CN117288226A - Receiving and processing device for two-way navigation data - Google Patents

Receiving and processing device for two-way navigation data Download PDF

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Publication number
CN117288226A
CN117288226A CN202311223559.6A CN202311223559A CN117288226A CN 117288226 A CN117288226 A CN 117288226A CN 202311223559 A CN202311223559 A CN 202311223559A CN 117288226 A CN117288226 A CN 117288226A
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data
navigation
receiving
group
module
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李飞虎
赵昶宇
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Tianjin Jinhang Computing Technology Research Institute
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Tianjin Jinhang Computing Technology Research Institute
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Priority to CN202311223559.6A priority Critical patent/CN117288226A/en
Publication of CN117288226A publication Critical patent/CN117288226A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • 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
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Hardware Redundancy (AREA)

Abstract

The invention relates to a receiving and processing device for double-path navigation data, and belongs to the technical field of serial port communication. The invention realizes real-time detection of whether the two groups of navigation data of each type are normally received, and the navigation switching equipment correctly selects the navigation data transmitted by which inertial navigation system is used and selects which group of synchronous pulse data, I-type navigation data and II-type navigation data according to the accuracy comparison result of the two inertial navigation systems and the receiving state of each group of navigation data, thereby perfectly solving the problem that when the current system for receiving the two-way navigation data is normal, the II-type navigation data can be abnormally received, so that the correct II-type navigation data can not be received, and improving the reliability of receiving the two-way navigation data. The device is suitable for the situation that the accuracy difference of the transmitted data of two groups of navigation transmitting equipment is large.

Description

Receiving and processing device for two-way navigation data
Technical Field
The invention belongs to the technical field of serial communication, and particularly relates to a receiving and processing device for double-path navigation data.
Background
In order to improve the stability and reliability of the operation of the inertial navigation system on the ship, the inertial navigation system generally transmits two groups of identical navigation data outwards through an RS-422A serial interface.
The navigation transmitting device in the inertial navigation system periodically transmits two groups of navigation data to the navigation receiving device at the same time, wherein each group of navigation data comprises three types of synchronous pulse data, I-type navigation data and II-type navigation data. Because the synchronization pulse data is used for synchronizing the class I navigation data, it is usually preferred to determine which group of synchronization pulse data is normal when receiving the two-way navigation data. If a certain group of synchronous pulse data is normal and the group of I-type navigation data is normal, the synchronous pulse data, the I-type navigation data and the II-type navigation data of the first group are used. If the synchronous pulse data of a certain group is abnormal, judging whether the synchronous pulse data of another group is normal, and if the synchronous pulse data of another group is normal and the navigation data of the group I is normal, using the synchronous pulse data of another group, the navigation data of the group I and the navigation data of the group II. If the two groups of synchronous pulse data are abnormal, reporting the fault to the upper system.
The whole switching of the whole group of navigation data is adopted when the two-way navigation data is received, the normal synchronous pulse data of a certain group is not considered, and when the group of I-type navigation data is normal, whether the group of II-type navigation data is normal or not is not considered. If a certain group of synchronous pulse data is normal, and the group of I-type navigation data is normal, the group of II-type navigation data is abnormally received, and the method for receiving the two-way navigation data can not receive the correct II-type navigation data.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: the receiving and processing device for the two-way navigation data is provided, and the reliability and the correctness of the receiving of the two-way navigation data are improved.
