CN113759409B - Navigation data transmission device, method and computer readable storage medium - Google Patents

Navigation data transmission device, method and computer readable storage medium Download PDF

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Publication number
CN113759409B
CN113759409B CN202110974849.9A CN202110974849A CN113759409B CN 113759409 B CN113759409 B CN 113759409B CN 202110974849 A CN202110974849 A CN 202110974849A CN 113759409 B CN113759409 B CN 113759409B
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Prior art keywords
navigation data
serial port
usb
navigation
host
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CN113759409A (en
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于金诚
韩旭
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Guangzhou Weride Technology Co Ltd
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Guangzhou Weride Technology Co Ltd
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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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Information Transfer Systems (AREA)

Abstract

The invention discloses a navigation data transmission device, which comprises combined navigation equipment, a host, serial port-to-USB equipment and serial port detection equipment, wherein the combined navigation equipment is used for acquiring, receiving and transmitting position navigation data and inertial navigation data; the host is used for receiving and transmitting the position navigation data and the inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device with the host computer and transmitting inertial navigation data transmitted from the serial port of the integrated navigation device at a high speed; the serial port detection device is used for connecting the integrated navigation device with the host computer, detecting the position navigation data sent from the serial port of the integrated navigation device, judging whether the position navigation data is lost or not, and judging whether the position navigation data is lost or not. Therefore, the invention modifies the transmission rate and configuration by optimizing the data transmission link from the integrated navigation equipment to the host, thereby improving the stability of data transmission and ensuring the correct positioning of the automatic driving vehicle.

Description

Navigation data transmission device, method and computer readable storage medium
Technical Field
The present invention relates to the field of navigation data transmission technologies, and in particular, to a navigation data transmission device, a navigation data transmission method, and a computer readable storage medium.
Background
In the existing positioning technology, the global positioning system (GlobalPositioningSystem, abbreviated as GPS) positioning can realize high-precision positioning, but cannot provide the attitude information of a motion carrier, and has low data update rate and is easy to be interfered by environment. The inertial navigation system (InertialNavigationSystem, abbreviated as INS) performs positioning according to the motion information of the carrier without depending on external information, however, there is a disadvantage that positioning errors increase with time, so that it has been proposed to combine the two, i.e. integrated navigation.
At present, one of key core technologies in the field of automatic driving is a fusion positioning technology of vehicle-mounted integrated navigation. However, during the automatic driving process, the data such as RAWIMU, GPRMC, PPS sent by the integrated navigation device is sent to the host computer through the USB cable, errors of usbbulk-71 on the kernel level often occur, and the data of the integrated navigation device received by the host computer is often lost for 900ms, even frequently lost, so that the automatic driving is seriously affected, and even the situation that the vehicle exits from the automatic driving mode is easily caused.
Therefore, there is a need to optimize the data transmission link of the integrated navigation device to the host computer to address the stability of the data transmission, thereby ensuring the correct positioning of the autonomous vehicle.
Disclosure of Invention
In view of this, the present invention proposes a navigation data transmission device, a navigation data transmission method and a computer readable storage medium. The data transmission link from the integrated navigation equipment to the host is optimized, the wire harness and the interface are optimized, and the transmission rate and the configuration are modified, so that the stability of data transmission is improved, and the correct positioning of the automatic driving vehicle is ensured.
In order to achieve the above object, the present invention provides a navigation data transmission device, which includes a combined navigation apparatus, a host, a serial-to-USB apparatus, and a serial-port detection apparatus, wherein:
The integrated navigation equipment is used for collecting position navigation data and inertial navigation data, and receiving and transmitting the position navigation data and the inertial navigation data;
the host is used for receiving and sending the position navigation data and the inertial navigation data;
The serial port-to-USB device is used for connecting the integrated navigation device with the host and transmitting the inertial navigation data sent from the serial port of the integrated navigation device at a high speed;
The serial port detection device is used for connecting the integrated navigation device with the host, detecting the position navigation data sent from the serial port of the integrated navigation device and judging whether the position navigation data are lost or not.
Optionally, the integrated navigation device includes a first USB interface, a first serial port, and a second serial port; the host comprises a second USB interface, a third USB interface and a third serial port; the serial port-to-USB device comprises a fourth serial port, a USB-to-serial port chip and a fourth USB interface.
