CN112965416B - Beidou short message transmission and underwater navigation data compression method and navigation control MCU - Google Patents
Beidou short message transmission and underwater navigation data compression method and navigation control MCU Download PDFInfo
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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
- G05B19/0423—Input/output
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/12—Messaging; Mailboxes; Announcements
- H04W4/14—Short messaging services, e.g. short message services [SMS] or unstructured supplementary service data [USSD]
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention belongs to the technical field of application of Beidou positioning and communication technology and navigation positioning and short message communication of an underwater navigation body, and particularly relates to a Beidou short message transmission and underwater navigation data compression method. The method comprises the following steps: compressing navigation data into a short message through a navigation control MCU; then, after the Beidou module with double-card communication judges RD positioning, positioning information and navigation data are sent outwards alternately; then the shore-based equipment receives the positioning information and navigation data and then decompresses the positioning information and the navigation data; and finally, performing underwater navigation reply of the navigation body according to the decompressed data and the preset route information. Has the advantages that: by means of the method, the navigation data is compressed, and under the using condition of the existing navigation body, the recording of the full-range navigation state information can be met by using the information capacity of a Beidou short message. The dual-card dual-standby system improves the success rate and the integrity of sending and ensures that the shore-based equipment can receive communication information.
Description
Technical Field
The invention belongs to the technical field of application of Beidou positioning and communication technology and navigation positioning and short message communication of an underwater navigation body, and particularly relates to a Beidou short message transmission and underwater navigation data compression method and a navigation control MCU.
Background
Along with big dipper communication satellite network deployment completion, big dipper communication will be widely used in military and civilian products, civilian big dipper card short message communication frequency is 60 seconds at present, communication data length is about 78 bytes, the body of navigating in the water is after long-time navigation, the navigation data volume of interior survey record is huge, if all communicate through big dipper short message and send, then need send a plurality of short messages, lead to data transmission time overlength, if lose certain frame data in the middle of, can lead to navigation information analysis incomplete, can't rerank, in addition big dipper antenna receives the restriction of body of navigating in the water physical structure, often there is the antenna sectional area big enough, high enough from the surface of water height, receive the serious scheduling problem of wind and wave sea condition and surface of water reflection influence, make the body of navigating in the water face when communicating unable lock the star, actual problems such as communication is interrupted.
Disclosure of Invention
The invention aims to solve the problems of small communication data volume and poor stability of the Beidou short messages on the water surface in the prior art, and designs a Beidou short message transmission and underwater navigation data compression method and a navigation control MCU.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention provides a Beidou short message transmission and underwater navigation data compression method, which comprises the following steps:
compressing navigation data into a short message through a navigation control MCU;
after the Beidou module with double-card communication judges RD positioning, positioning information and navigation data are sent outwards alternately;
the data compression method comprises the following steps:
s1, recording longitude and latitude information of a navigation initial point when navigation starts;
s2, in the navigation process, recording the time for switching the navigation route and compressing navigation state data when the navigation route point is switched each time;
s3, when the non-navigation path switching point navigates, judging navigation state error data according to a set period, recording the navigation state error data when the navigation state error data exceeds a set threshold value, and performing data compression;
and S4, repeating the processes of S2 and S3 until the navigation task is finished, and arranging the data according to the recording sequence.
Further, in step S1, at the time of starting the navigation, the longitude and latitude information of the navigation initial point are recorded, and the longitude and the latitude each occupy one byte.
Further, in step S2, in the course of navigating, when switching waypoints each time, recording the time for switching the waypoints, where the time occupies one byte, the first bit is 1, and the last 7 bits are time data; and recording the speed, the depth error and the navigation error at the moment according to low resolution and compressing the speed, the depth error and the navigation error to a byte, wherein the first bit of the byte is a mark bit and is 1, which represents that the byte is a navigation state point, 2-3 bits represent a speed value, 4-5 bits represent a depth error value, and 6-8 bits represent a course error value.
Further, in step S3, the navigation state error at this time is recorded according to the set low resolution and compressed into a byte, the first bit of the byte is juxtaposed to 0 as a flag bit, which represents that the byte is in the middle navigation state, 2 to 4 bits represent a depth error value, and 5 to 8 bits represent a heading error value;
when the navigation state error data are found to be larger than the set threshold value through continuous multiple periods of recorded data, the navigation control of the product is considered to be in failure, the recording is stopped, and the multiple periods of data are stored;
and when the sailing state error data in each period are within the threshold value, not recording.
