CN104713553A - Signal processing apparatus of micro-inertia measurement unit, and method thereof - Google Patents
Signal processing apparatus of micro-inertia measurement unit, and method thereof Download PDFInfo
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- 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
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Abstract
The invention relates to a signal processing apparatus of a micro-inertia measurement unit, and a method thereof, and belongs to the technical filed of inertia measurement device signals. The method comprises the following steps: receiving the output signal of the micro-inertia measurement unit, and parsing the output signal according to an MIMU communication protocol to obtain the acceleration value and the angular velocity value; transiting the parsed acceleration value and angular velocity value according to increment equivalent and refresh time to obtain the number of pulses of all channels; and outputting corresponding pulses according to the pulse counting of all the channels within a synchronous signal period to make the signal output format of the micro-inertia measurement unit compatible with stimulation equipment. The output signal of the micro-inertia measurement unit is transited from electric interface and protocol standard, and an MEMS inert measurement unit can be directly applied to present stimulation equipment without any modification in the equipment in the transition process, so the apparatus and the method are simple and easy.
Description
Technical field
The present invention relates to a kind of signal processing apparatus and method of micro inertial measurement unit, belong to inertia measurement device signalling technique field.
Background technology
Need at present to use and generally in the equipment of Inertial Measurement Unit use laser IMU, have that cost is high, volume large, the quality problem such as heavily.MEMS Inertial Measurement Unit possesses multiple advantage compared with conventional I MU, MEMS Inertial Measurement Unit is applied to precision guided weapon and has a good application prospect, and is convenient to installation, maintenance and replacing, can effectively reduce guided missile size, weight, price and power consumption simultaneously.But because the problem such as data protocol and electric interfaces is inconsistent, directly cannot apply, MEMS Inertial Measurement Unit availability in a device cannot be verified.
The method generally adopted at present has two kinds: one to be directly change device interior computing machine, process MEMS Inertial Measurement Unit output signal, but this kind of method may cause other functional modules to be affected, thus there is the risk causing equipment failure; Two is the lasergyro signal format customization MEMS Inertial Measurement Units according to device processes, but this kind of method cost is higher, once customization MEMS Inertial Measurement Unit performance index can not meet the index system of equipment, customization MEMS Inertial Measurement Unit cannot be applied, and cause huge waste.
Summary of the invention
The object of this invention is to provide a kind of signal processing apparatus and method of micro inertial measurement unit, inconsistent to solve the interface shape of existing MEMS Inertial Measurement Unit and Data Transport Protocol and existing analog machine, causing cannot direct applied problem.
Technical scheme of the present invention is:
A kind of signal processing apparatus of micro inertial measurement unit, it is characterized in that, this signal processing apparatus comprises standard signal receiving element, signal transacting and converting unit and data transmission unit, the input end of described standard signal receiving element is for connecting the output terminal of micro inertial measurement unit, for receiving the output signal of micro inertial measurement unit, and resolve to obtain acceleration and magnitude of angular velocity to it according to MIMU communication protocol, described signal transacting is connected with the output terminal of standard signal receiving element with the input end of converting unit, for by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to, described data transmission unit is used for exporting corresponding pulse according to the step-by-step counting of each passage in the cycle of synchronizing signal, make signal output format and the analog machine compatibility of micro inertial measurement unit.
2. the signal processing apparatus of micro inertial measurement unit according to claim 1, is characterized in that, the process that described standard signal receiving element carries out Signal reception is as follows:
A. according to MIMU communication protocol, data frame head is detected, determine whether EB90, if not then directly abandon;
If the data frame head b. detected is EB90,28 byte datas received are received, store and are calculated their cumulative sum;
C. receive last byte number certificate, and the cumulative sum calculated in itself and step b is compared, if equal, then illustrate that these frame data receive, if not etc., then illustrate that these frame data have error code, and abandon this frame data.
3. the signal processing apparatus of micro inertial measurement unit according to claim 2, it is characterized in that, described standard signal receiving element is after receiving frame data, also need to verify complete frame data, comprise the verification of the verification of header file, the verification of data volume, the verification of data ID, the check sum check position of frame cycle count, only have by after above-mentioned verification, data are just considered to correct reception.
