A full-automatic testing and control method for inertial navigation starting condition

Abstract

The application relates to a kind of full-automatic test and control method of inertial navigation starting condition, comprising the following steps: step 1, setting programmable power supply mode as measured inertial navigation power supply;Step 2, formulating the starting state monitoring protocol between measured inertial navigation and monitoring inertial navigation, and developing measured inertial navigation software, sending protocol from measured inertial navigation to monitoring inertial navigation;Step 3, developing monitoring inertial navigation software, continuously starting from monitoring inertial navigation, determining the starting condition of measured inertial navigation according to the protocol sent by measured device, and sending the starting condition of measured inertial navigation to display control software;Step 4, developing display control software, receiving the starting condition of measured inertial navigation monitored by monitoring inertial navigation.The application can automatically and repeatedly test whether inertial navigation is successfully started, and can also realize external starting rescue of chip by using software communication logic control and chip reset technology, realizing successful starting of DSP and FPGA chip for strapdown inertial navigation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of inertial navigation, and relates to a kind of inertial navigation startup strategy and DSP and FPGA startup control strategy for inertial navigation calculation software, in particular to a kind of full-automatic test and control method for inertial navigation startup condition. BACKGROUND

[0002] The commonly used hardware combination of strapdown inertial navigation is DSP and FPGA, wherein the DSP is the principle scheme calculation and communication control software carrier, and the FPGA is the inertial impulse collection carrier of gyroscopes and accelerometers. The DSP and FPGA circuit board are mature technologies, which may be slightly different due to the different technical levels of circuit design. In rare cases (high temperature, low temperature, low air pressure, etc.), startup failure may occur, but in actual engineering tests, such as -40℃ or +60℃, etc. Occasionally, due to the temperature characteristics change of capacitors, resistors and other circuit chips, the chip startup failure may occur, which leads to the startup failure of strapdown inertial navigation. Therefore, whether the DSP and FPGA can be successfully powered on is related to the reliability of strapdown inertial navigation, the quality of user experience, and even whether the important test qualification can be preserved. Especially in the case where the inertial navigation equipment hardware has been finalized and cannot be changed or the time node is extremely urgent, it is not an ideal choice to organize manpower to troubleshoot problems or redesign the circuit board. However, it is extremely important to repair hardware bugs in software.

[0003] TMS320C6748 DSP has been widely used in principle scheme calculation software in the field of strapdown inertial navigation due to its powerful computing capability, rich interfaces and low power consumption. The DSP chip has a reset pin. When the reset pin receives a low level, the DSP chip will enter the reset mode, thereby re-booting and initializing the chip. The boot program will load the user work program into the internal RAM space for the second time, and then the user software logic will run normally. This case is considered as DSP startup success. When the external reset signal has glitches or the signal waveform is not standard, the DSP chip reset failure may occur, so that the DSP cannot complete the normal booting to load the user program into the RAM space for running. This case is considered as DSP startup failure.

[0004] Xilinx Spartan-6 FPGA is applied in the field of strapdown inertial navigation system for collecting inertial element pulse because of its low cost and low power consumption. The FPGA chip has a PROGRAM pin, when the pin receives a low-to-high level, the FPGA chip will re-boot the initialization chip. The FPGA chip will start the reset signal to reset the DSP chip after the power-on initialization is normal, which is regarded as the FPGA startup success. When the FPGA fails to initialize due to chip individual problems or software programming problems, the initialization boot software cannot be normally initialized, which is regarded as the FPGA startup failure. However, the reset DSP signal of the FPGA internal software is still normally sent according to the logic.

[0005] In the normal circuit board design and software design, the FPGA sends the reset signal to the DSP, so that the DSP software can be normally booted and the startup process is completed, which is a common operation method in the industry and a conventional operation. However, in actual engineering, the FPGA chip and the DSP chip may not be successfully started due to various reasons.

[0006] The successful startup of the DSP or FPGA chip is defined as that the chip is powered on, the initialization operation is completed, the user software is booted to the RAM space, and the correct operation is completed, otherwise the chip startup failure is defined.

[0007] The existing test and control method of the startup of the DSP or FPGA chip of the inertial navigation system still has the following defects: the DSP or FPGA chip is started in an open loop mode, and there is no closed loop monitoring whether the startup is successful, which may cause the chip to be in an unworking state if the startup is not successful after the chip is started once, and the functions of signal processing and data processing cannot be completed. The closed loop monitoring method of whether the chip is successfully started can essentially avoid the situation that the chip is not successfully started, that is, the DSP and the FPGA mutually rescue each other and mutually determine the startup state of the other.

