CN113641953B - Gyroscope transmission frame format data analysis method, data encapsulation method and system - Google Patents
Gyroscope transmission frame format data analysis method, data encapsulation method and system Download PDFInfo
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Abstract
The invention provides a transmission frame format data analysis method, a data encapsulation method and a system of a gyroscope, wherein the specific data analysis method comprises the following steps: acquiring data frame information of a gyroscope; dividing each frame of data into a plurality of parts and checking; and acquiring a data part in the data frame passing the verification, analyzing and acquiring an identification code and effective data of the gyroscope, and analyzing the effective data of the gyroscope according to the identification code to acquire the angular speed of the gyroscope. The invention divides each frame of data into a plurality of parts based on the original data frame, verifies the data accuracy by taking the verification as the basis, and obtains the angular velocity of the gyroscope by respectively acquiring the mark code and the effective data from different data parts and analyzing the mark code and the effective data. The invention fully utilizes all transmission frame format data, avoids pollution of single data abnormality to a data analysis method, and the obtained analysis information accurately reflects the movement angle condition of the gyroscope, thereby effectively improving the data analysis precision and stability of the gyroscope.
Description
Technical Field
The invention belongs to the technical field of inertial navigation data processing, and relates to a transmission frame format data analysis method, a data encapsulation method and a system of a gyroscope.
Background
The gyroscope has the advantages of small volume, high precision, long service life and the like, is widely applied to the fields of inertial navigation and positioning, but the method of the gyroscope in the aspect of data analysis of a transmission frame format is single at present, a single data analysis method without verification is generally adopted, analysis of various measurement data is not perfect and accurate enough, and the requirement of inertial navigation precision is difficult to meet.
In addition, considering the characteristics of high inertial device variability of the gyroscope and high real-time requirement of gyroscope data resolving, research on an analysis system with better universality and inheritability is needed, and data resolving accuracy of the gyroscope is improved.
Disclosure of Invention
The invention aims at least solving the technical problems in the prior art, and particularly creatively provides a transmission frame format data analysis method, a data packaging method and a system of a gyroscope.
In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a transmission frame format data parsing method of a gyroscope, comprising the steps of:
s1, acquiring data frame information of a gyroscope by using a message middleware;
s2, dividing each frame of data into a plurality of parts according to a transmission protocol, wherein the parts comprise at least one data part and at least one check part, and checking the at least one data part and the at least one check part in the parts to obtain a checked data frame;
s3, acquiring one data part in the data frame passing the verification and dividing the data part into two sub-data parts, or acquiring two data parts in the data frame passing the verification, analyzing one data part/one sub-data part to acquire an identification code, acquiring effective data of the gyroscope by utilizing the other data part/the other sub-data part, and analyzing the effective data of the gyroscope according to the identification code to acquire the angular velocity of the gyroscope;
and S4, pushing the analysis value to a display page for display and/or storing the analysis value to a database.
The invention divides each frame of data into a plurality of parts based on the original data frame, performs verification through at least one data part and at least one verification part as the basis for verifying the accuracy of the data, and obtains the identification code and the effective data respectively from different data parts and analyzes the identification code and the effective data to obtain the angular velocity of the gyroscope. The invention fully utilizes all transmission frame format data, avoids pollution of single data abnormality to a data analysis method, and the obtained analysis information accurately reflects the movement angle condition of the gyroscope, thereby effectively improving the data analysis precision and stability of the gyroscope.