Furthermore, the method also comprises the step that after the shore-based equipment receives the positioning information and the navigation data, the data are analyzed;
the data analysis method comprises the following steps: analyzing according to the sequence of data records, wherein the first 2 bytes represent navigation initial longitude and latitude, subsequently judging that the byte is an airway switching point or a non-airway switching point according to the head of each byte, and then splitting and analyzing the rear 7 bytes according to the resolution;
if the byte is the route switching point, the first position of two continuous bytes is 1, 7 positions behind the first byte are the route switching time, 2 to 3 positions are the speed, 4 to 5 positions are the depth error, and 6 to 8 positions are the navigation error value;
if the position is not the route switching point, the depth error value is 2 to 4 bits, and the heading error value is 5 to 8 bits.
Further, the underwater navigation compound disc of the navigation body is carried out according to the analyzed data and the preset navigation path information;
the method for duplicating the disk comprises the following steps: and marking the route point information analyzed according to the time sequence on a map, connecting the route point information through straight line segments to form an actual navigation path, identifying preset route information on the map, comparing and analyzing the preset route point information and the preset route information to obtain the error of each navigation section and the error of the whole navigation process, and judging whether the navigation deviation is within a normal navigation allowable range and whether the navigation task is effective.
Furthermore, the Beidou module for double-card communication comprises a Beidou module provided with two Beidou cards, and the Beidou module is connected with an antenna and a navigation control MCU through an RS232 serial port; a set of antenna and control circuit is adopted to form a dual-card dual-standby system for locking the star for positioning and reporting navigation information.
Furthermore, in the dual-card dual-standby system, one card is responsible for locking the star and positioning and reporting the positioning information through a short message, and the other card is responsible for reporting the compressed navigation information; after the star locking positioning, the two cards alternately send information to the shore-based equipment.
The invention also provides a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to realize the steps of the Beidou short message transmission and underwater navigation data compression method.
The invention also provides a navigation control MCU, which comprises the computer readable storage medium.
The working principle is as follows:
compressing a large amount of underwater navigation data of a navigation body through an algorithm, compressing complex data into a single short message, recording and storing the data according to a time sequence, and sending positioning information and navigation data outwards alternately after judging RD positioning by a Beidou module with double-card communication; then, after the shore-based equipment receives the positioning information and the navigation data, decompressing; and finally, comparing the decompressed data with preset navigation path information to finish the underwater navigation reply of the navigation body.
Has the advantages that:
1. by means of the method, the navigation data is compressed, and under the using condition of the existing navigation body, the recording of the full-range navigation state information can be met by using the information capacity of a Beidou short message.
2. The dual-card dual-standby system improves the success rate and the integrity of sending and ensures that the shore-based equipment can receive communication information.
Drawings
Fig. 1 is a structural diagram of a Beidou short message transmission and underwater navigation data compression method.
FIG. 2 is a flow chart of Beidou short message transmission and underwater navigation data compression.
Detailed Description
The technical solutions of the present invention will be described in further detail below with reference to specific embodiments and drawings, but the present invention is not limited to the following technical solutions.
Example 1
As shown in figure 1, in the existing underwater vehicle body with the Beidou antenna, a Beidou module capable of configuring two Beidou cards is used, is connected with the existing antenna, is simultaneously connected with a main control MCU through an RS232 serial port, and forms a system similar to 'dual-card dual-standby' by using one set of antenna and control circuit, and forms a dual-card dual-standby system by adopting one set of antenna and control circuit for locking the satellite for positioning and reporting navigation information. In the dual-card dual-standby system, one card is responsible for locking the star and positioning and reporting positioning information through a short message, and the other card is responsible for reporting compressed navigation information; and after the star locking positioning, the two cards alternately send information to the shore base equipment. A data compression algorithm program is implanted into the navigation control MCU, and the program flow is shown in figure 2.
When the navigation task is executed, the flows of compression, message sending and analysis and reply are as follows:
recording the longitude and latitude information of the initial navigation point when navigation begins,
in the navigation process, when the route point is switched every time, the time (occupying one byte) for switching the route is recorded, then the speed, the depth error and the navigation error at the time are recorded according to the grading range and compressed to one byte, the first bit of the byte is a mark bit and is juxtaposed to 1, the byte is represented as the route state point, and the last 7 bits are time data; and recording the speed, the depth error and the navigation error at the moment according to low resolution and compressing the speed, the depth error and the navigation error into a byte, wherein the first bit of the byte is a mark bit and is collocated to 1, which represents that the byte is a navigation path state point, 2 to 3 bits represent a speed value, 4 to 5 bits represent a depth error value, and 6 to 8 bits represent a course error value.
