CN109802741A - Angle measurement is tested the speed Integrated Navigation Semi-physical Simulation method for synchronizing time - Google Patents
Angle measurement is tested the speed Integrated Navigation Semi-physical Simulation method for synchronizing time Download PDFInfo
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- CN109802741A CN109802741A CN201910021009.3A CN201910021009A CN109802741A CN 109802741 A CN109802741 A CN 109802741A CN 201910021009 A CN201910021009 A CN 201910021009A CN 109802741 A CN109802741 A CN 109802741A
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Abstract
Test the speed Integrated Navigation Semi-physical Simulation method for synchronizing time, including the first sending step the present invention provides a kind of angle measurement: deep space dynamics environment simulation subsystem sends the first data information frame；Second sending step: angle measurement navigation subsystem sends the second data information frame, and the navigation subsystem that tests the speed sends third data information frame；First receiving step: algorithm of combined navigation subsystem receives, judges the second data information frame and third data information frame, sends the 4th data information frame；Second receiving step: navigation performance assessment receives with demonstration subsystem, judges the first data information frame and the 4th data information frame.The present invention in data information frame by being added time frame flag, by Time synchronization algorithm, guarantees integrated navigation, the input information time in the assessment algorithm that navigates stabs unanimously；Can fast implement Integrated Navigation Algorithm, in navigation performance assessment algorithm asynchronous data synchronous input, simple and reliable, highly effective has good engineering application value.
Description
Technical field
The present invention relates to deep space navigation fields, and in particular, to a kind of angle measurement is tested the speed the Integrated Navigation Semi-physical Simulation time
Synchronous method.
Background technique
Demand in face of subsequent deep space exploration task to high-performance independent navigation, to angle measurement test the speed integrated navigation carry out test
Research is urgent and necessary.Since the in-orbit space of space flight is tested expensive in real time, it is imitative that it is currently all made of indoor semi physical both at home and abroad
True system carries out experimental study.
It tests the speed in integrated navigation system in angle measurement, angle measurement navigation system and the navigation system that tests the speed are in measurement information acquisition, letter
Breath updates processing and navigation results output etc., and the data flow of information has very strong asynchronism, leads to integrated navigation system
Information input there are problems that very big time irreversibility, have a great impact to the estimated result of Integrated Navigation Algorithm；Meanwhile
Navigation performance assessment is also influenced by asynchronous input data with demo system, leads to problems such as demonstrating effect asynchronous.Angle measurement
In the Integrated Navigation Semi-physical Simulation that tests the speed test, the time synchronization problem of asynchronous flow has to be solved.
In the above context, this patent proposes a kind of angle measurement and tests the speed Integrated Navigation Semi-physical Simulation method for synchronizing time,
Based on the time frame flag being added in traffic flow information, by Time synchronization algorithm, guarantee integrated navigation, in the assessment algorithm that navigates
Input information time stamp it is consistent.
Summary of the invention
For the defects in the prior art, it tests the speed Integrated Navigation Semi-physical Simulation the object of the present invention is to provide a kind of angle measurement
Method for synchronizing time.
A kind of angle measurement provided according to the present invention is tested the speed Integrated Navigation Semi-physical Simulation method for synchronizing time, including is appointed as follows
One or multiple steps:
First sending step: deep space dynamics environment simulation subsystem sends the first data information frame；
Second sending step: angle measurement navigation subsystem sends the second data information frame, and the navigation subsystem that tests the speed sends third
Data information frame；
First receiving step: algorithm of combined navigation subsystem receives, judges the second data information frame and third data information frame, sends out
Send the 4th data information frame；
Second receiving step: navigation performance assessment receives with demonstration subsystem, judges the first data information frame and the 4th number
According to information frame；
First data information frame, the second data information frame, third data information frame and the 4th data information frame are equal
Including time frame flag.
Preferably, first receiving step includes:
Integrated navigation receiving step: algorithm of combined navigation subsystem receives the second data information frame and third data information frame；
Integrated navigation judgment step: algorithm of combined navigation subsystem judges the time frame flag TFM2 and of the second data information frame
Whether the size of the time frame flag TFM3 of three data information frames is identical, if the determination result is YES, then exports the 4th data information
Frame；If judging result be it is no, receive and store biggish time frame tag data, abandon lesser time frame tag data,
After the size of TFM2 and TFM3 is identical, the 4th data information frame is exported.
