CN116248232A - Gyro and meter original data transmission method for inertial navigation system - Google Patents
Gyro and meter original data transmission method for inertial navigation system Download PDFInfo
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- CN116248232A CN116248232A CN202310004054.4A CN202310004054A CN116248232A CN 116248232 A CN116248232 A CN 116248232A CN 202310004054 A CN202310004054 A CN 202310004054A CN 116248232 A CN116248232 A CN 116248232A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0036—Systems modifying transmission characteristics according to link quality, e.g. power backoff arrangements specific to the receiver
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The invention belongs to the technical field of inertial navigation, and discloses an inertial navigation original data transmission method based on an unsigned integer accumulation principle, which comprises the following steps: step 1, converting a gyro angle increment sampling value and a gauge adding speed increment sampling value into unsigned integer inertial navigation original data increment at a sampling end according to a conversion dimension; step 2, accumulating and adding the unsigned integer inertial navigation original data increment and the historical sampling data of the corresponding item at the inertial navigation data sampling end to obtain accumulated unsigned integer inertial navigation original data; step 3, transmitting the inertial navigation original data in the form of accumulated unsigned integer from the sampling end to the receiving end through a hardware communication channel; step 4, restoring the inertial navigation original data in the form of accumulated unsigned integer into inertial navigation incremental data at a receiving end; and 5, calculating the lost gyro angle increment and the missing speed increment based on inertial navigation increment data received twice before and after and the corresponding sampling counting time stamp, and supplementing the angle movement and linear movement information of the missing part.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a gyro meter-adding original data transmission method for an inertial navigation system.
Background
In the field of high-precision inertial navigation, the original inertial navigation number is generally output in a high-frequency sampling mode in a gyro angle increment and a meter adding speed increment mode, a data signal is more easily lost due to external interference under the high-frequency output condition, and due to the integral characteristic of inertial navigation, when a gyro angle increment and a meter adding speed increment sampling value are lost, the inertial navigation integral is caused to be wrongly calculated, and effective inertial navigation information cannot be provided.
Disclosure of Invention
The invention provides an inertial navigation original data transmission method based on an unsigned integer accumulation transmission principle, aiming at the contradiction between the requirement of inertial navigation on original data continuity and the loss of data signals due to easy interference under the condition of high-frequency output, so as to improve the reliability of a navigation system.
Specifically, the invention provides an inertial navigation original data transmission method based on an unsigned integer accumulation principle, which comprises the following steps:
step 1, respectively determining corresponding conversion dimensions at a sampling end according to gyro angle increment data and gauge adding speed increment data, and converting a gyro angle increment sampling value and a gauge adding speed increment sampling value into unsigned integer inertial navigation original data increment according to the conversion dimensions;
step 2, accumulating and adding the unsigned integer inertial navigation original data increment and the historical sampling data of the corresponding item at the inertial navigation data sampling end to obtain accumulated unsigned integer inertial navigation original data;
step 3, transmitting the inertial navigation original data in the form of accumulated unsigned integer from the sampling end to the receiving end through a hardware communication channel;
step 4, restoring the inertial navigation original data in the form of accumulated unsigned integer into inertial navigation incremental data at a receiving end;
and 5, calculating the lost gyro angle increment and the missing speed increment based on inertial navigation increment data received twice before and after and the corresponding sampling counting time stamp, and supplementing the angle movement and linear movement information of the missing part.
Further, in step 1, the conversion dimension of the gyro angle increment data and the conversion dimension of the gauge speed increment data are respectively determined; the number of significant digits N after increment sampling value decimal point g The transformation dimension is
And multiplying the gyro angle increment sampling value and the gauge adding speed increment sampling value by corresponding conversion dimensions respectively to obtain unsigned integer inertial navigation original data increment.
Further, in step 3, the information transmitted from the sampling end to the receiving end includes the current sampling count time stamp, the gyro angle increment unsigned integer accumulated sum data, and the added table speed increment unsigned integer accumulated sum data.
Further, in step 4, the inertial navigation raw data in the form of accumulated unsigned integer of the previous and subsequent frames is differenced, the differenced result is assigned to the symbol shaping variable, and then converted into the increment form through the corresponding conversion dimension.
Further, in step 5, the number of sampling intervals between the two received samples is obtained based on the subtraction of the count time stamps of the two previous and subsequent samples;
dividing the gyro angle increment and the added table speed increment in the inertial navigation increment data by the sampling interval number to obtain increment data for navigation calculation.
Further, in step 3, during the transmission process, the conversion dimension of the gyro angle increment data and the conversion dimension of the added table speed increment data are agreed by a transmission protocol.
