Testing method of testing equivalent device of inertial measurement unit and testing equivalent device

Abstract

The invention relates to the technical field of inertial measurement, and discloses a test method of a test equivalent device of an inertial measurement unit and the test equivalent device. A communication interface circuit in the test equivalent device processes test data output by the inertial measurement unit and the fixed aiming system, the processed test data are transmitted to test software in a data packet format, and the data of the inertial measurement unit and the fixed aiming system are calculated and interacted by calling a data processing model. The test equivalent device data acquisition communication interface has universality and expandability, can be widely applied to an inertial measurement system, and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial measurement, and in particular to a test method and a test equivalent of an inertial measurement unit. Background Art

[0002] The inertial measurement unit is an important device in the control system. It is used to measure the apparent velocity increment, angle increment and angular velocity in the three coordinate axis directions in real time, output digital measurement information and system synchronization clock signals at regular intervals, and output status information in digital form. The inertial measurement unit test data has the characteristics of multi-channel and high real-time performance. The existing solution can collect the inertial measurement unit through a single set of data acquisition equipment. The disadvantages are that the product data interface types are inconsistent, the test system occupies a high equipment cost, and it is impossible to simultaneously perform online data interaction between the inertial measurement unit and the fixed aiming system.

[0003] The test equivalent is mainly used for the operation and performance test of the mathematical model and error compensation model of the inertial measurement unit, the supply of power, the collection of data, and the functional simulation of the host computer. The test equivalent integrates the test communication interface of the inertial measurement unit through the communication interface circuit, and can simultaneously collect multi-channel test data of the inertial measurement unit and the fixed aiming system. The test software synchronously performs data analysis and processing, and transmits and interacts data between the inertial measurement unit and the fixed aiming system through the established communication protocol, so as to efficiently realize the collection, storage, and application of test data. However, it is difficult for the current test equivalent to realize data interaction between the two sets of equipment. Summary of the invention

[0004] The invention provides a test method and a test equivalent of an inertial measurement unit to solve the problems existing in the prior art.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] In a first aspect, a method for testing a test equivalent of an inertial measurement unit comprises:

[0007] S1: receiving input information from a user, confirming measurement model parameters in response to the input information, and running test software;

[0008] S2: Initialize the serial port and network port of the test software and create a communication thread for real-time receiving and sending data;

[0009] S3: using a data processing circuit to receive the synchronous clock and performance test data of the inertial measurement unit through a communication interface, synthesizing the collected data into a data packet, and sending it to the test software through an Ethernet interface;

[0010] S4: Use the test software to send commands and collect data from the inertial measurement unit and the fixed-pointing system, and save them in the test equivalent device in the form of files. The test software receives the command frame from the data processing circuit through Ethernet, parses and calculates according to the command frame, and transmits the calculation result of the fixed-pointing system to the inertial measurement unit, or transmits the data of the inertial measurement unit to the fixed-pointing system, and compares and interacts with the data or results to assess and confirm the accuracy of different systems.

[0011] Optionally, the input information includes: one or more of: tester, test location, test time, product code, product number, ambient temperature, ambient humidity, local latitude value and local gravity value.

[0012] Optionally, the S2 includes:

[0013] After the test software is running, a voltage setting instruction is sent to provide working power to the test product, and a query command is sent to the programmable power module; the programmable power module feeds back the voltage and current values ​​to the test software; the voltage and current values ​​queried from the programmable power module are displayed in real time on the power measurement and control interface of the test software.

[0014] Optionally, the communication interface in S3 includes:

[0015] RS485 interface, RS422 interface, 1553B interface or CAN interface.

[0016] Optionally, the test software includes: a user login module, a parameter configuration module, a function test module, a data processing module, an automatic file saving module and a status monitoring module.

[0017] Optionally, the data processing circuit includes:

[0018] Field Programmable Gate Array FPGA, level conversion isolation module, multi-channel differential port, DSP chip, protocol chip, CAN interface chip;

[0019] One end of the level conversion isolation module is connected to one end of the field programmable gate array FPGA, the other end of the level conversion isolation module is connected to the multi-channel differential port, and the other end of the field programmable gate array FPGA is respectively connected to the DSP chip, the protocol chip and the CAN interface chip.

[0020] The present application also provides a test equivalent, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect when executing the computer program.

