High-reliability inertial measurement combination DSP software online upgrading method and inertial measurement combination

Abstract

The application relates to an inertial measurement combination DSP software online upgrading method, in particular to a high-reliability inertial measurement combination DSP software online upgrading method and an inertial measurement combination, which are used for solving the problems that the existing inertial measurement combination DSP software online upgrading method or online upgrading through resident software has the risk of abnormal jump of software, or the upgrading module fails to be written due to abnormal conditions such as power failure during online programming through the communication process between test equipment. The high-reliability inertial measurement combination DSP software online upgrading method adopts a double-backup storage mechanism and increases the self-repairing function of the inertial measurement combination DSP software. Meanwhile, the application discloses an inertial measurement combination.

Description

TECHNICAL FIELD

[0001] The application relates to an inertial measurement assembly DSP software online upgrading method, in particular to a high-reliability inertial measurement assembly DSP software online upgrading method and an inertial measurement assembly. BACKGROUND

[0002] The inertial measurement assembly DSP software online upgrading refers to the following process: when the inertial measurement assembly DSP software is updated, the DSP program is not written into the storage device through the standard JTAG interface connected to the internal computer circuit board of the inertial measurement assembly; instead, the existing 1553B bus or RS422 bus outside the inertial measurement assembly is used to transfer the DSP program to be updated into the inertial measurement assembly without disassembling the inertial measurement assembly, and the update of the inertial measurement assembly DSP software is completed by using the test equipment connected to the bus.

[0003] The existing inertial measurement assembly DSP software online upgrading method includes the following two methods: one is to add a resident software in the inertial measurement assembly, and the inertial measurement assembly enters the resident software after being powered on; if the software online upgrading option is not performed, the inertial measurement assembly automatically jumps to the DSP software; however, the method has the risk of abnormal software jumping, and if the resident software has a problem, the resident software also needs to be changed when the inertial measurement assembly is disassembled; the other is to add an upgrading module in the DSP software, and the upgrading module is burned in the process of communication with the test equipment to complete the upgrade of the DSP software; however, if the DSP program is powered off or has other abnormal conditions during the writing process in the storage space, the upgrading module cannot be normally used. SUMMARY

[0004] The application aims at solving the problems of the existing inertial measurement assembly DSP software online upgrading method, i.e., the risk of abnormal software jumping in the process of online upgrading through the resident software or the writing failure of the upgrading module due to power-off or other abnormal conditions in the process of online burning in the communication with the test equipment, and provides a high-reliability inertial measurement assembly DSP software online upgrading method and an inertial measurement assembly.

[0005] In order to solve the problems of the existing technology, the application provides the following technical solutions.

[0006] A high-reliability inertial measurement assembly DSP software online upgrading method, which is characterized by comprising the following steps.

[0007] Step 1, a DSP software online upgrading flowchart.

[0008] The inertial measurement assembly is provided with a program storage area, and the program storage area comprises a main program area, a main check area, a backup program area and a backup check area.

[0009] (1.1) The inertial measurement assembly receives the DSP program binary file for upgrading sent by the ground test equipment through the communication cable in pieces, and checks the received DSP program binary file in pieces to confirm the correctness and continuity of the data, and temporarily stores the DSP program binary file that passes the check in the transit storage space;

[0010] (1.2) The inertial measurement assembly checks the DSP program binary file in the transit storage space to determine whether the length and content of the DSP program binary file are correct; if the check is correct, the uploading process is completed, and then step 1.3 is performed; otherwise, the ground test equipment is fed back with an uploading failure, and the DSP software online upgrading process is exited;

[0011] Then the inertial measurement assembly is restarted, and steps 2 and 3 are performed to return to step 1.1;

[0012] (1.3) The main portion check area is set to be invalid, and then the DSP program binary file in the transit storage space is written into the main portion program area, and after the writing is completed, the main portion check area is updated to be valid;

[0013] The backup check area is set to be invalid, and then the DSP program binary file in the transit storage space is written into the backup program area, and after the writing is completed, the backup check area is updated to be valid;

