Multi-interface high-reliability three-automatic inertial measurement combination program online upgrading method

Abstract

The invention relates to an online upgrading method for a multi-interface high-reliability three-automatic inertial measurement combination program, and solves the technical problems that the program writing correctness cannot be ensured and the program cannot run easily after a fault occurs in the prior art. The method is designed on the basis of the extended memory SDRAM of the three-self inertial measurement combination, the uploaded program is cached in the SDRAM and then written into the FLASH after verification, it is guaranteed that the user program is not damaged when upgrading of the three-self inertial measurement combination is abnormal, and then reliable online upgrading of the three-self inertial measurement combination is guaranteed. According to the method, the program loss caused by various abnormal conditions in the online upgrading process of the program can be avoided, so that the reliability and the safety of the online upgrading of the program are improved.

Description

Technical Field

[0001] The invention relates to an online upgrade method of an inertial measurement unit, in particular to an online upgrade method of a multi-interface high-reliability three-self inertial measurement unit program, which is suitable for a three-self inertial measurement unit including SDRAM. Background Art

[0002] The inertial measurement unit includes accelerometers and gyroscopes. It is a device used to measure the angular velocity, acceleration, and three-axis attitude angle or angular rate of an object in three-dimensional space. The accelerometer measures the acceleration signal of the object in the three independent axes of the carrier coordinate system, while the gyroscope measures the angular velocity signal of the object relative to the navigation coordinate system. By combining these data, the attitude of the object can be solved, thus playing a key role in navigation. With the development of aerospace, disassembly-free, maintenance-free, and high-precision have become the development direction of inertial measurement unit products, and the three-self inertial measurement unit came into being.

[0003] The online program upgrade of the three-self inertial measurement unit refers to the method of updating the program of the three-self inertial measurement unit by directly writing the program to be updated through the test equipment connected to the external bus without relying on the traditional JTAG interface of the circuit board, using a reliable communication protocol and program verification method. The online upgrade does not require the disassembly of the inertial measurement unit, ensuring the convenience and safety of the upgrade process.

[0004] The online program upgrade of the three-self inertial measurement combination is carried out through the external bus interface, which splits the program file data into multiple data frames that adapt to the external bus, and then transmits them to the three-self inertial measurement combination in sequence. After receiving the data, the three-self inertial measurement combination writes it into its FLASH memory to complete the online program upgrade.

[0005] However, in the above method, program file data is transmitted in a frame-by-frame manner, and the three-self inertial measurement combination writes a frame of data to the FLASH memory while receiving a frame of data. This makes it impossible to guarantee the correctness of the written program during the upgrade process, and may cause the program to fail to run after power failure and restart. In addition, when writing the first frame of data, it is also necessary to erase the program storage FLASH. If a fault or abnormal power failure occurs during the subsequent data transmission process, the program will be lost, which will cause the program to fail to run or freeze after the three-self inertial measurement combination is powered off and restarted. Summary of the invention

[0006] The purpose of the present invention is to solve the technical problems in the prior art that the correctness of the written program cannot be guaranteed and the program is easily unable to run after a failure occurs, and to provide a multi-interface high-reliability three-self inertial measurement combination program online upgrade method.

[0007] The idea of ​​the present invention is to design based on the extended memory SDRAM of the three-self inertial measurement combination, cache the uploaded program in the SDRAM first, and then write it into the FLASH after verification, so as to ensure that the user program is not damaged when the three-self inertial measurement combination has an abnormality during the upgrade, thereby ensuring the reliable online upgrade of the three-self inertial measurement combination.

[0008] In order to achieve the above objectives and realize the above concepts, the technical solutions provided by the present invention are as follows:

[0009] A multi-interface high-reliability three-self inertial measurement combination program online upgrade method, which is special in that it includes the following steps:

[0010] S1, establish communication between the three-inertial measurement unit and the ground test equipment;

[0011] S2, start the three-inertial measurement combination and run the monitoring program;

[0012] S3, the monitoring program identifies the user program:

[0013] When the user program is normal, execute step S4;

[0014] When the user program is abnormal, execute step S5;

[0015] S4, the ground test equipment shakes hands with the three-self inertial measurement combination according to the online upgrade requirements;

[0016] The monitor waits for the handshake:

[0017] When the handshake is successful, execute step S5;