[0021] Beneficial effects:

[0022] The present application provides a test method for a test equivalent of an inertial measurement unit, in which the test data output by the inertial measurement unit and the fixed-pointing system are processed in the communication interface circuit inside the test equivalent, and after the processing is completed, the test data is transmitted to the test software in a data packet format, and the data of the inertial measurement unit and the fixed-pointing system are calculated and interacted by calling the data processing model. The test equivalent data acquisition communication interface is universal and extensible, can be widely used in inertial measurement systems, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 One of the flow charts of a test method of a test equivalent of an inertial measurement unit according to a preferred embodiment of the present invention;

[0024] Figure 2 Flow chart 1-2 of a method for testing a test equivalent of an inertial measurement unit according to a preferred embodiment of the present invention;

[0025] Figure 3 4 is a structural block diagram of a data processing circuit according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is described clearly and completely below. 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.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The "first level", "second level" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0028] See also Figure 1-Figure 2 The present application provides a method for testing a test equivalent of an inertial measurement unit, the method comprising:

[0029] S1: receiving input information from a user, confirming measurement model parameters in response to the input information, and running test software;

[0030] S2: Initialize the serial port and network port of the test software and create a communication thread for real-time receiving and sending data;

[0031] S3: using a data processing circuit to receive the synchronous clock and performance test data of the inertial measurement unit through a communication interface, synthesizing the collected data into a data packet, and sending it to the test software through an Ethernet interface;

[0032] S4: Use the test software to send commands and collect data from the inertial measurement unit and the fixed-pointing system, and save them in the test equivalent device in the form of files. The test software receives the command frame from the data processing circuit through Ethernet, parses and calculates according to the command frame, and transmits the calculation result of the fixed-pointing system to the inertial measurement unit, or transmits the data of the inertial measurement unit to the fixed-pointing system, and compares and interacts with the data or results to assess and confirm the accuracy of different systems.

[0033] In the above-mentioned test method of the test equivalent of an inertial measurement unit, the test data output by the inertial measurement unit and the fixed-pointing system are processed in the communication interface circuit inside the test equivalent, and after the processing is completed, the test data is transmitted to the test software in the data packet format, and the data of the inertial measurement unit and the fixed-pointing system are calculated and interacted by calling the data processing model. The test equivalent data acquisition communication interface is universal and scalable, can be widely used in inertial measurement systems, and has broad application prospects.

[0034] Below, the steps of the test method of the above-mentioned test equivalent are described in detail with a complete example as follows:

[0035] Step 1: Enter the necessary information on the login interface. The test software will confirm the measurement model parameters based on the user input information, and then enter the software interface. The input information includes but is not limited to the tester, test location, test time, product code, product number, ambient temperature, ambient humidity, local latitude value, local gravity value, etc.

[0036] Step 2: After the test software is running, send a voltage setting instruction to provide working power to the test product, and send a query command to the programmable power supply module; the programmable power supply feeds back the voltage and current values ​​to the test software; the voltage and current values ​​queried from the programmable power supply are displayed in real time on the power measurement and control interface of the test software;

[0037] Step 3: If Figure 3As shown in the figure, the circuit uses a DSP microprocessor, the baseboard FPGA chip can expand the UART to realize RS422 / 485 communication, and the expansion board has 1553B, SDLC, CAN and other protocol chips. The circuit contains the common communication and control interface (synchronous signal interface) for communicating with the inertial navigation system. At the same time, the W5300 Ethernet protocol stack chip is used to realize network communication with the test equivalent computer system. The Ethernet interface of the equivalent is isolated and processed by the Ethernet interface board before output.

[0038] Step 4: The test equivalent device software mainly includes user login, parameter configuration, functional testing, data processing, automatic file saving and status monitoring. The test software completes the data collection and processing of the inertial measurement unit and the fixed aiming system, and has the functions of data collection, storage, analysis and interaction. The test software sends commands and collects data from the inertial measurement unit and the fixed aiming system respectively, and saves them in the form of files in the test equivalent device; 1. The test results and accuracy are calculated through the corresponding mathematical model and error compensation model. According to the pre-agreed protocol, 2. The calculation results of the fixed aiming system are transmitted to the inertial measurement unit through the equivalent device communication interface circuit, or the data of the inertial measurement unit is transmitted to the fixed aiming system, and the data or results are compared, and the accuracy of different systems is evaluated and calculated.

