A method for receiving and processing dual-channel navigation data

Abstract

The application relates to a receiving and processing method of two-way navigation data, and belongs to the technical field of serial communication. The application realizes real-time detection of whether two groups of navigation data of each type are normally received, and correctly selects which group of II type navigation data is used according to the working state of currently received II type navigation data, perfectly solves the problem that when a certain group of synchronous pulse data is normal and the group of I type navigation data is normal, the group of II type navigation data may be abnormally received, leading to the failure of receiving correct II type navigation data, and improves the correctness and real-time performance of receiving two-way navigation data. The method is suitable for the case that the precision difference of sending data of two groups of navigation sending devices is small.

Description

Technical Field

[0001] This invention belongs to the field of serial communication technology, specifically relating to a method for receiving and processing dual-channel navigation data. Background Technology

[0002] To improve the stability and reliability of the shipboard inertial navigation system, the inertial navigation system usually sends two identical sets of navigation data simultaneously through the RS-422A serial interface.

[0003] In an inertial navigation system, the navigation transmitting device periodically sends two sets of navigation data to the navigation receiving device. Each set of navigation data includes three types: sync pulse data, Type I navigation data, and Type II navigation data. Since the sync pulse data is used to synchronize Type I navigation data, when receiving dual-channel navigation data, the system first determines which set of sync pulse data is normal. If a set of sync pulse data is normal, and its Type I navigation data is also normal, then the system uses the first set of sync pulse data, Type I navigation data, and Type II navigation data. If a set of sync pulse data is abnormal, the system checks the other set of sync pulse data. If the other set of sync pulse data is normal, and its Type I navigation data is also normal, then the other set of sync pulse data, Type I navigation data, and Type II navigation data is used. If both sets of sync pulse data are abnormal, a fault is reported to the higher-level system.

[0004] The above method for receiving dual-channel navigation data uses a complete switching of the entire group of navigation data, without considering whether the Type II navigation data is normal if a certain group of synchronization pulse data is normal and the Type I navigation data of that group is normal. If a certain group of synchronization pulse data is normal and the Type I navigation data of that group is normal, but the reception of the Type II navigation data of that group is abnormal, the above method for receiving dual-channel navigation data will result in the inability to receive the correct Type II navigation data. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] The technical problem to be solved by the present invention is to provide a method for receiving and processing dual-channel navigation data, thereby improving the reliability and accuracy of dual-channel navigation data reception.

[0007] (II) Technical Solution

[0008] To address the aforementioned technical problems, this invention provides a method for receiving and processing dual-channel navigation data, comprising the following steps:

[0009] S1: Two navigation transmitting devices simultaneously send a set of navigation data to the navigation receiving device;

[0010] S2: The navigation receiving device receives two sets of navigation data simultaneously and determines in real time whether there are data errors or data timeouts in each set of navigation data;

[0011] S3: The navigation receiving device selects the navigation data to use based on the operating status of the two sets of navigation data received.

[0012] Preferably, in step S1, the two navigation transmitting devices simultaneously and periodically send a set of navigation data to the navigation receiving device. Each set of navigation data includes three types: synchronization pulse data, Type I navigation data, and Type II navigation data.

[0013] Preferably, the synchronization pulse data is a square wave signal with a duty cycle of 1:1, used only for synchronizing Class I navigation data, and the falling edge of the synchronization pulse is the synchronization trigger edge; if a group of synchronization pulse data is received abnormally, even if the Class I navigation data in the same group as the synchronization pulse data is received normally, the group of Class I navigation data cannot be used.

[0014] Preferably, in step S2, the navigation receiving device performs real-time detection on the status of the two sets of received navigation data. As long as there is a set of correct synchronization pulse data, a set of correct Type I navigation data, and a set of correct Type II navigation data among the received navigation data, regardless of whether the Type II navigation data belongs to the same set as the correct Type I navigation data, it is considered that the three types of navigation data received this time can be used normally. If both sets of navigation data of any type are abnormal, or if the received correct synchronization pulse data and Type I navigation data do not belong to the same set, it is considered that the navigation data of that type received this time cannot be used normally, and a fault is reported to the superior system.

