Architecture method and control device for multi-sensor combined positioning system control

Abstract

The invention provides a multi-sensor combined positioning system control architecture method and a control device. The control efficiency and reliability of an existing combined positioning system are improved. The method comprises the following steps: establishing a processing task based on a VxWorks operating system according to a parallel processing process, and endowing the processing task with a scheduling priority; establishing a message queue to cache processing data shared among the processing tasks, wherein data updating in the message queue is formed through global variable updating; forwarding of the processing data is formed between the processing tasks through the message queues. And a control architecture aiming at the characteristics of control division, control scheduling and data exchange of the combined positioning system is formed. And the reliability and real-time performance of data acquisition, data processing and data storage and output are ensured. And system function design requirements of combined positioning functions such as multi-sensor data acquisition, combined filtering positioning calculation, data storage, data transmission and the like can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning system control, and in particular to an architecture method and a control device for controlling a multi-sensor combined positioning system. Background Art

[0002] The combined positioning system in the prior art is composed of many sensors such as an inertial group, an altimeter, and an odometer. The control software of the combined positioning system needs to collect sensor information from the inertial group, altimeter, and odometer and perform information fusion calculations according to the combined positioning algorithm, output the final result through Ethernet or other buses, and store the data results. The control process of the software has high reliability and real-time requirements, such as the need to meet the concurrent processing capability of data collection, the real-time processing efficiency of data fusion, the reliability of data forwarding and data interaction between data processing processes, etc.

[0003] The VxWorks operating system is an embedded real-time operating system based on multi-task priority scheduling. It has the characteristics of high reliability and strong real-time performance. Its system architecture can functionally meet the control process design requirements of the combined positioning system. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides an architecture method and a control device for controlling a multi-sensor combined positioning system to improve the control efficiency and reliability of the existing combined positioning system.

[0005] The architecture method of controlling a multi-sensor combined positioning system according to an embodiment of the present invention includes:

[0006] Establish processing tasks based on the VxWorks operating system according to the parallel processing process and assign scheduling priorities to the processing tasks;

[0007] Establish a message queue to cache the processing data shared between processing tasks. The data in the message queue is updated through global variable updates.

[0008] The processing data is forwarded between processing tasks through message queues.

[0009] In one embodiment of the present invention, the process of establishing a processing task based on the VxWorks operating system according to the parallel processing process and assigning a scheduling priority to the processing task includes:

[0010] According to the altimeter data collection process, the altimeter data receiving and processing task is formed;

[0011] According to the odometer data collection process, an odometer pulse receiving and processing task is formed;

[0012] According to the laser inertial group data acquisition process, a laser inertial group data receiving and processing task is formed;

[0013] According to the combined positioning and solving process of the Kalman filter, a Kalman combined positioning and solving processing task is formed;

[0014] Forming data storage processing tasks according to data storage strategies;

[0015] Form a scheduled sending processing task according to the timing strategy;

[0016] The corresponding scheduling priority is determined according to the data communication frequency of each processing task.

[0017] In one embodiment of the present invention, the scheduling priority is set in order of the frequency of data communication, and the priority of high-frequency processing tasks is high.

[0018] In one embodiment of the present invention, the establishment of a message queue to cache the processing data shared between the processing tasks, wherein the data in the message queue is updated by updating a global variable, comprises:

[0019] Form a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task;

[0020] Forming a storage data packet message queue connected to the data storage processing task according to the filtering data packet message queue;

[0021] Each processing task exchanges data with each message queue according to the interaction strategy through the set global variables.

[0022] In one embodiment of the present invention, the forwarding of processing data between processing tasks through message queues includes:

[0023] The Kalman combined positioning solution processing task obtains comprehensive positioning data by filtering the data packet message queue to form and cache the positioning result;

[0024] The storage data packet message queue synchronously obtains the filtered data packet message queue data and the positioning result according to the interaction strategy;

[0025] The data storage processing task performs ordered data storage by storing the packet message queue;

[0026] The scheduled sending processing task obtains the positioning result by storing the data packet message queue and sends it regularly.

[0027] The control device of the multi-sensor combined positioning system according to the embodiment of the present invention comprises:

[0028] A memory, used to store program codes corresponding to the processing process of the architecture method of controlling the multi-sensor combined positioning system;

[0029] A processor is used to execute the program code.

