Method and device for processing sensor information of inertial navigation system

Abstract

The invention discloses a method and a device for processing sensor information of an inertial navigation system, and belongs to the technical field of sensor information, during the period of storing the sensor information, arrangement and partitioned storage are executed according to the information length, and subgroups to which the partitions storing the sensor information belong correspond to identification information; therefore, the pointer of the partition to which the sensor information belongs can be directly locked according to the identification information in the later period of taking out the sensor information, and the pointer does not need to be output or inquired according to the sensor information. Compared with an existing method that analysis and disposal are carried out on the sensor information firstly when the sensor information is taken out, the method has the advantages that the sensor information can be locked only according to the identification information with little sensor information, so that the time-consuming and labor-consuming loss related to the output or inquired element sensor information is weakened; the efficiency that the sensor information is output or inquired is improved, and the comprehensive execution efficiency of the task can be better ensured.

Description

Technical Field

[0001] The present invention belongs to the field of sensor information technology, and in particular relates to a method and device for processing sensor information of an inertial navigation system. Background Art

[0002] An inertial navigation system (INS) is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only air and ground, but also underwater. The basic working principle of INS is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, the speed, yaw angle, position and other information in the navigation coordinate system can be obtained.

[0003] At present, the inertial navigation system with patent publication number "CN202229766U" is often used. Its sensor group (the sensor group may include a gyroscope sensor, a speed pulse sensor, and a tire speed difference sensor) is connected to the CAN bus controller. The sensor group is used to transmit the sensor information of the inertial navigation system (the sensor information of the inertial navigation system may include information on the steering angle of the vehicle, the speed of the vehicle, and the speed difference of the tires of the vehicle) to the CAN bus controller for storage and convert the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmit the instructions to the GPS receiving module.

[0004] On the other hand, the sensor information of the inertial navigation system after storage will often be output (such as output for transfer to another computer) or queried. During the period when the sensor information of the inertial navigation system is output or queried, the process of analyzing, retrieving and processing the sensor information of the inertial navigation system will definitely bring additional time, which will weaken the efficiency of the sensor information of the inertial navigation system being output or queried. Summary of the invention

[0005] In order to solve the defects existing in the prior art, the present invention proposes a sensor information processing method and device for an inertial navigation system. During the storage of sensor information, the information will be arranged and stored in partitions according to the information length. Each subgroup to which the partition storing the sensor information belongs has corresponding identification information. Therefore, during the subsequent retrieval of the sensor information, the pointer to the partition to which the sensor information belongs can be directly locked according to the identification information, without having to perform output or query based on the sensor information. Compared with the current method of performing analysis and processing methods on the sensor information before retrieval of each sensor information, the present application can achieve the locking of the sensor information based on the identification information with very little sensor information, which reduces the time-consuming and labor-intensive consumption involved in the output or query of the meta-sensor information, improves the efficiency of the output or query of the sensor information, and can better ensure the overall execution efficiency of the task.

[0006] The present invention utilizes the following technical solutions.

[0007] A method for processing sensor information of an inertial navigation system, comprising:

[0008] The sensor group transmits the sensor information of the inertial navigation system to the CAN bus controller for storage and converts the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmits the instructions to the GPS receiving module;

[0009] The method for the sensor group to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage includes:

[0010] Step 1, receiving an information storage command, and obtaining each sensor information to be stored according to the information storage command;

[0011] Step 2, according to the storage area consumed by each sensor information, each sensor information is arranged, and the corresponding information label of each sensor information is identified according to the arranged sensor information, and the storage area of ​​the external memory of the CAN bus controller is divided into multiple sub-groups according to the length of different partitions;

[0012] Step 3, facing each sensor information, storing the sensor information in a partition that matches the storage area to be consumed by the sensor information;

[0013] Step 4, facing each sub-group, arrange the partitions in the sub-group according to the storage area consumed by the sensor information stored in each partition in the sub-group, and form and store the identification information of the sub-group based on the information label corresponding to the sensor information stored in the first partition in the sub-group, the information label corresponding to the sensor information stored in the last partition in the sub-group, the storage pointer corresponding to the first partition and the length of the partitions in the sub-group. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the sensor information retrieval.

