CN104866444B

CN104866444B - A kind of distributed POS data storage computer systems

Info

Publication number: CN104866444B
Application number: CN201510317048.XA
Authority: CN
Inventors: 朱庄生; 粟昆; 李驰; 郭阳; 郭一阳; 叶文
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2015-06-10
Filing date: 2015-06-10
Publication date: 2017-11-10
Anticipated expiration: 2035-06-10
Also published as: CN104866444A

Abstract

A kind of distributed POS data storage computer systems, using high-performance 32-bit ARM microprocessor STM32 as control module, data acquisition module, data memory module and the part of data outputting module four in core controller, including system.Module is controlled in system using STM32 as core, the Collaboration and integration for being responsible for whole data storage computer system are dispatched, and carry out real-time, interactive with monitoring computer.Data acquisition module realizes the parallel reception of multiple IMU initial data, GPS initial data and real-time navigation data by FPGA.Data memory module completes the high speed stable recording of whole system data using high-quality Large Copacity SD card as storage medium.The data for storing computer system are sent to host computer by data outputting module by hi-speed USB interface, it is ensured that the efficient utilization of data.The present invention is applied to distributed inertial navigation and integrated navigation system.

Description

A kind of distributed POS data storage computer systems

Technical field

The present invention relates to a kind of distributed POS data storage computer systems, distributed POS can apply to (Position and Orientation System, position and attitude measuring system), can also be applied to inertial navigation, inertia/ The mass data storage of GPS (Global Position System, global positioning system) integrated navigation system.

Background technology

High-precision POS is the critical component of air remote sensing system, and it provides high frequency, high accuracy for all kinds of air remote sensing load Time, space reference information, pass through kinematic error compensation and improve load imaging precision and efficiency.As air remote sensing is to high score The continuous improvement of resolution imaging demand, new and effective multitask imaging load joint imaging technology, the interference of Long baselines microwave load The effective means for improving imaging efficiency and resolution ratio is increasingly becoming with array technique.Traditional single POS can not meet not Tongan City The demand of the high-precision motion parameter measurement of a multi-load is put, and because of the limitation of the factors such as volume, weight, cost, in each sight It is also unrealistic that a high-precision POS is respectively mounted at survey load.Therefore, there is an urgent need to set up the distributed POS system of high accuracy.Point Cloth POS system is made up of the main POS of high accuracy and more sub- IMU.Main POS resolve the high precision position for obtaining primary antenna, speed, The kinematic parameters such as posture, the information that more sub- IMU are provided using main POS carry out Transfer Alignment, finally realize multiple spot movable information Accurate measurement, and kinematic error compensation is carried out in imaging.Further to improve load imaging precision, it is necessary to distribution All data of the POS system course of work are post-processed, and distributed POS is provided with data storage computer system for post processing Data source, it is that whole distributed POS system puies forward high-precision key.

Distributed POS data storage computer systems, it is the core component of distributed POS system post processing, is responsible for connecing Receive and store main IMU, more sub- IMU, GPS and the output of distributed POS system data processing circuit raw information, and complete by Data are transferred to the task of host computer.Distributed POS system is compared with the single IMU of tradition POS system, its system structure first Into more complicated, multiple sensors for being internally integrated while work, its data renewal frequency requires 200Hz~400Hz, and IMU is former Beginning number data volume is higher than 216B/Hz, and real-time navigation result data amount is higher than 84B/Hz, amount of GPS data 116B/Hz, then entirely System data volume per second will be above 83.2KB, and data storage computer system data throughput will be up to 1Mbps~2Mbps. Traditional POS data storage computer system can only receive POS data all the way in synchronization, and the speed for receiving data is up to 115200bps, operating efficiency is low, to realize the data storage of distributed POS system, it is necessary to uses multiple storage computer systems Work simultaneously, therefore the volume of distributed POS system and power consumption can be caused to sharply increase, and be used as air remote sensing system core portion The distributed POS system of part, its volume and power consumption must be controlled strictly, thus traditional POS data storage computer system without Method meets the actual demand of distributed POS system.In addition, traditional POS data storage computer system is led to using single more Letter interface and POS system are communicated, as long as the communication interface type of POS system is adjusted according to mission payload, POS storages With regard to the circuit module of necessary external communication Protocol Conversion between computer system and POS system so that POS data stores computer The flexibility of system greatly weakens, while also increases the cost of whole POS system.

The content of the invention

The technology of the present invention solves problem：Overcome the deficiencies in the prior art, propose a kind of distributed POS data storages Computer system, authentic data source is provided for the post processing of distributed POS system.

