A navigation control system based on multi-core processor and control method thereof

Abstract

A navigation control system based on a multi-core processor and a control method thereof, the control system includes a multi-core processor, the multi-core processor is connected to a combined navigation module, a communication interface circuit, a drive circuit and a power supply circuit; the combined navigation module is composed of a GPS module and an IMU module, and the power supply circuit filters and performs secondary conversion on the external input power supply. When the system is powered on, each component is self-checked, the status of each component is judged, and the current system status is fed back; if the self-check is normal, the multi-core processor reads peripheral data, satellite navigation data, and IMU data at the same time; and data is interacted through an on-chip data bus and a public data storage unit, and one of the cores performs navigation solution and data fusion processing, solves the steering gear control instructions, I / O control instructions and other data, and shares them with other cores through internal data, and the relevant cores complete the corresponding control. The present invention can enrich the control function of the navigation device and simplify the system structure.

Description

Technical Field

[0001] The present invention belongs to the field of navigation control, and in particular relates to a navigation control system based on a multi-core processor and a control method thereof. Background Art

[0002] With the advancement of science and technology, navigation technology has become increasingly mature and has been widely used in various fields. At present, common navigation devices are relatively complicated to use. They are usually divided into inertial navigation devices and combined navigation devices. Both devices require users to process the navigation information before they can be used, and they have a single function and only have navigation functions. However, users not only need navigation functions during use, but also need to control external modules according to navigation information. At this time, users need to add control modules to complete the corresponding operations, which makes the system more complicated and more expensive, and makes later development more difficult. Summary of the invention

[0003] The purpose of the present invention is to provide a navigation control system and a control method based on a multi-core processor to address the problems in the above-mentioned prior art, which can enrich the control functions of the navigation device, simplify the system structure, and reduce the difficulty of later development.

[0004] In order to achieve the above objectives, the navigation control system based on the multi-core processor of the present invention adopts the following technical solutions:

[0005] The invention comprises a multi-core processor as an operation control unit, the multi-core processor is connected to a combined navigation module, a communication interface circuit, a drive circuit and a power supply circuit; the combined navigation module is composed of a GPS module and an IMU module, and the power supply circuit filters and performs secondary conversion on an external input power supply; one core in the multi-core processor reads IMU data for navigation calculation with T as a period, and obtains position, speed and attitude information; the core also reads GPS data with T1 as a period; the navigation information obtained by the IMU module and the GPS data are fused and processed to output navigation data; the remaining cores in the multi-core processor can read the navigation data and control the rotation of the steering gear through the drive circuit.

[0006] The communication interface circuit and the driving circuit are both provided with an isolation chip and a corresponding adaptation circuit.

[0007] The communication interface circuit includes a CAN interface that supports the CAN2.0 protocol and two RS422 interfaces. The CAN bus connects the various components inside the system and can directly read the data of each component from outside the system. One of the two RS422 interfaces is used for communication between the system and the outside, and the other is used for simulation. Simulation data can be injected into the combined navigation module through this interface.

[0008] The multi-core processor adopts TMS320F2837xD series DSP chips and TMS320C66x series DSP chips manufactured by TI, or uses FPGA combined with DSP / ARM as the multi-core processor.

[0009] The power supply circuit is designed by separating the control circuit and the power circuit. The power of the control circuit DC1 is relatively small, and the power circuit DC2 can output a stable large current. The control circuit DC1 is connected to the filter capacitor group through the diode D1, and the power circuit DC2 is connected to the filter capacitor group through the diode D2 and the diode D3 arranged in parallel. When the system is powered on, the control circuit DC1 is first connected, and the control circuit DC1 supplies power to the system through the diode D1. The diode D2 and the diode D3 are not reversely conductive, and there is no voltage at the power circuit DC2. When the power circuit DC2 is powered on, the power circuit DC2 supplies power to the system through the diode D2 and the diode D3. At this time, the control circuit DC1 is disconnected to ensure seamless switching of the system power supply. The diode D1 separates the power circuit DC2 so that it does not affect the control circuit DC1. The driving circuit controls the on and off of the relay through the power amplifier circuit, and the relay drives the steering gear to rotate.

