WO2017148222A1

WO2017148222A1 - Multi-sensor information acquisition navigation system and method

Info

Publication number: WO2017148222A1
Application number: PCT/CN2017/071269
Authority: WO
Inventors: 辛峻峰; 张永波; 盛进路; 孙鑫; 李书悦
Original assignee: 青岛科技大学
Priority date: 2016-02-29
Filing date: 2017-01-16
Publication date: 2017-09-08
Also published as: CN105783911A

Abstract

A multi-sensor information acquisition navigation system and method. The system comprises an information acquisition unit. The information acquisition unit transmits acquired information to a processor unit. The processor unit further processes the information and then packages and sends same to an upper machine. The processor unit comprises a filtering module, an attitude resolving module, an inertial navigation module and a control module of a gyrostabilizer. A required algorithm is built in the processor unit, such that the calculation and processing of the acquired information are realized, the processing speed is fast, and also the calculation pressure of the upper machine is reduced.

Description

Multi-sensor information acquisition and navigation system and method

Technical field

The invention relates to a multi-sensor information acquisition navigation system and method.

Background technique

In the development of smart water uploading tools, it is often the case that multiple sensor data are collected and processed simultaneously. If all sensors are connected to the central processor, the developer needs to program each sensor separately to process the data collected by each sensor. This process requires a lot of computing resources, and because of the different parameters of different types of sensors (such as the speed of sensor acquisition information, the protocol of sensor and processor communication, the speed of sensor and processor communication, etc.) Complex, increasing the development difficulty of developers.

Summary of the invention

In order to solve the deficiencies of the prior art, the present invention discloses a multi-sensor information collection and navigation system and method. The present invention can connect different sensors according to needs, and the invention will automatically identify the type, data and communication mode of the sensor, and correspondingly respond to the data. The solution processing finally sends the obtained raw data and the processed data to the host computer through the serial port (USART).

To achieve the above object, the specific scheme of the present invention is as follows:

The multi-sensor information collecting and guiding system comprises an information collecting unit, and the information collecting unit transmits the collected information to the processor unit, and the processor unit further processes the information and packages and sends the information to the upper computer, and the processor unit receives the control from the upper computer. Information, the processor unit includes a filtering module, a posture solving module, an inertial navigation module, and a control module of the gyro-shake device;

The filtering module filters the collected information and transmits the processed data to the attitude solving module. In the attitude solving module, the collected information is solved, and the corresponding inertial navigation data is obtained and transmitted to the inertia. The navigation module and the inertial navigation module analyze the data obtained by the attitude calculation, and are used for realizing automatic return control. The control module of the gyro-shake device controls the gyro-shake device to be turned off or on by analyzing the data obtained by the attitude calculation.

Further, the processor unit is connected to the host computer, can receive control information from the host computer, and performs corresponding control actions according to the control information.

Further, the processor unit is further connected to the memory card module and the display module.

Further, the processor unit has a plurality of data input and output interfaces including an IIC interface, an SPI interface, a UART interface, and an FSMC interface.

Further, the information collection unit includes an ultrasonic range finder, a GPS locator, a temperature and humidity sensor, and a water depth sensing unit. , gyroscopes, accelerometers, electronic compasses, barometers and infrared sensors.

Further, the filtering module performs a first-order filtering on the collected information by using a Kalman filter algorithm.

Further, the attitude solving module uses an attitude solving algorithm to solve the original information corresponding to the acquired acceleration, angular velocity, and magnetic declination, and obtains the distance, velocity, and heading angle as inertial navigation data.

Further, the inertial navigation module uses an inertial navigation algorithm to analyze the data obtained by the attitude calculation. When the water uploader moves, the processor unit records the displacement information of the downloader, and the smart water uploader can return to the inertia according to the inertia. The navigation algorithm and the trajectory recorded by the GPS receiver control the hull's power equipment and steering equipment to realize automatic return control.

Further, the control module of the gyro-shake device analyzes the data obtained by the attitude calculation, and when the hull angle of the hull exceeds a certain threshold, the gyro-shake device is turned on to reduce the sway of the hull, and the hull swaying degree tends to For stability, turn off the gyro shaker to make the hull back.

Further, the processor unit is further connected to the remote receiving end through the GPRS communication module, and the information collected by the information collecting unit is processed and recorded on the memory card module, and the information is sent to the remote receiving end through the GPRS network, thereby realizing the information collection. Record and backup.

