A combined navigation computing system based on RISC-V architecture

Abstract

The present invention discloses a combined navigation computing system based on RISC-V architecture, including a RISC-V architecture processor and a BDS / INS combined navigation computing coprocessor; the RISC-V processor is used to execute general calculations and instructions, perform software programming, realize flexible functional changes, and can control the combined navigation computing coprocessor through custom extended assembly instructions; the combined navigation computing coprocessor is used to receive custom instructions from the RISC-V processor, and determine the instruction function according to instruction decoding, thereby adjusting the way in which the combined navigation computing unit processes information, obtains combined navigation information, and performs rationality inspection through a verification unit at the same time, and finally returns to the RISC-V processor, waiting for the user to call. The present invention realizes the integration of the combined navigation computing coprocessor and the RISC-V processor through custom instructions. The present invention improves navigation accuracy and communication efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of integrated circuit technology and navigation control technology, and specifically relates to a combined navigation computing system based on RISC-V architecture. Background Art

[0002] Nowadays, unmanned driving technology is receiving more and more attention from people, and people have higher and higher requirements for the navigation accuracy and speed of unmanned driving systems. In actual navigation applications, the sole use of Beidou Satellite Navigation System (BDS) navigation will lead to some key problems, including temporary loss of satellite signals in some cases and signals that are susceptible to interference and deception; therefore, people have explored the collaborative navigation method of Beidou Satellite Navigation System (BDS) and Inertial Navigation System (INS), and fully demonstrated its feasibility. At the same time, the combined navigation method can improve the system's fault tolerance and reliability; however, this combined navigation method has relatively high power consumption and latency, and still has certain limitations in practical applications.

[0003] At the same time, the open source instruction set architecture RISC-V based on the reduced instruction set principle has attracted a large number of open source workers. Many leading technology companies have also invested heavily in RISC-V. The RISC-V instruction set is developing better and better. By eliminating unnecessary instructions, RISC-V processors with fewer transistors usually consume very low power. Therefore, choosing a RISC-V processor as the main processor to deploy coprocessors can reduce the overall power consumption of the system.

[0004] If the system is designed based on combined navigation, it is necessary to establish a path between the CPU and a dedicated chip that supports this navigation method to work, which greatly reduces the efficiency of communication.

[0005] In summary, the current computing system that combines the Beidou satellite navigation system BDS and the inertial navigation system INS for collaborative navigation has problems such as low communication efficiency, high power consumption, and difficulty in ensuring collaborative speed. Summary of the invention

[0006] The purpose of the present invention is to provide a combined navigation computing system based on RISC-V architecture with improved navigation accuracy, enhanced communication efficiency, reduced power consumption and stable coordination speed.

[0007] The RISC-V architecture-based integrated navigation computing system provided by the present invention comprises: a RISC-V architecture processor and a BDS / INS integrated navigation computing coprocessor; the RISC-V processor is used to execute general calculations and instructions, perform software programming, realize flexible function changes, and can control the BDS / INS integrated navigation computing coprocessor through user-defined extended assembly instructions; the BDS / INS integrated navigation computing coprocessor is used to receive user-defined instructions from the RISC-V processor, and determine the instruction function according to instruction decoding, so as to adjust the way in which the integrated navigation computing unit processes information, obtain the integrated navigation information, and perform rationality inspection through the verification unit at the same time, and finally return it to the RISC-V processor to wait for the user to call;

[0008] The BDS / INS integrated navigation calculation coprocessor comprises an instruction unit and a BDS / INS integrated navigation calculation unit;

[0009] The BDS / INS integrated navigation calculation unit includes a solution module, a storage module, a control module, a verification module, and an information fusion module; each structural module is designed based on a pipeline structure, and each structural module is responsible for different types of calculations. In each calculation stage, data is interacted with the storage module, and the control module controls the calculation results obtained in each stage. The verification module verifies the calculation results;

[0010] The control module performs timing control on each process in the information fusion module, BDS solution module, and INS solution module. When the verification module identifies an error or the RISC-V processor issues an interrupt instruction to the BDS / INS combined navigation calculation coprocessor, the entire calculation system is promptly suspended and the status is returned.

