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Inertia/satellite integrated navigation task scheduling method based on multi-task real-time operating system

A real-time operating system and integrated navigation technology, which is applied in directions such as navigation, navigation, mapping and navigation through speed/acceleration measurement, which can solve the problem of uneven data output time interval, uneven distribution of processor computing resources, and processor resource utilization. rate reduction and other issues, to achieve the effect of improving reasonable utilization, uniform distribution, and avoiding uneven output.

Pending Publication Date: 2020-12-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

This leads to an unbalanced allocation of processor computing resources in data output time, resulting in uneven data output time intervals and a reduction in processor resource utilization.

Method used

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  • Inertia/satellite integrated navigation task scheduling method based on multi-task real-time operating system
  • Inertia/satellite integrated navigation task scheduling method based on multi-task real-time operating system
  • Inertia/satellite integrated navigation task scheduling method based on multi-task real-time operating system

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Embodiment Construction

[0029] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0030] The present invention has designed the inertial / satellite integrated navigation task scheduling method based on the multi-task real-time operating system, and the steps of the method are as follows:

[0031] Step 1: The implementation process of the inertial / satellite integrated navigation system is as follows figure 1 shown by figure 1 It can be seen that the inertial / satellite integrated navigation system is a complex multi-task system, and reasonable service division has a great impact on the system's operating efficiency and real-time performance.

[0032] In this embodiment, preferably, in order to take into account the overall throughput of the concurrency of the embedded real-time system, the division of tasks should follow the following principles:

[0033] (a) Functionally independent operations shall be divided into a sin...

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Abstract

The invention discloses an inertia / satellite integrated navigation task scheduling method based on a multi-task real-time operating system, which comprises the following steps of performing service division on an inertia / satellite integrated navigation system which is a multi-task system and ; determining the priority of each service according to the task period and the running time of each service divided in the step, dividing each service into different partitions, determining the scheduling sequence of the partitions according to the priorities of the services in the partitions, and determining the time length of a main time frame of the partitions; and performing integrated navigation task scheduling design according to the obtained service partitions and the scheduling priorities of the partitions in combination with a priority preemption scheduling mechanism and a polling scheduling mechanism of the multi-task real-time operating system. The resource utilization rate of the integrated navigation processor and the overall efficiency of the system are improved.

Description

technical field [0001] The invention belongs to the field of integrated navigation systems, and in particular relates to an inertial / satellite integrated navigation task scheduling method. Background technique [0002] GNSS has the advantages of high positioning accuracy and no error accumulation over time, but also has disadvantages such as the signal is easily blocked or interfered, the data update rate is low, and the output of attitude information is lacking. In comparison, the inertial navigation system (INS) is a completely autonomous navigation system, which has a high data update rate and can output attitude information. Problems accumulating with extended navigation times. Due to the good complementary characteristics between GNSS and INS, the inertial / satellite integrated navigation system embodies the combined advantages of the following aspects: [0003] 1) GNSS can realize the calibration of the inertial navigation system sensor, improve the initial alignment ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F9/48G06F9/50G01C21/16G01S19/47
CPCG06F9/4881G06F9/5038G01C21/165G01S19/47
Inventor 郭彤李荣冰刘建业孙永荣刘青春
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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