RS422-based data communication system, computing device and task processor

Abstract

The invention discloses an RS422-based data communication system, computing equipment and a task processor, and relates to the technical field of aviation computers, and the system comprises a sending module which obtains first flight control information from a first flight control module, carries out the data frame verification of the first flight control information, judges whether the first flight control information is valid or not, and sends the valid first flight control information to a second flight control module; if the first flight control information of the first flight control module is valid, storing the first flight control information of the first flight control module; if the first flight control information of the first flight control module is invalid, acquiring the first flight control information from the second flight control module, performing data frame verification on the first flight control information of the second flight control module, judging whether the first flight control information of the second flight control module is valid or not, and if the first flight control information of the second flight control module is valid, performing data frame verification on the first flight control information of the second flight control module; and if yes, storing the first flight control information of the second flight control module. Compared with other buses, the cost is lower, and reliable communication is guaranteed through a hardware main-standby redundancy transmission mode and a software framing verification algorithm.

Description

Technical Field

[0001] The present application relates to the field of aviation computer technology, and in particular to a data communication system, computing equipment and task processor based on RS422. Background Art

[0002] The full name of the RS-422 standard is "Electrical Characteristics of Balanced Voltage Digital Interface Circuits", and it specifies in detail the characteristics of the interface circuit. A typical RS-422 interface uses a four-wire system, supports full-duplex communication, and uses differential transmission. Therefore, it has high reliability and multi-point communication capabilities, and can achieve a high transmission rate.

[0003] There is an existing RS422 serial communication circuit system, which adopts redundant design in hardware, and improves the reliability of data information by setting up backup circuits to transmit information; and adopts multiple different types of interfaces to transmit data information to ensure the accuracy of data transmission. However, there is currently a lack of corresponding inspection measures to improve the reliability of data transmission. Summary of the invention

[0004] The present application provides a data communication system, computing equipment and task processor based on RS422, which can improve the reliability of data transmission through mechanisms such as data sequence number and data communication through hardware interface master-slave redundant design, interface circuit electronic isolation design, and data verification at the software level.

[0005] In order to achieve the above purpose, this application adopts the following technical solutions: In a first aspect, the present application provides a data communication system based on RS422, the system comprising: a sending module, a first flight control module and a second flight control module; The first flight control module is used to collect first flight control information, where the first flight control information includes first flight control data and first verification data, wherein the first flight control module is a main flight control module; The second flight control module is used to collect the first flight control information, where the first flight control information includes the first flight control data and the first verification data, wherein the second flight control module is a standby flight control module; The sending module is used to obtain the first flight control information from the first flight control module, perform data frame verification on the first flight control data, obtain first target verification data, determine whether the first target verification data and the first verification data have the same value, and obtain a first judgment result. If the first judgment result indicates that the first target verification data and the first verification data have the same value, it is determined that the first flight control information of the first flight control module is valid, and the first flight control information of the first flight control module is stored; If the first judgment result indicates that the first target verification data and the second verification data have different values, the first flight control information is obtained from the second flight control module, and a data frame check is performed on the first flight control data of the second flight control module to obtain the second target verification data, and it is determined whether the second target verification data and the first verification data have the same value to obtain a second judgment result. If the second judgment result indicates that the second target verification data and the first verification data have the same value, it is determined that the first flight control information of the second flight control module is valid, and the first flight control information of the second flight control module is stored. In some possible implementations, the sending module is specifically used to determine whether a frame header is received. If a frame header is received, determine whether the frame length of the first flight control information is within the length interval. If the frame length of the first flight control information is within the length interval, find the frame sequence number of the first flight control information, store the frame sequence number of the first flight control information, receive the first flight control data according to the frame length of the first flight control information, calculate the first target verification data according to the first flight control data, determine whether the first target verification data is the same as the first verification data, and if the first target verification data is the same as the first verification data, generate a first valid flag and store the first flight control information and the first valid flag. In some possible implementations, the sending module is specifically used to select the first flight control information of the first flight control module when the first flight control information of both the first flight control module and the second flight control module are valid; if the communication between the first flight control module and the sending module is interrupted, the first flight control information with the same frame number is obtained from the second flight control module according to the frame number of the first flight control information. In some possible implementations, the calculating and obtaining first target verification data according to the first flight control data includes:

[0006] Among them, Y is the first target verification data, and x is the first flight control data.