(II) technical scheme
In order to solve the technical problems, the invention provides a receiving and processing device for double-path navigation data, which comprises two navigation transmitting devices, a navigation receiving device and a navigation switching device;
wherein each navigation transmitting apparatus includes:
the first data transmitting module is used for transmitting a group of navigation data and the precision data of the navigation system measured by the first data processing module to the navigation receiving equipment, and transmitting a heartbeat confirmation message to the second data receiving module of the navigation receiving equipment;
the first data receiving module is used for receiving the heartbeat message sent by the second data sending module of the navigation receiving equipment;
the first data processing module is used for measuring the precision of the inertial navigation system to obtain precision data;
the navigation receiving device includes:
the second data sending module is used for sending heartbeat messages to the first data receiving module of the navigation sending device, and sending a first group of synchronous pulse data, I-type navigation data, II-type navigation data, a second group of synchronous pulse data, the receiving states of the I-type navigation data and the II-type navigation data and the precision data of the two inertial navigation systems to the third data receiving module of the navigation switching device;
the second data receiving module is used for receiving the navigation data sent by the first data sending modules of the two navigation sending devices and the precision data of the inertial navigation system sent by the first data processing module, receiving the heartbeat confirmation message sent by the first data sending modules of the two navigation sending devices, and receiving the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the third data sending module of the navigation switching device and the selection result of which inertial navigation system is used;
the second data processing module is used for judging whether the receiving states of the first group of synchronous pulse data, the class I navigation data and the class II navigation data and the second group of synchronous pulse data, the class I navigation data and the class II navigation data are normal, namely the working state of the 6-channel serial port;
the navigation switching device includes:
the third data sending module is used for sending the synchronous pulse data, the I-type navigation data and the II-type navigation data selected by the third data processing module and the selection result of which inertial navigation system is used to the second data receiving module of the navigation receiving equipment;
the third data receiving module is used for receiving the first group of synchronous pulse data, the class I navigation data and the class II navigation data, the second group of synchronous pulse data, the receiving states of the class I navigation data and the class II navigation data and the precision data of the two inertial navigation systems, which are sent by the second data sending module of the navigation receiving equipment;
and the third data processing module is used for judging which inertial navigation system is used and which group of synchronous pulse data, I-type navigation data and II-type navigation data are used, namely, the inertial navigation system and the navigation data channel are selected.
Preferably, the first data transmitting module of the two navigation switching devices simultaneously transmits a set of navigation data to the second data receiving module of the navigation receiving device periodically, and each set of navigation data includes three types of synchronization pulse data, class I navigation data and class II navigation data.
Preferably, the first data processing module periodically measures the accuracy of the inertial navigation system and transmits the accuracy data of the inertial navigation system to the second data receiving module of the navigation receiving device.
Preferably, the synchronous pulse data is a square wave signal, and the duty ratio is 1:1, only used for synchronizing the navigation data of class I, the falling edge of the synchronous pulse is a synchronous trigger edge; if a certain group of synchronous pulse data is abnormal in receiving, even if the same group of I-type navigation data as the synchronous pulse data is normally received, the group of I-type navigation data cannot be used.
Preferably, the II-type navigation data is not coupled with the synchronization pulse data and the I-type navigation data, and if any group of II-type navigation data is received normally, the group of II-type navigation data can be used; if the two groups of II-type navigation data are abnormal, reporting II-type navigation data receiving faults to an upper system.
Preferably, the navigation receiving device receives two sets of navigation data through 6 serial ports; the 6-channel serial port is respectively responsible for completing the receiving and transmitting work of the first group of synchronous pulse data, the class I navigation data and the class II navigation data, and the second group of synchronous pulse data, the class I navigation data and the class II navigation data.
Preferably, the navigation receiving device sets a serial port working state according to the following method:
the second data transmitting module periodically transmits a first group of synchronous pulse heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of synchronous pulse heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a first group of I-type navigation data heartbeat messages to a first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of I-type navigation data heartbeat confirmation messages to a second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a first group of II-type navigation data heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of II-type navigation data heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group of synchronous pulse heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group of synchronous pulse heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group of I-type navigation data heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group of I-type navigation data heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group II navigation data heartbeat message to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group II navigation data heartbeat confirmation message to the second data receiving module of the navigation receiving equipment after receiving the heartbeat message;
the timeout time of the heartbeat confirmation message received by the second data receiving module of the navigation receiving device is smaller than the period value of the navigation data sent by the first data sending module of the navigation sending device; if the second data receiving module of the navigation receiving device receives a heartbeat confirmation message of a certain serial port sent by the first data sending module of the navigation sending device within a specified timeout time, the communication of the serial port is indicated to be normal, and the second data processing module sets the state of the serial port to be normal; if the second data receiving module of the navigation receiving device does not receive a certain serial port heartbeat confirmation message sent by the first data sending module of the navigation sending device within a specified timeout time, the communication of the serial port is abnormal, and the second data processing module sets the state of the serial port as abnormal.