4. the signal processing apparatus of micro inertial measurement unit according to claim 1, it is characterized in that, the high eight-bit of each channel data that MIMU exports by described signal transacting and converting unit in pulse transformation process and low 12 cast out, and get middle 12 and calculate as valid data.
5. the signal processing apparatus of micro inertial measurement unit according to claim 1, it is characterized in that, described signal processing apparatus also comprises System self-test unit, and this System self-test unit is used for carrying out self-inspection to micro inertial measurement unit before standard signal receiving element receives data.
Present invention also offers a kind of signal processing method of micro inertial measurement unit, this signal processing method comprises the following steps:
1) receive the output signal of micro inertial measurement unit, according to MIMU communication protocol, it is resolved, obtain acceleration and magnitude of angular velocity;
2) by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to;
3) in the cycle of synchronizing signal, export corresponding pulse according to the step-by-step counting of each passage, make signal output format and the analog machine compatibility of micro inertial measurement unit.
Described step 1) in data receiver resolving as follows:
A. according to MIMU communication protocol, data frame head is detected, determine whether EB90, if not then directly abandon;
If the data frame head b. detected is EB90,28 byte datas received are received, store and are calculated their cumulative sum;
C. receive last byte number certificate, and the cumulative sum calculated in itself and step b is compared, if equal, then illustrate that these frame data receive, if not etc., then illustrate that these frame data have error code, and abandon this frame data.
Described step 2) in pulse transformation process, the high eight-bit of each channel data of MIMU output and low 12 are cast out, 12 that get centre calculate as valid data.
After receiving frame data in described step c, also need to verify complete frame data, comprise the verification of the verification of header file, the verification of data volume, the verification of data ID, the check sum check position of frame cycle count, only have by after above-mentioned verification, data are just considered to correct reception.
Described signal processing method also comprises System self-test process, and this process of self-test realizes by sending MEMS Inertial Measurement Unit self-inspection order to RS-422 interface.
The invention has the beneficial effects as follows: the present invention receives the output signal of micro inertial measurement unit, according to MIMU communication protocol, it is resolved, obtain acceleration and magnitude of angular velocity; Then by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to; Finally in the cycle of synchronizing signal, export corresponding pulse according to the step-by-step counting of each passage, make signal output format and the analog machine compatibility of micro inertial measurement unit.The present invention changes from electric interfaces and consensus standard two output signals of aspect to micro inertial measurement unit, this transfer process need not carry out any amendment in equipment, directly MEMS Inertial Measurement Unit can be applied on existing analog machine, and simple.
Accompanying drawing explanation
Fig. 1 is the hardware configuration schematic diagram of MEMS micro inertial measurement unit signal processing apparatus;
Fig. 2 is MEMS micro inertial measurement unit signal-data processing process flow diagram;
Fig. 3 is MEMS micro inertial measurement unit signal data receiving processing module refinement process flow diagram;
Fig. 4 is MEMS micro inertial measurement unit signal data checking treatment module refinement process flow diagram;
Fig. 5 is MEMS micro inertial measurement unit signal data form preparation block refinement process flow diagram on request;
Fig. 6 is MEMS micro inertial measurement unit signal data sending module refinement process flow diagram;
Fig. 7 is that MEMS micro inertial measurement unit signal-data processing exports process flow diagram;
Fig. 8 is MEMS micro inertial measurement unit signal conversion work schematic flow sheet;
Fig. 9 is MEMS micro inertial measurement unit signal conversion self-inspection schematic flow sheet.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
The embodiment of a kind of micro inertial measurement unit signal processing apparatus of the present invention
This signal processing apparatus comprises standard signal receiving element and signal transacting and converting unit, the input end of standard signal receiving element is for connecting the output terminal of micro inertial measurement unit, for receiving the output signal of micro inertial measurement unit, and resolve to obtain acceleration and magnitude of angular velocity to it according to MIMU communication protocol, signal transacting is connected with the output terminal of standard signal receiving element with the input end of converting unit, for by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to.