The beneficial effects achieved by the invention are as follows:
when the conventional inertial navigation original number is transmitted in an increment form and the transmission communication is disturbed to cause the number loss, the inertial navigation integral calculation error is easily caused due to the missing part of the angular motion and linear motion information. The invention provides a new method for transmitting inertial navigation original data, which is based on an unsigned integer accumulation principle to convert an inertial navigation increment original number into an unsigned integer accumulation original number form and then transmit the number, when data transmission is lost due to hardware transmission interference, angular motion and linear motion information of a missing part can be supplemented by calculating an average value of the angular motion and the linear motion data through the latest received accumulation data, so that the accuracy of navigation product decomposition is ensured.
The unsigned integer employed in the present application is capable of carrying more valid data than conventional signed decimal numbers with the same data length. Meanwhile, the data in the accumulated form can be supplemented by the received front and back complete data and the interval frame number even if frame loss occurs in the data transmission, so that the angular motion and linear motion data have restorability.
Drawings
Fig. 1 is a flow chart of a sampling end of an inertial navigation original data transmission method based on an unsigned integer accumulation principle.
Fig. 2 is a flow chart of a receiving end of an inertial navigation original data transmission method based on an unsigned integer accumulation principle.
Detailed Description
The technical scheme of the present invention will be described in more detail with reference to the accompanying drawings, and the present invention includes, but is not limited to, the following examples.
The invention provides an inertial navigation original data transmission method based on an unsigned integer accumulation principle, which comprises the following steps:
step 1, at an inertial navigation original data sampling end, determining dimension according to gyroscopic plus table measurement, and converting a gyroscopic angle increment and a plus table speed increment sampling value into an unsigned integer according to the dimension;
setting N g The number of effective digits after decimal points of the gyro data is the number of decimal points to ensure the precision of the gyro data to be
To the power, define dimension +.>
Multiplying the gyro increment sampling value delta theta by dimension and storing the calculation result by unsigned integer data. The definition of the dimension of the added table data is the same as that of the conversion mode.
And 2, incremental accumulation of unsigned integer inertial navigation original data is carried out at an inertial navigation data sampling end, so that the inertial navigation original data in an accumulated unsigned integer form is obtained, the accumulation is continued when the data value reaches the maximum value which can be stored in the unsigned integer data, and the unsigned integer data naturally overflows without worrying about the fact that the data exceeds the unsigned integer representation range.
The unsigned integer natural overflow principle is exemplified by:
the increment of the existing accumulated unsigned integer number 0xFFFFFFFE is 0x00000002, the added result of the increment of the unsigned integer inertial navigation original data exceeds the maximum value which can be represented by the unsigned integer number, the unsigned integer number naturally overflows, namely the accumulated sum of 0 xFFFFFE and 0x00000002 in a computer is 0x00000000, and when the accumulated value exceeds the maximum value which can be stored by the unsigned integer, the value is accumulated again from 0x 00000000. While the increment of 0x00000002 can still be calculated by subtracting 0xFFFFFFFE from 0x 00000000. Therefore, overflow does not need to worry about the data exceeding the unsigned integer representation range.
And 3, transmitting the inertial navigation original data from the sampling end to the receiving end through a hardware communication channel.
And step 4, at the inertial navigation original data receiving end, restoring the original data into a gyro angle increment and a meter adding speed increment form.
And 5, calculating the lost gyro angle increment and the additional table speed increment based on the original number of the accumulated form, and supplementing the information of the angle movement and the linear movement of the missing part.
Specifically, in one embodiment, the specific realistic scheme of the inertial navigation raw data transmission method is as follows:
step 1, a static or global six-dimensional double-precision floating point number array is opened up and used for storing the historical sampling data accumulation sum of a three-dimensional gyroscope and a three-dimensional addition table, and the initial value of an array element is initialized to 0.
In this embodiment, the gyro angle incremental data conversion dimension 1e8 is taken, and the table speed incremental data conversion dimension 1e6 is added.
And multiplying the three-dimensional gyro angle increment data of the current sampling period by the dimension 1e8 respectively, and multiplying the three-dimensional adding table speed increment data by the dimension 1e6 respectively.
And 2, accumulating and adding the three-dimensional gyro angle increment data and the three-dimensional meter adding speed increment data which are subjected to dimension conversion with the historical sampling data of the corresponding item respectively to obtain new accumulated sum data containing the current sampling period data.
The integer part of the accumulated sum data of the double-precision floating point type is assigned to an unsigned integer variable to obtain unsigned integer inertial navigation accumulated sum original data, and the method comprises the following steps of:
taking the C language as an example, firstly converting the double-precision floating point number type accumulation and data forced type into an unsigned integer type, and then assigning an assignment symbol to an unsigned integer type variable to realize the operation of assigning the integer part of the double-precision floating point type accumulation and data to the unsigned integer type variable.
Step 3, transmitting the original data packet to a receiving end through hardware communication, wherein the information contained in one transmission comprises: the current sampling count time stamp, the three-dimensional gyro unsigned integer accumulated sum data and the three-dimensional adding table unsigned integer accumulated sum data.