Preferably, the second data transmitting module of the navigation receiving device transmits the working state of the 6-channel serial port and the precision data of the two inertial navigation systems to the third data receiving module of the navigation switching device, and the third data processing module of the navigation switching device selects the inertial navigation systems and the navigation data channels according to the following method:
if the 6 serial ports work normally, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used;
if the serial port working state of the synchronous pulse data of the same group is inconsistent with the serial port working state of the group I navigation data, the synchronous pulse data and the group I navigation data are not used, and whether the serial port working state of the synchronous pulse data of the other group is consistent with the serial port working state of the group I navigation data is judged; if the working states are consistent, using the synchronous pulse data and the I-type navigation data of the other group;
if at least one group of II-type navigation data in the two groups of II-type navigation data has normal working state and one group of synchronous pulse data and the same group of I-type navigation data have normal working state, indicating that one group of normal synchronous pulse data, I-type navigation data and II-type navigation data exist, and using the normal synchronous pulse data, I-type navigation data and II-type navigation data; if the working states of the two groups of synchronous pulse data, the I-type navigation data and the II-type navigation data are normal, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used;
if the serial port working state of any group of synchronous pulse data is inconsistent with the serial port working state of the group I navigation data or the two groups of II navigation data are abnormal, the synchronous pulse data, the group I navigation data and the group II navigation data received at the time are unavailable, and the navigation data fault is reported to an upper system.
Preferably, the third data transmitting module of the navigation switching device transmits the synchronization pulse data, the class I navigation data and the class II navigation data and the selection result of which inertial navigation system is used to the second data receiving module of the navigation receiving device, and the navigation receiving device completes the processing work after receiving the navigation data.
Preferably, the receiving and processing method of the two-way navigation is suitable for the situation that the difference of the accuracy of the transmitted data of the two sets of navigation transmitting equipment is larger than a preset value.
(III) beneficial effects
The invention provides a receiving and processing device of two-way navigation data, wherein a navigation receiving device in the device sends the accuracy comparison result of two inertial navigation systems and the receiving state of each group of navigation data to a navigation switching device, and the navigation switching device arbitrates the used navigation data. The invention realizes real-time detection of whether the two groups of navigation data of each type are normally received, and the navigation switching equipment correctly selects the navigation data transmitted by which inertial navigation system is used and selects which group of synchronous pulse data, I-type navigation data and II-type navigation data according to the accuracy comparison result of the two inertial navigation systems and the receiving state of each group of navigation data, thereby perfectly solving the problem that when the current system for receiving the two-way navigation data is normal, the II-type navigation data can be abnormally received, so that the correct II-type navigation data can not be received, and improving the reliability of receiving the two-way navigation data. The device is suitable for the situation that the accuracy difference of the transmitted data of two groups of navigation transmitting equipment is large.
Drawings
FIG. 1 is a schematic diagram of a two-way navigation data receiving and processing device of the present invention;
FIG. 2 is a schematic diagram of a navigation transmitting device of the two-way navigation data receiving and processing device of the present invention;
FIG. 3 is a schematic diagram of a navigation receiver device of the dual-path navigation data receiving and processing device of the present invention;
fig. 4 is a schematic structural diagram of a navigation switching device of the two-way navigation data receiving and processing device of the present invention.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
Fig. 1 is a connection schematic diagram of a two-way navigation data receiving and processing device, which is provided by the invention, and the device sends the working states of 6 ways of serial ports and the accuracy comparison results of two inertial navigation systems to a navigation switching device through a navigation receiving device, and the navigation switching device correctly selects which inertial navigation system is used for sending navigation data and which group of synchronous pulse data, I-type navigation data and II-type navigation data is selected according to the accuracy comparison results of two inertial navigation systems and the receiving state of each group of navigation data.
The problem that the group II navigation data is likely to receive abnormality when the group I navigation data is normal can be perfectly solved only by adopting the scheme of the invention. The invention can realize real-time detection of whether the two sets of navigation data of each type are normally received or not, and the navigation switching equipment decides the navigation data used, thereby improving the reliability and the correctness of receiving the two-way navigation data.
