CN108151741A

CN108151741A - Multimode Intelligent inertial navigation sensor-based system and its data processing method

Info

Publication number: CN108151741A
Application number: CN201810006789.XA
Authority: CN
Inventors: 张原�
Original assignee: Beijing Atomic Robot Technology Co Ltd
Current assignee: Beijing Atomic Robot Technology Co Ltd
Priority date: 2018-01-04
Filing date: 2018-01-04
Publication date: 2018-06-12

Abstract

The present invention relates to a kind of Multimode Intelligent inertial navigation sensor-based system and its data processing methods,The system includes sensor module,Processing module and interface module,Wherein sensor module connection processing module,Processing module connection interface module,Wherein the processing module includes engine kernel module and selector,Engine in engine kernel module includes two or more engine-models,Each engine-model corresponds to a kind of data anastomosing algorithm,Wherein sensor module is used to measure acceleration,Angular speed,Axially magnetic component,Ambient temperature,Ambient pressure and/or location information,The data that processing module measures for reception,According to user or system configuration,Data Fusion is carried out according to a kind of engine-model corresponding data anastomosing algorithm to the part or all of data of the measurement data from sensor module,Selector selects to be sent into interface module all the way according to user or system configuration from the multichannel data after the Data Fusion carried out according to different engine-models,Interface module is for by treated, each circuit-switched data to be output to external module or host,Embedded real time operating system wherein in processing module,Multiple threads are set in real time operating system,Multiple threads are rotated with predetermined time piece interval,Multiple threads are used to control the execution of different task respectively.

Description

Multimode Intelligent inertial navigation sensor-based system and its data processing method

Technical field

The present invention relates to a kind of intelligent inertial navigation technique field more particularly to a kind of intelligent inertial navigation sensors systems.

Background technology

Inertial navigation sensing is a kind of localization method based on measuring movable body acceleration, it does not depend on extraneous letter Breath only completes navigation by the inertia measurement of itself, inertial navigation system be then it is a kind of using inertial sensor part, reference direction and Original position determines object position in space, direction and the autonomic navigation system of speed.But current inertial navigation The performance of sensor-based system motion detection is not ideal enough, and parameter error is big, and data-handling efficiency and real-time are poor, system architecture dimension It is big to protect difficulty, data algorithm is complicated, and efficiency of algorithm is poor, in order to which the algorithm for performing complicated generally requires larger power consumption.These skills Art problem is also therefore as the technology weakness of intelligent inertial navigation sensor-based system.

Invention content

In order to solve the above technical problems, the present invention provides a kind of Multimode Intelligent inertial navigation sensor-based system and its processing Processing method, by multi-mode can inertial navigation sensor-based system sensor input data way is more, data type is further multiple In the case of miscellaneous, the sensing data of input is flexibly selected, it is different so as to the different selections according to input data Pattern carry out operation, so as to save calculation amount and power consumption.The embedded real time operating system in processing module simultaneously, accelerates process Operational efficiency, improve the data-handling efficiency and operational efficiency of system.

The present invention provides a kind of Multimode Intelligent inertial navigation sensor-based system and its data processing method.The intelligence inertia is led The sensor-based system that navigates includes sensor module, processing module and interface module, wherein sensor module connection processing module, handles mould Block connection interface module, processing module include engine kernel module and selector, and the engine in engine kernel module includes two Or multiple engine-models, each engine-model correspond to a kind of data anastomosing algorithm.Sensor module is used to measure acceleration, angle speed Degree, axially magnetic component, ambient temperature, ambient pressure and/or location information；Processing module is led to for receiving the data measured It crosses engine kernel module and Data Fusion is carried out to the multichannel data of measurement, wherein according to user or system configuration, to coming from The part or all of data of the measurement data of sensor module are according to a kind of corresponding data anastomosing algorithm of engine-model into line number According to fusion treatment, according to user or system configuration, selector is after the Data Fusion carried out according to different engine-models Select to be sent into interface module all the way in multichannel data, interface module be used for will treated each circuit-switched data is output to external module or Host.Embedded real time operating system, sets multiple threads, multiple threads are with pre- in real time operating system wherein in processing module Fix time piece interval rotation, multiple threads for respectively control different task execution.Multiple threads may be, for example, access thread (Fetch Thread), processing thread (Process Thread), breathing thread (Breath Thread), interface transmission line journey (UartRx Thread) can be respectively used to be transmitted to from each sensors for data, by the data obtained in each sensor Order that the low priority tasks such as engine, processing breath light and processing are obtained from host (HOST) etc..Real time operating system For FreeRTOS systems, the system frequency of the FreeRTOS systems can be preferably enhanced, and system frequency is for example increased to acquiescence frequency 50 times of rate accelerate the operational efficiency of process with this, improve the data-handling efficiency and operational efficiency of system.

The present invention provides another intelligent inertial navigation sensor-based system and its data processing method.The intelligence inertial navigation passes Sensing system includes sensor module, processing module and interface module, wherein sensor module connection processing module, and processing module connects Connection interface module.The processing module includes calibration module, filter module, first selector, engine kernel module, the second selection Engine in device, packet generator and package clutch, wherein engine kernel module includes two or more engine-models, each engine Pattern corresponds to a kind of data anastomosing algorithm.Sensor module output terminal connection calibration module input terminal, calibration module it is defeated The input terminal of outlet connection filter module and the first input end of first selector, the output terminal connection first choice of filter module The second input terminal of device, the output terminal connection engine kernel module of first selector.By engine kernel module to the multichannel of measurement Data carry out Data Fusion, wherein according to user or system configuration, to the part of the measurement data from sensor module Or total data carries out Data Fusion according to a kind of corresponding data anastomosing algorithm of engine-model, is matched according to user or system It puts, second selector selects to be sent into packet all the way from the multichannel data after the Data Fusion carried out according to different engine-models Generator, the output terminal connection packet generator input terminal of second selector.The output terminal connection package clutch input of packet generator End.Package clutch output terminal connection interface module.Embedded real time operating system in the processing module of intelligent inertial navigation system, should Operating system is preferably improved FreeRTOS.Multiple threads are set in real time operating system, and multiple threads are with the predetermined time Piece interval rotates, it is preferred that improves the system frequency of operating system, system frequency is for example increased to 50 times of default frequency.

Another intelligent inertial navigation system and its data processing method provided by the invention.The intelligence inertial navigation system Including sensor module, processing module and interface module.Wherein sensor module is for example passed including acceleration transducer, angular speed Sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and/or Global Navigation Satellite System.The processing mould Block is used to receive the measurement data of multiple sensors, and Data Fusion is carried out to the data that the multiple sensor detects. Wherein the processing module may include the first calibration module, the second calibration module, third calibration module, automatic calibration module, the 4th Calibration module, the 5th calibration module, first filter, second filter, third wave filter, first selector, second selector, Third selector, the 4th selector, the 5th selector, the 6th selector, the 7th selector.Preferably, first, second, and third Wave filter is Kalman filter.The processing module further includes engine kernel module, packet generator and package clutch, in engine Engine in core module includes two engine-models.

