Method for receiving and processing dual-path navigation data

Abstract

The present application relates to a kind of two-way navigation data receiving processing method, belong to serial communication technical field.The present application realizes the real-time detection of each type of two groups of navigation data whether receiving normal, and by navigation switching device according to the accuracy measurement result of two inertial navigation systems and the receiving state of each group of navigation data, it is correctly selected to use which inertial navigation system sent navigation data and select which group of synchronous pulse data, I type navigation data and II type navigation data, perfectly solve the method of the current receiving two-way navigation data " when a group of synchronous pulse data is normal, and the group of I type navigation data is normal, the group of II type navigation data can be received abnormally, leading to unable to receive correct II type navigation data " problem, and improve the reliability of receiving two-way navigation data.The method is suitable for the sending data accuracy difference of two groups of navigation sending equipment is larger.

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 and the accuracy data of their respective inertial navigation systems to the navigation receiving device;

[0010] S2: The navigation receiving device simultaneously receives two sets of navigation data and sets the working status of the serial port in real time according to the running status of the two sets of navigation data received.

[0011] S3: The navigation receiving device sends the accuracy data of the two inertial navigation systems and the working status of the serial port where each set of navigation data is located to the navigation switching device, which then determines the navigation data to be used.

[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, in step S1, each navigation transmitting device periodically measures the accuracy of its inertial navigation system and sends the accuracy data of the inertial navigation system to the navigation receiving device.

[0014] Preferably, in step S1, the synchronization pulse data is a square wave signal with a duty cycle of 1:1, which is only used to synchronize Class I navigation data, and the falling edge of the synchronization pulse is the synchronization trigger edge; if a certain group of synchronization pulse data is abnormally received, 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.

[0015] Preferably, in step S1, the Type II navigation data is not coupled with the synchronization pulse data and 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 six serial ports to receive two sets of navigation data. In step S2, the navigation receiving device sets the working status of its serial ports as follows:

[0017] 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 heartbeat message, the first navigation transmitting device must immediately send the first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

[0018] The navigation receiving device periodically sends the first set of Type I navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the heartbeat message, the first navigation sending device must immediately send the first set of Type I navigation data heartbeat confirmation 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 heartbeat message, the first navigation sending device must immediately send 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 heartbeat message, the second navigation transmitting device must immediately send 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 heartbeat message, the second navigation sending device must immediately send 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 heartbeat message, the second navigation sending device must immediately send 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 of the corresponding navigation sending device sending navigation data. If the navigation receiving device receives a heartbeat confirmation message from a certain serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the status of the serial port is set to normal. 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 status of the serial port is set to abnormal.

[0024] Preferably, in step S3, the navigation receiving device sends the operating status of the six serial ports and the accuracy data of the two inertial navigation systems to the navigation switching device, and the navigation switching device selects the navigation data channel according to the following method:

[0025] If all 6 serial ports are working properly, the synchronization pulse data, Type I navigation data and Type II navigation data sent by the inertial navigation system with high navigation accuracy will be used first.

[0026] If the serial port working state of the synchronization pulse data in the same group is inconsistent with the serial port working state of the Class I navigation data in the same group, then the synchronization pulse data and Class I navigation data in that group will not be used. Instead, it will be determined whether the serial port working state of the synchronization pulse data in another group is consistent with the serial port working state of the Class I navigation data in that group. If the working states are consistent, then the synchronization pulse data and Class I navigation data in that other group will be used.

[0027] If at least one set of Type II navigation data is functioning normally, and one set of sync pulse data and the same set of Type I navigation data are both functioning normally, then it indicates that there is a set of normal sync pulse data, Type I navigation data, and Type II navigation data. The navigation switching device uses the above-mentioned normal sync pulse data, Type I navigation data, and Type II navigation data. If both sets of sync pulse data, Type I navigation data, and Type II navigation data are functioning normally, then the sync pulse data, Type I navigation data, and Type II navigation data sent by the inertial navigation system with higher navigation accuracy will be used preferentially.

[0028] If the serial port working status of any group of synchronization pulse data is inconsistent with the serial port working status of the group of Class I navigation data, or if the working status of both groups of Class II navigation data is abnormal, then the received synchronization pulse data, Class I navigation data and Class II navigation data are all unusable, and a navigation data fault is reported to the superior system.

[0029] Preferably, after step S3, the method further includes: the navigation switching device sending the selected synchronization pulse data, Type I navigation data, and Type II navigation data, as well as the selection result of which inertial navigation system to use, to the navigation receiving device, which then completes the processing of the received navigation data.

[0030] Preferably, the dual-path navigation receiving and processing method is applicable when the difference in the accuracy of the transmitted data from the two sets of navigation transmitting devices is greater than a preset value.

[0031] Preferably, the inertial navigation system is a shipboard inertial navigation system.

