CN115865300B - A data synchronization system and method for an optoelectronic pod - Google Patents
A data synchronization system and method for an optoelectronic pod Download PDFInfo
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Abstract
本发明公开了一种光电吊舱的数据同步系统，包括：卫星定位单元、数据采集单元和编码及控制单元，其中，编码及控制单元能够基于同步秒脉冲信号初始化编码及控制单元的计时器模块，并基于卫星定位信息包含的UTC时间信息更新计时器模块，使得计时器模块与UTC时间同步，编码及控制单元在编码采集数据时，加入记录的与采集数据对应的控制信号的生成时间，生成包含采集数据及其对应的生成时间的数据压缩包。本专利受2021年产业技术基础公共服务平台—建设面向区域化人工智能应用发展的公共服务平台项目支持，项目编号2021‑0166‑1‑2。
The present invention discloses a data synchronization system for an optoelectronic pod, comprising: a satellite positioning unit, a data acquisition unit, and a coding and control unit, wherein the coding and control unit can initialize the timer module of the coding and control unit based on a synchronous second pulse signal, and update the timer module based on the UTC time information contained in the satellite positioning information, so that the timer module is synchronized with the UTC time. When encoding the collected data, the coding and control unit adds the recorded generation time of the control signal corresponding to the collected data to generate a data compression package containing the collected data and its corresponding generation time. This patent is supported by the 2021 Industrial Technology Basic Public Service Platform - Construction of a Public Service Platform for Regionalized Artificial Intelligence Application Development Project, project number 2021‑0166‑1‑2.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle data acquisition, in particular to a data synchronization system and method of a photoelectric pod.
Background
Along with the large-scale application of unmanned aerial vehicles in the industries of emergency, security, inspection and the like, the unmanned aerial vehicle photoelectric pod is not limited to a visible light video sensor any more, and more sensors such as infrared light video, multispectral video and the like are combined; the application depth is not limited to the simple viewing of the onboard nacelle video, and the depth application such as real-time receiving of ground stations, fast dynamic regional orthographic splicing, three-dimensional modeling, intelligent recognition analysis and the like is started to be more required, so that the onboard multipath video is required to be basically synchronous and has POS (position, attitude and the like) attribute information.
But the current synchronization mechanism is typically: the sensors such as the onboard video, the inertial sensor, the range finder and the like are simply and respectively transmitted to the ground equipment through data links such as image transmission and data transmission, and the ground receiving equipment realizes synchronization by carrying out data alignment through data and then file association. However, the current video cameras, inertial sensors, distance measuring machines, POS (position and attitude) systems and the like have different acquisition and transmission delays, the delay time is tens to hundreds of milliseconds, the pixel positioning in the video screen can deviate by tens to hundreds of meters, and the application requirements can not be met in high-precision occasions.
In summary, the data acquisition and transmission system of the conventional optoelectronic pod has the problem of poor data synchronism.
Disclosure of Invention
In view of the above, the invention provides a data synchronization system and a method thereof for an optoelectronic pod, which solve the problem of poor data synchronism of the traditional data acquisition and transmission system of the optoelectronic pod.
In order to solve the above problems, the technical scheme of the invention is to adopt a data synchronization system of an optoelectronic pod, comprising: the satellite positioning unit is used for outputting synchronous second pulse signals and satellite positioning information to the coding and control unit; the data acquisition unit is capable of generating acquisition data based on the control signal and transmitting the acquisition data to the coding and control unit; the encoding and control unit is configured to output the control signal to the data acquisition unit, record generation time of the control signal and encode the acquired data based on a timer module, where the encoding and control unit is capable of initializing the timer module of the encoding and control unit based on the synchronization second pulse signal, and update the timer module based on UTC time information included in the satellite positioning information, so that the timer module is synchronized with UTC time, and when the encoding and control unit encodes the acquired data, add the recorded generation time of the control signal corresponding to the acquired data, and generate a data compression packet including the acquired data and the corresponding generation time thereof.