[0018] When the handshake fails, determine whether the waiting time for the handshake has timed out: if not, continue to wait for the handshake; if so, the three-self inertial measurement combination runs the user program, waits for the handshake while the user program executes the function, and switches to the monitoring program when the handshake succeeds, and executes step S5;

[0019] S5, the three-inertial measurement unit is configured in online upgrade mode, waiting for online upgrade;

[0020] S6, the ground test equipment uploads the program to the three-in-one inertial measurement unit according to the online upgrade requirements, performs upload verification on the uploaded program, and caches the uploaded program and the upload verification result in the SDRAM of the three-in-one inertial measurement unit;

[0021] S7, the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM and makes a judgment:

[0022] When the results of the upload verification are consistent with the calculation verification, step S8 is executed;

[0023] When the results of the upload verification and the calculation verification are inconsistent, the three-auto inertial measurement combination sends an error message of program verification abnormality to the ground test equipment, and returns to step S5;

[0024] S8, fix the program cached in SDRAM into the FLASH of the three-inertial measurement unit:

[0025] When the program is cured normally, execute step S9;

[0026] When the program solidification is abnormal, the three-auto inertial measurement combination sends an error message of the program solidification abnormality to the ground test equipment, and returns to step S5;

[0027] S9, download the program solidified in FLASH to the ground test equipment and compare it with the uploaded program:

[0028] When the results of upload and download are consistent, the online upgrade of this program is completed and the three-auto inertial measurement unit is restarted;

[0029] When the results of uploading and downloading are inconsistent, the three-auto inertial measurement combination sends an error message of program comparison abnormality to the ground test equipment and returns to step S5.

[0030] Furthermore, step S4 is specifically as follows:

[0031] S4-1, the ground test equipment sends an online upgrade handshake command to the three-auto inertial measurement combination according to the online upgrade requirements;

[0032] S4-2, monitoring program waiting for handshake: when the three-auto inertial measurement combination receives the online upgrade handshake command, it sends an online upgrade handshake response to the ground test equipment, otherwise it does not send it;

[0033] S4-3, ground test equipment is waiting:

[0034] When receiving the online upgrade handshake response, the handshake is successful, and step S5 is executed;

[0035] When no online upgrade handshake response is received, the handshake fails, and it is determined whether the waiting time for the handshake has timed out: if not, continue to wait for the online upgrade handshake response; if timed out, execute step S4-4;

[0036] S4-4, the three-self inertial measurement combination runs the user program and waits for handshake while the user program executes functions, and returns to step S4-1.

[0037] Furthermore, step S6 is specifically as follows:

[0038] S6-1, the ground test equipment sends a program upload instruction to the three-in-one inertial measurement unit according to the online upgrade requirements, starts data transmission, and uploads the program to the three-in-one inertial measurement unit;

[0039] S6-2, when the three-in-one inertial measurement unit receives the program upload instruction, it caches the uploaded program into the SDRAM of the three-in-one inertial measurement unit; after the data transmission is completed, it sends a program upload response to the ground test equipment;

[0040] S6-3, the ground test equipment receives the program upload response, the program upload is completed, the uploaded program is verified and the upload verification result is sent to the three-autonomous inertial measurement combination.

[0041] Further, step S7 is specifically as follows:

[0042] S7-1, after the program upload is completed, the ground test equipment sends a program upload verification instruction to the three-autonomous inertial measurement combination and stores the upload verification result;

[0043] S7-2, when the three-autonomous inertial measurement combination receives the program upload verification command, it sends a program upload verification response to the ground test equipment;

[0044] S7-3, the ground test equipment receives the program upload verification response, and the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM;

[0045] S7-4, three self-inertial measurement combination to judge:

[0046] When the results of the upload verification are consistent with the calculation verification, step S8 is executed;

[0047] When the results of the upload verification are inconsistent with the calculation verification, the three-autonomous inertial measurement combination sends an error message of program verification abnormality to the ground test equipment and returns to step S5.

[0048] Further, step S8 is specifically as follows:

[0049] S8-1, the ground test equipment sends a program upload and solidification instruction to the three-autonomous inertial measurement combination;

[0050] S8-2, when the three-in-one inertial measurement unit receives the program upload and solidification instruction, it solidifies the program cached in the SDRAM into the FLASH of the three-in-one inertial measurement unit, and sends a program upload and solidification response to the ground test equipment after the solidification is completed;

[0051] S8-3, the ground test equipment receives the program upload solidification response and makes a judgment:

[0052] When the program upload solidification response does not contain error information, execute step S9;

[0053] When the program upload solidification response contains error information, the ground test equipment generates an error message of program solidification abnormality and returns to step S5.