The working method of the multi-sensor information acquisition navigation system includes the following steps:

Step 1: The system self-tests, and sends the self-test results to the upper computer, and displays them on the screen at the same time;

Step 2: The processor unit detects whether a GPS receiver, a gyroscope, an accelerometer, and an electronic compass are connected. When all are connected, the device is turned on. Otherwise, the number of sensors is abnormal, and the requirements for sea-going are not met;

Step 3: Initialize each sensor and enter the standby state, and the processor unit will enter the normal running state after receiving the startup command sent by the host computer;

Step 4: After entering the normal running state, the GPS signal strength, latitude and longitude, altitude, navigation speed, and heading angle information are displayed on the screen in a certain format. At this time, the processor unit processes the data according to the built-in algorithm, and then passes the data. The serial port is sent to the host computer connected to it;

Step 5: Perform parameter setting through the serial port, including sensor information correction, whether to enable the GPRS communication module, whether to enable the automatic return function, whether to enable the control function of the gyro-shake device; after the parameter setting is completed, detect whether the upper computer sends an action command, if The upper computer sends an action instruction, and the system performs corresponding control work according to the set parameters; if the upper machine does not send an action instruction, the system maintains the current motion state;

Step 6: Wait for the shutdown command to perform the shutdown process.

Further, if the automatic return function is enabled, the processor unit continuously detects the data of the gyroscope, the accelerometer, the electronic compass and the GPS, obtains the orientation of the current hull according to the data of the gyroscope, and uses the data of the accelerometer and the electronic compass to the gyro The data of the instrument is corrected, combined with the latitude and longitude coordinates received by the GPS, the geographical location letter during the navigation The information and time information are recorded in the internal memory, and the processor unit smoothes the recorded coordinates to obtain a navigation trajectory; after reaching the destination, the data collected by the inertial navigation module acquires the orientation of the hull, thereby controlling the power system and steering. The system realizes the steering and turning action, and then realizes the automatic returning by controlling the power system and the steering system according to the path information stored in the internal memory.

In the fourth step, the processor unit processes the data according to the built-in algorithm and simultaneously stores the information on the mounted SD card for backup. Meanwhile, if the GPRS communication module is in the startup state, the information is sent to the GPRS communication module. Backup on the cloud server.

The beneficial effects of the invention:

1. The invention adopts an algorithm required in the processor unit to realize the operation processing of the collected information, and the processing speed is fast, and the calculation pressure of the upper computer is also reduced.

2. The invention uses SD card and cloud server to record and back up information, and the two can be performed simultaneously, which greatly reduces the possibility of original information loss.

3. The built-in cruise algorithm of the invention can realize automatic cruise and automatic return flight through preset waypoint information and track information recorded during navigation.

DRAWINGS

1 is a structural diagram of an acquisition circuit of the present invention;

2 is a flow chart of the operation of the acquisition circuit of the present invention;

Figure 3 is a representation of the X/Y/Z axis of the gyroscopic shaker of the present invention.

detailed description:

The present invention will be described in detail below with reference to the accompanying drawings:

The present application provides a novel sensor information collection method for the existing sensor information acquisition system, which reduces the computational pressure of the processor in the circuit and reduces the development pressure of the developer.

The acquisition circuit of the multi-sensor information acquisition and navigation system of the present application has a plurality of data input and output interfaces including an IIC interface, an SPI interface, a UART interface, and an FSMC interface, and different sensors can be connected as needed, and the multi-sensor information acquisition and navigation system will The type, data and communication method of the sensor are automatically recognized, and the data is processed accordingly. Finally, the obtained raw data and the processed data are packaged and sent to the host computer through the serial port (USART). At the same time, the multi-sensor information acquisition and navigation system has a universal input and output interface (GPIO) and a built-in CPU, which can perform simple processing on the collected data to realize some control operations.

The multi-sensor information acquisition and navigation system of the present application can collect information for various sensors, including ultrasonic range finder, GPS locator, temperature and humidity sensor, water depth sensor, gyroscope, accelerometer, electronic compass, barometer, red External sensors, etc., can collect and process information including geographic coordinates, navigation speed, acceleration, angular velocity, magnetic declination, heading angle, water depth, water temperature, air humidity, atmospheric pressure, distance, and so on.

The multi-sensor information collection and navigation system of the present application has a display screen, and the collected on-site information can be displayed for the first time for use by developers, and it is more convenient to use the dedicated device to collect data without complicated connection.

The integrated processor of the multi-sensor information acquisition and navigation system of the present application has a built-in Kalman filter algorithm, which can perform first-order filtering on the collected information, so that the collected information is closer to the real information, and the accuracy of the subsequent solution is ensured.

The integrated processor of the multi-sensor information acquisition and navigation system of the present application has a built-in attitude solving algorithm, which can solve the original information such as acceleration, angular velocity and magnetic declination, and obtain inertial navigation data such as distance, speed and heading angle. It is used by the host computer to reduce the computing pressure of the host computer.