When the navigation is carried out at a non-navigation path switching point, judging a depth error and a course error at regular intervals (a control program automatically adjusts and sets according to actual tasks and can meet the requirements of different navigation time on data records), if the depth error and the course error exceed a set threshold, recording the navigation state error at the moment, compressing the navigation state error to a byte according to a set hierarchical range (an adjustment hierarchical numerical value can be manually set in the control program in advance), taking the first bit of the byte as a mark bit and juxtaposing 0 to represent that the byte is in a middle navigation state, 2-4 bits represent the depth error value, and 5-8 bits represent the course error value. And if the errors of the recorded data of a plurality of continuous periods are all larger than a set threshold value, determining that the navigation control of the product has a fault, stopping recording, storing the data, preparing to upload, and if the errors of the navigation state data of each period are within the threshold value, not recording.
The multiple periods are generally determined by 3 periods.
And repeating the process until the process is finished, and arranging the data in the navigation task according to the recording sequence. By means of the method, navigation data are compressed, and under the using condition of the existing navigation body, the recording of full-range navigation state information can be met by using the information capacity of a Beidou short message.
When transmitting information to shore-based equipment, a navigation body stops and floats upwards, a Beidou module is controlled to judge whether RD communication satellite signals are searched by the MCU, once communication and positioning conditions are met, the card 1 is responsible for locking the satellite for positioning, positioning information is reported through short messages, the card 2 is responsible for reporting compressed navigation information, and then the card 1 and the card 2 continue to send the navigation information to the shore-based equipment alternately.
After receiving the Beidou short message information, shore-based equipment provided with analysis algorithm software analyzes the Beidou short message information according to the sequence of data records, the first 2 bytes represent navigation initial longitude and latitude, subsequently, the byte is judged to be an airway switching point or a non-airway switching point according to the head of each byte, and the later 7 bytes are split and analyzed according to the resolution; if the byte is the route switching point, the first position of two continuous bytes is 1, 7 positions behind the first byte are the route switching time, 2 to 3 positions are the speed, 4 to 5 positions are the depth error, and 6 to 8 positions are the navigation error value; if it is a non-route switching point, the 2-4 bits are depth error values, and the 5-8 bits are course error values.
After data analysis, comparing the preset navigation information of the navigation body with the analyzed data, and repeating the whole navigation process.
And marking the route point information analyzed according to the time sequence on a map, connecting the route point information through straight line segments to form an actual navigation path, identifying preset route information on the map, comparing and analyzing the preset route point information and the preset route information to obtain the error of each navigation section and the error of the whole navigation process, and judging whether the navigation deviation is within a normal navigation allowable range and whether the navigation task is effective.
The verification is obtained in a practical navigation test of a demonstration proof prototype, wherein 2 navigation sections are preset in a navigation, the initial longitude is about 102 degrees 51 '26 degrees, the latitude is 24 degrees 35' 8 degrees, and the navigation section 1: the navigation time is 60s, the speed is 7kn, the depth is 20 meters, and the heading is 0 degree; and (3) a navigation road section 2: the voyage time is 60s, the speed is 8kn, the depth is 20 meters, and the heading is 0 degree. After the navigation is finished, the onshore Beidou receiving equipment can stably receive real navigation data and positioning information, the judgment period is 20s in the navigation process, the Beidou short message contains 3 sections of navigation state error data, the analysis can be carried out, the speed is 7kn, the depth error is more than 2 meters, and the heading error is more than 5 degrees when the time is 0 s; at 20s, the depth error is 1.8 m, and the course error is 0.3 degrees; and when the next recording point is 60s, the navigation path is switched, which indicates that the depth and the course error are both less than the set threshold values of 0.6 m and 0.6 degrees after 20s, and when 60s, the speed is 8kn, the depth error is less than 0.6 m, the course error is 0.3 degrees, and no new navigation data exists, which indicates that the navigation depth and the navigation error are both less than the set threshold values in 20s after the trajectory is switched, and normal navigation is performed. The floating point received by the Beidou positioning information is longitude 102 degrees 51 '28 degrees and latitude 24 degrees 35' 15 degrees.