Optionally, the first serial port of the integrated navigation device is used for receiving and sending the inertial navigation data, and is connected to a third USB interface of the host through the serial port-to-USB device; the first serial port of the integrated navigation device is connected to a fourth serial port of the serial-to-USB device, and is connected to a fourth USB interface of the serial-to-USB device through the USB-to-serial chip, and is connected to a third USB interface of the host through the fourth USB interface;
The second serial port of the integrated navigation device is used for sending and receiving the position navigation data and is connected with the third serial port of the host through the serial port detection device.
Optionally, the USB version of the fourth USB interface in the serial-to-USB device is greater than or equal to USB2.0.
Optionally, the integrated navigation device uses an aviation plug for connection.
Optionally, the integrated navigation device further includes a PPS interface, and the PPS interface is connected to the serial port detection device, and is used for sending PPS signals.
Optionally, a USB connection line is further included between the integrated navigation device and the host, a first USB interface of the integrated navigation device is used for transmitting the inertial navigation data, and is connected to a second USB interface of the host through the USB connection line, and a USB version of the first USB interface is USB1.1.
In addition, in order to achieve the above object, the present invention also provides a navigation data transmission method, which includes the following steps:
detecting whether navigation data is lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;
If the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed;
and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.
Optionally, if the position navigation data is not lost, the host uses the position navigation data to navigate;
and if the position navigation data are lost, the host computer uses the inertial navigation data to navigate.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the navigation data transmission method as described above.
The embodiment of the invention provides a navigation data transmission device, which comprises combined navigation equipment, a host, serial port-to-USB equipment and serial port detection equipment, wherein the combined navigation equipment is used for acquiring position navigation data and inertial navigation data, and receiving and transmitting the position navigation data and the inertial navigation data; the host is used for receiving and transmitting the position navigation data and the inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device with the host and transmitting the inertial navigation data sent from the serial port of the integrated navigation device at a high speed; the serial port detection device is used for connecting the integrated navigation device with the host, detecting the position navigation data sent from the serial port of the integrated navigation device and judging whether the position navigation data are lost or not. In this way, the transmission rate and configuration are modified by optimizing the data transmission link from the integrated navigation device to the host, important inertial navigation data such as RAWIMU are transmitted to the host through the serial port to USB device, and other navigation data such as RTCM, GPRMC, PPS are transmitted to the serial port of the host through the serial port of the integrated navigation device, so that the stability of data transmission is improved, and the correct positioning of the automatic driving vehicle is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a navigation data transmission device according to the present invention.
Fig. 2 is a second schematic structural diagram of a navigation data transmission device according to the present invention.
Fig. 3 is a schematic structural diagram of a harness of a serial-to-USB device according to the present invention.
Fig. 4 is a schematic structural diagram of a harness of the serial port detection device provided by the invention.
Fig. 5 is a schematic structural diagram of a USB harness according to the present invention.
Fig. 6 is a flow chart of a navigation data transmission method provided by the invention.
Fig. 7 is a flowchart of another navigation data transmission method provided by the present invention.
FIG. 8 is a schematic diagram of a vehicle architecture of a hardware operating environment according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear and obvious, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the particular embodiments described herein are illustrative only and are not limiting upon the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a navigation data transmission device according to the present invention. It should be emphasized that the schematic diagram shown in fig. 1 is merely an example illustration of a preferred embodiment, and that a person skilled in the art can easily supplement the new functional structure around the structure of the navigation data transmission device shown in fig. 1; the names of the structures are custom names, which are only used for assisting in understanding the structures of the navigation data transmission device, and are not used for limiting the technical scheme of the invention, and the core of the technical scheme of the invention is the functions to be achieved by the structures of the respective definition names.
The present embodiment proposes a navigation data transmission apparatus 100, where the navigation data transmission apparatus 100 includes a combined navigation device 10, a host 20, a serial-to-USB device 30, and a serial-port detection device 40, where:
The integrated navigation device 10 is configured to collect position navigation data and inertial navigation data, and receive and transmit the position navigation data and the inertial navigation data;
the host 20 is configured to receive and transmit the position navigation data and the inertial navigation data;
The serial-to-USB device 30 is configured to connect the integrated navigation device 10 with the host 20, and perform high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device 10;
the serial port detection device 40 is configured to connect the integrated navigation device 10 with the host 20, and detect the position navigation data sent from the serial port of the integrated navigation device 10, so as to determine whether the position navigation data is lost.