[0014] Preferably, in step 1, during the storage of the sensor information, the CPU of the CAN bus controller receives an information storage command, and obtains each sensor information to be stored transmitted by the sensor group according to the information storage command.

[0015] Preferably, in step 2, for each subgroup, the subgroup has multiple partitions with the same length, and the lengths of the partitions in different subgroups are different.

[0016] Preferably, in step 2, after obtaining the sensor information to be stored, the CAN bus controller arranges each sensor information according to the storage area to be consumed by each sensor information, and performs labeling according to the arranged sensor information;

[0017] The synchronous CAN bus controller performs segmentation on the storage area of ​​the external memory of the CAN bus controller, and divides the storage area of ​​the external memory of the CAN bus controller into multiple sub-groups according to the lengths of different partitions.

[0018] Preferably, the method of arranging each sensor information and performing numbering according to the arranged sensor information includes: the CAN bus controller can arrange the sensor information in order from low to high according to the capacity of the storage area consumed by the sensor information, and perform numbering increasing from zero one by one according to the arranged sensor information in order from low to high.

[0019] Preferably, a subgroup has multiple partitions with the same length, and the lengths of partitions in different subgroups are different.

[0020] Preferably, in step 2, before the CAN bus controller performs grouping on the storage area, the CAN bus controller determines whether the storage area consumed by each sensor information is balanced, that is, the difference between the information lengths of each sensor information is within a predefined range. If so, the CAN bus controller does not perform grouping on the storage area, but cuts the storage area into multiple partitions of the same length, and accordingly associates the corresponding information number of the sensor information stored in each partition with the pointer of the partition;

[0021] If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

[0022] Preferably, the method for determining the partition that is compatible with the storage area to be consumed by the sensor information includes: facing the sensor information b and the partition c, if the length of the storage area remaining in the partition c after the sensor information is stored in the partition c is less than a predefined critical amount, it means that the storage area to be consumed by the sensor information b is compatible with the partition c;

[0023] Alternatively, if after the sensor information b is stored in partition c, the remaining storage area in c is insufficient to store the remaining sensor information that has not been stored, it means that the storage area consumed by the sensor information b is compatible with partition c.

[0024] Preferably, when the sensor information is output or queried, the desired sensor information is retrieved from the external memory of the CAN bus controller. During this period, the CAN bus controller receives a sensor information retrieval command for the target sensor information to be retrieved, and then identifies the information label corresponding to the target sensor information according to the sensor information retrieval command as the target label.

[0025] The CAN bus controller identifies the storage pointer corresponding to the destination sensor information according to the destination label and the identification information library, and retrieves the destination sensor information according to the storage pointer corresponding to the destination sensor information, which is specifically as follows:

[0026] For each subgroup, the CAN bus controller identifies the information number interval of the sensor information stored in the subgroup according to the identification information of the subgroup, and regards it as the corresponding number interval of the subgroup. According to the corresponding number interval of each subgroup, the subgroup to which the target sensor information belongs is identified as the target subgroup. Then, according to the corresponding identification information and target number of the target subgroup, the storage pointer corresponding to the target sensor information is identified.

[0027] The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the label of the first partition and the label of the last partition, and then calculates the pointer of the partition where the target sensor information to be retrieved is located based on the information label of the target sensor information to be retrieved, the label of the first partition of the subgroup, the partition length, and the pointer of the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

[0028]

[0029] A device for processing sensor information of an inertial navigation system, comprising:

[0030] The sensor group is connected to the CAN bus controller. The sensor group is used to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage and convert the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmit the instructions to the GPS receiving module;

[0031] The modules running on the CAN bus controller include:

[0032] A receiving module, which is used to receive an information storage command and obtain each sensor information to be stored according to the information storage command;