According to a preferred embodiment of the invention, angular velocity calculation methods of different parameters are selected according to the gyro identification code to analyze the data in the middle of the frame so as to obtain the angular velocities of all axes;
setting the type number of the identification codes, wherein the identification codes of the n-axis gyroscope comprise n numbers of gyr_1 and gyr_2;
establishing a switch-case function to select angular velocity calculation methods of different parameters;
matching the measurement data of each gyroscope with a corresponding angular velocity calculation matrix to obtain accurate angular velocities of all axes;
for each gyro identification code, a matrix function calculation relationship is established, namely case (gyr_1) and case (gyr_2), and the case (gyr_n) is calculated according to the following formula:
wherein, fun_gyr_1 (·), fun_gyr_2 (·), fun_gyr_n (·) represent the angular resolution functions of the 1 st, 2 nd and n th axes of the gyroscope, respectively; gyr_1, gyr_2, gyr_n represent raw data of the 1 st, 2 nd and n th axes of the gyroscope; * G 1 、*G 2 、*G n Angular velocities of the 1 st axis, the 2 nd axis and the n-th axis of the gyroscope after analysis are respectively shown; t represents a gyroscope temperature value; k (k) 11 、k 22 、k nn Scale coefficients of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope are respectively represented; k (k) 12 、k 13 、k 1n 、k 21 、k 23 、k 2n 、k n1 、k n2 、k nn Respectively representing cross influence coefficients among the 1 st axis, the 2 nd axis and the n th axis of the gyroscope; h is a 1 、h 2 、h n Respectively representing static zero offset values of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope; m is m 11 、m 12 、m 1n 、m 21 、m 22 、m 2n 、m n1 、m n2 、m nn Influence coefficients of quadratic powers of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope are respectively shown; t is the calculated gyroscope Temperature value Temperature; t (T) 0 Representing a reference temperature value; f (f) 1 (·)、f 2 (·)、f n (. Cndot.) shows the temperature influence functions of the 1 st axis, the 2 nd axis and the n th axis of the gyroscope respectively, and n is the number of axes of the gyroscope.
f g (T-T 0 )＝ν(T-T 0 )，g＝1,2,3,......,n,f g (T-T 0 ) Is expressed in units of DEG/s (degrees per second), and v is in the range of [ -0.013,0.0.15)]The units are (° per s)/(DEG C), T 0 Is in degrees celsius.
According to the invention, the angular velocity calculation method with different parameters is selected according to the gyro identification code to analyze the data in the middle of the frame, and as the gyro is an inertial device with zero offset and angle random walk, different angular velocity calculation matrixes are adopted to calculate the measured data of different gyroscopes, the defect that the matrix calculation method with single fixed parameters is difficult to adapt to multi-axis gyro angle calculation is overcome, the measured data of each gyroscope is independently matched with the corresponding angular velocity calculation matrixes, and the angular velocities of all axes are obtained accurately, so that the accuracy of angular data calculation is improved.
In order to achieve the above object of the present invention, according to a second aspect of the present invention, there is provided a transmission frame format data encapsulation method of a gyroscope, comprising the steps of:
acquiring detection data of a gyroscope and segmenting;
packaging a gyroscope identification code and each section of detection data in sequence, wherein the detection data packaged by the gyroscope identification code and the gyroscope identification code are located in different data parts, the different data parts are packaged to obtain final data parts, and each final data part and each verification part are respectively packaged to obtain different data frames;
and sending the encapsulated data frame by using the message middleware.
The transmission frame format data packaging method of the gyroscope respectively packages the identification code and the effective data into different data parts, packages the data parts and the verification part to obtain the data frame, and improves the safety and stability of the data.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a transmission frame format data parsing system of a gyroscope, including a data receiving unit and a data parsing unit, the data receiving unit acquiring data frame information of the gyroscope using a message middleware and transmitting the data frame information to the data parsing unit; the data analysis unit analyzes the gyroscope data by using the data analysis method.
The transmission frame format data analysis system of the gyroscope fully utilizes all transmission frame format data, avoids the pollution of single data abnormality to data analysis, and the acquired analysis information accurately reflects the motion angle condition of the gyroscope; the data analysis precision and stability of the gyroscope can be effectively improved.
In order to achieve the above object of the present invention, according to a fourth aspect of the present invention, there is provided a transmission frame format data packaging system of a gyroscope, including a data packaging unit that packages gyroscope data using the data packaging method of the present invention.
The transmission frame format data packaging system of the gyroscope respectively packages the identification code and the effective data into different data parts, packages the data parts and the verification part to obtain the data frame, and improves the safety and stability of the data.
