Method and device for processing sensor information of inertial navigation system

Abstract

A method and device for processing sensor information from an inertial navigation system, belonging to the field of sensor information technology, arranges and partitions sensor information according to its length during storage. Each partition storing sensor information has corresponding identification information for the subgroup to which it belongs. This allows the system to directly lock onto the pointer to the partition to which the sensor information belongs when retrieving the sensor information later based on the identification information, eliminating the need to output or query the sensor information based on the sensor information. Compared to current methods that require analyzing and processing each sensor information before retrieving it, this application only requires minimal identification information to lock onto the sensor information. This reduces the time and effort involved in outputting or querying the underlying sensor information, improves the efficiency of outputting or querying sensor information, and ensures efficient and comprehensive execution of tasks.

Description

Technical Field

[0001] The present invention belongs to the field of sensor information technology, and particularly 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 or radiate energy. It operates in environments including air and ground, as well as underwater. The basic operating principle of INS is based on Newtonian mechanics. By measuring the acceleration of a vehicle in an inertial reference frame, integrating it with time, and transforming it into a navigation coordinate system, information such as velocity, yaw angle, and position in that frame can be obtained.

[0003] Currently, the inertial navigation system with patent publication number "CN202229766U" is commonly 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 about the vehicle's steering angle, vehicle speed, and tire speed difference) 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 stored sensor information of the inertial navigation system will often be output (such as being 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 reduce the efficiency of outputting or querying the sensor information of the inertial navigation system. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention proposes a sensor information processing method and device for an inertial navigation system. During storage of sensor information, the information is first arranged and partitioned according to its length. Each partition storing the sensor information has corresponding identification information for the subgroup to which it belongs. Therefore, when the sensor information is subsequently retrieved, the pointer to the partition to which the sensor information belongs can be directly locked based on the identification information, eliminating the need to output or query the sensor information based on the sensor information. Compared to existing methods that require analyzing and processing each piece of sensor information before retrieving it, this application only requires minimal identification information to lock the sensor information. This reduces the time and effort involved in outputting or querying the underlying sensor information, improves the efficiency of outputting or querying the sensor information, and ensures the overall efficiency of task execution.

[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: Receive an information storage command, and obtain the sensor information to be stored according to the information storage command;

[0011] Step 2: Arrange each sensor information according to the storage area it consumes, identify the corresponding information number of each sensor information based on the arranged sensor information, and divide the storage area of the CAN bus controller's external memory into multiple subgroups based on the length of different partitions;

[0012] Step 3: For each piece of sensor information, store the sensor information in a partition that matches the storage area to be consumed by the sensor information;

[0013] Step 4: For each subgroup, arrange the partitions in the subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup. Based on the information label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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 of the subgroup is formed and stored. 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 piece of sensor information to be stored from the sensor group according to the information storage command.

[0015] Preferably, 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.

[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 cuts the storage area of the external memory of the CAN bus controller, and cuts the storage area of the external memory of the CAN bus controller into multiple subgroups according to the lengths of different partitions.

[0018] Preferably, 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 to be 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.

[0019] Preferably, in step 2, before grouping the storage area, the CAN bus controller determines whether the storage area consumed by each sensor information is balanced, that is, whether the difference between the information lengths of each sensor information is within a predefined range. If so, the CAN bus controller does not group the storage area, but divides 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 a pointer to the partition.

[0020] If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

[0021] 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 threshold, it means that the storage area to be consumed by the sensor information b is compatible with the partition c;

[0022] 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, it means that the storage area consumed by the sensor information b is compatible with partition c.

[0023] 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 and uses it as the target label.

[0024] The CAN bus controller identifies the storage pointer corresponding to the target sensor information based on the target number and the identification information library, and retrieves the target sensor information based on the storage pointer corresponding to the target sensor information, which is specifically as follows:

[0025] For each subgroup, the CAN bus controller identifies the information label interval of the sensor information stored in the subgroup based on the identification information of the subgroup, and treats it as the corresponding label interval of the subgroup. Based on the corresponding label interval of each subgroup, the controller identifies the subgroup to which the target sensor information belongs as the target subgroup. Then, based on the identification information and target label of the target subgroup, the controller identifies the storage pointer of the target sensor information.

