CN117405141A - Receiving and processing method of two-way navigation data - Google Patents
Receiving and processing method of two-way navigation data Download PDFInfo
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- CN117405141A CN117405141A CN202311223734.1A CN202311223734A CN117405141A CN 117405141 A CN117405141 A CN 117405141A CN 202311223734 A CN202311223734 A CN 202311223734A CN 117405141 A CN117405141 A CN 117405141A
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- 238000003672 processing method Methods 0.000 title claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 79
- 238000000034 method Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000012790 confirmation Methods 0.000 claims description 27
- 230000002159 abnormal effect Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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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
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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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- 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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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention relates to a receiving and processing method of 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 measurement results 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 method 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 method is suitable for the situation that the accuracy difference of the transmitted data of the two groups of navigation transmitting equipment is large.
Description
Technical Field
The invention belongs to the technical field of serial communication, and particularly relates to a receiving and processing method of 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 method of 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 method of two-way navigation data, which comprises the following steps:
s1: the two navigation transmitting devices transmit a group of navigation data to the navigation receiving device at the same time and the precision data of the inertial navigation system;
s2: the navigation receiving equipment receives two groups of navigation data simultaneously, and sets the working state of the serial port according to the running state of the received two groups of navigation data in real time;
s3: the navigation receiving equipment sends the precision data of the two inertial navigation systems and the working state of the serial port where each group of navigation data is located to the navigation switching equipment, and the navigation switching equipment arbitrates the navigation data used.
Preferably, in step S1, the two navigation transmitting devices simultaneously periodically transmit a set of navigation data to the navigation receiving device, each set of navigation data including three types of synchronization pulse data, class I navigation data, and class II navigation data.
Preferably, in step S1, each navigation transmitting device periodically measures the accuracy of the inertial navigation system, and transmits the accuracy data of the inertial navigation system to the navigation receiving device.
Preferably, in step S1, the synchronization 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, in step S1, the group II navigation data is not coupled to the synchronization pulse data and the group I navigation data, and any group II navigation data is received normally, and the group II navigation data may 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, and in step S2, the navigation receiving device sets a serial port working state according to the following method:
the navigation receiving device periodically transmits a first group of synchronous pulse heartbeat messages to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to transmit a first group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a first group I navigation data heartbeat message to the first navigation sending device through the RS-422A serial port, and the first navigation sending device needs to send a first group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a first group II navigation data heartbeat message to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to immediately transmit a first group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group of synchronous pulse heartbeat messages to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to transmit a second group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a second group I navigation data heartbeat message to the second navigation sending device through the RS-422A serial port, and the second navigation sending device needs to send a second group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group II navigation data heartbeat message to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to immediately transmit a second group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the timeout time of the receiving heartbeat confirmation message of the serial port of the navigation receiving equipment is required to be smaller than the period value of the corresponding navigation transmitting equipment for transmitting navigation data; if the navigation receiving equipment receives a heartbeat confirmation message of a certain serial port sent by the navigation sending equipment within a specified timeout time, the communication of the serial port is indicated to be normal, and the state of the serial port is set to be normal; if the navigation receiving equipment does not receive the heartbeat confirmation message of one serial port sent by the navigation sending equipment within the specified timeout time, the communication of the serial port is abnormal, and the state of the serial port is set to be abnormal.
Preferably, in step S3, the navigation receiving device sends the working state of the 6 channels of serial ports and the precision data of the two inertial navigation systems to the navigation switching device, and the navigation switching device selects a navigation data channel 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 of the group and the group I navigation data are not used, 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, and if the working states are consistent, the synchronous pulse data of the other group and the group I navigation data are used;
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 by the navigation switching equipment; 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, step S3 further comprises: the navigation switching device sends the selected synchronous pulse data, the selected I-type navigation data, the selected II-type navigation data and the selected result of which inertial navigation system is used to 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.
Preferably, the inertial navigation system is an inertial navigation system on a ship.