Concrete flow process is: MIMU gyro sends data with the frame format of 31 bytes, first standard signal receiving element identifies frame head data, then whole frame data are received, receive and notify that next link verifies frame data, verify failed data and do not enter downstream, signal transacting and converting unit carry out the conversion of data layout according to existing test platform to the data by verifying, 12 data lines of the corresponding test platform of conversion generation 12 groups of data; Data transmission unit is according to system standard clock, and the uninterrupted count pulse data continuing to send gyro and add meter, this module pipeline work pattern ensure that the real-time process of system, is convenient to test simultaneously and improves.
The present embodiment Plays signal receiving unit and signal transacting and converting unit are realized by DSP process chip, hardware configuration as shown in Figure 1, comprise DSP process chip, driving circuit conversion chip, outside expansion ROM, RS-422 interface conversion chip, program storage chip, power conversion chip and outside expansion ROM, the input end of DSP process chip is connected with the output terminal of micro inertial measurement unit by RS-422 interface conversion chip, the output signal of micro inertial measurement unit is transferred in DSP process chip by RS-422 interface conversion chip.In the present embodiment, the signal processing flow of the signal processing apparatus of micro inertial measurement unit as shown in Figure 2, first the data of RS-422 form are transferred to standard signal receiving element by 422 translation interfaces by micro inertial measurement unit, standard signal receiving element parses required angular velocity from the frame format data of 31 bytes and acceleration information sends to signal transacting and converting unit, incrementally equivalent and refresh time convert the umber of pulse of each passage to by the acceleration parsed and magnitude of angular velocity for signal transacting and converting unit, and be transferred to data transmission unit, read the umber of pulse of 12 each passages and count output 12 groups of data respectively according to the clock flying the KHz level controlling the clock data frequency division generation that test platform sends.Concrete steps are as follows:
1. the signal processing of standard signal receiving element
This standard signal receiving element mainly realizes the receiving function of the data of the RS-422 form that MIMU sends, need the data of reception 31 amount of bytes under normal circumstances, receive serial data by 422 serioparallel exchange chips and need the baud rate that 422 chips are set, mode of operation, the control registers such as interrupt mode, to 422 after setting completed, module starts normal receive data, after gyro powers on, default conditions for start send out a number state, namely one power on after product automatically to outgoing number.
The form that gyro sends data is: EB901901 (25Byte data) XXXX (31Byte, XXXX are checking data altogether).As needed product self-inspection, then need first to send to stop sending out counting and order, then send self-inspection order.Self-detection result: EB900607 (6Byte content) XXXX (12Byte, XXXX are checking data altogether).
Start MEMS Inertial Measurement Unit and send data, wait for MEMS Inertial Measurement Unit signal, after MEMS Inertial Measurement Unit signal arrives, the temporary register that DSP opens up is put into by protocol conversion unscrambling data, continue to wait for that new MEMS Inertial Measurement Unit signal arrives, unscrambling data, upgrades register.
Micro inertial measurement unit MEMS adopts the communication protocol of MIMU, and specify in this communication protocol that every frame data comprise 31 bytes, the data layout adopted is as shown in table 1.
Table 1
Standard signal receiving element to the reception processing procedure of signal as shown in Figure 3, detailed process is as follows: first detect data frame head " EB90 ", when the first two byte data is " EB90 ", then carry out operation below, then abandon these data when not being " EB90 ", again detect data frame head; After data frame head " EB90 " being detected, then ensuing 28 byte datas are received, stored, and calculate their cumulative sum; Then receive last byte number certificate, and compare with the cumulative sum of 28 byte datas above, equal, flag register is set to 1, shows that these frame data receive, unequal, illustrate in these frame data and have error code, these frame data must be cast out.
After standard signal receiving element receives frame data, notify that this module one frame data receive completely by zone bit, this module reads 31 frame partial datas and verifies, as shown in Figure 4, need the header file (two bytes) verified respectively, data volume (1 byte), data ID (1 byte), frame cycle count (1 byte), and verification (1 byte).Data are by after verification, think that data correctly receive, by the data input signal process of effective 25 Byte and converting unit (by zone bit and data bus transmission), 25 bytes here comprise the preserved signal of the acceleration signal of 12 bytes, the angular velocity signal of 12 bytes and 1 byte.