[0010] The multi-core processor, the integrated navigation module, the communication interface circuit, the drive circuit and the power supply circuit are arranged on a PCB board, and the components on the PCB board and the external interfaces are connected by connectors.

[0011] The control method of the navigation control system based on the multi-core processor of the present invention comprises the following steps:

[0012] First, the system performs a self-check on each component when powered on, determines the status of each component, and feeds back the current system status. If a fault occurs in the self-check, a fault code is generated. If the system self-checks normally, the multi-core processor reads the peripheral data, satellite navigation data, and IMU data at the same time, and exchanges data through the on-chip data bus and the public data storage unit, with one of the cores performing navigation solution and data fusion processing. The data fusion processing solves the servo control instructions, I / O control instructions and other data and shares the data with other cores through the internal data sharing unit, and the relevant cores complete the corresponding control.

[0013] Compared with the prior art, the present invention has the following beneficial effects: since the control system adopts a multi-core processor as the MCU, the multi-core processor can process the data of each component in parallel, improve the real-time performance of the system, and the use of a multi-core processor can simplify the hardware circuit, reduce the number of processors, reduce costs, and also simplify the connection relationship between the components. The navigation control system of the present invention is small in size and light in weight, and can be applied to a variety of installation environments. The multi-core processor, the combined navigation module, the communication interface circuit, the drive circuit and the power supply circuit can all be arranged on the PCB board and connected through the PCB board, which is convenient to use. The control method of the present invention first performs a self-check on each component by powering on the system. If the system self-check is normal, the multi-core processor simultaneously detects GPS data, reads inertial measurement unit data, detects the external switch state, and receives external data. By processing the data of multiple components in parallel, the real-time performance of the control is improved, the system structure is simplified, and the related operations of the navigation control are convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The overall structural block diagram of the navigation control system of the present invention;

[0015] Figure 2 A schematic diagram of the structure of the power supply circuit of the present invention;

[0016] Figure 3 Flow chart of the control method of the present invention;

[0017] Figure 4 System simulation servo response diagram;

[0018] In the attached figure: 1- multi-core processor; 2- communication interface circuit; 3- driving circuit; 4- GPS module; 5- IMU module. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0020] See also Figure 1-2The navigation control system based on the multi-core processor of the present invention includes a multi-core processor 1, a combined navigation module, a communication interface circuit 2, a drive circuit 3, an I / O control circuit and a power supply circuit in structure. The combined navigation module is composed of a GPS module 4 and an IMU module 5. The GPS module 4 adopts a GPS+Beidou board. The GPS module 4 is connected to an antenna. The power supply circuit filters and performs secondary conversion on the external input power supply, mainly completing the power supply isolation of the control power DC1 and the power power DC2, ensuring that the control circuit does not cut off the power when the control power DC1 and the power power DC2 are switched, and the input power supply is stabilized and filtered, and secondary conversion is performed for subsequent circuit components. The multi-core processor 1 is the "brain" of the system, which mainly performs fusion processing on the data of each component and controls the operation of the system. The GPS+Beidou board mainly cooperates with the antenna to receive satellite navigation information. The IMU is an inertial measurement unit, which can measure the position, attitude and speed of the carrier in real time, and perform combined navigation in combination with satellite navigation information. The drive circuit 3 mainly performs power amplification to meet the control requirements of the steering gear. The communication interface circuit 2 mainly completes the information interaction between the system and the outside world. The I / O control circuit isolates the chip pins and subsequent circuits and amplifies the signal power to drive each relay to operate.

