A control method for inertial platform system based on configuration information

Abstract

The present invention relates to an inertial platform system control method based on configuration information: (1) uploading a configuration information package to an inertial platform system through a communication interface; (2) the inertial platform system collects and analyzes the three-axis angle output by a frame angle sensor and the three-axis acceleration output by a quartz accelerometer sensor, obtains the configuration information and parses the configuration information package to obtain the control type and control time corresponding to each step; (3) the inertial platform system extracts the control type and control parameters of the step according to the sequence of steps in a task control flow, and calls a control program preset for the control type to execute the corresponding step according to the control type and control parameters. After the time required for the control of the current step is exhausted, the next step in the task control flow is automatically executed until the task is completed, thereby realizing the dynamic change of the inertial platform system control method.

Description

Technical Field

[0001] The present invention relates to a control method of an inertial platform system, and in particular to a control method of an inertial platform system based on configuration information, and is mainly used in the field of control methods of inertial platform systems. Background Art

[0002] The inertial platform system is a device that can measure information such as the rotation angle of the vehicle relative to the inertial space and linear acceleration. It is the core component of the inertial navigation system.

[0003] To change the existing inertial platform system control method, software engineers need to write the inertial platform system control software step by step according to the algorithm compiled by the control engineer and follow the established steps. After writing, the software needs to be re-burned into the inertial platform system with the cooperation of the test engineer, which takes a lot of time and is not conducive to the development of new algorithms. In addition, it also requires the cooperation of test engineers, software engineers, and general engineers. Therefore, it is necessary to study an inertial platform system control method based on configuration information to improve the efficiency of new algorithm design and testing and save costs. Summary of the invention

[0004] The technical problem solved by the present invention is to overcome the deficiencies of the prior art, provide an inertial platform system control method based on configuration information, and solve the problem that it takes a long time period to change the inertial platform system control method.

[0005] The technical solution of the present invention is: an inertial platform system control method based on configuration information, the method comprising the following steps:

[0006] (1) Uploading a configuration information package to the inertial platform system through a communication interface; the configuration information package includes the task information name, the control type corresponding to each step divided according to the control flow corresponding to the task information, the control parameters and the time required for control;

[0007] (2) The inertial platform system collects the three-axis angle output by the frame angle sensor and the three-axis acceleration output by the quartz accelerometer sensor, obtains the configuration information and parses the configuration information packet to obtain the control type corresponding to each step and the time required for control;

[0008] (3) The inertial platform system extracts the control type and control parameters of the steps in the order of the steps in the task control process, and calls the control program preset for the control type to execute the corresponding steps according to the control type and control parameters. After the time required for the control of this step is exhausted, the next step in the task control process is automatically executed until the task is completed, thereby realizing the dynamic change of the control method of the inertial platform system.

[0009] The format of the configuration information packet is as follows:

[0010]

[0011] The content of the configuration information packet header is the task information name and the total number of steps.

[0012] The inertial platform system control time is a real number greater than zero.

[0013] The control types include frame lock, level lock, flight navigation, and constant speed rotation, among which:

[0014] Frame locking means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis angle output by the frame angle sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is executed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°). The three axes of the inertial platform system include an outer ring axis, an inner ring axis and a platform body axis.

[0015] Leveling lock means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis acceleration output by the quartz accelerometer sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is completed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°);

[0016] Flight navigation refers to controlling the inertial platform system to fly in the inertial space for a period of time according to the preset command angular velocity; its control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s;

[0017] Uniform rotation refers to controlling one axis of the inertial platform system to rotate in the inertial space for a period of time at an angular velocity less than a preset threshold; its control parameter is the desired three-axis command angular velocity information of the inertial platform system, and the value range is three real numbers in the range of (-60.0° / s, 60.0° / s).

[0018] The end of the configuration information packet also includes a check value. After receiving the configuration information, the inertial platform system verifies the check information contained in the data packet and processes the configuration information after ensuring its correctness.

[0019] The calculation method of the check value is any one of a sum check, a CRC check or a frame end check.

[0020] The communication interface can be any one of an RS232 serial port, an RS422 serial port, an RS485 serial port, a 1553B communication interface, a parallel bus interface, a CAN interface, and an Ethernet interface.

