CN111521174A - Method, device, medium and electronic equipment for generating synchronization signal of combined inertial navigation system - Google Patents
Method, device, medium and electronic equipment for generating synchronization signal of combined inertial navigation system Download PDFInfo
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The embodiment of the invention provides a method, a device, a medium and an electronic device for generating a synchronization signal of a combined inertial navigation system, wherein the method for generating the synchronization signal of the combined inertial navigation system comprises the following steps: analyzing the received positioning signal to obtain a pulse per second signal and standard time information; generating a synchronous signal corresponding to each sensor of the combined inertial navigation system by taking the pulse per second signal as a reference; and outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system. According to the technical scheme of the embodiment of the invention, the synchronous signals required by each sensor in the combined inertial navigation system can be generated according to the acquired pulse signals as the reference, and the high-precision synchronous signals can be continuously provided for the combined inertial navigation system under the condition that the synchronous signals cannot be acquired from the outside, so that the normal operation of the combined inertial navigation system is maintained.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method and a device for generating a synchronization signal of a combined inertial navigation system.
Background
At present, various sensors are required to be used for positioning, obstacle avoidance, image construction and the like on unmanned equipment, for example, a GPS sensor or a GPS and inertial sensor combined inertial navigation device is used for positioning and orienting, a single-eye camera, a binocular camera, an RGB camera and other visual devices are used for positioning and image construction, and a single-line laser radar and a multi-line laser radar are used for positioning, obstacle avoidance and the like.
In the prior art, on the unmanned equipment, when different sensor devices need data synchronization, software synchronization or hardware synchronization can only be realized between the two sensor devices, and synchronous trigger signals cannot be provided for a plurality of sensor devices which need hardware synchronization at any time.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present invention and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a method and an apparatus for generating a synchronization signal of a combined inertial navigation system, so as to overcome at least to some extent one or more problems that a plurality of sensors cannot be provided with a synchronization trigger signal at the same time due to limitations and defects of related technologies.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the invention.
According to a first aspect of the embodiments of the present invention, a method for generating a synchronization signal of a combined inertial navigation system is provided, including:
analyzing the received positioning signal to obtain a pulse per second signal and standard time information;
generating a synchronous signal corresponding to each sensor of the combined inertial navigation system by taking the pulse per second signal as a reference;
and outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
In some embodiments of the present invention, the analyzing the received positioning signal to obtain the pulse-per-second signal and the standard time information includes:
demodulating the received positioning signal via the signal path to obtain a pulse-per-second signal, an
And decoding the positioning signal through a preset communication protocol to obtain standard time information.
In some embodiments of the present invention, the generating a synchronization signal corresponding to each sensor of the combined inertial navigation system based on the pulse per second signal includes:
and determining the rising edge time or the falling edge time of any pulse signal in the pulse signals per second as the trigger initial time of the high level of the synchronous signal.
In some embodiments of the invention, the method further comprises:
determining a pulse period and a pulse frequency of the synchronous signal according to the pulse period of the pulse per second signal, wherein the pulse period of the synchronous signal is smaller than the pulse period of the pulse per second signal, and the pulse period of the synchronous signal is in a multiple relation with the pulse period of the pulse per second signal;
determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system;
and generating a synchronization signal based on the pulse period and the pulse frequency of the synchronization signal and the trigger duration of the high level of the synchronization signal.
According to a second aspect of the embodiments of the present invention, there is provided an apparatus for generating a synchronization signal of a combined inertial navigation system, including:
the analysis module is used for analyzing the received positioning signal to obtain a pulse per second signal and standard time information;
the generating module is used for generating synchronous signals corresponding to all sensors of the combined inertial navigation system by taking the pulse per second signal as a reference;
and the output module is used for outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
In some embodiments of the present invention, the parsing module is specifically configured to:
demodulating the received positioning signal via the signal path to obtain a pulse-per-second signal, an
And decoding the positioning signal through a preset communication protocol to obtain standard time information.