[0030] The control device of the multi-sensor combined positioning system according to the embodiment of the present invention comprises:

[0031] The task planning module is used to establish processing tasks based on the VxWorks operating system according to the parallel processing process and assign scheduling priorities to the processing tasks;

[0032] The interactive control module is used to establish a message queue to cache the processing data shared between the processing tasks. The data update in the message queue is formed by updating the global variables;

[0033] The function implementation module is used to forward processing data between processing tasks through message queues.

[0034] In one embodiment of the present invention, the task planning module includes:

[0035] The elevation acquisition task unit is used to form an elevation meter data receiving and processing task according to the elevation meter data acquisition process;

[0036] A mileage collection task unit is used to form an mileage pulse receiving and processing task according to the mileage data collection process;

[0037] The inertial group data collection task unit is used to form a laser inertial group data receiving and processing task according to the laser inertial group data collection process;

[0038] A positioning and solving task unit is used to form a Kalman combined positioning and solving processing task according to a combined positioning and solving process of a Kalman filter;

[0039] A data storage task unit, used to form a data storage processing task according to a data storage strategy;

[0040] A scheduled sending task unit, used to form a scheduled sending processing task according to a scheduled strategy;

[0041] The priority setting unit is used to determine the corresponding scheduling priority according to the data communication frequency of each processing task.

[0042] In one embodiment of the present invention, the interaction control module includes:

[0043] A first queue control unit is used to form a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task;

[0044] A second queue control unit, used for forming a storage data packet message queue connected to the data storage processing task according to the filtering data packet message queue;

[0045] The data interaction control unit is used for each processing task to interact with each message queue according to the interaction strategy through the set global variables.

[0046] In one embodiment of the present invention, the function implementation module includes:

[0047] Positioning function forming unit, used for Kalman combined positioning solution processing task, obtains comprehensive positioning data by filtering data packet message queue, forms and caches positioning results;

[0048] A data synchronization unit, used for storing a data packet message queue and synchronously acquiring filtered data packet message queue data and positioning results according to an interaction strategy;

[0049] A storage function trip unit is used for data storage processing tasks to store data packets and message queues in an orderly manner;

[0050] The timing function trip unit is used for timing sending processing tasks and obtaining positioning results through the storage data packet message queue for timing sending.

[0051] The architecture method and control device of the multi-sensor combined positioning system control of the embodiment of the present invention fully utilize the multi-task priority scheduling mechanism of the VxWorks operating system to form a control architecture for the control division, control scheduling and data exchange characteristics of the combined positioning system. The reliability and real-time performance of data acquisition, data processing, data storage and output are guaranteed. The system functional design requirements of combined positioning functions such as multi-sensor data acquisition, combined filtering positioning solution, data storage, and data transmission can be met. Other positioning systems with similar compositions can refer to the function tailoring or add functional modules to achieve control requirements, which has technical versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 FIG. 1 is a flow chart of a method for controlling a multi-sensor combined positioning system according to an embodiment of the present invention.

[0053] Figure 2 The figure is a schematic diagram of the data flow of the combined positioning process formed by the architecture method of controlling the multi-sensor combined positioning system according to an embodiment of the present invention.

[0054] Figure 3 FIG. 1 is a schematic diagram of the architecture of a control device of a multi-sensor combined positioning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The architecture method of controlling a multi-sensor combined positioning system according to an embodiment of the present invention is as follows Figure 1 This embodiment includes:

[0057] Step 100: Establish a processing task based on the VxWorks operating system according to the parallel processing process, and assign a scheduling priority to the processing task.

[0058] Those skilled in the art can understand that a task is an activity performed by an operating system, which includes a program and data related to the program, program status, computer resources, etc. By utilizing the system resources provided by the VxWorks operating system, such as computing power, data types, scheduling status, read-write pipelines, and message mechanisms, targeted processing tasks are formed and corresponding scheduling priorities are identified according to the control requirements of the multi-sensor combined positioning system, so that the VxWorks operating system can perform balanced scheduling of task processing real-time and reliability.

[0059] Step 200: Establish a message queue to cache the processing data shared between processing tasks, and the data update in the message queue is formed by updating the global variables.

[0060] By using the mechanism that data in the message queue can be shared between tasks, a private discrete-time intermediate processing data or result output data sharing method is formed. Using global variables to update data can ensure that data entering the message queue can ensure the reliability and effectiveness of the system.

[0061] Step 300: Forwarding of processing data between processing tasks through message queues.

[0062] The processing task forms data exchange through the determined data reading and writing strategy using the message queue as the data exchange node. The data exchange methods include but are not limited to data extraction, data aggregation, data redirection, data distribution, data timing and data triggering.