Wherein the output terminal of acceleration transducer connect respectively the first calibration module input terminal and first selector One input terminal, the output terminal of the first calibration module connect respectively the second input terminal of first selector, second selector first The input terminal of input terminal and first filter, the output terminal of first filter connect respectively first selector third input terminal and Second input terminal of second selector.The output terminal connection packet generator of first selector, the output terminal connection of second selector Engine kernel module.Acceleration transducer sends the data detected to the first calibration module and first selector, the first school Quasi-mode block sends first filter, first selector and second selector, the first filter to after the data received are calibrated Wave device sends first selector and second selector to after being filtered to the data received.According to user or system configuration, First selector selects three road signals of input, sends the signal of selection to packet generator, second selector is to defeated The two paths of signals entered is selected, and sends the signal of selection to engine kernel module.

Wherein the output terminal of angular-rate sensor connects the first input end and third selector of the second calibration module respectively First input end, the output terminal of the second calibration module connects the second input terminal of third selector, the 4th selector respectively The input terminal of first input end, the input terminal of second filter and automatic calibration module, the output terminal connection of automatic calibration module Second input terminal of the second calibration module.The output terminal of second filter connects the third input terminal and of third selector respectively Second input terminal of four selectors.The output terminal connection packet generator of third selector, the 4th selector output end connection engine Kernel module.Angular-rate sensor sends the data detected to the second calibration module and third selector, the second calibrating die Block sends second filter, third selector, the 4th selector and automatic calibrating die to after the data received are calibrated Block, automatic calibration module are sent into the second calibration module after the data of input are calibrated, second filter is to the number that receives According to sending third selector and the 4th selector after being filtered to.According to user or system configuration, third selector is to input Three road signals selected, send the signal of selection to packet generator, the 4th selector carries out the two paths of signals of input Selection, sends the signal of selection to engine kernel module.

Wherein the output terminal of magnetometric sensor connect respectively third calibration module input terminal and the 5th selector first Input terminal, the output terminal of third calibration module connect respectively the second input terminal of the 5th selector, the 6th selector it is first defeated Enter the input terminal of end and third wave filter, the output terminal of third wave filter connects the third input terminal and of the 5th selector respectively Second input terminal of six selectors.The output terminal connection packet generator of 5th selector, the output terminal of the 6th selector connection connect Connect engine kernel module.Magnetometric sensor sends the data detected to third calibration module and the 5th selector, third school Quasi-mode block sends third wave filter, the 5th selector and the 6th selector, third filter to after the data received are calibrated Wave device sends the 5th selector and the 6th selector to after being filtered to the data received.According to user or system configuration, 5th selector selects three road signals of input, sends the signal of selection to packet generator, the 6th selector is to defeated The two paths of signals entered is selected, and sends the signal of selection to engine kernel module.

Temperature sensor output terminal connects engine kernel module.The output terminal of baroceptor connects the 4th calibration module Input terminal, the output terminal connection engine kernel module of the 4th calibration module, Global Navigation Satellite System output terminal connect the 5th school The input terminal of quasi-mode block, the output terminal of the 5th calibration module connect engine kernel module and packet generator respectively.Temperature sensor Sending the data detected to engine kernel module, baroceptor sends the data detected to the 4th calibration module, Data send engine kernel module to after calibration, and Global Navigation Satellite System sends the data detected to the 5th calibration Module, data send engine kernel module to after calibration.Engine in engine kernel module includes engine-model 1 and engine Pattern 2, engine-model 1 and engine-model 2 correspond to two kinds of data anastomosing algorithms respectively.Second selector, the 4th selector, the 6th Selector and temperature sensor output data be transmitted to engine-model 1, according to 1 corresponding data anastomosing algorithm of engine-model into Row Data Fusion is sent to the 7th selector, second selector, the 4th after the Data Fusion of engine-model 1 The data that selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module export send engine mould to Formula 2, according to 2 corresponding data anastomosing algorithm of engine-model progress Data Fusion, at the data fusion by engine-model 2 The 7th selector is sent to after reason, according to user or system configuration, the 7th selector selects to export biography all the way from two paths of data It is sent to packet generator.The data that packet generator exports first selector, third selector and the 5th selector are respectively according to pre- The formula that fixes is output to package clutch after being packaged, and packet generator is additionally operable to beat the data that the 7th selector exports according to predetermined format Package clutch is output to after packet.Package clutch is output to interface after each data packet of input is combined according to predetermined format again. Preferably, packet generator includes acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator, side To data packet generator, measurement data packet generator, global navigational satellite data packet generator.Acceleration information packet generator is used Send package clutch to after the data that first selector exports are packaged according to predetermined format, angular velocity data packet generator is used Send package clutch to after the data that third selector exports are packaged according to predetermined format, magnetic data packet generator is used for Send package clutch after the data that 5th selector exports are packaged according to predetermined format to, bearing data packet generator measures Data packet generator is transmitted to for receiving the data after data fusion after the data of reception are packaged according to predetermined format Package clutch.Preferably, acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator have respectively There are raw mode, calibration mode and filter patterns, filter patterns are preferably Kalman filtering pattern.Preferably, bearing data packet Generator has quaternary number (Quatemion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., the generation of measurement data packet Device includes Liner Acc, Delta V, Delta Q, Velocity, Distance, Heave Motion, Attitude Ellipsoid, Position ECEP, LatLon isotypes, GNSS data packet.Interface for example including USART, UART (485), IIC, SPI, Wireless, USB etc..The data that interface selector exports each road interface are selectively exported to host (HOST).

Embedded real time operating system in the processing module of intelligence inertial navigation system provided in this embodiment, the operating system Preferably improved FreeRTOS.Multiple threads are set in real time operating system, and multiple threads are with predetermined time piece spaced wheel Turn, it is preferred that improve the system frequency of operating system, system frequency is for example increased to 50 times of default frequency.Multiple threads It is respectively used to be transmitted to engine, processing breath light etc. from each sensors for data, by the data obtained in each sensor Order that low priority task and processing are obtained from host (HOST) etc..

