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A data synchronous acquisition system and data synchronous acquisition method

A data synchronization and acquisition system technology, applied in the field of communication, can solve the problems of low time synchronization accuracy of IMU data and GNSS data, and achieve the effects of avoiding unalignment, improving time synchronization accuracy, and improving counting accuracy

Active Publication Date: 2021-10-22
成都纵横大鹏无人机科技有限公司 +1
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  • Claims
  • Application Information

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Problems solved by technology

[0007] Based on the above problems, the application provides a data synchronization acquisition system and a data synchronization acquisition method to solve the problem of low time synchronization accuracy of IMU data and GNSS data

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  • A data synchronous acquisition system and data synchronous acquisition method
  • A data synchronous acquisition system and data synchronous acquisition method

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Embodiment Construction

[0040] As described above, the current data synchronous acquisition system counts through the internal clock of the microcontroller on the acquisition board, and then multiplies the count value by the clock period as the synchronization time of the IMU data. This system has the following drawbacks.

[0041]First of all, microcontrollers usually use a quartz oscillator or an internal RC clock as a pulse source, and the precision of the pulse cycle is limited. Secondly, the pulse edge of the PPS is not aligned with the pulse edge of the internal clock, that is, the delay time T is unknown. Based on the above two points, the time synchronization accuracy of IMU data and GNSS data in the prior art solution is insufficient. Insufficient time synchronization accuracy will affect the accuracy of the final point cloud data.

[0042] In view of the above problems, the inventor provides a data synchronous acquisition system and a data synchronous acquisition method after research. Th...

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Abstract

The application discloses a data synchronous acquisition system and a data synchronous acquisition method. The system includes GNSS board, IMU, FPGA and acquisition board; GNSS board and IMU are connected to FPGA, and GNSS board and IMU are connected to acquisition board. The GNSS board transmits the PPS to the FPGA and the acquisition board at the same time, and transmits the GNSS data to the acquisition board; the FPGA generates a synchronous pulse sequence according to the rising edge of the PPS, and sends the synchronous pulse sequence to the IMU; the IMU collects the IMU data according to the synchronous pulse sequence, The IMU data is transmitted to the acquisition board, and the TOV pulse is sent to the acquisition board; the acquisition board is used to time-synchronize the IMU data and GNSS data according to the received second pulse PPS and TOV pulse. FPGA generates high-precision synchronous pulses to improve counting accuracy. The pulse edge of the synchronization pulse sequence is aligned with the PPS pulse edge to improve the time synchronization accuracy.

Description

technical field [0001] The present application relates to the field of communication technology, and in particular to a data synchronous acquisition system and a data synchronous acquisition method. Background technique [0002] In the technical field of airborne data collection, the airborne end usually needs to collect high-precision pose data. Calculate the track and attitude based on the pose data. Taking the recorded lidar as an example, the point cloud data can be generated by solving the calculated heading and attitude data. [0003] The pose data collected by the airborne terminal usually includes: navigation data provided by the Global Navigation Satellite System (GNSS) and inertial navigation data provided by the Inertial Measurement Unit (IMU). Navigation data is hereinafter referred to as GNSS data, and inertial navigation data is hereinafter referred to as IMU data. GNSS data comes with precise satellite synchronization time, so IMU data is required to be syn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S19/47G01S19/49
CPCG01C21/165G01S19/47G01S19/49
Inventor 黎治坤刘金沧黄小川雷雳马云峰刘述超杨建杨珂
Owner 成都纵横大鹏无人机科技有限公司