In some embodiments of the present invention, the generating module is specifically configured to:
and determining the rising edge time or the falling edge time of any pulse signal in the pulse signals per second as the trigger initial time of the high level of the synchronous signal. .
In some embodiments of the present invention, the generating module is further configured to:
determining a pulse period and a pulse frequency of the synchronous signal according to the pulse period of the pulse per second signal, wherein the pulse period of the synchronous signal is smaller than the pulse period of the pulse per second signal, and the pulse period of the synchronous signal is in a multiple relation with the pulse period of the pulse per second signal;
determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system;
and generating a synchronization signal based on the pulse period and the pulse frequency of the synchronization signal and the trigger duration of the high level of the synchronization signal.
According to a third aspect of the embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for generating the synchronization signal of the combined inertial navigation system as described above in the first aspect of the embodiments.
According to a fourth aspect of embodiments of the present invention, there is provided an electronic apparatus, including: one or more processors; a storage device, configured to store one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors implement the method for generating the synchronization signal of the combined inertial navigation system according to the first aspect of the embodiments.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method, a device, a medium and an electronic device for generating a synchronization signal of a combined inertial navigation system, wherein the method for generating the synchronization signal of the combined inertial navigation system comprises the following steps: analyzing the received positioning signal to obtain a pulse per second signal and standard time information; generating a synchronous signal corresponding to each sensor of the combined inertial navigation system by taking the pulse per second signal as a reference; and outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system. According to the technical scheme of the embodiment of the invention, the synchronous signals required by each sensor in the combined inertial navigation system can be generated according to the acquired pulse signals as the reference, and the high-precision synchronous signals can be continuously provided for the combined inertial navigation system under the condition that the synchronous signals cannot be acquired from the outside, so that the normal operation of the combined inertial navigation system is maintained.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for generating a synchronization signal for a combined inertial navigation system, according to an embodiment of the invention;
fig. 2 schematically shows a schematic diagram for determining the initial triggering moment of the synchronization signal according to the rising edge of the pulse signal according to an embodiment of the present invention;
fig. 3 schematically shows a schematic diagram for determining the initial triggering moment of the synchronization signal according to the falling edge of the pulse signal according to an embodiment of the present invention;
FIG. 4 schematically shows a schematic diagram of a method of resolving positioning data according to an embodiment of the invention;
FIG. 5 schematically illustrates a method for generating a synchronization signal for a combined inertial navigation system according to another embodiment of the invention;
FIG. 6 is a block diagram schematically illustrating an apparatus for generating a synchronization signal of a combined inertial navigation system according to an embodiment of the present invention;
FIG. 7 schematically illustrates a logical structure diagram of a hardware platform for signal generation according to one embodiment of the present invention;
FIG. 8 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Fig. 1 schematically shows a flow chart of a method for generating a synchronization signal of a combined inertial navigation system according to an embodiment of the present invention.
Referring to fig. 1, a method for generating a synchronization signal of a combined inertial navigation system according to an embodiment of the present invention includes the following steps:
step S110, analyzing the received positioning signal to obtain a pulse per second signal and standard time information;
step S120, generating synchronous signals corresponding to each sensor of the combined inertial navigation system by taking the pulse per second signal as a reference;
and step S130, outputting the synchronization signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
The technical scheme of the embodiment shown in fig. 1 can generate synchronous pulse trigger signals required by a multi-path inertial sensor, a vision sensor, a laser sensor and the like by taking an input pulse signal as a reference.
Implementation details of the various steps shown in FIG. 1 are set forth below:
in step S110, the received positioning signal is analyzed to obtain the pulse-per-second signal and the standard time information.
In one embodiment of the present invention, the pulse signal is a pulse signal that is continuously emitted at a certain voltage amplitude and a certain time interval, and the time interval between the pulse signals is called a period; and the number of pulses generated per unit time, for example, 1 second, is referred to as a frequency.
In one embodiment of the present invention, the Pulse signal may be a Pulse Per Second (PPS) signal in a Global Positioning System (GPS), in which the PPS signal is one Second, and is used to indicate the time of the Second, which is usually indicated by a rising edge of the PPS signal. The GPS can give Coordinated Universal Time (UTC) Time, but a user has Time delay when receiving the UTC Time, the whole second Time of the UTC is marked by introducing the rising edge of the PPS signal, accurate Time service is realized, and no accumulated error exists.