[0039] In summary, in this application, the test software initializes the serial port and network port, designs parameters for the RS232 serial port of the programmable power supply, creates a communication thread to receive and send data in real time, completes the power supply to the inertial measurement unit and monitors the real-time voltage and current data.

[0040] Specifically, the data processing circuit receives the synchronous clock and performance test data of the inertial measurement unit through the RS485 / RS422 / 1553B / CAN communication interface, synthesizes the collected data into a data packet, and sends it to the test software through the Ethernet interface.

[0041] In one example, a data processing circuit includes: a field programmable gate array FPGA, a level conversion isolation module, a multi-channel differential port, a DSP chip, a protocol chip, and a CAN interface chip; one end of the level conversion isolation module is connected to one end of the field programmable gate array FPGA, the other end of the level conversion isolation module is connected to the multi-channel differential port, and the other end of the field programmable gate array FPGA is respectively connected to the DSP chip, the protocol chip, and the CAN interface chip.

[0042] The test software sends commands and collects data from the inertial measurement unit and the fixed-pointing system, and saves them in the test equivalent in the form of files. The test software receives command frames from the data processing circuit through Ethernet, and performs corresponding data analysis on the data in each communication format according to the content of the command word CODE1 (CO); by calling different data processing models, the test results and accuracy of the corresponding unit test / simulation test / parameter download / prism calibration can be calculated; the test software transmits the calculation results of the fixed-pointing system to the inertial measurement unit through a pre-agreed protocol, or transmits the data of the inertial measurement unit to the fixed-pointing system, compares and interacts with the data or results, and assesses and confirms the accuracy of different systems.

[0043] The present application also provides a test equivalent, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program. The test equivalent can implement various embodiments of the test method of the test equivalent of an inertial measurement unit described above, and can achieve the same beneficial effects, which will not be described in detail here.

[0044] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for testing a test equivalent of an inertial measurement unit, characterized in that: The method comprises: S1: receiving input information from a user, confirming measurement model parameters in response to the input information, and running test software; S2: Initialize the serial port and network port of the test software and create a communication thread for real-time receiving and sending data; S3: using a data processing circuit to receive the synchronous clock and performance test data of the inertial measurement unit through a communication interface, synthesizing the collected data into a data packet, and sending it to the test software through an Ethernet interface; S4: Use the test software to send commands and collect data from the inertial measurement unit and the fixed-pointing system, and save them in the test equivalent device in the form of files. The test software receives the command frame from the data processing circuit through Ethernet, parses and calculates according to the command frame, and transmits the calculation result of the fixed-pointing system to the inertial measurement unit, or transmits the data of the inertial measurement unit to the fixed-pointing system, and compares and interacts with the data or results to assess and confirm the accuracy of different systems.

2. The test method of the test equivalent of the inertial measurement unit according to claim 1, characterized in that: The input information includes: one or more of a tester, a test location, a test time, a product code, a product number, an ambient temperature, an ambient humidity, a local latitude value, and a local gravity value.

3. The test method of the test equivalent of the inertial measurement unit according to claim 1, characterized in that: The S2 includes: After the test software is running, a voltage setting instruction is sent to provide working power to the test product, and a query command is sent to the programmable power module; the programmable power module feeds back the voltage and current values ​​to the test software; the voltage and current values ​​queried from the programmable power module are displayed in real time on the power measurement and control interface of the test software.

4. The test method of the test equivalent of the inertial measurement unit according to claim 1, characterized in that: The communication interface in S3 includes: RS485 interface, RS422 interface, 1553B interface or CAN interface.

5. The test method of the test equivalent of the inertial measurement unit according to claim 1, characterized in that: The test software includes: a user login module, a parameter configuration module, a function test module, a data processing module, a file automatic saving module and a status monitoring module.

6. The method for testing a test equivalent of an inertial measurement unit according to claim 1, characterized in that: The data processing circuit comprises: Field Programmable Gate Array FPGA, level conversion isolation module, multi-channel differential port, DSP chip, protocol chip, CAN interface chip; One end of the level conversion isolation module is connected to one end of the field programmable gate array FPGA, the other end of the level conversion isolation module is connected to the multi-channel differential port, and the other end of the field programmable gate array FPGA is respectively connected to the DSP chip, the protocol chip and the CAN interface chip.

7. A test equivalent, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 6 are implemented.

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