CN113671483B - Satellite-borne composite data fusion method based on second pulse - Google Patents
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Classifications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a satellite-borne composite data fusion method based on second pulse, which is applied to a satellite-borne composite radar and aims to carry out data fusion output on the optical angle, the microwave angle and the mechanism angle of the composite radar. The method specifically comprises the following steps: the satellite-borne composite data fusion method based on the second pulse is provided, the data are subjected to linear interpolation type fusion in a second pulse calibration mode, and final target angle information is output. The method is easy to realize, has little influence on the scale, complexity and robustness of the software, does not influence programming, coding and debugging, and can select the criterion of pulse per second timing according to actual conditions.
Description
Technical Field
The invention relates to the technical field of satellite data fusion application, in particular to a satellite-borne composite data fusion method based on second pulse.
Background
Microwave radar technology utilizes the phase amplitude relationship of transmitted and received electromagnetic waves to measure and track the distance and speed of a target. The existing microwave radar technology is mature, however, the angle measurement precision of the satellite-borne microwave radar cannot reach a very high level due to the limitation of a measurement system and hardware.
The optical radar technology uses an optical camera to image a target area, and extracts angle information of a target from an optical image. The space-borne optical radar is difficult to extract targets from the background celestial body due to the influence of the background celestial body, and the acting distance cannot be far due to the influence of the background celestial body.
The microwave optical composite radar has the advantages of both the microwave radar and the optical radar, can make up for the defects of the microwave radar and the optical radar, and can accurately measure and track the target.
At present, few documents mention specific satellite-borne microwave optical data fusion methods, and no deeper analysis is performed on time registration techniques.
Disclosure of Invention
The invention provides a complete satellite-borne composite data fusion method based on second pulse based on an FPGA and a satellite system. Under the condition of not changing system hardware, the satellite-borne distributed data fusion method for high-speed data update is provided. The method is easy to realize, has little influence on the scale, complexity and robustness of the software, does not influence programming, coding and debugging, and can select the criterion of pulse per second timing according to actual conditions.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
a satellite-borne composite data fusion method based on second pulse is characterized in that the method is based on FPGA and a satellite system; the method carries out fusion of composite data through second pulse generation and time stamp timing, and outputs final target angle information.
Optionally, the method comprises:
the advantages of wide view field of a microwave system and no need of removing background celestial bodies are utilized, scanning is carried out in the microwave view field, and initial detection of the target is carried out, so that the distance, azimuth and pitching angle information of the target are obtained;
calculating and configuring parameters such as exposure time, focal length and the like of the optical system according to the distance of the target measured by the microwave system and satellite ephemeris information;
determining the angle direction of an optical system according to the azimuth and pitching angle information of the target measured by the microwave system, and imaging an optical view field around the target;
and calculating the confidence coefficient of the target in the optical view field, carrying out microwave pointing confirmation on the target with high confidence coefficient, and tracking the target according to the requirement after the confirmation is completed.
Optionally, the target observed data from the optical system and the microwave system are transformed to be unified onto the same time node before data fusion is performed, and the microwave data rate of the lower data rate is aligned to the optical data of the higher data rate so as to preserve the higher positioning accuracy of the optical original data.
Optionally, the time alignment is performed in a recursive manner; and when the target is not maneuvering, interpolating or extrapolating the target data adopted by the microwave sensor, and aligning the microwave data on the low-precision observation time to the high-precision observation time point of the optical sensor.
Alternatively, only the linear extrapolation process is performed at time alignment.
Optionally, the method comprises:
generating a time stamp;
calibrating time;
generating time-stamped data;
threshold analysis;
linear interpolation.
Optionally, the generating the timestamp includes:
the time stamp is generated by adopting a mode of generating a second pulse and a counter, or is ensured by utilizing an external time stamp;
when the FPGA receives a synchronous second pulse signal, the whole second time in the software is added with 1; at each pulse per second interval, a software internal counter counts time and calculates time in seconds;
when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as a new satellite whole second time in software, and time correction is achieved.