[0063] The architecture method of controlling the multi-sensor combined positioning system of the embodiment of the present invention makes full use of the multi-task priority scheduling mechanism of the VxWorks operating system to form a control architecture for the control division, control scheduling and data exchange characteristics of the combined positioning system. The reliability and real-time performance of data acquisition, data processing, data storage and output are guaranteed. The system functional design requirements of combined positioning functions such as multi-sensor data acquisition, combined filtering positioning solution, data storage, and data transmission can be met. Other positioning systems with similar compositions can refer to the function tailoring or add functional modules to achieve control requirements, which has technical versatility.

[0064] like Figure 1As shown, in one embodiment of the present invention, step 100 includes:

[0065] Step 110: forming an altimeter data receiving and processing task according to the altimeter data collection process.

[0066] The processing tasks are formed according to the mature altimeter data acquisition process logic combined with the adaptation resources system resources provided by the VxWorks operating system.

[0067] Step 120: An odometer pulse receiving and processing task is formed according to the odometer data collection process.

[0068] The processing tasks are formed according to the mature odometer data collection process logic combined with the adaptation resources and system resources provided by the VxWorks operating system.

[0069] Step 130: forming a laser inertial group data receiving and processing task according to the laser inertial group data acquisition process.

[0070] The processing tasks are formed according to the mature laser inertial group data acquisition process logic combined with the adaptation resources and system resources provided by the VxWorks operating system.

[0071] Step 140: A Kalman combined positioning and solving processing task is formed according to the combined positioning and solving process of the Kalman filter.

[0072] The processing task is formed based on the mature positioning data filtering and solving algorithm combined with the adaptation resources and system resources provided by the VxWorks operating system.

[0073] Step 150: Form a data storage processing task according to the data storage strategy.

[0074] The data storage format and data storage cycle formed according to the timing and matching requirements are combined with the adaptation resources system resources provided by the VxWorks operating system to form processing tasks

[0075] Step 160: Form a scheduled sending processing task according to the timing strategy.

[0076] According to the needs of the host computer and the timeliness of the positioning data filtering and solution, the timing data is formed and the processing tasks are formed by combining the adaptation resources and system resources provided by the VxWorks operating system.

[0077] Step 170: Determine the corresponding scheduling priority according to the data communication frequency of each processing task.

[0078] In one embodiment of the present invention, the data communication frequency of the inertial group (which can be understood as the sampling frequency) is usually 100Hz, the data communication frequency of the altimeter is usually 10Hz, and the data acquisition frequency of the odometer is usually 100Hz, and all of them are asynchronous communications. The combined positioning solution algorithm of the Kalman filter is time-consuming, and generally the real-time requirements for the Kalman filter are not high, and the filtering period is usually 1s. Data storage involves disk writing operations, which is time-consuming and random. The filtering results are sent regularly through the bus, and the sending period is generally 1s. The scheduling priority is set in the order of data communication frequency, and high-frequency processing tasks have a high priority.

[0079] The architecture method of the multi-sensor combined positioning system control of the embodiment of the present invention utilizes the task division of the VxWorks operating system to functionally decouple the control process of the multi-sensor combined positioning, thereby promoting modularization of the control process. This allows the functional control of the multi-sensor combined positioning to be flexibly combined according to the changes in the composition of the system sensors, thereby meeting the specific requirements of each control process for reliability and real-time performance.

[0080] like Figure 1 As shown, in one embodiment of the present invention, step 200 includes:

[0081] Step 210: forming a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task.

[0082] By filtering the data packet message queue, the data of each sensor after processing is shared with the Kalman combination positioning and solving processing task, and a universal storage container for shared data caching and updates is formed.

[0083] Step 220: forming a storage data packet message queue connected to the data storage processing task according to the filtered data packet message queue.

[0084] Based on the data of the general storage container, a synchronous data source applied to data storage and processing tasks is formed according to data filtering rules and stored in the storage data packet message queue to maintain data synchronization with the Kalman combined positioning solution process for timely data storage.

[0085] Step 230: Each processing task exchanges data with each message queue according to the interaction strategy through the set global variables.

[0086] Use global variables to limit the data interaction properties between each processing task and the corresponding message queue to maintain the compliance and consistency of the exchanged data. Use interaction strategies to form data cache in the message queue and interaction between processing tasks. Interaction strategies include but are not limited to interaction rules such as data flow, data sorting, data forwarding, and data response.