[0021] The multi-core processor 1 uses TMS320F2837xD series DSP chips, TMS320C66x series DSP chips manufactured by TI, or uses FPGA combined with DSP / ARM as a multi-core processor. One core in the multi-core processor 1 reads IMU data with T as a period to perform inertial navigation and obtain position, speed, and attitude information; the core also reads GPS data with T1 as a period; the navigation information obtained by the IMU module 5 and the GPS data are fused and processed to output navigation data. The remaining cores in the multi-core processor 1 can read navigation data, control the rotation of the servo through the drive circuit 3, and control the on and off of the relay through the power amplifier circuit. The power supply circuit of the present invention is designed by separating the control circuit and the power circuit. The power of the control circuit DC1 is relatively small, and the power circuit DC2 can output a stable large current. The control circuit DC1 is connected to the filter capacitor group through the diode D1, and the power circuit DC2 is connected to the filter capacitor group through the diode D2 and the diode D3 arranged in parallel. When the system is powered on, the control circuit DC1 is first connected, and the control circuit DC1 supplies power to the system through the diode D1. The diode D2 and the diode D3 are not reversely conductive, and there is no voltage at the power circuit DC2 end. When the power circuit DC2 is powered on, the power circuit DC2 supplies power to the system through the diode D2 and the diode D3. At this time, the control circuit DC1 is disconnected to ensure seamless switching of the system power supply. The diode D1 separates the power circuit DC2 so that it does not affect the control circuit DC1 end. The secondary power supply outputs 5V, 33V and 28V.

[0022] The communication interface circuit 2 includes a CAN interface supporting the CAN2.0 protocol and two RS422 interfaces, wherein the CAN bus connects the components inside the system and can directly read the data of each component from outside the system. One of the two RS422 interfaces is used for communication between the system and the outside, and the other is used for simulation, through which simulation data can be injected into the combined navigation module. Both the communication interface circuit 2 and the drive circuit 3 are provided with an isolation chip and a corresponding adapter circuit.

[0023] The multi-core processor 1, the integrated navigation module, the communication interface circuit 2, the drive circuit 3 and the power supply circuit are all arranged on the PCB board. The IMU module 5 is fixed to the PCB board by screws. The GPS module 4 is connected to the PCB through a pin socket. Each external interface leads out a connector from the PCB board. The internal connections of the system all use connectors without direct welding wires, which is convenient for disassembly and assembly.

[0024] See also Figure 3 The control method of the navigation control system of the present invention first powers on the system. After the multi-core processor 1 completes the self-check, it also performs self-checks on the combined navigation module, the communication interface circuit 2, and the I / O control circuit, and finally generates a fault code. If the self-check is normal, the multi-core processor starts to read the peripheral data, satellite navigation data, and IMU data simultaneously, and exchanges data through the on-chip data bus and the public data storage unit. One of the cores performs navigation solution and data fusion processing. The data fusion processing solves the servo control instructions, I / O control instructions and other data, and completes data sharing with other cores through the internal data sharing unit, and the relevant cores complete the corresponding control. Figure 4 As shown in the figure, the closed-loop simulation of the system outputs 4-way servo control and feedback signals. The servo feedback signal and the control signal completely coincide with each other, and the system responsiveness is improved, meeting the design requirements.

[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention in any form. It should be understood by those skilled in the art that the present invention may be modified or simply replaced without departing from the spirit and principles of the present invention, and these modifications and replacements also fall within the scope defined by the submitted claims.

