CN109631885A - A kind of air navigation aid based on dual port RAM - Google Patents
A kind of air navigation aid based on dual port RAM Download PDFInfo
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- CN109631885A CN109631885A CN201811607348.1A CN201811607348A CN109631885A CN 109631885 A CN109631885 A CN 109631885A CN 201811607348 A CN201811607348 A CN 201811607348A CN 109631885 A CN109631885 A CN 109631885A
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- 230000009977 dual effect Effects 0.000 title claims abstract description 65
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 230000004927 fusion Effects 0.000 claims description 7
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000218691 Cupressaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
-
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
A kind of air navigation aid based on dual port RAM, including MEMS sensor, GNSS receiver, DSP main control unit, first RS232 output interface, dual port RAM chip, DSP is from control unit, 2nd RS232 output interface and secondary power supply module, pass through DSP main control unit acquire data and compensate and DSP from control unit to data carry out navigation calculation, maximally utilize interface and internal resource, and data sharing is carried out by dual port RAM chip, data transmission bauds is fast, real-time is high, it is fixed by the full temperature scale of system, after error parameter compensation and precision test, system output is all satisfied technical requirement, with good stability and dynamic response characteristic, reduce component type, improve level of integrated system.
Description
Technical field
The present invention relates to inertial navigation system technical fields, and in particular to a kind of air navigation aid based on dual port RAM.
Background technique
" middle cerebral " based on the navigation computer system of dual port RAM as navigation system, operational efficiency and in real time
Property directly affect the control of entire integrated navigation system, traditional navigation computer system design, using FPGA+DSP Working mould
Formula, FPGA is chiefly used in data acquisition and simulation external interface, and DSP is used for navigation calculation, data fusion, and data pass between the two
Defeated by XINTF interface, two controllers cannot access memory simultaneously, influence the real-time of system, and FPGA software interface
Design is complicated, development amount is larger.
Summary of the invention
For the defect for solving the above-mentioned prior art, the present invention provides a kind of air navigation aid based on dual port RAM.
The technical scheme is that a kind of air navigation aid based on dual port RAM, including MEMS sensor, GNSS are received
Device, DSP main control unit, the first RS232 output interface, dual port RAM chip, DSP are exported from control unit, the 2nd RS232
Interface and secondary power supply module, the MEMS sensor and the GNSS receiver and the circuit for acquiring MEMS sensor
Signal is connected with the DSP main control unit for the GPS/BD signal for receiving GNSS receiver, the DSP main control unit be used for
It reads DSP main control unit to connect with DSP from the dual port RAM chip of the data information of control unit, and the DSP main control
Unit is connect with the first RS232 output interface, the dual port RAM chip with for by the data information carry out navigational solution
The DSP of calculation from control unit connect, the secondary power supply module be respectively the MEMS sensor, the GNSS receiver,
The DSP main control unit, the dual port RAM chip and the DSP power from control unit, realize that air navigation aid includes as follows
Step:
Timing judges whether MEMS sensor collects circuit signal, if timing arrives, DSP main control unit passes through
The circuit signal that SPI interface acquires MEMS sensor carries out temperature-compensating, judges whether GNSS receiver has GPS/BD signal,
If there is DSP main control unit receives by RS232 interface the GPS/BD signal of GNSS receiver, dual port RAM chip is read
The data information and GPS/BD signal of DSP main control unit, and being stored in the address location of agreement, to dual port RAM chip
While right output port carries out write operation, dual port RAM chip right output port generates an interrupt signal, and DSP is responsive to from control unit
Data information is read after interruption, and write operation is carried out to dual port RAM chip right output port and is interrupted to remove, DSP is from control unit
It is initially aligned, navigate calculating, data fusion；Navigation data is stored in dual port RAM chip agreement ground from control unit by DSP
In the unit of location, while carrying out write operation to left port, left port generates an interrupt signal, and DSP main control unit is responsive to
The navigation data that agreed address unit is read after interruption carries out write operation to dual port RAM chip left port, to remove in this
Disconnected, DSP is from the navigation results data information sharing of control unit to DSP main control unit for the reading of dual port RAM chip, DSP master control
Unit processed passes through the first RS232 output interface output navigation results data after reading data information.
Preferably, the DSP is connect from control unit with the 2nd RS232 output interface, and the DSP is from control unit
Navigation results data information is exported into navigation results data by the 2nd RS232 output interface.
Beneficial effects of the present invention: pass through DSP main control unit and acquire data and compensate and DSP is from control unit pair
Data carry out navigation calculation, maximally utilize interface and internal resource, and carry out data sharing, data by dual port RAM chip
Transmission speed is fast, real-time is high, and after, error parameter compensation fixed by the full temperature scale of system and precision test, system output is all satisfied
Technical requirement, with good stability and dynamic response characteristic reduce component type, improve the system integration
Degree.