[0007] In some possible implementations, the first flight control module is further used to receive the third data information sent by the sending module, and perform a data frame check on the third data information to determine whether the third data information is valid, and if the third data information is valid, adopt the third data information; If the third data information is invalid, the third data information is discarded.

[0008] In some possible implementations, the system further includes a first inertial navigation module and a second inertial navigation module; The first inertial navigation module is used to collect second inertial navigation information and send the second inertial navigation information to the sending module, and the first inertial navigation module is a main inertial navigation module; The second inertial navigation module is used to collect second inertial navigation information, and when the second inertial navigation information of the first inertial navigation module fails, send the second inertial navigation information to the sending module. The second inertial navigation module is a standby inertial navigation module.

[0009] In some possible implementations, the sending module is further used to perform a data frame check on the second inertial navigation information of the first inertial navigation module to determine whether the second inertial navigation information of the first inertial navigation module is valid; if the second inertial navigation information of the first inertial navigation module is valid, the second inertial navigation information of the first inertial navigation module is stored.

[0010] In some possible implementations, the sending module is further configured to obtain the second inertial navigation information of the second inertial navigation module if the second inertial navigation information of the first inertial navigation module is invalid.

[0011] In a second aspect, the present application provides a computing device, wherein the computing device comprises the system described in any one of the first aspects.

[0012] In a third aspect, the present application provides a task processor, wherein the task processor comprises the system described in any one of the first aspects.

[0013] It can be seen from the above technical solution that the present application has at least the following beneficial effects: In the present application, the sending module obtains the first flight control information from the first flight control module, performs a data frame check on the first flight control information, calculates the first target verification data according to the first flight control data, determines whether the values ​​of the first target verification data and the first verification data are the same, and obtains whether the first flight control information is valid. If the first flight control information of the first flight control module is valid, the first flight control information of the first flight control module is stored; if the first flight control information of the first flight control module is invalid, the first flight control information is obtained from the second flight control module, and the data frame check is performed on the first flight control information of the second flight control module. The second target verification data is calculated according to the first flight control data, and the second target verification data is determined. The values ​​of the second target verification data and the first verification data are the same, and the first flight control information is obtained. If the first flight control information of the second flight control module is valid, the first flight control information of the second flight control module is stored. The first flight control module can also obtain the third data information from the sending module, and verify the third data information, store the valid third data information, and discard the invalid third data information. In the traditional solution, redundant design is adopted in hardware, and the reliability of data information is improved by setting up backup circuits to transmit information. In addition, multiple different types of interfaces are adopted to transmit data information to ensure the accuracy of data transmission. However, there is currently a lack of corresponding inspection measures to improve the reliability of data transmission. It can be seen that this application has a lower cost than other buses, and ensures reliable communication through hardware master-slave redundant transmission mode and software framing and verification algorithm.

[0014] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one embodiment. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be realized without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in a specific embodiment that does not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a data communication system based on RS422 provided in an embodiment of the present application; Figure 2 A schematic diagram of a data frame format provided in an embodiment of the present application; Figure 3 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The terms "first", "second", "third", etc. in the specification of this application and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0017] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0018] At present, redundant design is adopted in hardware, and backup circuits are set up to transmit information to improve the reliability of data information. Multiple different types of interfaces are used to transmit data information to ensure the accuracy of data transmission. However, there is currently a lack of corresponding inspection measures to improve the reliability of data transmission.