[0033] A cutting module is used to arrange each sensor information according to the storage area to be consumed by each sensor information, and to identify the corresponding information label of each sensor information according to the arranged sensor information, and to cut the storage area of ​​the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions;

[0034] An adaptor module, which is used to store each sensor information in a partition that is compatible with the storage area to be consumed by the sensor information;

[0035] An identification module is used to arrange each partition in each sub-group according to the storage area consumed by the sensor information stored in each partition in the sub-group, and to form and store the identification information of the sub-group according to the information label corresponding to the sensor information stored in the first partition in the sub-group, the information label corresponding to the sensor information stored in the last partition in the sub-group, the storage pointer corresponding to the first partition and the length of the partition in the sub-group. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the retrieval of the sensor information.

[0036] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0037] Obtain each sensor information to be stored; arrange each sensor information according to the storage area to be consumed by each sensor information, and identify the corresponding information number of each sensor information according to the arranged sensor information, and cut the storage area of ​​the external memory of the CAN bus controller into multiple sub-groups; for each sensor information, store the sensor information in a partition that is compatible with the storage area to be consumed by the sensor information; for each sub-group, form the identification information of the sub-group and store it according to the information number corresponding to the sensor information stored in the first partition of the sub-group, the information number corresponding to the sensor information stored in the last partition of the sub-group, the storage pointer corresponding to the first partition and the length of the partition in the sub-group, thereby, during the storage of the sensor information, it will first be arranged according to the information length and stored in partitions, and the sub-groups to which the partitions storing the sensor information belong all have corresponding identification information, so that during the subsequent retrieval of the sensor information, the pointer to the partition to which the sensor information belongs can be directly locked according to the identification information, without having to be output or queried according to the sensor information. Compared with the current method of performing analysis and processing on each sensor information before extracting it, the present application can lock the sensor information based on identification information with very little sensor information, thus reducing the time and energy consumption involved in outputting or querying the meta-sensor information, improving the efficiency of outputting or querying the sensor information, and ensuring the overall efficiency of the task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of a method for processing sensor information of an inertial navigation system according to the present invention;

[0039] Figure 2 It is a partial structural diagram of the sensor information processing device of the inertial navigation system described in the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely express the technical solution of the present invention. The embodiments expressed in the present invention are only some embodiments of the present invention, not all embodiments. According to the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the protection scope of the present invention.

[0041] like Figure 1 As shown, a method for processing sensor information of an inertial navigation system according to the present invention comprises:

[0042] The sensor group transmits the sensor information of the inertial navigation system (the sensor information of the inertial navigation system may contain information on the steering angle of the vehicle, the speed of the vehicle, and the speed difference of the vehicle tires) to the CAN bus controller for storage and converts the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmits the instructions to the GPS receiving module;

[0043] The method for the sensor group to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage includes:

[0044] Step 1, receiving an information storage command, and obtaining each sensor information to be stored according to the information storage command;

[0045] After the sensor group transmits the sensor information of the inertial navigation system to the CAN bus controller for storage, it is often necessary to perform a lot of output or query operations on the stored sensor information, and the efficiency of the output or query of the sensor information is very important.

[0046] In a preferred but non-restrictive implementation of the present invention, in step 1, the capacity of the sensor information of the inertial navigation system is often distributed in a range, such as between 0.02Mbits and 0.3Mbits. Based on this, the present invention provides a sensor information storage method, which labels the sensor information in order from low to high, and then cuts it into multiple subgroups according to the capacity arrangement status. For the sensor information in each subgroup, constant-length partitions are used for storage in the external memory of the CAN bus controller.

[0047] During the output or query operation on the sensor information, the process used to execute the output or query operation on the sensor information forms an arbitrary queue with the label of the information each time and uses the queue to execute the output or query, and locks the storage pointer of the sensor information through the label of the information. Through the constant length storage method provided in the present application, the process used to execute the output or query operation on the sensor information can efficiently lock the storage location of the sensor information, thereby reducing the time and energy consumption when the sensor information is output or queried.

[0048] The method in which the sensor group transmits the sensor information of the inertial navigation system to the CAN bus controller for storage is actually operated on the CAN bus controller.