Optionally, the calibration time includes:
each sensor time is composed of whole second time and second count, wherein the whole second time is in units of seconds, and the second count is in units of 100 ns; starting up each sensor to count, recording a local count value when the falling edge of the GNSS second pulse arrives, resetting the count in seconds, and adding one to the local whole second time; and after the absolute time sent by the GNC subsystem is received, comparing the absolute time with the local whole second time, and if the absolute time and the local whole second time are different, updating the local whole second time.
Optionally, the generating the time-stamped data includes:
the DSP sends time stamps to the sensors, the sensors calculate an algorithm according to a system of the sensors to obtain an angle error value of a target, and the angle error value is fed back to the data volume with the time stamps of the data fusion center;
the threshold analysis, comprising:
based on the microwave and optical characteristics, the tracking method is guided and tracked by microwaves, the optics with higher angle precision is used as a main tracking mode, the DSP data fusion center stores all data volumes, the time stamps are synchronously stored, whether the data volumes point to the same target is judged, and if the data volumes point to the same target, further time calibration is carried out.
Optionally, the linear interpolation includes:
and interpolating and extrapolating the target data acquired by the microwave sensor, aligning the microwave data on the low-precision observation time to the high-precision observation time point of the optical sensor, and performing linear extrapolation processing only during time alignment.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a satellite-borne composite data fusion method based on second pulse, which can effectively solve the problem of satellite-borne data fusion;
2. the invention does not change hardware resources only by software means. The invention may still be used, especially when the later hardware of the payload product development is not modifiable;
3. the invention provides a processing method based on second pulse, which can autonomously select a calibration mode through parameter injection and task requirements and has self-adaptability;
4. the method has strong real-time performance and improves the accuracy of target detection;
5. the invention adopts the outward expansion method and threshold judgment, can effectively predict the target track and improves the target detection capability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a waveform diagram of a simulation of signal functions of a synchronous time processing module according to an embodiment of the present invention.
Fig. 2 is a waveform diagram of a signal timing simulation of a synchronous time processing module according to an embodiment of the invention.
Fig. 3 is a schematic diagram of a timing scheme of a satellite-borne composite radar in an embodiment of the invention.
Fig. 4 is a flowchart of a method for generating satellite-borne composite radar data according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a time stamp according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, reference is made to "some embodiments," "one or more embodiments," which describe a subset of all possible embodiments, but it is to be understood that "some embodiments," "one or more embodiments," can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
In the following description, the terms "first", "second", "third" and the like are used merely for respective similar objects and do not represent a specific ordering for the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, where allowed, to enable embodiments of the application described herein to be practiced otherwise than as shown or described.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
The embodiment provides a satellite-borne composite data fusion method based on second pulse, which is based on an FPGA and a satellite system; the method carries out fusion of composite data through second pulse generation and time stamp timing, and outputs final target angle information. And the FPGA is used for generating pulse per second counting and carrying out data fusion calculation under the condition of time calibration, so that the aim of high-precision fusion of satellite-borne data is fulfilled. The following describes a specific embodiment of the present invention with reference to a satellite-borne composite radar of a certain type. The specific implementation steps are as follows:
after the FPGA is powered up, the pulse per second counter starts to operate. The second pulse counter has three counting variables, namely the counting in the second, the counting in the last second and the counting in the whole second. The three count variables are counted from 0 after the FPGA is powered up. Count every 0.1 μs count in this second plus 1; when detecting the falling edge of the external second pulse, adding 1 to the whole second count, assigning the counting value in the second to the counting value in the second, and resetting the counting value in the second; when the count in the second reaches 2s, the whole second count is increased by 2, the last second count is assigned with 10000000, and the second count is cleared; when the DSP issues a timing instruction, the whole second count is calibrated to a corresponding value.
And transmitting the whole second time of the upper computer by using the parameter setting, if the whole second time is the same, not transmitting time calibration to the FPGA, and if the whole second time is different, transmitting the whole second time and performing time calibration.
The parameter setting is used for transmitting the upper computer second pulse calibration method, the default is GNSS timing, and if the upper computer does not have GNSS second pulse, the upper computer uses own second pulse for timing.