Temperature sensor output terminal connects engine kernel module.The output terminal of baroceptor connects the 4th calibration module Input terminal, the output terminal connection engine kernel module of the 4th calibration module, Global Navigation Satellite System output terminal connect the 5th school The input terminal of quasi-mode block, the output terminal of the 5th calibration module connect engine kernel module and packet generator respectively.Temperature sensor Sending the data detected to engine kernel module, baroceptor sends the data detected to the 4th calibration module, Data send engine kernel module to after calibration, and Global Navigation Satellite System sends the data detected to the 5th calibration Module, data send engine kernel module to after calibration.Engine in engine kernel module includes engine-model 1 and engine Pattern 2, engine-model 1 and engine-model 2 correspond to two kinds of data anastomosing algorithms respectively.Second selector, the 4th selector, the 6th Selector and temperature sensor output data be transmitted to engine-model 1, according to 1 corresponding data anastomosing algorithm of engine-model into Row Data Fusion is sent to the 7th selector, second selector, the 4th after the Data Fusion of engine-model 1 The data that selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module export send engine mould to Formula 2, according to 2 corresponding data anastomosing algorithm of engine-model progress Data Fusion, at the data fusion by engine-model 2 The 7th selector is sent to after reason, according to user or system configuration, the 7th selector selects to export biography all the way from two paths of data It is sent to packet generator.The data that packet generator exports first selector, third selector and the 5th selector are respectively according to pre- The formula that fixes is output to package clutch after being packaged, and packet generator is additionally operable to beat the data that the 7th selector exports according to predetermined format Package clutch is output to after packet.Package clutch is output to interface after each data packet of input is combined according to predetermined format again. Preferably, packet generator includes acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator, side To data packet generator, measurement data packet generator, global navigational satellite data packet generator.Acceleration information packet generator is used Send package clutch to after the data that first selector exports are packaged according to predetermined format, angular velocity data packet generator is used Send package clutch to after the data that third selector exports are packaged according to predetermined format, magnetic data packet generator is used for Send package clutch after the data that 5th selector exports are packaged according to predetermined format to, bearing data packet generator measures Data packet generator is transmitted to for receiving the data after data fusion after the data of reception are packaged according to predetermined format Package clutch.Preferably, acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator have respectively There are raw mode, calibration mode and filter patterns, filter patterns are preferably Kalman filtering pattern.Preferably, bearing data packet Generator has quaternary number (Quatemion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., the generation of measurement data packet Device include linear acceleration (Liner Acc), Delta V, Delta Q, Velocity, Distance, Heave Motion, Attitude Ellipsoid, Position ECEP, LatLon isotypes, GNSS data packet.Interface for example including USART, UART (485), IIC, SPI, Wireless, USB etc..The data that interface selector exports each road interface are selectively exported to master Machine (HOST).

Description of the drawings

Fig. 1 is a kind of Multimode Intelligent inertial navigation system provided by the invention and its flow chart of data processing embodiment

Fig. 2 is operating system framework in processing module of the present invention

Fig. 3 is a kind of Multimode Intelligent inertial navigation system provided by the invention and its another embodiment of flow chart of data processing

Fig. 4 is a kind of Multimode Intelligent inertial navigation system provided by the invention and its another embodiment of flow chart of data processing

Fig. 5 is a kind of Multimode Intelligent inertial navigation system provided by the invention and its another embodiment of flow chart of data processing

Specific embodiment

(1) first embodiment

The present embodiment provides a kind of Multimode Intelligent inertial navigation sensor-based system and its flow chart of data processing.As shown in Figure 1, the intelligence Energy inertial navigation sensor-based system includes sensor module, processing module and interface module, wherein sensor module connection processing mould Block, processing module connection interface module, processing module include engine kernel module and selector, the engine in engine kernel module Including two or more engine-models, each engine-model corresponds to a kind of data anastomosing algorithm.Sensor module adds for measuring Speed, axially angular speed, magnetic component, ambient temperature, ambient pressure and/or location information；Processing module measures for receiving Data, Data Fusion is carried out to the multichannel data of measurement by engine kernel module, wherein matching according to user or system It puts, the part or all of data of the measurement data from sensor module is calculated according to a kind of corresponding data fusion of engine-model Method carries out Data Fusion, and according to user or system configuration, selector is from the data fusion carried out according to different engine-models It selects to be sent into interface module all the way in treated multichannel data, interface module is used for will treated that each circuit-switched data is output to is outer Portion's module or host.Embedded real time operating system, sets multiple threads in real time operating system wherein in processing module, multiple Thread is rotated with predetermined time piece interval, and multiple threads are used to control the execution of different task respectively.

Wherein sensor module may include multiple sensors, and multiple sensors are for example including acceleration transducer, angular speed Sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and/or Global Navigation Satellite System.Wherein accelerate Degree sensor is for detecting acceleration information, and for measuring angular velocity data, magnetometric sensor is used to measure angular-rate sensor Each axial ground magnetic component, temperature sensor is for detecting ambient temperature, and baroceptor is for detecting ambient pressure, the whole world Navigational satellite system is used for measurement and positioning information.

As shown in Fig. 2, embedded real time operating system wherein in processing module, sets multiple lines in real time operating system Journey, multiple threads are rotated with predetermined time piece interval, the execution of each task in difference control process module.Multiple threads are for example Can be access thread (Fetch Thread), processing thread (Process Thread), breathing thread (Breath Thread), Interface transmission line journey (UartRx Thread) can be respectively used to from each sensors for data, will be obtained in each sensor Data be transmitted to order that engine, processing breath light etc. low priority tasks and processing are obtained from host (HOST) etc.. Real time operating system is FreeRTOS systems, and the system frequency of the FreeRTOS systems can be preferably enhanced, and system frequency is for example 50 times of default frequency are increased to, accelerates the operational efficiency of process with this, improves the data-handling efficiency and operational efficiency of system.

Data processing method in a kind of Multimode Intelligent inertial navigation sensor-based system provided by the invention, it is shown in Fig. 1 System in perform.This method includes：Sensor module measures acceleration, axially angular speed, magnetic component, ambient temperature, outer The data of measurement are transferred to processing module by boundary's air pressure and/or location information, and processing module receives the data measured, by drawing It holds up kernel module and Data Fusion is carried out to the multichannel data of measurement, wherein according to user or system configuration, to coming from sensing The part or all of data of the measurement data of device assembly carry out data according to a kind of corresponding data anastomosing algorithm of engine-model and melt Conjunction is handled, and according to user or system configuration, selector is from the multichannel after the Data Fusion carried out according to different engine-models It selects to be sent into interface module all the way in data, interface module is for by treated, each circuit-switched data to be output to external module or master Machine.

(2) second embodiment

The present embodiment provides another Multimode Intelligent inertial navigation sensor-based system and its flow chart of data processing.It as shown in figure 3, should Intelligent inertial navigation sensor-based system includes sensor module, processing module and interface module, wherein sensor module connection processing Module, processing module connection interface module.The processing module is including in calibration module, filter module, first selector, engine Engine in core module, second selector, packet generator and package clutch, wherein engine kernel module includes two or more draw Pattern is held up, each engine-model corresponds to a kind of data anastomosing algorithm.The input of the output terminal connection calibration module of sensor module End, calibration module output terminal connection filter module input terminal and first selector first input end, filter module it is defeated Outlet connects the second input terminal of first selector, the output terminal connection engine kernel module of first selector.Pass through engine kernel Module carries out Data Fusion to the multichannel data of measurement, wherein according to user or system configuration, to coming from sensor module The part or all of data of measurement data carry out Data Fusion according to a kind of corresponding data anastomosing algorithm of engine-model, According to user or system configuration, second selector is from the multichannel data after the Data Fusion carried out according to different engine-models Packet generator, the output terminal connection packet generator input terminal of second selector are sent into middle selection all the way.The output terminal of packet generator Connect package clutch input terminal.Package clutch output terminal connection interface module.