[0049] During the storage of sensor information, the CPU of the CAN bus controller receives an information storage command from a process for outputting or querying sensor information, and obtains each sensor information to be stored from the sensor group according to the information storage command.

[0050] Step 2, according to the storage area consumed by each sensor information, each sensor information is arranged, and the corresponding information label of each sensor information is identified according to the arranged sensor information, and the storage area of ​​the external memory of the CAN bus controller is divided into multiple sub-groups according to the length of different partitions;

[0051] In a preferred but non-limiting embodiment of the present invention, in step 2, for each subgroup, the subgroup has multiple partitions of the same length, and the lengths of the partitions in different subgroups are different.

[0052] In a preferred but non-limiting embodiment of the present invention, in step 2, after obtaining the sensor information to be stored, the CAN bus controller can arrange each sensor information according to the storage area to be consumed by each sensor information, and perform labeling according to the arranged sensor information;

[0053] In a preferred but non-limiting embodiment of the present invention, the method of arranging each sensor information and performing labeling based on the arranged sensor information includes: the CAN bus controller can arrange the sensor information in order from low to high according to the capacity of the storage area consumed by the sensor information, and perform labeling that increases one by one from zero according to the arranged sensor information in order from low to high, that is, the lowest information number of the sensor information is zero.

[0054] The synchronous CAN bus controller can split the storage area of ​​the external memory of the CAN bus controller, and divide the storage area of ​​the external memory of the CAN bus controller into multiple sub-groups according to the lengths of different partitions.

[0055] In a preferred but non-limiting embodiment of the present invention, a subgroup has multiple partitions with the same length, and the lengths of partitions in different subgroups are different.

[0056] The partition length is n times the length of a single sector in the external memory of the CAN bus controller, where n is an integer greater than one. When configuring sectors for partitions, consecutive pointer intervals can be configured for partitions of the same subgroup.

[0057] During the cutting of the storage area of ​​the external memory of the CAN bus controller, the CAN bus controller can cut the disk of the external memory of the CAN bus controller into a plurality of partitions, each partition corresponding to a subgroup.

[0058] The external memory for the distributed CAN bus controller has a plurality of storage components, and the CAN bus controller can perform grouping according to the storage components, that is, each storage component corresponds to a sub-group.

[0059] In a preferred but non-limiting embodiment of the present invention, in step 2, before the CAN bus controller performs grouping on the storage area, the CAN bus controller can determine whether the storage area consumed by each sensor information is balanced, that is, the difference between the information lengths of each sensor information is within a predefined range. If so, the CAN bus controller does not perform grouping on the storage area, but cuts the storage area into multiple partitions of the same length, and accordingly associates the corresponding information label of the sensor information stored in each partition with the pointer of the partition;

[0060] If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

[0061] On the other hand, when the storage area is large enough, the CAN bus controller can directly cut the storage area into multiple partitions of the same length without determining whether the storage area consumed by each sensor information is balanced, and the length of the partition can store the sensor information with the longest length consumed therein. Based on this, the function of sensor information being output or queried is improved by using the method of using area compensation time consumption.

[0062] In addition, in actual use, it is often the case that the storage area is consumed by other task information, so in the present invention, the storage pointers between different subgroups may not be continuous.

[0063] Step 3, facing each sensor information, storing the sensor information in a partition that matches the storage area to be consumed by the sensor information;

[0064] Step 4, facing each sub-group, arrange the partitions in the sub-group according to the storage area consumed by the sensor information stored in each partition in the sub-group, and form and store the identification information of the sub-group based on the information label corresponding to the sensor information stored in the first partition in the sub-group, the information label corresponding to the sensor information stored in the last partition in the sub-group, the storage pointer corresponding to the first partition and the length of the partitions in the sub-group. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the sensor information retrieval.

[0065] For each piece of sensor information, the CAN bus controller can store the sensor information in a partition that is compatible with the storage area to be consumed by the sensor information.