[0019] In view of this, the embodiment of the present application provides a data communication system based on RS422, in which the sending module obtains the first flight control information from the first flight control module, performs a data frame check on the first flight control information, calculates the first target check data according to the first flight control data, determines whether the values ​​of the first target check data and the first check data are the same, and obtains whether the first flight control information is valid. If the first flight control information of the first flight control module is valid, the first flight control information of the first flight control module is stored; if the first flight control information of the first flight control module is invalid, the first flight control information is obtained from the second flight control module, the data frame check is performed on the first flight control information of the second flight control module, the second target check data is calculated according to the first flight control data, and the values ​​of the second target check data and the first check data are determined to be the same, and the first flight control information is obtained. If the first flight control information of the second flight control module is valid, the first flight control information of the second flight control module is stored. The first flight control module can also obtain the third data information from the sending module, and verify the third data information, store the valid third data information, and discard the invalid third data information. It can be seen that the present application has a lower cost than other buses because the system ensures reliable communication through hardware active-standby redundant transmission mode and software data sequence number and verification algorithm. In order to make the technical solution of the present application clearer and easier to understand, the following describes a data communication system based on RS422 provided by an embodiment of the present application in conjunction with the accompanying drawings. Figure 1 As shown, this figure is a schematic diagram of a data communication system based on RS422 provided in an embodiment of the present application.

[0020] In the embodiment of the present application, there are multiple mature interfaces for inter-device communication. According to the comprehensive considerations of communication rate, transmission distance, interface complexity, software protocol complexity, system cost, etc., in some scenes where the data communication rate is not high, the cost is low and the reliability is high, differential transmission can effectively prevent common mode interference, and has a smaller level and a farther transmission distance. Among them, the RS422 interface circuit design adopts a universal asynchronous serial interface (UART), and the extended physical layer (PHY) chip can build a mature interface circuit. Therefore, the RS422 interface circuit module is used in the embodiment of the present application to perform the following operations.

[0021] The system includes: a sending module 101 , a first flight control module 105 , a second flight control module 106 , a first inertial navigation module 107 and a second inertial navigation module 108 .

[0022] The first flight control module 105 is used to collect first flight control information, where the first flight control information includes first flight control data and first verification data, and the first flight control module is a main flight control module.

[0023] The second flight control module 106 is used to collect first flight control information, where the first flight control information includes first flight control data and first verification data, wherein the second flight control module is a standby flight control module.

[0024] In the embodiment of the present application, when the communication is normal, the sending module 101 communicates with the first flight control module 105. If the signal between the sending module 101 and the first flight control module 105 is interrupted, the sending module 101 selects the second flight control module 106 for communication.

[0025] The sending module 101 further includes a CPU module 102 , an FPGA module 103 and an RS422 interface circuit module 104 .

[0026] The CPU module 102 is used to complete the CPU small system startup and LocalBus read and write timing, and complete the communication with peripheral devices. The CPU small system includes CPU, DDR, FPGA, FLASH memory, watchdog circuit, external expansion and upgrade debugging interface, such as Ethernet and RS232. The CPU module 102 and the FPGA module 103 communicate through the parallel bus, and the CPU module 102 completes the access to the address space of the FPGA module 103 through the parallel bus. To ensure the validity of the parallel bus data transmission, during the power-on self-test, the CPU module 102 writes 0xaa55 to the offset address 0x0001 of the FPGA module 103. When the CPU module 102 reads, the FPGA module 103 performs the inversion logic operation. When the CPU module 102 reads 0x55aa, it considers that the parallel bus is valid.

[0027] The FPGA module 103 is used to realize parallel bus communication with the CPU module 102 upwards, and to expand the multi-channel UART interface downwards to realize communication with the first flight control module 105, the second flight control module 106, the first inertial navigation module 107 and the second inertial navigation module 108. The FPGA module 103 logic internally realizes multiple functions, including realizing parallel bus read and write timing, realizing DPRAM storage of received or sent data frames, realizing multi-channel UART interface and UART baud rate software configuration. The FPGA module 103 internally sets the data length of UART communication, whether there is a check bit, baud rate selection, data frame check and other functions.