Wherein sensor module for measure acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/ Or location information.Sensor module may include multiple sensors, for example, acceleration transducer, angular-rate sensor (gyroscope), Magnetometric sensor, temperature sensor, baroceptor and/or Global Navigation Satellite System.Wherein acceleration transducer is used to examine Measuring acceleration data, for measuring angular velocity data, magnetometric sensor is used to measure each axial earth magnetism angular-rate sensor Component, temperature sensor is for detecting ambient temperature, and baroceptor for detecting ambient pressure, use by Global Navigation Satellite System In measurement and positioning information.

Calibration module is used to calibrate the measurement data received from sensor module respectively.Filter module is used for school Data after standard are filtered, and filter module preferably can be Kalman filter.First selector is used for according to user or system Configuration selects one group of data to be sent into engine kernel module, engine from two groups of data that calibration module and filter module export respectively Kernel module carries out Data Fusion to the data of reception according to the data anastomosing algorithm corresponding to different engine-models, then by The selecting to export all the way of second selector gives packet generator.Packet generator is used for the data after Data Fusion according to pre- Fixed form generation data packet.It is further according to predetermined format that package clutch is used for the multichannel data packet that will be received from packet generator Carry out packet combined treatment.It closes that treated that data packet is admitted to interface module by package, is exported by interface module to outside Module or host.Embedded real time operating system, sets multiple threads, multiple lines in real time operating system wherein in processing module Journey is rotated with predetermined time piece interval, the execution of each task in difference control process module.The operating system is preferably FreeRTOS systems, it is preferred that multiple threads are respectively used to from each sensors for data, by what is obtained in each sensor Data are transmitted to the order of acquisition etc. from host (HOST) of the low priority tasks such as engine, processing breath light and processing.It is excellent Choosing, the system frequency of real time operating system improves, and system frequency is for example increased to 50 times of default frequency, passes through system frequency Raising, accelerate the operational efficiency of process, improve the data-handling efficiency and operational efficiency of system.

Data processing method in another Multimode Intelligent inertial navigation sensor-based system provided by the invention, in Fig. 3 institutes It is performed in the system shown.This method includes：Sensor module measure acceleration, angular speed, axially magnetic component, ambient temperature, Ambient pressure and/or location information；Calibration module receives measurement data from sensor module, is calibrated respectively；Filter module The data after calibration are received, the data after calibration are filtered；First selector is according to user or system configuration from calibrating die One group of data is selected to be sent into engine kernel module, the docking of engine kernel module in two groups of data that block and filter module export respectively The data of receipts carry out Data Fusion according to the data anastomosing algorithm corresponding to different engine-models, then are selected by second selector It selects out to export all the way and gives packet generator；Data after Data Fusion are generated data by packet generator according to scheduled form Packet；The multichannel data packet received from packet generator is further carried out packet combined treatment by package clutch according to predetermined format, is passed through Package closes that treated that data packet is admitted to interface module, is exported by interface module to external module or host.

(3) 3rd embodiment

The present embodiment provides another Multimode Intelligent inertial navigation sensor-based system and its flow chart of data processing.It as shown in figure 4, should Intelligent inertial navigation sensor-based system includes sensor module, processing module and interface module.Wherein sensor module for example including Acceleration transducer, angular-rate sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and/or the whole world are led Boat satellite system.The processing module is used to receive the measurement data of multiple sensors, and the multiple sensor is detected Data carry out Data Fusion.Wherein the processing module may include the first calibration module, the second calibration module, third calibrating die Block, automatic calibration module, the 4th calibration module, the 5th calibration module, first filter, second filter, third wave filter, One selector, second selector, third selector, the 4th selector, the 5th selector, the 6th selector, the 7th selector.It is excellent Choosing, first, second, and third wave filter is Kalman filter.The processing module further includes engine kernel module, packet generation Device and package clutch, the engine in engine kernel module include two engine-models.

Temperature sensor output terminal connects engine kernel module.The output terminal of baroceptor connects the 4th calibration module Input terminal, the output terminal connection engine kernel module of the 4th calibration module, Global Navigation Satellite System output terminal connect the 5th school The input terminal of quasi-mode block, the output terminal of the 5th calibration module connect engine kernel module and packet generator respectively.Temperature sensor Sending the data detected to engine kernel module, baroceptor sends the data detected to the 4th calibration module, Data send engine kernel module to after calibration, and Global Navigation Satellite System sends the data detected to the 5th calibration Module, data send engine kernel module to after calibration.Engine in engine kernel module includes engine-model 1 and engine Pattern 2, engine-model 1 and engine-model 2 correspond to two kinds of data anastomosing algorithms respectively.Second selector, the 4th selector, the 6th Selector and temperature sensor output data be transmitted to engine-model 1, according to 1 corresponding data anastomosing algorithm of engine-model into Row Data Fusion is sent to the 7th selector, second selector, the 4th after the Data Fusion of engine-model 1 The data that selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module export send engine mould to Formula 2, according to 2 corresponding data anastomosing algorithm of engine-model progress Data Fusion, at the data fusion by engine-model 2 The 7th selector is sent to after reason, according to user or system configuration, the 7th selector selects to export biography all the way from two paths of data It is sent to packet generator.The data that packet generator exports first selector, third selector and the 5th selector are respectively according to pre- The formula that fixes is output to package clutch after being packaged, and packet generator is additionally operable to beat the data that the 7th selector exports according to predetermined format Package clutch is output to after packet.Package clutch is output to interface after each data packet of input is combined according to predetermined format again. Preferably, packet generator includes acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator, side To data packet generator, measurement data packet generator, global navigational satellite data packet generator.Acceleration information packet generator is used Send package clutch to after the data that first selector exports are packaged according to predetermined format, angular velocity data packet generator is used Send package clutch to after the data that third selector exports are packaged according to predetermined format, magnetic data packet generator is used for Send package clutch after the data that 5th selector exports are packaged according to predetermined format to, bearing data packet generator measures Data packet generator is for receiving the data after engine A data fusions, after the data of reception are packaged according to predetermined format It is transmitted to package clutch.Preferably, acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator Raw mode, calibration mode and filter patterns are respectively provided with, filter patterns are preferably Kalman filtering pattern.Preferably, direction Data packet generator has quaternary number (Quaternion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., measurement data Packet generator includes Liner Acc, Delta V, Delta Q, Velocity, Distance, Heave Motion, Attitude Ellipsoid, Position ECEP, LatLon etc., GNSS data packet.Interface for example including USART, UART (485), IIC, SPI, Wireless, USB etc..The data that interface selector exports each road interface are selectively exported to host (HOST).

Embedded real time operating system in the processing module of intelligence inertial navigation sensor-based system provided in this embodiment, the operation System is preferably improved FreeRTOS.Multiple threads are set in real time operating system, and multiple threads are between predetermined time piece Every rotation, it is preferred that improve the system frequency of operating system, system frequency is for example increased to 50 times of default frequency.It is multiple Thread is respectively used to be transmitted to engine, processing breathing from each sensors for data, by the data obtained in each sensor Order that the low priority tasks such as lamp and processing are obtained from host (HOST) etc..

