CN117906638A - Universal system for generating double-path navigation serial data - Google Patents
Universal system for generating double-path navigation serial data Download PDFInfo
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- CN117906638A CN117906638A CN202311716273.1A CN202311716273A CN117906638A CN 117906638 A CN117906638 A CN 117906638A CN 202311716273 A CN202311716273 A CN 202311716273A CN 117906638 A CN117906638 A CN 117906638A
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- 238000011161 development Methods 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 238000012986 modification Methods 0.000 claims description 5
- 230000004048 modification Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
Classifications
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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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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to a universal system for generating two-way navigation serial data, and belongs to the technical field of serial ports. The universal system for generating the two-way navigation serial data provided by the invention not only can generate the two-way navigation data with higher precision, but also can conveniently change the navigation parameters without modifying and burning the development board program, so that various forms of two-way navigation data can be generated in a simulation way.
Description
Technical Field
The invention belongs to the technical field of serial ports, and particularly relates to a universal system for generating two-way navigation serial port 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 sets of identical navigation data outwards through a serial interface. Each group of navigation consists of synchronous pulse signals, one type of navigation and two types of navigation. In order to verify the performance of a navigation data receiving device, a device capable of transmitting such serial navigation data is often required, and it is not practical to select a real inertial navigation system and it is not convenient to verify the boundary value of the navigation data. There is therefore a need for a serial two-way navigation simulator that is readily available and that allows for easy modification of navigation parameters. In the prior art, a portable windows computer is externally connected with a serial port docking station to run a simulated navigation data transmission program. However, due to the background overhead of windows systems, timers are often inaccurate, the requirements for test accuracy cannot be met, and the external serial port docking station of the portable computer is still relatively heavy.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: the universal system for generating the two-way navigation serial data not only can generate the two-way navigation data with higher precision, but also can conveniently change navigation parameters without modifying and burning a development board program, so that the two-way navigation data in various forms can be simulated and generated.
(II) technical scheme
In order to solve the technical problems, the invention provides a general method for generating two-way navigation serial data, which comprises the following steps:
the initialization module is used for initializing two timers, two GPIO pins and five serial ports;
The sending module is used for sending two groups of navigation data according to an initial time sequence and an initial navigation value based on the initialized two timers, the two GPIO pins and the four serial ports;
And the change module is used for enabling the fifth serial port to receive the command of the upper computer in real time and changing the corresponding navigation parameters according to the command content.
The invention also provides an inertial navigation system designed based on the system.
Preferably, the inertial navigation system is an inertial navigation system on a ship.
The invention also provides application of the system in an inertial navigation system on a ship.
(III) beneficial effects
1. By formulating a corresponding control protocol, the parameters such as pulse width, navigation data and the like can be changed without re-writing and burning the development board program, so that the navigation data generated by the serial port can meet the universality.
2. The stm32f103 development board is used to enable the accuracy of the navigation data transmission time sequence generated by the serial port to be closer to an inertial navigation system than that of a Windows system, and the test requirement under high accuracy can be met.
Drawings
FIG. 1 is a schematic diagram of a two-way navigation data transmission of the present invention;
FIG. 2 is a schematic diagram of a serial port generated dual-path navigation data according to 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.
The invention provides a system for generating synchronous pulse, first-class navigation data and second-class navigation data by utilizing a stm32f103 development board, and corresponding control protocols are formulated so that parameters such as pulse width, navigation data and the like can be conveniently changed without re-writing and burning the development board program. The universal system for generating the two-way navigation serial data provided by the invention not only can generate the two-way navigation data with higher precision, but also can conveniently change the navigation parameters without modifying and burning the development board program, so that various forms of two-way navigation data can be generated in a simulation way.
