Sensor data optimization management system and method based on inertial navigation system

Abstract

The invention discloses an optimal management system and method for sensor data based on an inertial navigation system, and belongs to the technical field of inertial navigation system management. The defect that public information communication is blocked due to the fact that communication of a background terminal for storing inertial navigation information in a region with unstable quality of the 4G network is blocked at any time is overcome; the operation of a copy information group I is executed by applying a copy improvement mode I, the copy routing consumption, the information packaging consumption and the copy information component are comprehensively considered, and the efficiency of information copy and the efficiency of public communication of a background terminal for storing inertial navigation information are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial navigation system management, and in particular relates to an optimization management system and method based on sensor data of an inertial navigation system. Background Art

[0002] In the actual application of inertial navigation, the inertial measurement device is directly installed on the moving carrier, so the values ​​of angular velocity and acceleration measured by the inertial device are all quantities in the carrier's motion coordinate system.

[0003] In practical applications, the inertial navigation module of the prior art solution with patent publication number 'CN207036120U' is often used, which includes an inertial navigation element and a host computer connected to the inertial navigation element, the inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage, the inertial navigation element includes a speed sensor, a gyroscope sensor and a barometer, the speed sensor, the gyroscope sensor and the barometer are used to collect the walking speed of the human body, the steering angle of the human body and the air pressure value at the location of the detection target respectively and transmit it to the host computer for display and storage, the walking speed of the human body, the steering angle of the human body or the air pressure value at the location of the detection target is the inertial navigation information.

[0004] On the other hand, simply transmitting all the inertial navigation information to the host computer for storage and access by all controllers to achieve inertial navigation information aggregation and sharing, the performance standards of the host computer under this method are very strict. Once the host computer fails, the inertial navigation information will be completely lost. Another method is to use a distributed information communication method, that is, the host computer communicates with several background terminals through the 4G network and combines it with an automation method to achieve distributed storage and communication of several background terminals storing inertial navigation information. This method can achieve flexible sharing and communication of background terminals that store inertial navigation information, and the security of inertial navigation information will also be improved.

[0005] However, the decentralized information communication method of the background terminals storing inertial navigation information has a major flaw, that is, the functions of different background terminals storing inertial navigation information are quite different from the performance of the 4G network to which they belong, which makes the current decentralized information communication architecture have serious problems. For example, under the decentralized information communication architecture, if the 4G network to which more than one background terminal storing inertial navigation information belongs is very unstable, the communication between such background terminals storing inertial navigation information and other background terminals storing inertial navigation information will often be blocked, which is not conducive to the public availability of information and the communication quality. Summary of the invention

[0006] In order to solve the defects in the prior art, the present invention proposes an optimization management system and method for sensor data based on an inertial navigation system, which solves the defect of information public communication being blocked due to occasional communication blockage of the background terminal storing inertial navigation information in areas with unstable 4G network quality through periodic active copying of the background terminal storing inertial navigation information; by using the copy improvement mode 1 to execute the operation of copy information group 1, the routing cost of the copy, the information packaging cost and the copy information component are fully considered, thereby improving the efficiency of information copying and the efficiency of public communication of the background terminal storing inertial navigation information.

[0007] The present invention uses the following technical solutions.

[0008] A method for optimizing and managing sensor data based on an inertial navigation system, comprising:

[0009] The inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage;

[0010] The method for optimizing and managing sensor information based on an inertial navigation system also includes:

[0011] Step 1: Obtain information copy period and terminal cluster reference information domain;

[0012] Step 2: obtaining the change amount information 1 of P specific background terminals storing inertial navigation information during the information copy period, and obtaining the change amount information 2 of N background terminals additionally storing inertial navigation information during the information copy period;

[0013] Step 3: Based on the terminal cluster reference information domain and the change information 1 and the change information 2, copy information group 1 is obtained through copy improvement mode 1;

[0014] Step 4: Copy the information group 1 to P specific background terminals storing inertial navigation information.

[0015] Furthermore, in step 1, a terminal cluster is formed by pre-set P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information; the terminal cluster reference information domain includes the GPS positioning values ​​of the P specific background terminals for storing inertial navigation information and the N background terminals for storing inertial navigation information, the pre-set storage area size, and the occupied storage area size.

