CN110986921B - Data communication and processing method for astronomical integrated navigation system - Google Patents
Data communication and processing method for astronomical integrated navigation system Download PDFInfo
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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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- 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
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0041—Arrangements at the transmitter end
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0045—Arrangements at the receiver end
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Synchronisation In Digital Transmission Systems (AREA)
Abstract
The invention provides a data communication and processing method of an astronomical combined navigation system, which is characterized in that sampling data of different sensors are kept aligned for the whole second, data are synchronously acquired, data communication and data processing of each unit module of the astronomical combined navigation system are realized through an FPGA (field programmable gate array), the data communication between a navigation processor and each sensor module is ensured to be real-time and accurate, the data communication state can be monitored, and the long-term synchronization is ensured to be accurate. The invention ensures the synchronization accuracy of the long-time work of the system, monitors the state of each sensor module and the availability of data in real time, provides a foundation for subsequent high-precision integrated navigation, saves the resources of a navigation processor, ensures that the read data is complete and effective, does not need to repeatedly check the data and provides certain fault-tolerant capability of the astronomical integrated navigation system.
Description
Technical Field
The invention relates to the technical field of integrated navigation, in particular to a data communication and processing method of a navigation system.
Background
The astronomical integrated navigation system consists of an inertial navigation module (INS), an astronomical navigation module (CNS) and a satellite navigation module (GNSS). The integrated navigation system formed by the CNS, the INS and the GNSS has complementary advantages, can effectively improve the precision and the reliability of the navigation system, and becomes an important development direction of a long-distance long-endurance airborne navigation technology.
In the field of integrated navigation systems, some technical research results are reported in the currently published literature. A SDINS/GPS integrated navigation system time synchronization and synchronous data extraction method [ P ] is disclosed as follows: CN100498232C,2009 "introduces a method for time synchronization and synchronized data extraction of an SDINS/GPS integrated navigation system, which generates an IMU sampling clock based on 1PPS of a GPS receiver, and realizes synchronization between IMU data sampling and 1PPS, and this method lacks synchronous evaluation on data transmission delay. The patent "D Suo Cheng, wu Liang Yan, zhao Lin, et al. CN104330082A,2015 "calculates time difference of arrival of MEMS and GNSS at FPGA, and fits MEMS data by a synchronous extrapolation algorithm to realize data synchronization, and when the types of sensor modules in the combined system are many, the complexity of this method will become high obviously. The patent "wangjian, dangshen, yankui, an astronomical combined navigation system time synchronization method [ P ]. China:
CN109799523A,2019 "only introduces the time synchronization method of the integrated system, and does not describe data communication and data processing of the integrated navigation system.
In the field of astronomical integrated navigation systems, the current published literature reports mainly focus on algorithm design, system error calibration and the like of the astronomical integrated navigation system, and the data synchronization, data communication and data processing system realization of the astronomical integrated navigation system is rarely reported. In an astronomical combined navigation system, in order to ensure real-time and accurate data communication between a navigation processor and each sensor module, monitor the data communication state and ensure high-precision synchronization of data of long-term navigation, which is very important for improving the overall precision of the astronomical combined navigation system, an effective data communication and processing method is needed to solve the problems.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a data communication and processing method of an astronomical integrated navigation system. The data communication and data processing of each unit module of the astronomical integrated navigation system are realized through the FPGA, the data communication between the navigation processor and each sensor module is ensured to be real-time and accurate, the data communication state can be monitored, and the long-term synchronization is ensured to be accurate.