[0066] In a preferred but non-limiting embodiment of the present invention, the method for determining the partition that is compatible with the storage area to be consumed by the sensor information includes: as for sensor information b and partition c, if the length of the storage area remaining in partition c after the sensor information is stored in partition c is less than a pre-defined critical amount, it means that the storage area to be consumed by the sensor information b is compatible with partition c, thereby preventing the consumption of the storage area, and the pre-defined critical amount here can be set according to specific conditions;

[0067] Alternatively, if after the sensor information b is stored in partition c, the remaining storage area in c is insufficient to store the remaining sensor information that has not been stored, it means that the storage area consumed by the sensor information b is compatible with partition c.

[0068] Since there are multiple partitions of the same length in the same subgroup, a sensor information can correspond to multiple corresponding partitions. In this case, the CAN bus controller can store the sensor information corresponding to it in sequence according to the location of each partition in the same subgroup.

[0069] The CAN bus controller can treat the information labels corresponding to the sensor information stored in each partition as the partition labels corresponding to each partition, so that the information labels and partition labels correspond one to one.

[0070] Of course, the CAN bus controller can also arrange the partitions in different subgroups according to the lengths of different partitions. Here, for the partitions in the same subgroup, the corresponding partition labels can be identified in sequence according to the location of the partitions. Then the CAN bus controller can store each sensor information in a partition that matches the storage area it needs to consume according to the partition labels corresponding to different partitions and the information labels corresponding to different sensor information. Because the arrangement of the partitions is the same as the arrangement of the information lengths, the information number and the partition number correspond one-to-one at this time.

[0071] Just as, the sensor information partition number range in subgroup zero is from zero to three, and the sensor information partition number range in subgroup one is from four to seven, for sensor information numbered from zero to seven, the CAN bus controller can store the sensor information in the partition with the same number according to its corresponding information number.

[0072] For each partition, the header information of the partition can store the information length of the sensor information stored in the partition, the verification information and permission information of the sensor information. Here, the sensor information verification information can be the hash value of the sensor information, which is used to perform correctness verification on the retrieved sensor information during the retrieval of the sensor information. The permission information is used to limit the account that is allowed to output or query the sensor information.

[0073] When facing each subgroup, the CAN bus controller can arrange the partitions contained in the subgroup according to the storage area consumed by the sensor information stored in each partition contained in the subgroup, and form and store the identification information of the subgroup based on the information number corresponding to the sensor information stored in the first partition in the subgroup, the information number corresponding to the sensor information stored in the last partition in the subgroup, the storage pointer corresponding to the first partition and the length of the partitions in the subgroup. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the retrieval of the sensor information.

[0074] As shown here, the CAN bus controller can cut the four sensor information labeled zero to three into the sensor information partition within the first subgroup (subgroup label is zero) for storage, and cut the sensor information labeled four to seven into the sensor information partition within the second subgroup (subgroup label is one) for storage. The length of the partition within subgroup zero is determined by the information with the highest label value in the subgroup, that is, the information labeled three; the partition within subgroup zero can completely store the sensor information labeled three and the corresponding partition header information, and the partition length is aligned according to the length being output or queried. For each partition, the header information is stored in the partition header of the partition.

[0075] The CAN bus controller can then form an identification information library based on the corresponding identification information of each subgroup.

[0076] In a preferred but non-limiting embodiment of the present invention, when the sensor information is output or queried, the desired sensor information is often retrieved from the external memory of the CAN bus controller. During this period, the CAN bus controller can receive a sensor information retrieval command for the target sensor information to be retrieved, and then, based on the sensor information retrieval command, identify the information label corresponding to the target sensor information as the target label;

[0077] The CAN bus controller identifies the storage pointer corresponding to the destination sensor information according to the destination label and the identification information library, and retrieves the destination sensor information according to the storage pointer corresponding to the destination sensor information, which is specifically as follows:

