CN116429097A - Automatic driving inertia measurement unit synchronization system, method, device and storage medium - Google Patents
Automatic driving inertia measurement unit synchronization system, method, device and storage medium Download PDFInfo
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Abstract
The invention relates to the field of automatic driving, and discloses an automatic driving inertial measurement unit synchronization system, an automatic driving inertial measurement unit synchronization method, automatic driving inertial measurement unit synchronization equipment and a storage medium. The automatic driving inertia measurement unit synchronization system comprises a main inertia measurement unit, a redundant inertia measurement unit, a domain controller and a host; the redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host; the domain controller acquires a clock source of the host and constructs a trigger signal based on the clock source; and the domain controller adjusts the pulse trigger time of the redundant inertial measurement unit according to the trigger signal. The system architecture design only performs redundancy backup on the inertial measurement unit, and solves the problem of time synchronization of the redundant inertial measurement unit and the main inertial measurement unit, thereby solving the problems of complex redundancy scheme and high cost in the existing automatic driving inertial measurement unit synchronization system.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic driving inertial measurement unit synchronization system, an automatic driving inertial measurement unit synchronization method, automatic driving inertial measurement unit synchronization equipment and a storage medium.
Background
Along with development of automatic driving technology, how to improve the Positioning function of an automatic driving inertial measurement unit synchronization system becomes a problem to be solved, and in the existing automatic driving inertial measurement unit synchronization system, more IMUs (inertial measurement units) fail due to device hardware stability factors, so that the Positioning function of a self-driving system is reported to be wrong, therefore, a set of redundant inertial measurement unit equipment is required to switch in real time when a main inertial measurement unit fails, and the existing redundancy scheme is to redundancy the whole PBOX (Positioning box), but redundancy is also carried out for GNSS (global satellite navigation system) equipment which does not need redundancy, so that the cost of the redundancy scheme is high. Therefore, a system architecture design that performs redundant backup only for the inertial measurement unit is needed to further improve the positioning function of the autopilot inertial measurement unit synchronization system.
Disclosure of Invention
The invention mainly aims to solve the technical problems of complex redundancy scheme, high cost and asynchronous time in the existing automatic driving inertial measurement unit synchronous system.
A first aspect of the present invention provides an autopilot inertial measurement unit system comprising: the system comprises a main inertial measurement unit, a redundant inertial measurement unit, a domain controller and a host; the redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host; the domain controller acquires a clock source of the host and constructs a trigger signal based on the clock source; and the domain controller adjusts the pulse trigger time of the redundant inertial measurement unit according to the trigger signal.
Optionally, in a first implementation manner of the first aspect of the present invention, a master port of an accurate time protocol of the host is connected to a slave port of an accurate time protocol of the domain controller; the domain controller obtains the clock source on the host from a port through the accurate time protocol and constructs a trigger signal based on the clock source and the time protocol.
Optionally, in a second implementation manner of the first aspect of the present invention, the domain controller controls an internal timer to output a pulse per second signal based on the trigger signal, and controls sampling work completion time synchronization of the redundant inertial measurement unit based on the pulse per second signal.
Optionally, in a third implementation manner of the first aspect of the present invention, the redundant inertial measurement unit detects whether a rising edge in the second pulse signal arrives; if the data is reached, sampling the data based on a preset frequency in a preset time after the rising edge is reached; the redundant inertial measurement unit sends a data preparation signal to the domain controller after sampling is completed; the domain controller obtains raw data of the redundant inertial measurement unit based on the data preparation signal and appends a sampling time stamp to the data.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the autopilot inertial measurement unit synchronization system further includes a computing platform; the domain controller and the host are integrated with the computing platform; the redundant inertial measurement unit is integrated on the computing platform and communicates with the domain controller via a communication protocol.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the automatic driving inertia measurement unit synchronization system further includes an external board card; the redundant inertial measurement unit is arranged on the external board card and is communicated with the domain controller through a data interface and transmits data.