The technical scheme adopted by the invention for solving the technical problem comprises the following specific steps:
(1) Keeping the sampling data of different sensors aligned in the whole second, synchronously acquiring the data, wherein the frequency of a Pulse Per Second (PPS) of a satellite navigation module (GNSS) is f 1 Hz, the FPGA receives the PPS signal of the GNSS as a system synchronization reference, and generates a synchronization signal SYN1 of the INS through frequency division, wherein the frequency is f 2 Hz, generating a synchronization signal SYN2 of the CNS at a frequency f 3 Hz, generating a synchronization signal SYN3 of the turntable at a frequency f 4 Hz, the synchronous signals are aligned in whole second;
(2) Receiving and processing data;
the data receiving and processing steps of the CNS, the INS, the GNSS and the turntable are the same, and are as follows:
firstly, performing serial-parallel conversion on interface data of a CNS (central nervous system), an INS (inertial navigation system), a GNSS (global navigation satellite system) or a turntable, and converting 12-bit data into 1-byte data, wherein the 12-bit data comprises 1 start bit, 8 data bits, 1 odd check bit and 2 stop bits;
the method comprises the steps that a Data receiving Flag RX _ Start _ Flag is initialized to be set at 0, when the FPGA detects that Data exist in a port of a CNS, INS, GNSS or a rotary table, RX _ Start _ Flag is set at 1 when the Data Start to be received, a TimeStamp register TimeStamp _ Memory latches the system time Dtime at the moment, the FPGA stores each received byte Data into a register RX _ Data _ Memory, and a counter RX _ Data _ Count is received to perform accumulated counting;
when receiving data, if the FPGA does not detect that data exists in a port of a CNS or an INS or a GNSS or a turntable within two data clock cycles, RX _ Start _ Flag is set to 0;
the method comprises the steps that a Data Valid Flag RX _ Data _ Valid _ Flag is initially set to be 0, data abnormity detection is carried out on the falling edge of the RX _ Start _ Flag, the detection is divided into two parts, the first part is to detect whether a header and a checksum of a Data packet are correct, the second part is to detect whether the number n of Data is correct, if the detection is correct, the Data Valid Flag RX _ Data _ Valid _ Flag is set to be 1, and the setting of 0 is kept after one Data clock period;
the Data transfer Flag RX _ Data _ Move _ Flag is initially set to 0, and is set to 1 at the falling edge RX _ Data _ Move _ Flag of RX _ Data _ Valid _ Flag and is kept to be set to 0 after the Data transfer is finished;
data transfer is carried out, wherein the register RX _ Data _ Memory Data and the TimeStamp register TimeStamp _ Memory Data are transferred into the RAM register RX _ RAM _ Memory, after the Data transfer is completed, a Data receiving completion flag RX _ Data _ Ready is set to be 1, and a Data clock period is kept to be set to be 0;
the Data receiving completion mark RX _ Data _ Ready is interconnected with an interrupt port of the navigation processor, so that an interrupt is generated to the navigation processor when the Data receiving is completed, and the navigation processor reads Data of a CNS, or INS, or GNSS, or a turntable through an access register RX _ RAM _ memory;
(3) Data sending and monitoring;
the steps of data transmission and monitoring of the CNS, the INS, the GNSS or the turntable are the same, and are as follows:
when the navigation processor starts to send data, a sending Enable Flag TX _ Enable _ Flag is set to be 1, other abnormal accesses are prohibited to send the data of a RAM register TX _ RAM _ Memory, then the data to be sent are sent to the register TX _ RAM _ Memory in sequence, and the TX _ Enable _ Flag is set to be 0 after the data are sent;
a sending data Start Flag bit TX _ Start _ Flag is initially set to be 0, and is set to be 1 at the falling edge of TX _ Enable _ Flag and is kept for one data clock period;
when the Flag bit TX _ Start _ Flag is set to be 1, starting the parallel-serial conversion of an asynchronous serial port, converting 1 byte data into 12bit data, and sending the 12bit data to a CNS (central nervous system), INS (inertial navigation system), GNSS (global navigation satellite system) or turntable module through a serial port conversion circuit, wherein the 12bit data comprises 1 Start bit, 8 data bits, 1 odd check bit and 2 stop bits;
when the Flag bit TX _ Start _ Flag rises, the sending counter TX _ Data _ Count is set to be 0, when one byte of Data is sent, the sending counter is accumulated, after the Data in the register TX _ RAM _ Memory is sent, if the accumulated n of the counter TX _ Data _ Count is equal to the length of a sending Data packet, the sending Success Flag TX _ Success _ Flag is set to be 1, a Data clock period is kept, the navigation processor judges whether the sending is successful or not through TX _ Success _ Flag, namely, the state of the TX _ Success _ Flag is read, if the state is 1, the sending is successful, if the state is 0, the sending is failed, if the TX _ Success _ Flag is sent, the sending is repeated once, or the sending is abandoned, and the fault processing program is directly switched in.
The invention has the beneficial effects that:
(1) The PPS of the GNSS is used as a system synchronization reference, the synchronization frequency of the INS, the CNS and the rotary table is obtained through frequency division, and the synchronization of all modules is aligned in whole second, so that the synchronization accuracy of the long-time work of the system is guaranteed.
