Inertial measurement unit output method and system based on virtual serial port simulation

Abstract

The invention relates to the technical field of communication technologies, and discloses an inertial measurement unit output method and system based on virtual serial port simulation, and the method comprises the steps: constructing a virtual inertial measurement unit product, and connecting the virtual inertial measurement unit product with an upper computer; the upper computer issues the command to be transmitted to the virtual inertial measurement unit product through the virtual serial port; the virtual inertial measurement unit product generates response data and corresponding relay information based on the to-be-transmitted command, stores the relay information into a relay memory, stores the response data into a register, and sends the to-be-transmitted data to a receiving end through the register; the upper computer reads the relay information in the relay memory and sends the relay information to the register, and the register sends the corresponding response data to the upper computer according to the one-to-one correspondence relation between the relay information and the response data; the virtual serial port data output method solves the problem that an existing virtual serial port data output mode is low in efficiency and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of communication technology, and in particular to an inertial group output method and system based on virtual serial port simulation. Background Art

[0002] With the rapid development of virtual serial port simulation technology, real-time and reliable simulation data output technology has been widely used in various fields. According to the different types of data transmitted, the transmission process involves different data modes. At this time, the choice of communication strategy determines the efficiency and reliability of communication. At present, when using virtual serial ports to simulate data transmission, due to the fast data transmission speed of virtual serial ports, when there are multiple data transmitted at the same time, data transmission omissions are prone to occur, and it is difficult to ensure that the data obtained is the required data, resulting in low efficiency and reliability of data transmission. It can be seen that the existing virtual serial port data output method has the problem of low efficiency and reliability. Summary of the invention

[0003] The present invention provides an inertial group output method and system based on virtual serial port simulation, so as to solve the problems of low efficiency and reliability in the existing virtual serial port data output mode.

[0004] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0005] In a first aspect, the present invention provides an inertial group output method based on virtual serial port simulation, the method comprising:

[0006] Build a virtual inertial group product and connect it to the host computer;

[0007] The host computer sends the command to be transmitted to the virtual inertial group product through the virtual serial port;

[0008] The virtual inertial group product generates response data and corresponding relay information based on the command to be transmitted, stores the relay information in the relay memory, stores the response data in the register, and sends the data to be transmitted to the receiving end through the register, wherein each response data corresponds to the relay information one by one;

[0009] The host computer reads the relay information in the relay memory and sends the relay information to the register. The register sends the corresponding response data to the host computer according to the one-to-one correspondence between the relay information and the response data.

[0010] Optionally, the method further includes:

[0011] After receiving the response data, the host computer parses the response data frame by frame to extract the frame header data, frame tail data and data length in the response data;

[0012] The frame header data, the frame tail data and the data length are matched and compared with the data for judgment pre-stored in the host computer. When the frame header data, the frame tail data and the data length all match the data for judgment, the response data is parsed and saved, otherwise, an error is reported.

[0013] Optionally, storing the relay information in a relay storage includes:

[0014] The relay information is sent to the relay memory, the relay memory generates corresponding sub-address information according to the relay information, stores the relay information in the corresponding sub-address in the relay memory according to the sub-address information, and stores the sub-address information;

[0015] The relay memory generates corresponding frame sequence number information according to the sub-address information, and sends the frame sequence number information to the host computer.

[0016] Optionally, sending the data to be transmitted to the host computer through the register includes:

[0017] The relay memory receives the frame sequence number information from the host computer, and sends the corresponding relay information to the receiving end according to the frame sequence number information. After receiving the relay information, the receiving end sends the relay information to the register, and the register sends the corresponding data to be transmitted to the host computer according to the relay information.

[0018] Optionally, the host computer reads the relay information in the relay memory, including:

[0019] The host computer selects the corresponding frame sequence number information and sends the frame sequence number information to the relay memory;

[0020] The relay memory sends the corresponding relay information to the host computer according to the frame sequence number information.

[0021] Optionally, the register sends the corresponding data to be transmitted to the receiving end according to a one-to-one correspondence between the relay information and the data to be transmitted, including:

[0022] The register performs data matching on the data to be transmitted according to the relay information from the host computer, matches the corresponding data to be transmitted according to the one-to-one correspondence between the relay information and the data to be transmitted, and sends the corresponding data to be transmitted to the host computer.

[0023] Optionally, the virtual inertial group product is built using the QT high-level programming language, and the programming platform for building the virtual inertial group product is the QT Creator5.9 programming platform.