Claims

1. A navigation control system based on a multi-core processor, characterized in that: The invention comprises a multi-core processor (1) as an operation control unit, the multi-core processor (1) being connected to a combined navigation module, a communication interface circuit (2), a drive circuit (3), an I / O control circuit and a power supply circuit; the combined navigation module is composed of a GPS module (4) and an IMU module (5), and the power supply circuit performs filtering and secondary conversion on an external input power supply; a core in the multi-core processor (1) reads IMU data with a period of T to perform inertial navigation calculation and obtain position, speed and attitude information; the core also reads GPS data with a period of T1; and the IMU module (5) is connected to the multi-core processor (1) by The obtained navigation information is integrated with GPS data to output navigation data; the remaining cores in the multi-core processor (1) can read the navigation data and control the rotation of the steering gear through the drive circuit (3); the GPS module (4) uses a GPS+Beidou board, the GPS module (4) is connected to an antenna, and the GPS+Beidou board cooperates with the antenna to receive satellite navigation information; the IMU in the IMU module (5) is an inertial measurement unit, which is used to measure the position, attitude and speed of the carrier in real time, and perform combined navigation in combination with the satellite navigation information; the drive circuit (3) performs power amplification to meet the steering gear control requirements. The communication interface circuit (2) completes the information exchange between the system and the outside world, the I / O control circuit isolates the chip pins from the subsequent circuits, and amplifies the signal power to drive the various relays to operate; the power supply circuit is used to complete the power supply isolation of the control power DC1 and the power power DC2, ensuring that the control circuit is not disconnected when the control power DC1 and the power power DC2 are switched, and the input power is stabilized and filtered, and a secondary conversion is performed for use by subsequent circuit components; the power supply circuit is designed in a manner that the control power and the power power are separated, the power of the control power DC1 is relatively small, and the power power DC2 can output a stable large power. The control circuit DC1 is connected to the filter capacitor group through the diode D1, and the power circuit DC2 is connected to the filter capacitor group through the diode D2 and the diode D3 which are arranged in parallel; when the system is powered on, the control circuit DC1 is first connected, and the control circuit DC1 supplies power to the system through the diode D1, the diode D2 and the diode D3 are not reversely conductive, and there is no voltage at the power circuit DC2; when the power circuit DC2 is powered on, the power circuit DC2 supplies power to the system through the diode D2 and the diode D3, and the control circuit DC1 is disconnected at this time to ensure seamless switching of the system power supply, and the diode D1 isolates the power circuit DC2 so that it does not affect the control circuit DC1.

2. The navigation control system based on a multi-core processor according to claim 1, characterized in that: The communication interface circuit (2) and the drive circuit (3) are both provided with an isolation chip and a corresponding adaptation circuit.

3. The navigation control system based on a multi-core processor according to claim 1, characterized in that: The communication interface circuit (2) comprises a CAN interface supporting the CAN2.0 protocol and two RS422 interfaces, wherein the CAN bus connects various components inside the system and can directly read data of each component from outside the system; one of the two RS422 interfaces is used for communication between the system and the outside, and the other is used for simulation, and simulation data can be injected into the combined navigation module through the interface.

4. The navigation control system based on a multi-core processor according to claim 1, characterized in that: The multi-core processor (1) adopts TMS320F2837xD series DSP chips, TMS320C66x series DSP chips manufactured by TI, or uses FPGA combined with DSP / ARM as the multi-core processor.

5. The navigation control system based on a multi-core processor according to claim 1, characterized in that: The driving circuit (3) controls the on and off of the relay through the power amplifier circuit, and the relay drives the steering gear to rotate.

6. The navigation control system based on a multi-core processor according to claim 1, characterized in that: The multi-core processor (1), combined navigation module, communication interface circuit (2), drive circuit (3) and power supply circuit are all arranged on a PCB board, and the components on the PCB board and external interfaces are connected by connectors.

7. A control method for a navigation control system based on a multi-core processor as claimed in claim 1, characterized in that: The following steps are included: first, the system performs self-checks on each component when powered on, determines the status of each component, and feeds back the current system status. If a fault occurs in the self-check, a fault code is generated; If the system self-check is normal, the multi-core processor (1) simultaneously reads the peripheral data, satellite navigation data, and IMU data; and exchanges data through the on-chip data bus and the public data storage unit, and one of the cores performs navigation solution and data fusion processing; The data fusion process calculates the servo control instructions, I / O control instructions and other data and shares the data with other cores through the internal data sharing unit, and the relevant cores complete the corresponding control.

Images