2. the processing procedure of signal transacting and converting unit
As shown in Figure 5, signal transacting and converting unit convert the umber of pulse of 12 passages above to by increment equivalent and refresh time to the acceleration of receive 25 byte datas, magnitude of angular velocity, the factor such as range and precision of angular velocity and acceleration is considered in the present embodiment, the high eight-bit of each channel data that MIMU is exported and low 12 cast out, get wherein 12 calculate as valid data.First, extract most significant digit numerical value, as symbol, when symbol is 1, show that this numerical value is negative, get the absolute value of radix-minus-one complement as its numerical value of former data; When symbol is 0, show that this numerical value is positive number, former data are the absolute value of its numerical value.Then calculate the output umber of pulse of angular velocity and acceleration respectively, and assignment gives output interface, wherein for angular velocity umber of pulse, when symbol is 1, the umber of pulse calculated gives negative passage, positive passage assignment 0; When symbol is 0, the umber of pulse calculated then gives positive passage, negative passage assignment 0.
Read data in the register of real-time update, drawn the TTL pulse number needing to export by corresponding criterion calculation, in the cycle of synchronizing signal, control TTL step-by-step counting exports.Should be noted that when Software for Design: for avoiding, when renewal acceleration register, angular velocity register, read register operation occurs, arrange and upgrade register whether complement mark position, guarantee when upgrading register and being unclosed, read register operation to occur.
3. data transmission unit exports
As shown in Figure 6, when data transmission unit detects that the renewal zone bit of data preparation module is effective, read 12 groups of data from a upper module and count output 12 groups of data respectively according to the clock flying the KHz level controlling the clock data frequency division generation that test platform sends, FB(flow block) as shown in Figure 7.
Data Update zone bit is in most cases effective, only within the extremely short time of Data Update by zero setting (about 2 clock period), thus ensure that data transmission blocks can be real-time read from data preparation module the gyro and accelerometer information that upgrade.
In addition, the signal processing apparatus of micro inertial measurement unit of the present invention also comprises System self-test unit, and as shown in Figure 9, detailed process is as follows for the workflow of this self-test unit.
1. send MEMS Inertial Measurement Unit self-inspection order to RS-422 interface, after receiving the self-inspection normal signal that MEMS Inertial Measurement Unit returns, light self-inspection lamp.
2. the self-inspection of TTL frequency modulation on pulse function is sent: the trial value that prestores in a register (as 0xXX), start and send data, received to the 12 road frequency modulation on pulses flying to control cabin transmission by DSP loop I/O and process deciphering, compare with the trial value in register, as identical, then think that function is normal, light self-inspection lamp; Explain: 12 I/O unit that this function additionally make use of DSP carry out receiving area haircut and deliver to the data flying to control cabin, after system is started working by self-inspection, the I/O in this group receiving loop will use as sending I/O with the corresponding I/O of transmission is common.
3. corrected parameter memory read/write self-inspection: corrected parameter is write storer and to stored in parameter information read, and compare one by one with write data, the data read with stored in data identical time correct, by the self-inspection of corrected parameter memory read/write, light and read and write self-inspection lamp.
The embodiment of the signal processing method of a kind of micro inertial measurement unit of the present invention
The signal processing method of micro inertial measurement unit of the present invention is changed from electric interfaces and consensus standard two output signals of aspect to micro inertial measurement unit, make the guidance bay section on the signal output format of MEMS Inertial Measurement Unit and current equipment and test macro compatible, the method flow process as shown in Figure 8, specifically comprises the following steps
1. receive the output signal of micro inertial measurement unit, according to MIMU communication protocol, it is resolved, obtain acceleration and magnitude of angular velocity.This process can be realized by standard signal receiving element, and concrete process has been described in detail in the embodiment of device, repeats no more here.
2. by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to, this process can be realized by signal transacting and converting unit, process concrete has equally been described in detail in the embodiment of device, repeats no more here.