[0028] The RS422 interface circuit module 104 is composed of an isolated power supply and a photocoupler to complete the electrical isolation of the communication interface. Since long-line transmission is prone to coupling interference signals, how to effectively reduce the interference of interference signals to the system is crucial. In this application, all power supplies, signals, and ground planes are isolated and designed to prevent interference signals from entering. The specific implementation includes: the digital ground of the CPU subsystem and the protection ground of the RS422 interface use different ground planes, and magnetic beads are used to cross-connect the ground between the two grounds; the CPU digital circuit power supply and the RS422 interface circuit module 104 use an isolated power supply. The present invention uses an isolated DC / DC power supply module to ensure that interference signals will not crosstalk into the CPU module 102 through the power supply signal; the UART transceiver bus is isolated by an optical coupler, and the sending part converts the electrical signal into an optical signal through an optical coupler, and the receiving circuit of the optical coupler converts the optical signal into an electrical signal and sends it out.

[0029] The following is the specific operation of the sending module 101 composed of the CPU module 102, the FPGA module 103 and the RS422 interface circuit module 104.

[0030] The sending module 101 is used to obtain the first flight control information from the first flight control module 105, perform data frame verification on the first flight control data, obtain first target verification data, determine whether the first target verification data and the first verification data have the same value, and obtain a first judgment result. If the first judgment result indicates that the first target verification data and the first verification data have the same value, it is determined that the first flight control information of the first flight control module 105 is valid, and the first flight control information of the first flight control module 105 is stored; If the first judgment result indicates that the values ​​of the first target verification data and the second verification data are different, the first flight control information is obtained from the second flight control module 106, and a data frame check is performed on the first flight control data of the second flight control module 106 to obtain the second target verification data, and it is determined whether the values ​​of the second target verification data and the first verification data are the same to obtain a second judgment result. If the second judgment result indicates that the values ​​of the second target verification data and the first verification data are the same, it is determined that the first flight control information of the second flight control module 106 is valid, and the first flight control information of the second flight control module 106 is stored.

[0031] In the embodiment of the present application, data frame checking is introduced in detail.

[0032] The data frame of the first flight control information includes a frame header, a frame length, a frame sequence number, the first flight control data and the first verification data. The data frame format is as follows: Figure 2 As shown, this figure is a schematic diagram of a data frame format provided by an embodiment of the present application. The frame header is the first byte used by both parties of data communication for data communication. In this application, 0x574d4d57 is used as the frame header of the data frame; the frame length is the byte length from the frame length to the first check data; the frame sequence number is calibrated by the sender to indicate the sequence number of the current data frame, and the first flight control information data content with the same frame sequence number in the first flight control module 105 and the second flight control module 106 is the same; the first flight control data is the data information to be sent by the first flight control module 105 and the second flight control module 106 to the sending module 101; the first check data is a CRC16 field, which is calculated in the first flight control module 105 and the second flight control module 106 according to the first flight control data, and is used to determine whether the values ​​of the first target check data and the second target check data calculated according to the first flight control information are the same as the first check data when the sending module 101 performs data frame check on the first flight control information. Whether the first flight control information is valid.

[0033] Similarly, the data frame of the second inertial navigation information includes a frame header, a frame length, a frame sequence number, the second inertial navigation data, and the second check data. The frame sequence number is calibrated by the first inertial navigation module 107 and the second inertial navigation module 108, and is used to indicate the sequence number of the current data frame. The second inertial navigation information with the same frame sequence number in the first inertial navigation module 107 and the second inertial navigation module 108 has the same data content; the second inertial navigation data is the data information to be sent by the first inertial navigation module 107 and the second inertial navigation module 108 to the sending module 101; the second check data is a CRC16 field, which is calculated in the first inertial navigation module 107 and the second inertial navigation module 108 according to the second inertial navigation data, and is used to determine whether the values ​​of the third target check data and the fourth target check data calculated according to the second inertial navigation information are the same as the second check data when the sending module 101 performs data frame check on the second inertial navigation information. Whether the second inertial navigation information is valid.

[0034] Since the steps of data frame verification are the same, the detailed steps of the sending module 101 performing data frame verification on the first flight control information are selected below.