Referring to fig. 1 and 2, the method specifically includes:
the initialization module is used for initializing two timers, two GPIO pins and five serial ports;
The sending module is used for sending two groups of navigation data according to an initial time sequence and an initial navigation value based on the initialized two timers, the two GPIO pins and the four serial ports;
And the change module is used for enabling the fifth serial port to receive the command of the upper computer in real time and changing the corresponding navigation parameters according to the command content.
The initialization module specifically performs the following steps: initializing a first timer, a second timer, GPIOA1 and GPIOA2; the first timer and the GPIOA1 are used for generating a first group of synchronous pulse signals; the second timer and the GPIOA2 are used for generating a second group of synchronous pulse signals; the first serial port generates a first group of navigation data, and the second serial port generates a first group of navigation data; the third serial port generates a second group of navigation data, and the fourth serial port generates a second group of navigation data; the fifth serial port is used for receiving the command of the upper computer, analyzing the command content and changing the corresponding parameters.
Each group of synchronous pulse signals are square wave signals, the duty ratio is 1:1, the frequency initial value is 40hz, and the frequency initial value is pulseFre; the initial value of the navigation data is navi < 1 >, and the navigation data periodically changes in the vicinity of navi < 1 >; the initial value of the second type navigation data is navi2, and the second type navigation data is periodically changed in the vicinity of navi. The change of the timer period can simulate the generation of synchronous pulse signals with different frequencies. The change of the initial value of the navigation data can conveniently verify the boundary value of the navigation data, and has important significance for verifying the navigation receiving processing equipment.
The sending module specifically performs the following steps: setting the level value of GPIO1 in an interrupt processing function to simulate and generate a first synchronous pulse signal after the first timer generates an interrupt; then, a first group of navigation data is sent through a first serial port, and then, a first group of navigation data is sent through a second serial port; and finally, changing the values of the first-class navigation data and the second-class navigation data so as to transmit the first-class navigation data and the second-class navigation data in the next period, wherein the first-group navigation data comprises a first synchronous pulse signal, the first-group navigation data and the first-group second-class navigation data. Setting the level value of GPIO2 in the interrupt processing function to simulate and generate a second synchronous pulse signal after the second timer generates the interrupt; then, the second group of the first-class navigation data is sent through a third serial port, and then the second group of the second-class navigation data is sent through a fourth serial port; and finally, changing the values of the first-class navigation data and the second-class navigation data so as to transmit the second-class navigation data and the second-class navigation data in the next period, wherein the second-group navigation data comprises a second synchronous pulse signal, the second-group first-class navigation data and the second-group second-class navigation data. Both sets of navigation data are generated using the stm32f103 development board.
In each group of navigation data, the falling edge of the synchronous pulse signal is used as a trigger mark for transmitting one type of navigation data. Each group of synchronous pulse signals are square wave signals, the duty ratio is 1:1, the frequency initial value is 40hz, and the frequency initial value is pulseFre. The initial value of one type of navigation data is navi1, and one type of navigation data is periodically changed in the vicinity of navi. The initial value of the second type navigation data is navi2, and the second type navigation data is periodically changed in the vicinity of navi. pulseFre, navi1, navi can each be configured.
In the execution process of the modification module, the command of the upper computer received by the fifth serial port in real time can realize configuration of navigation parameters to simulate various types of double-way navigation, so that the universality of a double-way navigation method generated by the serial port is improved, and the control command is shown in the following table, wherein datalen represents the length of the package data, and data represents the effective parameter data of the package data:
It can be seen that the invention provides a simple and convenient two-way navigation data generation system, the accuracy of the generated navigation data transmission time sequence is more close to that of the inertial navigation system, and the test requirement can be met. By formulating a corresponding control protocol, the parameters such as pulse width, navigation data and the like can be changed without re-writing and burning the development board program, so that the navigation data generated by the serial port can meet the universality.
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. A universal system for generating two-way navigation serial data, comprising:
the initialization module is used for initializing two timers, two GPIO pins and five serial ports;
The sending module is used for sending two groups of navigation data according to an initial time sequence and an initial navigation value based on the initialized two timers, the two GPIO pins and the four serial ports;
And the change module is used for enabling the fifth serial port to receive the command of the upper computer in real time and changing the corresponding navigation parameters according to the command content.
