CN109000644A - A kind of Inertial Measurement Unit systematic calibration method based on VxWorks - Google Patents
A kind of Inertial Measurement Unit systematic calibration method based on VxWorks Download PDFInfo
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- CN109000644A CN109000644A CN201810617869.9A CN201810617869A CN109000644A CN 109000644 A CN109000644 A CN 109000644A CN 201810617869 A CN201810617869 A CN 201810617869A CN 109000644 A CN109000644 A CN 109000644A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
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Abstract
The Inertial Measurement Unit systematic calibration method based on VxWorks that the invention discloses a kind of, this method comprises the following steps, filing step: layout demarcation flow file；Error Excitation step: reading in and executes the control instruction in demarcation flow file, and the error of Inertial Measurement Unit is motivated by way of controlling turntable；Calibration process of solution: the data of Inertial Measurement Unit acquisition are received and parsed through, calibration resolving are carried out to the data after parsing, to obtain the calibration result of Inertial Measurement Unit；Data storing steps, for storing the data of Inertial Measurement Unit acquisition.Make the present invention be flexibly applied to different demarcation flows by way of reading in demarcation flow file, different Inertial Measurement Units and different turntables can be suitable for, there is outstanding advantages of high strong flexibility, fitness, good reliability.
Description
Technical field
The present invention relates to Inertial Measurement Unit calibration technique fields, and more specifically, the present invention is a kind of based on VxWorks
Inertial Measurement Unit systematic calibration method.
Background technique
Currently, Inertial Measurement Unit (IMU, inertia measurement unit) plays in the application of airmanship
Vital effect, wherein one of an important factor for stated accuracy is influence subsequent navigation precision.
Calibration for Inertial Measurement Unit, it will usually consider discrete scaling method and systematic calibration method.Due to
There is the disadvantages of few high to turntable degree of dependence, calibration simultaneously parameter, low efficiency, poor flexibility in discrete calibration, so being
Irrespective of size scaling method becomes Inertial Measurement Unit calibration technique research direction.But systematic calibration method is to turntable
Very more with the control operation of Inertial Measurement Unit, existing systematic calibration method is not only complicated for operation, and it is even more impossible to guarantee to grasp
The timeliness of work, so calibration success rate is lower；In addition, existing existing systematic calibration method versatility is poor, it can not
Adapt to different Inertial Measurement Units and different turntables, thus the manual operation ability and skill requirement to operator compared with
It is high.
Therefore, the success rate and versatility, reduction for how effectively improving systematic calibration method obtain experience to operator
With the dependence of ability, the emphasis for becoming those skilled in the art's technical problem urgently to be resolved and studying always.
Summary of the invention
To solve existing system grade scaling method there are still success rates low, poor universality, excessively relying on operator
Problem, present invention innovation disclose a kind of Inertial Measurement Unit systematic calibration method based on VxWorks, by flowing to calibration
The innovation of journey file proposes and the rational design of systematic calibration process, the present invention not only efficiently solve existing system grade mark
Determine problems existing for method, and the present invention greatly reduces the operating process of operator, have preferable stability,
Real-time and flexibility.
To realize the above-mentioned technical purpose, the invention discloses a kind of system-level marks of the Inertial Measurement Unit based on VxWorks
Determine method, which includes the following steps,
Filing step: described according to Inertial Measurement Unit and current turntable layout demarcation flow file to be calibrated
It include control instruction in demarcation flow file, the Inertial Measurement Unit is installed on current turntable；
Error Excitation step: reading in and executes the control instruction in demarcation flow file, passes through what is controlled turntable
Mode motivates the error of Inertial Measurement Unit, and the error includes velocity error and location error；
It demarcates process of solution: under the excitation of the turntable, receiving and parsing through the data of the Inertial Measurement Unit acquisition,
Then calibration resolving is carried out to the data after parsing, to obtain the calibration result of Inertial Measurement Unit, the Inertial Measurement Unit
The data of acquisition include speed data and position data；
Data storing steps, for storing the data of the Inertial Measurement Unit acquisition.
Further, it demarcates in process of solution and data storing steps, the data of the Inertial Measurement Unit acquisition pass through
The mode of message queue issues.
Further, in Error Excitation step, when reading the control instruction in demarcation flow file, the control is referred to
It enables and control instruction array is written one by one；Then the control instruction in control instruction array is executed one by one.