Optionally, in a sixth implementation manner of the first aspect of the present invention, after the domain controller adjusts a pulse triggering time of the redundant inertial measurement unit according to the triggering signal, the method further includes: when the main inertial measurement unit is detected to be faulty, the communication connection with the main inertial measurement unit is disconnected, the communication connection with the redundant inertial measurement unit is connected, and the redundant inertial measurement unit is controlled to acquire and process data.
The second aspect of the present invention provides an information synchronization method applied to an automatic driving inertial measurement unit synchronization system, the information synchronization method comprising: realizing time synchronization of the domain controller and the host computer through an Ethernet accurate time protocol; the domain controller generates a trigger signal to control the sampling of the redundant inertial measurement unit, so that the time synchronization of the redundant inertial measurement unit, the host and the main inertial measurement unit is realized; when the main inertial measurement unit is detected to be faulty, the communication connection with the main inertial measurement unit is disconnected, the communication connection with the redundant inertial measurement unit is connected, and the redundant inertial measurement unit is controlled to acquire and process data.
A third aspect of the present invention provides a computer device comprising a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the information synchronization method as described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon instructions which, when executed by a processor, implement the steps of the information synchronization method described above.
The invention provides a technical scheme and discloses an automatic driving inertial measurement unit synchronization system, an automatic driving inertial measurement unit synchronization method, automatic driving inertial measurement unit synchronization equipment and a storage medium. The automatic driving inertia measurement unit synchronization system comprises a main inertia measurement unit, a redundant inertia measurement unit, a domain controller and a host; the redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host; the domain controller acquires a clock source of the host and constructs a trigger signal based on the clock source; and the domain controller adjusts the pulse trigger time of the redundant inertial measurement unit according to the trigger signal. The utility model provides a system architecture design that only carries out redundant backup to inertial measurement unit to solve redundant inertial measurement unit and the time synchronization problem of main inertial measurement unit, when detecting main inertial measurement unit breaks down, break off with the communication connection of main inertial measurement unit, and switch on with the communication connection of redundant inertial measurement unit, control redundant inertial measurement unit carries out data acquisition and processing, thereby solved redundant scheme complicacy, with high costs and time asynchronous problem in the current autopilot inertial measurement unit synchronization system.
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FIG. 1 is a schematic diagram of a first configuration of an autopilot inertial measurement unit synchronization system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second configuration of an autopilot inertial measurement unit synchronization system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a third configuration of an autopilot inertial measurement unit synchronization system in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the connection of a computing platform in an autopilot inertial measurement unit synchronization system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a method for synchronizing information of an autopilot inertial measurement unit synchronization system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The invention aims to solve the problems of complex redundancy scheme, high cost and asynchronous time in an automatic driving inertial measurement unit synchronous system in the prior art.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below with reference to fig. 1, where a first structural diagram of an autopilot inertial measurement unit synchronization system in an embodiment of the present invention includes:
a main inertial measurement unit 10, a host 20, a domain controller 30, a redundant inertial measurement unit 40;
the main inertial measurement unit 10 and the redundant inertial measurement unit 40 are used for acquiring data so as to realize driving positioning;
the redundant inertial measurement unit 40 is electrically connected to the domain controller 30, and the domain controller 30 is electrically connected to the host 20;
the domain controller 30 acquires a clock source of the host 20 and constructs a trigger signal based on the clock source;
the domain controller 30 adjusts the pulse trigger time of the redundant inertial measurement unit 40 according to the trigger signal;
the domain controller 30 is configured to synchronize the time of the primary inertial measurement unit 10 to the redundant inertial measurement unit 40 via a time protocol.
In practical applications, the main inertial measurement unit 10 includes a built-in inertial measurement unit and a GNSS (global satellite navigation system), and the redundant inertial measurement unit 40 is composed of inertial measurement units for positioning when the main inertial measurement unit fails.
The method realizes the positioning by using the redundant inertial measurement unit when the main inertial measurement unit fails by time synchronization of the existing automatic driving inertial measurement unit synchronization system.