The embodiment provides a receiving and processing device for two-way navigation data, which comprises two navigation sending devices, a navigation receiving device and a navigation switching device.
Wherein, as shown in fig. 2, each navigation transmitting apparatus includes:
a first data sending module 11, configured to send a set of navigation data and accuracy data of the navigation system measured by the first data processing module 13 to the navigation receiving device, and send a heartbeat acknowledgment message to the second data receiving module 22 of the navigation receiving device;
a first data receiving module 12, configured to receive the heartbeat message sent by the second data sending module 21 of the navigation receiving device;
the first data processing module 13 is configured to measure the accuracy of the inertial navigation system to obtain accuracy data.
The first data transmitting module 11 of the two navigation switching devices simultaneously transmits a set of navigation data, each set comprising three types of synchronization pulse data, class I navigation data and class II navigation data, to the second data receiving module 22 of the navigation receiving device periodically.
The first data processing module 13 periodically determines the accuracy of the inertial navigation system and transmits the accuracy data of the inertial navigation system to the second data receiving module 22 of the navigation receiving device.
The synchronous pulse data are square wave signals, and the duty ratio is 1: and 1, only synchronizing the navigation data of the class I, wherein the falling edge of the synchronization pulse is a synchronization trigger edge. If a certain group of synchronous pulse data is abnormal in receiving, even if the same group of I-type navigation data as the synchronous pulse data is normally received, the group of I-type navigation data cannot be used.
The II-type navigation data are not coupled with the synchronous pulse data and the I-type navigation data, and any group of II-type navigation data can be used if the receiving of the II-type navigation data is normal. If the two groups of II-type navigation data are abnormal, reporting II-type navigation data receiving faults to an upper system.
As shown in fig. 3, the navigation receiving device includes:
a second data sending module 21, configured to send a heartbeat message to the first data receiving module 12 of the navigation sending device, and send a first set of synchronization pulse data, class I navigation data, class II navigation data, and a second set of synchronization pulse data, a receiving status of the class I navigation data, the class II navigation data, and accuracy data of the two inertial navigation systems to the third data receiving module 32 of the navigation switching device;
the second data receiving module 22 is configured to receive the navigation data sent by the first data sending module 11 of the two navigation sending devices and the precision data of the inertial navigation system sent by the first data processing module 13, receive the heartbeat confirmation message sent by the first data sending module 11 of the two navigation sending devices, and receive the synchronization pulse data, the class I navigation data and the class II navigation data sent by the third data sending module 31 of the navigation switching device, and the selection result of which inertial navigation system is used;
the second data processing module 23 is configured to determine whether the receiving states of the first set of synchronization pulse data, the class I navigation data, the class II navigation data, and the second set of synchronization pulse data, the class I navigation data, and the class II navigation data are normal, that is, the working state of the 6-way serial port.
The navigation receiving device receives two groups of navigation data through 6 paths of serial ports. The 6-channel serial port is respectively responsible for completing the receiving and transmitting work of the first group of synchronous pulse data, the class I navigation data and the class II navigation data, and the second group of synchronous pulse data, the class I navigation data and the class II navigation data. The navigation receiving device sets the serial port working state according to the following method:
the second data sending module 21 periodically sends a first group of synchronous pulse heartbeat messages to the first data receiving module 12 of the navigation sending device through the RS-422A serial port, and the first data receiving module 11 of the navigation sending device needs to send a first group of synchronous pulse heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device immediately after the first data receiving module 12 of the navigation sending device receives the heartbeat messages.
The second data sending module 21 periodically sends a first group of class I navigation data heartbeat messages to the first data receiving module 12 of the navigation sending device through the RS-422A serial port, and after the first data receiving module 12 of the navigation sending device receives the heartbeat messages, the first data sending module 11 needs to immediately send a first group of class I navigation data heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device.
The second data sending module 21 periodically sends a first group of class II navigation data heartbeat messages to the first data receiving module 12 of the navigation sending device through the RS-422A serial port, and after the first data receiving module 12 of the navigation sending device receives the heartbeat messages, the first data sending module 11 needs to send a first group of class II navigation data heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device immediately.