[0008] After retrieval, no existing technical patent literature similar to the present application is found. SUMMARY

[0009] The present application aims at overcoming the deficiencies in the prior art, and provides a full-automatic test and control method of the startup of an inertial navigation system, which can automatically and repeatedly test whether the inertial navigation system is successfully started and improve the startup success rate of the DSP and the FPGA of the strapdown inertial navigation system.

[0010] The present application solves the practical problems by adopting the following technical solutions:

[0011] A full-automatic test method of the startup of an inertial navigation system comprises the following steps:

[0012] Step 1, setting the programmable power supply mode to the measured inertial navigation power supply;

[0013] Step 2, developing a start state monitoring protocol between the measured inertial navigation and the monitoring inertial navigation, and developing the measured inertial navigation software, sending the protocol from the measured inertial navigation to the monitoring inertial navigation;

[0014] Step 3, developing the monitoring inertial navigation software, continuously starting the monitoring inertial navigation, and determining the start state of the measured inertial navigation according to the protocol sent by the measured device, and sending the start state of the measured inertial navigation to the display control software;

[0015] Step 4, developing the display control software to receive the start state of the measured inertial navigation monitored by the monitoring inertial navigation.

[0016] Moreover, the specific method of step 1 is to set the programmable power supply mode to a cycle mode, 2-minute timing start, and 2-minute timing stop.

[0017] Moreover, the specific method of step 2 is:

[0018] RS422 serial communication is adopted, 115200bps, 8-bit data, 1-bit stop bit, no check. When the measured inertial navigation starts successfully and is in a normal working state, it sends a hexadecimal protocol message 7E7E0101BF to the monitoring inertial navigation at a frequency of 2Hz.

[0019] Moreover, the specific method of step 3 is:

[0020] The monitoring inertial navigation software is provided with a state counter iCntStart, which is always in a 1Hz accumulation state, but if the 7E7E0101BF message sent by the measured inertial navigation is received, the counter is cleared; the state counter iCntStart of the monitoring inertial navigation sends the monitoring content to the display control software at a frequency of 1Hz; the protocol is 55AAXXXXXXXX cumulative checksum BF, wherein the byte XXXXXXXX is the iCntStart value.

[0021] Moreover, the specific method of step 4 is:

[0022] The display control software receives the 55AAXXXXXXXX cumulative checksum BF message, restores the iCntStart value, and then displays the value in a 1Hz frequency curve.

[0023] A control method of inertial navigation start state, comprising the following steps:

[0024] Step 1, the measured inertial navigation device powers on the power supply control chip to work normally;

[0025] Step 2, the FPGA chip is powered on and works in real time to detect the start state of the DSP;

[0026] Step 3, the DSP chip is powered on and real-time detection of FPGA startup.

[0027] Moreover, the specific steps of the step 1 comprise:

[0028] The inertial navigation equipment is powered on, and the power control chip is powered on;

[0029] The power control chip XXX controls the XYZ direction inertial element gyroscope to be powered on respectively;

[0030] The XYZ direction inertial element accelerometer is controlled to be powered on respectively;

[0031] The line board is controlled to be powered on.

[0032] Moreover, the specific steps of the step 2 comprise:

[0033] The FPGA chip is powered on;

[0034] The FPGA software writes 0x1234 to the specified address 0x62000100, informs the DSP software that the FPGA boot is successful, and real-time detects whether the data content of the specified address 0x62000200 is 0x1234 within 5-10 seconds after power-on; if the data content is not 0x1234, the DSP reset pin is low, the DSP is forced to reset, and the DSP chip is re-booted.

[0035] Moreover, the specific steps of the step 3 comprise:

[0036] The DSP chip is powered on;

[0037] The DSP software writes 0x1234 to the specified address 0x62000200, informs the FPGA software that the DSP boot is successful, and real-time detects whether the data content of the specified address 0x62000100 is 0x1234 within 5-10 seconds after power-on; if the data content is not 0x1234, the PROGRAM pin is low, the FPGA is forced to reset, and the FPGA chip is re-booted.