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Fig. 1 is a flow chart of a method for analyzing transmission frame format data of a gyroscope according to a preferred embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
The invention provides a transmission frame format data analysis method of a gyroscope, which comprises the following steps:
s1, acquiring data frame information of a gyroscope by using a message middleware.
S2, dividing each frame of data into a plurality of parts according to a transmission protocol, wherein the parts comprise at least one data part and at least one check part, and checking the at least one data part and the at least one check part in the parts to obtain a checked data frame.
The frame data of the gyroscope of the invention can comprise one data part or a plurality of data parts (particularly, the acquired data of the gyroscope can be divided during packaging).
In a preferred embodiment of the present invention, taking a triaxial gyroscope as an example, each frame data of the gyroscope may be divided into two parts of frame main data and frame tail check domain data according to a transmission protocol, and CRC (Cyclic Redundancy Check, cyclic redundancy check code) or accumulation and comparison judgment is performed, if the two are not equal, the next frame data is read, and if the two are equal, the check is passed.
When accumulation and verification are carried out, a character String (MST) of frame Main body data is intercepted, the byte length of the frame Main body data is m, and the frame Main body data is divided into a plurality of bytes with the length of n 1 Is a character string of n 1 <m, and sequentially accumulating and summing to obtain lower n 1 Bytes, get the frame body accumulated Sum (MS);
then intercepting the character string (Check Crc, CC) of the frame end Check data, which is n 1 And if the MS and the CC are not equal, reading the next frame data, and if the MS and the CC are equal, analyzing the frame main body data, wherein a judgment formula is as follows:
p＝m/n 1
wherein p is m and n 1 Quotient of a k The value of the kth substring divided by the frame main body data is k, k is the serial number of the substring, k is more than or equal to 1 and less than or equal to p, mainSum is the accumulated sum value of the frame main body, and f (·) is the accumulated sum judging condition.
S3, acquiring one data part in the data frame passing the verification and dividing the data part into two sub-data parts, or acquiring two data parts in the data frame passing the verification, analyzing one data part to acquire the identification code, acquiring the effective data of the gyroscope by utilizing the other data part, or analyzing one sub-data part to acquire the identification code, acquiring the effective data of the gyroscope by utilizing the other sub-data part, and analyzing the effective data of the gyroscope according to the identification code to acquire the angular velocity of the gyroscope.
In a preferred embodiment of the present invention, the frame body data is divided into frame header data and frame middle data, and one complete frame data includes three parts of frame header data, frame middle data and frame tail data, and the length of the complete frame is the sum of the three parts of frame lengths. And analyzing the frame head to obtain temperature, frame count, time data and gyro identification code data, and performing exclusive-or decryption on the frame middle data to obtain effective frame middle data.
The temperature data comprises an error state, effective data and 3 check values, and the temperature calculation formula is as follows:
Temperature＝h 1 +(Temporary/h 2 )，
wherein, temperature is the calculated Temperature value of the gyroscope, temperature is the original output value of the gyroscope, h 1 Is an empirical constant, h 2 Is the scale factor of the temperature.
Exclusive or decryption is performed on the Middle frame Data (MD) with length u to obtain valid Middle frame Data (Effective Middle Data, EMD). Because the data in the middle of the frame is the main parameter of the three-axis gyroscope and the byte length is long, the data in the middle of the frame needs to be encrypted and packaged before being transmitted to the message middleware, and therefore the data in the middle of the frame obtained from the message middleware can be obtained by exclusive OR decryption. The exclusive or Key string Data (Key Data, KD) needs to be consistent with the packaged Key string, and the word length is set as d. Intercepting substrings with the same length as the key character string in the middle data of the frame in sequence, carrying out exclusive-or calculation on the substrings and the key character string to obtain corresponding effective substrings, combining all the effective substrings to obtain the middle data of the effective frame, wherein the exclusive-or formula is as follows:
q＝u/d
EffectiveMiddleData＝[EffSubMiddleData 1 EffSubMiddleData 2 ...EffSubMiddleData q ]
where q is the quotient of the data length u in the middle of the frame divided by the exclusive or data length d, effSubMiddleData s Is the s-th valid sub-frame middle data, submiddleData s Is the s-th sub-frame middle data, KD is exclusive OR key data, and effective MiddleData is valid frame middle data.