In an embodiment of the present invention, the acquiring the pulse signal may be acquiring the pulse signal through a pin of the chip, and specifically, a rising edge or a falling edge of the pulse signal may be detected through an external interrupt pin of the chip.
In an embodiment of the present invention, the received positioning signal is demodulated through a signal channel to obtain a pulse per second signal, and the positioning signal is decoded through a preset communication protocol to obtain standard time information.
In step S120, a synchronization signal corresponding to each sensor of the combined inertial navigation system is generated based on the pulse per second signal.
In an embodiment of the present invention, a rising edge time or a falling edge time of any one of the pulse signals per second is determined as a trigger initial time of the high level of the synchronization signal.
In an embodiment of the present invention, based on the above scheme, a pulse period and a pulse frequency of the synchronization signal are determined according to a pulse period of the pulse-per-second signal, wherein the pulse period of the synchronization signal is smaller than the pulse period of the pulse-per-second signal, and the pulse period of the synchronization signal is in a multiple relation with the pulse period of the pulse-per-second signal; determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system; and generating a synchronization signal based on the pulse period and the pulse frequency of the synchronization signal and the trigger duration of the high level of the synchronization signal.
In one embodiment of the present invention, in step S120, the synchronization signal may be generated by: the initial rising edge or the falling edge of the pulse signal is determined as the triggering initial moment of the high level of the synchronization signal, and the specific determination manner can be shown in fig. 2 and fig. 3.
Fig. 2 schematically shows a schematic diagram for determining the triggering initial time of the synchronization signal according to the rising edge of the pulse signal according to an embodiment of the present invention.
Referring to fig. 2, a rising edge of the pulse signal is determined as an initial trigger time of a high level of the sync signal, wherein the rising edge is a time when the pulse signal changes from a low level to a high level, TppsThe period of the pulse signal is shown, and in GPS, the period of the pulse signal is 1 second.
Fig. 3 schematically shows a schematic diagram for determining the triggering initial time of the synchronization signal according to the falling edge of the pulse signal according to an embodiment of the present invention.
Referring to fig. 3, a falling edge of the pulse signal is determined as an initial trigger time of a high level of the sync signal, wherein the falling edge is a time when the pulse signal changes from a high level to a low level, TppsThe period of the pulse signal is shown, and in GPS, the period of the pulse signal is 1 second.
In an embodiment of the present invention, based on the foregoing scheme, the generating the synchronization signal specifically further includes:
determining a first time based on a pulse period of the pulse signal, wherein the first time is less than or equal to the pulse period and is in a multiple relation with the pulse period;
determining the first time as a trigger frequency of a high level of the synchronous signal;
determining a second time based on the first time, wherein the second time is less than the first time;
determining the preset second time as the trigger duration of the high level of the synchronous signal;
based on the first time and the second time, a synchronization signal is generated.
In an embodiment of the present invention, based on the foregoing scheme, the first time may be a frequency of generating a synchronization signal, for example: in practical application, the high-level trigger duration can be adjusted by adjusting the first time and the second time to generate synchronous signals with different frequencies and different duty ratios according to practical requirements, wherein the first time is multiplied by the period of the pulse signal, such as Tpps＝k*T1Wherein, TppsRepresenting the period time, T, of the pulse signal1Representing a first time, k being used to represent a multiple of the first time to the period of the pulse signal; the second time may be a proportion of the high-level trigger time in the synchronization signal over the entire duty cycle, e.g., if the high-level duration of the synchronization signal is triggered half of the time in a duty cycle, then its duty cycle is 50%.
In step S130, the synchronization signal and the standard time information are output to a corresponding sensor in the combined inertial navigation system.
In one embodiment of the invention, the synchronization signal may be used to provide a hardware synchronization trigger signal to a plurality of sensors on the drone, including but not limited to the following: image sensors, ultrasonic radar, lidar, and millimeter wave radar.