The second data sending module 21 periodically sends a second group of synchronous pulse heartbeat messages to the first data receiving module 12 of the navigation sending device through the RS-422A serial port, and the first data receiving module 11 of the navigation sending device needs to send a second group of synchronous pulse heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device immediately after receiving the heartbeat messages.
The second data transmitting module 21 periodically transmits a second group of class I navigation data heartbeat messages to the first data receiving module 12 of the navigation transmitting device through the RS-422A serial port, and the first data receiving module 12 of the navigation transmitting device needs to immediately transmit a second group of class I navigation data heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device after receiving the heartbeat messages.
The second data transmitting module 21 periodically transmits a second group of class II navigation data heartbeat messages to the first data receiving module 12 of the navigation transmitting device through the RS-422A serial port, and the first data receiving module 12 of the navigation transmitting device needs to immediately transmit a second group of class II navigation data heartbeat confirmation messages to the second data receiving module 22 of the navigation receiving device after receiving the heartbeat messages.
The timeout time of the heartbeat confirmation message received by the second data receiving module 22 of the navigation receiving device is smaller than the period value of the navigation data sent by the first data sending module 11 of the navigation sending device; if the second data receiving module 22 of the navigation receiving device receives the heartbeat confirmation message of a certain serial port sent by the first data sending module 11 of the navigation sending device within a specified timeout period, the heartbeat confirmation message indicates that the serial port is in normal communication, and the second data processing module 23 sets the state of the serial port to be normal. If the second data receiving module 22 of the navigation receiving device does not receive a certain serial port heartbeat confirmation message sent by the first data sending module 11 of the navigation sending device within a specified timeout period, the state of the serial port is set to be abnormal by the second data processing module 23.
As shown in fig. 4, the navigation switching device includes:
a third data transmitting module 31, configured to transmit the synchronization pulse data, the class I navigation data, and the class II navigation data selected by the third data processing module 33, and a selection result of which inertial navigation system is used, to the second data receiving module 22 of the navigation receiving device;
a third data receiving module 32, configured to receive the first set of synchronization pulse data, the class I navigation data, the class II navigation data, the second set of synchronization pulse data, the receiving states of the class I navigation data and the class II navigation data, and the accuracy data of the two inertial navigation systems, which are sent by the second data sending module 21 of the navigation receiving device;
the third data processing module 33 is configured to determine which inertial navigation system is used and which set of synchronization pulse data, i.e. navigation data and II navigation data are used, i.e. to perform selection of the inertial navigation system and the navigation data channel.
The second data sending module 21 of the navigation receiving device sends the working state of the 6-way serial port and the precision data of the two inertial navigation systems to the third data receiving module 32 of the navigation switching device, and the third data processing module 33 of the navigation switching device performs the selection of the inertial navigation systems and the navigation data channels according to the following method:
if the 6 serial ports work normally, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used;
if the serial port working state of the same group of synchronous pulse data is inconsistent with the serial port working state of the group of I-type navigation data, the group of synchronous pulse data and the group of I-type navigation data are not used, and whether the serial port working state of the other group of synchronous pulse data is consistent with the serial port working state of the group of I-type navigation data is judged. If the working states are consistent, the synchronous pulse data and the I-type navigation data of the other group are used. Because only one group of synchronous pulse data and I-type navigation data are available, the precision difference of two inertial navigation systems is not considered;
if at least one group of II-type navigation data in the two groups of II-type navigation data has normal working state and one group of synchronous pulse data and the same group of I-type navigation data have normal working state, indicating that one group of normal synchronous pulse data, I-type navigation data and II-type navigation data exist (whether the II-type navigation data and the correct I-type navigation data belong to the same group or not), and using the normal synchronous pulse data, the I-type navigation data and the II-type navigation data; if the working states of the two groups of synchronous pulse data, the I-type navigation data and the II-type navigation data are normal, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used.