Data processing method in another Multimode Intelligent inertial navigation sensor-based system provided by the invention, in Fig. 4 institutes It is performed in the system shown.This method includes：Acceleration transducer sends the data detected to the first calibration module and first Selector, the first calibration module send first filter, first selector and second to after the data received are calibrated Selector, first filter send first selector and second selector to after being filtered to the data received, according to Family or system configuration, first selector select three road signals of input, send the signal of selection to packet generator, the Two selectors select the two paths of signals of input, send the signal of selection to engine kernel module；Angular-rate sensor Send the data detected to the second calibration module and third selector, the data received are carried out school by the second calibration module Send second filter, third selector, the 4th selector and automatic calibration module after standard to, automatic calibration module is by input Data are sent into the second calibration module after being calibrated, second filter sends third choosing to after being filtered to the data received Device and the 4th selector are selected, according to user or system configuration, third selector selects three road signals of input, will select Signal send packet generator to, the 4th selector selects the two paths of signals of input, and the signal of selection is sent to and is drawn Hold up kernel module；Magnetometric sensor sends the data detected to third calibration module and the 5th selector, third calibrating die Block sends third wave filter, the 5th selector and the 6th selector, third wave filter to after the data received are calibrated Send the 5th selector and the 6th selector after being filtered to the data received to, according to user or system configuration, the 5th Selector selects three road signals of input, sends the signal of selection to packet generator, the 6th selector is to input Two paths of signals is selected, and sends the signal of selection to engine kernel module；Temperature sensor transmits the data detected Engine kernel module is given, baroceptor sends the barometric information detected to the 4th calibration module；Data are after calibration Send engine kernel module to, Global Navigation Satellite System sends the location data detected to the 5th calibration module, data Send engine kernel module to after calibration；Second selector, the 4th selector, the 6th selector and temperature sensor output Data be transmitted to engine-model 1, according to 1 corresponding data anastomosing algorithm of engine-model carry out Data Fusion, by drawing The 7th selector, second selector, the 4th selector, the 6th selector, temperature are sent to after holding up the Data Fusion of pattern 1 The data that sensor, the 4th calibration module, the 5th calibration module export send engine-model 2 to, corresponding according to engine-model 2 Data anastomosing algorithm carries out Data Fusion, and the 7th selector, root are sent to after the Data Fusion of engine-model 2 According to user or system configuration, the 7th selector, which selects to export all the way from two paths of data, is transmitted to packet generator；Packet generator will The data of first selector, third selector and the output of the 5th selector are output to package conjunction after being packaged respectively according to predetermined format Device, packet generator are output to package clutch after the data that the 7th selector exports are packaged according to predetermined format；Package clutch is again Interface is output to after being combined from each data packet that packet generator receives according to predetermined format.

(4) fourth embodiment

The present embodiment provides another Multimode Intelligent inertial navigation sensor-based system and its flow chart of data processing.It as shown in figure 5, should Intelligent inertial navigation sensor-based system includes sensor module, processing module and interface module.Wherein sensor module for example including Acceleration transducer, angular-rate sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and worldwide navigation Satellite system.The processing module is used to receive the measurement data of multiple sensors, the number detected to the multiple sensor According to being handled.Wherein the processing module may include the first calibration module, the second calibration module, third calibration module, automatic school Quasi-mode block, the 4th calibration module, the 5th calibration module, first filter, second filter, third wave filter, first selector, Second selector, third selector, the 4th selector, the 5th selector, the 6th selector, the 7th selector.Preferably, First, second and third wave filter be Kalman filter.The processing module further includes engine kernel module, packet generator and packet Combiner, engine kernel module may include two or more engines.

Wherein the output terminal of acceleration transducer connect respectively the first calibration module input terminal and first selector One input terminal, the output terminal of the first calibration module connect respectively the second input terminal of first selector, second selector first The input terminal of input terminal and first filter, the output terminal of first filter connect respectively first selector third input terminal and Second input terminal of second selector.The output terminal connection packet generator of first selector, the output terminal connection of second selector Engine kernel module.Acceleration transducer sends the data detected to the first calibration module and first selector, the first school Quasi-mode block sends first filter, second selector and second selector, the first filter to after the data received are calibrated Wave device sends first selector and second selector to after being filtered to the data received.According to user or system configuration, First selector selects three road signals of input, sends the signal of selection to packet generator, second selector is to defeated The two paths of signals entered is selected, and sends the signal of selection to engine kernel module.

Temperature sensor output terminal connects engine kernel module.The output terminal of baroceptor connects the 4th calibration module Input terminal, the output terminal connection engine kernel module of the 4th calibration module, Global Navigation Satellite System output terminal connect the 5th school The input terminal of quasi-mode block, the output terminal of the 5th calibration module connect engine kernel module and packet generator, temperature sensor respectively Sending the data detected to engine kernel module, baroceptor sends the data detected to the 4th calibration module, Data send engine kernel module to after calibration, and Global Navigation Satellite System sends the data detected to the 5th calibration Module, data send engine kernel module to after calibration.Engine kernel module include the first engine and the second engine, first Engine and the second engine can be arranged to a variety of data fusion patterns, second selector, the 4th selector, the 6th selector and temperature The data of degree sensor output are transmitted to, and the Data Fusion of different mode can be carried out in the first engine, by data fusion The 7th selector, second selector, the 4th selector, the 6th selector, temperature sensor, the 4th calibrating die are sent to after processing The data that block, the 5th calibration module export send the second engine to, and the second engine can carry out different mode to the data of input Data fusion is sent to the 7th selector after Data Fusion, after the selection of selector, is transmitted to packet generator.Packet After the data that first selector, third selector and the 5th selector export are packaged by generator according to predetermined format respectively respectively Package clutch is output to, packet generator is additionally operable to export after the data that the 7th selector exports are packaged respectively according to predetermined format To package clutch.Package clutch is output to interface after each data packet of input is combined according to predetermined format again.Preferably, it wraps Generator includes acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator, bearing data Bao Sheng It grows up to be a useful person, measurement data packet generator, global navigational satellite data packet generator.Acceleration information packet generator is used for the first choosing It selects and sends package clutch after the data that device exports are packaged according to predetermined format to, angular velocity data packet generator is used to select third It selects and sends package clutch after the data that device exports are packaged according to predetermined format to, magnetic data packet generator is used for the 5th selection The data of device output send package clutch, bearing data packet generator, the generation of measurement data packet to after being packaged according to predetermined format Device is transmitted to package clutch for receiving the data after data fusion after the data of reception are packaged according to predetermined format. Preferably, acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator are respectively provided with original mould Formula, calibration mode and filter patterns, filter patterns are preferably Kalman filtering pattern.Preferably, bearing data packet generation utensil There are quaternary number (Quatemion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., measurement data packet generator includes Liner Acc、Delta V、Delta Q、Velocity、Distance、Heave Motion、Attitude Ellipsoid、 Position ECEP, LatLon isotypes, GNSS data packet.Interface for example including USART, UART (485), IIC, SPI, Wireless, USB etc..The data that interface selector exports each road interface are selectively exported to host (HOST).