The technical scheme of the embodiment enables the pulse signal to be acquired; generating a synchronization signal based on a rising edge or a falling edge of the pulse signal; and outputting the synchronous signal, thus realizing the generation of synchronous pulse trigger signals required by a plurality of paths of inertial sensors, visual sensors, laser sensors and the like by taking the input pulse signal as a reference, and solving the problem that hardware trigger signals can not be provided for a plurality of sensors which need data synchronization in the prior art.
In an embodiment of the present invention, referring to fig. 4, the method for generating a synchronization signal of a combined inertial navigation system further includes:
step S410, acquiring positioning data corresponding to the pulse signal;
step S420, analyzing the positioning data to obtain reference time data;
step S430, outputting the reference time data and the synchronization signal.
In an embodiment of the invention, the positioning data is read at the rising edge or the falling edge of the pulse signal, and the positioning data is analyzed, and the reference time data is output after the reference time in the positioning data is acquired, or the positioning data is directly forwarded.
In an embodiment of the present invention, the positioning data may be NMEA data of GPS, such as GPRMC, BIN data, and simultaneously determine whether the positioning data is valid, and when the positioning data is determined to be valid, analyze out reference time data, where the reference time data may be UTC time information data or GPS time data, and the obtained UTC time information data or GPS time data is used to add a time tag to various sensor data; and outputting the synchronous signal and the reference time data through a general purpose input/output port (GPIO), and outputting the reference time data through an RS232 or other interfaces, or directly outputting the positioning data.
The technical scheme of the embodiment enables the pulse signal to be acquired; generating a synchronization signal based on a rising edge or a falling edge of the pulse signal; the synchronous signal is output, so that synchronous pulse trigger signals required by a plurality of paths of inertial sensors, visual sensors, laser sensors and the like are generated by taking the input pulse signal as a reference, and meanwhile, reference implementation data obtained through analysis are output for adding time labels to various sensor data, and the problem that hardware trigger signals cannot be provided for a plurality of sensors needing data synchronization in the prior art is solved.
In the following, referring to fig. 5, taking an example of acquiring a pulse signal from a GPS receiver board and taking an example of generating a synchronization signal by a microprocessor, where the pulse signal is a PPS second pulse signal and the positioning data is NEMA data or BIN data, a signal generation scheme according to an embodiment of the present invention is described in detail:
as shown in fig. 5, a method for generating a synchronization signal of a combined inertial navigation system according to another embodiment of the present invention includes the following steps:
step S510, the equipment is powered on, and the external interrupt of the microprocessor waits for a PPS second pulse signal;
specifically, when the device is powered on, the microprocessor detects the rising edge or the falling edge of the PPS second pulse signal through an external interrupt pin.
Step S520, judging whether a PPS second pulse signal is received, if so, executing step S530, otherwise, returning to step S510;
step S530, the microprocessor reads NMEA data or BIN data of the GPS receiver board card;
specifically, the microprocessor reads the GPS receiver board NMEA (for example, the gprs mc) or BIN data at the time of the PPS rising edge or falling edge.
Step S540, judging whether the data is valid, if so, executing step S550, otherwise, returning to step S530;
step S550, generating a synchronization signal, and analyzing UTC time from NMEA data or BIN data;
specifically, the microprocessor generates pulse trigger signals with different frequencies and duty ratios by taking a pulse rising edge or a pulse falling edge of PPS (pulse per second) as a reference, and analyzes UTC time or GPS time, and time tags for various sensor data during UTC or GPS time from NMEA (network address effect) data or BIN (binary information) data read by the GPS board card.
And step S560, outputting the synchronization signal and the UTC time through different interfaces.
Specifically, the microprocessor outputs the pulse trigger signal generated in step S550 through the GPIO port, and outputs the UTC time or the GPS time analyzed in step S550 through the RS232 or another interface, or directly outputs the NMEA data.