The integrated processor of the multi-sensor information acquisition and navigation system of the present application has an inertial navigation algorithm built in, and the data is analyzed by posture settlement. When the water uploader moves, the processor records the displacement information of the downloader, and the smart water uploader returns. Automatic return control can be achieved.

The multi-sensor information acquisition and navigation system MCU of the present application has a control algorithm of a gyro-shake device: by analyzing the data obtained by the attitude calculation, when the hull angle of the hull exceeds a certain threshold, the gyro-shake device is turned on to reduce the hull. Shaking. When the hull swaying degree tends to be stable, the gyro-shake device is turned off, so that the hull is corrected, and the stability of navigation is ensured.

The multi-sensor information collection and navigation system of the present application has the functions of GPRS communication and operation of electronic storage. After starting up, the original information collected by the sensor and the information obtained after processing can be recorded on a carrier such as an SD card according to the requirements of the user, and at the same time, The information is sent to the remote receiving end through the GPRS network to record and back up the collected information for research and troubleshooting. Both can be performed simultaneously, greatly reducing the possibility of loss of original information.

As shown in FIG. 1 , in the above embodiment, the multi-sensor information acquisition and navigation system of the present application is composed of a single-chip microcomputer, a GPRS communication module, a memory card module, a display module, and a power supply voltage stabilization module, and an optional part has a GPS receiver. Temperature and humidity sensor, acceleration sensor, angular velocity sensor, electronic compass, barometer, sonar, ultrasonic, etc.

The single-chip microcomputer is respectively connected with the GPRS communication module, the SD card module, the display module, and the respective sensors, and the power supply voltage regulator module is respectively connected with all the modules.

As shown in FIG. 2, the multi-sensor information collection and navigation system of the present application connects the sensor to the corresponding interface before starting to use, turns on the power, the circuit performs self-test, and sends the self-test result to the upper computer. Also displayed on the screen.

The multi-sensor information collection and navigation system of the present application performs different processing according to the type and number of connected sensors. The multi-sensor information acquisition and navigation system of the present application must be connected to a GPS receiver, a gyroscope, an accelerometer, and an electronic compass. In case of power on, otherwise the number of sensors will be abnormal and the requirements for sea going will not be met.

When the above sensors are connected, the power will be turned on normally after power-on, and then each sensor is initialized and enters the standby state. After receiving the start command sent by the host computer, it will enter the normal running state.

After entering the normal running state, the device will display the GPS signal strength, latitude and longitude, altitude, navigation speed, heading angle and other information on the screen in a certain format. At this point, the MCU will process the data according to the built-in algorithm, and then send it to the host computer connected to it through the serial port. At the same time, the information is stored on the mounted SD card for backup, and if the GPRS communication module is in the setup state, the information is sent to the cloud server for backup.

In the control process of the multi-sensor information acquisition and navigation system of the present application, the control command sent by the upper computer has the highest priority, when the upper computer sends the command, or the upper computer sends the command to enter the automatic cruise/return mode. At the same time, the device generates a route according to a preset navigation algorithm in the built-in storage, and then combines the PID algorithm to control the power system and the steering system, thereby realizing the maintenance of the motion state/automatic navigation/automatic return.

The multi-sensor information collection and navigation system of the present application can perform parameter setting through a serial port, including sensor information correction, whether to enable the GPRS communication module, whether to enable the automatic return function, and whether to enable the control function of the gyro-shake device.

If the automatic return function is enabled, the multi-sensor information acquisition and navigation system of the present application continuously detects the data of the gyroscope, the accelerometer, the electronic compass and the GPS, obtains the orientation of the current hull according to the data of the gyroscope, and uses the accelerometer and the electronic compass. The data is corrected for the gyroscope data. In combination with the latitude and longitude coordinates received by the GPS, the geographical location information and time information during the navigation can be recorded in the internal memory. The processor smoothes the recorded coordinates to obtain a navigation trajectory. After reaching the destination, the device can use the data collected by the inertial navigation module (angle, acceleration, magnetic declination) to obtain its own orientation, and then control the power system and the steering system to achieve steering and turning, and then according to the internal memory The stored path information is automatically returned by controlling the power system and the steering system.

If the gyro-shake control function is enabled, the unit will continuously detect the ship's Z-axis yaw angle. When the Z-axis yaw angle is greater than the set value, the device activates the gyro-shake device to prevent further yaw of the hull. When the hull gradually returns to a reasonable position, the device stops the work of the gyro shaker and further restores the hull. The representation of the X/Y/Z axis of the gyroscopic shaker is shown in Figure 3.