By the method, the reliability of Beidou positioning and communication on the water surface and the effective information quantity of short message transmission are improved, and related parameters can be configured to have certain flexibility.
Claims (9)
1. A Beidou short message transmission and underwater navigation data compression method is characterized by comprising the following steps:
compressing navigation data into a short message through a navigation control MCU;
after the Beidou module with double-card communication judges RD positioning, positioning information and navigation data are sent outwards alternately;
then, after the shore-based equipment receives the positioning information and the navigation data, analyzing the positioning information and the navigation data;
finally, performing underwater navigation reply of the navigation body according to the analyzed data and the preset route information;
the data compression method comprises the following steps:
s1, recording longitude and latitude information of a navigation initial point when navigation starts;
s2, in the navigation process, recording the time for switching the navigation route and compressing navigation state data when the navigation route point is switched each time;
s3, when the non-navigation path switching point navigates, judging navigation state error data according to a set period, recording the navigation state error data when the navigation state error data exceeds a set threshold value, and performing data compression;
and S4, repeating the processes of S2 and S3 until the navigation task is finished, and arranging the data according to the recording sequence.
2. The data compression method of claim 1,
in step S1, at the start of the navigation, the latitude and longitude information of the recorded navigation initial point are recorded, and the latitude and longitude each occupy one byte.
3. The data compression method as claimed in claim 1, wherein in step S2, each time the waypoint is switched during the voyage, the time for switching the waypoint is recorded, which is one byte, the first bit is 1, and the last 7 bits are time data; and recording the speed, the depth error and the navigation error at the moment according to low resolution and compressing the speed, the depth error and the navigation error to a byte, wherein the first bit of the byte is a mark bit and is 1, which represents that the byte is a navigation state point, 2-3 bits represent a speed value, 4-5 bits represent a depth error value, and 6-8 bits represent a course error value.
4. A data compression method as claimed in claim 1, wherein in step S3, the navigation state error at this time is recorded according to the set low resolution and compressed into a byte, the first bit of the byte is used as a flag bit and is collocated with 0, which represents that the byte is in the middle navigation state, 2 to 4 bits represent depth error value, and 6 to 8 bits represent heading error value;
when the recorded data of a plurality of continuous periods find that the navigation state error data are all larger than the set threshold value, the navigation control of the product is considered to be in failure, the recording is stopped, and the data of a plurality of periods are stored;
and when the sailing state error data in each period are within the threshold value, not recording.
5. The data compression method according to claim 2 or 4, wherein after the shore base receives the Beidou short message data uploaded by the navigation body, the data analysis method comprises the following steps: analyzing according to the sequence of data records, wherein the first 2 bytes represent navigation initial longitude and latitude, subsequently judging that the byte is an airway switching point or a non-airway switching point according to the head of each byte, and then performing resolution analysis according to the rear 7 bytes;
if the position is an air route switching point, the first position of two continuous bytes is 1, the position 7 behind the first byte is the air route switching time, the positions 2 to 3 of the second byte are the speed, the positions 4 to 5 are depth errors, and the positions 6 to 8 are air route error values;
if it is a non-route switching point, the 2-4 bits are depth error values, and the 5-8 bits are course error values.
6. A data compression method as claimed in claim 5, wherein the method of copying is: and marking the route point information analyzed according to the time sequence on a map, connecting the route point information through straight line segments to form an actual navigation path, identifying preset route information on the map, comparing and analyzing the preset route point information and the preset route information to obtain the error of each navigation section and the error of the whole navigation process, and judging whether the navigation deviation is within a normal navigation allowable range and whether the navigation task is effective.
7. The data compression method according to claim 1, wherein the Beidou module for double-card communication comprises a Beidou module provided with two Beidou cards, and the Beidou module is connected with an antenna and a navigation control MCU through an RS232 serial port; a set of antenna and control circuit is adopted to form a dual-card dual-standby system for locking the star for positioning and reporting navigation information.
8. The data compression method according to claim 7, wherein in the dual-card dual-standby system, one card is responsible for locking star positioning and reporting positioning information through short messages, and the other card is responsible for reporting compressed navigation information; and after the star locking positioning, the two cards alternately send information to the shore base equipment.
9. A navigation control MCU, characterized by comprising the Beidou short message transmission and underwater navigation data compression method of any one of claims 1 to 4.
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