[0078] Facing each subgroup, the CAN bus controller determines the information number interval of the sensor information stored in the subgroup based on the identification information of the subgroup, and regards it as the corresponding number interval of the subgroup. Based on the corresponding number interval of each subgroup, the subgroup to which the target sensor information belongs is determined as the target subgroup. Then, based on the corresponding identification information and target number of the target subgroup, the corresponding storage pointer of the target sensor information is determined. Here, facing each subgroup, the CAN bus controller can determine the corresponding number interval of the subgroup based on the corresponding information number of the sensor information stored in the first partition and the corresponding information number of the sensor information stored in the last partition contained in the identification information of the subgroup (that is, the corresponding number of the starting sensor information partition and the corresponding number of the last sensor information partition); the number interval is the range of the number.

[0079] After identifying the destination subgroup, the CAN bus controller identifies the storage pointer corresponding to the destination sensor information based on the destination label, the information label corresponding to the sensor information stored in the first partition contained in the identification information corresponding to the destination subgroup, the storage pointer corresponding to the first partition and the length of the partition in the destination subgroup.

[0080] The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the label of the first partition and the label of the last partition, and then calculates the pointer of the partition where the target sensor information to be retrieved is located based on the information label of the target sensor information to be retrieved, the label of the first partition of the subgroup, the partition length, and the pointer of the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

[0081]

[0082] Just as, when the sensor information with the label 306 is output or queried, the subgroup identification information library is searched first. The sensor information with the label 306 is in the subgroup with the label 1. The pointer of the partition is calculated according to the above equation, that is, (306-200)*24576+81920=1384448, that is, the pointer of the partition to which the sample belongs is 1384448. The CAN bus controller can obtain the information length of the target sensor information to be retrieved by taking out the first four characters of the partition through the area pointed to by the pointer, and then take out the subsequent target sensor information.

[0083] During the process of retrieving the sensor information stored in the partition, the CAN bus controller can retrieve the target sensor information through the target partition according to the identified storage pointer (partition pointer) and the partition header information.

[0084] Here, the CAN bus controller can retrieve the information of the entire partition once according to the pointer of the partition, and obtain the target sensor information according to the sample information length in the header information.

[0085] On the other hand, during the retrieval of sensor information, the CAN bus controller can obtain the account identifier contained in the sensor information retrieval command, and verify the account identifier based on the permission information contained in the partition information. If the verification is correct, the target sensor information is retrieved based on the storage pointer and the information length of the target sensor information, and the correctness of the retrieved target sensor information is verified based on the verification information (such as calculating the hash value of the retrieved sensor information, and determining whether the retrieved hash value is the same as the target hash value corresponding to the verification information).

[0086] If the account verification is incorrect or the correctness verification is wrong, the target sensor information cannot be retrieved and an error message is displayed on the CAN bus controller.

[0087] After obtaining the target sensor information, the CAN bus controller can perform tasks according to the target sensor information. Here, when the target sensor information is the desired sensor information, the CAN bus controller can perform tasks such as display or other averaging according to the retrieved desired sensor information, and when the target sensor information is task information corresponding to another task, the CAN bus controller can perform another task according to the retrieved sensor information.

[0088] Therefore, the present application can label the sensor information according to the length of the sensor information, and store it in sequence according to the label; through constant-length partition storage, the time and energy consumption of sensor information identification can be reduced; through grouping, for sensor information groups with a large standard deviation in capacity arrangement, the area loss in the constant-length storage can be reduced.

[0089] like Figure 2 As shown, a sensor information processing device of an inertial navigation system according to the present invention comprises:

[0090] The sensor group (the sensor group may include a gyroscope sensor, a speed pulse sensor, and a tire speed difference sensor) is connected to the CAN bus controller. The sensor group is used to transmit the sensor information of the inertial navigation system (the sensor information of the inertial navigation system may include information on the steering angle of the vehicle, the speed of the vehicle, and the speed difference of the tires of the vehicle) to the CAN bus controller for storage and to convert the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmit the instructions to the GPS receiving module;

[0091] The modules running on the CAN bus controller include:

[0092] A receiving module, which is used to receive an information storage command and obtain each sensor information to be stored according to the information storage command;