[0038] The advantages and beneficial effects of the present application are as follows:

[0039] 1. The present application provides a kind of inertial navigation startup condition full-automatic test and control method, can full-automatic constantly repeated test whether inertial navigation is started successfully, simultaneously, still can realize the external start rescue of chip by using software communication logic control and chip reset technology, realize the successful start of strapdown inertial navigation with DSP and FPGA chip, and then improve the success rate of strapdown inertial navigation with DSP and FPGA.

[0040] 2, The present application uses programmable timing start / close power supply, two sets of inertial navigation equipment and self-defined protocol, proposes a kind of unattended full-automatic inertial navigation start whether the test method of success. One set of inertial navigation equipment is the equipment to be measured, and programmable power supply is connected, and the start state of the inertial navigation equipment is consistent with the start of power supply in theory, another set of inertial navigation equipment is defined as monitoring equipment, and is always in the state of starting, according to the protocol sent by the equipment to be measured to determine the start condition of the equipment to be measured. The present application improves the start reliability of strapdown inertial navigation.

[0041] 3, The present application proposes a control strategy when starting fails, and further improves the start reliability of DSP and FPGA of strapdown inertial navigation. The present application uses the reset function of DSP and FPGA chips (models are TI TMS320C6748 and Xilinx Spartan-6), artificially increases the power-on start success flag in the appointed address space in software during power-on start, and then uses software real-time detection technology. If the opposite chip fails to start and does not write the start success flag, a reset signal is sent to reset the opposite chip and reinitialize booting, so as to achieve the purpose of external start rescue of the chip, so that DSP and FPGA start successfully, correctly guide user software, and the software of each is loaded into RAM space and runs normally. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a test logic environment schematic diagram of the present application;

[0043] Figure 2 It is a theoretical analysis diagram of the present application that all starts of the measured inertial navigation are successful;

[0044] Figure 3 It is a theoretical analysis diagram of the present application that one start of the measured inertial navigation is unsuccessful;

[0045] Figure 4 It is a theoretical analysis diagram of the present application that the measured inertial navigation is rescued by reset when starting fails. DETAILED DESCRIPTION

[0046] A full-automatic test method of inertial navigation start condition, which can realize mutual monitoring of start success condition by increasing software logic without modifying hardware. The method comprises the following steps:

[0047] Step 1, set the programmable power supply working mode as power supply for the measured inertial navigation;

[0048] The specific method of the step 1 is as follows: set the programmable power supply working mode as a cycle mode, 2-minute timing start and 2-minute timing stop;

[0049] Step 2, make the start state monitoring protocol between the tested inertial navigation system and the monitoring inertial navigation system, and develop the software of the tested inertial navigation system; send the protocol from the tested inertial navigation system to the monitoring inertial navigation system; the protocol can be artificially made, and the following specific method is taken as an example:

[0050] The specific method of the step 2 is as follows:

[0051] RS422 serial communication is adopted, 115200 bps, 8 data bits, 1 stop bit, and no check. When the tested inertial navigation system starts successfully and is in a normal working state, it sends the hexadecimal protocol message 7E7E0101BF to the monitoring inertial navigation system at a frequency of 2 Hz.

[0052] Step 3, develop the software of the monitoring inertial navigation system, which is the debugging software used by the inertial navigation system itself, and only needs to be able to see the data after starting successfully. The curve drawing function can use the VS2010 techart plug-in to add data by using the add function. The monitoring inertial navigation system is continuously powered on, and the start state of the tested inertial navigation system is determined according to the protocol sent by the tested device, and the start state of the tested inertial navigation system is sent to the display and control software.

[0053] The specific method of the step 3 is as follows:

[0054] The state counter iCntStart is set in the monitoring inertial navigation system software, which is always in a 1 Hz accumulation state, but if the 7E7E0101BF message sent by the tested inertial navigation system is received, the counter is cleared. The state counter iCntStart of the monitoring inertial navigation system sends the monitoring content to the display and control software at a frequency of 1 Hz. The protocol is 55AAXXXXXXXX cumulative checksum BF, wherein the byte XXXXXXXX is the iCntStart value.

[0055] Step 4, develop the display and control software, which is consistent with step 3. The MFC interface display function is written by using VS2010, and the start state of the tested inertial navigation system monitored by the monitoring inertial navigation system is received.

[0056] The specific method of the step 4 is as follows:

[0057] The display and control software receives the 55AAXXXXXXXX cumulative checksum BF message, restores the iCntStart value, and then displays the value on a curve at a frequency of 1 Hz.

