CN108303082A - Intelligent inertial navigation sensor-based system and its data processing method - Google Patents
Intelligent inertial navigation sensor-based system and its data processing method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The present invention relates to a kind of intelligent inertial navigation sensor-based system and its data processing methods, the system includes sensor module, processing module and interface module, sensor module connection processing module, processing module connection interface module, processing module include engine kernel module.This method specifically comprises the following steps：Sensor module measures acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or location information；Processing module receives the data measured, carries out Data Fusion to measurement data by engine kernel module, the data after Data Fusion are output to external module or host by interface module.Embedded real time operating system wherein in processing module, is arranged multiple threads in real time operating system, and multiple threads are rotated with predetermined time piece interval, the execution of each task in difference control process module.By introducing real time operating system in the system architecture is described, accelerates the operational efficiency of process, improve the data-handling efficiency and operational efficiency of system.
Description
Technical field
The present invention relates to a kind of intelligent inertial navigation field more particularly to a kind of intelligent inertial navigation sensors systems.
Background technology
Inertial navigation is a kind of localization method based on measuring movable body acceleration, it does not depend on external information, only
Navigation is completed by the inertia measurement of itself, and inertial navigation system is then a kind of to utilize inertial sensor part, reference direction and initially
Position determines the autonomic navigation system of object position in space, direction and speed.But current inertial navigation system
The performance of motion detection is not ideal enough, and parameter error is big, and data-handling efficiency and real-time are poor, system architecture maintenance difficulties
Greatly.
Invention content
In order to solve the above technical problems, the present invention provides a kind of intelligent inertial navigation sensor-based system and its data processing sides
Method.The system includes sensor module, processing module and interface.Wherein sensor module handles mould for measuring detection data
Block is used to carry out Data Fusion to the data for measuring detection, and interface module is used to export the data after Data Fusion
To external module or host, embedded real time operating system, is arranged multiple threads in real time operating system wherein in processing module,
Multiple threads are rotated with predetermined time piece interval, the execution for distinguishing control process mould each task in the block.
Preferably, wherein sensor module may include multiple sensors, multiple sensors for example including acceleration transducer,
Angular-rate sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and/or Global Navigation Satellite System.Its
Middle acceleration transducer is used for detecting acceleration information, angular-rate sensor for measuring angular velocity data, magnetometric sensor
In measuring each axial ground magnetic component, temperature sensor is for detecting ambient temperature, and baroceptor is for detecting extraneous gas
Pressure, Global Navigation Satellite System are used for measurement and positioning information.Data anastomosing algorithm may include various modes, can in advance be selected by user
It is fixed, data fusion is carried out to the data combination of different inputs.
Preferably, the processing module includes calibration module, filter module, selector, engine kernel module, packet generator
With package clutch.Calibration module is used for the data that receiving sensor component measures, and is calibrated respectively to it.Filter module is used
It is filtered in each circuit-switched data after calibration, filter module preferably can be Kalman filter.Selector is used for according to user
Or the data that are exported from calibration module of the configuration of system and the data of filter module output are selected, by the data selected into
Row Data Fusion.Packet generator is used to the data after Data Fusion generating data packet according to scheduled format,
Without the measurement data of Data Fusion data packet can will be generated according to predetermined format.What package clutch was used to generate
Multichannel data packet carries out packet combined treatment.Packet is sent into interface module after combined treatment, is exported to outside by interface module
Module or host.
Preferably, multiple threads may include four threads, be respectively used to from each sensors for data, by each sensing
The data transmission obtained in device is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST)
Order etc..
Preferably, real time operating system is FreeRTOS systems.Preferably, the system frequency of the FreeRTOS systems is carried
Height, system frequency are for example increased to 50 times of default frequency.By introducing real time operating system in the system architecture is described, accelerate process
Operational efficiency, improve the data-handling efficiency and operational efficiency of system.
The present invention provides a kind of data processing methods of intelligent inertial navigation sensor-based system, wherein the intelligence inertial navigation
Sensor-based system includes sensor module, processing module and interface, which includes：It is more that sensor module measures detection
Circuit-switched data, processing module carries out Data Fusion to the multichannel data of detection, after interface module is used for Data Fusion
Each circuit-switched data exported, embedded real time operating system, is arranged multiple lines in real time operating system wherein in processing module
Journey, multiple threads are rotated with predetermined time piece interval, execution of multiple threads for controlling different task respectively.
Preferably, wherein sensor module may include multiple sensors, multiple sensors for example including acceleration transducer,
Angular-rate sensor (gyroscope), magnetometric sensor, temperature sensor, baroceptor and/or Global Navigation Satellite System.Its
Middle acceleration transducer is used for detecting acceleration information, angular-rate sensor for measuring angular velocity data, magnetometric sensor
In measuring each axial ground magnetic component, temperature sensor is for detecting ambient temperature, and baroceptor is for detecting extraneous gas
Pressure, Global Navigation Satellite System are used for measurement and positioning information.Data anastomosing algorithm may include various modes, can in advance be selected by user
It is fixed, data fusion is carried out to the data combination of different inputs.
Preferably, the step of processing module carries out Data Fusion to the multichannel data of detection include：It receives and passes
The multichannel data that sensor component measures, calibrates the multichannel data of reception, each circuit-switched data after calibration is filtered respectively
One group is selected in wave, the data exported after calibration according to the configuration of user or system and the two groups of data exported after being filtered
Select one group of data is carried out Data Fusion by data.Packet generator is for pressing the data after Data Fusion
Data packet is generated according to scheduled format, can also will generate number according to predetermined format without the measurement data of Data Fusion
According to packet.Package clutch is used to the multichannel data packet of generation carrying out packet combined treatment.Packet is sent into interface mould after combined treatment
Block is exported by interface module to external module or host.
Preferably, multiple threads may include four threads, be respectively used to from each sensors for data, by each sensing
The data transmission obtained in device is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST)
Order etc..