[0021] The above method is implemented through three parallel processes, namely: the first process, the second process, and the third process; these three processes are independent of each other;

[0022] The first process completes the raw data collection and compensation functions of the frame angle sensor and quartz accelerometer sensor;

[0023] The second process completes the function of outputting the raw data of the frame angle sensor and the quartz accelerometer sensor to the outside through the communication interface;

[0024] The third process receives the configuration information package, parses the latest configuration information package, and obtains the control type and control time corresponding to each step in the task control process corresponding to the configuration information package; extracts the control type and control parameters of the step according to the sequence of the steps in the task control process, and calls the control program preset for the control type according to the control type and control parameters to execute the corresponding steps, obtains the inertial platform system control instructions, and realizes the control of the inertial platform system; executes the next step when the time required for the control of this step is completed, until all steps in the configuration information are completed, and ends the process.

[0025] If the third process never receives the configuration information, the default step type is executed as flight navigation, and the control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s; the time required for control is set to be greater than or equal to 1000 hours.

[0026] The advantages of the present invention compared with the prior art are as follows:

[0027] (1) To modify the existing control method, the inertial platform system control software must be written step by step according to the established procedures. After the writing is completed, the software must be burned into the inertial platform system again with the cooperation of the test engineer, which takes a considerable amount of time. The present invention can realize a new control method by only changing the configuration information.

[0028] (2) The existing control method changes require the cooperation of test engineers, software engineers, and general engineers to complete the work. The present invention only requires the general engineer to inform the test engineer of the configuration information, and the test engineer can directly upload the configuration information to the inertial platform system through the communication interface to complete the change of the control method, which greatly improves the test efficiency and saves costs.

[0029] (3) The configuration information configuration process of the present invention is simple and convenient, which is helpful for the design of new control methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the configuration information data packet content in the present invention;

[0031] Figure 2A flowchart of the receiving, parsing and operating process of the configuration information data packet in the present invention;

[0032] Figure 3 This is a flow chart of the third process of the inertial platform system in the present invention. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0034] The present invention provides an inertial platform system control method based on configuration information, the method comprising the following steps:

[0035] (1) Upload a configuration information package to the inertial platform system through a communication interface; the configuration information package includes a task information name, a control type corresponding to each step divided according to a control flow corresponding to the task information, control parameters, and a control time required; the communication interface can be any one of an RS232 serial port, an RS422 serial port, an RS485 serial port, a 1553B communication interface, a parallel bus interface, a CAN interface, and an Ethernet interface.

[0036] The format of the configuration information packet is as follows:

[0037]

[0038] The content of the configuration information packet header is the task information name and the total number of steps;

[0039] The inertial platform system control time is a real number greater than zero.

[0040] The control types include frame lock, level lock, flight navigation, and constant speed rotation, among which:

[0041] Frame locking means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis angle output by the frame angle sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is executed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°). The three axes of the inertial platform system include an outer ring axis, an inner ring axis and a platform body axis.

[0042] Leveling lock means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis acceleration output by the quartz accelerometer sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is completed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°);

[0043] Flight navigation refers to controlling the inertial platform system to fly in the inertial space for a period of time according to the preset command angular velocity; its control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s;

[0044] Uniform rotation refers to controlling one axis of the inertial platform system to rotate in the inertial space for a period of time at an angular velocity less than a preset threshold; its control parameter is the desired three-axis command angular velocity information of the inertial platform system, and the value range is three real numbers in the range of (-60.0° / s, 60.0° / s).

[0045] In order to improve the reliability of data transmission, the end of the configuration information packet also includes a check value. After receiving the configuration information, the inertial platform system verifies the check information contained in the data packet, and after ensuring the correctness of the configuration information, it carries out subsequent control.

[0046] The calculation method of the check value is any one of a sum check, a CRC check or a frame end check.

[0047] (2) The inertial platform system collects the three-axis angle output by the frame angle sensor and the three-axis acceleration output by the quartz accelerometer sensor, obtains the configuration information and parses the configuration information packet to obtain the control type corresponding to each step and the time required for control;

[0048] (3) The inertial platform system extracts the control type and control parameters of the steps in the order of the steps in the task control process, and calls the control program preset for the control type to execute the corresponding steps according to the control type and control parameters. After the time required for the control of this step is exhausted, the next step in the task control process is automatically executed until the task is completed, thereby realizing the dynamic change of the control method of the inertial platform system.

[0049] The above method can be implemented through three parallel processes, namely: the first process, the second process, and the third process; these three processes are independent of each other;

[0050] The first process completes the raw data collection and compensation functions of the frame angle sensor and quartz accelerometer sensor;

[0051] The second process completes the function of outputting the raw data of the frame angle sensor and the quartz accelerometer sensor to the outside through the communication interface;

[0052] The third process receives the configuration information package, parses the latest configuration information package, and obtains the control type and control time corresponding to each step in the task control process corresponding to the configuration information package; extracts the control type and control parameters of the step according to the sequence of the steps in the task control process, and calls the control program preset for the control type according to the control type and control parameters to execute the corresponding step, obtains the inertial platform system control instruction, and realizes the control of the inertial platform system; executes the next step when the time required for the control of the current step is completed, until all the steps in the configuration information are completed, and ends the process;

[0053] If the third process never receives the configuration information, the default step type is executed as flight navigation, and the control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s; the time required for control is set to be greater than or equal to 1000 hours.