(2) The FPGA latches the system time Dtime at the moment when the received data arrives, and the navigation processor can judge indexes such as data transmission delay, system synchronization precision and the like through the Dtime and the synchronization difference, monitor the state of each sensor module and the usability of data in real time and provide a basis for subsequent high-precision combined navigation.
(3) The FPGA carries out abnormity detection on the received data and only sends the data to the navigation processor to obtain correct and effective data, so that the resources of the navigation processor are saved.
(4) The FPAG shifts the correctly valid received data, thus freeing up the register on the one hand
And the RX _ Data _ Memory can ensure that Data is continuously received and Data loss does not occur, and on the other hand, the navigation processor only accesses the Memory Data after Data transfer, so that the read Data is complete and effective and Data verification is not required to be repeatedly performed.
(5) The FPAG sends data and monitors the sending state, the navigation processor can judge whether the sending is successful or not by sending the state mark, if the sending is unsuccessful, the sending can be tried again, and the fault processing program can also be directly switched in, thereby providing certain fault tolerance capability of the astronomical combined navigation system.
Drawings
Fig. 1 is a functional block diagram of data synchronization and data communication of the astronomical combination system of the present invention.
FIG. 2 is a timing diagram of data reception and processing according to the present invention.
FIG. 3 is a timing diagram of data transmission and monitoring according to the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention realizes the data communication and data processing of each unit module of the astronomical combined navigation system through the FPGA.
Referring to a functional block diagram of data synchronization and data communication of an astronomical combination system, a second pulse synchronization signal (PPS) of a satellite navigation module (GNSS) is received by an FPGA (field programmable gate array) as a system synchronization reference to generate a synchronization signal SYN1 of an inertial navigation module (INS), a synchronization signal SYN2 of an astronomical navigation module (CNS), and a synchronization signal SYN3 of a turntable, the FPGA receives data of each sensor, the received data is processed and then sent to a navigation processor, the navigation processor sends the data to be sent to the FPGA, and the FPGA sends the data and monitors the state of the sent data.
The specific implementation steps are as follows:
(1) And in synchronization, the frequency of a Pulse Per Second (PPS) synchronization signal of a satellite navigation module (GNSS) is 1Hz, the FPGA receives the PPS signal of the GNSS as a system synchronization reference, the synchronization signal SYN1 of the INS is generated through frequency division, the frequency is 200Hz, the synchronization signal SYN2 of the CNS is generated, the frequency is 100Hz, the synchronization signal SYN3 of the rotary table is generated, the frequency is 200Hz, and the synchronization signals are aligned in whole second.
(2) And data receiving and processing, wherein electrical interfaces of the CNS, the INS, the GNSS and the turntable are asynchronous serial ports and are interconnected with the FPGA through a serial port conversion circuit, a data receiving and processing method of the CNS is described by taking the CNS as an example by referring to a data receiving and processing sequence chart shown in FIG. 2, and the data receiving and processing methods of the INS, the GNSS and the turntable are similar.
The CNS interface data first needs to be converted from serial to parallel, converting 12-bit data (1 start bit, 8 data bits, 1 odd check bit, and 2 stop bits) into 1-byte data.
When the receiving Data Flag RX _ Start _ Flag is initialized to be set to be 0, and the FPGA detects that Data exists in a CNS port, the receiving Data RX _ Start _ Flag is set to be 1 when the Data starts to be received, meanwhile, the TimeStamp register TimeStamp _ Memory latches the system time Dtime at the moment, the FPGA stores each received byte Data into the register RX _ Data _ Memory, and meanwhile, the receiving counter RX _ Data _ Count carries out accumulated counting.
When receiving data, if the FPGA does not detect the data of the CNS port in two data clock periods, RX _ Start _ Flag is set to 0, and the navigation processor can determine the current data receiving state by accessing RX _ Start _ Flag bit.
The method comprises the steps that a Data Valid Flag RX _ Data _ Valid _ Flag is initially set to be 0, data abnormity detection is carried out on the falling edge of the RX _ Start _ Flag, and two parts of contents are mainly detected, wherein the first part is to detect whether a header and a checksum of a Data packet are correct, the second part is to detect whether the number n of Data is correct, if the detection is correct, the Data Valid Flag RX _ Data _ Valid _ Flag is set to be 1, and the setting of the Data Valid Flag RX _ Data _ Valid _ Flag is kept to be 0 after one Data clock period.