[0035] The sending module 101 first determines whether a frame header is received. If a frame header is received, it determines whether the frame length of the first flight control information is within the length interval. The length interval is (8, 256). In the present application, the frame length is 8 bytes at the shortest and 256 bytes at the longest. If the frame length of the first flight control information is within the length interval, the frame sequence number of the first flight control information is searched, the frame sequence number of the first flight control information is stored, and the first flight control data is received according to the frame length of the first flight control information. The first target verification data is calculated according to the first flight control data. The calculation formula is as follows:

[0036] Among them, Y is the first target verification data, and x is the first flight control data.

[0037] The present invention uses CRC16 to check the data frame. The CRC16 check field represents that the transmitter and receiver use the prescribed formula to perform calculation and solution, so as to determine whether the data frame is valid. The present invention uses FPGA hardware to implement CRC16 calculation, and only one clock cycle is needed to calculate the 16-bit data result. The initial value is set to 0x0000. Compared with the software table lookup method or sequential calculation, the hardware method has the advantage of fast calculation speed and can calculate multiple CRC16 in parallel.

[0038] Next, it is determined whether the first target verification data is the same as the first verification data. If the first target verification data is the same as the first verification data, a first valid flag is generated, and the first flight control information and the first valid flag are stored in the DPRAM; if the first target verification data is not the same as the first verification data, the sending module 101 will select the second flight control module 106, obtain the first flight control information from the second flight control module 106, perform data frame verification, and store the valid first flight control information in the DPRAM.

[0039] If the communication between the first flight control module 105 and the sending module 101 is interrupted during the data frame verification process, the first flight control information with the same frame number is obtained from the second flight control module 106 according to the frame number of the first flight control information.

[0040] The first flight control module 105 is also used to receive the third data information sent by the sending module 101, and perform data frame verification on the third data information to determine whether the third data information is valid. If the third data information is valid, the third data information is adopted; if the third data information is invalid, the third data information is discarded.

[0041] The first inertial navigation module 107 is used to collect second inertial navigation information and send the second inertial navigation information to the sending module 101, wherein the first inertial navigation module 107 is a main inertial navigation module, and the second inertial navigation information is information such as time reference and longitude and latitude, which is used to help the sending module 101 determine data information such as time and position.

[0042] The second inertial navigation module 108 is used to collect second inertial navigation information, and send the second inertial navigation information to the sending module 101 when the second inertial navigation information of the first inertial navigation module 107 fails, wherein the second inertial navigation module 108 is a standby inertial navigation module. The sending module 101 is further used to perform a data frame check on the second inertial navigation information of the first inertial navigation module 107 to determine whether the second inertial navigation information of the first inertial navigation module 107 is valid, and if the second inertial navigation information of the first inertial navigation module 107 is valid, store the second inertial navigation information of the first inertial navigation module 107. If the second inertial navigation information of the first inertial navigation module 107 is invalid, obtain the second inertial navigation information of the second inertial navigation module 108.

[0043] Therefore, in the present application, the sending module obtains the first flight control information from the first flight control module, performs a data frame check on the first flight control information, calculates the first target verification data according to the first flight control data, determines whether the values ​​of the first target verification data and the first verification data are the same, and obtains whether the first flight control information is valid. If the first flight control information of the first flight control module is valid, the first flight control information of the first flight control module is stored; if the first flight control information of the first flight control module is invalid, the first flight control information is obtained from the second flight control module, and the first flight control information of the second flight control module is verified. The first flight control module can also obtain the third data information from the sending module, and verify the third data information, store the valid third data information, and discard the invalid third data information. It can be seen that the present application has a lower cost than other buses, and ensures reliable communication through hardware master-slave redundant transmission mode and software data sequence number and verification algorithm.

[0044] The present application also provides a computing device. Figure 3 As shown, this figure is a schematic diagram of a computing device provided in an embodiment of the present application, and the computing device 400 includes a bus 401, a processor 402, a communication interface 403 and a memory 404. The processor 402, the memory 404 and the communication interface 403 communicate with each other through the bus 401.