[0058] In the embodiment, the test environment is built as shown in Figure 1 .

[0059] After the test environment is built, the test is started, and the data is analyzed after 12 hours of testing.

[0060] If all the start of the measured inertial navigation is successful: the value curve of the state counter iCntStart should be a regular square wave, the horizontal coordinate unit is second, as shown in Figure 2

[0061] If the measured inertial navigation has a start failure: the value curve of the state counter iCntStart is an irregular square wave, the horizontal coordinate unit is second, as shown in Figure 3

[0062] Through 12 hours of long time test, the data curve of the display control software can be used to view the existence of the measured inertial navigation start failure and the frequency probability. As shown in Figure 3 The display is the inertial navigation start failure from 360 seconds to 480 seconds.

[0063] In this embodiment, the following is described why the monitored inertial navigation is used instead of the display control software directly monitoring the start condition:

[0064] Since the display control software generally runs in the Windows operating system, the MFC is used to develop the display control software, and since it belongs to a non-real-time operating system, its timing accuracy is poor, and it cannot accurately reflect the real start condition of the measured inertial navigation, especially after the solution is taken, and because the monitoring time is longer, the drawing plug-in used by the MFC occupies too many system resources, so that the timer effect becomes much worse, and the time spent by the measured inertial navigation in the start failure condition cannot be accurately observed. It is successful to be rescued. The same type of inertial navigation is used for monitoring, which has reliable time accuracy, and it is more convenient and easy to use.

[0065] In this embodiment, the measured inertial navigation of this type is tested for 12 hours to complete 180 times of start test, and there are 2 times of start failure, which is a small probability event, but in actual engineering, it should be ensured to be 0 failure.

[0066] A control method of inertial navigation start condition, comprising the following steps:

[0067] Step 1, the power supply control chip of the measured inertial navigation equipment is powered on and works normally;

[0068] The specific steps of the step 1 include:

[0069] The inertial navigation equipment is powered on, and the power supply control chip is powered on and works;

[0070] The power supply control chip XXX controls the XYZ direction inertial elements gyroscope to be powered on respectively;

[0071] The XYZ direction inertial elements accelerometer is controlled to be powered on respectively;

[0072] The line board is controlled to be powered on.

[0073] ​​Step 2, the FPGA chip is powered on and works in real time to detect the DSP start condition;

[0074] The specific steps of the step 2 include:

[0075] The FPGA chip is powered on and works;

[0076] The FPGA software writes 0x1234 to the specified address 0x62000100 to inform the DSP software that the FPGA booting is successful; and the FPGA software detects in real time whether the data content of the specified address 0x62000200 is 0x1234 within 5 to 10 seconds after power on; if the data content is not 0x1234, the DSP reset pin is set to low level to force the DSP to reset and re-boot.

[0077] Step 3, the DSP chip is powered on and works in real time to detect the FPGA start condition;

[0078] The specific steps of the step 3 include:

[0079] 1) The DSP chip is powered on and works;

[0080] 2) The DSP software writes 0x1234 to the specified address 0x62000200 to inform the FPGA software that the DSP booting is successful; and the DSP software detects in real time whether the data content of the specified address 0x62000100 is 0x1234 within 5 to 10 seconds after power on; if the data content is not 0x1234, the PROGRAM pin is set to low level to force the FPGA to reset and re-boot.

[0081] In the embodiment, based on the built test environment, the test is started, and data analysis is performed after 12 hours of test.

[0082] If the tested inertial navigation has a start failure condition, the value curve of the state counter iCntStart is an irregular square wave, but the proposed solution has a rescue process curve, and the horizontal coordinate unit is second, as shown in Figure 4 .

[0083] The tested inertial navigation has a start failure condition, and is rescued by mutual reset of the DSP and the FPGA to start successfully within 360 to 362 seconds, with a time consumption of 2 seconds.

[0084] In the embodiment, the control method of the inertial navigation start condition uses the above-mentioned full-automatic test inertial navigation start condition method to build a test environment.

[0085] In the embodiment, the number of resets in the solution is at most 5 times, and over 5 times, it is not rescued any more, and whether there is a bug in the hardware and software should be checked. In addition, the address of writing 0x1234 in the FPGA and DSP software is a special address used by the patent, and it should not be occupied by other logic in the FPGA and DSP software. The rescue is selected in the process of 5-10 seconds of power-on because the time period is mostly the first boot completion of power-on, and if the rescue is successful after 10 seconds, it indicates that there is a bug in the hardware or software, and it should be checked, otherwise, it is easy to cover up the bug of the inertial navigation system.