Referring to fig. 2, in a second structural schematic diagram of an autopilot inertial measurement unit synchronization system according to an embodiment of the present invention, the host 201, the domain controller 301, and the redundant inertial measurement unit 401 are integrated on the computing platform 50, the host 201 is connected to the primary inertial measurement subunit 10, the domain controller 301 is disposed between the host 201 and the redundant inertial measurement unit 401, and the redundant inertial measurement unit 401 communicates with the domain controller 301 on the computing platform 50 through a serial peripheral interface communication protocol;
in practical applications, the main inertial measurement unit 10 is generally composed of a GNSS (Global Navigation Satellite Systems global satellite navigation system), an IMU (Inertial Measurement Unit inertial measurement unit) and a computing chip, time synchronization is performed between the domain controller and the host by PTP, the domain controller and the host perform transmission of redundant inertial measurement data by using an ethernet point on the domain controller through an MGTT (Message Queuing Telemetry Transport, message queue telemetry transmission) instant messaging protocol, the redundant inertial measurement unit 401 is provided with a redundant IMU for positioning, global positioning is achieved by receiving satellite signals by the GNSS, calibration is achieved by the IMU, and positioning capability with a certain time accuracy is continuously maintained when the GNSS signals are lost. In the prior art, 5 ns-level time precision can be realized in a wired network, namely, only 1 node is used as a time source in the network, and other nodes can realize the same-level synchronization precision as GNSS through PTP technology. The single GNSS (without using RTK) provides a meter level of positioning by receiving and comparing signals from multiple satellites, and the master inertial measurement unit 10 can accept the signals of multiple GNSS for increasing the likelihood of detecting enough satellites, each GNSS having a different frequency band, and the combined positioning system can combine the different frequency bands of one GNSS system to mitigate errors due to atmospheric conditions.
Referring to fig. 3, a second structural diagram of an autopilot inertial measurement unit synchronization system according to an embodiment of the present invention; the automatic driving inertia measurement unit synchronization system further comprises an external board 60; the host 202 and domain controller 302 are integrated on the computing platform 50; the redundant inertial measurement unit 402 is disposed on the external board, and communicates with the computing platform 50 and transmits data through a data interface;
when the redundant inertial measurement unit 402 is disposed on an external board, the redundant IMU may be disposed in the center of the board, so as to avoid the influence of centripetal acceleration on positioning, remove an unusual CAN bus on the external board, add an external LED interface, a USB host interface, an SPI interface, or a GPIO interface, etc. to communicate with the computing platform 20 and perform data transmission, and may also use a common IO port.
Referring to fig. 4, in the embodiment of the present invention, a connection schematic diagram of a computing platform in an autopilot inertial measurement unit synchronization system is shown, a redundant IMU communicates with a domain controller on an HPC (computing platform) through an SPI (serial peripheral interface) communication protocol, the domain controller completes data sampling and processing of the redundant IMU, after time synchronization of the domain controller and a host, a Timer (Timer) inside is controlled to generate a PPS (pulse per second) signal and send the PPS signal to the redundancy, and after the sampling of the redundant IMU is completed, a DRDY signal is sent to the domain controller, so as to achieve time synchronization of the redundant IMU and the domain controller. The domain controller sends the data of the redundant IMU to a CPU (host) through the Ethernet, and the data is forwarded to a downstream positioning algorithm by the host, the domain controller performs time synchronization with the host time through the Ethernet PTP (Precise Time protocol, accurate time protocol), and the domain controller controls the sampling of the redundant IMU through generating a trigger signal, so that the time synchronization of the redundant IMU with the host time and the time synchronization of the main IMU are realized. Specifically, the domain controller controls the sampling of the redundant IMU by generating the trigger signal, thereby realizing the time synchronization of the redundant IMU with the host computer and the time synchronization of the main IMU, wherein the host computer is connected with the main inertial measurement unit, i.e. the time between the host computer and the main IMU is already synchronized, so that the time synchronization of the redundant IMU and the main IMU is realized under the condition of not depending on the GNSS synchronization signal.
The redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host; the host is used for providing a clock source for realizing the synchronization time of the main inertial measurement unit and the host; the domain controller acquires a clock source of the host and constructs a trigger signal based on the clock source; the domain controller adjusts pulse triggering time of the redundant inertial measurement unit according to the triggering signal; the domain controller performs time synchronization between the host and the redundant inertial measurement unit based on the clock source via a time protocol.