The Data transfer Flag RX _ Data _ Move _ Flag is initially set to 0, and RX _ Data _ Move _ Flag is set to 1 at the falling edge RX _ Data _ Move _ Flag of RX _ Data _ Valid _ Flag and is held until the Data transfer is completed and then set to 0.
The Data transfer mainly realizes that the RX _ Data _ Memory Data and the TimeStamp register TimeStamp _ Memory Data are transferred into the RAM register RX _ RAM _ Memory, and after the Data transfer is completed, a Data receiving completion flag RX _ Data _ Ready is set to be 1, and a Data clock period is kept and then set to be 0.
The Data reception completion flag RX _ Data _ Ready may be interconnected with an interrupt port of the navigation processor, and then the Data reception completion may generate an interrupt to the navigation processor, and the navigation processor reads the CNS Data through the access register RX _ RAM _ memory.
And the navigation processor realizes the synchronous alignment of the data of each sensor module through the data time Dtime and then performs information fusion.
(3) Data transmission and monitoring refer to a data transmission and monitoring sequence chart shown in fig. 3, a CNS is taken as an example to explain a CNS data transmission and monitoring method, and the data transmission and monitoring methods of the INS, the GNSS and the turntable are similar.
When the navigation processor starts to transmit data, a transmission Enable Flag TX _ Enable _ Flag is set to be 1, abnormal access to a transmission RAM register TX _ RAM _ Memory data at other places is forbidden, then the data to be transmitted are sequentially transmitted to the register TX _ RAM _ Memory, and the TX _ Enable _ Flag is set to be 0 after the data is transmitted.
The TX data Start Flag TX _ Start _ Flag is initially set to 0, set to 1 at the falling edge of TX _ Enable _ Flag, and held for one data clock cycle.
When the Flag bit TX _ Start _ Flag is set to 1, the parallel-serial conversion of the asynchronous serial port is started, 1 byte data is converted into 12bit data (1 Start bit, 8 data bits, 1 odd check bit and 2 stop bits), and the 12bit data is sent to the CNS module through a serial port conversion circuit. The parallel-to-serial conversion of data for asynchronous serial ports is beyond the scope of this patent discussion.
When the Flag bit TX _ Start _ Flag rises, the transmission counter TX _ Data _ Count is set to 0, the transmission counter accumulates each time one byte of Data is transmitted, and after the Data transmission in the register TX _ RAM _ Memory is completed, if the accumulated n of the counter TX _ Data _ Count is equal to the length of a transmission Data packet, the successful transmission Flag TX _ Success _ Flag is set to 1, and a Data clock cycle is maintained. The navigation processor can judge whether the transmission is successful or not through TX _ Success _ Flag, if the transmission is unsuccessful, the navigation processor can try to transmit once again, and the navigation processor can also directly switch to a fault processing program.
The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (1)
1. A data communication and processing method of an astronomical integrated navigation system is characterized by comprising the following steps:
(1) Keeping the sampling data of different sensors aligned in the whole second, synchronously acquiring the data, wherein the frequency of the PPS (pulse per second) synchronous signal of the GNSS (global navigation satellite system) of the satellite navigation module is f 1 Hz, FPGA receives GNSS PPS signal as system synchronizationReference, the synchronization signal SYN1 of INS is generated by frequency division, the frequency is f 2 Hz, generating a synchronization signal SYN2 of the CNS at a frequency f 3 Hz, generating a synchronization signal SYN3 of the turntable at a frequency f 4 Hz, the synchronous signals are aligned in whole second;
(2) Receiving and processing data;
the data receiving and processing steps of the CNS, the INS, the GNSS and the turntable are the same, and the steps are as follows:
firstly, performing serial-parallel conversion on interface data of a CNS (central nervous system), an INS (inertial navigation system), a GNSS (global navigation satellite system) or a turntable, and converting 12-bit data into 1-byte data, wherein the 12-bit data comprises 1 start bit, 8 data bits, 1 odd check bit and 2 stop bits;
the method comprises the steps that a Data receiving Flag RX _ Start _ Flag is initialized to be set at 0, when the FPGA detects that Data exist in a port of a CNS, INS, GNSS or a rotary table, RX _ Start _ Flag is set at 1 when the Data Start to be received, a TimeStamp register TimeStamp _ Memory latches the system time Dtime at the moment, the FPGA stores each received byte Data into a register RX _ Data _ Memory, and a counter RX _ Data _ Count is received to perform accumulated counting;