[0011] The verification module verifies the results of each calculation stage in the BDS / INS integrated navigation calculation module and passes the verification results to the control module, which decides whether to continue the calculation. If the verification is correct, the calculation results are passed to the storage module for storage; if the verification is incorrect, an error code is returned;

[0012] The storage module is used to store the calculation results obtained in each stage. At the same time, after the calculation of each stage is completed, it is compared and evaluated with the previous navigation information stored in the storage module. When the result is reasonable, the calculation result of the corresponding stage is stored and the previous navigation information stored is released at the same time;

[0013] The solution module includes the BDS solution module and the INS solution module. The BDS solution module obtains information through the Beidou satellite navigation system, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the BDS; the INS solution module obtains information through the inertial navigation system input into the combined navigation calculation system based on the RISC-V architecture, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the INS; after verification by the verification module, the result is sent to the information fusion module; at the same time, the information fusion module will calibrate the solution module through the final calculation result;

[0014] The information fusion module performs fusion calculations based on the navigation information provided by the solution module. When the information fusion module obtains the final result, it returns the information to the solution module so that the settlement module can perform dynamic corrections. At the same time, users can adjust the information fusion module according to actual conditions to make it more suitable for navigation scenarios.

[0015] The instruction unit includes an instruction receiving unit, an instruction parsing unit, a status returning unit, and a result returning unit;

[0016] The instruction receiving unit receives instructions from the RISC-V processor and passes them to the instruction parsing unit;

[0017] The instruction parsing unit receives the instruction from the instruction unit, performs parsing processing, converts the received instruction into an enable signal of each unit module, and sends the instruction information to the corresponding unit;

[0018] The status return unit returns the status code returned by the control module in the BDS / INS integrated navigation calculation unit to the RISC-V processor, so that the RISC-V processor can obtain the working status of the BDS / INS integrated navigation calculation unit;

[0019] The result return unit obtains the calculation result of the BDS / INS integrated navigation calculation unit when the status code returned by the control module in the BDS / INS integrated navigation calculation unit indicates a normal state, and searches for the corresponding result and returns it to the RISC-V processor when the RISC-V processor accesses the relevant result;

[0020] The custom instructions of the RISC-V processor specifically include:

[0021] (1) Global reset command: REET, used to reset the entire computing system, including the reset command unit and the BDS / INS integrated navigation computing unit; the operand retention description includes:

[0022] RD: reserved; R1: reserved; R2: reserved;

[0023] (2) Calculation instruction: ACTY, used to send instructions to enable the BDS / INS integrated navigation calculation unit to start reading and calculating data, including setting the input data and the navigation module corresponding to the data; the operand reserved description includes:

[0024] RD: reserved; R1: input the starting address of navigation data; R2: input the target navigation module;

[0025] (3) Adjustment command: CHIN, used to set the noise reduction mode and perform different noise reduction processes on the navigation information from the BDS and INS; the reserved operand descriptions include:

[0026] RD: reserved; R1: input noise reduction mode one-hot code; R2: input target navigation module;

[0027] (4) Result return instruction: RERN, used to return the result, including returning the BDS / INS integrated navigation calculation result with a specific number; the reserved operand description includes:

[0028] RD: reserved; R1: reserved; R2: reserved;

[0029] (5) Local reset instruction: PRET, used to reset a specific navigation module of the BDS / INS integrated navigation computing system; the reserved operand descriptions include:

[0030] RD: reserved; R1: input target navigation module; R2: reserved;

[0031] The workflow of the integrated navigation computing system based on the RISC-V architecture specifically includes:

[0032] S1.RISC-V processor performs BDS / INS integrated navigation operations;

[0033] S2. Send initialization command;

[0034] S3. Send calculation instructions;

[0035] S4. Send result return instruction;

[0036] S5.RISC-V processor completes the BDS / INS combined navigation operation;

[0037] The RISC-V processor described in step S1 performs the BDS / INS combined navigation operation, specifically including:

[0038] The RISC-V processor needs to perform BDS / INS integrated navigation calculations and start the BDS / INS integrated navigation calculation coprocessor through a custom coprocessor interface;

[0039] The sending of the initialization instruction described in step S2 specifically includes:

[0040] The RISC-V processor sends a reset instruction through a custom coprocessor interface;

[0041] The sending of the calculation instruction in step S3 specifically includes:

[0042] The RISC-V processor sends the ACTY instruction in sequence to set the starting address and target navigation mode of the input navigation data; sends the CHIN instruction to set the noise reduction mode of each system;

[0043] The sending result return instruction described in step S4 specifically includes:

[0044] The RISC-V processor sends the result return instruction through the custom coprocessor interface; sends the RERN instruction to read the BDS / INS combined navigation calculation results of the navigation data.