Each sensor calculates time stamp information t=t s +N 0 /N l Wherein N is 0 For each single machine current count value N l To last oneAnd each single machine has a maximum count value.
The measurement information of the microwave optical composite radar is 3 items, which are respectively: optical angle measurement information, microwave measurement information and mechanical angle measurement information. As shown in fig. 5, t w0 For the time stamp of the first microwave measurement information, D w0 A measured value which is the first microwave measurement information; t is t w1 For the timestamp of the second microwave measurement information, D w1 A measured value which is the information of the second microwave measurement; t is t m0 For the time stamp of the first time mechanism angle measurement information, D m0 A measurement value of angle measurement information of a first mechanism; t is t m1 Time stamp of angle measurement information for second time mechanism, D m1 A measurement value of angle measurement information of the second mechanism; t is t p Time stamp for optical goniometric information, D p Is a measurement of optical goniometric information; t exposure is the exposure time of the optical camera; Δt (delta t) pm Timestamp bias for optical and institutional goniometer information; Δt (delta t) pw Timestamp bias for optical angular information and microwave measurement information; Δt (delta t) wm Timestamp bias for the mechanism angle measurement information and the microwave measurement information; Δt (delta t) m Measuring the difference between the angle information time stamps for the two mechanisms; Δt (delta t) w The difference in the siedney time stamps was measured for two microwaves.
In the working mode that only the mechanism angle measurement information is required to be output and the optical angle measurement information and the microwave measurement information are zero, the mechanism angle measurement information time stamp t m0 Marking the angular information D of the mechanism m0 The moment of acquisition.
When only the microwave system stably tracks, only the mechanism angle measurement information and the microwave measurement information are needed to be output, and the microwave measurement information is time-stamped at the starting position of the microwave center repetition frequency period (namely, the starting position of the 33 th repetition frequency period if one frame of data contains 64 repetition frequency periods). Measuring information time stamp t with microwaves w0 Unifying the mechanism angle measurement information to t as a reference w0 At time t, consider the mechanism to be m0 To t m1 Is at uniform motion, consider t w0 The mechanism angle measurement information at the time is (D m1 -D m0 )/Δt m ×Δt wm +D m0 。
When only the microwave system stably tracks, only the mechanism angle measurement information and the microwave measurement information are needed to be output, and the microwave measurement information is time-stamped at the starting position of the microwave center repetition frequency period (namely, the starting position of the 33 th repetition frequency period if one frame of data contains 64 repetition frequency periods). Measuring information time stamp tw with microwaves 0 Unifying mechanism angle measurement information to tw for reference 0 At time tm, consider the mechanism to be 0 To tm 1 The constant motion is considered to be tw 0 The mechanism angle measurement information at the time is (D m1 -D m0 )/Δt m ×Δt wm +D m0 。
When only the optical system stably tracks, only the mechanism angle measurement information and the optical angle measurement information are required to be output, and the optical angle measurement information is time-stamped at the center moment of the exposure time. Time stamping t with optical goniometric information p Unifying the mechanism angle measurement information to t as a reference p At time t, consider the mechanism to be m0 To t m1 Is at uniform motion, consider t p The mechanism angle measurement information at the time is (D m1 -D m0 )/Δt m ×Δt pm +D m0 。
When the microwave system and the optical system stably track the target, mechanism angle measurement information, microwave measurement information and optical angle measurement information are required to be output at the moment. At this time, it is necessary to first determine the angular error Δα of the optical tracking target Light source And angular error Δα of microwave tracking Micro-scale Whether or not it is within the threshold Δα, i.e., |Δα Light source -Δα Micro-scale |<Δα。
If the time is within the same threshold, the optical angle measurement information is time stamped with t p Unifying the mechanism angle measurement information and the microwave measurement information to t as reference p At time t, consider the mechanism to be m0 To t m1 Is at uniform motion, consider t p The mechanism angle measurement information at the time is (D m1 -D m0 )/Δt m ×Δt pm +D m0 . Consider the target at t w0 To t w1 The speed, the distance and the like are uniformly changed, and t is considered as p Time of day microwaves Measuring The quantity information is (D w1 -D w0 )/Δt w ×Δt pw +D w0 。
In this embodiment, the method includes:
the advantages of wide view field of a microwave system and no need of removing background celestial bodies are utilized, scanning is carried out in the microwave view field, and initial detection of the target is carried out, so that the distance, azimuth and pitching angle information of the target are obtained;
calculating and configuring parameters such as exposure time, focal length and the like of the optical system according to the distance of the target measured by the microwave system and satellite ephemeris information;
determining the angle direction of an optical system according to the azimuth and pitching angle information of the target measured by the microwave system, and imaging an optical view field (namely a small view field) around the target;
and calculating the confidence coefficient of the target in the optical view field, carrying out microwave pointing confirmation on the target with high confidence coefficient, and tracking the target according to the requirement after the confirmation is completed.