[0026] The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the first and last partition numbers. It then calculates the pointer to the partition where the target sensor information to be retrieved belongs based on the information number of the target sensor information to be retrieved, the number of the first partition of the subgroup, the partition length, and the pointer to the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

[0027]

[0028] A device for processing sensor information of an inertial navigation system, comprising:

[0029] 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;

[0030] The modules running on the CAN bus controller include:

[0031] 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;

[0032] a cutting module for arranging each sensor information according to the storage area to be consumed by each sensor information, identifying the corresponding information label of each sensor information according to the arranged sensor information, and cutting the storage area of the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions;

[0033] An adaptation module, which is used to store each sensor information in a partition adapted to the storage area to be consumed by the sensor information;

[0034] An identification module is used to arrange the partitions in each subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup, and to form and store the identification information of the subgroup based on the information label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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.

[0035] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0036] Obtain each sensor information to be stored; arrange each sensor information according to the storage area to be consumed by each sensor information, and determine the corresponding information label of each sensor information according to the arranged sensor information, and divide the storage area of the external memory of the CAN bus controller into multiple subgroups; 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 subgroup, form the identification information of the subgroup and store it according to the information label corresponding to the sensor information stored in the first partition of the subgroup, the information label corresponding to the sensor information stored in the last partition of the subgroup, the storage pointer corresponding to the first partition and the length of the partition in the subgroup. Therefore, during the storage of the sensor information, arrangement will be performed first according to the information length and partition storage will be performed. The subgroup to which each 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 be output or queried based on 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 only identification information with very little sensor information, thereby 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

[0037] Figure 1 is a flow chart of a method for processing sensor information of an inertial navigation system according to the present invention;

[0038] 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

[0039] To make the objectives, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely express the technical solutions of the present invention. The embodiments expressed in this invention are only some embodiments of the present invention, not all embodiments. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of this invention.

[0040] like Figure 1 As shown, the method for processing sensor information of an inertial navigation system according to the present invention includes:

[0041] The sensor group transmits the sensor information of the inertial navigation system (the sensor information of the inertial navigation system may include information about the vehicle's steering angle, vehicle speed, and vehicle tire speed difference) 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;

[0042] The method for the sensor group to transmit the sensor information of the inertial navigation system to the CAN bus controller for storage includes:

[0043] Step 1: Receive an information storage command, and obtain the sensor information to be stored according to the information storage command;

[0044] 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. Therefore, the efficiency of outputting or querying the sensor information is very important.

[0045] In a preferred but non-restrictive embodiment 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. The sensor information in each subgroup is stored in the external memory of the CAN bus controller using constant-length partitions.

[0046] During the operation of outputting or querying sensor information, the process used to perform the operation of outputting or querying sensor information forms an arbitrary queue with the label of the information each time and uses the queue to perform 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 this application, the process used to perform the operation of outputting or querying 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.

[0047] 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.

[0048] During the storage of sensor information, the CPU of the CAN bus controller receives an information storage command from the 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.

[0049] Step 2: Arrange each sensor information according to the storage area it consumes, identify the corresponding information number of each sensor information based on the arranged sensor information, and divide the storage area of the CAN bus controller's external memory into multiple subgroups based on the length of different partitions;

[0050] In a preferred but non-limiting embodiment of the present invention, in step 2, facing each subgroup, the subgroup has multiple partitions of the same length, and the lengths of the partitions in different subgroups are different.

[0051] 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 the sensor information according to the storage area to be consumed by each sensor information, and perform labeling based on the arranged sensor information;

[0052] In a preferred but non-limiting embodiment of the present invention, the method of arranging each sensor information and labeling 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 to be consumed by the sensor information, and label the arranged sensor information one by one in order from low to high, that is, the lowest information number of the sensor information is zero.

[0053] The synchronized 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 subgroups according to the length of different partitions.

[0054] 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.

[0055] 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 the partitions, consecutive pointer intervals can be configured for partitions of the same subgroup.

[0056] During the execution of the splitting of the storage area of the external memory of the CAN bus controller, the CAN bus controller can split the external memory disk of the CAN bus controller into a plurality of partitions, each partition corresponding to a subgroup.

[0057] The external memory for the distributed CAN bus controller has multiple storage components. The CAN bus controller can perform grouping according to the storage components, that is, each storage component corresponds to a subgroup.

[0058] In a preferred but non-limiting embodiment of the present invention, in step 2, before grouping the storage area, the CAN bus controller can determine whether the storage area consumed by each sensor information is balanced, that is, whether the difference in information length between each sensor information is within a predefined range. If so, the CAN bus controller does not group the storage area, but instead divides 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 a pointer to the partition.

[0059] If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

[0060] On the other hand, when the storage area is large enough, the CAN bus controller can also cut the storage area into multiple partitions of the same length without judging whether the storage area consumed by each sensor information is balanced. The length of each partition can store the sensor information with the longest length. Based on this, the function of outputting or querying sensor information is improved by using the method of area compensation time.