In the prior art, the vehicle-mounted integrated navigation device may integrate a global positioning system (Global PositioningSystem, abbreviated as GPS) and an inertial positioning navigation system (InertialNavigationSystem, abbreviated as INS). In the automatic driving process, RAWIMU, GPRMC, PPS and other data sent by the integrated navigation equipment are transmitted to a host computer through a USB line, so that the problems of data loss, cache overfill and the like frequently occur.
In the existing integrated navigation device, the communication interface generally includes at least one USB interface, two serial ports, and one PPS interface. The USB interface is generally USB1.1, the speed is only 12Mbps, the speed is low, if the host is busy, the USB1.1controller can not send out data, and then the device starts restarting, thereby losing the data.
In this embodiment, in order to improve stability of data transmission, a data transmission link from the integrated navigation device to the host may be optimized.
Specifically, the navigation data transmission device 100 in the present application can optimize the wire harness and interface of the integrated navigation device, for RAWIMU and other important data, the serial port to USB device is changed to transmit the inertial navigation data at high speed, the baud rate can be configured to be 460800, which is much higher than the previous 9600, while other RTCM, GPRMC, PPS and other navigation data can be directly inserted into the serial port of the host through the aviation plug of the integrated navigation device by the separated wire harness and the integrated serial port line, because the three signals have low requirements on the speed, and the serial port of the host can only reach 115200 at the highest, so the configuration of 9600 baud rate can meet the requirements.
Referring to fig. 2 and fig. 3 together, fig. 2 is a second schematic structural diagram of the navigation data transmission device of the present invention, and fig. 3 is a schematic structural diagram of a harness for a serial-to-USB device of the present invention.
In this embodiment, the integrated navigation device 10 may include a first USB interface 101, a first serial port 102, and a second serial port 103; the host 20 may include a second USB interface 201, a third USB interface 202, and a third serial port 203; the serial to USB device 30 may include a third serial port 301, a USB to serial port chip 302, and a fourth USB interface 303.
After the integrated navigation device 10 collects the position navigation data and the inertial navigation data, the serial-to-USB device 30 is used to connect the integrated navigation device 10 with the host 20, specifically, the first serial port 102 of the integrated navigation device 10 is used to receive and send the inertial navigation data, and is connected to the third USB interface 202 of the host 20 through the serial-to-USB device 30; the first serial port 102 of the integrated navigation device 10 is connected to the third serial port 301 of the serial-to-USB device 30, and is connected to the fourth USB interface 303 of the serial-to-USB device 30 through the USB-to-serial chip 302, and is connected to the third USB interface 202 of the host 20 through the fourth USB interface 303.
The USB-to-serial chip 302 in the serial-to-USB device 30 may help the host 20 to buffer data, so that the serial port is not affected by the busy host USBControler, and the serial port is not affected by the receiving end for integrated navigation, and may always send data even if it is not received.
In this embodiment, when the serial-to-USB device 30 is used to transmit data, the maximum transmission rate of USB2.0 is up to 480Mbps. Therefore, the USB version of the fourth USB interface 303 in the serial-to-USB device 30 may be used with a version greater than or equal to USB2.0, so that when the host is busy, too much data will not be backlogged to restart the device. The first serial port 102 of the integrated navigation device 10 receives and transmits the inertial navigation data, and is connected to the third USB interface 202 of the host 20 through the serial port-to-USB device 30, i.e. a high-speed serial port is used for data transmission, so that the problem of a buffer area is avoided for each pipe of the transmission and reception.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a harness of the serial port detection device according to the present invention.
After the integrated navigation device 10 collects the position navigation data and the inertial navigation data, the serial port detection device 40 is used for connecting the integrated navigation device 10 with the host 20, specifically, the second serial port 103 of the integrated navigation device 10 is used for sending and receiving the position navigation data, and the serial port detection device 40 is connected with the third serial port 203 of the host 20, that is, the navigation data such as RTCM, GPRMC, PPS can pass through the aviation plug of the integrated navigation device, the separated wire harness, and the integrated serial port line is directly inserted onto the serial port of the host as a new wire harness to transmit data.