If the serial port working state of any group of synchronous pulse data is inconsistent with the serial port working state of the group I navigation data or the two groups of II navigation data are abnormal, the synchronous pulse data, the group I navigation data and the group II navigation data received at the time are unavailable, and the navigation data fault is reported to an upper system.
The third data transmitting module 31 of the navigation switching device transmits the synchronization pulse data, the class I navigation data, the class II navigation data and the selection result of which inertial navigation system is used to the second data receiving module 22 of the navigation receiving device, and the navigation receiving device completes the processing work after receiving the navigation data.
The receiving and processing device for the two-way navigation is suitable for the situation that the accuracy difference of the transmitted data of the two sets of navigation transmitting equipment is large.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (10)

1. The receiving and processing device of the two-way navigation data is characterized by comprising two navigation transmitting devices, a navigation receiving device and a navigation switching device;
wherein each navigation transmitting apparatus includes:
the first data transmitting module is used for transmitting a group of navigation data and the precision data of the navigation system measured by the first data processing module to the navigation receiving equipment, and transmitting a heartbeat confirmation message to the second data receiving module of the navigation receiving equipment;
the first data receiving module is used for receiving the heartbeat message sent by the second data sending module of the navigation receiving equipment;
the first data processing module is used for measuring the precision of the inertial navigation system to obtain precision data;
the navigation receiving device includes:
the second data sending module is used for sending heartbeat messages to the first data receiving module of the navigation sending device, and sending a first group of synchronous pulse data, I-type navigation data, II-type navigation data, a second group of synchronous pulse data, the receiving states of the I-type navigation data and the II-type navigation data and the precision data of the two inertial navigation systems to the third data receiving module of the navigation switching device;
the second data receiving module is used for receiving the navigation data sent by the first data sending modules of the two navigation sending devices and the precision data of the inertial navigation system sent by the first data processing module, receiving the heartbeat confirmation message sent by the first data sending modules of the two navigation sending devices, and receiving the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the third data sending module of the navigation switching device and the selection result of which inertial navigation system is used;
the second data processing module is used for judging whether the receiving states of the first group of synchronous pulse data, the class I navigation data and the class II navigation data and the second group of synchronous pulse data, the class I navigation data and the class II navigation data are normal, namely the working state of the 6-channel serial port;
the navigation switching device includes:
the third data sending module is used for sending the synchronous pulse data, the I-type navigation data and the II-type navigation data selected by the third data processing module and the selection result of which inertial navigation system is used to the second data receiving module of the navigation receiving equipment;
the third data receiving module is used for receiving the first group of synchronous pulse data, the class I navigation data and the class II navigation data, the second group of synchronous pulse data, the receiving states of the class I navigation data and the class II navigation data and the precision data of the two inertial navigation systems, which are sent by the second data sending module of the navigation receiving equipment;
and the third data processing module is used for judging which inertial navigation system is used and which group of synchronous pulse data, I-type navigation data and II-type navigation data are used, namely, the inertial navigation system and the navigation data channel are selected.
2. The apparatus of claim 1, wherein the first data transmitting modules of the two navigation switching devices simultaneously transmit a set of navigation data to the second data receiving module of the navigation receiving device periodically, each set of navigation data comprising three types of synchronization pulse data, class I navigation data, and class II navigation data.
3. The apparatus of claim 2, wherein the first data processing module periodically determines the accuracy of the inertial navigation system and transmits accuracy data of the inertial navigation system to the second data receiving module of the navigation receiving device.
4. A device as claimed in claim 3, wherein the synchronisation pulse data is a square wave signal having a duty cycle of 1:1, only used for synchronizing the navigation data of class I, the falling edge of the synchronous pulse is a synchronous trigger edge; if a certain group of synchronous pulse data is abnormal in receiving, even if the same group of I-type navigation data as the synchronous pulse data is normally received, the group of I-type navigation data cannot be used.
5. The apparatus of claim 4, wherein the group II navigation data is uncoupled from the synchronization pulse data and the group I navigation data, and wherein any group II navigation data is usable if the group II navigation data is received normally; if the two groups of II-type navigation data are abnormal, reporting II-type navigation data receiving faults to an upper system.
