CN109631885B - Navigation method based on dual-port RAM - Google Patents
Navigation method based on dual-port RAM Download PDFInfo
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- CN109631885B CN109631885B CN201811607348.1A CN201811607348A CN109631885B CN 109631885 B CN109631885 B CN 109631885B CN 201811607348 A CN201811607348 A CN 201811607348A CN 109631885 B CN109631885 B CN 109631885B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000004927 fusion Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000012795 verification Methods 0.000 abstract description 2
- 235000019800 disodium phosphate Nutrition 0.000 description 75
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 241000218691 Cupressaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- 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
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- 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
The navigation method based on the dual-port RAM comprises an MEMS sensor, a GNSS receiving device, a DSP main control unit, a first RS232 output interface, a dual-port RAM chip, a DSP slave control unit, a second RS232 output interface and a secondary power module, wherein the DSP main control unit is used for collecting data and compensating the data, the DSP slave control unit is used for carrying out navigation resolving on the data, the interface and internal resources are utilized to the maximum extent, the dual-port RAM chip is used for carrying out data sharing, the data transmission speed is high, the instantaneity is high, and the system output meets the technical index requirements after the system full-temperature calibration, error parameter compensation and precision verification, has good stability and dynamic response characteristics, reduces the types of components and improves the system integration level.
Description
Technical Field
The invention relates to the technical field of inertial navigation systems, in particular to a navigation method based on a dual-port RAM.
Background
The navigation computer system based on the dual-port RAM is used as a central brain of the navigation system, the operation efficiency and the instantaneity of the navigation computer system directly influence the control of the whole combined navigation system, the traditional navigation computer system is designed by adopting an FPGA+DSP working mode, the FPGA is used for data acquisition and simulating an external interface, the DSP is used for navigation calculation and data fusion, the data transmission between the two is carried out through an XINTF interface, two controllers cannot access a memory at the same time, the instantaneity of the system is influenced, and the FPGA software interface is complex in design and large in development workload.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a navigation method based on a dual-port RAM.
The technical scheme of the invention is as follows: the navigation method based on the dual-port RAM comprises an MEMS sensor, a GNSS receiving device, a DSP main control unit, a first RS232 output interface, a dual-port RAM chip, a DSP slave control unit, a second RS232 output interface and a secondary power module, wherein the MEMS sensor and the GNSS receiving device are connected with the DSP main control unit which is used for collecting circuit signals of the MEMS sensor and receiving GPS/BD signals of the GNSS receiving device, the DSP main control unit is connected with the dual-port RAM chip which is used for reading data information of the DSP main control unit and the DSP slave control unit, the DSP main control unit is connected with the first RS232 output interface, the dual-port RAM chip is connected with the DSP slave control unit which is used for carrying out navigation calculation on the data information, and the secondary power module is used for respectively supplying power to the MEMS sensor, the GNSS receiving device, the DSP main control unit, the dual-port RAM chip and the DSP slave control unit, and the navigation method comprises the following steps:
the method comprises the steps that whether a circuit signal is acquired by an MEMS sensor is judged at fixed time, if the fixed time is up, the circuit signal of the MEMS sensor is acquired by a DSP main control unit through an SPI interface to perform temperature compensation, whether a GPS/BD signal exists in a GNSS receiving device is judged, if the GPS/BD signal of the GNSS receiving device is received by the DSP main control unit through an RS232 interface, data information and the GPS/BD signal of the DSP main control unit are read by a dual-port RAM chip and stored in a contracted address unit, an interrupt signal is generated by the right port of the dual-port RAM chip when writing operation is performed on the right port of the dual-port RAM chip, the DSP responds to the data information read after the interrupt from the control unit, writing operation is performed on the right port of the dual-port RAM chip to clear the interrupt, and initial alignment, navigation calculation and data fusion are performed by the DSP from the control unit; the DSP stores navigation data into a double-port RAM chip appointed address unit from a control unit, the left port generates an interrupt signal when writing operation is carried out on the left port, the DSP main control unit responds to the navigation data of the appointed address unit after the interrupt, the double-port RAM chip carries out writing operation on the left port of the double-port RAM chip and is used for clearing the interrupt, the double-port RAM chip reads navigation result data information of the DSP slave control unit and shares the navigation result data information to the DSP main control unit, and the DSP main control unit outputs navigation result data through a first RS232 output interface after reading the data information.
Preferably, the DSP is connected to the second RS232 output interface from the control unit, and the DSP outputs the navigation result data from the control unit through the second RS232 output interface.
The invention has the beneficial effects that: the DSP main control unit is used for collecting data and compensating and the DSP slave control unit is used for carrying out navigation calculation on the data, interfaces and internal resources are utilized to the maximum extent, the data sharing is carried out through the double-port RAM chip, the data transmission speed is high, the real-time performance is high, and after the system full-temperature calibration, error parameter compensation and precision verification, the system output meets the technical index requirements, has good stability and dynamic response characteristics, reduces the types of components and improves the system integration level.