In the transmission process of the position navigation data at RTCM, GPRMC, PPS, the serial port detection device 40 may be used to monitor and detect the position navigation data sent from the serial port of the integrated navigation device 10 via the serial port detection device 40, so as to determine whether the position navigation data is lost, or may be recorded in a log file of the serial port detection device 40, and in the normal diagnosis process, whether the RTCM data, the GPRMC data, and the PPS signal are abnormal may also be checked by the serial port detection device 40.
Further, the integrated navigation device 10 further includes a PPS interface (not shown in the figure), and the PPS interface is connected to the serial port detection device 40, for sending PPS signals.
In order to match the modified harness scheme of the present invention, the configuration of the integrated navigation device 10 may be further modified in this embodiment as follows:
Motherboard COM1 port (i.e., first serial port 102): the baud rate 460800bps is used for receiving and transmitting commands and data, and is connected to the third USB interface 202 of the host 20 through the serial-to-USB device 30;
motherboard COM3 port (i.e. second serial port 103): the baud rate 9600bps, transmitting GPRMC data, and connecting to the serial port detection device 40;
PPS interface: connected to the serial port detection device 40;
USB port (i.e., first USB port 101): receiving RTK data;
The receiving port of the second serial port 103 is configured in RTCMV mode.
It can be appreciated that the navigation data transmission device 100 may further include a circuit such as a ground wire, which is not described herein.
Further, since the RTCM data is transferred from the USB line in the prior art to the serial port line in the present invention, it is necessary to further detect whether the RTK data meets the data transmission requirement, that is, the rate of greater than 7000bps, for example, the contents of the portion displayed by the test are as follows:
Connected,7988bps,ostream:ttys0:9600:OK
Connected,8306bps,ostream:ttys0:9600:OK
from the above, it can be seen that all rates greater than 7000bps meet the requirements of RTCM data transmission.
So far, the data transmission and reception of the integrated navigation device 10 and the host 20 are all normal, so that the occurrence frequency of the problem of positioning data loss is reduced.
The invention provides a navigation data transmission device, which comprises an integrated navigation device, a host, a serial port-to-USB device and a serial port detection device, wherein the integrated navigation device is used for collecting position navigation data and inertial navigation data, and receiving and transmitting the position navigation data and the inertial navigation data; the host is used for receiving and transmitting the position navigation data and the inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device with the host and transmitting the inertial navigation data sent from the serial port of the integrated navigation device at a high speed; the serial port detection device is used for connecting the integrated navigation device with the host, detecting the position navigation data sent from the serial port of the integrated navigation device and judging whether the position navigation data are lost or not. In this way, the transmission rate and configuration are modified by optimizing the data transmission link from the integrated navigation device to the host, important inertial navigation data such as RAWIMU are transmitted to the host through the serial port to USB device, and other navigation data such as RTCM, GPRMC, PPS are transmitted to the serial port of the host through the serial port of the integrated navigation device, so that the stability of data transmission is improved, and the correct positioning of the automatic driving vehicle is ensured.
Referring to fig. 5, fig. 5 is a schematic structural diagram of the USB harness according to the present invention.
In this embodiment, in order to prevent a problem in the wiring harness scheme from going from the first serial port 102 of the integrated navigation device 10 to the serial-to-USB device 30 and then to the third USB port 202 of the host 20, the previous USB cable can be further used as a redundant link or a failure-removing channel for diagnostic use in normal times, so that the overall function of the navigation data transmission device 100 is further improved.
Specifically, a USB connection line is further included between the integrated navigation device 10 and the host 20, the first USB interface 101 of the integrated navigation device 10 is configured to transmit the inertial navigation data, and is connected to the second USB interface 201 of the host 20 through the USB connection line, and a USB version of the first USB interface 101 may be USB1.1.
In this embodiment, the inertial navigation data may be transmitted using the first USB interface of the integrated navigation device in the event of a data loss, by using the previous USB connection line between the integrated navigation device and the host as a redundant link or a failure-free channel used for normal diagnosis. In this way, stability of data transmission is ensured.
In addition, in one embodiment, as shown in fig. 6, the present invention provides a navigation data transmission method, and it should be noted that each structure in the above device may be used to implement each step in the method, and achieve corresponding technical effects. The method comprises the following steps:
In step 601, during the data transmission process, it is detected whether the navigation data is lost.