In this embodiment, the data fusion can only fuse the data of the same time node, and because the sampling frequencies of the optical data and the microwave data have larger differences, when the same target is observed, sampling moments of the target observation data obtained by the optical system and the microwave system are different in time.
The target observation data from the optical system and the microwave system are transformed to be unified onto the same time node before data fusion is performed. The optical data rate is high, the microwave data rate is lower, and the microwave data rate with lower data rate is aligned to the optical data with higher data rate so as to maintain higher positioning precision of the optical original data.
In this embodiment, a recursive manner is used for time calibration; when the target is not motorized, in order not to cause loss of high-data-rate optical information, the invention aims to interpolate or extrapolate the target data adopted by the microwave sensor, and align the microwave data on low-precision observation time to the high-precision observation time point of the optical sensor.
In this embodiment, considering the real-time requirement of the composite system, only the linear extrapolation process is performed during time alignment.
In this embodiment, the method includes:
generating a time stamp;
calibrating time;
generating time-stamped data;
threshold analysis;
linear interpolation.
In this embodiment, the generating the timestamp includes:
the time stamp is generated by adopting a mode of generating a second pulse and a counter, or is ensured by utilizing an external time stamp; the time stamp generation modes of the two cases are respectively adopted. As shown in fig. 1 and 2.
When the FPGA receives a synchronous second pulse signal, the whole second time in the software is added with 1; at each pulse per second interval, a software internal counter counts time and calculates time in seconds;
when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as a new satellite whole second time in software, and time correction is achieved.
In this embodiment, the calibration time includes:
each sensor time is composed of whole second time and second count, wherein the whole second time is in units of seconds, and the second count is in units of 100 ns; starting up each sensor to count, recording a local count value when the falling edge of the GNSS second pulse arrives, resetting the count in seconds, and adding one to the local whole second time; after the absolute time sent by the GNC subsystem is received, comparing the absolute time with the local whole second time, and if the absolute time and the local whole second time are different, updating the local whole second time; the timing scheme of each sensor data is shown in fig. 3.
In this embodiment, the generating the time-stamped data includes:
the DSP sends time stamps to the sensors, the sensors calculate the algorithm according to the system of the sensors to obtain the angle error value of the target, and the angle error value is fed back to the data volume with the time stamps of the data fusion center. The sensor data generation scheme is shown in fig. 4;
the threshold analysis, comprising:
based on the characteristics of microwaves and optics, the tracking method is guided by microwaves, and the optics with higher angular precision is the main tracking mode, as shown in fig. 4. And the DSP data fusion center stores each data quantity, synchronously stores time stamps, judges whether the data quantity points to the same target, and performs further time calibration if the data quantity points to the same target.