Preferably, real time operating system is FreeRTOS systems.Preferably, the system frequency of the FreeRTOS systems is carried
Height, system frequency are for example increased to 50 times of default frequency, by the raising of system frequency, accelerate the operation of process to imitate with this
Rate improves the data-handling efficiency and operational efficiency of system.
By being measured for different sensors component, the data of detection carry out the pretreatment of different modes to the system, data are melted
Processing and packing processing are closed, the processing path of each circuit-switched data has been configured flexibly, can also provide according to the different needs of the user
Suitable output data packet, by introduce real time operating system, improve system architecture, improve system data-handling efficiency and
Operational efficiency accelerates the operational efficiency of process, improves the flexibility of system.
Description of the drawings
Fig. 1 present invention intelligent one of inertial navigation sensor-based system and its flow chart of data processing embodiment
Operating system framework in Fig. 2 processing modules of the present invention
The intelligent inertial navigation sensor-based system of Fig. 3 present invention and its flow chart of data processing implement the two of embodiment
The intelligent inertial navigation sensor-based system of Fig. 4 present invention and its flow chart of data processing implement the three of embodiment
The intelligent inertial navigation sensor-based system of Fig. 5 present invention and its flow chart of data processing implement the four of embodiment
Specific implementation mode
(1) first embodiment
The present embodiment provides a kind of intelligent inertial navigation sensor-based systems.As shown in Figure 1, the intelligence inertial navigation sensor-based system includes
Sensor module, processing module and interface module, wherein sensor module connection processing module, processing module connecting interface mould
Block, processing module include engine kernel module.Sensor module is for measuring acceleration, angular speed, axially magnetic component, the external world
Temperature, ambient pressure and/or location information；Processing module is used to receive the data measured, by engine kernel module to measuring
Multichannel data carry out Data Fusion, interface module is used for will treated that each circuit-switched data is output to external module or master
Machine.Embedded real time operating system wherein in processing module, is arranged multiple threads, multiple threads are with predetermined in real time operating system
Time slice interval rotates, execution of multiple threads for controlling 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 angular-rate sensor is for measuring angular velocity data, and magnetometric sensor is for measuring
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.Data anastomosing algorithm may include various modes, can be preselected by user, to not
Data combination with input carries out data fusion.
As shown in Fig. 2, embedded real time operating system wherein in processing module, is arranged 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
The order etc. that is obtained from host (HOST) to engine, processing breath light etc. low priority tasks and processing of data transmission.
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.
In the application in the processing module of all embodiments the framework of operating system as shown in Fig. 2, for simple purpose, behind
Several embodiment operating systems the method for operation it is identical as the present embodiment, hereafter can not repeat one by one.
(2) second embodiment
The another embodiment of intelligence inertial navigation sensor-based system provided by the invention.As shown in figure 3, the intelligence inertial navigation senses
System includes sensor module, processing module and interface module, wherein sensor module connection processing module, processing module connection
Interface module.The processing module includes calibration module, filter module, selector, engine kernel module, packet generator and package
Clutch.The input terminal of the output end connection calibration module of sensor module, the output end of calibration module connect the defeated of filter module
Enter the first input end of end and selector, the output end of filter module connects the second input terminal of selector, the output end of selector
Connect engine kernel module.Engine kernel module output end connects packet generator input terminal.The output end connection packet of packet generator
Combiner input terminal.Package clutch output end 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 for examining
Measuring acceleration data, angular-rate sensor is for measuring angular velocity data, and magnetometric sensor is for measuring each axial earth magnetism
Component, temperature sensor are used for detecting ambient temperature, baroceptor for detecting ambient pressure, Global Navigation Satellite System
In measurement and positioning information.Data anastomosing algorithm may include various modes, can be preselected by user, to the data group of different inputs
It closes and carries out data fusion.
Calibration module for calibrating 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.Selector is used for according to user or system configuration
One group of data is selected to be sent into engine kernel module, engine kernel in the two groups of data exported respectively from calibration module and filter module
Module carries out Data Fusion to the data of reception according to selected blending algorithm.Preferably, data anastomosing algorithm can be advance
It is selected.Preferably, data anastomosing algorithm includes various modes.Packet generator is used for the data after Data Fusion according to pre-
Fixed format generates data packet.The multichannel data packet that package clutch is used to receive from packet generator is further according to predetermined format
Carry out packet combined treatment.It closes that treated that data packet is admitted to interface module by package, is exported to outside by interface module
Module or host.Embedded real time operating system, is arranged 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
The order etc. that data transmission is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST).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.
(3) 3rd embodiment
The present embodiment provides a kind of intelligent inertial navigation sensor-based systems.As shown in figure 4, the intelligence inertial navigation sensor-based system includes
Sensor module, processing module and interface module.The sensor module may include multiple sensors, plurality of sensor for example
Including acceleration transducer, angular-rate sensor (gyroscope), magnetometric sensor.
Wherein the processing module includes the first calibration module, the second calibration module, third calibration module, automatic calibrating die
Block, first filter, second filter, third filter, first selector, second selector, third selector, the 4th selection
Device, the 5th selector, the 6th selector.Preferably, the first, second, and third filter is Kalman filter.The processing mould
Block further includes engine kernel module, packet generator and package clutch.
The output end of wherein acceleration transducer be separately connected the first calibration module input terminal and first selector
One input terminal, the output end of the first calibration module be separately connected the second input terminal of first selector, second selector first
The input terminal of input terminal and first filter, the output end of first filter be separately connected first selector third input terminal and
Second input terminal of second selector.The output end of first selector connects packet generator, the output end connection of second selector
Engine kernel module.Acceleration transducer gives the data transmission 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 being calibrated the data received
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 the three data of input, gives the data transmission all the way selected to packet generator, the second selection
Device selects the two paths of data of input, gives the data transmission all the way selected to engine kernel module.