In the embodiment, because inertial navigation data and position navigation data are transmitted in the integrated navigation device, the navigation data transmission device optimizes the wire harness and the interface, important data such as RAWIMU are changed into the inertial navigation data which are transmitted at high speed by the serial-to-USB device, the baud rate can be configured to 460800, other RTCM, GPRMC, PPS and the like navigation data are directly inserted into the serial port of the host computer through the aviation plug of the integrated navigation device by the separated wire harness.
Therefore, in order to prevent the occurrence of the error of usbbulk-71 on the kernel level as in the prior art, it is necessary to detect whether the navigation data is lost or not during the process of transmitting the data by the navigation data transmitting apparatus of the present application. The position navigation data comprise RTCM data, GPRMC data, PPS signals and the like; the inertial navigation data includes RAWIMU and other important data.
Step 602, if inertial navigation data is not lost, continuing to use the serial port to USB device to transmit the inertial navigation data at high speed.
In an embodiment, for inertial navigation data, if no loss occurs, the modified harness scheme according to the present application may be used to continue to transmit the inertial navigation data using the harness scheme from the first serial port 102 of the integrated navigation device 10 to the serial-to-USB device 30 and then to the third USB port 202 of the host 20.
And 603, if inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation device.
In an embodiment, for inertial navigation data, since a previous USB connection line is used between the integrated navigation device and the host computer of the navigation data transmission apparatus of the present application as a redundant link or a failure-removing channel used for normal diagnosis, if a loss occurs, the failure-removing channel may be immediately reported to a log file, and the first USB interface of the integrated navigation device is used to transmit the inertial navigation data. In this way, stability of data transmission is ensured.
According to the navigation data transmission method, whether the navigation data is lost or not is detected in the data transmission process; if the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. Through the technical scheme, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle is ensured.
In another embodiment, as shown in fig. 7, the present invention provides another navigation data transmission method, for further detecting whether the position navigation data is lost, the method includes the following steps:
step 701, detecting whether navigation data is lost or not in the process of data transmission; the navigation data includes position navigation data and inertial navigation data.
Step 702, if inertial navigation data is not lost, continuing to use the serial port to USB device to transmit the inertial navigation data at high speed.
Step 703, if inertial navigation data is lost, transmitting the inertial navigation data by using the first USB interface of the integrated navigation device.
Step 704, if the position navigation data is not lost, the host computer uses the position navigation data to navigate.
Step 705, if the position navigation data is lost, the host computer uses the inertial navigation data to navigate.
If inertial navigation data is not lost, go to step 702; if inertial navigation data is lost, go to step 703; steps 701-703 are the same as steps 601-603, and the embodiment is not repeated here.
In this embodiment, since the position navigation data at RTCM, GPRMC, PPS is an aviation plug of the integrated navigation device, the split wire harness, and the integrated serial line is directly plugged into the serial port of the host, the serial port detection device 40 can detect whether the position navigation data is lost.
If the position navigation data is not lost, the method proceeds to step 704, and the position navigation data may be transmitted by using the harness scheme of the third serial port 203 of the host 20 connected through the serial port detection device 40 via the second serial port 103 of the integrated navigation device 10, but the host may use the position navigation data for navigation because the accuracy of the position navigation data is higher than that of the inertial navigation data.
If the position navigation data is lost, the method proceeds to step 704, and the method may immediately report the position navigation data to a log file, where the host uses the inertial navigation data to perform navigation, but may continue to use a harness scheme that connects the third serial port 203 of the host 20 through the serial port detection device 40 via the second serial port 103 of the integrated navigation device 10 to transmit the position navigation data, but the serial port detection device 40 continuously detects whether the position navigation data is lost.
According to the navigation data transmission method, whether the navigation data is lost or not is detected in the data transmission process; if the position navigation data is not lost, the host computer uses the position navigation data to navigate; and if the position navigation data are lost, the host computer uses the inertial navigation data to navigate. Through the technical scheme, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle is ensured.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a vehicle in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 8, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include standard wired interfaces, wireless interfaces (e.g., WI-FI, 4G, 5G interfaces). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatilememory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the structure shown in fig. 8 is not limiting of the vehicle and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 8, an operating system, a network communication module, a user interface module, and a navigation data transmission program may be included in a memory 1005 as one type of computer storage medium.