[0045] The combined navigation computing system based on RISC-V architecture proposed in the present invention realizes the integration of BDS / INS combined navigation computing coprocessor and RISC-V processor through custom instructions; the BDS / INS combined navigation computing coprocessor is configurable and supports configuration of the coprocessor through custom instructions, and the configurable functions include navigation module type and noise reduction mode; the navigation accuracy of the system of the present invention is improved, the communication efficiency is improved, the power consumption is reduced, and the coordination speed is stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of the functional modules of the system of the present invention.

[0047] Figure 2 The figure is a schematic diagram of the BDS / INS integrated navigation calculation unit module of the system of the present invention.

[0048] Figure 3 Schematic diagram of the instruction unit module of the system of the present invention. DETAILED DESCRIPTION

[0049] like Figure 1The figure shows a schematic diagram of the functional modules of the system of the present invention: the integrated navigation computing system based on the RISC-V architecture provided by the present invention comprises: a RISC-V architecture processor and a BDS / INS integrated navigation computing coprocessor; the RISC-V processor is used to execute general calculations and instructions, perform software programming, realize flexible functional changes, and can control the BDS / INS integrated navigation computing coprocessor through custom extended assembly instructions; the BDS / INS integrated navigation computing coprocessor is used to receive custom instructions from the RISC-V processor, and determine the instruction function according to instruction decoding, thereby adjusting the way the integrated navigation computing unit processes information, obtaining integrated navigation information, and performing rationality inspection through the verification unit at the same time, and finally returning it to the RISC-V processor, waiting for the user to call;

[0050] The BDS / INS integrated navigation calculation coprocessor comprises an instruction unit and a BDS / INS integrated navigation calculation unit;

[0051] like Figure 2 The schematic diagram of the BDS / INS integrated navigation calculation unit module of the system of the present invention is shown as follows:

[0052] The BDS / INS integrated navigation calculation unit includes a solution module, a storage module, a control module, a verification module, and an information fusion module; each structural module is designed based on a pipeline structure, and each structural module is responsible for different types of calculations. In each calculation stage, data is interacted with the storage module, and the control module controls the calculation results obtained in each stage. The verification module verifies the calculation results;

[0053] The control module performs timing control on each process in the information fusion module, BDS solution module, and INS solution module. When the verification module identifies an error or the RISC-V processor issues an interrupt instruction to the BDS / INS combined navigation calculation coprocessor, the entire calculation system is promptly suspended and the status is returned.

[0054] The verification module verifies the results of each calculation stage in the BDS / INS integrated navigation calculation module and passes the verification results to the control module, which decides whether to continue the calculation. If the verification is correct, the calculation results are passed to the storage module for storage; if the verification is incorrect, an error code is returned;

[0055] The storage module is used to store the calculation results obtained in each stage. At the same time, after the calculation of each stage is completed, it is compared and evaluated with the previous navigation information stored in the storage module. When the result is reasonable, the calculation result of the corresponding stage is stored and the previous navigation information stored is released at the same time;

[0056] The solution module includes the BDS solution module and the INS solution module. The BDS solution module obtains information through the Beidou satellite navigation system, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the BDS; the INS solution module obtains information through the inertial navigation system input into the combined navigation calculation system based on the RISC-V architecture, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the INS; after verification by the verification module, the result is sent to the information fusion module; at the same time, the information fusion module will calibrate the solution module through the final calculation result;

[0057] The information fusion module performs fusion calculations based on the navigation information provided by the solution module. When the information fusion module obtains the final result, it returns the information to the solution module so that the settlement module can perform dynamic corrections. At the same time, users can adjust the information fusion module according to actual conditions to make it more suitable for navigation scenarios.

[0058] like Figure 3 The following is a schematic diagram of the instruction unit module of the system of the present invention:

[0059] The instruction unit includes an instruction receiving unit, an instruction parsing unit, a status returning unit, and a result returning unit;

[0060] The instruction receiving unit receives instructions from the RISC-V processor and passes them to the instruction parsing unit;

[0061] The instruction parsing unit receives the instruction from the instruction unit, performs parsing processing, converts the received instruction into an enable signal of each unit module, and sends the instruction information to the corresponding unit;

[0062] The status return unit returns the status code returned by the control module in the BDS / INS integrated navigation calculation unit to the RISC-V processor, so that the RISC-V processor can obtain the working status of the BDS / INS integrated navigation calculation unit;

[0063] The result return unit obtains the calculation result of the BDS / INS integrated navigation calculation unit when the status code returned by the control module in the BDS / INS integrated navigation calculation unit indicates a normal state, and searches for the corresponding result and returns it to the RISC-V processor when the RISC-V processor accesses the relevant result;