Drawings
FIG. 1 is a schematic diagram of the functional module of the present invention;
FIG. 2 is a schematic diagram of the connection of a DSP master control unit, a dual port RAM and a DSP slave control unit;
FIG. 3 is a logic diagram of the DSP master control unit of the invention for collecting sensor information and outputting navigation results;
FIG. 4 is a logic diagram of the data fusion of the system DSP navigation solution from the control unit.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The technical scheme of the invention is as follows: a navigation method based on dual-port RAM, as shown in figure 1, comprises a MEMS sensor, a GNSS receiving device, a DSP main control unit, a first RS232 output interface, a dual-port RAM chip, a DSP slave control unit, a second RS232 output interface and a secondary power module, as shown in figure 2, the MEMS sensor and the GNSS receiving device are connected with the DSP main control unit for collecting circuit signals of the MEMS sensor and receiving GPS/BD signals of the GNSS receiving device, the DSP main control unit is connected with the dual-port RAM chip for reading data information of the DSP main control unit and the DSP slave control unit, the dual-port RAM adopts 64k multiplied by 18 bit low-power consumption CMOS type static dual-port CY7C038 developed by Cypress company, the maximum access time is 20ms, the DSP main control unit is connected with the first RS232 output interface, the dual-port RAM chip is connected with the DSP slave control unit for carrying out navigation calculation on data information, +12V direct current power supply is input, after filtering, +5V is output through secondary power supply conversion, 3.3V and 1.9V power supplies are generated after internal power supply conversion to respectively supply power to the MEMS sensor and the GNSS receiving device, and the 3.0V power supply is used for supplying power to the DSP main control unit, the dual-port RAM and the DSP slave control unit, so that the navigation method is realized, and the method comprises the following steps:
as shown in fig. 3, the timing judgment is performed to determine whether the MEMS sensor collects the circuit signal, if the timing time is up, the DSP main control unit collects the circuit signal of the MEMS sensor through the SPI interface to perform temperature compensation, and determines whether the GNSS receiving apparatus has the GPS/BD signal, if the DSP main control unit receives the GPS/BD signal of the GNSS receiving apparatus through the RS232 interface, as shown in fig. 4, the dual-port RAM chip reads the data information and the GPS/BD signal of the DSP main control unit and stores them in the agreed address unit, while writing operation is performed to the right port of the dual-port RAM chip, the right port of the dual-port RAM chip generates an interrupt signal, the DSP responds to the interrupt from the control unit and reads the data information, and performs writing operation to the right port of the dual-port RAM chip to clear the interrupt, and the DSP performs initial alignment, navigation calculation and data fusion from the control unit; the DSP stores navigation data into a double-port RAM chip appointed address unit from a control unit, the left port generates an interrupt signal when writing operation is carried out on the left port, the DSP main control unit responds to the navigation data of the appointed address unit after the interrupt, the double-port RAM chip carries out writing operation on the left port of the double-port RAM chip and is used for clearing the interrupt, the double-port RAM chip reads navigation result data information of the DSP slave control unit and shares the navigation result data information to the DSP main control unit, and the DSP main control unit outputs navigation result data through a first RS232 output interface after reading the data information; the DSP is connected with the second RS232 output interface from the control unit, the DSP outputs navigation result data from the control unit through the second RS232 output interface, the second RS232 output interface is used for program debugging, the navigation result is checked, and the system can be used as an external interface redundancy design of the system.
Example 1: the DSP main control unit collects data information of angular velocity, acceleration, magnetic force, air pressure and temperature of the MEMS sensor and receives GPS/BD circuit signals of the GNSS receiving device, the DSP main control unit performs temperature compensation on the data information collected on the MEMS sensor through a compensation algorithm, then the data information and the GPS/BD circuit signals are shared to the dual-port RAM, the dual-port RAM reads the data information of the DSP main control unit and the GPS/BD signals and stores the data information and the GPS/BD signals in a contracted address unit, when writing operation is performed on the right port of the dual-port RAM, an interrupt signal is generated on the right port of the dual-port RAM, the DSP responds to the interrupt from the control unit, then reads the data information, then writing operation is performed on the right port of the dual-port RAM, the DSP performs initial alignment, navigation calculation and data fusion on the right port of the dual-port RAM, then the DSP main control unit stores navigation data into the contracted address unit, and simultaneously generates an interrupt signal on the left port when writing operation is performed on the left port, the DSP main control unit responds to the navigation data of the contracted address unit, then the left port RAM reads the navigation data of the dual-port RAM, and the DSP main control unit reads the navigation data from the data sharing result from the control unit, and outputs the data from the data sharing unit to the RS.