The technology of the present invention solution is：A kind of distributed POS data storage computer systems of the present invention, including number According to control module, data memory module and the part of data outputting module four in input module, system；Wherein data input module is with being In system control module be connected, data input module for parallel acquisition IMU gyro and accelerometer pulse data, gps data with Real-time navigation data；The STM32 chips controlled in system in module come from data input module by the USART peripheral hardwares reception of itself Data, place data into temporary buffer area using STM32 chip internal DMA channels, during STM32 chip operations, when Clock circuit provides high-precision time reference for it, and the power module in module and power transfer module are controlled in system entirely to deposit Store up computer system and high stability power supply is provided, the application program of user is loaded into STM32 chips by configuring interface, is realized Man-machine interaction；Data memory module is controlled module and controlled in by system, mould is entered data into according to the rule of FAT32 file system The data of block are stored in the form of text in SD card memory, the storage of system time service module accurate record data when Between；The data that data outputting module is used in user's extraction SD card memory, SD card memory are directly connected to AU6438 chips, AU6438 chip internals are integrated with FAT32 file system, and the text in SD card memory is read into hardware buffer area, lead to Cross USB interface and file is sent to host computer.

IMU gyros and accelerometer pulse data in data input module are by application specific integrated circuit by RS422 level It is converted into the Transistor-Transistor Logic level that fpga chip can identify；Gps data is completed to communicate by RS232 electrical level transferring chips with fpga chip； Real-time navigation data are connected by CAN interface chip with fpga chip, realize the high-speed transfer of data.Fpga chip is as storage The hardware cache of computer system, IMU gyro and accelerometer pulse data, gps data and real-time navigation can be gathered simultaneously Data, the data serializing of multidiameter delay is handled, STM32 chips are sent to by high speed USART.

In system control module by power module, STM32 chips, power transfer module, configuration interface, system time service module and Clock circuit forms；Power module changes air standard supply voltage 28V to the stable 5V voltages needed for system, then passes through electricity 3.3V low noise voltage of the source modular converter by 5V voltage conversions for STM32 chip operations；STM32 chips are as data storage meter The core controller of calculation machine system, complete data receiver, data buffering, file foundation, data write-in and storage；System time service mould Block provides accurate modification time for the text that STM32 chips are established；Configuration interface loads application program for user Into STM32 chips；Clock circuit provides accurately 8MHz time-base signals to control module in system；Module is controlled in system to pass through certainly The USART interfaces of body, user can be facilitated to data storage department of computer science in real time to the state of monitoring computer report whole system System carries out on-line fault diagnosis.

Data memory module using high-speed high capacity SD card memory be used as storage medium, by high speed SPI interface with STM32 chips are communicated, and the data in STM32 chip buffering areas are stored in the form of text in SD card memory.

The core of data outputting module is AU6438 chips, and AU6438 chip internals are integrated with FAT32 file system, user The USB interface that can be expanded by AU6438 chip exteriors, copy the text in SD card memory to work upper In machine hard disk.

The present invention principle be：

Fpga chip gathers IMU's by RS422 interfaces, RS232 interface and CAN interface circuit with 200Hz rate parallels Gyro and accelerometer pulse data, GPS initial data and real-time navigation data difference；And the data gathered are passed through at a high speed Serial ports, which is sent in system, controls module.STM32 chips receive the number from data input module by the USART peripheral hardwares of itself According to placing data into temporary buffer area using STM32 chip internal DMA channels, clock circuit provides high accuracy for STM32 chips Time reference, power module and power transfer module provide high stability power supply for whole storage computer system, user's Application program is loaded into STM32 chips by configuring interface, realizes man-machine interaction；Data memory module controls module in by system Control, using speed be 24Mbps high speed SPI interface, enter data into module according to the rule of FAT32 file system Data are stored in the form of text in SD card memory, the time of the accurate record data storage of system time service module；Number The data being used for according to output module in user's extraction SD card memory, SD card memory are directly connected to AU6438 chips, AU6438 chip internals are integrated with FAT32 file system, and the text in SD card memory is read into hardware buffer area, lead to Cross USB interface and file is sent to host computer.

The present invention compared with prior art the advantages of be：

(1) present invention uses FPGA+ARM microprocessor+USB card reader AU6438 frameworks.FPGA realizes multichannel data simultaneously Row collection, serialization after data buffer storage is handled, improves the integrated level and the speed of service of system；ARM microprocessor STM32 leads to Cross DMA hardware buffering method and receive data, the ability of the further lifting system collection Large Volume Data of energy, not only realize data The reliable reception do not lost completely, and core controller STM32 internal resource occupancy can be reduced；USB card reader AU6438 is avoided during user copies data and is plugged SD card, improves operating efficiency.

