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Position attitude system hardware time synchronizing method

A technology of attitude system and hardware time, which is applied in satellite radio beacon positioning system, radio wave measurement system, positioning, etc., can solve the problems of decreased accuracy of position and attitude information, decreased accuracy of data synchronization of position and attitude system, etc. The effect of diagnosis and isolation, good adaptability and high reliability

Inactive Publication Date: 2009-05-13
BEIHANG UNIV
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Problems solved by technology

This will lead to a decrease in the data synchronization accuracy of the position and attitude system during long-term remote sensing operations, which in turn will lead to a decrease in the accuracy of the output position and attitude information

Method used

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  • Position attitude system hardware time synchronizing method
  • Position attitude system hardware time synchronizing method
  • Position attitude system hardware time synchronizing method

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Embodiment Construction

[0038] The position and attitude system in this embodiment is composed of IMU, GPS, odometer and POS computer. According to the sampling frequency of the IMU, the hardware synchronization pulse frequency is set to 100 Hz, that is, the timing interval is 10 ms. In this embodiment, the POS computer uses the DSP chip TMS320C6713B as the processor to respond to GPS second pulse interruption and system timing interruption, and generate hardware synchronization pulses. The specific embodiments of the present invention are as figure 1 Shown:

[0039] (1) After the POS is powered on, synchronize the system time to UTC time. Such as Figure 4 Shown, including:

[0040]①Set the timing period of TMS320C6713B timer T0 to 10ms, so that after starting the timer, a timing interrupt will be generated every 10ms.

[0041] ②After obtaining the GPS time synchronized with UTC time, enable GPS second pulse interrupt.

[0042] ③ When the next GPS second pulse arrives, update the GPS time at this momen...

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Abstract

The invention is a hardware synchronizing method for position and orientation system (POS), relating to a method for synchronizing various sensor data in the POS, firstly using GPS receiver-outputted GPS second pulse signal accurately synchronous with UTC time (Coordinate Universal Time) to synchronize the system time of the POS with the UTC time, then generating UTC time-containing hardware synchronous pulse through system timer and collecting various sensor data, and then implementing synchronization of various sensor data in the POS. And the invention uses GPS second pulse to real-timely correct system clock drift and implements GPS signal monitoring and thus has features of high synchronizing accuracy, good adaptability and high reliability.

Description

Technical field [0001] The invention relates to a hardware time synchronization method of a position and orientation system (Position & Orientation System, POS), which belongs to the field of remote sensing information acquisition and is used for time synchronization of data of various sensors in the position and orientation system. Background technique [0002] The position and attitude system is composed of a sensor part and a POS computer. The sensor part includes inertial measurement unit (Inertial Measurement Unit, IMU), global satellite positioning system (Global Position System, GPS) and auxiliary sensors, such as odometer, altimeter, etc. The POS computer extracts the angular velocity and acceleration information output by the IMU, the velocity and position information output by the GPS, and the auxiliary information output by the auxiliary sensors, such as speed, altitude, etc., through the data fusion algorithm for data fusion processing, and feedback correction to obta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/14G01P5/10G01S19/48
Inventor 房建成杨胜刘百奇宫晓琳韩晓英
Owner BEIHANG UNIV
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