[0087] The architecture method of the multi-sensor combined positioning system control of the embodiment of the present invention forms a control mechanism for task and data interaction through a message queue. Flexible message queue configuration is used to form effective coupling between control functions. The data control of the multi-sensor combined positioning can be flexibly combined according to the composition changes of the system sensors, meeting the specific requirements of each control process for reliability and real-time performance.

[0088] like Figure 1 As shown, in one embodiment of the present invention, step 300 includes:

[0089] Step 310: The Kalman combined positioning solution processing task obtains comprehensive positioning data by filtering the data packet message queue to form and cache the positioning result.

[0090] Step 320: The data packet message queue is stored and synchronously obtains the filtered data packet message queue data and the positioning result according to the interaction strategy.

[0091] Step 330: The data storage processing task performs orderly data storage by storing the data packet message queue.

[0092] Step 340: The scheduled sending processing task obtains the positioning result by filtering the data packet message queue data and sends it on a scheduled basis.

[0093] The architecture method for controlling the multi-sensor combined positioning system of the embodiment of the present invention ensures the reliability and feasibility of the system positioning function through the control process formed by the task mechanism and message mechanism of the VxWorks operating system.

[0094] A control device for controlling a multi-sensor combined positioning system according to an embodiment of the present invention includes:

[0095] A memory, used to store program codes corresponding to the processing process of the architecture method for controlling the multi-sensor combined positioning system in the above-mentioned embodiment;

[0096] The processor is used to execute the program code corresponding to the processing process of the architecture method of controlling the multi-sensor combined positioning system in the above embodiment.

[0097] The processor may be a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0098] The control device of the multi-sensor combined positioning system according to an embodiment of the present invention is as follows Figure 3 As shown. Figure 3 In this embodiment, the present invention comprises:

[0099] The task planning module 10 is used to establish a processing task based on the VxWorks operating system according to the parallel processing process and assign a scheduling priority to the processing task;

[0100] Interaction control module 20, used to establish a message queue to cache the processing data shared between processing tasks, and the data update in the message queue is formed by updating the global variables;

[0101] The function implementation module 30 is used to forward the processing data between processing tasks through the message queue.

[0102] like Figure 3 As shown, in one embodiment of the present invention, the task planning module 10 includes:

[0103] The elevation acquisition task unit 11 is used to form an elevation meter data receiving and processing task according to the elevation meter data acquisition process;

[0104] The mileage collection task unit 12 is used to form an mileage pulse receiving and processing task according to the mileage data collection process;

[0105] The inertial group data collection task unit 13 is used to form a laser inertial group data receiving and processing task according to the laser inertial group data collection process;

[0106] A positioning and solving task unit 14 is used to form a Kalman combined positioning and solving processing task according to a combined positioning and solving process of a Kalman filter;

[0107] A data storage task unit 15, used to form a data storage processing task according to a data storage strategy;

[0108] A timed sending task unit 16, used to form a timed sending processing task according to a timed strategy;

[0109] The priority setting unit 17 is used to determine the corresponding scheduling priority according to the data communication frequency of each processing task.

[0110] like Figure 3 As shown, in one embodiment of the present invention, the interaction control module 20 includes:

[0111] A first queue control unit 21 is used to form a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task;

[0112] A second queue control unit 22, configured to form a storage data packet message queue connected to the data storage processing task according to the filtering data packet message queue;

[0113] The data interaction control unit 23 is used for each processing task to interact with each message queue according to the interaction strategy through the set global variables.

[0114] like Figure 3 As shown, in one embodiment of the present invention, the function implementation module 30 includes:

[0115] Positioning function forming unit 31, used for Kalman combined positioning solution processing task to obtain comprehensive positioning data by filtering data packet message queue to form and cache positioning results;

[0116] A data synchronization unit 32, used for storing a data packet message queue and synchronously acquiring filtered data packet message queue data and positioning results according to an interaction strategy;

[0117] The storage function process unit 33 is used for data storage processing tasks to store data packets and orderly store data in a message queue;

[0118] The timing function trip unit 34 is used for the timing sending processing task to obtain the positioning result by filtering the data packet message queue data and send it regularly.

[0119] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A multi-sensor combined positioning system control architecture method, characterized in that: include: Establish processing tasks based on the VxWorks operating system according to the parallel processing process and assign scheduling priorities to the processing tasks; Establish a message queue to cache the processing data shared between processing tasks. The data in the message queue is updated through global variable updates. The processing data is forwarded between processing tasks through message queues.