[0024] In a second aspect, an embodiment of the present application provides an inertial group output system simulated by a virtual serial port, including a processor and a memory;

[0025] Memory, used to store computer programs;

[0026] The processor is used to implement any method step described in the first aspect when executing a program stored in the memory.

[0027] Beneficial effects:

[0028] The inertial group output method simulated by the virtual serial port provided by the present invention constructs a virtual inertial group product and connects the virtual inertial group product with a host computer, so that the host computer sends the command to be transmitted to the virtual inertial group product through the virtual serial port; the virtual inertial group product generates response data and corresponding relay information based on the command to be transmitted, stores the relay information in a relay memory, stores the response data in a register, and sends the data to be transmitted to a receiving end through the register, wherein each response data corresponds to the relay information one by one; the host computer reads the relay information in the relay memory, and sends the relay information to the register, and the register sends the corresponding response data to the host computer according to the one-to-one correspondence between the relay information and the response data; based on the virtual serial port communication, the data transmission of the digital model of all entity class objects is realized, and in the virtual serial port short frame transmission mode, the effective data transmission within a 5ms period is realized through the time division multiplexing method; at the same time, the design scheme can be repeatedly optimized according to the simulation results, the research and development cycle is shortened, and the research and development cost of the inertial group is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure is a flow chart of the inertial group output method of virtual serial port simulation according to the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0032] See also Figure 1 The embodiment of the present application provides an inertial group output method based on virtual serial port simulation, the method comprising:

[0033] Build a virtual inertial group product and connect it to the host computer;

[0034] The host computer sends the command to be transmitted to the virtual inertial group product through the virtual serial port;

[0035] The virtual inertial group product generates response data and corresponding relay information based on the command to be transmitted, stores the relay information in the relay memory, stores the response data in the register, and sends the data to be transmitted to the receiving end through the register, wherein each response data corresponds to the relay information one by one;

[0036] The host computer reads the relay information in the relay memory and sends the relay information to the register. The register sends the corresponding response data to the host computer according to the one-to-one correspondence between the relay information and the response data.

[0037] In the above embodiment, a virtual inertial group product is constructed and connected to a host computer, so that the host computer sends the command to be transmitted to the virtual inertial group product through a virtual serial port; the virtual inertial group product generates response data and corresponding relay information based on the command to be transmitted, stores the relay information in a relay memory, and stores the response data in a register, and sends the data to be transmitted to the receiving end through the register, wherein each response data corresponds to the relay information one by one; the host computer reads the relay information in the relay memory, and sends the relay information to the register, and the register sends the corresponding response data to the host computer according to the one-to-one correspondence between the relay information and the response data; based on the virtual serial port communication, the data transmission of the digital model of all entity class objects is realized, and in the short frame transmission mode of the virtual serial port, the effective data transmission within a 5ms period is realized through the time division multiplexing method; at the same time, the design scheme can be repeatedly optimized according to the simulation results, the R&D cycle can be shortened, and the R&D cost of the inertial group can be greatly reduced.

[0038] Optionally, the method further includes:

[0039] After receiving the response data, the host computer parses the response data frame by frame to extract the frame header data, frame tail data and data length in the response data;

[0040] The frame header data, the frame tail data and the data length are matched and compared with the data for judgment pre-stored in the host computer. When the frame header data, the frame tail data and the data length all match the data for judgment, the response data is parsed and saved, otherwise, an error is reported.

[0041] Optionally, storing the relay information in a relay storage includes:

[0042] The relay information is sent to the relay memory, the relay memory generates corresponding sub-address information according to the relay information, stores the relay information in the corresponding sub-address in the relay memory according to the sub-address information, and stores the sub-address information;

[0043] The relay memory generates corresponding frame sequence number information according to the sub-address information, and sends the frame sequence number information to the host computer.

[0044] Optionally, sending the data to be transmitted to the host computer through the register includes:

[0045] The relay memory receives the frame sequence number information from the host computer, and sends the corresponding relay information to the receiving end according to the frame sequence number information. After receiving the relay information, the receiving end sends the relay information to the register, and the register sends the corresponding data to be transmitted to the host computer according to the relay information.

[0046] Optionally, the host computer reads the relay information in the relay memory, including:

[0047] The host computer selects the corresponding frame sequence number information and sends the frame sequence number information to the relay memory;

[0048] The relay memory sends the corresponding relay information to the host computer according to the frame sequence number information.