6. The apparatus of claim 4, wherein the navigation-receiving device receives two sets of navigation data in a total of 6 serial ports; the 6-channel serial port is respectively responsible for completing the receiving and transmitting work of the first group of synchronous pulse data, the class I navigation data and the class II navigation data, and the second group of synchronous pulse data, the class I navigation data and the class II navigation data.
7. The apparatus of claim 6, wherein the navigation receiver device sets the serial port operating state according to the following method:
the second data transmitting module periodically transmits a first group of synchronous pulse heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of synchronous pulse heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a first group of I-type navigation data heartbeat messages to a first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of I-type navigation data heartbeat confirmation messages to a second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a first group of II-type navigation data heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a first group of II-type navigation data heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group of synchronous pulse heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group of synchronous pulse heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group of I-type navigation data heartbeat messages to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group of I-type navigation data heartbeat confirmation messages to the second data receiving module of the navigation receiving equipment after receiving the heartbeat messages;
the second data transmitting module periodically transmits a second group II navigation data heartbeat message to the first data receiving module of the navigation transmitting equipment through the RS-422A serial port, and the first data receiving module of the navigation transmitting equipment immediately transmits a second group II navigation data heartbeat confirmation message to the second data receiving module of the navigation receiving equipment after receiving the heartbeat message;
the timeout time of the heartbeat confirmation message received by the second data receiving module of the navigation receiving device is smaller than the period value of the navigation data sent by the first data sending module of the navigation sending device; if the second data receiving module of the navigation receiving device receives a heartbeat confirmation message of a certain serial port sent by the first data sending module of the navigation sending device within a specified timeout time, the communication of the serial port is indicated to be normal, and the second data processing module sets the state of the serial port to be normal; if the second data receiving module of the navigation receiving device does not receive a certain serial port heartbeat confirmation message sent by the first data sending module of the navigation sending device within a specified timeout time, the communication of the serial port is abnormal, and the second data processing module sets the state of the serial port as abnormal.
8. The apparatus of claim 7, wherein the second data transmitting module of the navigation receiving device transmits the working state of the 6-channel serial port and the accuracy data of the two inertial navigation systems to the third data receiving module of the navigation switching device, and the third data processing module of the navigation switching device performs the selection of the inertial navigation systems and the navigation data channels according to the following method:
if the 6 serial ports work normally, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used;
if the serial port working state of the synchronous pulse data of the same group is inconsistent with the serial port working state of the group I navigation data, the synchronous pulse data and the group I navigation data are not used, and whether the serial port working state of the synchronous pulse data of the other group is consistent with the serial port working state of the group I navigation data is judged; if the working states are consistent, using the synchronous pulse data and the I-type navigation data of the other group;
if at least one group of II-type navigation data in the two groups of II-type navigation data has normal working state and one group of synchronous pulse data and the same group of I-type navigation data have normal working state, indicating that one group of normal synchronous pulse data, I-type navigation data and II-type navigation data exist, and using the normal synchronous pulse data, I-type navigation data and II-type navigation data; if the working states of the two groups of synchronous pulse data, the I-type navigation data and the II-type navigation data are normal, the synchronous pulse data, the I-type navigation data and the II-type navigation data sent by the inertial navigation system with high navigation precision are preferentially used;
if the serial port working state of any group of synchronous pulse data is inconsistent with the serial port working state of the group I navigation data or the two groups of II navigation data are abnormal, the synchronous pulse data, the group I navigation data and the group II navigation data received at the time are unavailable, and the navigation data fault is reported to an upper system.
9. The apparatus of claim 8, wherein the third data transmitting module of the navigation switching device transmits the synchronization pulse data, the class I navigation data, and the class II navigation data, and the selection result of which inertial navigation system is used, to the second data receiving module of the navigation receiving device, and the navigation receiving device performs the processing after the navigation data is received.
10. The method according to any one of claims 1 to 9, wherein the two-way navigation reception processing method is applicable to a case where the difference in transmitted data accuracy of two sets of navigation transmission apparatuses is greater than a preset value.
CN202311223559.6A 2023-09-21 2023-09-21 Receiving and processing device for two-way navigation data Pending CN117288226A (en)

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