In the vehicle shown in fig. 8, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving an input instruction of a user; the vehicle invokes the navigation data transmission program stored in the memory 1005 through the processor 1001, and performs the following operations:
detecting whether navigation data is lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;
If the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed;
and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.
Optionally, if the position navigation data is not lost, the host uses the position navigation data to navigate;
And if the position navigation data are lost, the host computer uses the inertial navigation data to navigate. According to the embodiment, through the scheme, whether navigation data are lost or not is detected in the data transmission process; the navigation data comprises position navigation data and inertial navigation data; if the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. If the position navigation data is not lost, the host computer uses the position navigation data to navigate; and if the position navigation data are lost, the host computer uses the inertial navigation data to navigate. Thus, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle can be ensured.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a navigation data transmission program, and the navigation data transmission program realizes the following operations when being executed by a processor:
detecting whether navigation data is lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;
If the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed;
and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.
Optionally, if the position navigation data is not lost, the host uses the position navigation data to navigate;
And if the position navigation data are lost, the host computer uses the inertial navigation data to navigate. According to the embodiment, through the scheme, whether navigation data are lost or not is detected in the data transmission process; the navigation data comprises position navigation data and inertial navigation data; if the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. If the position navigation data is not lost, the host computer uses the position navigation data to navigate; and if the position navigation data are lost, the host computer uses the inertial navigation data to navigate. Thus, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle can be ensured.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a controller, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (5)

1. The navigation data transmission device is characterized by comprising combined navigation equipment, a host, serial port-to-USB equipment and serial port detection equipment, wherein:
The integrated navigation equipment is used for collecting position navigation data and inertial navigation data, and receiving and transmitting the position navigation data and the inertial navigation data;
the host is used for receiving and sending the position navigation data and the inertial navigation data;
The serial port-to-USB device is used for connecting the integrated navigation device with the host and transmitting the inertial navigation data sent from the serial port of the integrated navigation device at a high speed;
The serial port detection device is used for connecting the integrated navigation device with the host, detecting the position navigation data sent from the serial port of the integrated navigation device and judging whether the position navigation data are lost or not;
The integrated navigation equipment comprises a first USB interface, a first serial port and a second serial port; the host comprises a second USB interface, a third USB interface and a third serial port; the serial port-to-USB device comprises a fourth serial port, a USB-to-serial port chip and a fourth USB interface, and the USB version of the fourth USB interface in the serial port-to-USB device is greater than or equal to USB2.0;
The first serial port of the integrated navigation device is used for receiving and sending the inertial navigation data and is connected to a third USB interface of the host through the serial port-to-USB device; the first serial port of the integrated navigation device is connected to a fourth serial port of the serial-to-USB device, and is connected to a fourth USB interface of the serial-to-USB device through the USB-to-serial chip, and is connected to a third USB interface of the host through the fourth USB interface;
The second serial port of the integrated navigation device is used for sending and receiving the position navigation data and is connected with the third serial port of the host through the serial port detection device;
the data transmission method of the navigation data transmission device comprises the following steps:
detecting whether navigation data is lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;
If the inertial navigation data is not lost, continuously using the serial port to USB equipment to transmit the inertial navigation data at a high speed;
and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.
2. The navigation data transmission apparatus of claim 1, wherein the integrated navigation device is connected using an aviation plug.
3. The navigation data transmission apparatus of claim 1, wherein the integrated navigation device further comprises a PPS interface, the PPS interface being connected to the serial port detection device for transmitting PPS signals.
4. The navigation data transmission device according to claim 1, further comprising a USB connection line between the integrated navigation device and the host, wherein a first USB interface of the integrated navigation device is used for transmitting the inertial navigation data and is connected to a second USB interface of the host through the USB connection line, and a USB version of the first USB interface is USB1.1.
5. The navigation data transmission device of claim 1, wherein the method further comprises the steps of:
if the position navigation data is not lost, the host computer uses the position navigation data to navigate;
and if the position navigation data are lost, the host computer uses the inertial navigation data to navigate.
CN202110974849.9A 2021-08-24 2021-08-24 Navigation data transmission device, method and computer readable storage medium Active CN113759409B (en)

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