[0054] Example:

[0055] The present invention is described in detail below through specific examples.

[0056] (1) Connect the 1553B communication interface between the test equipment and the inertial platform system.

[0057] (2) The inertial platform system is powered on, and the test equipment uploads the configuration information to the inertial platform system through the communication interface. The configuration information content is as follows: Figure 1 The following is an example

[0058] Data packet identification: {self-calibration task};

[0059] Total number of steps: {8};

[0060] Step 1 Data Packet: The type of inertial platform system control in this step is frame lock, the value of the inertial platform system control parameter in this step is {270.0, 0.0, 0.0}, and the execution time of the inertial platform system control in this step is 180s. It is expressed as {1, frame lock, the time required for inertial platform system control {270.0, 0.0, 0.0}, 180s}

[0061] Step 2 Data Packet: The type of inertial platform system control in this step is flight navigation, the value of the inertial platform system control parameter in this step is {0.0, 0.0, 0.0}, and the execution time of the inertial platform system control in this step is 120s. It is expressed as {1, flight navigation, {0.0, 0.0, 0.0}, 120s};

[0062] Step 3 Data Packet: The type of inertial platform system control in this step is leveling lock, the value of the inertial platform system control parameter in this step is {270.0, 90.0, 0.0}, and the execution time of the inertial platform system control in this step is 90s. It is expressed as {2, leveling lock, {270.0, 90.0, 0.0}, 90s};

[0063] Step 4 Data Packet: The type of inertial platform system control in this step is flight navigation, the value of the inertial platform system control parameter in this step is {0.0, 90.0, 0.0}, and the execution time of the inertial platform system control in this step is 120s. It is expressed as {2, flight navigation, {0.0, 90.0, 0.0}, 120s};

[0064] Step 5 Data Packet: The type of inertial platform system control in this step is uniform rotation, the value of the inertial platform system control parameter in this step is {60.0, 0.0, 0.0}, and the execution time of the inertial platform system control in this step is 90s. It is expressed as {3, uniform rotation, {60.0, 0.0, 0.0}, 90s};

[0065] Step 6 Data Packet: The type of inertial platform system control in this step is frame lock, the value contained in the inertial platform system control information in this step is {0.0, 180.0, 0.0}, and the execution time of the inertial platform system control in this step is 40s. It is expressed as {4, frame lock, {0.0, 180.0, 0.0}, 40s};

[0066] Step 7 Data Packet: The type of inertial platform system control in this step is leveling lock, the value contained in the inertial platform system control information in this step is {0.0, 0.0, 270.0}, and the execution time of the inertial platform system control in this step is 20s. It is expressed as {5, leveling lock, {0.0, 0.0, 270.0}, 20s};

[0067] Step 8 Data Packet: The type of inertial platform system control in this step is uniform rotation, the value contained in the inertial platform system control information in this step is {2.0, 0.0, 0.0}, and the execution time of the inertial platform system control in this step is 30s. It is expressed as {6, uniform rotation, {2.0, 0.0, 0.0}, 30s};

[0068] File frame end check: {0x5555}

[0069] like Figure 2 As shown, after receiving the configuration information, the inertial platform system verifies the verification information contained in the data packet, and carries out subsequent control after ensuring the correctness of the configuration information.

[0070] like Figure 3 As shown, the inertial platform system includes three processes, namely, a 2ms process, a 20ms process, and a 100ms process; these three processes are independent of each other.

[0071] 2ms process, triggered every 2ms, completes the raw data collection and compensation functions of the frame angle sensor and quartz accelerometer sensor;

[0072] 20ms process, triggered every 20ms, completes the function of outputting the raw data of the frame angle sensor and quartz accelerometer sensor through the communication interface;

[0073] The 100ms process is triggered every 100ms. The specific steps are as follows:

[0074] (1.1) Determine whether the configuration information package is received. If the configuration information is not received, execute the default step type of flight navigation step. The control parameters of this step include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s; the time required for control is set to be greater than or equal to 1000 hours; otherwise, enter step (1.2);

[0075] (1.2) Parse the latest configuration information package, and obtain the control type and control time corresponding to each step in the task control process corresponding to the configuration information package; extract the control type and control parameters of the step according to the sequence of the steps in the task control process, and call the control program preset for the control type to execute the corresponding steps according to the control type and control parameters, so as to obtain the inertial platform system control instructions and realize the control of the inertial platform system;

[0076] (1.3) Determine whether the time required for the control of the current step has been used up. If so, extract the control type and time required for the control corresponding to the next step. According to the control type and control parameters, call the control program preset for the control type to execute the corresponding steps, obtain the inertial platform system control instructions, and then repeat step (1.3) until all steps in the configuration information are completed, and end the process;

[0077] The above is a detailed introduction to an inertial platform system control method based on configuration information provided by the present invention. For those skilled in the art, there may be changes in the specific implementation process and application scope of the present invention. In summary, the content of this specification should not be understood as limiting the present invention.