Example 2: the DSP main control unit collects data information of angular velocity, acceleration, magnetic force, air pressure and temperature of the MEMS sensor and receives GPS/BD circuit signals of the GNSS receiving device, the DSP main control unit performs temperature compensation on the data information collected on the MEMS sensor through a compensation algorithm, the data information and the GPS/BD circuit signals are shared to the dual-port RAM, the dual-port RAM reads the data information of the DSP main control unit and the GPS/BD signals and stores the data information and the GPS/BD signals in a contracted address unit, the dual-port RAM right port generates an interrupt signal when writing operation is performed on the dual-port RAM right port, the DSP responds to the interrupt signal from the control unit and reads the data information, then writing operation is performed on the dual-port RAM right port for clearing the interrupt signal, the DSP slave control unit performs initial alignment, navigation calculation and data fusion, and the DSP slave control unit outputs navigation result data information through a second RS232 output interface.
In order to avoid data read-write errors caused by address data contention when two DSPs access the same address unit, two modes of busy logic (hardware arbitration) and interrupt logic (interrupt arbitration) are comprehensively considered:
(1) Hardware arbitration mode
The dual-port RAM is provided with hardware arbitration logic (namely BUSY control) for solving the problem that two processors access the same address unit simultaneously, and when DSPs at two ends do not access the same address unit of the dual-port RAM, BUSYL= H, BUSYR =H can be normally stored; when the DSPs at two ends access the same address unit of the dual-port RAM, after the request access signal of which port appears, the corresponding BUSY=L prohibits the access of the data; when the sequence of the access request signals of the two ports cannot be judged, only one of the control lines BUSYL and BUSYR is low, normal access of the port corresponding to BUSY=H can be ensured, and the port corresponding to BUSY=L cannot be accessed, so that the possibility of errors caused by simultaneous competition of address resources by the DSP main control unit and the DSP slave control unit is avoided.
(2) Interrupt arbitration mode
The dual-port RAM is provided with two sets of independent interrupt logic, and is respectively connected to interrupt pins of the DSP main control unit and the DSP slave control unit through two INT pins so as to realize the handshake of the DSP main control unit and the DSP slave control unit.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (1)
1. A navigation method based on a dual-port RAM is characterized in that: the navigation system comprises a MEMS sensor, a GNSS receiving device, a DSP main control unit, a first RS232 output interface, a dual-port RAM chip, a DSP slave control unit, a second RS232 output interface and a secondary power module, wherein the MEMS sensor and the GNSS receiving device are connected with the DSP main control unit which is used for collecting circuit signals of the MEMS sensor and receiving GPS/BD signals of the GNSS receiving device, the DSP main control unit is connected with the dual-port RAM chip which is used for reading data information of the DSP main control unit and the DSP slave control unit, the DSP main control unit is connected with the first RS232 output interface, the dual-port RAM chip is connected with the DSP slave control unit which is used for carrying out navigation calculation on the data information, and the secondary power module is used for supplying power to the MEMS sensor, the GNSS receiving device, the DSP main control unit, the dual-port RAM chip and the DSP slave control unit respectively, and the navigation method comprises the following steps:
the method comprises the steps that whether a circuit signal is acquired by an MEMS sensor is judged at fixed time, if the fixed time is up, the circuit signal of the MEMS sensor is acquired by a DSP main control unit through an SPI interface to perform temperature compensation, whether a GPS/BD signal exists in a GNSS receiving device is judged, if the GPS/BD signal of the GNSS receiving device is received by the DSP main control unit through an RS232 interface, data information and the GPS/BD signal of the DSP main control unit are read by a dual-port RAM chip and stored in a contracted address unit, an interrupt signal is generated by the right port of the dual-port RAM chip when writing operation is performed on the right port of the dual-port RAM chip, the DSP responds to the data information read after the interrupt from the control unit, writing operation is performed on the right port of the dual-port RAM chip to clear the interrupt, and initial alignment, navigation calculation and data fusion are performed by the DSP from the control unit; the DSP stores navigation data into a double-port RAM chip appointed address unit from a control unit, the left port generates an interrupt signal when writing operation is carried out on the left port, the DSP main control unit responds to the navigation data of the appointed address unit after the interrupt, the double-port RAM chip carries out writing operation on the left port of the double-port RAM chip and is used for clearing the interrupt, the double-port RAM chip reads navigation result data information of the DSP slave control unit and shares the navigation result data information to the DSP main control unit, and the DSP main control unit outputs navigation result data through a first RS232 output interface after reading the data information;
the DSP slave control unit is connected with the second RS232 output interface, and the DSP slave control unit outputs navigation result data information through the second RS232 output interface.
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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 true CN109631885B (en) | 2024-03-19 |
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| 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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2018
- 2018-12-27 CN CN201811607348.1A patent/CN109631885B/en active Active
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| CN1945211A (en) * | 2006-10-24 | 2007-04-11 | 北京航空航天大学 | Integrated combined navigation computer based on double DSP |
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