(III) beneficial effects
The invention provides a receiving and processing method of two-way navigation data.A navigation receiving device sends precision measurement results 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 navigation data used. 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 measurement results 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 method 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 method is suitable for the situation that the accuracy difference of the transmitted data of the two groups of navigation transmitting equipment is large.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic diagram of the dual path navigation data reception 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.
According to the receiving and processing method of the two-way navigation data, the navigation receiving equipment is used for sending the working state of the 6-way serial port and the precision measurement results of the two inertial navigation systems to the navigation switching equipment, and the navigation switching equipment 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 precision measurement results of the two inertial navigation systems and the receiving state of each group of navigation data. In the method, the navigation receiving device sends the precision measurement results of the two inertial navigation systems and the receiving state of each group of navigation data to the navigation switching device, and the navigation switching device arbitrates the navigation data used, so that the reliability and the accuracy of receiving the two-way navigation data are greatly improved.
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 to be used, thereby improving the reliability of receiving the two-way navigation data.
As shown in fig. 1 and fig. 2, the method for receiving and processing the two-way navigation data provided by the invention comprises the following steps:
s1: the two navigation transmitting devices transmit a group of navigation data to the navigation receiving device at the same time and the precision data of the inertial navigation system;
wherein, two navigation transmitting devices send a group of navigation data to the navigation receiving device periodically at the same time, and each group of navigation data comprises three types of synchronous pulse data, I-type navigation data and II-type navigation data.
Each navigation transmitting device periodically measures the precision of the inertial navigation system and transmits the precision data of the inertial navigation system to the navigation receiving device.
The synchronous pulse data are square wave signals, 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.
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.
S2: the navigation receiving equipment receives two groups of navigation data simultaneously, and sets the working state of the serial port according to the running state of the received two groups of navigation data in real time;
the navigation receiving device receives two groups of navigation data through 6 paths of serial ports. The navigation receiving device sets the serial port working state according to the following method:
the navigation receiving device periodically transmits a first group of synchronous pulse heartbeat messages to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to transmit a first group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a first group I navigation data heartbeat message to the first navigation sending device through the RS-422A serial port, and the first navigation sending device needs to send a first group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a first group II navigation data heartbeat message to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to immediately transmit a first group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group of synchronous pulse heartbeat messages to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to transmit a second group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a second group I navigation data heartbeat message to the second navigation sending device through the RS-422A serial port, and the second navigation sending device needs to send a second group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group II navigation data heartbeat message to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to immediately transmit a second group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the timeout time of the receiving heartbeat confirmation message of the serial port of the navigation receiving equipment is required to be smaller than the period value of the corresponding navigation transmitting equipment for transmitting navigation data; if the navigation receiving equipment receives a heartbeat confirmation message of a certain serial port sent by the navigation sending equipment within a specified timeout time, the communication of the serial port is indicated to be normal, and the state of the serial port is set to be normal; if the navigation receiving equipment does not receive the heartbeat confirmation message of one serial port sent by the navigation sending equipment within the specified timeout time, the communication of the serial port is abnormal, and the state of the serial port is set to be abnormal.
S3: the navigation receiving equipment sends the precision data of the two inertial navigation systems and the working state of the serial port where each group of navigation data is located to the navigation switching equipment, and the navigation switching equipment arbitrates the navigation data used;
the navigation receiving equipment sends the working state of the 6 paths of serial ports and the precision data of the two inertial navigation systems to the navigation switching equipment, and the navigation switching equipment selects a navigation data channel 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 navigation data, the group of synchronous pulse data and the group of I navigation data are not used, 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 navigation data is judged, and if the working states are consistent, the other group of synchronous pulse data and the group of I navigation data are used. Since only one set of synchronization pulse data and class I navigation data is available, the difference in accuracy of the two inertial navigation systems is not taken into account.
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, the navigation switching equipment indicates 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 the navigation switching equipment uses 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 navigation switching device sends the selected synchronous pulse data, the selected I-type navigation data, the selected II-type navigation data and the selected result of which inertial navigation system is used to the navigation receiving device, and the navigation receiving device completes the processing work after receiving the navigation data.