[0078] The contents not described in detail in the present invention are common knowledge to those skilled in the art.

Claims

1. A control method for an inertial platform system based on configuration information, Features The process includes the following: (1) Uploading a configuration information package to the inertial platform system through a communication interface; the configuration information package includes the task information name, the control type corresponding to each step divided according to the control flow corresponding to the task information, the control parameters and the time required for control; (2) The inertial platform system collects the three-axis angle output by the frame angle sensor and the three-axis acceleration output by the quartz accelerometer sensor, obtains the configuration information and parses the configuration information packet to obtain the control type corresponding to each step and the time required for control; (3) The inertial platform system extracts the control type and control parameters of the steps according to the sequence of the steps in the task control process, and calls the control program preset for the control type to execute the corresponding steps according to the control type and control parameters. After the time required for the control of the current step is exhausted, the next step in the task control process is automatically executed until the task is completed, thereby realizing the dynamic change of the control method of the inertial platform system; The control types include frame lock, level lock, flight navigation, and constant speed rotation, among which: Frame locking means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis angle output by the frame angle sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is executed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°). The three axes of the inertial platform system include an outer ring axis, an inner ring axis and a platform body axis. Leveling lock means locking the three-axis angle of the inertial platform system at a preset angle according to the three-axis acceleration output by the quartz accelerometer sensor. The control parameters include the three-axis angle of the inertial platform system to be achieved after the step is completed. The value range of the angle is three real numbers in the range of [0.0°, 360.0°); Flight navigation refers to controlling the inertial platform system to fly in the inertial space for a period of time according to the preset command angular velocity; its control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s; Uniform rotation refers to controlling a certain axis of the inertial platform system to rotate in the inertial space for a period of time at an angular velocity less than a preset threshold; its control parameter is the desired three-axis command angular velocity information of the inertial platform system, and the value range is three real numbers in the range of (-60.0° / s, 60.0° / s); The above method is implemented through three parallel processes, namely: the first process, the second process, and the third process; these three processes are independent of each other; The first process completes the raw data collection and compensation functions of the frame angle sensor and quartz accelerometer sensor; The second process completes the function of outputting the raw data of the frame angle sensor and the quartz accelerometer sensor to the outside through the communication interface; The third process receives the configuration information package, parses the latest configuration information package, and obtains the control type and control time corresponding to each step in the task control process corresponding to the configuration information package; extracts the control type and control parameters of the step according to the sequence of the steps in the task control process, and calls the control program preset for the control type according to the control type and control parameters to execute the corresponding step, obtains the inertial platform system control instruction, and realizes the control of the inertial platform system; executes the next step when the time required for the control of the current step is completed, until all the steps in the configuration information are completed, and ends the process; The format of the configuration information packet is as follows:

2. The inertial platform system control method based on configuration information according to claim 1, Features The content of the configuration information packet header is the task information name and the total number of steps.

3. The inertial platform system control method based on configuration information according to claim 1, Features The inertial platform system control time is a real number greater than zero.

4. The inertial platform system control method based on configuration information according to any one of claims 1 to 3, Features The end of the configuration information packet also includes a check value. After receiving the configuration information, the inertial platform system verifies the check information contained in the data packet and processes the configuration information after ensuring its correctness.

5. The inertial platform system control method based on configuration information according to claim 4, Features The calculation method of the check value is any one of a sum check, a CRC check or a frame end check.

6. The inertial platform system control method based on configuration information according to any one of claims 1 to 3, Features The communication interface can be any one of an RS232 serial port, an RS422 serial port, an RS485 serial port, a 1553B communication interface, a parallel bus interface, a CAN interface, and an Ethernet interface.

7. The inertial platform system control method based on configuration information according to claim 6, Features If the third process never receives the configuration information, the default step type is executed as flight navigation, and the control parameters include the three-axis command angular velocity information of the inertial platform system, all of which are 0.0° / s; the time required for control is set to be greater than or equal to 1000 hours.

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