And according to the gyro identification code, selecting angular velocity calculation methods of different parameters, analyzing data in the middle of the frame, and obtaining the angular velocities of all axes.
The number of kinds of identification codes is specifically set, and for the three-axis gyroscope, the identification codes include 3, that is, gyr_x, gyr_y, gyr_z.
A switch-case function relationship is established.
switch () -case is a choice relationship function; break represents ending the operation and jumping out of the switch statement; fun_gyrx (·) represents the angular resolution function of the gyroscope x-axis; fun_gyry (·) represents the angular resolution function of the gyroscope y-axis; fun_gyrz (·) represents the angular resolution function of the gyroscope z-axis; default indicates that the identification code is not present, and a "no definition" prompt message is output.
Matching the measurement data of each gyroscope with a corresponding angular velocity calculation matrix to obtain accurate angular velocities of all axes;
a matrix function calculation relation is established for three identification codes of gyr_x, gyr_y and gyr_z. case (gyr_x), case (gyr_y), case (gyr_z) are calculated as follows:
wherein, fun_gyr_x (·), fun_gyr_y (·), fun_gyr_z (·) represent the angular resolution functions of the gyroscope x-axis, y-axis, z-axis, respectively; gyr_x, gyr_y, gyr_z represent raw data of the gyroscope x-axis, y-axis, z-axis; * G x 、*G y 、*G z Angular velocities of an x axis, a y axis and a z axis of the gyroscope after analysis are respectively represented; t represents the temperature value of the gyroscope, and is generally at the temperature of minus 20 ℃ and 120 DEG C]Within the range; k (k) xx 、k yy 、k zz Scale factors representing the x-axis, y-axis and z-axis of the gyroscope, respectively, are generally described in [0.018,0.023 ]]Within the range; k (k) xy 、k xz 、k yx 、k yz 、k zx 、k zy Representing the cross influence coefficients between the x-axis, y-axis and z-axis of the gyroscope, respectively, generally in [10e-6, 10e-3 ]]Within the range; h is a x 、h y 、h z Static zero offset values representing the x-axis, y-axis and z-axis of the gyroscope, respectively, are generally [ -17, 19]Within the range; m is m xx 、m xy 、m xz 、m yx 、m yy 、m yz 、m zx 、m zy 、m zz The influence coefficients of the squares of the x-axis, y-axis and z-axis of the gyroscope are shown in general in [10e-7, 10e-2 ]]Within the range ofThe method comprises the steps of carrying out a first treatment on the surface of the T is the calculated gyroscope temperature value; t (T) 0 The reference temperature is shown to be 20 ℃ and 25 DEG C]Within the range; f (f) x (·)、f y (·)、f z (. Cndot.) shows the temperature influence functions of the gyroscope in x-axis, y-axis and z-axis, respectively.
And S4, pushing the analysis value to a display page for display and/or storing the analysis value to a database. After the analysis value of the information is obtained, pushing the analysis value to a display page according to system setting, and sending analysis data to the message middleware, wherein a display interface reads the data of the message middleware and displays the data. And storing the gyroscope data into a database, so as to realize the analysis of the transmission frame format data of the triaxial gyroscope.
In a preferred embodiment of the present invention, as shown in fig. 1, taking a tri-axis gyroscope as an example, a specific analysis process is:
first, data frame information including a three-axis gyroscope is received through a message middleware.
Then, each frame data is divided into two parts of frame main body data and frame tail check domain data according to the transmission protocol condition, and accumulation and comparison judgment are carried out. Firstly, obtaining a character String (MST) of intercepting frame Main body data, assuming that the byte length is 30, dividing the MST into a plurality of character strings with byte length of 2, sequentially accumulating and summing, and taking the lower 2 bytes to obtain a frame Main body accumulated Sum value (MS). And then intercepting a character string (Check Crc, CC) of the frame end Check data, wherein the character string is 2 bytes. If the MS and the CC are not equal, the next frame data is read, and if the MS and the CC are equal, the frame main body data is analyzed. The decision formula is as follows:
15＝30/2
MainSum is the frame body accumulation sum and p is the frame body lengthThe quotient divided by the check length has a value of 15, a k The value of the kth substring into which the frame body data is divided, f (·) is the accumulation and judgment condition.