It further, further include judging whether the control instruction in control instruction array has executed in Error Excitation step
The step of finishing, and enable instruction count add 1 in a case of no.
Further, in Error Excitation step, further include the steps that receiving and parsing through the turntable data, and to described turn
Number of units controls the turntable according to processing result according to being handled.
It further, further include that communication detection is carried out to the Inertial Measurement Unit and turntable before Error Excitation step
Step: if communication detection passes through, Error Excitation step is carried out；If communication detection does not pass through, stop demarcation flow simultaneously
It reports an error.
Further, which further includes following steps,
Calibration display step: the step to interface operation information, data entry information involved in calibration process, demarcate into
Journey information and calibration result information are shown.
Further, which further includes the steps that recording key message, and the key message includes turning
Platform location information.
Further, collaboration is handled between the corresponding multitask of each step in the scaling method.
Further, which further includes the steps that multitask being arranged priority, the task of equal priority it
Between resource, and the task task preferential preempting resources lower than priority that priority is high are used using the mode of poll.
The invention has the benefit that passing through layout and applying the present invention neatly
In different demarcation flows, different Inertial Measurement Units and different turntables can be suitable for, so the present invention has flexibly
Outstanding advantages of property is strong, fitness is high, good reliability.
In addition, the present invention is distributed by reasonable task, the Collaborative Control to Inertial Measurement Unit and turntable, energy are completed
The parameter calibration to Inertial Measurement Unit is enough completed by automation control process.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow diagrams of the Inertial Measurement Unit systematic calibration method of VxWorks.
Fig. 2 is the relational graph of task involved in each process of Inertial Measurement Unit systematic calibration based on VxWorks.
Specific embodiment
With reference to the accompanying drawings of the specification to the present invention is based on the progress of the Inertial Measurement Unit systematic calibration method of VxWorks
Detailed explanation and illustration.
As shown in Figure 1, 2, the present embodiment specifically discloses a kind of Inertial Measurement Unit systematic calibration based on VxWorks
Method, VxWorks are a kind of embedded real-time operating systems developed by Feng He company (Wind River System), tool
There are communication modes between good stability and real-time, leading task management mechanism, task abundant, the present invention is just
It is that communication mechanism is realized between the task management mechanism based on VxWorks and task.Specifically, which includes following step
Suddenly.
Filing step: according to Inertial Measurement Unit and current turntable layout demarcation flow file to be calibrated, inertia
Measuring unit is installed on current turntable, includes control instruction in demarcation flow file, and control instruction is deposited in the form of control routine
?；In the present embodiment, demarcation flow file may also include the information such as serial number, control information, input parameter, table institute specific as follows
Show.
| Serial number | Control/name of the information | Control routine | Numeric data code 1 | Numeric data code 2 | Numeric data code 3 |
| 1. | Calibration starts | 32 | / | / | / |
| 2. | Used group self-test | 11 | / | / | / |
| 3. | Turntable communication checks | 21 | / | / | / |
| 4. | Data acquisition | 16 | <acquisition time> | / | / |
| 5. | Turning table control | 22 | <target angle> | <angular speed> | <acceleration> |
| … | … | … | … | … | … |
| 6. | Calibration terminates | 33 | / | / | / |
Communication detection step: carrying out communication detection to Inertial Measurement Unit and turntable, judges whether just communication therebetween
Often, to guarantee being normally carried out for demarcation flow, if communication detection passes through, continue demarcation flow, carry out Error Excitation
Step；If communication detection is not over stopping demarcation flow and report an error.
Initial setup procedure: relevant calibration information and initial position message setting are carried out.
Error Excitation step: reading in and executes the control instruction in demarcation flow file, passes through what is controlled turntable
Mode motivates the error of Inertial Measurement Unit, and error includes velocity error and location error etc.；As shown in Fig. 2, the present invention is logical
Demarcation flow control task is crossed to execute step in demarcation flow file, send Inertial Measurement Unit and turntable instruction, control
Entire calibration system is operated according to the workflow set in demarcation flow file, and specifically, demarcation flow control task is used
It is resolved in sending instruction to Inertial Measurement Unit and turret plant according to the step in demarcation flow file, starting and stopping calibration
Task starts and stops data store tasks, so that controlling whole system grade demarcation flow can be operated by set workflow,
And demarcation flow control task can also receive what turntable data processing task and Inertial Measurement Unit data processing task returned
Data so that whether decision instruction correctly executes, while also returning to calibration progress information to main task.In the present embodiment, exist
When control instruction in above-mentioned reading demarcation flow file, control instruction is written to control instruction array one by one, is then held one by one
Control instruction in row control instruction array judges whether the control instruction in control instruction array has been held in above process
The step of row finishes, and enable instruction count add 1 in a case of no, then execute next instruction, if be finished, say
Bright each demarcation flow terminates, then records calibration result.In addition, further including receiving and parsing through turntable data in the present embodiment
Step, and turntable data are handled, turntable is controlled accordingly according to processing result, as shown in Fig. 2, passing through turntable
Data processing task, which is realized, receives and parses turntable data, and turntable status data is then sent to demarcation flow control task.