And 4, receiving and caching the inertial navigation original data packet by the receiving end, differencing the unsigned integer inertial navigation original data of the front and back frames, assigning a differencing result to a symbol shaping variable, and converting the symbol shaping variable into an increment form through dimension.
The increment data-2 e-6 is converted into the value of-2 by dimension 1e6 by the existing accumulated unsigned integer number 0xFFFFFFFE. Assigning-2 to the unsigned integer, then-2 will be converted to 0xFFFFFFFE. The 0xFFFFFFFE is added to the existing accumulated unsigned integer 0xFFFFFFFE, resulting in a 0xFFFFFFFC.
The calculation method for recovering the incremental data at the receiving end comprises the following steps:
(1) The unsigned integer inertial navigation raw data of the front and rear frames is differenced, namely 0xFFFFFFFC-0 xfffffffe=0 xFFFFFFFE.
(2) And (3) receiving the assignment of the calculated result in the step (1) by using a symbol integer variable, wherein 0 xFFFFFFFFFE is the symbol integer-2.
(3) The dimension is converted into the finally required incremental data, and the dimension is agreed by a transmission protocol and does not need to be contained in the transmission data. I.e., -2 divided by the agreed dimension 1e6 to obtain the required delta data-2 e-6.
And 5, subtracting the data timestamp count values in the front data packet and the back data packet to obtain the sampling interval number between the received data packets.
The increment is divided by the number of sampling intervals to obtain increment data for navigation solution. And storing the obtained incremental data in a navigation resolving incremental data buffer area for navigation product resolving.
The invention is not limited to the above embodiments, and those skilled in the art can implement the invention in various other embodiments based on the examples and the disclosure of the drawings, so that the design of the invention is not limited to the above embodiments, and any simple changes or modifications can be made without departing from the scope of the invention.
Claims (6)
1. The inertial navigation original data transmission method based on the unsigned integer accumulation principle is characterized by comprising the following steps of:
step 1, respectively determining corresponding conversion dimensions at a sampling end according to gyro angle increment data and gauge adding speed increment data, and converting a gyro angle increment sampling value and a gauge adding speed increment sampling value into unsigned integer inertial navigation original data increment according to the conversion dimensions;
step 2, accumulating and adding the unsigned integer inertial navigation original data increment and the historical sampling data of the corresponding item at the inertial navigation data sampling end to obtain accumulated unsigned integer inertial navigation original data;
step 3, transmitting the inertial navigation original data in the form of accumulated unsigned integer from the sampling end to the receiving end through a hardware communication channel;
step 4, restoring the inertial navigation original data in the form of accumulated unsigned integer into inertial navigation incremental data at a receiving end;
and 5, calculating the lost gyro angle increment and the missing speed increment based on inertial navigation increment data received twice before and after and the corresponding sampling counting time stamp, and supplementing the angle movement and linear movement information of the missing part.
2. The inertial navigation raw data transmission method based on the unsigned integer accumulation principle according to claim 1, wherein in step 1, conversion dimensions of gyro angle increment data and conversion dimensions of added table speed increment data are respectively determined; the number of significant digits N after increment sampling value decimal point g The transformation dimension is
And multiplying the gyro angle increment sampling value and the gauge adding speed increment sampling value by corresponding conversion dimensions respectively to obtain unsigned integer inertial navigation original data increment.
3. The method according to claim 1, wherein in step 3, the information transmitted from the sampling end to the receiving end includes a current sampling count time stamp, gyro angle increment unsigned integer accumulated sum data, and a table adding speed increment unsigned integer accumulated sum data.
4. The inertial navigation raw data transmission method based on the unsigned integer accumulation principle according to claim 1, wherein in step 4, inertial navigation raw data in the form of accumulated unsigned integers of the preceding and following frames are differenced, the differenced result is assigned to a symbol shaping variable, and then converted into an increment form through a corresponding conversion dimension.
5. The inertial navigation raw data transmission method based on the unsigned integer accumulation principle according to claim 1, wherein in step 5, the number of sampling intervals between two received samples is obtained based on the subtraction of the count time stamps of the two samples;
dividing the gyro angle increment and the added table speed increment in the inertial navigation increment data by the sampling interval number to obtain increment data for navigation calculation.
6. The inertial navigation raw data transmission method based on the unsigned integer accumulation principle according to claim 1, wherein in step 3, in the transmission process, the conversion dimension of the gyro angle increment data and the conversion dimension of the adder speed increment data are agreed by a transmission protocol.
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| CN202310004054.4A CN116248232A (en) | 2023-01-03 | 2023-01-03 | Gyro and meter original data transmission method for inertial navigation system |
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| CN202310004054.4A CN116248232A (en) | 2023-01-03 | 2023-01-03 | Gyro and meter original data transmission method for inertial navigation system |
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