The host and the domain controller are time synchronized through a PTP protocol, and specifically, an accurate time protocol master port of the host is connected with an accurate time protocol slave port of the domain controller; the domain controller obtains the clock source on the host from a port through the accurate time protocol and constructs a trigger signal based on the clock source and the time protocol. The host mainly comprises two clocks: the system clock and the hardware clock, namely BIOS time, the host computer is used as PTP master equipment to issue synchronous time, the domain controller is used as PTP slave equipment to synchronize the clocks of the master equipment, the master clock and the slave clock exchange synchronous messages and record the receiving and transmitting time of the messages, the round trip total delay between the master clock and the slave clock is calculated by calculating the round trip time difference of the messages, if the network is symmetrical, half of the round trip total delay is unidirectional delay, the unidirectional delay is clock deviation between the master clock and the slave clock, and the slave clock adjusts the local time according to the deviation, so that the synchronization with the master clock can be realized.
In another implementation, clock synchronization may be performed between computer systems over a variable delay data network of data packet exchanges using NTP, network time protocol (Network Time Protocol).
The domain controller is also used for constructing a trigger signal based on the clock source and the time protocol, controlling a timer to generate a second pulse signal based on the trigger signal, and controlling the operation trigger of the redundant inertial measurement unit based on the second pulse signal; and the domain controller controls the timer inside the domain controller to output a second pulse signal based on the trigger signal, and controls the sampling work of the redundant inertial measurement unit to finish time synchronization based on the second pulse signal.
After time synchronization in the domain controller, the domain controller uses an internal Timer (Timer) to generate a PPS (pulse per second) signal, wherein the PPS signal is the number of pulses per second and is used for indicating the time of whole seconds, the time is usually marked by the rising edge of the PPS pulse per second, the pulse per second signal is sent to a redundant inertial measurement unit, the pulse per second signal can be used for triggering the redundant IMU to sample, the redundant IMU is notified to the domain controller to read data after the sampling is completed, the redundant inertial measurement unit receives the pulse per second signal and sends sampling data to a micro control unit in the redundant inertial measurement unit after sampling is completed through a sensor, the sampled data is processed, and the domain controller receives the time stamp when the sampling is attached to the data of the redundant IMU, and the time is synchronous with the host time and the host IMU time.
After the domain controller sends out a trigger signal, the redundant inertial measurement unit detects whether the rising edge in the second pulse signal arrives or not; if the data is reached, sampling the data based on a preset frequency in a preset time after the rising edge is reached; the redundant inertial measurement unit sends a data preparation signal to the domain controller after sampling is completed; the domain controller acquires the original data of the redundant inertial measurement unit based on the data preparation signal, attaches a sampling time stamp to the data, transmits the data to a host computer through an Internet, and forwards the data to a downstream positioning algorithm by the host computer, so that positioning is realized.
The redundant inertial measurement unit 30 sends a data preparation signal to the domain controller after sampling is completed; the domain controller acquires the data of the redundant inertial measurement unit 30 based on the data preparation signal;
the domain controller and the redundant IMU carry out data transmission and communication through an SPI (serial peripheral interface) communication protocol, besides the SPI communication protocol, the redundant IMU can also carry out data transmission with the domain controller through other communication protocols such as a serial port, an I2C and the like, a second pulse signal sent by the domain controller is used as a trigger signal, and the redundant IMU can start data sampling after receiving the trigger signal.
The redundant IMU sampling can be synchronous with an externally input PPS second pulse signal, the redundant IMU can trigger data sampling and processing within 50us after detecting the rising edge of the PPS signal, and after the internal of the IMU is averaged and corrected, a DATA READY (DRDY) signal is sent to the domain controller, and IMU data of the current frame is read immediately after the DRDY signal is received.