In this embodiment, the linear interpolation includes:
and interpolating and extrapolating the target data acquired by the microwave sensor, and aligning the microwave data on the low-precision observation time to the high-precision observation time point of the optical sensor. Considering the real-time requirement of a composite system, only performing linear extrapolation processing during time alignment;
for the case of misalignment of the initial instants, the first optical data is considered to be at the same instant as the microwave data at the immediately preceding instant, so this also introduces a certain error, but the error is within the allowed range. The specific processing mode is as follows: let X be r1 At t for radar sensor 1 Measured value X obtained at moment r2 For this purpose, the radar sensor is at t 2 A measured value obtained at a moment; x is X r3 At t for an optical sensor 3 A measured value obtained by measuring the moment of time, and t 1 ＜t 2 ＜t 3 . Then by means of X r1 And X r2 Linear extrapolation is performed to obtain the radar sensor at t 3 A measurement of time of day;
the foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present application are intended to be included within the scope of the present application.
Claims (6)
1. A satellite-borne composite data fusion method based on second pulse is characterized in that the method is based on FPGA and a satellite system; the method carries out fusion of composite data through second pulse generation and time stamp timing, and outputs final target angle information;
before data fusion, converting target observation data from an optical system and a microwave system to be unified on the same time node, and aligning the microwave data rate with lower data rate to optical data with higher data rate so as to keep higher positioning precision of optical original data;
the method comprises the following steps:
generating a time stamp;
calibrating time;
generating time-stamped data, comprising: the DSP sends time stamps to the sensors, the sensors calculate an algorithm according to a system of the sensors to obtain an angle error value of a target, and the angle error value is fed back to the data volume with the time stamps of the data fusion center;
a threshold analysis, comprising: based on the microwave and optical characteristics, the tracking method is guided and tracked by microwaves, the optics with higher angle precision is used as a main tracking mode, the DSP data fusion center stores all data volumes, the time stamps are synchronously stored, whether the data volumes point to the same target is judged, and if the data volumes point to the same target, further time calibration is carried out;
linear interpolation, comprising: and interpolating and extrapolating the target data acquired by the microwave sensor, aligning the microwave data on the low-precision observation time to the high-precision observation time point of the optical sensor, and performing linear extrapolation processing only during time alignment.
2. The pulse-per-second-based satellite-borne composite data fusion method of claim 1, comprising:
the advantages of wide view field of a microwave system and no need of removing background celestial bodies are utilized, scanning is carried out in the microwave view field, and initial detection of the target is carried out, so that the distance, azimuth and pitching angle information of the target are obtained;
calculating and configuring exposure time and focal length parameters of the optical system according to the distance of the target measured by the microwave system and satellite ephemeris information;
determining the angle direction of an optical system according to the azimuth and pitching angle information of the target measured by the microwave system, and imaging an optical view field around the target;
and calculating the confidence coefficient of the target in the optical view field, carrying out microwave pointing confirmation on the target with high confidence coefficient, and tracking the target according to the requirement after the confirmation is completed.
3. The method for merging satellite-borne composite data based on second pulse according to claim 1, wherein the time calibration adopts a recursive mode; and when the target is not maneuvering, interpolating or extrapolating the target data adopted by the microwave sensor, and aligning the microwave data on the low-precision observation time to the high-precision observation time point of the optical sensor.
4. A pulse-per-second-based satellite-borne composite data fusion method according to claim 3, wherein only linear extrapolation is performed at time alignment.
5. The pulse-per-second based satellite-borne composite data fusion method of claim 1, wherein the generating a timestamp comprises:
the time stamp is generated by adopting a mode of generating a second pulse and a counter, or is ensured by utilizing an external time stamp;
when the FPGA receives a synchronous second pulse signal, the whole second time in the software is added with 1; at each pulse per second interval, a software internal counter counts time and calculates time in seconds;
when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as a new satellite whole second time in software, and time correction is achieved.
6. The pulse-per-second-based satellite-borne composite data fusion method of claim 1, wherein the calibration time comprises:
each sensor time is composed of whole second time and second count, wherein the whole second time is in units of seconds, and the second count is in units of 100 ns; starting up each sensor to count, recording a local count value when the falling edge of the GNSS second pulse arrives, resetting the count in seconds, and adding one to the local whole second time; and after the absolute time sent by the GNC subsystem is received, comparing the absolute time with the local whole second time, and if the absolute time and the local whole second time are different, updating the local whole second time.
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