[0045] The bus 401 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0046] The processor 402 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0047] The communication interface 403 is used for external communication. For example, when the computing device is a first switch, the communication interface 403 can be used for the first switch to communicate with the first user terminal, or for the first switch to communicate with the second switch.

[0048] The memory 404 may include a volatile memory, such as a random access memory (RAM). The memory 404 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0049] The embodiment of the present application further provides a task processor, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0050] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0051] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A data communication system based on RS422, characterized in that: The system comprises: a sending module, a first flight control module and a second flight control module; The first flight control module is used to collect first flight control information, where the first flight control information includes first flight control data and first verification data, wherein the first flight control module is a main flight control module; The second flight control module is used to collect the first flight control information, where the first flight control information includes the first flight control data and the first verification data, wherein the second flight control module is a standby flight control module; The sending module is used to obtain the first flight control information from the first flight control module, perform data frame verification on the first flight control data, obtain first target verification data, determine whether the first target verification data and the first verification data have the same value, and obtain a first judgment result. If the first judgment result indicates that the first target verification data and the first verification data have the same value, it is determined that the first flight control information of the first flight control module is valid, and the first flight control information of the first flight control module is stored; If the first judgment result indicates that the first target verification data and the second verification data have different values, the first flight control information is obtained from the second flight control module, and a data frame check is performed on the first flight control data of the second flight control module to obtain the second target verification data, and it is determined whether the second target verification data and the first verification data have the same value to obtain a second judgment result. If the second judgment result indicates that the second target verification data and the first verification data have the same value, it is determined that the first flight control information of the second flight control module is valid, and the first flight control information of the second flight control module is stored.

2. The system according to claim 1, characterized in that The sending module is specifically used to determine whether a frame header is received. If a frame header is received, determine whether the frame length of the first flight control information is within a length interval. If the frame length of the first flight control information is within the length interval, find the frame sequence number of the first flight control information, store the frame sequence number of the first flight control information, receive the first flight control data according to the frame length of the first flight control information, calculate the first target verification data according to the first flight control data, determine whether the first target verification data is the same as the first verification data, and if the first target verification data is the same as the first verification data, generate a first valid flag, and store the first flight control information and the first valid flag.

3. The system according to claim 1, characterized in that The sending module is specifically used to select the first flight control information of the first flight control module when the first flight control information of the first flight control module and the second flight control module are both valid; if the communication between the first flight control module and the sending module is interrupted, the first flight control information with the same frame number is obtained from the second flight control module according to the frame number of the first flight control information.

4. The system according to claim 2, characterized in that The calculating and obtaining the first target verification data according to the first flight control data includes:

5. Wherein, Y is the first target verification data, and x is the first flight control data.

6. The system according to claim 1, characterized in that The first flight control module is further used to receive the third data information sent by the sending module, and perform data frame verification on the third data information to determine whether the third data information is valid, and if the third data information is valid, adopt the third data information; If the third data information is invalid, the third data information is discarded.

7. The system according to claim 1, characterized in that The system also includes a first inertial navigation module and a second inertial navigation module; The first inertial navigation module is used to collect second inertial navigation information and send the second inertial navigation information to the sending module, and the first inertial navigation module is a main inertial navigation module; The second inertial navigation module is used to collect second inertial navigation information, and when the second inertial navigation information of the first inertial navigation module fails, send the second inertial navigation information to the sending module. The second inertial navigation module is a standby inertial navigation module.

8. The system according to claim 1, characterized in that The sending module is further used to perform data frame verification on the second inertial navigation information of the first inertial navigation module to determine whether the second inertial navigation information of the first inertial navigation module is valid; if the second inertial navigation information of the first inertial navigation module is valid, the second inertial navigation information of the first inertial navigation module is stored.

9. The system according to claim 7, characterized in that The sending module is further configured to obtain the second inertial navigation information of the second inertial navigation module if the second inertial navigation information of the first inertial navigation module is invalid.

10. A computing device, characterized in that A system comprising any one of claims 1 to 8.

11. A task processor, comprising the system according to any one of claims 1-8.

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