[0016] Furthermore, in step 1, the method for pre-identifying P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information includes: initially, the positioning planning of the background terminals for storing inertial navigation information is performed according to the specific needs of the controller to obtain a terminal cluster, and then, the operation of connecting to the 4G network is performed on the background terminals in the terminal cluster, and then, according to the stability parameters of the quality of the 4G network to which each background terminal for storing inertial navigation information in the terminal cluster belongs, the terminal cluster is divided into background terminals for storing inertial navigation information and background terminals for storing inertial navigation information, and the background terminals for storing inertial navigation information located in the area where the quality of the 4G network is unstable are set as background terminals for storing inertial navigation information, and the other background terminals for storing inertial navigation information are set as background terminals for storing inertial navigation information.

[0017] Furthermore, in step 1, the total number of background terminals specifically storing inertial navigation information is defined as P, and the total number of background terminals additionally storing inertial navigation information is defined as N.

[0018] Further, in step 2, the change information of the P specific background terminals storing inertial navigation information during the information copy period is the inertial navigation information transmitted by the host computer to the P specific background terminals storing inertial navigation information during the information copy period; the change information of the N background terminals storing inertial navigation information during the information copy period is the inertial navigation information transmitted by the host computer to the N background terminals storing inertial navigation information during the information copy period.

[0019] Further, the method of obtaining the change amount information 1 of P specific background terminals storing inertial navigation information in the information copy period and obtaining the change amount information 2 of N background terminals additionally storing inertial navigation information in the information copy period specifically includes:

[0020] Register P specific background terminals for storing inertial navigation information as the first specific background terminal for storing inertial navigation information to the Pth specific background terminal for storing inertial navigation information, P>2; register N background terminals for storing inertial navigation information as the first background terminal for storing inertial navigation information to the Nth background terminal for storing inertial navigation information, N>2;

[0021] Obtain change information one of P specific background terminals storing inertial navigation information during the information copy period, and associate the change information one with the P specific background terminals storing inertial navigation information; obtain change information two of N background terminals storing inertial navigation information during the information copy period, and associate the change information two with the N background terminals storing inertial navigation information.

[0022] Furthermore, according to the terminal cluster reference information field and the variation information 1 and the variation information 2, a method for obtaining the copy information group 1 through the copy improvement mode 1 specifically includes:

[0023] According to the GPS positioning values ​​of P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information, the distance between each two of the P specific background terminals for storing inertial navigation information is calculated, and y(u,k) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the k-th specific background terminal for storing inertial navigation information, u=1,2,3,...,P; k=,2,3,...,P; the distance between each two of the P specific background terminals for storing inertial navigation information and the N background terminals for storing inertial navigation information is calculated, and z(u,j) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the j-th background terminal for storing inertial navigation information, j=1,2,3,...,N; the value of y(u,k) is defined as one.

[0024] Furthermore, according to the terminal cluster reference information field and the variation information 1 and the variation information 2, the method for obtaining the copy information group 1 through the copy improvement mode 1 specifically includes:

[0025] Obtain the transmission frequency of the variable information 1 and the variable information 2 in the information copy period, and obtain the copy criticality of the variable information 1 and the copy criticality of the variable information 2 through the copy criticality mode;

[0026] According to the terminal cluster reference information domain and the copy criticality of the variation information 1 and the copy criticality of the variation information 2, the first energy function G(J 1 , J 2 ...J P , L 1 , L 2 ...L N ); The first energy function is:

[0027]

[0028] Here, J 1 , J 2 ...J P is the first improved parameter; L 1 , L 2 ...L N is the second improved parameter; ξ(1, k, l) is the copy criticality of the lth variable information of the background terminal of the kth specific storage of inertial navigation information within the variable information, l = 1, 2...e k ;e kis the number of the change information 1 of the kth background terminal storing the inertial navigation information; ξ(2, j, i) is the copy criticality of the ith change information of the jth background terminal storing the inertial navigation information in the change information 2, i = 1, 2...c j ;c j is the number of change information 2 of the jth background terminal for storing inertial navigation information; ν 1 is the criticality of the first purpose set in advance; 2 It is the criticality of the second purpose set in advance;

[0029] The first restriction condition is constructed based on the terminal cluster reference information domain and the change information 1 and the change information 2; the first restriction condition is:

[0030]

[0031] Here, p is the size of the storage area for a single inertial navigation information set in advance; A u is the size of the storage area set in advance for the background terminal that stores the u-th specific inertial navigation information; T u is the size of the storage area occupied by the u-th specific background terminal storing inertial navigation information;

[0032] Taking the output value of the first energy function as the highest as the goal, taking the first constraint as the constraint, using the simulated annealing algorithm, the first improved parameter J is obtained. 1 , J 2 ...J P and the second improved parameter L 1 , L 2 ...L N ;

[0033] Based on the first improved parameter, the second improved parameter, the variation information one, and the variation information two, the copy information group one is obtained through the first copy information mode.