3. in the cycle of synchronizing signal, export corresponding pulse according to the step-by-step counting of each passage, make signal output format and the analog machine compatibility of micro inertial measurement unit.
Claims (10)
1. the signal processing apparatus of a micro inertial measurement unit, it is characterized in that, this signal processing apparatus comprises standard signal receiving element, signal transacting and converting unit and data transmission unit, the input end of described standard signal receiving element is for connecting the output terminal of micro inertial measurement unit, for receiving the output signal of micro inertial measurement unit, and resolve to obtain acceleration and magnitude of angular velocity to it according to MIMU communication protocol, described signal transacting is connected with the output terminal of standard signal receiving element with the input end of converting unit, for by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to, described data transmission unit is used for exporting corresponding pulse according to the step-by-step counting of each passage in the cycle of synchronizing signal, make signal output format and the analog machine compatibility of micro inertial measurement unit.
2. the signal processing apparatus of micro inertial measurement unit according to claim 1, is characterized in that, the process that described standard signal receiving element carries out Signal reception is as follows:
A. according to MIMU communication protocol, data frame head is detected, determine whether EB90, if not then directly abandon;
If the data frame head b. detected is EB90,28 byte datas received are received, store and are calculated their cumulative sum;
C. receive last byte number certificate, and the cumulative sum calculated in itself and step b is compared, if equal, then illustrate that these frame data receive, if not etc., then illustrate that these frame data have error code, and abandon this frame data.
3. the signal processing apparatus of micro inertial measurement unit according to claim 2, it is characterized in that, described standard signal receiving element is after receiving frame data, also need to verify complete frame data, comprise the verification of the verification of header file, the verification of data volume, the verification of data ID, the check sum check position of frame cycle count, only have by after above-mentioned verification, data are just considered to correct reception.
4. the signal processing apparatus of micro inertial measurement unit according to claim 1, it is characterized in that, the high eight-bit of each channel data that MIMU exports by described signal transacting and converting unit in pulse transformation process and low 12 cast out, and get middle 12 and calculate as valid data.
5. the signal processing apparatus of micro inertial measurement unit according to claim 1, it is characterized in that, described signal processing apparatus also comprises System self-test unit, and this System self-test unit is used for carrying out self-inspection to micro inertial measurement unit before standard signal receiving element receives data.
6. a signal processing method for micro inertial measurement unit, is characterized in that, this signal processing method comprises the following steps:
1) receive the output signal of micro inertial measurement unit, according to MIMU communication protocol, it is resolved, obtain acceleration and magnitude of angular velocity;
2) by the acceleration parsed and magnitude of angular velocity, incrementally equivalent and refresh time convert the umber of pulse of each passage to;
3) in the cycle of synchronizing signal, export corresponding pulse according to the step-by-step counting of each passage, make signal output format and the analog machine compatibility of micro inertial measurement unit.
7. the signal processing method of micro inertial measurement unit according to claim 6, is characterized in that, described step 1) in data receiver resolving as follows:
A. according to MIMU communication protocol, data frame head is detected, determine whether EB90, if not then directly abandon;
If the data frame head b. detected is EB90,28 byte datas received are received, store and are calculated their cumulative sum;
C. receive last byte number certificate, and the cumulative sum calculated in itself and step b is compared, if equal, then illustrate that these frame data receive, if not etc., then illustrate that these frame data have error code, and abandon this frame data.
8. the signal processing method of micro inertial measurement unit according to claim 7, it is characterized in that, described step 2) in pulse transformation process, the high eight-bit of each channel data of MIMU output and low 12 are cast out, 12 that get centre calculate as valid data.
9. the signal processing method of micro inertial measurement unit according to claim 8, it is characterized in that, after receiving frame data in described step c, also need to verify complete frame data, comprise the verification of the verification of header file, the verification of data volume, the verification of data ID, the check sum check position of frame cycle count, only have by after above-mentioned verification, data are just considered to correct reception.
10. the signal processing method of micro inertial measurement unit according to claim 9, is characterized in that, described signal processing method also comprises System self-test process, and this process of self-test realizes by sending MEMS Inertial Measurement Unit self-inspection order to RS-422 interface.
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Application publication date: 20150617 |