Specifically, the sampling frequency depends on the control frequency, and the size of the interference frequency needs to be considered, for example, the IMU samples 200Hz, but there may be 192Hz high-frequency interference in practice, because the sampling is only 200Hz, and only 100Hz data can be distinguished, and at this time, the 192Hz interference can cause frequency aliasing on the data, so the sampling frequency of the data is as high as possible, in this embodiment, the sampling frequency of 1667Hz may be adopted, after the sampled data is averaged, filtered and corrected in the redundant IMU, the master control in the redundant IMU sends DATA READY (DRDY) signals to the domain controller based on the processed sampled data, the domain controller immediately reads the redundant IMU data of the current frame through the SPI after receiving DATA READY signals, and attaches a timestamp when the IMU data is sampled, and further, the domain controller sends the data to the host through the internet point, and forwards the host to the downstream positioning algorithm, and calculates and processes the data collected by the IMU, so as to obtain corresponding positioning data.
The invention provides a system architecture design for carrying out redundancy backup only on an IMU, which is characterized in that when a fault of a main inertial measurement unit is detected, communication connection with the main inertial measurement unit is disconnected, communication connection with the redundant inertial measurement unit is connected, the redundant inertial measurement unit is controlled to carry out data acquisition and processing, and time synchronization of the redundant IMU and the main IMU is realized under the condition of not depending on GNSS synchronization signals.
Referring to fig. 5, an embodiment of an information synchronization method of an autopilot inertial measurement unit synchronization system according to an embodiment of the present invention is shown in the drawings, and the implementation steps of the information synchronization method of an autopilot inertial measurement unit synchronization system provided by the present invention are as follows:
the autopilot inertial measurement unit synchronization system includes: the system comprises a main inertial measurement unit, a redundant inertial measurement unit, a domain controller and a host; the redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host;
the information synchronization method comprises the following steps:
501. the time synchronization of the domain controller and the host is realized by an Ethernet precise time protocol.
The domain controller realizes time synchronization between the host and the host through a PTP protocol, the host serves as a PTP Master (PTP Master) to provide a clock source, the domain controller serves as a PTP Slave (PTP Slave), and the clock of the Master is synchronized through the PTP protocol to realize time synchronization between the host and the domain controller.
502. The domain controller generates a trigger signal to control the sampling of the redundant inertial measurement unit, so that the time synchronization of the redundant inertial measurement unit, the host and the main inertial measurement unit is realized.
The method comprises the steps that a domain controller generates a trigger signal and sends the trigger signal to a redundant IMU to control sampling of the redundant IMU through an SPI communication protocol, the redundant inertial measurement unit processes sampling data after receiving the trigger signal and samples the sampling data through a sensor, and sends a data preparation signal to the domain controller, the domain controller obtains data of the redundant inertial measurement unit based on the data preparation signal and sends the data of the redundant IMU to a host computer, so that time synchronization of the redundant IMU and the domain controller is realized, time synchronization of the domain controller and the host computer is realized, and time of the host computer and time of a main IMU are already synchronized, so that time synchronization of the main inertial measurement unit and the redundant inertial measurement unit is realized, and therefore, the method realizes time synchronization of the redundant IMU and the main IMU under the condition of not depending on GNSS synchronization signals.
503. When the fault of the main inertial measurement unit is detected, the communication connection with the main inertial measurement unit is disconnected, the communication connection with the redundant inertial measurement unit is connected, and the redundant inertial measurement unit is controlled to acquire and process data.
Compared with the whole PBOX redundancy, the redundant IMU is integrated in a computing platform, space occupation and harness complexity are reduced, the redundancy to GNSS is omitted, cost of the IMU redundancy is greatly reduced, time synchronization between the redundant IMU and the main IMU is achieved through a ptp protocol and a mode of generating trigger sampling signals under the architecture, and dependence of the time synchronization of the IMU on GNSS is avoided.
The method can also be used in the design of redundant systems of terminals such as unmanned aerial vehicles, unmanned ships and the like, the type selection of the domain controller is not limited to TC397, and the type selection of the host is not limited to V3NC.
According to the scheme, when the main inertial measurement unit is detected to be faulty, the computing platform is disconnected with the communication connection of the main inertial measurement unit and is connected with the communication connection of the redundant inertial measurement unit, and the redundant inertial measurement unit is controlled to acquire and process data, so that the problems of complex redundancy scheme and high cost in the existing automatic driving inertial measurement unit synchronization system are solved.