The receiving and processing method of 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 method of the two-way navigation data is characterized by comprising the following steps of:
s1: the two navigation transmitting devices transmit a group of navigation data to the navigation receiving device at the same time and the precision data of the inertial navigation system;
s2: the navigation receiving equipment receives two groups of navigation data simultaneously, and sets the working state of the serial port according to the running state of the received two groups of navigation data in real time;
s3: the navigation receiving equipment sends the precision data of the two inertial navigation systems and the working state of the serial port where each group of navigation data is located to the navigation switching equipment, and the navigation switching equipment arbitrates the navigation data used.
2. The method of claim 1, wherein in step S1, two navigation transmitting devices simultaneously transmit a set of navigation data to a 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 method of claim 2, wherein in step S1, each navigation transmitting device periodically measures the accuracy of the inertial navigation system and transmits the accuracy data of the inertial navigation system to the navigation receiving device.
4. A method according to claim 3, wherein in step S1, the synchronization pulse data is a square wave signal with 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 method of claim 4, wherein in step S1, the group II navigation data is not coupled to the synchronization pulse data and the group I navigation data, and any group II navigation data is used 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 method as claimed in claim 4, wherein the navigation receiving device receives two sets of navigation data through 6 serial ports, and in step S2, the navigation receiving device sets the serial port working state according to the following method:
the navigation receiving device periodically transmits a first group of synchronous pulse heartbeat messages to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to transmit a first group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a first group I navigation data heartbeat message to the first navigation sending device through the RS-422A serial port, and the first navigation sending device needs to send a first group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a first group II navigation data heartbeat message to the first navigation transmitting device through the RS-422A serial port, and the first navigation transmitting device needs to immediately transmit a first group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group of synchronous pulse heartbeat messages to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to transmit a second group of synchronous pulse heartbeat confirmation messages to the navigation receiving device immediately after receiving the heartbeat messages;
the navigation receiving device periodically sends a second group I navigation data heartbeat message to the second navigation sending device through the RS-422A serial port, and the second navigation sending device needs to send a second group I navigation data heartbeat confirmation message to the navigation receiving device immediately after receiving the heartbeat message;
the navigation receiving device periodically transmits a second group II navigation data heartbeat message to the second navigation transmitting device through the RS-422A serial port, and the second navigation transmitting device needs to immediately transmit a second group II navigation data heartbeat confirmation message to the navigation receiving device after receiving the heartbeat message;
the timeout time of the receiving heartbeat confirmation message of the serial port of the navigation receiving equipment is required to be smaller than the period value of the corresponding navigation transmitting equipment for transmitting navigation data; if the navigation receiving equipment receives a heartbeat confirmation message of a certain serial port sent by the navigation sending equipment within a specified timeout time, the communication of the serial port is indicated to be normal, and the state of the serial port is set to be normal; if the navigation receiving equipment does not receive the heartbeat confirmation message of one serial port sent by the navigation sending equipment within the specified timeout time, the communication of the serial port is abnormal, and the state of the serial port is set to be abnormal.
7. The method of claim 6, wherein in step S3, the navigation receiving device sends the working state of the 6-channel serial port and the accuracy data of the two inertial navigation systems to the navigation switching device, and the navigation switching device selects the navigation data channel 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 of the group and the group I navigation data are not used, 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, and if the working states are consistent, the synchronous pulse data of the other group and the group I navigation data are used;
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 by the navigation switching equipment; 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.
8. The method of claim 7, further comprising, after step S3: the navigation switching device sends the selected synchronous pulse data, the selected I-type navigation data, the selected II-type navigation data and the selected result of which inertial navigation system is used to the navigation receiving device, and the navigation receiving device completes the processing work after receiving the navigation data.
9. The method according to any one of claims 1 to 8, 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.
10. The method of claim 9, wherein the inertial navigation system is an on-board inertial navigation system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311223734.1A CN117405141A (en) | 2023-09-21 | 2023-09-21 | Receiving and processing method of two-way navigation data |
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| CN202311223734.1A CN117405141A (en) | 2023-09-21 | 2023-09-21 | Receiving and processing method of two-way navigation data |
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