The output end of wherein angular-rate sensor is separately connected the first input end and third selector of the second calibration module
First input end, the output end of the second calibration module is separately connected the second input terminal of third selector, the 4th selector
The input terminal of first input end, the input terminal of second filter and automatic calibration module, the output end connection of automatic calibration module
Second input terminal of the second calibration module.The output end of second filter is separately connected the third input terminal and of third selector
Second input terminal of four selectors.The output end of third selector connects packet generator, and the 4th selector output end connects engine
Kernel module.Angular-rate sensor gives the data transmission 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 being calibrated the data received
Block, automatic calibration module carry out the data of input to be sent into the second calibration module after calibrating automatically, and second filter is to receiving
Data be filtered after send third selector and the 4th selector to.According to user or system configuration, third selector pair
The three data of input is selected, and gives the data transmission all the way selected to packet generator, the 4th selector is to the two of input
Circuit-switched data is selected, and gives the data transmission all the way selected to engine kernel module.
The output end of wherein magnetometric sensor be separately connected third calibration module input terminal and the 5th selector first
Input terminal, the output end of third calibration module be separately connected the second input terminal of the 5th selector, the 6th selector it is first defeated
Enter the input terminal of end and third filter, the output end of third filter is separately connected the third input terminal and of the 5th selector
Second input terminal of six selectors.The output end of 5th selector connects packet generator, and the output end connection of the 6th selector is drawn
Hold up kernel module.Magnetometric sensor is by the data transmission detected to third calibration module and the 5th selector, third calibrating die
Block sends third filter, the 5th selector and the 6th selector, third filter to after being calibrated the data received
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 the three data of input, gives the data transmission all the way selected to packet generator, the 6th selector pair
The two paths of data of input is selected, and gives the data transmission all the way selected to engine kernel module.
Engine kernel module includes engine, and engine can be arranged to a variety of data fusion patterns, second selector, the 4th choosing
The data transmission for selecting device and the output of the 6th selector arrives engine, and the data of input can pass through different mode and carry out data fusion, pass through
It is sent to packet generator after crossing Data Fusion.Packet generator is respectively by first selector, third selector and the 5th selection
The data of device output are output to package clutch after being packaged according to predetermined format, and packet generator is additionally operable to the different moulds for exporting engine
The data of formula are output to package clutch after being packaged respectively according to predetermined format.Package clutch again by each data packet of input according to
Predetermined format is output to interface after being further combined.Preferably, packet generator includes acceleration information packet generator, angular speed number
According to packet generator, magnetic data packet generator, bearing data packet generator, measurement data packet generator.Acceleration information Bao Sheng
It grows up to be a useful person after the acceleration information for exporting first selector is packaged according to predetermined format and sends package clutch, angular speed number to
According to packet generator for sending package clutch, magnetic to after being packaged the angular velocity data that third selector exports according to predetermined format
Force data packet generator is used to send package clutch to after being packaged the magnetic data that the 5th selector exports according to predetermined format,
Bearing data packet generator, measurement data packet generator are for receiving the data after engine data merges, by the number of reception
According to being transmitted to package clutch after being packaged according to predetermined format.Preferably, acceleration information packet generator, angular velocity data packet generate
Device, magnetic data packet generator are respectively provided with raw mode, calibration mode and filter patterns, and being determined according to the source of data packet makes
With the different mode of packet generator, with the predetermined format of each packet generator of determination.Preferably, bearing data packet generator has
Quaternary number (Quatemion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., measurement data packet generator include
LinerAcc、Delta V、Delta Q、Velocity、Distance、Heave Motion、Attitude Ellipsoid、
PositionECEP, LatLon isotype.Each circuit-switched data of reception is combined according to predetermined protocol format and beats by package clutch
Interface is transmitted to after packet.Interface is such as including USART, UART (485), IIC, SPI, Wireless, USB.Interface module will
The data of each road interface output are selectively exported to external module or host (HOST).
Embedded real time operating system wherein in processing module, which is preferably improved FreeRTOS systems,
Multiple threads are set in real time operating system, and multiple threads are rotated with predetermined time piece interval, control holding for each task respectively
Row.For example, multiple threads be respectively used to from each sensors for data, by the data transmission obtained in each sensor to drawing
It holds up, handle the order etc. that the low priority tasks such as breath light and processing are obtained from host (HOST).Preferably, real-time operation
The system frequency of system is enhanced, and system frequency is for example increased to 50 times of default frequency, accelerates the operational efficiency of process with this,
The data-handling efficiency and operational efficiency of improvement system.
(4) fourth embodiment
The present embodiment provides a kind of another embodiments of intelligent inertial navigation sensor-based system.As shown in figure 5, the intelligence inertial navigation
Sensor-based system includes sensor module, processing module and interface module.Plurality of sensor includes acceleration transducer, angle speed
Spend sensor (gyroscope), magnetometric sensor, temperature sensor.The processing module is used to receive the measurement number of multiple sensors
According to handling the data of the multiple sensor measurement.Wherein the processing module includes the first calibration module, the second calibration
Module, third calibration module, automatic calibration module, first filter, second filter, third filter, first selector,
Two selectors, third selector, the 4th selector, the 5th selector, the 6th selector.Preferably, the first, second, and third filter
Wave device is Kalman filter.The processing module further includes engine kernel module, packet generator and package clutch.
The output end of wherein acceleration transducer be separately connected the first calibration module input terminal and first selector
One input terminal, the output end of the first calibration module be separately connected the second input terminal of first selector, second selector first
The input terminal of input terminal and first filter, the output end of first filter be separately connected first selector third input terminal and
Second input terminal of second selector.The output end of first selector connects packet generator, the output end connection of second selector
Engine kernel module.Wherein acceleration transducer gives the data transmission detected to the first calibration module and first selector, the
One calibration module sends first filter, first selector and second selector to after being calibrated the data received, the
One filter sends first selector and second selector to after being filtered to the data received.Matched according to user or system
It sets, first selector selects the three data of input, gives the data transmission all the way selected to packet generator, the second choosing
It selects device to select the two paths of data of input, gives the data transmission all the way selected to engine kernel module.