And then dividing the frame main body data into frame head data and frame middle data, wherein one complete frame data comprises three parts of frame head data, frame middle data and frame tail data, and the length of the complete frame is the sum of the three parts of frame lengths. Firstly analyzing frame head data to obtain auxiliary data such as temperature, frame count, time and the like and data such as gyro identification codes and the like. Wherein the temperature data comprises an error state, valid data and a check value of 3 parts. Wherein the frame count, time and gyroscope identification code are only valid data and no longer need to be checked. The temperature calculation formula is as follows:
Temperature＝59+(-423/14.6)＝30.01
temperature is the calculated Temperature value of the gyroscope, the Temperature value is 30.01 ℃, temperature is the original output value of the gyroscope, and the Temperature value is-423, h 1 Is an empirical constant with a value of 59, h 2 Is a temperature scale factor, which is a value of 14.6.
Then, the Middle frame Data (MD) of length 12 is exclusive-or decrypted to obtain valid Middle frame Data (Effective Middle Data, EMD). Because the data in the middle of the frame is the main parameter of the three-axis gyroscope and the byte length is long, the data in the middle of the frame needs to be encrypted and packaged before being transmitted to the message middleware, and therefore the data in the middle of the frame obtained from the message middleware can be obtained by exclusive OR decryption. The exclusive or Key string Data (Key Data, KD) needs to be consistent with the packaged Key string, and the word length is set to be 2. The exclusive or decryption method sequentially intercepts Sub-strings (Sub Middle Data, SMD) with the same length as the key strings, performs exclusive or resolving on the Sub-strings and the key strings to obtain corresponding effective Sub-strings (Eff Sub Middle Data, ESMD), and then combines all the effective Sub-strings to obtain effective frame Middle Data (Effective Middle Data, EMD). The exclusive or formula is shown below.
q＝12/2＝6
EffectiveMiddleData＝[EffSubMiddleData 1 EffSubMiddleData 2 ...EffSubMiddleData 6 ]
Where q is the quotient of the data length in the middle of the frame divided by the exclusive or data, which value is 6, effSubMiddleData s Is the s-th valid sub-frame middle data, submiddleData s Is the sub-frame middle data, KD is the exclusive or key data, and effectivelmiddledata is the valid frame middle data.
And according to the gyro identification code, selecting angular velocity calculation methods of different parameters, and analyzing data in the middle of the frame to obtain xyz triaxial angular velocity. Because the triaxial gyroscope adopted by the invention is a micro-electromechanical system gyroscope, and is an inertial device, the parameter error of each gyroscope has a certain difference, and therefore, the measurement data of each gyroscope is independently matched with a corresponding angular velocity resolving matrix, so that accurate xyz triaxial angle data can be obtained.
The number of kinds of identification codes is set, and the identification codes of the three-axis gyroscope comprise 3 identification codes, namely gyr_x, gyr_y and gyr_z.
A switch-case function relationship is established.
switch () -case represents a selection relationship function structure; break represents ending the operation and jumping out of the switch statement; fun_gyrx (·) represents the angular resolution function of the gyroscope x-axis; fun_gyry (·) represents the angular resolution function of the gyroscope y-axis; fun_gyrz (·) represents the angular resolution function of the gyroscope z-axis; default indicates that the identification code is not present, and a "no definition" prompt message is output.