[0093] A cutting module is used to arrange each sensor information according to the storage area to be consumed by each sensor information, and to identify the corresponding information label of each sensor information according to the arranged sensor information, and to cut the storage area of ​​the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions;

[0094] An adaptor module, which is used to store each sensor information in a partition that is compatible with the storage area to be consumed by the sensor information;

[0095] The identification module is used to arrange each subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup, and form and store the identification information of the subgroup according to the information number corresponding to the sensor information stored in the first partition in the subgroup, the information number corresponding to the sensor information stored in the last partition in the subgroup, the storage pointer corresponding to the first partition and the length of the partition in the subgroup. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the sensor information retrieval. The CAN bus controller can be a computer or an industrial computer.

[0096] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0097] Obtain each sensor information to be stored; arrange each sensor information according to the storage area to be consumed by each sensor information, and identify the corresponding information number of each sensor information according to the arranged sensor information, and cut the storage area of ​​the external memory of the CAN bus controller into multiple sub-groups; for each sensor information, store the sensor information in a partition that is compatible with the storage area to be consumed by the sensor information; for each sub-group, form the identification information of the sub-group and store it according to the information number corresponding to the sensor information stored in the first partition of the sub-group, the information number corresponding to the sensor information stored in the last partition of the sub-group, the storage pointer corresponding to the first partition and the length of the partition in the sub-group, thereby, during the storage of the sensor information, it will first be arranged according to the information length and stored in partitions, and the sub-groups to which the partitions storing the sensor information belong all have corresponding identification information, so that during the subsequent retrieval of the sensor information, the pointer to the partition to which the sensor information belongs can be directly locked according to the identification information, without having to be output or queried according to the sensor information. Compared with the current method of performing analysis and processing on each sensor information before extracting it, the present application can lock the sensor information based on identification information with very little sensor information, thus reducing the time and energy consumption involved in outputting or querying the meta-sensor information, improving the efficiency of outputting or querying the sensor information, and ensuring the overall efficiency of the task execution.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for processing sensor information of an inertial navigation system, characterized in that: include: The sensor group transmits the sensor information of the inertial navigation system to the CAN bus controller for storage and converts the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmits the instructions to the GPS receiving module; The method for the sensor group to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage includes: Step 1, receiving an information storage command, and obtaining each sensor information to be stored according to the information storage command; Step 2, according to the storage area consumed by each sensor information, each sensor information is arranged, and the corresponding information label of each sensor information is identified according to the arranged sensor information, and the storage area of ​​the external memory of the CAN bus controller is divided into multiple sub-groups according to the length of different partitions; Step 3, facing each sensor information, storing the sensor information in a partition that matches the storage area to be consumed by the sensor information; Step 4, facing each sub-group, arrange the partitions in the sub-group according to the storage area consumed by the sensor information stored in each partition in the sub-group, and form and store the identification information of the sub-group based on the information label corresponding to the sensor information stored in the first partition in the sub-group, the information label corresponding to the sensor information stored in the last partition in the sub-group, the storage pointer corresponding to the first partition and the length of the partitions in the sub-group. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the sensor information retrieval.

2. The method for processing sensor information of an inertial navigation system according to claim 1, characterized in that: In step 1, during the storage of sensor information, the CPU of the CAN bus controller receives an information storage command, and obtains each sensor information to be stored transmitted by the sensor group according to the information storage command.

3. The method for processing sensor information of an inertial navigation system according to claim 2, characterized in that: In step 2, for each subgroup, there are multiple partitions with the same length in the subgroup, and the lengths of the partitions in different subgroups are different.

4. The method for processing sensor information of an inertial navigation system according to claim 3, characterized in that: In step 2, after obtaining the sensor information to be stored, the CAN bus controller arranges each sensor information according to the storage area to be consumed by each sensor information, and performs labeling according to the arranged sensor information; The synchronous CAN bus controller performs segmentation on the storage area of ​​the external memory of the CAN bus controller, and divides the storage area of ​​the external memory of the CAN bus controller into multiple sub-groups according to the lengths of different partitions.