The output end of wherein angular-rate sensor is separately connected the first input end and third selector of the second calibration module
First input end, the output end of the second calibration module is separately connected the second input terminal of third selector, the 4th selector
The input terminal of first input end, the input terminal of second filter and automatic calibration module, the output end connection of automatic calibration module
Second input terminal of the second calibration module.The output end of second filter is separately connected the third input terminal and of third selector
Second input terminal of four selectors.The output end of third selector connects packet generator, and the 4th selector output end connects engine
Kernel module.Wherein angular-rate sensor gives the data transmission of measurement to the second calibration module and third selector, the second calibration
Module sends second filter, third selector, the 4th selector and automatic calibration to after being calibrated the data received
Module, automatic calibration module be sent into the second calibration module after being calibrated the data of input, second filter is to receiving
Data send third selector and the 4th selector to after being filtered.According to user or system configuration, third selector is to defeated
The three data entered is selected, and gives the data transmission all the way selected to packet generator, two-way of the 4th selector to input
Data are selected, and give the data transmission all the way selected to engine kernel module.
The output end of wherein magnetometric sensor be separately connected third calibration module input terminal and the 5th selector first
Input terminal, the output end of third calibration module be separately connected the second input terminal of the 5th selector, the 6th selector it is first defeated
Enter the input terminal of end and third filter, the output end of third filter is separately connected the third input terminal and of the 5th selector
Second input terminal of six selectors.The output end of 5th selector connects packet generator, and the output end of the 6th selector connection connects
Connect engine kernel module.Wherein magnetometric sensor by the data transmission of measurement to third calibration module and the 5th selector, third
Calibration module sends third filter, the 5th selector and the 6th selector, third to after being calibrated the data received
Filter sends the 5th selector and the 6th selector to after being filtered to the data received.Matched according to user or system
It sets, the 5th selector selects the three data of input, gives the data transmission all the way selected to packet generator, the 6th choosing
It selects device to select the two paths of data of input, gives the data transmission all the way selected to engine kernel module.
Temperature sensor output end connects engine kernel module.Engine kernel module includes engine, and engine can be arranged to
A variety of data fusion patterns, second selector, the 4th selector, the 6th selector and the data transmission of temperature sensor output arrive
The data of engine kernel module, input carry out Data Fusion by engine, and Bao Sheng is sent to after Data Fusion
It grows up to be a useful person.Packet generator is additionally operable to the data for exporting first selector, third selector and the 5th selector respectively according to predetermined
Format is output to package clutch after being packaged.Packet generator is additionally operable to data that engine kernel module exports respectively according to fixing in advance
Formula is output to package clutch after being packaged.Package clutch is output to after again combining each data packet of input according to predetermined format and connects
Mouthful.Preferably, packet generator include acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator,
Bearing data packet generator, measurement data packet generator.The number that acceleration information packet generator is used to export first selector
According to sending package clutch after being packaged according to predetermined format to, the number that angular velocity data packet generator is used to export third selector
According to sending package clutch after being packaged according to predetermined format to, the data that magnetic data packet generator is used to export the 5th selector
Send package clutch after being packaged according to predetermined format to, bearing data packet generator, measurement data packet generator are passed through for receiving
The data after data fusion are crossed, package clutch is transmitted to after the data of reception are packaged according to predetermined format.Preferably, acceleration
Data packet generator, angular velocity data packet generator, magnetic data packet generator are respectively provided with raw mode, calibration mode and filter
Wave mode is determined the different mode using packet generator according to the source of data packet, is fixed with each the pre- of packet generator of determination
Formula.Preferably, bearing data packet generator has 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.Package clutch is according to predetermined protocol format
It is transmitted to interface after each circuit-switched data of reception is combined packing.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 the execution of each task in rotation, difference control process module, 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 are respectively used to from each sensors for data, by each sensing
The data transmission obtained in device is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST)
Order etc..
(5) the 5th embodiments
The present embodiment is the data processing method according to the intelligent inertial navigation sensor-based system in first embodiment of the invention.Such as figure
Shown in 1, which includes sensor module, processing module and interface module, and this method specifically includes
Following steps：Sensor module measures acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or positioning
Information；Processing module receives the data measured, and Data Fusion, interface mould are carried out to measurement data by engine kernel module
Data after Data Fusion are output to external module or host by block.Embedded real-time oss wherein in processing module
Multiple threads are arranged in system in real time operating system, and multiple threads are rotated with predetermined time piece interval, respectively control process module
The execution of middle each task.Multiple threads can for example be respectively used to from each sensors for data, will be obtained in each sensor
The order that the data transmission taken is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST)
Deng.Real time operating system is FreeRTOS systems, and the system frequency of the FreeRTOS systems can be preferably enhanced, system frequency example
Such as it is increased to 50 times of default frequency.Data anastomosing algorithm may include various modes, can be preselected by user, to different inputs
Data combination carry out data fusion.