2. The system of claim 1, wherein the initialization module performs the steps of: initializing a first timer, a second timer, GPIOA1 and GPIOA2; the first timer and the GPIOA1 are used for generating a first group of synchronous pulse signals; the second timer and the GPIOA2 are used for generating a second group of synchronous pulse signals; the first serial port generates a first group of navigation data, and the second serial port generates a first group of navigation data; the third serial port generates a second group of navigation data, and the fourth serial port generates a second group of navigation data; the fifth serial port is used for receiving the command of the upper computer, analyzing the command content and changing the corresponding parameters.
3. The system of claim 1 wherein each set of synchronization pulse signals is a square wave signal having a duty cycle of 1:1 and a frequency initial value of 40hz, noted pulseFre; the initial value of the navigation data is navi < 1 >, and the navigation data periodically changes in the vicinity of navi < 1 >; the initial value of the second type navigation data is navi2, and the second type navigation data is periodically changed in the vicinity of navi.
4. The system of claim 2, wherein the transmitting module performs the steps of: setting the level value of GPIO1 in an interrupt processing function to simulate and generate a first synchronous pulse signal after the first timer generates an interrupt; then, a first group of navigation data is sent through a first serial port, and then, a first group of navigation data is sent through a second serial port; finally, changing the values of the first-class navigation data and the second-class navigation data, and transmitting the first-class navigation data and the second-class navigation data in the next period, wherein the first-group navigation data comprises a first synchronous pulse signal, the first-group navigation data and the first-group second-class navigation data; setting the level value of GPIO2 in the interrupt processing function to simulate and generate a second synchronous pulse signal after the second timer generates the interrupt; then, the second group of the first-class navigation data is sent through a third serial port, and then the second group of the second-class navigation data is sent through a fourth serial port; finally, changing the values of the first-class navigation data and the second-class navigation data, and transmitting the second-class navigation data and the second-class navigation data in the next period, wherein the second-group navigation data comprises a second synchronous pulse signal, the second-group navigation data and the second-group navigation data; both sets of navigation data are generated using the stm32f103 development board.
5. The system of claim 4, wherein a falling edge of the synchronization pulse signal in each set of navigation data is used as a trigger for transmitting a type of navigation data; each group of synchronous pulse signals are square wave signals, the duty ratio is 1:1, the frequency initial value is 40hz, and the frequency initial value is pulseFre; the initial value of one type of navigation data is navi1, and one type of navigation data is periodically changed in the vicinity of navi. The initial value of the second type navigation data is navi2, and the second type navigation data is periodically changed in the vicinity of navi.
6. The system of claim 5, wherein pulseFre, navi, navi are each configurable.
7. The system of claim 4, wherein the control command of the host computer received by the modification module in real time by the fifth serial port can implement configuration of navigation parameters to simulate various types of two-way navigation.
8. The system of claim 7, wherein the control command of the host computer is designed as the following table, wherein datalen represents the length of the present packet data, and data represents the valid parameter data of the present packet data:
9. an inertial navigation system designed based on the system of any one of claims 1 to 8.
10. The system of claim 9, wherein the inertial navigation system is an on-board inertial navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311716273.1A CN117906638A (en) | 2023-12-14 | 2023-12-14 | Universal system for generating double-path navigation serial data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311716273.1A CN117906638A (en) | 2023-12-14 | 2023-12-14 | Universal system for generating double-path navigation serial data |
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| CN117906638A true CN117906638A (en) | 2024-04-19 |
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| CN202311716273.1A Pending CN117906638A (en) | 2023-12-14 | 2023-12-14 | Universal system for generating double-path navigation serial data |
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- 2023-12-14 CN CN202311716273.1A patent/CN117906638A/en active Pending
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