(2) RS422 interfaces, RS232 interface, CAN interface are become one by FPGA in the present invention, it is only necessary to One storage computer system circuit main board can complete the collection of all data of distributed POS system, reduce whole distribution The volume and power consumption of formula POS system, realize IMU gyros and accelerometer pulse data, gps data, real-time navigation data Parallel acquisition and output, the real-time Communication for Power of computer is realized and monitored, facilitate user to carry out data storage computer system On-line fault diagnosis.

Brief description of the drawings

Fig. 1 is the distributed POS data storages computer system composition frame chart of the present invention；

Fig. 2 is the Data Input Interface circuit diagram of the present invention；

Fig. 3 is to control module core circuit diagram in the system of the present invention；

Fig. 4 is the workflow diagram of the present invention；

Fig. 5 is the data outputting module circuit diagram of the present invention.

Embodiment

The specific implementation framework of the technology of the present invention solution is as shown in figure 1, a kind of distributed POS is calculated with data storage Machine system includes controlling module 2, data memory module 3 and the part of data outputting module 4 four in data input module 1, system；Wherein Data input module 1 serves as hardware buffer area using high-performance FPGA, and data input module 1 passes through FPGA parallel acquisitions IMU's Gyro and accelerometer pulse data 5, gps data 6 and real-time navigation data 7, the multichannel POS data collected is beaten again Bag, it is connected by high speed USART with controlling module 2 in system；In system control module 2 in STM32 chips 9 by itself USART peripheral hardwares receive the data from data input module 1, are placed data into temporarily using the inside DMA channel of STM32 chips 9 Buffering area, during STM32 chips 9 work, clock circuit 13 is that STM32 chips 9 provide high-precision time reference, system Power module 8 in middle control module 2 provides high stability power supply by power transfer module 10 for whole storage computer system, The application program of user is loaded into STM32 chips 9 by configuring interface 11, realizes man-machine interaction；Data memory module 3 is The control of module 2 is controlled in system, the IMU of module 1 gyro and accelerometer are entered data into according to the rule of FAT32 file system Pulse data 5, gps data 6 and real-time navigation data 7 are stored in the form of text in SD card memory 14, and system is awarded When the storage of module 12 accurate record data time；The data that data outputting module 4 is used in user's extraction SD card memory 14, SD card memory 14 and USB card reader AU6438 chips 15 are directly connected to, and AU6438 chips 15 have been internally integrated FAT32 files system System, hardware buffer area is read by the text in SD card memory 14, is sent to file by usb 16 upper Machine.

The interface circuit figure of data input module 1 is as shown in Figure 2.Data input module 1 is using the production of XILINX companies Core controller of the XC3S400 Series FPGAs data input module, it is integrated with RS422 interfaces, RS232 universal asynchronous serials With CAN data transmission interface, three kinds of interfaces work simultaneously under the control of fpga chip, are these three inside fpga chip Data-interface opens three different data buffer zones.Wherein RS422 interfaces are used for the gyro for receiving IMU and accelerometer is former Beginning data, the differential level signal of RS422 forms can be converted to FPGA energy by it using MAX3490 chips as physical layer interface The standard Transistor-Transistor Logic level signal of identification, the speed of RS422 interface transmission datas can be configured by FPGA, and its highest transmission speed can Up to 10Mbps, after fpga chip receives the Transistor-Transistor Logic level signal after the conversion of MAX3490 chips, the signal can be read as having Volume data is simultaneously cached to the data buffer zone of fpga chip internal proprietary；RS232 universal asynchronous serials are used to receive GPS original numbers It is believed that breath, it is using MAX232CSE chips as physical layer interface, and under the control of fpga chip, RS232 level signals are changed The standard Transistor-Transistor Logic level signal that can be identified for fpga chip, and the TTL signal is entered into row decoding, the data after decoding are buffered To the data buffer zone of fpga chip internal proprietary, the speed that RS232 universal asynchronous serials receive data is controlled by fpga chip, Reach as high as 115.2Kbps；CAN data transmission interface be used for receive real-time navigation data, it using SJA1000 chips as Protocol layer, using TJA1050 chips as physical layer, TJA1050 chips detect the change of level in CAN in real time, and CAN is total Line level conversion is the standard Transistor-Transistor Logic level that SJA1000 chips can identify, SJA1000 chips are believed the Transistor-Transistor Logic level received afterwards Number enter row decoding and cache, last fpga chip can read the signal after decoding from the buffering area of SJA1000 chips, then should Signal is cached to the internal proprietary buffering area of fpga chip, and the speed that CAN receives data is configured by fpga chip The baud rate register of SJA1000 chip internals is realized, reaches as high as 1Mbps；It is connected inside fpga chip with three kinds of interfaces Data buffer zone when producing spill over, fpga chip can pass through the data in three exclusive data buffering areas at a high speed USART interfaces are sent to the STM32 chips controlled in system in module 2.