[0034] Furthermore, the method of obtaining the transmission frequency of the first variation information and the second variation information in the information copy period, and obtaining the copy criticality of the first variation information and the copy criticality of the second variation information through the copy criticality mode, specifically includes:

[0035] Obtain the transmission frequency of the change information 1 and the change information 2 during the information copy period, and calculate the total transmission frequency E of the change information 1 and the change information 2 during the information copy period tvn ;

[0036] Using the first copy of the key degree equation, the calculation obtains ξ(1, k, l); the first copy of the key degree equation is:

[0037]

[0038] Here, E(1, k, l) represents the transmission frequency of the lth change information of the background terminal for storing the kth specific inertial navigation information in the change information 1 during the information copy period;

[0039] Using the second copy of the key degree equation, the calculation obtains ξ(2, j, i); the second copy of the key degree equation is:

[0040]

[0041] Here, E(2, j, i) represents the transmission frequency of the i-th variation information of the j-th background terminal for storing inertial navigation information in the variation information 2 during the information copy period.

[0042] Furthermore, according to the first improved parameter, the second improved parameter, the variation information 1, and the variation information 2, a method for obtaining the copy information group 1 through the first copy information mode specifically includes:

[0043] Forming a relationship between the first improved parameter and the variation information 1; forming a relationship between the second improved parameter and the variation information 2;

[0044] The first improved parameter value corresponding to the variable information one is identified sequentially. If the value of the first improved parameter corresponding to the variable information one is one, the variable information one is copied to the copy information group one; the second improved parameter value corresponding to the variable information two is identified sequentially. If the value of the second improved parameter corresponding to the variable information two is one, the variable information two is copied to the copy information group one.

[0045] An optimization management system for sensor data based on an inertial navigation system, comprising:

[0046] The inertial navigation element and the host computer connected to it, the host computer is connected to several backend terminals via the 4G network, and the inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage;

[0047] An optimized management system based on sensor data from an inertial navigation system, also including:

[0048] A reference module, which is used to obtain information copy time period and terminal cluster reference information domain;

[0049] A change module, which is used to obtain change amount information 1 of P specific background terminals storing inertial navigation information in the information copy period, and obtain change amount information 2 of N background terminals additionally storing inertial navigation information in the information copy period;

[0050] A copy module, which is used to obtain a copy information group 1 through a copy improvement mode 1 according to the terminal cluster reference information domain and the change information 1 and the change information 2;

[0051] The storage module is used to copy the copy information group 1 to P specific background terminals for storing inertial navigation information.

[0052] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0053] By periodically and actively copying the background terminal storing inertial navigation information, the defect of information public communication being blocked due to occasional communication blockage of the background terminal storing inertial navigation information in areas with unstable 4G network quality is solved; by using copy improvement mode 1 to execute the operation of copying information group 1, the routing cost of copying, information packaging cost and copying information weight are fully considered, thereby improving the efficiency of information copying and the efficiency of public communication of the background terminal storing inertial navigation information. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a flow chart of the method for optimizing management of sensor data based on an inertial navigation system according to the present invention;

[0055] Figure 2 It is a partial structural diagram of the optimization management system of sensor data based on the inertial navigation system described in the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely express the technical solution of the present invention. The embodiments expressed in this application are only some embodiments of the present invention, not all embodiments. According to the spirit of the present invention, other embodiments obtained by technicians in this field without making creative work are all within the protection scope of the present invention.

[0057] like Figure 1 As shown, the present invention provides a method for optimizing and managing sensor data based on an inertial navigation system, comprising:

[0058] The inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage;

[0059] The method for optimizing and managing sensor information based on an inertial navigation system also includes:

[0060] Step 1: Obtain the information copy period and terminal cluster reference information domain; the information copy period is the period defined for transmitting the inertial navigation information to the background terminal for storage.