Optionally, the encoding and control unit further includes a second pulse error tracking controller, and the timer module outputs the second pulse signal to be calibrated to the second pulse error tracking controller based on the satellite positioning information each time the satellite positioning unit outputs the synchronous second pulse signal and the satellite positioning information to the encoding and control unit after the initial updating is completed, and the second pulse error tracking controller generates an error time adjustment amount based on the synchronous second pulse signal and the second pulse signal to be calibrated, and updates the timer module based on the error time adjustment amount.
Optionally, the coding and control unit further includes a synchronous triggering module, where the data acquisition unit includes multiple types of data acquisition modules, the coding and control unit is capable of generating a synchronous control signal for synchronously triggering at least two types of data acquisition modules based on a task type.
Optionally, the data acquisition unit includes a video acquisition module, where after the coding and control unit calculates an exposure interval of the video acquisition module, the coding and control unit generates a video exposure control signal to trigger an exposure signal and record a generation time of the video exposure control signal, and the video acquisition module feeds back the acquired frame of video image data to the coding and control unit, codes the video image data and adds the video image data to the generation time, and generates a data compression packet including the video image data and the corresponding generation time.
Optionally, the data acquisition unit includes a video acquisition module and an inertia acquisition module, where after the encoding and control unit calculates an exposure interval of the video acquisition module and an acquisition interval of the inertia acquisition module, the encoding and control unit generates the synchronization control signal to trigger an exposure signal of the video acquisition module, and at the same time, the encoding and control unit triggers the inertia acquisition module based on the synchronization control signal and records a generation time of the synchronization control signal, and after the inertial acquisition module feeds back acquired inertial measurement data to the encoding and control unit, the inertial measurement data is encoded and added to the generation time to generate a first data compression packet including the inertial measurement data and the generation time corresponding thereto, and after the video acquisition module feeds back the acquired frame of video image data to the encoding and control unit, the video image data is encoded and added to the generation time to generate a second data compression packet including the video image data and the generation time corresponding thereto.
Optionally, the optoelectronic pod synchronization system further comprises a data transmission unit for outputting the data compression packet.
Optionally, the video acquisition module at least comprises a visible light camera, an infrared camera, a multispectral camera and a low-illumination camera.
Optionally, the satellite positioning information includes UTC time information, unmanned plane position information and unmanned plane speed information, and the encoding and control unit encodes the satellite positioning information and then transmits the data compression packet to the data transmission unit.
Correspondingly, the invention provides a data synchronization method of an optoelectronic pod, which comprises the following steps: outputting synchronous second pulse signals and satellite positioning information to a coding and control unit; initializing the timer module of the coding and control unit based on the synchronous second pulse signal, and updating the timer module based on UTC time information contained in the satellite positioning information so that the timer module is synchronous with UTC time; outputting a control signal to the data acquisition unit; generating acquisition data based on a control signal and transmitting the acquisition data to the coding and control unit; encoding the acquired data, adding the recorded generation time of the control signal corresponding to the acquired data, and generating a data compression packet containing the acquired data and the corresponding generation time.
Optionally, the data synchronization method further includes: after the initial updating is completed, the timer module outputs a second pulse signal to be calibrated to the second pulse error tracking controller based on the satellite positioning information when the satellite positioning unit outputs the synchronous second pulse signal and the satellite positioning information to the coding and control unit each time; the second pulse error tracking controller generates an error time adjustment amount based on the synchronous second pulse signal and the second pulse signal to be calibrated; the timer module is updated based on the error time adjustment amount.
The primary improvement of the invention is that the data synchronization system of the photoelectric pod is provided, and the satellite positioning unit is arranged to output a synchronous second pulse signal and satellite positioning information, so that the encoding and control unit can initialize the timer module of the encoding and control unit based on the synchronous second pulse signal, and update the timer module based on UTC time information contained in the satellite positioning information, so that the timer module is synchronous with the UTC time, and the encoding and control unit can output a data packet containing acquisition data and generation time thereof and synchronous with the UTC time information of the satellite positioning information, thereby facilitating the data synchronization association of the rear end and solving the problem of poor data synchronism of the traditional data acquisition and transmission system of the photoelectric pod.