[0049] Optionally, the register sends the corresponding data to be transmitted to the receiving end according to a one-to-one correspondence between the relay information and the data to be transmitted, including:

[0050] The register performs data matching on the data to be transmitted according to the relay information from the host computer, matches the corresponding data to be transmitted according to the one-to-one correspondence between the relay information and the data to be transmitted, and sends the corresponding data to be transmitted to the host computer.

[0051] Optionally, the virtual inertial group product is built using the QT high-level programming language, and the programming platform for building the virtual inertial group product is the QT Creator5.9 programming platform.

[0052] The specific steps in the embodiment include:

[0053] S1. Connect the virtual inertial group product and the host computer, start the host computer software: complete the initialization configuration. In the specific implementation process, the virtual inertial group product software uses the QT high-level programming language, and the programming platform uses QT Creator5.9.

[0054] S2. Enter the "Data Collection" interface: In the test interface (such as Figure 1 As shown in the figure, the data acquisition of the test interface can be carried out through the "Enter / Exit Test Mode" button. The configured data transmission rate is 921600. Click the "Enter Test Mode" button, and the host computer sends the command to the virtual inertial group through the virtual serial port. After receiving the command, the virtual inertial group replies the corresponding data to the host computer software according to the corresponding instruction type.

[0055] When the upper computer receives data, it stores the continuously received data in the cache memory, and parses each frame according to the data protocol to determine whether the frame header and frame tail match, whether the data length matches, and whether the frame check is correct; if the frame data is received and no check error occurs, the parsed data will be displayed and saved.

[0056] S3. After completing the test, save the test results: click "Save List / IMU Data" to save the data.

[0057] The embodiment of the present application also provides an inertial group output system simulated by a virtual serial port, including a processor and a memory;

[0058] Memory, used to store computer programs;

[0059] The processor is used to implement any method step of the inertial group output method simulated by the virtual serial port when executing the program stored in the memory.

[0060] The above-mentioned virtual serial port simulated inertial group output system can implement various embodiments of the above-mentioned virtual serial port simulated inertial group output method and achieve the same beneficial effects, which will not be described in detail here.

[0061] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An inertial group output method based on virtual serial port simulation, characterized in that: The method comprises: Build a virtual inertial group product and connect it to the host computer; The host computer sends the command to be transmitted to the virtual inertial group product through the virtual serial port; The virtual inertial group product generates response data and corresponding relay information based on the command to be transmitted, stores the relay information in the relay memory, stores the response data in the register, and sends the data to be transmitted to the receiving end through the register, wherein each response data corresponds to the relay information one by one; The host computer reads the relay information in the relay memory and sends the relay information to the register. The register sends the corresponding response data to the host computer according to the one-to-one correspondence between the relay information and the response data.

2. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The method further comprises: After receiving the response data, the host computer parses the response data frame by frame to extract the frame header data, frame tail data and data length in the response data; The frame header data, the frame tail data and the data length are matched and compared with the data for judgment pre-stored in the host computer. When the frame header data, the frame tail data and the data length all match the data for judgment, the response data is parsed and saved, otherwise, an error is reported.

3. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The step of storing the relay information in a relay memory comprises: The relay information is sent to the relay memory, the relay memory generates corresponding sub-address information according to the relay information, stores the relay information in the corresponding sub-address in the relay memory according to the sub-address information, and stores the sub-address information; The relay memory generates corresponding frame sequence number information according to the sub-address information, and sends the frame sequence number information to the host computer.

4. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The method of sending the data to be transmitted to the host computer through the register includes: The relay memory receives the frame sequence number information from the host computer, and sends the corresponding relay information to the receiving end according to the frame sequence number information. After receiving the relay information, the receiving end sends the relay information to the register, and the register sends the corresponding data to be transmitted to the host computer according to the relay information.

5. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The host computer reads the relay information in the relay memory, including: The host computer selects the corresponding frame sequence number information and sends the frame sequence number information to the relay memory; The relay memory sends the corresponding relay information to the host computer according to the frame sequence number information.

6. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The register sends the corresponding data to be transmitted to the receiving end according to the one-to-one correspondence between the relay information and the data to be transmitted, including: The register performs data matching on the data to be transmitted according to the relay information from the host computer, matches the corresponding data to be transmitted according to the one-to-one correspondence between the relay information and the data to be transmitted, and sends the corresponding data to be transmitted to the host computer.

7. The inertial group output method based on virtual serial port simulation according to claim 1 is characterized in that: The virtual inertial group product is built using the QT high-level programming language, and the programming platform for building the virtual inertial group product adopts the QT Creator5.9 programming platform.

8. A virtual serial port simulated inertial group output system, characterized in that: Including processor and memory; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.

Images