5. The method for processing sensor information of an inertial navigation system according to claim 4, characterized in that: The method of arranging each sensor information and performing numbering according to the arranged sensor information includes: the CAN bus controller can arrange the sensor information in order from low to high according to the capacity of the storage area consumed by the sensor information, and perform numbering from zero to one according to the arranged sensor information in order from low to high.

6. The method for processing sensor information of an inertial navigation system according to claim 5, characterized in that: A subgroup has multiple partitions with the same length, while the lengths of partitions in different subgroups are different.

7. The method for processing sensor information of an inertial navigation system according to claim 6, characterized in that: In step 2, before the CAN bus controller performs grouping on the storage area, the CAN bus controller determines whether the storage area consumed by each sensor information is balanced, that is, the difference between the information lengths of each sensor information is within a predefined range. If so, the CAN bus controller does not perform grouping on the storage area, but cuts the storage area into multiple partitions of the same length, and accordingly associates the corresponding information number of the sensor information stored in each partition with the pointer of the partition; If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

8. The method for processing sensor information of an inertial navigation system according to claim 7, characterized in that: The method for determining the partition that is compatible with the storage area to be consumed by the sensor information includes: facing the sensor information b and the partition c, if the length of the storage area remaining in the partition c after the sensor information is stored in the partition c is less than a predefined critical amount, it means that the storage area to be consumed by the sensor information b is compatible with the partition c; Alternatively, if after the sensor information b is stored in partition c, the remaining storage area in c is insufficient to store the remaining sensor information that has not been stored, it means that the storage area consumed by the sensor information b is compatible with partition c.

9. The method for processing sensor information of an inertial navigation system according to claim 8, characterized in that: When the sensor information is output or queried, the desired sensor information is retrieved from the external memory of the CAN bus controller. During this period, the CAN bus controller receives a sensor information retrieval command for the target sensor information to be retrieved, and then identifies the information label corresponding to the target sensor information according to the sensor information retrieval command as the target label. The CAN bus controller identifies the storage pointer corresponding to the destination sensor information according to the destination label and the identification information library, and retrieves the destination sensor information according to the storage pointer corresponding to the destination sensor information, which is specifically as follows: For each subgroup, the CAN bus controller identifies the information number interval of the sensor information stored in the subgroup according to the identification information of the subgroup, and regards it as the corresponding number interval of the subgroup. According to the corresponding number interval of each subgroup, the subgroup to which the target sensor information belongs is identified as the target subgroup. Then, according to the corresponding identification information and target number of the target subgroup, the storage pointer corresponding to the target sensor information is identified. The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the label of the first partition and the label of the last partition, and then calculates the pointer of the partition where the target sensor information to be retrieved is located based on the information label of the target sensor information to be retrieved, the label of the first partition of the subgroup, the partition length, and the pointer of the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

10. A device for processing sensor information of an inertial navigation system, characterized in that: include: The sensor group is connected to the CAN bus controller. The sensor group is used to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage and convert the sensor information of the inertial navigation system into instructions that can be recognized by the GPS receiving module, and then transmit the instructions to the GPS receiving module; The modules running on the CAN bus controller include: A receiving module, which is used to receive an information storage command and obtain each sensor information to be stored according to the information storage command; A cutting module is used to arrange each sensor information according to the storage area to be consumed by each sensor information, and to identify the corresponding information label of each sensor information according to the arranged sensor information, and to cut the storage area of ​​the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions; An adaptor module, which is used to store each sensor information in a partition that is compatible with the storage area to be consumed by the sensor information; An identification module is used to arrange each partition in each sub-group according to the storage area consumed by the sensor information stored in each partition in the sub-group, and to form and store the identification information of the sub-group according to the information label corresponding to the sensor information stored in the first partition in the sub-group, the information label corresponding to the sensor information stored in the last partition in the sub-group, the storage pointer corresponding to the first partition and the length of the partition in the sub-group. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the retrieval of the sensor information.

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