Multitask dispatching method for combined navigation handler and combined navigation handler
A combined navigation and processor technology, applied in the field of inertial navigation systems, can solve the problems of complex timing control and cumbersome processor task scheduling, and achieve the effect of improving utilization.
Active Publication Date: 2009-11-25
NAT UNIV OF DEFENSE TECH
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Problems solved by technology
Due to the many tasks that the processor needs to complete, the task scheduling of the processor is too cumbersome and the timing control is complicated
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[0055] Implementation examples: such as Figure 9 As shown, the present invention provides an implementation example based on the MPC8247 general-purpose commercial processor. The main control unit only gives the connection relationship of the parts closely related to the present invention in detail, and the other parts are simply described in the form of bus. Interrupt pulse synthesizer shows the implementation logic diagram. A synchronous pulse synthesizer is given a schematic diagram of the principle. Synchronous pulse synthesizer is implemented based on FPGA logic.
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A multitask dispatching method for combined navigation handler comprises steps of: (1) setting a synchronizing pulse synthesizer and an interrupt signal synthesizer; (2) executing a serial data receiving task of an inertial measurement unit; (3) executing a satellite navigation data receiving task; (4) executing a calculating task of a dual sub sample strapdown inertial navigation; (5) executing a combined navigation calculating task based on Kalman filtering method. The combined navigation handler comprises a main control unit provided with an interrupt manager, an interrupt signal synthesizer, a synchronizing pulse synthesizer, a universal input and output interface unit, a serial port 0, a serial port 1 and a serial port 2. The invention is sample, compact in structure and simple to operate, capable of improving utilization rate of combined navigation handler and integral efficiency.
Description
technical field [0001] The invention mainly relates to the field of inertial navigation systems, in particular to a multi-task scheduling method for an integrated navigation processor and the integrated navigation processor. Background technique [0002] Since the inertial navigation system can provide high-speed, high-precision full navigation information (including position, velocity, attitude, angular rate, acceleration, etc.), the integrated navigation often uses the inertial navigation system as the main navigation device, but the pure inertial navigation system, Its error accumulates over time. The integrated navigation system based on the inertial navigation system adopts various information fusion methods and combines other navigation devices to reduce the deficiencies of various independent navigation devices, suppress the error of the inertial navigation system, and further improve the comprehensive performance of the system. The main information fusion method use...
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IPC IPC(8): G01C21/16G01C21/20
Inventor 罗兵胡小平吴美平李涛唐康华逯亮清
Owner NAT UNIV OF DEFENSE TECH