Data processing method in another Multimode Intelligent inertial navigation sensor-based system provided by the invention, in Fig. 5 institutes It is performed in the system shown.This method includes：Acceleration transducer sends the data detected to the first calibration module and first Selector, the first calibration module send first filter, first selector and second to after the data received are calibrated Selector, first filter send first selector and second selector to after being filtered to the data received, according to Family or system configuration, first selector select three road signals of input, send the signal of selection to packet generator, the Two selectors select the two paths of signals of input, send the signal of selection to engine kernel module；Angular-rate sensor Send the data detected to the second calibration module and third selector, the data received are carried out school by the second calibration module Send second filter, third selector, the 4th selector and automatic calibration module after standard to, automatic calibration module is by input Data are sent into the second calibration module after being calibrated, second filter sends third choosing to after being filtered to the data received Device and the 4th selector are selected, according to user or system configuration, third selector selects three road signals of input, will select Signal send packet generator to, the 4th selector selects the two paths of signals of input, and the signal of selection is sent to and is drawn Hold up kernel module；Magnetometric sensor sends the data detected to third calibration module and the 5th selector, third calibrating die Block sends third wave filter, the 5th selector and the 6th selector, third wave filter to after the data received are calibrated Send the 5th selector and the 6th selector after being filtered to the data received to, according to user or system configuration, the 5th Selector selects three road signals of input, sends the signal of selection to packet generator, the 6th selector is to input Two paths of signals is selected, and sends the signal of selection to engine kernel module；Temperature sensor transmits the data detected Engine kernel module is given, baroceptor sends the data detected to the 4th calibration module；Data transmit after calibration Engine kernel module is given, Global Navigation Satellite System sends the data detected to the 5th calibration module, and data are by calibration After send engine kernel module to；Second selector, the 4th selector, the 6th selector and the data of temperature sensor output pass The first engine is sent to, carries out Data Fusion in the first engine, the data after Data Fusion are sent to the 7th choosing Device is selected, second selector, the 4th selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module are defeated The data gone out send the second engine to, carry out Data Fusion in the second engine, the data after Data Fusion are sent Enter to the 7th selector, according to user or system configuration, the 7th selector, which selects to export all the way from two paths of data, is transmitted to packet Generator；The data that packet generator exports first selector, third selector and the 5th selector are respectively according to predetermined format Package clutch is output to after packing, packet generator is output to packet after the data that the 7th selector exports are packaged according to predetermined format Combiner；Package clutch is output to interface after being combined again from each data packet that packet generator receives according to predetermined format.

Processing module can be general processor, such as, but not limited to, central processing unit in the embodiment of the present invention (Central Processing Unit, CPU) or application specific processor, such as, but not limited to, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC) and field programmable gate array (Field Programmable Gate Array, FPGA) etc..In addition, processor 702 can also be the combination of multiple processors.

Those of ordinary skill in the art may realize that each exemplary moulds described with reference to the embodiments described herein Block and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed The scope of the present invention.

In several embodiments provided herein, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of division of logic function, can there is other dividing mode in actual implementation.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also That each unit is individually physically present, can also two or more units integrate in a unit.

If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention. And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.

The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain Lid is within protection scope of the present invention.

Claims

1. a kind of Multimode Intelligent inertial navigation sensor-based system, which includes sensor module, processing module and interface module, Wherein sensor module connection processing module, wherein processing module connection interface module, the processing module include engine kernel mould Block and selector, the engine in engine kernel module include two or more engine-models, and each engine-model corresponds to a kind of number According to blending algorithm, wherein sensor module is used to measure acceleration, axially angular speed, magnetic component, ambient temperature, ambient pressure And/or location information, processing module is for receiving the data measured, according to user or system configuration, to coming from sensor module The part or all of data of measurement data carry out Data Fusion according to a kind of corresponding data anastomosing algorithm of engine-model, Selector is selected according to user or system configuration from the multichannel data after the Data Fusion carried out according to different engine-models It selects and is sent into interface module all the way, interface module is for each circuit-switched data to be output to external module or host by treated, wherein locating Embedded real time operating system in module is managed, multiple threads are set in real time operating system, and multiple threads are between predetermined time piece Every rotation, multiple threads are used to control the execution of different task respectively.

2. a kind of data processing method of Multimode Intelligent inertial navigation sensor-based system as described in claim 1, this method packet It includes：Sensor module measures acceleration, axially angular speed, magnetic component, ambient temperature, ambient pressure and/or location information, will The data of measurement are transferred to processing module, and processing module receives the data measured, by engine kernel module to the multichannel of measurement Data carry out Data Fusion, wherein according to user or system configuration, to the part of the measurement data from sensor module Or total data carries out Data Fusion according to a kind of corresponding data anastomosing algorithm of engine-model, is matched according to user or system It puts, selector selects to be sent into interface mould all the way from the multichannel data after the Data Fusion carried out according to different engine-models Block, interface module are embedded real-time wherein in processing module for by treated, each circuit-switched data to be output to external module or host Operating system sets multiple threads in real time operating system, and multiple threads are rotated with predetermined time piece interval, and multiple threads are used In the execution for controlling different task respectively.

3. a kind of Multimode Intelligent inertial navigation sensor-based system, which includes sensor module, processing module and interface module, Wherein sensor module connection processing module, processing module connection interface module, the processing module include calibration module, filtering In module, first selector, engine kernel module, second selector, packet generator and package clutch, wherein engine kernel module Engine include two or more engine-models, each engine-model corresponds to a kind of data anastomosing algorithm；Sensor module it is defeated Outlet connects the input terminal of calibration module, the input terminal of the output terminal connection filter module of calibration module and the of first selector One input terminal, output terminal connection the second input terminal of first selector of filter module, the output terminal connection engine of first selector Kernel module, according to user or system configuration, to the part or all of data of the measurement data from sensor module according to one The corresponding data anastomosing algorithm of kind of engine-model carries out Data Fusion, according to user or system configuration, second selector from It selects to be sent into packet generator all the way in multichannel data after the Data Fusion carried out according to different engine-models, the second selection The output terminal connection packet generator input terminal of device, the output terminal connection package clutch input terminal of packet generator, the output of package clutch Connection interface module is held, embedded real time operating system, sets multiple threads in real time operating system wherein in processing module, more A thread is rotated with predetermined time piece interval, and multiple threads are used to control the execution of different task respectively.

4. a kind of data processing method of Multimode Intelligent inertial navigation sensor-based system as claimed in claim 3, this method packet It includes：Sensor module measures acceleration, axially angular speed, magnetic component, ambient temperature, ambient pressure and/or location information；School Quasi-mode block receives measurement data from sensor module, is calibrated respectively；Filter module receives the data after calibration, after calibration Data be filtered；Exported respectively from calibration module and filter module according to user or system configuration two groups of first selector One group of data is selected to be sent into engine kernel module in data, engine kernel module is to the data of reception according to corresponding to different engines The data anastomosing algorithm of pattern carries out Data Fusion, then selects to export all the way by second selector and give packet generator；Packet Data after Data Fusion are generated data packet by generator according to scheduled form；Package clutch will be received from packet generator Multichannel data packet further carry out packet combined treatment according to predetermined format, close that treated by package data packet be admitted to and connect Mouth mold block is exported by interface module to external module or host, embedded real time operating system wherein in processing module, real-time Multiple threads are set in operating system, and multiple threads are rotated with predetermined time piece interval, and multiple threads are different for control respectively The execution of task.