In the technical solutions provided by some embodiments of the present invention, pulse signals are obtained; generating a synchronization signal based on a rising edge or a falling edge of the pulse signal; the synchronous signal is output, so that synchronous pulse trigger signals required by a plurality of paths of inertial sensors, visual sensors, laser sensors and the like are generated by taking the input pulse signal as a reference, and meanwhile, reference implementation data obtained through analysis are output for adding time labels to various sensor data, and the problem that hardware trigger signals cannot be provided for a plurality of sensors needing data synchronization in the prior art is solved.
For details that are not disclosed in the embodiment of the present invention, please refer to the embodiment of the method for generating a synchronization signal of a combined inertial navigation system in fig. 1 and 4 of the present invention for generating details that are not disclosed in the embodiment of the present invention, because the method for generating a synchronization signal of a combined inertial navigation system in an exemplary embodiment of the present invention corresponds to the steps of the exemplary embodiment of the method for generating a synchronization signal of a combined inertial navigation system in fig. 1 and 4 of the present invention.
The following describes an embodiment of an apparatus of the present invention, which can be used to implement the method for generating the synchronization signal of the combined inertial navigation system of the present invention.
Fig. 6 schematically shows a block diagram of a device for generating a synchronization signal of a combined inertial navigation system according to an embodiment of the present invention.
Referring to fig. 6, an apparatus 600 for generating a synchronization signal of a combined inertial navigation system according to an embodiment of the present invention includes:
the analysis module 601 is configured to analyze the received positioning signal to obtain a pulse per second signal and standard time information;
a generating module 602, configured to generate a synchronization signal corresponding to each sensor of the combined inertial navigation system based on the pulse per second signal;
and an output module 603, configured to output the synchronization signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
In an embodiment of the present invention, the parsing module 601 is specifically configured to:
demodulating the received positioning signal via the signal path to obtain a pulse-per-second signal, an
And decoding the positioning signal through a preset communication protocol to obtain standard time information.
In an embodiment of the present invention, the generating module 602 is specifically configured to:
and determining the rising edge time or the falling edge time of any pulse signal in the pulse signals per second as the trigger initial time of the high level of the synchronous signal.
In an embodiment of the present invention, the generating module 602 is further configured to:
determining a pulse period and a pulse frequency of the synchronous signal according to the pulse period of the pulse per second signal, wherein the pulse period of the synchronous signal is smaller than the pulse period of the pulse per second signal, and the pulse period of the synchronous signal is in a multiple relation with the pulse period of the pulse per second signal;
determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system;
and generating a synchronization signal based on the pulse period and the pulse frequency of the synchronization signal and the trigger duration of the high level of the synchronization signal.
For details that are not disclosed in the embodiment of the apparatus of the present invention, please refer to the embodiment of the method for generating a synchronization signal of a combined inertial navigation system of the present invention for the details that are not disclosed in the embodiment of the apparatus of the present invention.
Fig. 7 schematically shows a logical structure diagram of a hardware platform for synchronization signal generation according to an embodiment of the present invention.
Referring to FIG. 7, in some embodiments of the invention, a hardware platform 700, comprises: a microprocessor 701, a GPS receiver board card 702 and a power module 703; wherein,
the microprocessor 701 is configured to receive a PPS second pulse output by the GPS board, generate a multi-channel pulse signal with different frequencies and duty ratios based on the PPS second pulse, read positioning data, such as NEMA or BIN data, from the GPS board, and analyze UTC or GPS time-dependent output or directly forward NEMA data, such as GPRMC and the like.
The GPS receiver board 702 is configured to receive GPS signals.
The power module 703 is configured to provide power for the hardware platform, and output common levels such as 5V and 3.3V and low levels at the same time.
For details that are not disclosed in the embodiment of the apparatus of the present invention, please refer to the embodiment of the method for generating a synchronization signal of a combined inertial navigation system of the present invention for the details that are not disclosed in the embodiment of the apparatus of the present invention.