[0015] Preferably, the Type II navigation data is not coupled with either the synchronization pulse data or the Type I navigation data. If any set of Type II navigation data is received normally, then that set of Type II navigation data can be used. If both sets of Type II navigation data are received abnormally, a Type II navigation data reception failure is reported to the superior system.

[0016] Preferably, the navigation receiving device has 6 serial ports for receiving two sets of navigation data.

[0017] Preferably, in step S3, the navigation receiving device periodically sends a first set of synchronization pulse heartbeat messages to the first navigation sending device through the RS-422A serial port, and the first navigation sending device immediately sends a first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device after receiving the synchronization pulse heartbeat messages.

[0018] The navigation receiving device periodically sends the first set of Class I navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Class I navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Class I navigation data heartbeat acknowledgment messages to the navigation receiving device.

[0019] The navigation receiving device periodically sends the first set of Type II navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0020] The navigation receiving device periodically sends a second set of synchronization pulse heartbeat messages to the second navigation transmitting device via the RS-422A serial port. After receiving the synchronization pulse heartbeat messages, the second navigation transmitting device immediately sends a second set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

[0021] The navigation receiving device periodically sends the second set of Type I navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type I navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type I navigation data heartbeat confirmation messages to the navigation receiving device.

[0022] The navigation receiving device periodically sends the second set of Type II navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0023] The timeout period for the navigation receiving device to receive the heartbeat confirmation message from the serial port must be less than the period value for the navigation sending device to send navigation data. If the navigation receiving device receives a heartbeat confirmation message from a serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the navigation data from that serial port is used. If the navigation receiving device does not receive a heartbeat confirmation message from a serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is abnormal, and the navigation data from that serial port is abandoned. At this time, it is determined whether there is a heartbeat confirmation message reception timeout phenomenon for another serial port navigation data of the same type as the current serial port navigation data. If the heartbeat confirmation message reception is normal, the current serial port navigation data is used; otherwise, it indicates that both sets of navigation data of this type are communication abnormal, and a navigation data reception failure of this type is reported to the superior system.

[0024] Preferably, the navigation transmitting device is a device in an inertial navigation system.

[0025] Preferably, this method is applicable when the difference in the accuracy of the transmitted data between two navigation transmitting devices is less than a preset value.

[0026] The present invention also provides an application of the method in serial communication.

[0027] (III) Beneficial Effects

[0028] This invention enables real-time detection of whether two sets of navigation data of each type are received normally, and correctly selects which set of Type II navigation data to use based on the current working status of the received Type II navigation data. This perfectly solves the problem in current methods for receiving dual-channel navigation data where "when a set of synchronization pulse data is normal, and the set of Type I navigation data is normal, the set of Type II navigation data may be abnormally received, leading to the inability to receive correct Type II navigation data," and improves the accuracy and real-time performance of receiving dual-channel navigation data. This method is suitable for situations where the difference in transmission accuracy between the two sets of navigation transmitting devices is small. Attached Figure Description

[0029] Figure 1 This is a flowchart of the method of the present invention;

[0030] Figure 2 This is a schematic diagram of dual-path navigation data reception according to the present invention. Detailed Implementation

[0031] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0032] This invention proposes a method for receiving and processing dual-channel navigation data. If the received navigation data contains a set of correct synchronization pulse data, a set of correct Type I navigation data (with the corresponding synchronization pulse data in the same set being correct), and a set of correct Type II navigation data, regardless of whether the Type II navigation data belongs to the same set, then the three types of navigation data received are considered usable. If both sets of navigation data of any type are abnormal, or if the received correct synchronization pulse data and Type I navigation data do not belong to the same set, then the received navigation data of that type is considered unusable, and a fault is reported to the higher-level system.

[0033] Only by adopting the solution of this invention can the problem of "when a certain set of synchronization pulse data is normal, and the set of Type I navigation data is normal, the set of Type II navigation data may be abnormally received" be perfectly solved. This invention can realize real-time detection of whether the two sets of navigation data of each type are received normally, and correctly select which set of Type II navigation data to use according to the working status of the currently received Type II navigation data, thereby improving the reliability of receiving dual-channel navigation data.