The above description of the specific embodiments of the present invention has been described with reference to the accompanying drawings, but it is not intended to limit the scope of the present invention. Those skilled in the art should understand that the skilled in the art does not require the creative work on the basis of the technical solutions of the present invention. Various modifications or variations that can be made are still within the scope of the invention.

Claims

The multi-sensor information collection and navigation system is characterized in that it comprises an information collecting unit, and the information collecting unit transmits the collected information to the processor unit, and the processor unit further processes the information and packages and sends the information to the upper computer, and the processor unit accepts the information from the The control unit of the upper computer includes a filtering module, a posture solving module, an inertial navigation module, and a control module of the gyro-shake device;

The filtering module filters the collected information and transmits the processed data to the attitude solving module. In the attitude solving module, the collected information is solved, and the corresponding inertial navigation data is obtained and transmitted to the inertia. The navigation module and the inertial navigation module analyze the data obtained by the attitude calculation, and are used for realizing automatic return control. The control module of the gyro-shake device controls the gyro-shake device to be turned off or on by analyzing the data obtained by the attitude calculation.
The multi-sensor information collection and navigation system of claim 1 , wherein the processor unit is further connected to the memory card module and the display module.
The multi-sensor information collection and navigation system according to claim 1 or 2, wherein the processor unit has a plurality of data input and output interfaces including an IIC interface, an SPI interface, a UART interface, and an FSMC interface.
The multi-sensor information collecting and navigation system according to claim 1, wherein the information collecting unit comprises an ultrasonic range finder, a GPS locator, a temperature and humidity sensor, a water depth sensor, a gyroscope, an accelerometer, an electronic compass, and a pneumatic pressure. Take into account the infrared sensor.
The multi-sensor information collection and navigation system of claim 1 , wherein the filtering module performs a first-order filtering on the collected information by using a Kalman filter algorithm;

The attitude solving module uses an attitude solving algorithm to solve the original information corresponding to the acquired acceleration, angular velocity and magnetic declination, and obtains the distance, velocity and heading angle as inertial navigation data.
The multi-sensor information acquisition and navigation system according to claim 5, wherein the inertial navigation module uses an inertial navigation algorithm to analyze data obtained by posture calculation, and when the water uploader moves, the processor unit records The displacement information of the device is downloaded, and the intelligent water uploading device controls the hull power device and the steering device according to the inertial navigation algorithm and the trajectory recorded by the GPS receiver when returning to realize automatic return control.
The multi-sensor information acquisition and navigation system according to claim 6, wherein the control module of the gyro-shake device analyzes the data obtained by the attitude calculation, and opens when the hull angle of the hull exceeds a certain threshold. The gyro shaker reduces the sway of the hull. When the hull swaying tends to be stable, the gyro shaker is turned off to make the hull back.
The multi-sensor information collection and navigation system according to claim 1, wherein the processor unit is further connected to the remote receiving end through the GPRS communication module, and the information collected by the information collecting unit is processed and recorded on the memory card module, and simultaneously passed. The GPRS network sends the information to the remote receiving end to record and back up the collected information.
The working method of the multi-sensor information collecting and navigation system according to claim 1, characterized in that it comprises the following steps Step:

Step 1: The system self-tests, and sends the self-test results to the upper computer, and displays them on the screen at the same time;

Step 2: The processor unit detects whether a GPS receiver, a gyroscope, an accelerometer, and an electronic compass are connected. When all are connected, the device is turned on. Otherwise, the number of sensors is abnormal, and the requirements for sea-going are not met;

Step 3: Initialize each sensor and enter the standby state, and the processor unit will enter the normal running state after receiving the startup command sent by the host computer;

Step 4: After entering the normal running state, the GPS signal strength, latitude and longitude, altitude, navigation speed, and heading angle information are displayed on the screen in a certain format. At this time, the processor unit processes the data according to the built-in algorithm, and then passes the data. The serial port is sent to the host computer connected to it;

Step 5: Perform parameter setting through the serial port, including sensor information correction, whether to enable the GPRS communication module, whether to enable the automatic return function, whether to enable the control function of the gyro-shake device; after the parameter setting is completed, detect whether the upper computer sends an action command, if The upper computer sends an action instruction, and the system performs corresponding control work according to the set parameters; if the upper machine does not send an action instruction, the system maintains the current motion state;

Step 6: Wait for the shutdown command to perform the shutdown process.
The method for operating a multi-sensor information collection and navigation system according to claim 9, wherein in the fourth step, the processor unit processes the data according to the built-in algorithm and simultaneously stores the information on the mounted SD card. Back up, at the same time, if the GPRS communication module is in the setup state, send the information to the cloud server for backup.