[0014] (1.4) The inertial measurement assembly is powered off and restarted, and the DSP software verifies the DSP program binary file written into the main portion program area and the backup program area in step 1.3 to determine whether the length and content of the DSP program binary file are correct; if the check is correct, the DSP software online upgrading process is completed, and then step 2 is performed; otherwise, steps 2 and 3 are performed to return to step 1.3;

[0015] Step 2, DSP software loading process;

[0016] The DSP software reads the main portion check area to determine whether the main portion check area is valid; if the main portion check area is valid, the content of the main portion program area is stored into the DSP memory; otherwise, the content of the backup program area is stored into the DSP memory;

[0017] Step 3, self-repairing process;

[0018] (3.1) The DSP software is initialized;

[0019] (3.2) The DSP software reads the main portion check area to determine whether the main portion check area is valid; if the main portion check area is valid, step 3.3 is performed; otherwise, the content of the backup program area is copied to the main portion program area, and the main portion check area is updated to be valid, and then step 3.4 is performed;

[0020] (3.3) the DSP software reads the backup check area, judges whether the backup check area is valid, if the backup check area is valid, step 3.4 is executed, otherwise, the content of the main program area is copied to the backup program area, and the backup check area is updated to be valid;

[0021] (3.4) the normal running of the combined DSP software.

[0022] Further, in step (1.1), the communication cable adopts a 1553B or RS422 communication cable.

[0023] Further, in steps (1.1) to (1.3), the transfer storage space adopts unused RAM or SDRAM in the combined inertial measurement.

[0024] Meanwhile, the application provides a combined inertial measurement, which is special in that it comprises a DSP chip, a program storage area and a transfer storage space.

[0025] The transfer storage space is used for receiving the DSP program binary file for upgrading sent by the ground test equipment, and temporarily storing the checked DSP program binary file.

[0026] The program storage area comprises a main program area, a main check area, a backup program area and a backup check area, and is used for storing the checked DSP program binary file in the transfer storage space.

[0027] The DSP chip realizes online upgrading of the DSP software by connecting the program storage area and the transfer storage space in sequence, and using the above-mentioned online upgrading method of the combined inertial measurement DSP software with high reliability.

[0028] Further, it further comprises a 1553B and RS422 communication interface connected with the ground test equipment, which prevents the upgrading from being abnormal due to abnormal power-off of the combined inertial measurement during the online upgrading of the DSP software.

[0029] Compared with the prior art, the application has the following beneficial effects:

[0030] (1) The online upgrading method of the combined inertial measurement DSP software with high reliability adopts a double backup storage mechanism, writes the DSP program binary file for upgrading into the main program area, the main check area, the backup program area and the backup check area set in the program storage area, improves the reliability of the online upgrading of the combined inertial measurement DSP software, and avoids the program running risk caused by the abnormal jumping of the software in the uploaded program.

[0031] (2) The high-reliability inertial measurement combination DSP software online upgrading method adds the self-repairing function of the inertial measurement combination DSP software, so that the program storage area can be checked and repaired after the DSP software is powered on, the problem of write failure caused by abnormal conditions such as power failure is solved, and the reliability and safety of the inertial measurement combination DSP software online upgrading are improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 FIG. 1 is a structural schematic diagram of an inertial measurement combination and a ground measurement device in an embodiment of the high-reliability inertial measurement combination DSP software online upgrading method.

[0033] Figure 2 FIG. 2 is a schematic diagram of a DSP software loading process in the embodiment of the high-reliability inertial measurement combination DSP software online upgrading method.

[0034] Figure 3 FIG. 3 is a schematic diagram of a self-repairing process in the embodiment of the high-reliability inertial measurement combination DSP software online upgrading method. DETAILED DESCRIPTION

[0035] The high-reliability inertial measurement combination DSP software online upgrading method will be further described below in combination with the accompanying drawings and exemplary embodiments.

[0036] A high-reliability inertial measurement combination DSP software online upgrading method comprises the following steps:

[0037] Step (1), a DSP software online upgrading process;

[0038] Referring to Figure 1 , Figure 2 and Table 1, the inertial measurement combination is provided with a program storage area, and the program storage area comprises a main program area, a main check area, a backup program area and a backup check area.