The core circuit schematic diagram of module 2 is controlled in system as shown in figure 3, controlling module 2 in system by power module, STM32 Chip, power transfer module, configuration interface, system time service module and clock circuit composition.Module 2 and data input are controlled in system Module 1 is connected by STM32 USART peripheral hardwares (No. 43 pins in Fig. 2).The HDW3- that power module is produced with ampere-hour victory company 24S05 modules are that air standard supply voltage 28V is converted to 5V voltages needed for system by core, and pass through power transfer module 3.3V electricity of the chip AMS1117-3.3 by 5V voltage conversions needed for STM32 chips, fpga chip and SD card memory operation Pressure；The high-performance STM32 processor chips STM32F103RDT6 in module 2 is controlled in system with 200Hz frequencies, 1Mbps baud rates Gyro and accelerometer pulse data, the GPS initial data and real-time navigation data for the IMU that data input module 1 is sent are received, Hardware buffer is carried out by dma mode, when hardware buffer area overflows, STM32 chip internals produce an interrupt signal notice Data in CPU reading DMA hardware buffers area.Now spi bus communication starts, in the data write-in SD card that CPU is read Text simultaneously preserves；Time service module is made up of 32.76KHz crystal oscillator and two electric capacity, and it is connected to STM32 Correct time can be read by the register of Programming STM32 chip internals in No. 3 of chip and No. 4 pins, user, should Time is the settling time and modification time of SD card Chinese this document；Clock circuit has source crystal oscillator to form by 8MHz's, active No. 3 pins of crystal oscillator are connected with No. 5 pins of STM32 chips by 33 Ohmic resistances, are provided precisely for STM32 chips 8MHz time-base signals, ensure that the execution on time of each of STM32 chip internals instruction；Configuration interface is that user and storage are counted The application program for realizing store function can be loaded into STM32 chips by the interface of calculation machine system interaction, user.

The workflow diagram of whole storage computer system is as shown in figure 4, system work is divided into two big shapes of storage and access State.After system electrification, if USB card reader AU6438 is no and host computer establishes connection, now system works in storage shape State, system will be cooperated by FPGA and STM32 in the storage position.On the one hand, clock control of the STM32 chips to inside is posted Storage RCC carries out initial configuration, and accurate time reference is provided for system work by the pll clock in piece.In the present invention The middle USART peripheral hardwares and SPI bus controller peripheral hardware for having used STM32 chips, needed after the initialization of piece internal clock finishes To each peripheral hardware initialization of register of STM32 chips.In order to reach the purpose of collection mass data in real time, it is necessary to configure and open The DMA opened in STM32 chips is interrupted.The initialization of file system refers to establish multiple texts in SD card, is respectively intended to Preserve the multichannel data of POS system.On the other hand, when STM32 chips carry out initial work, FPGA can be to CAN control SJA1000 processed and internal USART controllers carry out initial configuration, and then the data in each road bus are detected and received, After the POS data of a cycle has been received, FPGA can by the multichannel data received parallel by certain format combination into one Road is simultaneously sent to STM32 chips by high speed USART.STM32 chips will enter wait after opening USART DMA receiving channels Interrupt status, STM32 chips continue to monitor DMA data buffer zone, if buffer overflow flag bit is set, CPU can be slow The digital independent rushed in area is to the internal data buffer area of STM32 chips and removes interrupt identification, and STM32 chips can incite somebody to action afterwards Data in RAM areas are unpacked, and are write in SD card memory the text established in advance and are preserved, and are completed a data and are preserved Program to monitoring computer report storage computer system working condition now and is skipped to interrupt latency by STM32 chips afterwards State.Data storage function will be terminated after system cut-off, now user can be connect storage computer system by USB2.0 Mouth is connected to host computer, and all data copies that this POS system works from SD card memory come out.

The circuit theory diagrams of data outputting module 4 are as shown in figure 5, it uses USB card reader chips AU6438 as data The core of output module 4, AU6438 chips one end are connected with SD card memory, have been internally integrated FAT32 file system, and realizing will Text in SD card memory is sent to the function of host computer.12MHz crystal oscillator for AU6438 chips provide standard when Clock benchmark, the USB2.0 interfaces that outside is expanded can not only complete data-transformation facility, and can also be provided for AU6438 chips Power supply so that data outputting module 4 and the other modules of system are relatively independent.