A matrix function calculation relation is established for three identification codes of gyr_x, gyr_y and gyr_z. case (gyr_x), case (gyr_y), case (gyr_z) are calculated as follows:
wherein, fun_gyr_x (·), fun_gyr_y (·), fun_gyr_z (·) represent the angular resolution functions of the gyroscope x-axis, y-axis, z-axis, respectively; gyr_x, gyr_y, gyr_z represent raw data of the gyroscope x-axis, y-axis, z-axis; * G x 、*G y 、*G z Angular velocities of an x axis, a y axis and a z axis of the gyroscope after analysis are respectively represented; t represents the calculated temperature value of the gyroscope, and is generally at the temperature of [ -20 ℃ and 120 DEG C]Within the range; t (T) 0 The reference temperature is shown to be 20 ℃ and 25 DEG C]Within the range; f (f) x (·)、f y (·)、f z (. Cndot.) shows the temperature influence functions of the gyroscope in x-axis, y-axis and z-axis, respectively.
And finally, after the analysis value of the information is obtained, pushing the analysis value to a display page according to system setting, and sending the analysis data to the message middleware, and reading and displaying the data of the message middleware by a display interface. And storing the gyroscope data into a database, so as to realize the analysis of the transmission frame format data of the triaxial gyroscope.
The invention also discloses a transmission frame format data encapsulation method of the gyroscope, which comprises the following steps:
acquiring detection data of a gyroscope and segmenting;
packaging a gyroscope identification code and each section of detection data in sequence, wherein the detection data packaged by the gyroscope identification code and the gyroscope identification code are located in different data parts, the different data parts are packaged to obtain final data parts, and each final data part and each verification part are respectively packaged to obtain different data frames;
and sending the encapsulated data frame by using the message middleware.
The transmission frame format data packaging method of the gyroscope respectively packages the identification code and the effective data into different data parts, packages the data parts and the verification part to obtain the data frame, and improves the safety and stability of the data.
The invention also provides a transmission frame format data analysis system of the gyroscope, which comprises a data receiving unit and a data analysis unit, wherein the data receiving unit acquires data frame information of the gyroscope by utilizing a message middleware and transmits the data frame information to the data analysis unit; the data analysis unit analyzes the gyroscope data by using the data analysis method. The transmission frame format data analysis system of the gyroscope fully utilizes all transmission frame format data, avoids the pollution of single data abnormality to data analysis, and the acquired analysis information accurately reflects the motion angle condition of the gyroscope; the data analysis precision and stability of the gyroscope can be effectively improved.
The invention also provides a transmission frame format data packaging system of the gyroscope, which comprises a data packaging unit, wherein the data packaging unit packages the gyroscope data by using the data packaging method. The transmission frame format data packaging system of the gyroscope respectively packages the identification code and the effective data into different data parts, packages the data parts and the verification part to obtain the data frame, and improves the safety and stability of the data.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. A transmission frame format data analysis method of a gyroscope is characterized by comprising the following steps:
s1, acquiring data frame information of a gyroscope by using a message middleware;
s2, dividing each frame of data into a plurality of parts according to a transmission protocol, wherein the parts comprise at least one data part and at least one check part, and checking the at least one data part and the at least one check part in the parts to obtain a checked data frame;
dividing each frame data of the gyroscope into two parts of frame main body data and frame tail check domain data according to a transmission protocol, performing CRC (cyclic redundancy check) or accumulation and comparison judgment, reading the next frame data if the two parts are not equal, and checking if the two parts are equal;
s3, acquiring one data part in the data frame passing the verification and dividing the data part into two sub-data parts, or acquiring two data parts in the data frame passing the verification, analyzing one data part/one sub-data part to acquire an identification code, acquiring effective data of the gyroscope by utilizing the other data part/the other sub-data part, and analyzing the effective data of the gyroscope according to the identification code to acquire the angular velocity of the gyroscope;
dividing frame main body data into frame head data and frame middle data, and analyzing the frame head to obtain temperature, frame count, time data and gyro identification code data;