Preferably, second receiving step includes:
Navigation performance assessment and demonstration receiving step: navigation performance assessment receives the first data information frame with demonstration subsystem
With the 4th data information frame；
Navigation performance assessment and demonstration judgment step: navigation performance assessment judges the first data information frame with demonstration subsystem
Time frame flag TFM1 and the 4th data information frame time frame flag TFM4 size it is whether identical, if judging result is
It is then to export navigation performance assessment and demonstration data；If judging result be it is no, receive and store biggish time frame reference numerals
According to, lesser time frame tag data is abandoned, after the size of TFM1 and TFM4 is identical, the assessment of output navigation performance and demonstration
Data.
Preferably, the first data information frame, the second data information frame, third data information frame and the 4th data information frame
It include frame swynchronization code, data field, time frame flag and Error Control domain.
Preferably, frame swynchronization code, data field, time frame synchronization and Error Control domain successively arrange.
Preferably, the time frame lock bit is in data information frame third last byte and fourth from the last byte.
Preferably, deep space dynamics environment simulation subsystem respectively with angle measurement navigation subsystem, the navigation subsystem that tests the speed, lead
Boat Performance Evaluation is connect with demonstration subsystem serial ports；
Algorithm of combined navigation subsystem is assessed respectively with angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance and demonstration
The connection of subsystem serial ports.
Preferably, algorithm of combined navigation subsystem, deep space dynamics environment simulation subsystem, angle measurement navigation subsystem, test the speed and lead
The baud rate navigated between subsystem, navigation performance assessment and demonstration subsystem is 115200bps, renewal time 400ms.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention in data information frame by being added time frame flag, by Time synchronization algorithm, guarantees that combination is led
Input information time stamp in boat, navigation assessment algorithm is consistent；
2, the present invention can fast implement Integrated Navigation Algorithm, in navigation performance assessment algorithm asynchronous data synchronous input,
Simple and reliable, highly effective has good engineering application value.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is that angle measurement of the invention is tested the speed Integrated Navigation Semi-physical Simulation method for synchronizing time schematic diagram；
Fig. 2 is transmitting data stream frame information form schematic diagram of the invention；
Fig. 3 is Time synchronization algorithm flow chart of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1 to Figure 3, it tests the speed Integrated Navigation Semi-physical Simulation time synchronization side the invention proposes a kind of angle measurement
Method, by Time synchronization algorithm, guarantees that integrated navigation, navigation assessment are calculated based on the time frame flag being added in traffic flow information
Input information time stamp in method is consistent.
The angle measurement Integrated Navigation Semi-physical Simulation System that tests the speed includes deep space dynamics environment simulation subsystem, angle measurement
Navigation subsystem, the navigation subsystem that tests the speed, algorithm of combined navigation subsystem, navigation performance assessment and demonstration subsystem, deep space dynamics
Environmental simulation subsystem is logical with angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance assessment and demonstration subsystem respectively
Cross the connection of RS422 serial ports；Algorithm of combined navigation subsystem is commented with angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance respectively
Estimate and is connect with demonstration subsystem by RS422 serial ports.Baud rate 115200bps between each subsystem, renewal time 400ms, number
According to joined time frame flag in stream.
The time frame flag occupies 2 bytes, is located at data frame third last byte and fourth from the last byte
On, count range: 1-65536；The data frame packet contains 256 bytes, including frame swynchronization code (occupying 4 bytes), data field (account for
With 248 bytes), time frame synchronization (occupy 2 bytes), Error Control domain (occupying 2 bytes), transmitting data stream frame information format is such as
Shown in Fig. 2.
Deep space dynamics environment simulation subsystem of the invention sends detector track profile navigation sequence information to angle measurement
Navigation subsystem, the navigation subsystem that tests the speed, navigation performance assessment and demonstration subsystem, the detector track profile navigation sequence
Information includes that time frame marks TFM1；The navigation subsystem that tests the speed sends the navigation information that tests the speed, when the navigation information that tests the speed includes
Between frame flag TFM3, angle measurement navigation subsystem send angle measurement navigation information, the angle measurement navigation information include time frame flag
TFM2, the navigation subsystem that tests the speed send integrated navigation information, and integrated navigation information includes that time frame marks TFM4.
The Time synchronization algorithm acts on the algorithm of combined navigation subsystem and the navigation performance assessment and drills
Show subsystem, by the way that time frame marker for judgment and data caching function is added in data buffer area, realizes two groups of asynchronous input numbers
According to synchronization process, algorithm flow is as shown in figure 3, specific implementation step are as follows:
1, algorithm of combined navigation subsystem time synchronization:
By comparing the angle measurement navigation information time frame flag TFM2 in data cached area and the navigation information time frame that tests the speed
Navigation information is directly taken out from caching if two frame flags are identical, is output to algorithm of combined navigation subsystem by label TFM3；If
Two time frame mark sizes are different, then take " abandoning small stay greatly " strategy, specially receive and store the larger time from buffer area
Frame tag data abandons smaller time frame tag data, and after the two synchronizes, sequence is exported since node synchronization time
TFM2 and TFM3 data are output to algorithm of combined navigation subsystem.