It demarcates process of solution: under the excitation of turntable, so that Inertial Measurement Unit (inertial measurement system) is in measurement and resolve
Under state, using velocity error, location error etc. as observed quantity, Inertial Measurement Unit recognizes systematic error parameter,
The data that Inertial Measurement Unit is acquired are issued by way of message queue, receive and parse through Inertial Measurement Unit acquisition
Data, as shown in Fig. 2, realizing that reception and parsing Inertial Measurement Unit are collected by Inertial Measurement Unit data processing task
Data, and the data after parsing are sent to calibration resolving task and data store tasks；Then the data after parsing are carried out
Calibration resolves；As shown in Fig. 2, calibration resolving is carried out to the data after above-mentioned parsing by calibration resolving task realization, to obtain
The calibration result of Inertial Measurement Unit, the i.e. parameter (or the present invention pick out systematic error parameter) of Inertial Measurement Unit, and
Parameter is sent to main task.The data of Inertial Measurement Unit acquisition include speed data and position data.In addition, specific implementation
When the calibration that uses resolve relevant algorithm and can be reasonably selected as needed, this embodiment is not repeated.
Data storing steps: for storing the data of Inertial Measurement Unit acquisition, in the present embodiment, Inertial Measurement Unit
The data of acquisition are issued by way of message queue；As shown in Fig. 2, the present invention stores inertia measurement by data store tasks
The data of unit acquisition.
Key message recording step: the step records key message, in the present embodiment, by journal file to mark
Key message in constant current journey is recorded, for example, key message may include revolving table position information and Inertial Measurement Unit parameter
Numerical value etc..
Calibration display step: the step is to calibration process (above-mentioned each execution step and the operating procedure of operator etc.)
Involved in interface operation information, data entry information, calibration progress information and calibration result information etc. shown.Such as figure
Shown in 2, calibration display step is realized by main task, and main task is also used to complete the functions such as interface operation, data input, tool
Body, main task will start Inertial Measurement Unit processing task and turntable data processing task in the incipient stage, and receive
It will start demarcation flow control task after the externally input operation for starting calibration, and main task is also used to receive demarcation flow control
The task process information of task return processed is simultaneously shown in interface, receives the real-time parameter that calibration resolving task returns and is simultaneously shown in boundary
Face.
In systematic calibration method according to the present invention, further include to the control instruction in demarcation flow file whether just
Really execute the step of being judged: if it is, continuing demarcation flow；If it is not, then repetitive instruction, until number of repetition is more than
Designated value (carries out reasonable set) according to the actual situation, then it is assumed that instruction execution does not succeed, and is simultaneously stopped demarcation flow and reports
It is wrong.
In the present embodiment, collaboration is handled between the corresponding multitask of each step in the scaling method, and also to above-mentioned
Priority is arranged in multitask, wherein uses resource using the mode of poll between the task of equal priority, and priority is high
The task task preferential preempting resources lower than priority.When it is implemented, interaction is frequent between each task involved in Fig. 2, this reality
It applies example and following priority, the priority of same layer task is arranged according to the sequence of the significance level and real-time of task from high to low
It is identical.
A) main task, demarcation flow control task；
B) resolving task is demarcated；
C) Inertial Measurement Unit and turntable data processing task；
D) data store tasks.
Based on technology contents disclosed above, by reasonable prioritization schemes and reliability design, the present invention can be
It reliably, is neatly run in VxWorks system platform.