[0039] Table 1

[0040] Name Sector number Main program area SA0-SA3 Main check area SA4 Backup program area SA5-SA8 Backup check area SA9

[0041] (1.1) The inertial measurement combination receives the DSP program binary file for upgrading sent by the ground test device through the 1553B communication cable piece by piece, checks the received DSP program binary piece by piece, confirms the correctness and continuity of the data, and temporarily stores the DSP program binary file that passes the check in the transfer storage space; the transfer storage space uses the unused RAM in the inertial measurement combination;

[0042] (1.2) The inertial measurement assembly checks the DSP program binary file in the transfer storage space, judges whether the length and content of the DSP program binary file are correct, and if correct, the uploading process is completed, and then step 1.3 is performed; otherwise, the ground test equipment is fed back with an uploading failure, and the DSP software online upgrading process is exited; then the inertial measurement assembly is restarted, and steps 2 and 3 are performed to return to step 1.1;

[0043] (1.3) The main part check area is set to be invalid, and then the DSP program binary file in the transfer storage space is written into the main part program area, and after the writing is completed, the main part check area is updated to be valid;

[0044] The backup check area is set to be invalid, and then the DSP program binary file in the transfer storage space is written into the backup program area, and after the writing is completed, the backup check area is updated to be valid;

[0045] (1.4) The inertial measurement assembly is powered off and restarted, and the DSP software verifies the DSP program binary file written into the main part program area and the backup program area in step 1.3, judges whether the length and content of the DSP program binary file are correct; if correct, the DSP software online upgrading process is completed, and then step 2 is performed; otherwise, steps 2 and 3 are performed to return to step 1.3;

[0046] Step 2, DSP software loading process;

[0047] The DSP software reads the main part check area, and if the main part check area is valid, the content of the main part program area is transferred to the DSP memory; otherwise, the content of the backup program area is transferred to the DSP memory;

[0048] Step 3, self-repairing process;

[0049] (3.1) The DSP software is initialized;

[0050] (3.2) The DSP software reads the main part check area, judges whether the main part check area is valid; if the main part check area is valid, step 3.3 is performed; otherwise, the content of the backup program area is copied to the main part program area, and the main part check area is updated to be valid, and then step 3.4 is performed;

[0051] (3.3) The DSP software reads the backup check area, judges whether the backup check area is valid; if the backup check area is valid, step 3.4 is performed; otherwise, the content of the main part program area is copied to the backup program area, and the backup check area is updated to be valid;

[0052] (3.4) The inertial measurement assembly DSP software is normally operated.

[0053] The application designs software double backup storage and power-on self-repair function, and can realize high-reliability DSP software online upgrade. If the inertial measurement combination is abnormally powered off in receiving the DSP program binary file for upgrade, i.e. powered off in step 1.1 and step 1.2, it will jump to step 2, the DSP software loading program storage area stores the un-upgraded DSP program binary file, then step 3 is executed to check the program storage area, and finally returns to step 1.1 to re-upload; if the inertial measurement combination is abnormally powered off or the program storage area fails in writing the DSP program binary file for upgrade, i.e. abnormally stopped in step 1.3, it will jump to step 2, the DSP software loading program storage area stores the un-upgraded DSP program binary file, then step 3 is executed to check and repair the program storage area, and finally returns to step 1.3 to re-write.

[0054] Meanwhile, the application provides an inertial measurement combination, which comprises a DSP chip, a program storage area, a transfer storage space, and 1553B and RS422 communication interfaces connected with ground test equipment.

[0055] The transfer storage space is used to receive the DSP program binary file for upgrade sent by the ground test equipment, and temporarily store the checked DSP program binary file.

[0056] The program storage area comprises a main program area, a main check area, a backup program area and a backup check area, and is used to store the checked DSP program binary file in the transfer storage space.

[0057] The DSP chip connects the program storage area and the transfer storage space in sequence, and realizes DSP software online upgrade by using the above high-reliability inertial measurement combination DSP software online upgrade method.