(6) sixth embodiment
The present embodiment according to a kind of intelligent inertial navigation sensor-based system of second embodiment of the invention data processing method.Such as figure
Shown in 3, which includes sensor module, processing module and interface module, the processing module packet
Calibration module, filter module, selector, engine kernel module, packet generator and package clutch, this method is included to specifically include：It passes
Sensor component measures object acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or location information；School
The measurement data of quasi-mode block receiving sensor component calibrates it, and filter module is filtered the data after calibration, filter
Wave module preferably can be Kalman filter.Calibration module and two groups of data of filter module output are respectively transmitted to selector,
According to user or system configuration, selector selects one group of data to be sent into engine kernel module, number of the engine kernel module to reception
Data Fusion is carried out according to according to selected blending algorithm.Preferably, data anastomosing algorithm can preselect.Preferably, number
Include various modes according to blending algorithm.The data of engine kernel module output are sent into packet generator, and packet generator is by fusion treatment
Data afterwards generate data packet according to scheduled format.The data packet that packet generator generates is sent into package clutch, and package clutch will
The multichannel data packet of reception further carries out packet combined treatment according to predetermined format.Close that treated that data packet is sent by package
Incoming interface module is exported by interface module to external module or host.Embedded real time operating system wherein in processing module, should
Operating system is preferably FreeRTOS systems, multiple threads is arranged in real time operating system, multiple threads are with predetermined time piece
Interval rotates, the execution of each task in control process module.Preferably, multiple threads are respectively used to obtain from each sensor
Data, by the data transmission obtained in each sensor to engine, processing breath light etc. low priority tasks and processing from master
The order etc. obtained in machine (HOST).Preferably, the system frequency of real time operating system improves, and system frequency is for example increased to silent
Recognize frequency 50 times.
(7) the 7th embodiments
The present embodiment is the data processing method according to the intelligent inertial navigation sensor-based system of third embodiment of the invention.Such as Fig. 4
Shown, which includes sensor module, processing module and interface module.The sensor module can wrap
It can be acceleration transducer, angular-rate sensor (gyroscope), magnetometric sensor to include multiple sensors, plurality of sensor.
The processing module include the first calibration module, the second calibration module, third calibration module, automatic calibration module, first filter,
Second filter, third filter, first selector, second selector, third selector, the 4th selector, the 5th selector,
6th selector.Preferably, the first, second, and third filter is Kalman filter.The processing module further includes in engine
Core module, packet generator and package clutch.This method specifically includes：Acceleration transducer is by the data transmission measured to the
One calibration module and first selector, the first calibration module sent to after being calibrated the data received first filter,
First selector and second selector, first filter send first selector and to after being filtered to the data received
Two selectors, according to user or system configuration, first selector selects the three data of input, will select all the way
Data transmission gives packet generator, second selector to select the two paths of data of input, the data transmission all the way that will be selected
Give engine kernel module；Angular-rate sensor by the data transmission measured give the second calibration module and third selector, second
Calibration module sends second filter, third selector, the 4th selector and automatic to after being calibrated the data received
Calibration module, automatic calibration module carry out the data of input to be sent into the second calibration module, second filter pair after calibrating automatically
The data received send third selector and the 4th selector to after being filtered, according to user or system configuration, third choosing
It selects device to select the three data of input, gives the data transmission for selecting all the way to packet generator, the 4th selector is to defeated
The two paths of data entered is selected, and gives the data transmission all the way selected to engine kernel module；Magnetometric sensor will measure
Data transmission to third calibration module and the 5th selector, third calibration module transmits after being calibrated the data received
To third filter, the 5th selector and the 6th selector, third filter is sent to after being filtered to the data received
5th selector and the 6th selector, according to user or system configuration, the 5th selector selects the three data of input,
It gives packet generator, the 6th selector to select the two paths of data of input the data transmission all the way selected, will select
Send engine kernel module to all the way.The data transmission of second selector, the 4th selector and the output of the 6th selector is to drawing
Kernel module is held up, can the data of input be carried out with the data fusion of different mode by the engine in engine kernel module, passed through
Packet generator is sent to after Data Fusion；Packet generator is respectively by first selector, third selector and the 5th selector
The data of output are output to package clutch after being packaged according to predetermined format, by data that engine kernel module exports according to fixing in advance
Formula is output to package clutch after being packaged；Package clutch is output to after again combining each data packet of input according to predetermined format and connects
Mouthful.Preferably, packet generator include acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator,
Bearing data packet generator, measurement data packet generator.The number that acceleration information packet generator is used to export first selector
According to sending package clutch after being packaged according to predetermined format to, the number that angular velocity data packet generator is used to export third selector
According to sending package clutch after being packaged according to predetermined format to, the data that magnetic data packet generator is used to export the 5th selector
Send package clutch after being packaged according to predetermined format to, bearing data packet generator, measurement data packet generator are passed through for receiving
The data after data fusion are crossed, package clutch is transmitted to after the data of reception are packaged according to predetermined format.Preferably, acceleration
Data packet generator, angular velocity data packet generator, magnetic data packet generator are respectively provided with raw mode, calibration mode and filter
Wave mode is determined the different mode using packet generator according to the source of data packet, is fixed with each the pre- of packet generator of determination
Formula.Preferably, bearing data packet generator has 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.Package clutch is according to predetermined protocol format
It is transmitted to interface after each circuit-switched data of reception is combined packing.Interface for example including USART, UART (485), IIC, SPI,
Wireless, USB etc..The data that interface exports each road interface are selectively exported to host (HOST).
Embedded real time operating system wherein in processing module, which is preferably improved FreeRTOS systems,
Multiple threads are set in real time operating system, and multiple threads are rotated with predetermined time piece interval, for controlling holding for each task
Row.Such as multiple threads be respectively used to from each sensors for data, by the data transmission obtained in each sensor to drawing
It holds up, handle the order etc. that the low priority tasks such as breath light and processing are obtained from host (HOST).Preferably, real-time operation
The system frequency of system improves, and system frequency is for example increased to 50 times of default frequency.
(8) the 8th embodiments
The present embodiment according to the intelligent inertial navigation sensor-based system of third embodiment of the invention data processing method.Such as Fig. 5 institutes
Show, which includes sensor module, processing module and interface module.Wherein sensor module includes
Acceleration transducer, angular-rate sensor (gyroscope), magnetometric sensor, temperature sensor.Wherein the processing module may include
First calibration module, the second calibration module, third calibration module, automatic calibration module, first filter, second filter,
Three filters, first selector, second selector, third selector, the 4th selector, the 5th selector, the 6th selector.It is excellent
Choosing, the first, second, and third filter is Kalman filter.The processing module further includes engine kernel module, packet generation
Device and package clutch.