[0034] like Figure 1 , Figure 2 As shown, the present invention proposes a method for receiving and processing dual-channel navigation data, the steps of which are as follows:

[0035] S1: Two navigation transmitting devices simultaneously send a set of navigation data to one navigation receiving device;

[0036] In this system, two navigation transmitting devices simultaneously and periodically send a set of navigation data to a navigation receiving device. Each set of navigation data includes three types: synchronization pulse data, Type I navigation data, and Type II navigation data.

[0037] The synchronization pulse data is a square wave signal with a duty cycle of 1:1, and is used only for synchronizing Class I navigation data. The falling edge of the synchronization pulse is the synchronization trigger edge. If a certain group of synchronization pulse data is received abnormally, even if the Class I navigation data in the same group as the synchronization pulse data is received normally, the Class I navigation data in that group cannot be used.

[0038] S2: The navigation receiving device receives two sets of navigation data simultaneously and determines in real time whether there are data errors or data timeouts in each set of navigation data;

[0039] The navigation receiving device performs real-time monitoring of the status of the two sets of received navigation data. If the received navigation data includes a set of correct synchronization pulse data, a set of correct Type I navigation data (the synchronization pulse data corresponding to the Type I navigation data is correct), and a set of correct Type II navigation data, regardless of whether the Type II navigation data belongs to the same set as the correct Type I navigation data, then the three types of navigation data received are considered to be usable normally. If both sets of navigation data of any type are abnormal, or if the received correct synchronization pulse data and Type I navigation data do not belong to the same set, then the navigation data of that type received is considered to be unusable normally, and a fault is reported to the superior system.

[0040] The Type II navigation data is not coupled to either the synchronization pulse data or the Type I navigation data. If any set of Type II navigation data is received normally, then that set of Type II navigation data can be used. If both sets of Type II navigation data are received abnormally, a Type II navigation data reception failure is reported to the superior system.

[0041] S3: The navigation receiving device selects the navigation data to use based on the operating status of the two sets of received navigation data;

[0042] The navigation receiving device has six serial ports for receiving two sets of navigation data.

[0043] The navigation receiving device periodically sends the first set of synchronization pulse heartbeat messages to the first navigation transmitting device via the RS-422A serial port. After receiving the synchronization pulse heartbeat messages, the first navigation transmitting device immediately sends the first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

[0044] The navigation receiving device periodically sends the first set of Class I navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Class I navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Class I navigation data heartbeat acknowledgment messages to the navigation receiving device.

[0045] The navigation receiving device periodically sends the first set of Type II navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0046] The navigation receiving device periodically sends a second set of synchronization pulse heartbeat messages to the second navigation transmitting device via the RS-422A serial port. After receiving the synchronization pulse heartbeat messages, the second navigation transmitting device immediately sends a second set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

[0047] The navigation receiving device periodically sends the second set of Type I navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type I navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type I navigation data heartbeat confirmation messages to the navigation receiving device.

[0048] The navigation receiving device periodically sends the second set of Type II navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0049] The timeout period for the navigation receiving device to receive the heartbeat confirmation message from the serial port must be less than the period value for the navigation sending device to send navigation data. If the navigation receiving device receives a heartbeat confirmation message from a serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the navigation data from that serial port is used. If the navigation receiving device does not receive a heartbeat confirmation message from a serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is abnormal, and the navigation data from that serial port is abandoned. At this time, it is determined whether there is a heartbeat confirmation message reception timeout phenomenon for another serial port navigation data of the same type as the current serial port navigation data. If the heartbeat confirmation message reception is normal, the current serial port navigation data is used; otherwise, it indicates that both sets of navigation data of this type are communication abnormal, and a navigation data reception failure of this type is reported to the superior system.