Referring now to FIG. 8, shown is a block diagram of a computer system 800 suitable for use in implementing an electronic device of an embodiment of the present invention. The computer system 800 of the electronic device shown in fig. 8 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for system operation are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input section 1206 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as necessary. A removable medium 88 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted into the storage section 808 as necessary.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications section 809, and/or installed from removable media 88. The computer program executes the above-described functions defined in the system of the present application when executed by the Central Processing Unit (CPU) 801.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device is enabled to implement the screen control implementation and display method in the embodiment.
For example, the electronic device described above may implement as shown in fig. 1: step S110, analyzing the received positioning signal to obtain a pulse per second signal and standard time information; step S120, generating synchronous signals corresponding to each sensor of the combined inertial navigation system by taking the pulse per second signal as a reference; and step S130, outputting the synchronization signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
As another example, the electronic device described above may implement the steps shown in fig. 4.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A method for generating a synchronization signal of a combined inertial navigation system is characterized by comprising the following steps:
analyzing the received positioning signal to obtain a pulse per second signal and standard time information;
generating synchronous signals corresponding to all sensors of the combined inertial navigation system by taking the pulse per second signal as a reference;
and outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
2. The method for generating the synchronization signal of the combined inertial navigation system according to claim 1, wherein the analyzing the received positioning signal to obtain the pulse per second signal and the standard time information comprises:
demodulating the received positioning signal via the signal path to obtain a pulse-per-second signal, an
And decoding the positioning signal through a preset communication protocol to obtain standard time information.
3. The method for generating a synchronization signal of a combined inertial navigation system according to claim 1, wherein the generating the synchronization signal of the combined inertial navigation system corresponding to each sensor with reference to the pulse per second signal comprises:
and determining the rising edge time or the falling edge time of any pulse signal in the pulse signals per second as the trigger initial time of the high level of the synchronous signal.
4. The method for generating the synchronization signal of the combined inertial navigation system according to claim 3, further comprising:
determining the pulse period and the pulse frequency of the synchronous signal according to the pulse period of the pulse per second signal, wherein the pulse period of the synchronous signal is smaller than the pulse period of the pulse per second signal, and the pulse period of the synchronous signal and the pulse period of the pulse per second signal are in a multiple relation;
determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system;
and generating a synchronous signal based on the pulse period and the pulse frequency of the synchronous signal and the trigger duration of the high level of the synchronous signal.
5. An apparatus for generating a synchronization signal of a combined inertial navigation system, the apparatus comprising:
the analysis module is used for analyzing the received positioning signal to obtain a pulse per second signal and standard time information;
the generating module is used for generating synchronous signals corresponding to all sensors of the combined inertial navigation system by taking the pulse per second signal as a reference;
and the output module is used for outputting the synchronous signal and the standard time information to a corresponding sensor in the combined inertial navigation system.
6. The apparatus for generating a synchronization signal of a combined inertial navigation system of claim 5, wherein the parsing module is specifically configured to:
demodulating the received positioning signal via the signal path to obtain a pulse-per-second signal, an
And decoding the positioning signal through a preset communication protocol to obtain standard time information.
7. The apparatus for generating a synchronization signal of a combined inertial navigation system of claim 5, wherein the generating module is specifically configured to:
and determining the rising edge time or the falling edge time of any pulse signal in the pulse signals per second as the trigger initial time of the high level of the synchronous signal. .
8. The apparatus for generating a synchronization signal of a combined inertial navigation system of claim 6, wherein the generating module is further configured to:
determining the pulse period and the pulse frequency of the synchronous signal according to the pulse period of the pulse per second signal, wherein the pulse period of the synchronous signal is smaller than the pulse period of the pulse per second signal, and the pulse period of the synchronous signal and the pulse period of the pulse per second signal are in a multiple relation;
determining the trigger duration of the high level of the synchronous signal according to the duty ratio required by the sensor in the combined inertial navigation system;
and generating a synchronous signal based on the pulse period and the pulse frequency of the synchronous signal and the trigger duration of the high level of the synchronous signal.
9. A computer readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for generating a synchronization signal of a combined inertial navigation system according to any one of claims 1 to 4.
10. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method for generating a synchronization signal of a combined inertial navigation system of any of claims 1 to 4.
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