This method specifically includes：Acceleration transducer gives the data transmission detected to the first calibration module and first choice
Device, the first calibration module send first filter, first selector and the second selection to after being calibrated the data received
Device, first filter send first selector and second selector to after being filtered to the data received.According to user or
System configuration, first selector select the three data of input, give the data transmission all the way selected to packet generator,
Second selector selects the two paths of data of input, gives the data transmission selected to engine kernel module；Angular speed passes
Sensor by the data transmission detected give the second calibration module and third selector, the second calibration module by the data received into
Second filter, third selector, the 4th selector and automatic calibration module are sent to after row calibration, and automatic calibration module will be defeated
The data entered are sent into the second calibration module after being calibrated, second filter sends to after being filtered to the data received
Three selectors and the 4th selector, according to user or system configuration, third selector selects the three data of input, will
The data transmission selected gives packet generator, the 4th selector to select the two paths of data of input, will select all the way
Data transmission gives engine kernel module；Magnetometric sensor selects the data transmission detected to third calibration module and the 5th
Device, third calibration module send third filter, the 5th selector and the 6th selection to after being calibrated the data received
Device, third filter send the 5th selector and the 6th selector to after being filtered to the data received, according to user or
System configuration, the 5th selector select the three data of input, give the data transmission all the way selected to packet generator,
6th selector selects the two paths of data of input, gives the data transmission selected to engine kernel module；Temperature sensing
Device sends the temperature data of measurement to engine kernel module.Second selector, the 4th selector, the 6th selector and temperature pass
The data transmission of sensor output arrives engine kernel module, data progress data fusion of the engine in engine kernel module to input
Processing, data are sent to packet generator after Data Fusion；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, the number that engine kernel module is exported
According to being output to package clutch after being packaged respectively according to predetermined format；Package clutch again by each data packet of input according to fixing in advance
It is output to interface after formula combination.The data that interface module exports each road interface are selectively exported to host (HOST).Preferably,
Packet generator includes acceleration information packet generator, angular velocity data packet generator, magnetic data packet generator, bearing data packet
Generator, measurement data packet generator.The data that acceleration information packet generator is used to export first selector are according to predetermined
Format sends package clutch to after being packaged, the data that angular velocity data packet generator is used to export third selector are according to predetermined
Format sends package clutch to after being packaged, and magnetic data packet generator is used for data that the 5th selector exports according to fixing in advance
Formula sends package clutch to after being packaged, bearing data packet generator, measurement data packet generator pass through data fusion for receiving
Data afterwards are transmitted to package clutch after being packaged the data of reception according to predetermined format.Preferably, acceleration information packet generates
Device, angular velocity data packet generator, magnetic data packet generator are respectively provided with raw mode, calibration mode and filter patterns, root
The different mode using packet generator is determined according to the source of data packet, with the predetermined format of each packet generator of determination.Preferably,
Bearing data packet generator has quaternary number (Quatemion), Eulerian angles (Euler), digital cosine matrix (DCM) etc., measures
Data packet generator include LinerAcc, Delta V, Delta Q, Velocity, Distance, Heave Motion,
Attitude Ellipsoid, PositionECEP, LatLon isotype.Interface for example including USART, UART (485), IIC,
SPI, Wireless, USB etc..
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 the execution of each task in rotation, control process module.Preferably, the system frequency of operating system is improved, system frequency
Such as it is increased to 50 times of default frequency.Multiple threads are respectively used to from each sensors for data, will be in each sensor
The order that the data transmission of acquisition is obtained to the low priority tasks such as engine, processing breath light and processing from host (HOST)
Deng.
Processing module can be general purpose processing block, such as, but not limited to, central processing module in the embodiment of the present invention
(Central Processing Unit, CPU), can also be dedicated processes module, such as, but not limited to, Digital Signal Processing
Module (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, processing module can also be the combination of multiple processing modules.
Those of ordinary skill in the art may realize that moulds described in conjunction with the examples disclosed in the embodiments of the present disclosure
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 implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, 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, formula that in actual implementation, there may be another division manner.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned 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 scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.
Claims (10)
1. a kind of intelligence inertial navigation sensor-based system, including sensor module, processing module and interface module, sensor module connect
Processing module, processing module connection interface module are connect, processing module includes engine kernel module, and sensor module adds for measuring
Speed, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or location information；Processing module is measured for receiving
Data carry out Data Fusion by engine kernel module to the multichannel data of measurement, and interface module is used for fusion treatment
Each circuit-switched data afterwards is output to external module or host, embedded real time operating system wherein in processing module, in real-time oss
Multiple threads are set in system, and multiple threads rotate with predetermined time piece interval, and each task is held in control process module respectively
Row.
2. a kind of data processing method of intelligent inertial navigation sensor-based system as described in claim 1, this method include：(1)
Sensor module measures acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or location information；(2) at
It manages module and receives the data measured, Data Fusion is carried out to measurement data by engine kernel module；(3) interface module will
Data after Data Fusion are output to external module or host；Embedded real time operating system wherein in processing module,
Multiple threads are set in real time operating system, and multiple threads are rotated with predetermined time piece interval, respectively in control process module
The execution of each task.