performing exclusive or decryption on the middle frame data to obtain effective middle frame data;
the temperature data comprises an error state, effective data and 3 check values, and the temperature calculation formula is as follows:
Temperature＝h 1 +(Temporary/h 2 )，
wherein, temperature is the calculated Temperature value of the gyroscope, temperature is the original output value of the gyroscope, h 1 Is an empirical constant, h 2 Is the scale factor of temperature;
intercepting substrings with the same length as the key character string in the middle data of the frame in sequence, carrying out exclusive-or calculation on the substrings and the key character string to obtain corresponding effective substrings, combining all the effective substrings to obtain the middle data of the effective frame, wherein the exclusive-or formula is as follows:
q＝u/d
EffectiveMiddleData＝[EffSubMiddleData 1 EffSubMiddleData 2 ... EffSubMiddleData q ]
where q is the quotient of the data length u in the middle of the frame divided by the exclusive or data length d, effSubMiddleData s Is the s-th valid sub-frame middle data, submiddleData s Is the s-th sub-frame middle data, KD is exclusive-or key data, and effective middledata is effective frame middle data;
according to the gyro identification code, angular velocity calculation methods with different parameters are selected to analyze the data in the middle of the frame, so that the angular velocities of all axes are obtained;
setting the type number of the identification codes, wherein the identification codes of the n-axis gyroscope comprise n numbers of gyr_1 and gyr_2;
establishing a switch-case function to select angular velocity calculation methods of different parameters;
matching the measurement data of each gyroscope with a corresponding angular velocity calculation matrix to obtain accurate angular velocities of all axes;
for each gyro identification code, a matrix function calculation relationship is established, namely case (gyr_1) and case (gyr_2), and the case (gyr_n) is calculated according to the following formula:
wherein, fun_gyr_1 (·), fun_gyr_2 (·), fun_gyr_n (·) represent the angular resolution functions of the 1 st, 2 nd and n th axes of the gyroscope, respectively; gyr_1, gyr_2, gyr_n represent raw data of the 1 st, 2 nd and n th axes of the gyroscope; * G 1 、*G 2 、*G n Angular velocities of the 1 st axis, the 2 nd axis and the n-th axis of the gyroscope after analysis are respectively shown; t represents a gyroscope temperature value; k (k) 11 、k 22 、k nn Scale coefficients of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope are respectively represented; k (k) 12 、k 13 、k 1n 、k 21 、k 23 、k 2n 、k n1 、k n2 、k nn Respectively representing cross influence coefficients among the 1 st axis, the 2 nd axis and the n th axis of the gyroscope; h is a 1 、h 2 、h n Respectively representing static zero offset values of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope; m is m 11 、m 12 、m 1n 、m 21 、m 22 、m 2n 、m n1 、m n2 、m nn Influence coefficients of quadratic powers of a 1 st axis, a 2 nd axis and an n th axis of the gyroscope are respectively shown; t is the calculated gyroscope Temperature value Temperature; t (T) 0 Representing a reference temperature value; f (f) 1 (·)、f 2 (·)、f n (. Cndot.) represents the temperature influence functions of the 1 st, 2 nd and n th axes of the gyroscope, respectively;
and S4, pushing the analysis value to a display page for display and/or storing the analysis value to a database.
2. The method for analyzing transmission frame format data of gyroscope according to claim 1, wherein, when accumulation and verification are performed, character strings of frame body data are intercepted, the byte length of the frame body data is m, and the frame body data is divided into a plurality of bytes of length n 1 Is a character string of n 1 <m, and sequentially accumulating and summing to obtain lower n 1 Bytes, get the frame main body accumulation sum MS;
and intercepting a character string CC of the frame tail check data to be n bytes, if the MS and the CC are not equal, reading the next frame data, and if the MS and the CC are equal, analyzing the frame main body data, wherein a judgment formula is as follows:
p＝m/n 1
wherein p is m and n 1 Quotient of a k The value of the kth substring divided by the frame main body data is k, k is the serial number of the substring, k is more than or equal to 1 and less than or equal to p, mainSum is the accumulated sum value of the frame main body, and f (·) is the accumulated sum judging condition.
3. The data analysis system is characterized by comprising a data receiving unit and a data analysis unit, wherein the data receiving unit acquires data frame information of the gyroscope by utilizing a message middleware and transmits the data frame information to the data analysis unit;
the data analysis unit analyzes the gyroscope data by using the data analysis method according to any one of claims 1 to 2.
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