2, navigation performance assessment is synchronous with demonstration subsystem time:
Detector track profile navigation sequence information time frame flag TFM1 and integrated navigation in more data cached area
Navigation information is directly taken out from caching if two frame flags are identical, is output to integrated navigation by information time frame flag TFM4
Subsystem；If two time frame mark sizes are different, " abandoning small stay greatly " strategy is taken, is specially received and stored from buffer area
Larger time frame tag data abandons smaller time frame tag data, after the two synchronizes, the sequence since node synchronization time
Column output TFM1 and TFM4 data are assessed to navigation performance and demonstrate subsystem.
The present invention in data information frame by being added time frame flag, by Time synchronization algorithm, guarantee integrated navigation,
The input information time stamp to navigate in assessment algorithm is consistent, can fast implement Integrated Navigation Algorithm, in navigation performance assessment algorithm
The synchronous input of asynchronous data, simple and reliable, highly effective have good engineering application value.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (8)
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 1. a kind of angle measurement is tested the speed, which is characterized in that including it is following any one or Person appoints multiple steps:First sending step: deep space dynamics environment simulation subsystem sends the first data information frame；Second sending step: angle measurement navigation subsystem sends the second data information frame, and the navigation subsystem that tests the speed sends third data Information frame；First receiving step: algorithm of combined navigation subsystem receives, judge the second data information frame and third data information frame, transmission the Four data information frames；Second receiving step: navigation performance assessment receives with demonstration subsystem, judges that the first data information frame and the 4th data are believed Cease frame；First data information frame, the second data information frame, third data information frame and the 4th data information frame include Time frame flag.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 2. angle measurement according to claim 1 is tested the speed, which is characterized in that institute Stating the first receiving step includes:Integrated navigation receiving step: algorithm of combined navigation subsystem receives the second data information frame and third data information frame；Integrated navigation judgment step: algorithm of combined navigation subsystem judges the time frame flag TFM2 and third number of the second data information frame Whether the size according to the time frame flag TFM3 of information frame is identical, if the determination result is YES, then exports the 4th data information frame；If Judging result be it is no, then receive and store biggish time frame tag data, abandon lesser time frame tag data, until After the size of TFM2 and TFM3 is identical, the 4th data information frame is exported.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 3. angle measurement according to claim 1 is tested the speed, which is characterized in that institute Stating the second receiving step includes:Navigation performance assessment and demonstration receiving step: navigation performance assessment receives the first data information frame and the with demonstration subsystem Four data information frames；Navigation performance assessment with demonstration judgment step: navigation performance assessment with demonstration subsystem judge the first data information frame when Between the time frame flag TFM4 of frame flag TFM1 and the 4th data information frame size it is whether identical, if the determination result is YES, then Export navigation performance assessment and demonstration data；If judging result be it is no, receive and store biggish time frame tag data, lose Lesser time frame tag data is abandoned, after the size of TFM1 and TFM4 is identical, the assessment of output navigation performance and demonstration data.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 4. angle measurement according to claim 1 is tested the speed, which is characterized in that the One data information frame, the second data information frame, third data information frame and the 4th data information frame include frame swynchronization code, number According to domain, time frame flag and Error Control domain.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 5. angle measurement according to claim 4 is tested the speed, which is characterized in that frame Synchronous code, data field, time frame synchronization and Error Control domain successively arrange.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 6. angle measurement according to claim 4 is tested the speed, which is characterized in that institute Time frame lock bit is stated in data information frame third last byte and fourth from the last byte.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 7. angle measurement according to claim 1 is tested the speed, which is characterized in thatDeep space dynamics environment simulation subsystem is assessed with angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance respectively It is connect with demonstration subsystem serial ports；Algorithm of combined navigation subsystem is assessed and demonstration subsystem respectively with angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance Serial ports of uniting connects.
- The Integrated Navigation Semi-physical Simulation method for synchronizing time 8. angle measurement according to claim 1 is tested the speed, which is characterized in that group Close navigation subsystem, deep space dynamics environment simulation subsystem, angle measurement navigation subsystem, the navigation subsystem that tests the speed, navigation performance Baud rate between assessment and demonstration subsystem is 115200bps, renewal time 400ms.
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| CN111791232A (en) * | 2020-06-03 | 2020-10-20 | 中南民族大学 | Robot chassis control system and method based on time hard synchronization |
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