[0061] 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 be inconsistent.

[0062] Step 3: For each piece of sensor information, store the sensor information in a partition that matches the storage area to be consumed by the sensor information;

[0063] Step 4: For each subgroup, arrange the partitions in the subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup. Based on the information label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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 of the subgroup is formed and stored. The identification information is used to identify the storage pointer of the sensor information to be retrieved during the sensor information retrieval.

[0064] 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.

[0065] In a preferred but non-limiting embodiment of the present invention, a method for determining a partition that is compatible with the storage area to be consumed by sensor information includes: for example, 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 threshold, it means that the storage area to be consumed by sensor information b is compatible with partition c, thereby preventing the consumption of storage area. The pre-defined threshold here can be set according to specific circumstances;

[0066] 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, it means that the storage area consumed by the sensor information b is compatible with partition c.

[0067] Because 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.

[0068] 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.

[0069] 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 based on 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 labels and partition labels correspond one-to-one at this time.

[0070] Just as the sensor information partition number range in subgroup zero is zero to three, and the sensor information partition number range in subgroup one is four to seven, the CAN bus controller can store the sensor information numbered from zero to seven in the partition with the same number according to the corresponding information number of the sensor information.

[0071] 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.

[0072] 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 label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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 sensor information retrieval.

[0073] 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 with label 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.

[0074] The CAN bus controller can then form an identification information library based on the corresponding identification information of each subgroup.

[0075] In a preferred but non-limiting embodiment of the present invention, when sensor information is output or queried, the desired sensor information is often retrieved from the external memory of the CAN bus controller. During this process, 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.

[0076] The CAN bus controller identifies the storage pointer corresponding to the target sensor information based on the target number and the identification information library, and retrieves the target sensor information based on the storage pointer corresponding to the target sensor information, which is specifically as follows:

[0077] Facing each subgroup, the CAN bus controller determines the information label interval of the sensor information stored in the subgroup based on the identification information of the subgroup, and regards it as the corresponding label interval of the subgroup. Based on the corresponding label interval of each subgroup, it determines the subgroup to which the target sensor information belongs, as the target subgroup. Then, based on the corresponding identification information and target label of the target subgroup, it determines the corresponding storage pointer of the target sensor information. Here, facing each subgroup, the CAN bus controller can determine the corresponding label interval of the subgroup based on the corresponding information label of the sensor information stored in the first partition and the corresponding information label of the sensor information stored in the last partition contained in the identification information of the subgroup (that is, the corresponding label of the starting sensor information partition and the corresponding label of the last sensor information partition); the label interval is the range of the label.

[0078] 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.

[0079] The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the first and last partition numbers. It then calculates the pointer to the partition where the target sensor information to be retrieved belongs based on the information number of the target sensor information to be retrieved, the number of the first partition of the subgroup, the partition length, and the pointer to the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

[0080]

[0081] For example, when the sensor information numbered 306 is output or queried, the subgroup identification information library is first searched. The sensor information numbered 306 is in the subgroup numbered 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 retrieve the subsequent target sensor information.

[0082] During the process of retrieving the sensor information stored in the partition, the CAN bus controller can retrieve the target sensor information from the target partition based on the identified storage pointer (partition pointer) and the partition header information.

[0083] Here, the CAN bus controller can retrieve the information of the entire partition once according to the partition pointer, and obtain the target sensor information according to the sample information length in the header information.

[0084] 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).

[0085] 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.

[0086] After obtaining the target sensor information, the CAN bus controller can execute a task based on the target sensor information. Here, if the target sensor information is the desired sensor information, the CAN bus controller can execute a task such as display or averaging based on the retrieved desired sensor information. If the target sensor information is task information corresponding to another task, the CAN bus controller can execute the other task based on the retrieved sensor information.

[0087] 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 consumption in the constant-length storage can be reduced.

[0088] like Figure 2 As shown, the sensor information processing device of an inertial navigation system according to the present invention includes:

[0089] 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 about the vehicle's steering angle, vehicle speed, and tire speed difference) 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;

[0090] The modules running on the CAN bus controller include:

[0091] 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;

[0092] a cutting module for arranging each sensor information according to the storage area to be consumed by each sensor information, identifying the corresponding information label of each sensor information according to the arranged sensor information, and cutting the storage area of the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions;

[0093] An adaptation module, which is used to store each sensor information in a partition adapted to the storage area to be consumed by the sensor information;

[0094] The identification module is configured to arrange the partitions within each subgroup according to the storage area consumed by the sensor information stored in each partition within the subgroup. Based on the information number corresponding to the sensor information stored in the first partition within the subgroup, the information number corresponding to the sensor information stored in the last partition within the subgroup, the storage pointer corresponding to the first partition, and the length of the partitions within the subgroup, the identification information of the subgroup is generated and stored. The identification information is used to identify the storage pointer of the sensor information to be retrieved during sensor information retrieval. The CAN bus controller can be a computer or an industrial computer.