[0064] The custom instructions of the RISC-V processor specifically include:

[0065] (1) Global reset command: REET, used to reset the entire computing system, including the reset command unit and the BDS / INS integrated navigation computing unit; the operand retention description includes:

[0066] RD: reserved; R1: reserved; R2: reserved;

[0067] (2) Calculation instruction: ACTY, used to send instructions to enable the BDS / INS integrated navigation calculation unit to start reading and calculating data, including setting the input data and the navigation module corresponding to the data; the operand reserved description includes:

[0068] RD: reserved; R1: input the starting address of navigation data; R2: input the target navigation module;

[0069] (3) Adjustment command: CHIN, used to set the noise reduction mode and perform different noise reduction processes on the navigation information from the BDS and INS; the reserved operand descriptions include:

[0070] RD: reserved; R1: input noise reduction mode one-hot code; R2: input target navigation module;

[0071] (4) Result return instruction: RERN, used to return the result, including returning the BDS / INS integrated navigation calculation result with a specific number; the reserved operand description includes:

[0072] RD: reserved; R1: reserved; R2: reserved;

[0073] (5) Local reset instruction: PRET, used to reset a specific navigation module of the BDS / INS integrated navigation computing system; the reserved operand descriptions include:

[0074] RD: reserved; R1: input target navigation module; R2: reserved;

[0075] The workflow of the integrated navigation computing system based on the RISC-V architecture specifically includes:

[0076] S1.RISC-V processor performs BDS / INS integrated navigation operations;

[0077] S2. Send initialization command;

[0078] S3. Send calculation instructions;

[0079] S4. Send result return instruction;

[0080] S5.RISC-V processor completes the BDS / INS combined navigation operation;

[0081] The RISC-V processor described in step S1 performs the BDS / INS combined navigation operation, specifically including:

[0082] The RISC-V processor needs to perform BDS / INS integrated navigation calculations and start the BDS / INS integrated navigation calculation coprocessor through a custom coprocessor interface;

[0083] The sending of the initialization instruction described in step S2 specifically includes:

[0084] The RISC-V processor sends a reset instruction through a custom coprocessor interface;

[0085] The sending of the calculation instruction in step S3 specifically includes:

[0086] The RISC-V processor sends the ACTY instruction in sequence to set the starting address and target navigation mode of the input navigation data; sends the CHIN instruction to set the noise reduction mode of each system;

[0087] The sending result return instruction described in step S4 specifically includes:

[0088] The RISC-V processor sends the result return instruction through the custom coprocessor interface; sends the RERN instruction to read the BDS / INS combined navigation calculation results of the navigation data.

