulse collection, accelerometer pulse collection, odometer pulse collection, Beidou synchronous
Signal acquisition, the calculating of earth parameter, speed update, posture renewal, location updating, Kalman prediction, Kalman filtering are more
Newly, ethernet communication transmitting-receiving, CAN communication transmitting-receiving, serial communication transmitting-receiving, mileage count acquisition, Beidou data receiver.
4. the parallel calculation method of inertial navigation equipment multi-core DSP according to claim 3, it is characterised in that: the step 2
Specific implementation process are as follows:
Implement in strict accordance with following Period Process, previous step completion is the preceding topic condition that next step starts, and is
Independent operating task module: first is that the synchronous letter of gyro pulse collection, accelerometer pulse collection, odometer pulse collection, Beidou
Number acquisition is basic data acquisition, as subsequent resolved data source；It is calculated second is that calculating earth parameter；Third is that inertial navigation speed
It updates, attitude angle updates and location updating calculates；Fourth is that Kalman filtering is updated and is calculated with filtering in advance；Fifth is that progress Ethernet,
The data transmit-receive of CAN bus and serial ports, Beidou data and altimeter data and the data transmit-receive for debugging serial ports.
5. the parallel calculation method of inertial navigation equipment multi-core DSP according to claim 1, it is characterised in that: the step 3
Specific implementation process be
Select real time operating system benefit be when extraneous event generate when, can receive and with sufficiently fast speed at
The result of reason, processing can control production process again within the defined time or make quick response to processing system, adjust
It spends all available resources and completes real-time task, and control the harmonious operation of all real-time tasks；Select the publication of TI company
TMS320C6657 type DSP be double-nuclear DSP, meet multi-core parallel concurrent calculate demand；To balance DSP dual processors service performance, with
CPU1 is that main core CPU2 is chondromitiome, and wherein equipment Self-debugging serial ports is reserved on main core, main core and chondromitiome shared drive and data
Resource；Realized that the essence of real time operating system is exactly more using the SYS/BIOS real time operating system that TI company issues
The same time carries out the calculating of different task on a CPU, thus achieve the purpose that parallel computation, and SYS/BIOS operating system is
Real time operating system based on multitask multipriority preemptive type；The SYS/BIOS component that specific Integrated Development external member uses is related to
To clock, hard break and software interrupt, task and semaphore component.
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| CN112146653A (en) * | 2020-08-03 | 2020-12-29 | 河北汉光重工有限责任公司 | Method for improving integrated navigation resolving frequency |
| CN112857363A (en) * | 2021-01-08 | 2021-05-28 | 中国船舶重工集团公司第七0七研究所 | Communication system integrating multiple communication modes and multi-state data simulation |
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