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FIG. 1 is a simplified block diagram of a data synchronization system of the optoelectronic pod of the present invention;
fig. 2 is a simplified flow chart of a method of data synchronization of the optoelectronic pod of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a data synchronization system of an optoelectronic pod includes: the satellite positioning unit is used for outputting synchronous second pulse signals and satellite positioning information to the coding and control unit; the data acquisition unit is capable of generating acquisition data based on the control signal and transmitting the acquisition data to the coding and control unit; the encoding and control unit is configured to output the control signal to the data acquisition unit, record generation time of the control signal and encode the acquired data based on a timer module, and initialize the timer module of the encoding and control unit based on the synchronous second pulse signal, update the timer module based on time information included in the satellite positioning information, so that the timer module is time-synchronized with UTC, and when the acquired data is encoded, the encoding and control unit adds the recorded generation time of the control signal corresponding to the acquired data, generates a data compression packet including the acquired data and the corresponding generation time thereof, and transmits the data compression packet to the data transmission unit; the satellite positioning information comprises the time information, the unmanned aerial vehicle position information and the unmanned aerial vehicle speed information, and the encoding and control unit encodes the satellite positioning information and then transmits the data compression packet to the data transmission unit. The data transmission unit is used for outputting the data compression packet to the rear end; the satellite positioning information comprises the time information, unmanned aerial vehicle position information and unmanned aerial vehicle speed information; the satellite positioning unit can be a satellite positioning board card, and interfaces of the access coding and control module can be interfaces of RS232, TTL serial ports, networks, USB and the like according to different manufacturers and types; the synchronous second pulse signal may be a PPS signal.
In order to further improve the synchronous accuracy of the timer module and UTC time, the invention further reduces errors by setting a negative feedback adjustment mechanism, and the method is specific: the encoding and control unit further comprises a second pulse error tracking controller, the timer module outputs a second pulse signal to be calibrated to the second pulse error tracking controller based on the satellite positioning information every time the satellite positioning unit outputs the synchronous second pulse signal and the satellite positioning information to the encoding and control unit after initial updating is completed, and the second pulse error tracking controller generates an error time adjustment amount based on the synchronous second pulse signal and the second pulse signal to be calibrated and updates the timer module based on the error time adjustment amount. And under the condition that the synchronous pulse-per-second signal and the pulse-per-second signal to be calibrated are smaller than a first threshold value, the pulse-per-second error tracking controller does not generate an error time adjustment amount, the timer module does not need to be updated, and the output timer module regards as a trusted signal, so that the encoding and control unit can output a control signal. The first threshold may be 100 picoseconds.
Furthermore, in order to ensure that the data collected by the data collection modules of various types can ensure time synchronization, and avoid operations that extra errors are possibly introduced such as interpolation when the back end processes the data, the invention realizes operations such as accurate image splicing/mapping/geographic information element labeling and the like by setting the synchronous triggering module under the condition that all the data collection modules are set to be based on the coding and control unit control triggering under the same clock, and under the condition that the data collection units contain the data collection modules of various types, the coding and control unit can generate synchronous control signals for synchronously triggering at least two data collection modules to work based on task types, so that the time of the data collection modules for collecting the data is strictly synchronous, and the back end can carry out associated synchronization based on the generation time contained in the data compression packets of different types when the data compression packets of different types are received.
Further, in the case that the data acquisition unit only includes a video acquisition module, after the encoding and control unit calculates an exposure interval of the video acquisition module, the encoding and control unit generates a video exposure control signal to trigger an exposure signal and record a generation time of the video exposure control signal, and the video acquisition module feeds back the acquired frame of video image data to the encoding and control unit, encodes the video image data and adds the generation time to generate a data compression packet including the video image data and the corresponding generation time. The video transmission interface can be hdmi, lvds, mipi, cvbs and the like due to different types and manufacturers of the video acquisition modules.