5. a kind of Multimode Intelligent inertial navigation sensor-based system, which includes sensor module, processing module and interface module, Wherein sensor module includes acceleration transducer, angular-rate sensor, magnetometric sensor, temperature sensor, baroceptor And/or Global Navigation Satellite System, processing module are used to receive the measurement data of multiple sensors, the multiple sensor are examined The data measured carry out Data Fusion, and the wherein processing module includes the first calibration module, the second calibration module, third school Quasi-mode block, automatic calibration module, the 4th calibration module, the 5th calibration module, first filter, second filter, third filtering Device, first selector, second selector, third selector, the 4th selector, the 5th selector, the 6th selector, the 7th selection Device, engine kernel module, packet generator and package clutch, the engine in engine kernel module include two engine-models, The output terminal of middle acceleration transducer connects the input terminal of the first calibration module and the first input end of first selector respectively, the The output terminal of one calibration module connects the first input end and first of the second input terminal of first selector, second selector respectively The input terminal of wave filter, the output terminal of first filter connect the third input terminal and second selector of first selector respectively Second input terminal, the output terminal connection packet generator of first selector, the output terminal connection engine kernel module of second selector； The output terminal of angular-rate sensor connects the first input end of the second calibration module and the first input end of third selector respectively, The output terminal of second calibration module connects the second input terminal of third selector, the first input end of the 4th selector, respectively The input terminal of the input terminal of two wave filters and automatic calibration module, the output terminal of automatic calibration module connect the second calibration module Second input terminal, the output terminal of second filter connect respectively third selector third input terminal and the 4th selector second Input terminal, the output terminal connection packet generator of third selector, the 4th selector output end connection engine kernel module；Wherein magnetic The output terminal of force snesor connects the input terminal of third calibration module and the first input end of the 5th selector, third calibration respectively The output terminal of module connects the second input terminal, the first input end of the 6th selector and third wave filter of the 5th selector respectively Input terminal, the output terminal of third wave filter connect respectively the 5th selector third input terminal and the 6th selector it is second defeated Enter end, the output terminal connection packet generator of the 5th selector, the output terminal connection engine kernel module of the 6th selector connection；Temperature Sensor output connection engine kernel module is spent, the output terminal of baroceptor connects the input terminal of the 4th calibration module, the The output terminal connection engine kernel module of four calibration modules, Global Navigation Satellite System output terminal connect the defeated of the 5th calibration module Enter end, the output terminal of the 5th calibration module connects engine kernel module and packet generator respectively；Engine in engine kernel module Including engine-model 1 and engine-model 2, engine-model 1 and engine-model 2 correspond to two kinds of data anastomosing algorithms, the second choosing respectively It selects device, the 4th selector, the 6th selector and the data of temperature sensor output and is transmitted to engine-model 1, according to engine-model 1 Corresponding data anastomosing algorithm carries out Data Fusion, and the 7th choosing is sent to after the Data Fusion of engine-model 1 Device is selected, second selector, the 4th selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module are defeated The data gone out send engine-model 2 to, carry out Data Fusion according to 2 corresponding data anastomosing algorithm of engine-model, pass through The 7th selector is sent to after the Data Fusion of engine-model 2, according to user or system configuration, the 7th selector is from two-way It selects to export all the way in data and is transmitted to packet generator；Packet generator is by first selector, third selector and the 5th selector The data of output are output to package clutch after being packaged respectively according to predetermined format, packet generator is additionally operable to export the 7th selector Data be packaged according to predetermined format after be output to package clutch；Package clutch again by each data packet of input according to fixing in advance Interface is output to after formula combination, embedded real time operating system, sets multiple lines in real time operating system wherein in processing module Journey, multiple threads are rotated with predetermined time piece interval, and multiple threads are used to control the execution of different task respectively.

6. a kind of data processing method of Multimode Intelligent inertial navigation sensor-based system as claimed in claim 5, this method packet It includes：Acceleration transducer sends the data detected to the first calibration module and first selector, and the first calibration module will connect The data received send first filter, first selector and second selector to after being calibrated, first filter is to receiving To data be filtered after send first selector and second selector to, according to user or system configuration, first selector Three road signals of input are selected, send the signal of selection to packet generator, second selector believes the two-way of input It number is selected, sends the signal of selection to engine kernel module；Angular-rate sensor sends the data detected to Two calibration modules and third selector, the second calibration module sent to after the data received are calibrated second filter, Third selector, the 4th selector and automatic calibration module, automatic calibration module are sent into after the data of input are calibrated Two calibration modules, second filter send third selector and the 4th selector, root to after being filtered to the data received According to user or system configuration, third selector selects three road signals of input, sends the signal of selection to packet generation Device, the 4th selector select the two paths of signals of input, send the signal of selection to engine kernel module；Magnetic force senses Device sends the data detected to third calibration module and the 5th selector, and third calibration module carries out the data received Send third wave filter, the 5th selector and the 6th selector after calibration to, third wave filter filters the data received Send the 5th selector and the 6th selector after wave to, according to user or system configuration, the 5th selector believes three tunnels of input It number is selected, sends the signal of selection to packet generator, the 6th selector selects the two paths of signals of input, will select The signal selected sends engine kernel module to；Temperature sensor sends the data detected to engine kernel module, air pressure transmission Sensor sends the data detected to the 4th calibration module；Data send engine kernel module to after calibration, and the whole world is led Boat satellite system sends the data detected to the 5th calibration module, and data send engine kernel module to after calibration； Second selector, the 4th selector, the 6th selector and the data of temperature sensor output are transmitted to engine-model 1, according to drawing It holds up 1 corresponding data anastomosing algorithm of pattern and carries out Data Fusion, be sent to after the Data Fusion of engine-model 1 7th selector, second selector, the 4th selector, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration The data of module output send engine-model 2 to, are carried out at data fusion according to 2 corresponding data anastomosing algorithm of engine-model Reason, is sent to the 7th selector after the Data Fusion of engine-model 2, according to user or system configuration, the 7th selection Device, which selects to export all the way from two paths of data, is transmitted to packet generator；Packet generator is by first selector, third selector and The data of five selectors output are output to package clutch after being packaged respectively according to predetermined format, and packet generator is defeated by the 7th selector The data gone out are output to package clutch after being packaged according to predetermined format；Each data that package clutch will receive again from packet generator Packet is output to interface after being combined according to predetermined format, embedded real time operating system wherein in processing module, in real time operating system The middle multiple threads of setting, multiple threads are rotated with predetermined time piece interval, and multiple threads are held for control different task respectively Row.