Claims

A kind of 1. distributed POS data storage computer systems, it is characterised in that：Including in data input module (1), system Control module (2), data memory module (3) and the part of data outputting module (4) four；Wherein in data input module (1) and system Control module (2) to be connected, data input module (1) utilizes XC3S400 Series FPGAs (17) parallel acquisition of XILINX companies production IMU gyro and accelerometer pulse data (5), gps data (6) and real-time navigation data (7), each circuit-switched data is repacked Afterwards, STM32 chips (9) are sent to by USART；The USART that the STM32 chips (9) in module (2) pass through itself is controlled in system Peripheral hardware receives the data for coming from FPGA (17) in data input module (1), using the internal DMA channel of STM32 chips (9) by data Temporary buffer area is put into, during STM32 chips (9) work, clock circuit (13) is that STM32 chips (9) provide high accuracy Time reference, it is whole storage computer that the power module (8) in module (2) is controlled in system by power transfer module (10) System provides high stability power supply, and the application program of user is loaded into STM32 chips (9) by configuring interface (11), realizes Man-machine interaction；Data memory module (3) controls the control of STM32 chips (9) in module (2) in by system, according to FAT32 files system The rule of system enters data into gyro and the accelerometer pulse of the first sub- IMU, the second sub- IMU and the 3rd sub- IMU in module (1) Data (5), gps data (6) and real-time navigation data (7) are stored in SD card by STM32 chips (9) in the form of text In memory (14), while STM32 chips (9) obtain the time of data storage from system time service module (12) and are written to SD card In memory (14)；The data that data outputting module (4) is used in user's extraction SD card memory (14), SD card memory (14) It is directly connected to USB card reader AU6438 chips (15), AU6438 chips (15) have been internally integrated FAT32 file system, by SD Text in card memory (14) reads hardware buffer area, and file is sent into host computer by USB interface (16).
A kind of 2. distributed POS data storage computer systems according to claim 1, it is characterised in that：Described The gyro and accelerometer pulse data (5) of the first sub- IMU, the second sub- IMU and the 3rd sub- IMU in data input module (1) The Transistor-Transistor Logic level that can be identified RS422 level conversions into fpga chip (17) by application specific integrated circuit；Gps data (6) passes through RS232 electrical level transferring chips are completed to communicate with fpga chip (17)；Real-time navigation data (7) pass through CAN interface chip and FPGA Chip (17), which is connected, realizes the high-speed transfer of data；Hardware cache of the fpga chip (17) as storage computer system, can be same When gather IMU gyro and accelerometer pulse data (5), gps data (6) and real-time navigation data (7), by multidiameter delay Data serializing processing, STM32 chips (9) are sent to by high speed USART.
A kind of 3. distributed POS data storage computer systems according to claim 1, it is characterised in that：Described Module (2) is controlled in system by power module (8), STM32 chips (9), power transfer module (10), configuration interface (11), system Time service module (12) and clock circuit (13) composition；Power module (8) changes air standard supply voltage 28V to needed for system Stable 5V voltages, then by power transfer module (10) by 5V voltage conversions be STM32 chips (9), fpga chip (17) and The 3.3V voltages of SD card memory (14) work；Core controller of the STM32 chips (9) as data storage computer system, Receive the high-speed data from fpga chip (17) and complete data buffering, then by high speed SPI interface in SD card memory (14) text is established in, and is write data into this document；STM32 chips (9) are obtained from system time service module (12) and built Vertical text and the time of modification text are simultaneously written in SD card memory (14)；Configuration interface (11) is used for user Load an application into STM32 chips (9)；Clock circuit (13) is that base is believed when STM32 chips (9) provide accurately 8MHz Number；Module (2) is controlled in system by the USART interfaces of itself, can be in real time to the state of monitoring computer report whole system, side Just user carries out on-line fault diagnosis to data storage computer system.
A kind of 4. distributed POS data storage computer systems according to claim 1, it is characterised in that：Described Data memory module (3) is used as storage medium using SD card memory (14), is entered by high speed SPI interface and STM32 chips (9) Row communication, the data in STM32 chips (9) buffering area are stored in the form of text in SD card memory (14).
A kind of 5. distributed POS data storage computer systems according to claim 1, it is characterised in that：Described The core of data outputting module (4) is USB card reader AU6438 chips (15), and AU6438 chips (15) are that user and storage calculate The critical passage of machine system interaction, the USB interface (16) that user is expanded by outside AU6438 chips (15), by SD card memory (14) text in is copied in the hard disk of host computer.