Detailed description of the invention
Fig. 1 is the functional block diagram of the present invention；
Fig. 2 is DSP main control unit, dual port RAM and DSP from control unit connection schematic diagram；
Fig. 3 is DSP main control unit acquisition sensor information of the present invention and output navigation results logic chart；
Fig. 4 is present system DSP from control unit navigation calculation grade data fusion logic chart.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
Technical solution of the present invention is as follows: a kind of air navigation aid based on dual port RAM, as shown in Figure 1, including that MEMS is sensed
Device, GNSS receiver, DSP main control unit, the first RS232 output interface, dual port RAM chip, DSP are from control unit,
Two RS232 output interfaces and secondary power supply module, as shown in Fig. 2, MEMS sensor and GNSS receiver with for acquiring
The circuit signal of MEMS sensor is connected with the DSP main control unit for the GPS/BD signal for receiving GNSS receiver, DSP master control
Unit processed is connect with for reading DSP main control unit and DSP from the dual port RAM chip of the data information of control unit, twoport
64k × 18 Low-Power CMOS type static state dual-port the CY7C038 that RAM uses Cypress company to develop, maximum access time is
20ms, and DSP main control unit is connect with the first RS232 output interface, dual port RAM chip with for data information to be carried out
The DSP of navigation calculation is connected from control unit, and input+12V DC power supply after filtering, converts, output+5V through secondary power supply, then
It is respectively MEMS sensor, GNSS receiver power supply, 3.0V power supply that 3.3V and 1.9V power supply is generated after internal electric source converts
It powers for DSP main control unit, dual port RAM and DSP from control unit, realizes that air navigation aid includes the following steps:
As shown in figure 3, timing judges whether MEMS sensor collects circuit signal, and if timing arrives, DSP master control
Unit processed carries out temperature-compensating by the circuit signal that SPI interface acquires MEMS sensor, judges whether GNSS receiver has
GPS/BD signal, if there is DSP main control unit receives by RS232 interface the GPS/BD signal of GNSS receiver, such as Fig. 4
Shown, dual port RAM chip reads the data information and GPS/BD signal of DSP main control unit, and the address for being stored in agreement is single
In member, while carrying out write operation to dual port RAM chip right output port, dual port RAM chip right output port generates an interrupt signal,
DSP reads data information after being responsive to interruption from control unit, carries out write operation to remove to dual port RAM chip right output port
It interrupts, DSP is initially aligned from control unit, navigate calculating, data fusion；DSP stores navigation data from control unit
Into dual port RAM chip agreed address unit, while carrying out write operation to left port, left port generates an interrupt signal,
DSP main control unit is responsive to the navigation data of reading agreed address unit after interruption, writes to dual port RAM chip left port
Operation, to remove the interruption, dual port RAM chip reads DSP from the navigation results data information sharing of control unit to DSP master
Control unit, DSP main control unit pass through the first RS232 output interface output navigation results data after reading data information；
DSP is connect from control unit with the 2nd RS232 output interface, and navigation results data information is passed through second from control unit by DSP
RS232 output interface exports navigation results data, and the 2nd RS232 output interface is used for program debugging, examines navigation results, simultaneously
It can be used as the design of system external interface redundancy.
Embodiment 1:DSP main control unit acquire the angular speed of MEMS sensor, acceleration, magnetic force, air pressure, temperature number
It is believed that the GPS/BD circuit signal of breath and reception GNSS receiver, DSP main control unit is to the number in acquisition MEMS sensor
It is believed that breath carries out temperature-compensating by backoff algorithm, then above-mentioned data information and GPS/BD circuit signal are shared to dual port RAM,
Dual port RAM read DSP main control unit data information and GPS/BD signal be stored in the address location of agreement, to
While dual port RAM right output port carries out write operation, dual port RAM right output port generates an interrupt signal, and DSP is responded from control unit
Data information is read after to interruption, and write operation then is carried out to dual port RAM right output port and is interrupted to remove, DSP is single from control
Member is initially aligned, navigate calculating, data fusion, and navigation data is stored in dual port RAM agreed address from control unit by DSP
In unit, while then carrying out write operation to left port, left port generates an interrupt signal, the response of DSP main control unit
The navigation data that agreed address unit is read after to interruption, then carries out write operation to dual port RAM left port, to remove in this
Disconnected, DSP is from the navigation results data information sharing of control unit to DSP main control unit for dual port RAM reading, DSP main control list
Member passes through the first RS232 output interface output navigation results data after reading data information.
Embodiment 2:DSP main control unit acquire the angular speed of MEMS sensor, acceleration, magnetic force, air pressure, temperature number
It is believed that ceasing and receiving the GPS/BD circuit signal of GNSS receiver, DSP main control unit is to the number in acquisition MEMS sensor
It is believed that breath carries out temperature-compensating by backoff algorithm, then above-mentioned data information and GPS/BD circuit signal are shared to dual port RAM,
Dual port RAM read DSP main control unit data information and GPS/BD signal be stored in the address location of agreement, to
While dual port RAM right output port carries out write operation, dual port RAM right output port generates an interrupt signal, and DSP is responded from control unit
Data information is read after to interruption, and write operation then is carried out to dual port RAM right output port and is interrupted to remove, DSP is single from control
Member be initially aligned, navigate calculating, data fusion, DSP from control unit by navigation results data information pass through the 2nd RS232
Output interface exports navigation results data.