7. a kind of Multimode Intelligent inertial navigation sensor-based system, which includes sensor module, processing module and interface module, Wherein sensor module includes acceleration transducer, angular-rate sensor, magnetometric sensor, temperature sensor, baroceptor And/or Global Navigation Satellite System, processing module are used to receive the measurement data of multiple sensors, the multiple sensor are examined The data measured carry out Data Fusion, and the wherein processing module includes the first calibration module, the second calibration module, third school Quasi-mode block, automatic calibration module, the 4th calibration module, the 5th calibration module, first filter, second filter, third filtering Device, first selector, second selector, third selector, the 4th selector, the 5th selector, the 6th selector, the 7th selection Device, engine kernel module, packet generator and package clutch, engine kernel module include the first engine and the second engine, wherein The output terminal of acceleration transducer connects the input terminal of the first calibration module and the first input end of first selector respectively, and first The output terminal of calibration module connects the second input terminal of first selector, the first input end of second selector and the first filter respectively The input terminal of wave device, the output terminal of first filter connect respectively first selector third input terminal and second selector Two input terminals, the output terminal connection packet generator of first selector, the output terminal connection engine kernel module of second selector；Angle The output terminal of velocity sensor connects the first input end of the second calibration module and the first input end of third selector respectively, the The output terminal of two calibration modules connects the second input terminal of third selector, the first input end of the 4th selector, second respectively The input terminal of the input terminal of wave filter and automatic calibration module, the output terminal of automatic calibration module connect the of the second calibration module Two input terminals, the output terminal of second filter connect respectively third selector third input terminal and the 4th selector it is second defeated Enter end, the output terminal connection packet generator of third selector, the 4th selector output end connection engine kernel module；Wherein magnetic force The output terminal of sensor connects the input terminal of third calibration module and the first input end of the 5th selector, third calibrating die respectively The output terminal of block connects the second input terminal of the 5th selector, the first input end of the 6th selector and third wave filter respectively Input terminal, the output terminal of third wave filter connect the second input of the third input terminal and the 6th selector of the 5th selector respectively End, the output terminal connection packet generator of the 5th selector, the output terminal connection engine kernel module of the 6th selector connection；Temperature Sensor output connection engine kernel module, the input terminal of output terminal the 4th calibration module of connection of baroceptor, the 4th The output terminal connection engine kernel module of calibration module, Global Navigation Satellite System output terminal connect the input of the 5th calibration module End, the output terminal of the 5th calibration module connect engine kernel module and packet generator respectively；Second selector, the 4th selector, 6th selector and the data of temperature sensor output are transmitted to the first engine, and Data Fusion, warp are carried out in the first engine Cross after the Data Fusion of the first engine and be sent to the 7th selector, second selector, the 4th selector, the 6th selector, The data that temperature sensor, the 4th calibration module, the 5th calibration module export send the second engine to, and the second engine is to input Data carry out Data Fusion, and the 7th selector is sent to after Data Fusion；According to user or system configuration, the 7th choosing It selects device and selects to export all the way from two paths of data and be transmitted to packet generator；Packet generator by first selector, third selector and The data of 5th selector output are output to package clutch after being packaged respectively according to predetermined format, and packet generator is additionally operable to the 7th The data of selector output are output to package clutch after being packaged according to predetermined format；Package clutch is again by each data packet of input Interface is output to after being combined according to predetermined format, embedded real time operating system wherein in processing module, in real time operating system Multiple threads are set, and multiple threads are rotated with predetermined time piece interval, and multiple threads are used to control the execution of different task respectively.

8. a kind of data processing method of Multimode Intelligent inertial navigation sensor-based system as claimed in claim 7, this method packet It includes：Acceleration transducer sends the data detected to the first calibration module and first selector, and the first calibration module will connect The data received send first filter, first selector and second selector to after being calibrated, first filter is to receiving To data be filtered after send first selector and second selector to, according to user or system configuration, first selector Three road signals of input are selected, send the signal of selection to packet generator, second selector believes the two-way of input It number is selected, sends the signal of selection to engine kernel module；Angular-rate sensor sends the data detected to Two calibration modules and third selector, the second calibration module sent to after the data received are calibrated second filter, Third selector, the 4th selector and automatic calibration module, automatic calibration module are sent into after the data of input are calibrated Two calibration modules, second filter send third selector and the 4th selector, root to after being filtered to the data received According to user or system configuration, third selector selects three road signals of input, sends the signal of selection to packet generation Device, the 4th selector select the two paths of signals of input, send the signal of selection to engine kernel module；Magnetic force senses Device sends the data detected to third calibration module and the 5th selector, and third calibration module carries out the data received Send third wave filter, the 5th selector and the 6th selector after calibration to, third wave filter filters the data received Send the 5th selector and the 6th selector after wave to, according to user or system configuration, the 5th selector believes three tunnels of input It number is selected, sends the signal of selection to packet generator, the 6th selector selects the two paths of signals of input, will select The signal selected sends engine kernel module to；Temperature sensor sends the data detected to engine kernel module, air pressure transmission Sensor sends the data detected to the 4th calibration module；Data send engine kernel module to after calibration, and the whole world is led Boat satellite system sends the data detected to the 5th calibration module, and data send engine kernel module to after calibration； Second selector, the 4th selector, the 6th selector and the data of temperature sensor output are transmitted to the first engine, draw first Carry out Data Fusion is held up, the data after Data Fusion are sent to the 7th selector, second selector, the 4th choosing It selects the data that device, the 6th selector, temperature sensor, the 4th calibration module, the 5th calibration module export and sends the second engine to, Data Fusion is carried out in the second engine, the data after Data Fusion are sent to the 7th selector, according to user Or system configuration, the 7th selector, which selects to export all the way from two paths of data, is transmitted to packet generator；Packet generator is selected first It selects after the data that device, third selector and the 5th selector export are packaged respectively according to predetermined format and is output to package clutch, wrap Generator is output to package clutch after the data that the 7th selector exports are packaged according to predetermined format；Package clutch again will be from packet Each data packet that generator receives is output to interface after being combined according to predetermined format, embedded real-time operation wherein in processing module System sets multiple threads in real time operating system, and multiple threads are rotated with predetermined time piece interval, and multiple threads are used to divide Not Kong Zhi different task execution.

9. Multimode Intelligent inertial navigation sensor-based system as described in claim 1,3,5,7 or such as 2,4,6,8 institute of claim The data processing method of Multimode Intelligent inertial navigation sensor-based system stated, wherein real time operating system are FreeRTOS systems, The system frequency of the FreeRTOS systems is enhanced, and the system frequency of wherein real time operating system is raised to system default frequency 50 times.

10. Multimode Intelligent inertial navigation sensor-based system as described in claim 1,3,5,7 or such as 2,4,6,8 institute of claim The data processing method of Multimode Intelligent inertial navigation sensor-based system stated, plurality of thread can be access thread (Fetch Thread), processing thread (Process Thread), breathing thread (Breath Thread), interface transmission line journey (UartRx Thread), can be respectively used to be transmitted to from each sensors for data, by the data obtained in each sensor engine, from The order that the low priority tasks such as reason breath light and processing are obtained from host；Or interface module includes USART, UART (485), IIC, SPI, Wireless, USB, the data that interface module exports each road interface selectively output to external module or Host；Or the algorithm of wherein Data Fusion may include various modes, can be pre-configured with by user or system.