Referring to FIG. 6, one embodiment of a computer device in accordance with embodiments of the present invention is described in detail below from a hardware processing perspective.
Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present invention, where the computer device 600 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) storing application programs 633 or data 632. Wherein the memory 620 and the storage medium 630 may be transitory or persistent storage. The program stored on the storage medium 630 may include one or more modules (not shown), each of which may include a series of instruction operations in the computer device 600. Still further, the processor 610 may be configured to communicate with the storage medium 630 and execute a series of instruction operations in the storage medium 630 on the computer device 600 to implement the methods provided by the implementations described above.
The computer device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input/output interfaces 660, and/or one or more operating devices 631, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the computer device structure shown in FIG. 6 is not limiting of the computer device provided by the present invention and may include more or fewer components than shown, or may be combined with certain components, or may be arranged in a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and the computer readable storage medium may also be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, where the instructions when executed on a computer cause the computer to perform the steps of the information synchronization method of the autopilot inertial measurement unit synchronization system provided in the foregoing embodiments.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus or device, unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An autopilot inertial measurement unit synchronization system, wherein the autopilot inertial measurement unit synchronization system includes a primary inertial measurement unit, a redundant inertial measurement unit, a domain controller, and a host;
the redundant inertial measurement unit is electrically connected with the domain controller, and the domain controller is electrically connected with the host;
the domain controller acquires a clock source of the host and constructs a trigger signal based on the clock source;
and the domain controller adjusts the pulse trigger time of the redundant inertial measurement unit according to the trigger signal.
2. The autopilot inertial measurement unit synchronization system of claim 1 wherein a precision time protocol master port of the host is connected to a precision time protocol slave port of the domain controller;
the domain controller obtains the clock source on the host from a port through the accurate time protocol and constructs a trigger signal based on the clock source and the time protocol.
3. The autopilot inertial measurement unit synchronization system of claim 2 wherein the domain controller controls its internal timer to output a pulse-per-second signal based on the trigger signal and controls sampling work completion time synchronization of the redundant inertial measurement unit based on the pulse-per-second signal.
4. The autopilot inertial measurement unit synchronization system of claim 3 wherein the redundant inertial measurement unit detects whether a rising edge in the pulse-per-second signal has arrived;
if the data is reached, sampling the data based on a preset frequency in a preset time after the rising edge is reached;
the redundant inertial measurement unit sends a data preparation signal to the domain controller after sampling is completed;
the domain controller obtains raw data of the redundant inertial measurement unit based on the data preparation signal and appends a sampling time stamp to the data.
5. The autopilot inertial measurement unit synchronization system of claim 1 further comprising a computing platform;
the domain controller and the host are integrated with the computing platform;
the redundant inertial measurement unit is integrated on the computing platform and communicates with the domain controller via a communication protocol.
6. The autopilot inertial measurement unit synchronization system of claim 1 further comprising an external board;
the redundant inertial measurement unit is arranged on the external board card and is communicated with the domain controller through a data interface and transmits data.
7. The autopilot inertial measurement unit synchronization system of any one of claims 1-6, further comprising, after the domain controller adjusts the pulse trigger time of the redundant inertial measurement unit in accordance with the trigger signal:
when the main inertial measurement unit is detected to be faulty, the communication connection with the main inertial measurement unit is disconnected, the communication connection with the redundant inertial measurement unit is connected, and the redundant inertial measurement unit is controlled to acquire and process data.
8. An information synchronization method applied to the automatic driving inertia measurement unit synchronization system according to any one of claims 1 to 7, characterized in that the information synchronization method comprises:
realizing time synchronization of the domain controller and the host computer through an Ethernet accurate time protocol;
the domain controller generates a trigger signal to control the sampling of the redundant inertial measurement unit, so that the time synchronization of the redundant inertial measurement unit, the host and the main inertial measurement unit is realized;
when the main inertial measurement unit is detected to be faulty, the communication connection with the main inertial measurement unit is disconnected, the communication connection with the redundant inertial measurement unit is connected, and the redundant inertial measurement unit is controlled to acquire and process data.
9. A computer device comprising a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the information synchronization method of claim 8.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, perform the steps of the information synchronization method of claim 8.
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