[0061] In a preferred but non-limiting embodiment of the present invention, in step 1, the terminal cluster is formed by pre-set P specific background terminals storing inertial navigation information and N background terminals storing inertial navigation information; the terminal cluster reference information field includes the GPS positioning values ​​of the P specific background terminals storing inertial navigation information and the N background terminals storing inertial navigation information, the pre-set storage area size, and the occupied storage area size. The GPS positioning value can be collected by the GPS module embedded in the background terminal.

[0062] In a preferred but non-restrictive implementation of the present invention, in step 1, a method in which P specific background terminals for storing inertial navigation information and N background terminals attached for storing inertial navigation information are pre-identified based on the specific needs of the controller and the quality of the 4G network to which the background terminals belong, comprises: initially, a positioning plan for the background terminals storing inertial navigation information is executed based on the specific needs of the controller, which can execute background terminal positioning based on the arrangement of the number of potential controllers (that is, the location of the controller or the location where the background terminal is set up required by the controller), obtain a terminal cluster, and then execute the operation of connecting to the 4G network for the background terminals in the terminal cluster, and then cut the terminal cluster into background terminals for storing specific inertial navigation information and background terminals attached for storing inertial navigation information based on the stable parameters of the quality of the 4G network to which each background terminal storing inertial navigation information in the terminal cluster belongs. For the background terminal storing inertial navigation information, the stability parameters of the 4G network quality can be obtained by taking the average of the normalized values ​​(using the Z-Score method to obtain the normalized values) of the 'bit rate', 'bit error rate', 'delay' and 'position error rate' when transmitting the inertial navigation information. By comparing the stability parameters of the 4G network quality with the pre-defined critical quantities, the unstable quality region of the 4G network can be cut out (if the stability parameters of the 4G network quality are lower than the pre-defined critical quantities, the region to which the stability parameters of the 4G network quality belong is identified as the unstable quality region of the 4G network), and the background terminal storing inertial navigation information located in the unstable quality region of the 4G network is set as a background terminal specifically storing inertial navigation information, and the other background terminals storing inertial navigation information are set as background terminals attached to store inertial navigation information.

[0063] In a preferred but non-limiting embodiment of the present invention, in step 1, the total number of background terminals for storing inertial navigation information is defined as P, and the total number of background terminals for storing inertial navigation information is defined as N. Just as six background terminals for storing inertial navigation information accessing a 4G network are used, the terminal cluster includes six background terminals, and the six background terminals are divided into three background terminals for storing inertial navigation information and three background terminals for storing inertial navigation information, that is, P=3, N=3, by evaluating the stability parameters of the quality of the 4G network to which each background terminal for storing inertial navigation information in the terminal cluster belongs.

[0064] Step 2: obtaining the change amount information 1 of P specific background terminals storing inertial navigation information during the information copy period, and obtaining the change amount information 2 of N background terminals additionally storing inertial navigation information during the information copy period;

[0065] In a preferred but non-limiting embodiment of the present invention, in step 2, the variation information 1 of the P specific background terminals storing inertial navigation information in the information copy period is the inertial navigation information transmitted by the host computer to the P specific background terminals storing inertial navigation information in the information copy period; the variation information 2 of the N background terminals storing inertial navigation information in the information copy period is the inertial navigation information transmitted by the host computer to the N background terminals storing inertial navigation information in the information copy period. The variation information 1 and the variation information 2 can form the entire inertial navigation information collected and stored on the host computer. The variation information 1 and the variation information 2 can be random inertial navigation information.

[0066] Step 3: Based on the terminal cluster reference information domain and the change information 1 and the change information 2, copy information group 1 is obtained through copy improvement mode 1;

[0067] The method of the present application is to actively copy the change information 1 and the change information 2 to the background terminal that specifically stores the inertial navigation information in the unstable quality area of ​​the 4G network, so as to solve the problem that the background terminal that stores the inertial navigation information in the unstable quality area of ​​the 4G network is often blocked from communicating, resulting in abnormal public information communication. Step 3 is used to identify the inertial navigation information to be copied.

[0068] Step 4: Copy the information group 1 to P specific background terminals storing inertial navigation information.

[0069] After copying the information group 1 to N specific background terminals for storing inertial navigation information, even if the communication between a specific background terminal for storing inertial navigation information and other background terminals for storing inertial navigation information in the terminal cluster is blocked, the need of the upper computer to obtain the change information in other background terminals for storing inertial navigation information can be met within the separate communication domain formed by the specific background terminal for storing inertial navigation information.