3. a kind of intelligence inertial navigation sensor-based system, including sensor module, processing module and interface module, wherein sensor group
Part connection processing module, processing module connection interface module, the processing module include calibration module, filter module, selector,
Engine kernel module, packet generator and package clutch, the input terminal of the output end connection calibration module of sensor module, calibrating die
The first input end of the input terminal and selector of the output end connection filter module of block, the output end of filter module connect selector
The output end of second input terminal, selector connects engine kernel module, and engine kernel module output end connects the input of packet generator
The output end at end, packet generator connects package clutch input terminal, package clutch output end connection interface module, wherein calibration module
It is calibrated respectively for the measurement data to being received from sensor module, filter module is for filtering the data after calibration
Wave, selector select one in two groups of data for being exported respectively from calibration module and filter module according to user or system configuration
Group data are sent into engine kernel module, and engine kernel module carries out data fusion to the data of reception according to selected blending algorithm
Processing, packet generator are used to the data after Data Fusion generating data packet according to scheduled format, and package clutch is used for
The multichannel data packet received from packet generator is further subjected to packet combined treatment according to predetermined format, after packet combined treatment
Data packet be admitted to interface module, exported to external module or host by interface module, it is embedded real wherein in processing module
When operating system, multiple threads are set in real time operating system, and multiple threads are rotated with predetermined time piece interval, are controlled respectively
Each task in processing module.
4. a kind of data processing method of intelligent inertial navigation sensor-based system as claimed in claim 3, this method include：Sensing
Device assembly measures object acceleration, angular speed, axially magnetic component, ambient temperature, ambient pressure and/or location information；Calibration
The measurement data of module receiving sensor component simultaneously calibrates it；Filter module is filtered the data after calibration；School
Quasi-mode block and two groups of data of filter module output are respectively transmitted to selector, and selector is according to user or system configuration selection one
Group data are sent into engine kernel module；Engine kernel module carries out data fusion to the data of reception according to selected blending algorithm
Processing；The data of engine kernel module output are sent into packet generator, and packet generator is by the data after fusion treatment according to scheduled
Format generates data packet；The data packet that packet generator generates is sent into package clutch, and package clutch presses the multichannel data packet of reception
Packet combined treatment is further carried out according to predetermined format；Close that treated that data packet is admitted to interface module by package, by connecing
Mouth mold block is exported to external module or host；Embedded real time operating system, sets in real time operating system wherein in processing module
Multiple threads are set, multiple threads are rotated with predetermined time piece interval, the execution of each task in difference control process module.
5. a kind of intelligence inertial navigation sensor-based system, including sensor module, processing module and interface module, the sensor module
Including acceleration transducer, angular-rate sensor, magnetometric sensor, wherein the processing module includes the first calibration module, second
Calibration module, third calibration module, automatic calibration module, first filter, second filter, third filter, first choice
Device, second selector, third selector, the 4th selector, the 5th selector, the 6th selector, engine kernel module, packet generate
Device and package clutch；The output end of wherein acceleration transducer is separately connected the input terminal and first choice of the first calibration module
The output end of the first input end of device, the first calibration module is separately connected the second input terminal, the second selector of first selector
First input end and first filter input terminal, the third that the output end of first filter is separately connected first selector is defeated
Enter the second input terminal of end and second selector, the output end of first selector connects packet generator, the output of second selector
End connection engine kernel module；The output end of wherein angular-rate sensor be separately connected the second calibration module first input end and
The output end of the first input end of third selector, the second calibration module is separately connected the second input terminal of third selector,
The input terminal of the first input end of four selectors, the input terminal of second filter and automatic calibration module, automatic calibration module
Output end connects the second input terminal of the second calibration module, and the output end of second filter is separately connected the third of third selector
The output end of second input terminal of input terminal and the 4th selector, third selector connects packet generator, the output of the 4th selector
End connection engine kernel module；The output end of wherein magnetometric sensor is separately connected input terminal and the 5th choosing of third calibration module
The first input end of device is selected, the output end of third calibration module is separately connected the second input terminal of the 5th selector, the 6th selection
The first input end of device and the input terminal of third filter, the output end of third filter are separately connected the third of the 5th selector
Second input terminal of input terminal and the 6th selector, the output end of the 5th selector connect packet generator, the 6th selector it is defeated
Outlet connects engine kernel module, and second selector, the 4th selector and the 6th selector output end connect engine kernel module；
The input terminal of the output end connection packet generator of engine kernel module, the input of the output end connection package clutch of packet generator
End, the output end connection interface module of package clutch；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, respectively each task in control process module.
6. a kind of data processing method of intelligent inertial navigation sensor-based system as claimed in claim 5, this method specifically include：
The data transmission measured is given the first calibration module and first selector, the first calibration module that will receive by acceleration transducer
Data calibrated after send first filter, first selector and second selector to, first filter is to receiving
Data send first selector and second selector to after being filtered, and according to user or system configuration, first selector is to defeated
The three data entered is selected, and gives the data transmission all the way selected to packet generator, two-way of the second selector to input
Data are selected, and give the data transmission all the way selected to engine kernel module；The data that angular-rate sensor will measure
Send the second calibration module and third selector to, the second calibration module sends second to after being calibrated the data received
The data of input are carried out automatic school by filter, third selector, the 4th selector and automatic calibration module, automatic calibration module
The second calibration module is sent into after standard, second filter sends third selector and the 4th to after being filtered to the data received
Selector, according to user or system configuration, third selector selects the three data of input, will select number all the way
According to packet generator is sent to, the 4th selector selects the two paths of data of input, by the data transmission all the way selected to
Engine kernel module；Magnetometric sensor is by the data transmission measured to third calibration module and the 5th selector, third calibration
Module sends third filter, the 5th selector and the 6th selector, third filtering to after being calibrated the data received
Device sends the 5th selector and the 6th selector to after being filtered to the data received, according to user or system configuration,
Five selectors select the three data of input, give the data transmission all the way selected to packet generator, the 6th selector
The two paths of data of input is selected, engine kernel module is sent to all the way by what is selected；Second selector, the 4th selection
Device and the data transmission of the 6th selector output arrive engine kernel module, and engine kernel module melts the data of input progress data
Conjunction is handled, and packet generator is sent to after Data Fusion；Packet generator is by first selector, third selector and the 5th
The data of selector output are output to package clutch after being packaged respectively according to predetermined format, the data that engine kernel module is exported
Package clutch is output to after being packaged according to predetermined format；Package clutch again combines each data packet of input according to predetermined format
After be output to interface；The data that interface exports each road interface are selectively exported to host；It is embedded real-time wherein in processing module
Multiple threads are arranged in operating system in real time operating system, and multiple threads are rotated with predetermined time piece interval, respectively at control
Manage the execution of each task in module.