2. The architecture method for controlling a multi-sensor combined positioning system according to claim 1, characterized in that: The process of establishing a processing task based on the VxWorks operating system according to the parallel processing process and assigning a scheduling priority to the processing task includes: According to the altimeter data collection process, the altimeter data receiving and processing task is formed; According to the odometer data collection process, an odometer pulse receiving and processing task is formed; According to the laser inertial group data acquisition process, a laser inertial group data receiving and processing task is formed; According to the combined positioning and solving process of the Kalman filter, a Kalman combined positioning and solving processing task is formed; Forming data storage processing tasks according to data storage strategies; Form a scheduled sending processing task according to the timing strategy; The corresponding scheduling priority is determined according to the data communication frequency of each processing task.

3. The architecture method for controlling a multi-sensor combined positioning system according to claim 2, characterized in that: The scheduling priority is set in the order of high and low data communication frequencies, and high-frequency processing tasks have a higher priority.

4. The architecture method for controlling a multi-sensor combined positioning system according to claim 2, characterized in that: The establishment of a message queue to cache the processing data shared between the processing tasks, wherein the data in the message queue is updated by updating the global variables, comprises: Form a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task; Forming a storage data packet message queue connected to the data storage processing task according to the filtering data packet message queue; Each processing task exchanges data with each message queue according to the interaction strategy through the set global variables.

5. The architecture method for controlling a multi-sensor combined positioning system according to claim 4, characterized in that: The forwarding of processing data between the processing tasks through the message queue includes: The Kalman combined positioning solution processing task obtains comprehensive positioning data by filtering the data packet message queue to form and cache the positioning result; The storage data packet message queue synchronously obtains the filtered data packet message queue data and the positioning result according to the interaction strategy; The data storage processing task performs ordered data storage by storing the packet message queue; The scheduled sending processing task obtains the positioning result by storing the data packet message queue and sends it regularly.

6. A control device for controlling a multi-sensor combined positioning system, characterized in that: include: A memory, used to store program codes corresponding to the processing process of the architecture method for controlling the multi-sensor combined positioning system according to any one of claims 1 to 5; A processor is used to execute the program code.

7. A control device for controlling a multi-sensor combined positioning system, characterized in that: include: The task planning module is used to establish processing tasks based on the VxWorks operating system according to the parallel processing process and assign scheduling priorities to the processing tasks; The interactive control module is used to establish a message queue to cache the processing data shared between the processing tasks. The data update in the message queue is formed by updating the global variables; The function implementation module is used to forward processing data between processing tasks through message queues.

8. The control device for controlling a multi-sensor combined positioning system as claimed in claim 7, characterized in that: The mission planning module includes: The elevation acquisition task unit is used to form an elevation meter data receiving and processing task according to the elevation meter data acquisition process; A mileage collection task unit is used to form an mileage pulse receiving and processing task according to the mileage data collection process; The inertial group data collection task unit is used to form a laser inertial group data receiving and processing task according to the laser inertial group data collection process; A positioning and solving task unit is used to form a Kalman combined positioning and solving processing task according to a combined positioning and solving process of a Kalman filter; A data storage task unit, used to form a data storage processing task according to a data storage strategy; A scheduled sending task unit, used to form a scheduled sending processing task according to a scheduled strategy; The priority setting unit is used to determine the corresponding scheduling priority according to the data communication frequency of each processing task.

9. The control device for controlling a multi-sensor combined positioning system according to claim 8, characterized in that: The interactive control module comprises: A first queue control unit is used to form a filtering data packet message queue connecting each receiving processing task with the Kalman combined positioning solution processing task; A second queue control unit is used to form a storage data packet message queue connected to the data storage processing task according to the filtering data packet message queue; The data interaction control unit is used for each processing task to interact with each message queue according to the interaction strategy through the set global variables.

10. The control device for controlling a multi-sensor combined positioning system according to claim 9, characterized in that: The function implementation module includes: Positioning function forming unit, used for Kalman combined positioning solution processing task, obtains comprehensive positioning data by filtering data packet message queue, forms and caches positioning results; A data synchronization unit, used to store the data packet message queue and synchronously obtain the filtered data packet message queue data and positioning results according to the interaction strategy; A storage function trip unit is used for data storage processing tasks to store data packets and message queues in an orderly manner; The timing function trip unit is used for timing sending processing tasks and obtaining positioning results through the storage data packet message queue for timing sending.

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