[0070] In a preferred but non-limiting embodiment of the present invention, a method for obtaining information 1 of changes in P specific background terminals storing inertial navigation information during an information copy period and obtaining information 2 of changes in N background terminals equipped with inertial navigation information storage during an information copy period specifically includes:

[0071] Register P specific background terminals for storing inertial navigation information as the first specific background terminal for storing inertial navigation information to the Pth specific background terminal for storing inertial navigation information, P>2; register N background terminals for storing inertial navigation information as the first background terminal for storing inertial navigation information to the Nth background terminal for storing inertial navigation information, N>2;

[0072] Obtain change information one of P specific background terminals storing inertial navigation information during the information copy period, and associate the change information one with the P specific background terminals storing inertial navigation information; obtain change information two of N background terminals storing inertial navigation information during the information copy period, and associate the change information two with the N background terminals storing inertial navigation information.

[0073] In a preferred but non-limiting embodiment of the present invention, a method for obtaining a copy information group 1 through a copy improvement mode 1 according to a terminal cluster reference information field and a change information 1 and a change information 2 specifically includes:

[0074] According to the GPS positioning values ​​of P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information, the distance between each two of the P specific background terminals for storing inertial navigation information is calculated, and y(u,k) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the k-th specific background terminal for storing inertial navigation information, u=1,2,3,...,P; k=,2,3,...,P; the distance between each two of the P specific background terminals for storing inertial navigation information and the N background terminals for storing inertial navigation information is calculated, and z(u,j) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the j-th background terminal for storing inertial navigation information, j=1,2,3,...,N; the value of y(u,k) is defined as one.

[0075] Just as by obtaining the GPS positioning values ​​(GPS coordinates) of P specific background terminals storing inertial navigation information and N background terminals equipped with inertial navigation information, the distance can be obtained by calculating the distance between every two GPS positioning values ​​of the background terminals storing inertial navigation information, and to facilitate subsequent calculations, its value is defined as one.

[0076] In a preferred but non-limiting embodiment of the present invention, the method for obtaining the copy information group 1 through the copy improvement mode 1 according to the terminal cluster reference information field and the variation information 1 and the variation information 2 specifically further includes:

[0077] Obtain the transmission frequency of the variable information 1 and the variable information 2 in the information copy period, and obtain the copy criticality of the variable information 1 and the copy criticality of the variable information 2 through the copy criticality mode;

[0078] According to the terminal cluster reference information domain and the copy criticality of the variation information 1 and the copy criticality of the variation information 2, the first energy function G(J 1 , J 2 ...J P , L 1 , L 2 ...L N ); The first energy function is:

[0079]

[0080] Here, J 1 , J 2 ...J P is the first improved parameter, J 1 , J 2 ...J P The value of is zero or one; L 1 , L 2 ...L N is the second improved parameter, L 1 , L 2 ...L N The value is zero or one; ξ(1, k, l) is the copy criticality of the lth variable information of the background terminal of the kth specific storage of inertial navigation information within the variable information, l = 1, 2...e k ;e k is the number of the change information 1 of the kth background terminal storing the inertial navigation information; ξ(2, j, i) is the copy criticality of the ith change information of the jth background terminal storing the inertial navigation information in the change information 2, i = 1, 2...c j ;c j is the number of change information 2 of the jth background terminal for storing inertial navigation information; ν 1 is the criticality of the first purpose set in advance; 2 It is the criticality of the second purpose set in advance;

[0081] The first energy function involves the following elements:

[0082] The information components of each variation information 1 and variation information 2 are mainly reflected in the values ​​of ξ(1, k, l) and ξ(2, j, i);

[0083] The routing cost of copying information is reflected by the values ​​of y(u, k) and z(u, j);

[0084] Information packaging cost, To reflect.

[0085] The first restriction condition is constructed based on the terminal cluster reference information domain and the change information 1 and the change information 2; the first restriction condition is:

[0086]

[0087] Here, p is the size of the storage area for a single inertial navigation information set in advance; A u is the size of the storage area set in advance for the background terminal that stores the u-th specific inertial navigation information; T u is the size of the storage area occupied by the u-th specific background terminal storing inertial navigation information;

[0088] The first restriction condition is the size restriction of the storage area of ​​the background terminal for storing the inertial navigation information. Polling u=1, 2, ..., P, all the background terminals for storing the inertial navigation information must meet the size restriction of the storage area.