[0058] The above embodiments are only used to illustrate the technical solutions of the application, and not to limit it. For the ordinary skilled in the art, the specific technical solutions recorded in the above embodiments can be modified, or some technical features can be replaced equivalently, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions protected by the application.

Claims

1. A highly reliable online upgrade method for inertial measurement unit (INS) integrated DSP software, characterized in that, Includes the following steps: Step 1: DSP software online upgrade process; The inertial measurement unit is equipped with a program storage area, which includes a main program area, a main verification area, a backup program area, and a backup verification area. (1.1) The inertial measurement unit receives the DSP program binary files for upgrade sent by the ground test equipment one by one through the communication cable, and verifies the received DSP program binary files one by one to confirm the correctness and continuity of the data. The verified DSP program binary files are temporarily stored in the transfer storage space. (1.2) The inertial measurement unit verifies the DSP program binary file in the transfer storage space to determine whether the length and content of the DSP program binary file are correct; If the verification is successful, the upload process is complete, and then proceed to step 1.3; Otherwise, report the upload failure to the ground testing equipment and exit the DSP software online upgrade process; Then restart the inertial measurement unit, and execute step 2 to load the DSP program binary file that has not been upgraded in the program storage area, execute step 3 to check the program storage area, and then return to step 1.1 to upload again; (1.3) Set the main verification area to invalid, then write the DSP program binary file in the transfer storage space to the main program area, and update the main verification area to valid after writing is completed; Set the backup verification area to invalid, then write the DSP program binary file in the transfer storage space to the backup program area, and update the backup verification area to valid after writing is complete; (1.4) Power off and restart the inertial measurement unit, verify the DSP program binary files written in the main program area and backup program area in step 1.3 of the DSP software, and determine whether the length and content of the DSP program binary files are correct. If the verification is successful, the online upgrade process for the DSP software is complete, and then step 2 is executed; otherwise, step 2 is executed sequentially to load the unupgraded DSP program binary file in the program storage area, step 3 is executed to check and repair the program storage area, and finally, step 1.3 is returned to rewrite. Step 2, DSP software loading process; The DSP software reads the main verification area and determines whether the main verification area is valid. If the main verification area is valid, the contents of the main program area are transferred to the DSP memory; otherwise, the contents of the backup program area are transferred to the DSP memory. Step 3, Self-repair process; (3.1) DSP software initialization; (3.2) The DSP software reads the main verification area and determines whether the main verification area is valid; if the main verification area is valid, then proceed to step 3.

3. Otherwise, copy the contents of the backup program area to the main program area, update the main verification area to be valid, and then proceed to step 3.4; (3.3) The DSP software reads the backup verification area and determines whether the backup verification area is valid; if the backup verification area is valid, then proceed to step 3.

4. Otherwise, copy the contents of the main program area to the backup program area and update the backup verification area to be valid; (3.4) The inertial measurement unit DSP software is running normally.

2. The method for online upgrade of highly reliable inertial measurement unit (INS) combined with DSP software according to claim 1, characterized in that: In step (1.1), the communication cable is a 1553B or RS422 communication cable.

3. A highly reliable online upgrade method for inertial measurement unit (INS) DSP software according to claim 1 or 2, characterized in that: In steps (1.1) to (1.3), the intermediate storage space uses RAM or SDRAM that is not used in the inertial measurement unit.

4. An inertial measurement unit, characterized in that: This includes the DSP chip, program storage area, and intermediate storage space; The intermediate storage space is used to receive the DSP program binary file for upgrade sent by the ground test equipment, and to temporarily store the verified DSP program binary file. The program storage area includes a main program area, a main verification area, a backup program area, and a backup verification area; Used to store the verified DSP program binary file in the transfer storage space; The DSP chip is connected to the program storage area and the transfer storage space in sequence, and the DSP software is upgraded online using the high-reliability inertial measurement combined DSP software online upgrade method described in claim 1.

5. The inertial measurement unit according to claim 4, characterized in that: It also includes 1553B and RS422 communication interfaces for connecting to ground testing equipment.

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