7. a kind of intelligence inertial navigation sensor-based system, including sensor module, processing module and interface module, the sensor module
Including acceleration transducer, angular-rate sensor, magnetometric sensor, temperature sensor, wherein the processing module includes the first school
Quasi-mode block, the second calibration module, third calibration module, automatic calibration module, first filter, second filter, third filtering
Device, first selector, second selector, third selector, the 4th selector, the 5th selector, the 6th selector, engine kernel
Module, packet generator and package clutch；The output end of wherein acceleration transducer is separately connected the input of the first calibration module
The output end of the first input end at end and first selector, the first calibration module is separately connected the second input of first selector
It holds, the input terminal of the first input end of second selector and first filter, the output end of first filter is separately connected first
The output end of the third input terminal of selector and the second input terminal of second selector, first selector connects packet generator, the
The output end of two selectors connects engine kernel module；The output end of wherein angular-rate sensor is separately connected the second calibration module
First input end and third selector first input end, the output end of the second calibration module is separately connected third selector
The input terminal of second input terminal, the first input end of the 4th selector, the input terminal of second filter and automatic calibration module, from
The output end of dynamic calibration module connects the second input terminal of the second calibration module, and the output end of second filter is separately connected third
The output end of second input terminal of the third input terminal and the 4th selector of selector, third selector connects packet generator, the
Four selector output ends connect engine kernel module；The output end of wherein magnetometric sensor is separately connected the defeated of third calibration module
Enter the first input end of end and the 5th selector, the output end of third calibration module is separately connected the second input of the 5th selector
It holds, the input terminal of the first input end of the 6th selector and third filter, the output end of third filter is separately connected the 5th
The output end of second input terminal of the third input terminal and the 6th selector of selector, the 5th selector connects packet generator, the
The output end connection engine kernel module of six selectors, temperature sensor output end connection engine kernel module, second selector,
4th selector, the 6th selector connect engine kernel module with temperature sensor output end；The output end of engine kernel module
The input terminal of packet generator, the input terminal of the output end connection package clutch of packet generator are connected, the output end of package clutch connects
Connection interface module；Embedded real time operating system, is arranged 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.
8. a kind of data processing method of intelligent inertial navigation sensor-based system as claimed in claim 7, this method include：Accelerate
Degree sensor gives the data transmission detected to the first calibration module and first selector, the number that the first calibration module will receive
According to sending first filter, first selector and second selector after being calibrated to, first filter is to the data that receive
Send first selector and second selector after being filtered to, according to user or system configuration, first selector is to input
Three data is selected, and gives the data transmission all the way selected to packet generator, two paths of data of the second selector to input
It is selected, gives the data transmission selected to engine kernel module；Angular-rate sensor is by the data transmission detected to the
Two calibration modules and third selector, the second calibration module sent to after being calibrated the data received second filter,
Third selector, the 4th selector and automatic calibration module, automatic calibration module are sent into after being calibrated the data of input
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 the three data of input, by the data transmission selected to Bao Sheng
It grows up to be a useful person, the 4th selector selects the two paths of data of input, gives the data transmission all the way selected to engine kernel module；
By the data transmission detected to third calibration module and the 5th selector, third calibration module will receive magnetometric sensor
Data send third filter, the 5th selector and the 6th selector to after being calibrated, third filter is to the number that receives
According to the 5th selector and the 6th selector is sent after being filtered to, according to user or system configuration, the 5th selector is to input
Three data selected, give the data transmission all the way selected to packet generator, two ways of the 6th selector to input
According to being selected, the data transmission selected is given to engine kernel module；Temperature sensor sends the temperature data of measurement to
Engine kernel module；Second selector, the 4th selector, the 6th selector and the data transmission of temperature sensor output are to engine
Kernel module, engine kernel module carry out Data Fusion to the data of input, and data are sent into after Data Fusion
To packet generator；The data that packet generator exports first selector, third selector and the 5th selector are respectively according to predetermined
Format is output to package clutch after being packaged, and is output to after the data that engine kernel module exports are packaged according to predetermined format respectively
Package clutch；Package clutch is output to interface after again combining each data packet of input according to predetermined format, interface module will
The data of each road interface output are selectively exported to host；Embedded real time operating system wherein in processing module, in real-time operation
Multiple threads are set in system, and multiple threads are rotated with predetermined time piece interval, respectively each task in control process module
It executes.
9. the intelligent inertial navigation sensor-based system as described in claim 1,3,5,7 or the intelligence as described in claim 2,4,6,8
The data processing method of energy inertial navigation sensor-based system, wherein real time operating system are FreeRTOS systems, the FreeRTOS systems
The system frequency of system is enhanced, and the system frequency of wherein real time operating system is raised to 50 times of system default frequency.
10. the intelligent inertial navigation sensor-based system as described in claim 1,3,5,7 or the intelligence as described in claim 2,4,6,8
The data processing method of energy inertial navigation sensor-based system, plurality of thread can be access thread (Fetch Thread), processing
Thread (Process Thread), breathing thread (Breath Thread), interface transmission line journey (UartRx Thread), can divide
Not Yong Yu from each sensors for data, the data transmission obtained in each sensor to engine, processing breath light etc. is low
The order that priority tasks and processing are obtained from host；Or interface module include USART, UART (485), IIC, SPI,
Wireless, USB, the data that interface module exports each road interface selectively output to external module or host；Or in which number
It may include various modes according to the algorithm of fusion treatment, can be pre-configured with by user or system.
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