[0089] Taking the output value of the first energy function as the highest as the goal, taking the first constraint as the constraint, using the simulated annealing algorithm, the first improved parameter J is obtained. 1 , J 2 ...J P and the second improved parameter L 1 , L 2 ...L N ;

[0090] Based on the first improved parameter, the second improved parameter, the variation information one, and the variation information two, the copy information group one is obtained through the first copy information mode.

[0091] In a preferred but non-limiting embodiment of the present invention, the method of obtaining the transmission frequency of the variation information 1 and the variation information 2 during the information copy period, and obtaining the copy criticality of the variation information 1 and the copy criticality of the variation information 2 through the copy criticality mode specifically includes:

[0092] Obtain the transmission frequency of the change information 1 and the change information 2 during the information copy period, and calculate the total transmission frequency E of the change information 1 and the change information 2 during the information copy period tvn ;

[0093] Using the first copy of the key degree equation, the calculation obtains ξ(1, k, l); the first copy of the key degree equation is:

[0094]

[0095] Here, E(1, k, l) represents the transmission frequency of the lth change information of the background terminal for storing the kth specific inertial navigation information in the change information 1 during the information copy period;

[0096] Using the second copy of the key degree equation, the calculation obtains ξ(2, j, i); the second copy of the key degree equation is:

[0097]

[0098] Here, E(2, j, i) represents the transmission frequency of the i-th variation information of the j-th background terminal for storing inertial navigation information in the variation information 2 during the information copy period.

[0099] The purpose of this is to evaluate the information components of each change information 1 and change information 2, and to evaluate their information components through the ratio of the transmission frequency of each change information 1 and change information 2 in the information copying period. That is, the higher the transmission frequency, the higher the inertial navigation information component is, and therefore it is more necessary to be copied to the background terminal that specifically stores the inertial navigation information.

[0100] In a preferred but non-limiting embodiment of the present invention, the method of obtaining the copy information group 1 through the first copy information mode according to the first improved parameter, the second improved parameter, the variation information 1, and the variation information 2 specifically includes:

[0101] Forming a relationship between the first improved parameter and the variation information 1; forming a relationship between the second improved parameter and the variation information 2;

[0102] The first improved parameter value corresponding to the variable information one is identified sequentially. If the value of the first improved parameter corresponding to the variable information one is one, the variable information one is copied to the copy information group one; the second improved parameter value corresponding to the variable information two is identified sequentially. If the value of the second improved parameter corresponding to the variable information two is one, the variable information two is copied to the copy information group one.

[0103] As the calculation of J 1 =0, J 2 =1, J 3 =0,L 1 =1,L 2 =1,L 3 =0, the change amount information 1 of the second specific background terminal storing inertial navigation information, the change amount information 2 of the first background terminal storing inertial navigation information, and the change amount information 2 of the second background terminal storing inertial navigation information are copied to the copy information group 1.

[0104] like Figure 2As shown, the optimization management system of sensor data based on an inertial navigation system according to the present invention comprises:

[0105] The inertial navigation element and the host computer connected to it by communication, the host computer is connected to several background terminals by 4G network, the inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage, the inertial navigation element includes a speed sensor, a gyroscope sensor and a barometer, the speed sensor, the gyroscope sensor and the barometer are used to collect the walking speed of the human body, the steering angle of the human body and the air pressure value at the location of the detection target respectively and transmit them to the host computer for display and storage, the walking speed of the human body, the steering angle of the human body or the air pressure value at the location of the detection target is the inertial navigation information; the architecture in which the host computer is connected to several background terminals by 4G network can be that the host computer is connected to several background terminals in the 4G network by the 4G module connected to it. The background terminal can be a computer.

[0106] An optimized management system based on sensor data from an inertial navigation system, also including:

[0107] A reference module, which is used to obtain information copy time period and terminal cluster reference information domain;

[0108] A change module, which is used to obtain change amount information 1 of P specific background terminals storing inertial navigation information in the information copy period, and obtain change amount information 2 of N background terminals additionally storing inertial navigation information in the information copy period;

[0109] A copy module, which is used to obtain a copy information group 1 through a copy improvement mode 1 according to the terminal cluster reference information domain and the change information 1 and the change information 2;

[0110] The storage module is used to copy the copy information group 1 to P specific background terminals for storing inertial navigation information.