when receiving data, if the FPGA does not detect that the ports of the CNS or the INS or the GNSS or the turntable have data in two data clock periods, RX _ Start _ Flag is set to 0;
the method comprises the steps that a Data Valid Flag RX _ Data _ Valid _ Flag is initially set to be 0, data abnormity detection is carried out on the falling edge of RX _ Start _ Flag, the detection is divided into two parts, the first part is to detect whether a header and a checksum of a Data packet are correct, the second part is to detect whether the number n of Data is correct, if the detection is correct, the Data Valid Flag RX _ Data _ Valid _ Flag is set to be 1, and the Data Valid Flag RX _ Data _ Valid _ Flag is set to be 0 after one Data clock period;
the Data transfer Flag RX _ Data _ Move _ Flag is initially set to 0, and RX _ Data _ Move _ Flag is set to 1 at the falling edge of RX _ Data _ Valid _ Flag and is kept to be set to 0 after the Data transfer is completed;
data transfer is carried out, wherein the register RX _ Data _ Memory Data and the TimeStamp register TimeStamp _ Memory Data are transferred into the RAM register RX _ RAM _ Memory, after the Data transfer is completed, a Data receiving completion flag RX _ Data _ Ready is set to be 1, and a Data clock period is kept to be set to be 0;
the Data receiving completion mark RX _ Data _ Ready is interconnected with an interrupt port of the navigation processor, so that an interrupt is generated when the Data receiving is completed and sent to the navigation processor, and the navigation processor reads Data of a CNS (central nervous system), an INS (inertial navigation system), a GNSS (global navigation satellite system) or a turntable through an access register RX _ RAM _ memory;
(3) Data sending and monitoring;
the steps of data transmission and monitoring of the CNS, the INS, the GNSS or the rotary table are the same, and are as follows:
when the navigation processor starts to send data, a sending Enable Flag TX _ Enable _ Flag is set to be 1, other abnormal accesses are prohibited to send the data of a RAM register TX _ RAM _ Memory, then the data to be sent are sent to the register TX _ RAM _ Memory in sequence, and the TX _ Enable _ Flag is set to be 0 after the data are sent;
a sending data Start Flag bit TX _ Start _ Flag is initially set to be 0, and is set to be 1 at the falling edge of TX _ Enable _ Flag and is kept for one data clock period;
when the Flag bit TX _ Start _ Flag is set to be 1, starting the parallel-serial conversion of an asynchronous serial port, converting 1 byte data into 12bit data, and sending the 12bit data to a CNS (central nervous system), INS (inertial navigation system), GNSS (global navigation satellite system) or turntable module through a serial port conversion circuit, wherein the 12bit data comprises 1 Start bit, 8 data bits, 1 odd check bit and 2 stop bits;
when the Flag bit TX _ Start _ Flag rises, the sending counter TX _ Data _ Count is set to be 0, when one byte of Data is sent, the sending counter is accumulated, after the Data in the register TX _ RAM _ Memory is sent, if the accumulated n of the counter TX _ Data _ Count is equal to the length of a sending Data packet, the sending Success Flag TX _ Success _ Flag is set to be 1, a Data clock period is kept, the navigation processor judges whether the sending is successful or not through TX _ Success _ Flag, namely, the state of the TX _ Success _ Flag is read, if the state is 1, the sending is successful, if the state is 0, the sending is failed, if the TX _ Success _ Flag is sent, the sending is repeated once, or the sending is abandoned, and the fault processing program is directly switched in.
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| CN112579696B (en) * | 2020-11-26 | 2023-12-12 | 广州大学 | Multi-point synchronous copying method, device, server and storage medium for radio astronomical data |
| CN112729293B (en) * | 2021-03-30 | 2021-06-22 | 中国人民解放军国防科技大学 | Time synchronization method for satellite time service three-axis flight simulation turntable and measured inertial navigation system |
| CN113783652B (en) * | 2021-09-13 | 2023-06-16 | 广东汇天航空航天科技有限公司 | Data synchronization method and device of integrated navigation system |
| CN114166210B (en) * | 2021-10-29 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Airborne astronomical navigation hardware platform and airborne astronomical navigation equipment |
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