[0086] The application designs and builds a measured environment according to the problems and invention contents in actual engineering, verifies the effectiveness of the invention contents, can help the engineering to simply and quickly solve the problems, and improves the starting reliability of the strapdown inertial navigation system.

[0087] It should be emphasized that the embodiments described in the application are illustrative rather than restrictive, and therefore the application includes but is not limited to the embodiments described in the specific embodiments, and any other embodiments derived by those skilled in the art according to the technical solutions of the application also belong to the protection scope of the application.

Claims

1. A control method for an inertial navigation startup situation, characterized by: It comprises the following steps: Step 1, the power supply control chip of the tested inertial navigation equipment is powered on and works normally; Step 2, the FPGA chip is powered on and works in real time and detects the starting condition of the DSP; Step 3, the DSP chip is powered on and works in real time and detects the starting condition of the FPGA; The specific steps of the step 2 comprise: The FPGA chip is powered on and works; The FPGA software writes 0x1234 to the specified address 0x62000100, informs the DSP software of the successful booting of the FPGA, and detects the data content of the specified address 0x62000200 in real time within 5-10 seconds after power on; if the data content is not 0x1234, the DSP reset pin is set to low voltage to force the DSP to reset and re-boot; The specific steps of the step 3 comprise: The DSP chip is powered on and works; The DSP software writes 0x1234 to the specified address 0x62000200, informs the FPGA software of the successful booting of the DSP, and detects the data content of the specified address 0x62000100 in real time within 5-10 seconds after power on; if the data content is not 0x1234, the PROGRAM pin is set to low voltage to force the FPGA to reset and re-boot.

2. The control method of the inertial navigation startup condition according to claim 1, characterized in that: The specific steps of the step 1 comprise: The inertial navigation equipment is powered on, and the power supply control chip is powered on and works; The power supply control chip is used to time-share control the XYZ direction inertial elements gyroscope to be powered on respectively; The XYZ direction inertial elements accelerometer is time-share controlled to be powered on respectively; The circuit board is time-share controlled to be powered on.

3. The fully automatic test method of the control method of the inertial navigation startup situation according to claim 1, characterized in that: It comprises the following steps: Step 1, set the programmable power supply working mode to be the power supply of the tested inertial navigation equipment; Step 2, formulate the starting state monitoring protocol between the tested inertial navigation equipment and the monitoring inertial navigation equipment, and develop the software of the tested inertial navigation equipment to send the protocol to the monitoring inertial navigation equipment; Step 3, develop the software of the monitoring inertial navigation equipment, which is continuously powered on, and determines the starting condition of the tested inertial navigation equipment according to the protocol sent by the tested equipment, and sends the starting condition of the tested inertial navigation equipment to the display and control software; Step 4, develop the display and control software to receive the starting condition of the tested inertial navigation equipment monitored by the monitoring inertial navigation equipment.

4. The fully automatic test method according to claim 3, characterized in that: The specific method of the step 1 is to set the programmable power supply working mode to be the cycle mode, 2-minute timing start and 2-minute timing stop.

5. The fully automatic test method according to claim 3, characterized in that: The specific method of the step 2 is: RS422 serial communication is adopted, and when the tested inertial navigation equipment is successfully started and is in the normal working state, it sends the hexadecimal protocol message 7E 7E 01 01 BF to the monitoring inertial navigation equipment at the frequency of 2Hz.

6. The fully automatic testing method according to claim 3, characterized in that: The specific method of the step 3 is: The state counter iCntStart is set in the software of the monitoring inertial navigation equipment, which is always in the 1Hz accumulation state, but if the 7E 7E 01 01 BF message sent by the tested inertial navigation equipment is received, the counter is cleared; the state counter iCntStart of the monitoring inertial navigation equipment sends the content to the display and control software at the frequency of 1Hz; the protocol is 55 AA XX XXXXXX cumulative checksum BF, wherein the byte XX XXXXXX is the value of iCntStart.

7. The fully automatic testing method according to claim 3, characterized in that: The specific method of the step 4 is: The control software receives 55 the AA XX XXXXXX cumulative checksum BF message, restores the iCntStart value, and then displays the value as a curve at a 1 Hz frequency.

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