[0095] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0096] Obtain each sensor information to be stored; arrange each sensor information according to the storage area to be consumed by each sensor information, and determine the corresponding information label of each sensor information according to the arranged sensor information, and divide the storage area of the external memory of the CAN bus controller into multiple subgroups; 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 subgroup, form the identification information of the subgroup and store it according to the information label corresponding to the sensor information stored in the first partition of the subgroup, the information label corresponding to the sensor information stored in the last partition of the subgroup, the storage pointer corresponding to the first partition and the length of the partition in the subgroup. Therefore, during the storage of the sensor information, arrangement will be performed according to the information length and partition storage will be performed first. The 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 be output or queried based on 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 only identification information with very little sensor information, thereby 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.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention should be included within 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: Receive an information storage command, and obtain the sensor information to be stored according to the information storage command; Step 2: Arrange each sensor information according to the storage area it consumes, identify the corresponding information number of each sensor information based on the arranged sensor information, and divide the storage area of the CAN bus controller's external memory into multiple subgroups based on the length of different partitions; Step 3: For each piece of sensor information, store the sensor information in a partition that matches the storage area to be consumed by the sensor information; Step 4: For each subgroup, arrange the partitions in the subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup. Based on the information label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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 of the subgroup is formed and stored. 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, wherein: 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 from 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, wherein: 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, wherein: 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 cuts the storage area of the external memory of the CAN bus controller, and cuts the storage area of the external memory of the CAN bus controller into multiple subgroups 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: A method for arranging each piece of sensor information and labeling the arranged sensor information includes: a CAN bus controller can arrange the sensor information in order from low to high according to the capacity of the storage area to be consumed by the sensor information, and label the arranged sensor information one by one 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: In step 2, before grouping the storage area, the CAN bus controller determines whether the storage area consumed by each sensor information is balanced, that is, whether the difference in information length of each sensor information is within a predefined range. If so, the CAN bus controller does not group the storage area, but divides the storage area into multiple partitions of equal length. Based on this, the corresponding information label of the sensor information stored in each partition is associated with the partition pointer; If the storage areas consumed by the various sensor information are unbalanced, the storage areas are then grouped.

7. The method for processing sensor information of an inertial navigation system according to claim 6, characterized in that: The method for determining a partition that is compatible with the storage area to be consumed by the sensor information includes: 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 predefined threshold, it means that the storage area to be consumed by the sensor information b is compatible with 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, it means that the storage area consumed by the sensor information b is compatible with partition c.

8. The method for processing sensor information of an inertial navigation system according to claim 7, characterized in that: When 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, based on the sensor information retrieval command, identifies the information label corresponding to the target sensor information as the target label. The CAN bus controller identifies the storage pointer corresponding to the target sensor information based on the target number and the identification information library, and retrieves the target sensor information based on the storage pointer corresponding to the target sensor information, which is specifically as follows: For each subgroup, the CAN bus controller identifies the information label interval of the sensor information stored in the subgroup based on the identification information of the subgroup, and treats it as the corresponding label interval of the subgroup. Based on the corresponding label interval of each subgroup, the controller identifies the subgroup to which the target sensor information belongs as the target subgroup. Then, based on the identification information and target label of the target subgroup, the controller identifies the storage pointer of the target sensor information. The CAN bus controller identifies the subgroup to which the target sensor information to be retrieved belongs based on the first and last partition numbers. It then calculates the pointer to the partition where the target sensor information to be retrieved belongs based on the information number of the target sensor information to be retrieved, the number of the first partition of the subgroup, the partition length, and the pointer to the first partition of the subgroup. The pointer calculation equation for the target sensor information to be retrieved is:

9. 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 for arranging each sensor information according to the storage area to be consumed by each sensor information, identifying the corresponding information label of each sensor information according to the arranged sensor information, and dividing the storage area of the external memory of the CAN bus controller into multiple subgroups according to the length of different partitions; An adaptation module, which is used to store each sensor information in a partition adapted to the storage area to be consumed by the sensor information; An identification module is used to arrange the partitions in each subgroup according to the storage area consumed by the sensor information stored in each partition in the subgroup, and to form and store the identification information of the subgroup based on the information label corresponding to the sensor information stored in the first partition in the subgroup, the information label 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.

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