[0032] (III) Beneficial Effects

[0033] This invention provides a method for receiving and processing dual-channel navigation data. The navigation receiving device sends the accuracy measurement results of two inertial navigation systems (INS) and the reception status of each set of navigation data to a navigation switching device, which then determines the navigation data to use. This invention enables real-time detection of whether the two sets of navigation data of each type are received normally. The navigation switching device correctly selects which INS to use for the navigation data, and which set of synchronization pulse data, Type I navigation data, and Type II navigation data, based on the accuracy measurement results of the two INS and the reception status of each set of 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 the correct Type II navigation data," and improves the reliability of receiving dual-channel navigation data. This method is suitable for situations where the accuracy of the data transmitted by the two navigation transmitting devices differs significantly. Attached Figure Description

[0034] Figure 1 This is a flowchart of the method of the present invention;

[0035] Figure 2 This is a schematic diagram of dual-path navigation data reception according to the present invention. Detailed Implementation

[0036] 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.

[0037] This invention proposes a method for receiving and processing dual-channel navigation data. A navigation receiving device sends the operating status of six serial ports and the accuracy measurement results of two inertial navigation systems (INS) to a navigation switching device. The navigation switching device correctly selects which INS to use for the navigation data, and which set of synchronization pulse data, Type I navigation data, and Type II navigation data, based on the accuracy measurement results of the two INS and the reception status of each set of navigation data. This method significantly improves the reliability and accuracy of dual-channel navigation data reception.

[0038] Only by adopting the solution of this invention can the problem of "when a certain set of synchronization pulse data is normal, and the same set of Type I navigation data is normal, the same 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 the navigation switching device determines the navigation data to be used, thereby improving the reliability of receiving dual-channel navigation data.

[0039] 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:

[0040] S1: Two navigation transmitting devices simultaneously send a set of navigation data and the accuracy data of their respective inertial navigation systems to the navigation receiving device;

[0041] 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.

[0042] Each navigation transmitting device periodically measures the accuracy of its inertial navigation system and sends the accuracy data of the inertial navigation system to the navigation receiving device.

[0043] 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.

[0044] The Type II navigation data is not coupled with the synchronization pulse data and 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.

[0045] S2: The navigation receiving device simultaneously receives two sets of navigation data and sets the working status of the serial port in real time according to the running status of the two sets of navigation data received.

[0046] The navigation receiving device has six serial ports to receive two sets of navigation data. The navigation receiving device is configured to set the operating status of its serial ports as follows:

[0047] 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 heartbeat message, the first navigation transmitting device must immediately send the first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

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

[0049] 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 heartbeat message, the first navigation sending device must immediately send the first set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0050] 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 heartbeat message, the second navigation transmitting device must immediately send a second set of synchronization pulse heartbeat confirmation messages to the navigation receiving device.

[0051] 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 heartbeat message, the second navigation sending device must immediately send the second set of Type I navigation data heartbeat confirmation messages to the navigation receiving device.

[0052] 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 heartbeat message, the second navigation sending device must immediately send the second set of Type II navigation data heartbeat confirmation messages to the navigation receiving device.

[0053] 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 of the corresponding navigation sending device sending navigation data. If the navigation receiving device receives a heartbeat confirmation message from a certain serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the status of the serial port is set to normal. 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 status of the serial port is set to abnormal.

[0054] S3: The navigation receiving device sends the accuracy data of the two inertial navigation systems and the working status of the serial port where each set of navigation data is located to the navigation switching device, which then determines the navigation data to be used.

[0055] The navigation receiving device sends the operating status of the six serial ports and the accuracy data of the two inertial navigation systems to the navigation switching device, which selects the navigation data channel according to the following method:

[0056] If all 6 serial ports are working properly, the synchronization pulse data, Type I navigation data and Type II navigation data sent by the inertial navigation system with high navigation accuracy will be used first.

[0057] If the serial port operating status of the synchronization pulse data in the same group is inconsistent with the serial port operating status of the Class I navigation data in the same group, then the synchronization pulse data and Class I navigation data of that group will not be used. The system will then determine whether the serial port operating status of the synchronization pulse data in the other group is consistent with the serial port operating status of the Class I navigation data in that group. If the operating statuses are consistent, then the synchronization pulse data and Class I navigation data of the other group will be used. Since only one set of synchronization pulse data and Class I navigation data is available, the accuracy difference between the two inertial navigation systems is not considered.

[0058] If at least one set of Type II navigation data is functioning normally, and one set of sync pulse data and the same set of Type I navigation data are both functioning normally, then there exists a set of normal sync pulse data, Type I navigation data, and Type II navigation data (regardless of whether this Type II navigation data belongs to the same set as the correct Type I navigation data). The navigation switching device uses the aforementioned normal sync pulse data, Type I navigation data, and Type II navigation data. If both sets of sync pulse data, Type I navigation data, and Type II navigation data are functioning normally, then the sync pulse data, Type I navigation data, and Type II navigation data sent by the inertial navigation system with higher navigation accuracy will be used preferentially.