[0050] The dual-path navigation receiving and processing method of the present invention is applicable to situations where the difference in the accuracy of the transmitted data from individual navigation transmitting devices is small.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for receiving and processing dual-channel navigation data, characterized in that, Includes the following steps: S1: Two navigation transmitting devices simultaneously send a set of navigation data to the navigation receiving device; S2: The navigation receiving device receives two sets of navigation data simultaneously and determines in real time whether there are data errors or data timeouts in each set of navigation data; S3: The navigation receiving device selects the navigation data to use based on the operating status of the two sets of received navigation data; In step S1, the two navigation transmitting devices simultaneously and periodically send a set of navigation data to the navigation receiving device. Each set of navigation data includes three types: synchronization pulse data, Type I navigation data, and Type II navigation data. The synchronization pulse data is a square wave signal with a duty cycle of 1:1, used only for synchronizing Class I navigation data, and the falling edge of the synchronization pulse is the synchronization trigger edge; If a set of synchronization pulse data is received abnormally, even if the Class I navigation data in the same set of synchronization pulse data is received normally, the Class I navigation data cannot be used. In step S2, the navigation receiving device performs real-time detection on the status of the two sets of received navigation data. As long as there is a set of correct synchronization pulse data, a set of correct Type I navigation data, and a set of correct Type II navigation data among the received navigation data, regardless of whether the Type II navigation data belongs to the same set as the correct Type I navigation data, it is considered that the three types of navigation data received this time can be used normally. If both sets of navigation data of any type are abnormal, or if the received correct synchronization pulse data and Type I navigation data do not belong to the same set, it is considered that the navigation data of that type received this time cannot be used normally, and a fault is reported to the superior system.

2. The method as described in claim 1, characterized in that, The Type II navigation data is not coupled with either the synchronization pulse data or the Type I navigation data. If any set of Type II navigation data is received normally, then that set of Type II navigation data can be used. If both sets of Type II navigation data are received abnormally, a Type II navigation data reception failure will be reported to the superior system.

3. The method as described in claim 1, characterized in that, The navigation receiving device has 6 serial ports for receiving two sets of navigation data.

4. The method as described in claim 3, characterized in that, In step S3, the navigation receiving device periodically sends the first set of synchronization pulse heartbeat messages to the first navigation transmitting device through the RS-422A serial port. After receiving the synchronization pulse heartbeat messages, the first navigation transmitting device immediately sends the first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device. The navigation receiving device periodically sends the first set of Class I navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Class I navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Class I navigation data heartbeat acknowledgment messages to the navigation receiving device. The navigation receiving device periodically sends the first set of Type II navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the first navigation sending device immediately sends the first set of Type II navigation data heartbeat confirmation messages to the navigation receiving device. The navigation receiving device periodically sends a second set of synchronization pulse heartbeat messages to the second navigation transmitting device via the RS-422A serial port. After receiving the synchronization pulse heartbeat messages, the second navigation transmitting device immediately sends a second set of synchronization pulse heartbeat confirmation messages to the navigation receiving device. The navigation receiving device periodically sends the second set of Type I navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type I navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type I navigation data heartbeat confirmation messages to the navigation receiving device. The navigation receiving device periodically sends the second set of Type II navigation data heartbeat messages to the second navigation sending device via the RS-422A serial port. After receiving the Type II navigation data heartbeat messages, the second navigation sending device immediately sends the second set of Type II navigation data heartbeat confirmation messages to the navigation receiving device. The timeout period for the navigation receiving device to receive the heartbeat confirmation message from the serial port must be less than the period value for the corresponding navigation sending device to send navigation data. If the navigation receiving device receives a heartbeat confirmation message from a certain serial port sent by the corresponding navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the navigation data from that serial port is used. If the navigation receiving device does not receive a heartbeat confirmation message from a certain serial port sent by the corresponding navigation sending device within the specified timeout period, it indicates that the serial port communication is abnormal, and the navigation data from that serial port is abandoned. At this point, it is determined whether there is a heartbeat confirmation message reception timeout phenomenon in another serial port navigation data of the same type as the serial port navigation data. If the heartbeat confirmation message reception is normal, then use the serial port navigation data. Otherwise, it indicates that the two sets of navigation data of this type are communication abnormal, and the navigation data reception failure of this type is reported to the superior system.

5. The method as described in claim 1, characterized in that, The navigation transmission device is a device in the inertial navigation system.

6. The method according to any one of claims 1 to 5, characterized in that, This method is applicable when the difference in the accuracy of the data transmitted by two navigation transmitting devices is less than a preset value.

7. An application of the method as described in any one of claims 1 to 6 in serial communication.

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