In addition, it is desirable to it is once more emphasized that, the data interaction between each task is realized by different mechanisms.Inertia measurement list
Metadata processing task and turntable data processing task obtain data global variable by way of and demarcation flow control task
It is shared, it needs to protect global variable by mutex when any task is using global variable, be discharged after use mutual
Reprimand amount.And the data of Inertial Measurement Unit data processing task be sent to by message queue calibration resolving task and data deposit
Storage task, when the calibration that progress matrix order is high, operand is big resolves, creative utilization message queue of the present invention has certain
The characteristics of memory space, can resolve for calibration and provide a quota buffer time, thus the present invention can effectively avoid resolving speed
Loss of data caused by degree and storage speed be not fast enough.
In addition, it is necessary to explanation, each step disclosed in the present embodiment (or even involved in each step it is each into
Journey) tandem of its implementation is not limited, but reasonable enforcement is carried out according to the needs of process each in practical demarcation flow
Or call, unless otherwise restricted clearly.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.In addition, in the description of the present invention, the meaning of " plurality " is at least two, such as two, three
Deng for example, " multitask " is interpreted as " at least two tasks ", unless otherwise specifically defined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement and simple modifications etc., should all be included in the protection scope of the present invention in content.
Claims (10)
1. a kind of Inertial Measurement Unit systematic calibration method based on VxWorks, it is characterised in that: the scaling method includes such as
Lower step,
Filing step: according to Inertial Measurement Unit and current turntable layout demarcation flow file to be calibrated, the calibration
It include control instruction in flow file, the Inertial Measurement Unit is installed on current turntable；
Error Excitation step: reading in and executes the control instruction in demarcation flow file, by way of controlling turntable
The error of Inertial Measurement Unit is motivated, the error includes velocity error and location error；
It demarcates process of solution: under the excitation of the turntable, receiving and parsing through the data of the Inertial Measurement Unit acquisition, then
Calibration resolving is carried out to the data after parsing, to obtain the calibration result of Inertial Measurement Unit, the Inertial Measurement Unit acquisition
Data include speed data and position data；
Data storing steps, for storing the data of the Inertial Measurement Unit acquisition.
2. the Inertial Measurement Unit systematic calibration method according to claim 1 based on VxWorks, it is characterised in that:
It demarcates in process of solution and data storing steps, the data of the Inertial Measurement Unit acquisition are sent out by way of message queue
Out.
3. the Inertial Measurement Unit systematic calibration method according to claim 1 or 2 based on VxWorks, feature exist
In:
In Error Excitation step, when reading the control instruction in demarcation flow file, control is written into the control instruction one by one
System instruction array；Then the control instruction in control instruction array is executed one by one.
4. the Inertial Measurement Unit systematic calibration method according to claim 3 based on VxWorks, it is characterised in that:
In Error Excitation step, further include the steps that judging whether the control instruction in control instruction array has been finished, and
Instruction count is enabled to add 1 in a case of no.
5. the Inertial Measurement Unit systematic calibration method according to claim 1 or 4 based on VxWorks, feature exist
In:
In Error Excitation step, further include the steps that receiving and parsing through the turntable data, and to the turntable data at
Reason, and the turntable is controlled according to processing result.
6. the Inertial Measurement Unit systematic calibration method according to claim 5 based on VxWorks, it is characterised in that:
Before Error Excitation step, further include the steps that carrying out communication detection to the Inertial Measurement Unit and turntable: if communication
Detection passes through, then carries out Error Excitation step；If communication detection does not pass through, stops demarcation flow and report an error.
7. the Inertial Measurement Unit systematic calibration method according to claim 6 based on VxWorks, it is characterised in that:
The scaling method further includes following steps,
Calibration display step: the step is to interface operation information, data entry information involved in calibration process, calibration process letter
Breath and calibration result information are shown.
8. the Inertial Measurement Unit systematic calibration method according to claim 7 based on VxWorks, it is characterised in that:
The scaling method further includes the steps that recording key message, and the key message includes revolving table position information.
9. the Inertial Measurement Unit systematic calibration method according to claim 8 based on VxWorks, it is characterised in that:
Collaboration is handled between the corresponding multitask of each step in the scaling method.
10. the Inertial Measurement Unit systematic calibration method according to claim 9 based on VxWorks, it is characterised in that:
The scaling method is further included the steps that multitask being arranged priority, be made between the task of equal priority using the mode of poll
With resource, and the task task preferential preempting resources lower than priority that priority is high.
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Cited By (1)
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| CN110006458A (en) * | 2019-04-25 | 2019-07-12 | 北京航天发射技术研究所 | A kind of caliberating device and scaling method for the used group of Laser strapdown |
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