Further, in the case that the data acquisition unit includes a video acquisition module and an inertia acquisition module, after the encoding and control unit calculates an exposure interval of the video acquisition module and an acquisition interval of the inertia acquisition module, the encoding and control unit generates the synchronization control signal to trigger an exposure signal of the video acquisition module, and at the same time, the encoding and control unit triggers the inertia acquisition module based on the synchronization control signal and records a generation time of the synchronization control signal, and after the inertial acquisition module feeds back acquired inertia measurement data to the encoding and control unit, encodes and adds the inertia measurement data to the generation time to generate a first data compression packet including the inertia measurement data and the generation time corresponding thereto, and after the video acquisition module feeds back the acquired frame of video image data to the encoding and control unit, encodes and adds the video image data to the generation time to generate a second data compression packet including the video image data and the generation time corresponding thereto. The encoding and control unit generates the first data compression packet and the second data compression packet, and the first data compression packet and the second data compression packet are respectively transmitted to the rear end through the data transmission unit, and the rear end can carry out association synchronization based on generation time which is not contained in the first data compression packet and the second data compression packet when the first data compression packet and the second data compression packet are received. The video acquisition module at least comprises one or more of a visible light camera, an infrared camera, a multispectral camera and a low-illumination camera, and under the condition that the video acquisition module comprises multiple cameras of the visible light camera, the infrared camera, the multispectral camera and the low-illumination camera, if the standard acquisition frequencies of different types of cameras are different, the minimum common multiple of the standard acquisition frequencies of the different types of cameras is used as a reference acquisition frequency, and the encoding and control unit controls the operation of the inertial measurement module based on the integral multiple of the reference acquisition frequency. The inertial acquisition module can be connected to the coding and control unit through interfaces such as SPI, I2C, RS422 and the like due to different types and manufacturers. Meanwhile, the inertial acquisition module can be a three-axis or six-axis inertial measurement device according to different actual use conditions. The three-axis inertial measurement unit outputs three-axis angular velocity, and the six-axis inertial measurement unit outputs three-axis angular velocity and three-axis acceleration.
It should be noted that, in the above examples made for facilitating understanding of the technical solution of the present application, the types of data acquisition modules included in the data acquisition unit should not be considered as being limited to video acquisition modules and inertial acquisition modules, but can also include other types of data acquisition modules commonly used in the art, for example: ranging modules, etc.
According to the invention, the satellite positioning unit is arranged to output the synchronous second pulse signal and the satellite positioning information, so that the coding and control unit can initialize the timer module of the coding and control unit based on the synchronous second pulse signal, and update the timer module based on UTC time information contained in the satellite positioning information, so that the timer module is synchronous with the UTC time, and the coding and control unit can output a data packet containing acquired data and generation time thereof and synchronous with the UTC time information of the satellite positioning information, thereby facilitating the data synchronization association at the rear end and solving the problem of poor data synchronism of a data acquisition and transmission system of a traditional photoelectric pod.
Correspondingly, the invention provides a data synchronization method of an optoelectronic pod, which comprises the following steps: outputting synchronous second pulse signals and satellite positioning information to a coding and control unit; initializing the timer module of the encoding and control unit based on the synchronous second pulse signal, and updating the timer module based on time information contained in the satellite positioning information so that the timer module is in time synchronization with UTC; outputting a control signal to the data acquisition unit; generating acquisition data based on a control signal and transmitting the acquisition data to the coding and control unit; encoding the acquired data, adding the recorded generation time of the control signal corresponding to the acquired data, and generating a data compression packet containing the acquired data and the corresponding generation time.
Further, the data synchronization method further includes: after the initial updating is completed, the timer module outputs a second pulse signal to be calibrated to the second pulse error tracking controller based on the satellite positioning information when the satellite positioning unit outputs the synchronous second pulse signal and the satellite positioning information to the coding and control unit each time; the second pulse error tracking controller generates an error time adjustment amount based on the synchronous second pulse signal and the second pulse signal to be calibrated; the timer module is updated based on the error time adjustment amount.
Still further, the data synchronization method further includes: under the condition that the data acquisition unit comprises a plurality of types of data acquisition modules, the coding and control unit can generate synchronous control signals for synchronously triggering at least two types of data acquisition modules to work based on task types, so that the time for the data acquisition modules to acquire data is strictly synchronous, and the rear end can carry out association synchronization based on the generation time contained in different types of data compression packets when receiving the different types of data compression packets, thereby realizing operations such as accurate image splicing/map drawing/geographic information element labeling and the like.
The data synchronization system and the method of the optoelectronic pod provided by the embodiment of the invention are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
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| CN111007554A (en) * | 2019-12-11 | 2020-04-14 | 武汉海达数云技术有限公司 | Data acquisition time synchronization system and method |
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