When accessing in order to avoid two DSP to same address location as address date contention and caused by data read
Write error (interrupts and arbitrates) two ways by comprehensively considering busy logic (hardware arbitration) and interrupt logic:
(1) hardware arbitration mode
Dual port RAM, which has, solves hardware mediation logic (the i.e. BUSY control that two processors access same address location simultaneously
System), when the DSP at both ends does not access the same address location of dual port RAM, BUSYL=H, BUSYR=H can normal storages；
When the DSP at both ends accesses the same address location of dual port RAM, after the request access signal of which port occurs, then it is corresponded to
BUSY=L, forbid its access data；When that can not determine the sequencing of two port access request signals appearance, control
Only one is low level by line BUSYL, BUSYR, can guarantee that the port corresponding to BUSY=H can be carried out normal access, corresponds to
The port of BUSY=L cannot access, and compete address resource simultaneously from control unit so as to avoid DSP main control unit and DSP
And cause the possibility of mistake.
(2) arbitration mode is interrupted
Dual port RAM has two sets of independent interrupt logics, is coupled with DSP main control unit and DSP by two INT pins
From the interrupt pin of control unit, to realize DSP main control unit and DSP shaking hands from control unit, in the number of dual port RAM
According in transmission, the DSP main control unit and DSP at both ends from control unit all using dual port RAM as a part of oneself memory,
When DSP main control unit and DSP need data transmission from control unit, the data transmitted will be needed to be stored in twoport first
In the address location of RAM sections of agreement, then it is written and read, it is another in this way to issue an interruption to another port
It is ported to enter its corresponding interrupt service subroutine, the data of agreed address unit are read, are then written and read,
Remove the interruption.
Above-described embodiment, only presently preferred embodiments of the present invention, the practical range being not intended to limit the invention, thus it is all with
The equivalent variations that content described in the claims in the present invention is done should all be included within scope of the invention as claimed.
Claims (2)
1. a kind of air navigation aid based on dual port RAM, it is characterised in that: including MEMS sensor, GNSS receiver, DSP master
Control unit, the first RS232 output interface, dual port RAM chip, DSP are from control unit, the 2nd RS232 output interface and secondary
Power module, the MEMS sensor and the GNSS receiver and circuit signal and the receiving for acquiring MEMS sensor
The DSP main control unit of the GPS/BD signal of GNSS receiver connects, the DSP main control unit with for reading DSP master
Control unit is connected with DSP from the dual port RAM chip of the data information of control unit, and the DSP main control unit and institute
State the connection of the first RS232 output interface, the dual port RAM chip and the DSP for the data information to be carried out to navigation calculation
It is connected from control unit, the secondary power supply module is respectively the MEMS sensor, the GNSS receiver, the DSP
Main control unit, the dual port RAM chip and the DSP power from control unit, realize that air navigation aid includes the following steps:
Timing judges whether MEMS sensor collects circuit signal, if timing arrives, DSP main control unit passes through SPI
The circuit signal that interface acquires MEMS sensor carries out temperature-compensating, judges whether GNSS receiver has GPS/BD signal, such as
The GPS/BD signal that fruit has DSP main control unit to receive GNSS receiver by RS232 interface, dual port RAM chip read DSP
The data information and GPS/BD signal of main control unit, and being stored in the address location of agreement, to dual port RAM chip right end
While mouth carries out write operation, dual port RAM chip right output port generates an interrupt signal, and DSP is responsive to interruption from control unit
After read data information, to dual port RAM chip right output port carry out write operation to remove interrupt, DSP from control unit carry out
Initial alignment, navigation calculating, data fusion；Navigation data is stored in dual port RAM chip agreed address list from control unit by DSP
In member, while carrying out write operation to left port, left port generates an interrupt signal, and DSP main control unit is responsive to interruption
The navigation data for reading agreed address unit afterwards carries out write operation to dual port RAM chip left port, double to remove the interruption
DSP is from the navigation results data information sharing of control unit to DSP main control unit for mouth RAM chip reading, DSP main control unit
Pass through the first RS232 output interface output navigation results data after reading data information.
2. a kind of air navigation aid based on dual port RAM according to claim 1, it is characterised in that: the DSP is single from control
First to connect with the 2nd RS232 output interface, navigation results data information is passed through second from control unit by the DSP
RS232 output interface exports navigation results data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811607348.1A CN109631885B (en) | 2018-12-27 | 2018-12-27 | Navigation method based on dual-port RAM |
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| CN201811607348.1A CN109631885B (en) | 2018-12-27 | 2018-12-27 | Navigation method based on dual-port RAM |
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| CN109631885B CN109631885B (en) | 2024-03-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110704344A (en) * | 2019-09-25 | 2020-01-17 | 天津津航计算技术研究所 | Double-path navigation communication method of embedded system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110704344A (en) * | 2019-09-25 | 2020-01-17 | 天津津航计算技术研究所 | Double-path navigation communication method of embedded system |
| CN110704344B (en) * | 2019-09-25 | 2022-10-28 | 天津津航计算技术研究所 | Double-path navigation communication method of embedded system |
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