[0059] If the serial port operating status of any group of synchronization pulse data is inconsistent with the serial port operating status of the same group of Class I navigation data, or if the operating status of both groups of Class II navigation data is abnormal, then the received synchronization pulse data, Class I navigation data, and Class II navigation data are all unusable, and a navigation data fault is reported to the superior system.

[0060] The navigation switching device sends the selected synchronization pulse data, Type I navigation data, and Type II navigation data, as well as the selection result of which inertial navigation system to use, to the navigation receiving device, which then completes the processing of the received navigation data.

[0061] The dual-path navigation receiving and processing method is applicable when there is a significant difference in the accuracy of the transmitted data from the two sets of navigation transmitting devices.

[0062] 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 and the accuracy data of their respective inertial navigation systems to the navigation receiving device; S2: The navigation receiving device simultaneously receives two sets of navigation data and sets the working status of the serial port in real time according to the running status of the two sets of navigation data received. S3: The navigation receiving device sends the accuracy data of the two inertial navigation systems and the working status of the serial port where each set of navigation data is located to the navigation switching device, which then determines the navigation data to be used. 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. In step S1, each navigation transmitting device periodically measures the accuracy of its inertial navigation system and sends the accuracy data of the inertial navigation system to the navigation receiving device. In step S1, the synchronization pulse data is a square wave signal with a duty cycle of 1:1, which is only used to synchronize Class I navigation data, and 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. In step S1, the Type II navigation data is not coupled with the synchronization pulse data and Type I navigation data. If any set of Type II navigation data is received normally, then the set of Type II navigation data can be used. If both sets of Type II navigation data are received abnormally, then a Type II navigation data reception failure is reported to the superior system. The navigation receiving device has six serial ports to receive two sets of navigation data. In step S2, the navigation receiving device sets the working status of its serial ports as follows: 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 heartbeat message, the first navigation transmitting device must immediately send the first set of synchronization pulse heartbeat confirmation messages to the navigation receiving device. The navigation receiving device periodically sends the first set of Type I navigation data heartbeat messages to the first navigation sending device via the RS-422A serial port. After receiving the heartbeat message, the first navigation sending device must immediately send the first set of Type I navigation data heartbeat confirmation 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 heartbeat message, the first navigation sending device must immediately send 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 heartbeat message, the second navigation transmitting device must immediately send 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 heartbeat message, the second navigation sending device must immediately send 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 heartbeat message, the second navigation sending device must immediately send 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 of the corresponding navigation sending device sending navigation data; if the navigation receiving device receives a heartbeat confirmation message from a certain serial port sent by the navigation sending device within the specified timeout period, it indicates that the serial port communication is normal, and the status of the serial port is set to normal. If the navigation receiving device does not receive a heartbeat confirmation message from the navigation sending device within the specified timeout period, it indicates that the serial port communication is abnormal, and the status of the serial port is set to abnormal. In step S3, the navigation receiving device sends the operating status of the six serial ports and the accuracy data of the two inertial navigation systems to the navigation switching device. The navigation switching device selects the navigation data channel according to the following method: If all 6 serial ports are working properly, the synchronization pulse data, Type I navigation data and Type II navigation data sent by the inertial navigation system with high navigation accuracy will be used first. If the serial port working state of the synchronization pulse data in the same group is inconsistent with the serial port working state of the Class I navigation data in the same group, then the synchronization pulse data and Class I navigation data in that group will not be used. Instead, it will be determined whether the serial port working state of the synchronization pulse data in another group is consistent with the serial port working state of the Class I navigation data in that group. If the working states are consistent, then the synchronization pulse data and Class I navigation data in that other group will be used. If at least one set of Type II navigation data is functioning normally, and one set of sync pulse data and the same set of Type I navigation data are both functioning normally, then it indicates that there is a set of normal sync pulse data, Type I navigation data, and Type II navigation data. The navigation switching device uses the above-mentioned normal sync pulse data, Type I navigation data, and Type II navigation data. If both sets of sync pulse data, Type I navigation data, and Type II navigation data are functioning normally, then the sync pulse data, Type I navigation data, and Type II navigation data sent by the inertial navigation system with higher navigation accuracy will be used preferentially. If the serial port operating status of any group of synchronization pulse data is inconsistent with the serial port operating status of the same group of Class I navigation data, or if the operating status of both groups of Class II navigation data is abnormal, then the received synchronization pulse data, Class I navigation data, and Class II navigation data are all unusable, and a navigation data fault is reported to the superior system.

2. The method as described in claim 1, characterized in that, Step S3 is followed by the following steps: the navigation switching device sends the selected synchronization pulse data, Type I navigation data, and Type II navigation data, as well as the selection result of which inertial navigation system to use, to the navigation receiving device, which then completes the processing of the received navigation data.

3. The method according to any one of claims 1 to 2, characterized in that, The dual-path navigation receiving and processing method is applicable when the difference in the accuracy of the transmitted data from two sets of navigation transmitting devices is greater than a preset value.

4. The method as described in claim 3, characterized in that, The inertial navigation system is a shipboard inertial navigation system.

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