[0111] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0112] By periodically and actively copying the background terminal storing inertial navigation information, the defect of information public communication being blocked due to occasional communication blockage of the background terminal storing inertial navigation information in areas with unstable 4G network quality is solved; by using copy improvement mode 1 to execute the operation of copying information group 1, the routing cost of copying, information packaging cost and copying information weight are fully considered, thereby improving the efficiency of information copying and the efficiency of public communication of the background terminal storing inertial navigation information.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the protection space of the claims of the present invention.

Claims

1. A method for optimizing and managing sensor data based on an inertial navigation system, characterized in that: include: The inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage; The method for optimizing and managing sensor information based on an inertial navigation system also includes: Step 1: Obtain information copy period and terminal cluster reference information domain; Step 2: obtaining the change amount information 1 of P specific background terminals storing inertial navigation information during the information copy period, and obtaining the change amount information 2 of N background terminals additionally storing inertial navigation information during the information copy period; Step 3: Based on the terminal cluster reference information domain and the change information 1 and the change information 2, copy information group 1 is obtained through copy improvement mode 1; Step 4: Copy the information group 1 to P specific background terminals storing inertial navigation information.

2. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 1, characterized in that: In step 1, a terminal cluster is formed by pre-setting P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information; the terminal cluster reference information domain includes the GPS positioning values ​​of the P specific background terminals for storing inertial navigation information and the N background terminals for storing inertial navigation information, the pre-set storage area size, and the occupied storage area size.

3. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 2, characterized in that: In step 1, the method for pre-identifying P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information includes: first, according to the specific needs of the controller, the positioning plan of the background terminals for storing inertial navigation information is performed to obtain a terminal cluster, and then, the operation of connecting to the 4G network is performed on the background terminals in the terminal cluster, and then, according to the stability parameters of the quality of the 4G network to which each background terminal for storing inertial navigation information in the terminal cluster belongs, the terminal cluster is divided into background terminals for storing specific inertial navigation information and background terminals for storing inertial navigation information, and the background terminals for storing inertial navigation information located in the area with unstable quality of the 4G network are set as background terminals for storing specific inertial navigation information, and the other background terminals for storing inertial navigation information are set as background terminals for storing inertial navigation information; In step 1, the total number of background terminals specifically storing inertial navigation information is defined as P, and the total number of background terminals additionally storing inertial navigation information is defined as N.

4. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 3, characterized in that: In step 2, the change information of P specific background terminals storing inertial navigation information during the information copy period is the inertial navigation information transmitted by the host computer to the P specific background terminals storing inertial navigation information during the information copy period; the change information of N background terminals storing inertial navigation information during the information copy period is the inertial navigation information transmitted by the host computer to the N background terminals storing inertial navigation information during the information copy period.

5. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 4, characterized in that: The method of obtaining the change amount information 1 of P specific background terminals storing inertial navigation information in the information copy period and obtaining the change amount information 2 of N background terminals additionally storing inertial navigation information in the information copy period specifically comprises: Register P specific background terminals for storing inertial navigation information as the first specific background terminal for storing inertial navigation information to the Pth specific background terminal for storing inertial navigation information, P>2; register N background terminals for storing inertial navigation information as the first background terminal for storing inertial navigation information to the Nth background terminal for storing inertial navigation information, N>2; Obtain change information one of P specific background terminals storing inertial navigation information during the information copy period, and associate the change information one with the P specific background terminals storing inertial navigation information; obtain change information two of N background terminals storing inertial navigation information during the information copy period, and associate the change information two with the N background terminals storing inertial navigation information.

6. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 5, characterized in that: The method of obtaining the copy information group 1 through the copy improvement mode 1 according to the terminal cluster reference information domain and the change information 1 and the change information 2 specifically includes: According to the GPS positioning values ​​of P specific background terminals for storing inertial navigation information and N background terminals for storing inertial navigation information, the distance between each two of the P specific background terminals for storing inertial navigation information is calculated, and y(u,k) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the k-th specific background terminal for storing inertial navigation information, u=1,2,3,...,P; k=,2,3,...,P; the distance between each two of the P specific background terminals for storing inertial navigation information and the N background terminals for storing inertial navigation information is calculated, and z(u,j) is used to represent the distance between the u-th specific background terminal for storing inertial navigation information and the j-th background terminal for storing inertial navigation information, j=1,2,3,...,N; the value of y(u,k) is defined as one.

7. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 6, characterized in that: The method of obtaining the copy information group 1 through the copy improvement mode 1 according to the terminal cluster reference information domain and the change information 1 and the change information 2 specifically includes: Obtain the transmission frequency of the variable information 1 and the variable information 2 in the information copy period, and obtain the copy criticality of the variable information 1 and the copy criticality of the variable information 2 through the copy criticality mode; According to the terminal cluster reference information domain and the copy criticality of the variation information 1 and the copy criticality of the variation information 2, the first energy function G (J1, J2...J P , L1, L2...L N ); The first energy function is: Here, J1, J2...J P is the first improved parameter; L1, L2...L N is the second improved parameter; ξ(1, k, l) is the copy criticality of the lth variable information of the background terminal of the kth specific storage of inertial navigation information within the variable information, l = 1, 2...e k ;e k is the number of the change information 1 of the kth background terminal storing the inertial navigation information; ξ(2, j, i) is the copy criticality of the ith change information of the jth background terminal storing the inertial navigation information in the change information 2, i = 1, 2...c j ;c j is the number of change information 2 of the jth background terminal attached with inertial navigation information storage; ν1 is the first target criticality set in advance; ν2 is the second target criticality set in advance; The first restriction condition is constructed based on the terminal cluster reference information domain and the change information 1 and the change information 2; the first restriction condition is: Here, p is the size of the storage area for a single inertial navigation information set in advance; A u is the size of the storage area set in advance for the background terminal that stores the u-th specific inertial navigation information; T u is the size of the storage area occupied by the u-th specific background terminal storing inertial navigation information; Taking the output value of the first energy function as the highest as the goal, taking the first constraint as the constraint, using the simulated annealing algorithm, the first improved parameters J1, J2...J are obtained accordingly. P and the second improved parameter L1, L2...L N ; Based on the first improved parameter, the second improved parameter, the variation information one, and the variation information two, the copy information group one is obtained through the first copy information mode.

8. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 7, characterized in that: The method of obtaining the transmission frequency of the first variable information and the second variable information in the information copy period, and obtaining the copy criticality of the first variable information and the copy criticality of the second variable information through the copy criticality mode, specifically includes: Obtain the transmission frequency of the change information 1 and the change information 2 during the information copy period, and calculate the total transmission frequency E of the change information 1 and the change information 2 during the information copy period tvn ; Using the first copy of the key degree equation, the calculation obtains ξ(1, k, l); the first copy of the key degree equation is: Here, E(1, k, l) represents the transmission frequency of the lth change information of the background terminal for storing the kth specific inertial navigation information in the change information 1 during the information copy period; Using the second copy of the key degree equation, the calculation obtains ξ(2, j, i); the second copy of the key degree equation is: Here, E(2, j, i) represents the transmission frequency of the i-th variation information of the j-th background terminal for storing inertial navigation information in the variation information 2 during the information copy period.

9. The method for optimizing and managing sensor data based on an inertial navigation system according to claim 8, characterized in that: The method of obtaining the copy information group 1 through the first copy information mode according to the first improved parameter, the second improved parameter, the change information 1, and the change information 2 specifically includes: Forming a relationship between the first improved parameter and the variation information 1; forming a relationship between the second improved parameter and the variation information 2; The first improved parameter value corresponding to the variable information one is identified sequentially. If the value of the first improved parameter corresponding to the variable information one is one, the variable information one is copied to the copy information group one; the second improved parameter value corresponding to the variable information two is identified sequentially. If the value of the second improved parameter corresponding to the variable information two is one, the variable information two is copied to the copy information group one.

10. An optimization management system for sensor data based on an inertial navigation system, characterized in that: include: The inertial navigation element and the host computer connected to it, the host computer is connected to several backend terminals via the 4G network, and the inertial navigation element is used to collect inertial navigation information and transmit it to the host computer for display and storage; An optimized management system based on sensor data from an inertial navigation system, also including: A reference module, which is used to obtain information copy time period and terminal cluster reference information domain; A change module, which is used to obtain change amount information 1 of P specific background terminals storing inertial navigation information in the information copy period, and obtain change amount information 2 of N background terminals additionally storing inertial navigation information in the information copy period; A copy module, which is used to obtain a copy information group 1 through a copy improvement mode 1 according to the terminal cluster reference information domain and the change information 1 and the change information 2; The storage module is used to copy the copy information group 1 to P specific background terminals for storing inertial navigation information.

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