Claims

1. A combined navigation computing system based on RISC-V architecture, comprising: RISC-V architecture processor, BDS / INS integrated navigation computing coprocessor; The RISC-V processor is used to execute general calculations and instructions, perform software programming, realize flexible functional changes, and can control the BDS / INS integrated navigation calculation coprocessor through custom extended assembly instructions; the BDS / INS integrated navigation calculation coprocessor is used to receive custom instructions from the RISC-V processor, and determine the instruction function according to the instruction decoding, so as to adjust the way the integrated navigation calculation unit processes information, obtain the integrated navigation information, and perform rationality verification through the verification unit at the same time, and finally return it to the RISC-V processor, waiting for the user to call; The BDS / INS integrated navigation calculation coprocessor comprises an instruction unit and a BDS / INS integrated navigation calculation unit; The BDS / INS integrated navigation calculation unit includes a solution module, a storage module, a control module, a verification module, and an information fusion module; The instruction unit includes an instruction receiving unit, an instruction parsing unit, a status returning unit, and a result returning unit; In specific implementation, the BDS / INS integrated navigation calculation unit includes a solution module, a storage module, a control module, a verification module, and an information fusion module; each structural module is designed based on a pipeline structure, each structural module is responsible for different types of calculations, interacts with the storage module for data at each calculation stage, is controlled by the control module, and verifies the calculation results obtained at each stage through the verification module; The control module performs timing control on each process in the information fusion module, BDS solution module, and INS solution module. When the verification module identifies an error or the RISC-V processor issues an interrupt instruction to the BDS / INS combined navigation calculation coprocessor, the entire calculation system is promptly suspended and the status is returned. The verification module verifies the results obtained in each calculation stage of the BDS / INS integrated navigation calculation module and transmits the verification results to the control module, which decides whether to continue the calculation; If the verification is correct, the calculation result is passed to the storage module for storage; If the verification is wrong, an error code is returned; The storage module is used to store the calculation results obtained in each stage. At the same time, after the calculation of each stage is completed, it is compared and evaluated with the previous navigation information stored in the storage module. When the result is reasonable, the calculation result of the corresponding stage is stored and the previous navigation information stored is released at the same time; The solution module includes a BDS solution module and an INS solution module. The BDS solution module obtains information through the Beidou satellite navigation system, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the BDS; the INS solution module obtains information through the inertial navigation system input into the combined navigation calculation system based on the RISC-V architecture, performs noise reduction and solution processing on the obtained information, and obtains the initial information of the INS; After verification by the verification module, the result is sent to the information fusion module; at the same time, the information fusion module will correct the solution module through the final calculation result; The information fusion module performs fusion calculations based on the navigation information provided by the solution module. When the information fusion module obtains the final result, it returns the information to the solution module so that the settlement module can perform dynamic corrections. At the same time, users can adjust the information fusion module according to actual conditions to make it more suitable for navigation scenarios. The instruction unit includes an instruction receiving unit, an instruction parsing unit, a status returning unit, and a result returning unit, specifically including: The instruction receiving unit receives instructions from the RISC-V processor and passes them to the instruction parsing unit; The instruction parsing unit receives the instruction from the instruction unit, performs parsing processing, converts the received instruction into an enable signal of each unit module, and sends the instruction information to the corresponding unit; The status return unit returns the status code returned by the control module in the BDS / INS integrated navigation calculation unit to the RISC-V processor, so that the RISC-V processor can obtain the working status of the BDS / INS integrated navigation calculation unit; The result return unit obtains the calculation result of the BDS / INS integrated navigation calculation unit when the status code returned by the control module in the BDS / INS integrated navigation calculation unit indicates a normal state, and searches for the corresponding result and returns it to the RISC-V processor when the RISC-V processor accesses the relevant result; The custom instructions of the RISC-V processor specifically include: (1) Global reset command: REET, used to reset the entire computing system, including the reset command unit and the BDS / INS integrated navigation computing unit; the operand retention description includes: RD: reserved; R1: reserved; R2: reserved; (2) Calculation instruction: ACTY, used to send instructions to enable the BDS / INS integrated navigation calculation unit to start reading and calculating data, including setting the input data and the navigation module corresponding to the data; the operand reserved description includes: RD: reserved; R1: input the starting address of navigation data; R2: input the target navigation module; (3) Adjustment command: CHIN, used to set the noise reduction mode and perform different noise reduction processes on the navigation information from the BDS and INS; the reserved operand descriptions include: RD: reserved; R1: input noise reduction mode one-hot code; R2: input target navigation module; (4) Result return instruction: RERN, used to return the result, including returning the BDS / INS integrated navigation calculation result with a specific number; the reserved operand description includes: RD: reserved; R1: reserved; R2: reserved; (5) Local reset instruction: PRET, used to reset a specific navigation module of the BDS / INS integrated navigation computing system; the reserved operand descriptions include: RD: reserved; R1: input target navigation module; R2: reserved; The workflow of the integrated navigation computing system based on the RISC-V architecture specifically includes: S1.RISC-V processor performs BDS / INS integrated navigation operations; S2. Send initialization command; S3. Send calculation instructions; S4. Send result return instruction; S5.RISC-V processor completes the BDS / INS combined navigation operation.

2. The integrated navigation computing system based on RISC-V architecture according to claim 1 is characterized in that The RISC-V processor described in step S1 performs the BDS / INS combined navigation operation, specifically including: The RISC-V processor needs to perform BDS / INS combined navigation calculations and start the BDS / INS combined navigation calculation coprocessor through a custom coprocessor interface.

3. The integrated navigation computing system based on RISC-V architecture according to claim 2 is characterized in that The sending of the initialization instruction described in step S2 specifically includes: The RISC-V processor sends a reset instruction through a custom coprocessor interface.

4. The integrated navigation computing system based on RISC-V architecture according to claim 3 is characterized in that The sending of the calculation instruction in step S3 specifically includes: The RISC-V processor sends the ACTY instruction in sequence to set the starting address and target navigation module of the input navigation data; and sends the CHIN instruction to set the noise reduction mode of each system.

5. The integrated navigation computing system based on RISC-V architecture according to claim 4 is characterized in that The sending result return instruction described in step S4 specifically includes: The RISC-V processor sends the result return instruction through the custom coprocessor interface; sends the RERN instruction to read the BDS / INS combined navigation calculation results of the navigation data.

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