[0054] Further, step S9 is specifically as follows:

[0055] S9-1, the ground test equipment sends a program download command to the three-in-one inertial measurement unit;

[0056] S9-2, when the three-in-one inertial measurement unit receives the program download command and starts data transmission, the ground test equipment downloads the program solidified in the FLASH; after the data transmission is completed, the program download is completed, and the three-in-one inertial measurement unit sends a program download response;

[0057] S9-3, the ground test equipment receives the program download response and compares the downloaded program with the uploaded program:

[0058] When the results of upload and download are consistent, the online upgrade of this program is completed and the three-auto inertial measurement unit is restarted;

[0059] When the results of uploading and downloading are inconsistent, the ground test equipment generates an error message indicating that the program comparison is abnormal, and returns to step S5.

[0060] Furthermore, in step S8, the solidification of the program in the FLASH is that the three-self inertial measurement combination performs corresponding erasing and writing operations on the program storage space FLASH according to the program cached in the SDRAM.

[0061] Furthermore, in step S1, the three-inertial measurement combination uses a DSP6713 chip.

[0062] Furthermore, in step S1, the communication between the three-autonomous inertial measurement unit and the ground test equipment is achieved through RS422 bus, RS485 bus, 1553B bus, optical fiber bus or CAN bus.

[0063] The beneficial effects of the present invention compared with the prior art are as follows:

[0064] 1. The present invention provides a multi-interface high-reliability three-self inertial measurement combination program online upgrade method. During the online upgrade process, the program is temporarily stored in SDRAM, and after the program correctness check is completed, it is written to FLASH for program upgrade; when a fault occurs, the user program is not erased after the three-self inertial measurement combination is powered off and restarted, and it can run normally. Without destroying the state of the three-self inertial measurement combination, the problem that the three-self inertial measurement combination is prone to crash after the upgrade fault is solved. This method can avoid program loss caused by various abnormal situations during the program online upgrade process, thereby improving the reliability and security of the program online upgrade.

[0065] 2. The present invention provides a multi-interface high-reliability three-self inertial measurement combination program online upgrade method, which fully considers the reliability requirements of the three-self inertial measurement combination program online upgrade, refines the communication protocol in the online upgrade process, and divides the online upgrade process into six parts through instructions: handshake, program upload, program verification, program solidification, program download and program comparison; after entering the online upgrade process, according to the fault code returned in the communication protocol, the specific situation of the entire upgrade process can be grasped in real time, especially the abnormal working conditions (faults) in the upgrade process, which can allow timely processing and analysis of abnormal situations, thereby improving the reliability and safety of the online program upgrade.

[0066] 3. A multi-interface high-reliability three-self-inertial measurement combination program online upgrade method provided by the present invention adopts a reliable communication protocol to complete data transmission and command interaction, which avoids writing program data frame by frame, can realize a unified communication protocol and upgrade process, and can be applicable to the online program upgrade of multiple types of buses such as RS422 bus, RS485 bus, 1553B bus, optical fiber bus, CAN bus, etc., and can be applied to a variety of communication interfaces, so that the online program upgrade has higher versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a communication principle diagram of an embodiment of a multi-interface high-reliability three-self inertial measurement combination program online upgrade method of the present invention;

[0068] Figure 2 It is a program principle diagram of an embodiment of the present invention;

[0069] Figure 3 is a flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The specific technical solutions in the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0071] The present invention is based on the development of an inertial measurement unit product using DSP6713 as the main control chip, and adopts a highly reliable communication protocol, and can upgrade the inertial measurement unit program online through various external bus interfaces. DSP6713 is a high-speed floating-point digital signal processor chip with high-performance digital signal processing capabilities, rich peripheral interfaces and high integration. The synchronous dynamic random access memory SDRAM contained therein can be used as an extended storage space when the internal storage (FLASH) space of the DSP is insufficient, and is used in the present invention to store program data that needs to be updated. The present invention is also applicable to other three-self inertial measurement units that contain external SDRAM and store programs through FLASH.

[0072] The online upgrade of user programs is generally divided into three processes: program upload, program download and program comparison. If and only if these three processes are correct, the online upgrade is considered to be completed normally.

[0073] The present invention refines the online upgrade protocol, and divides the upload instruction into three parts: program upload, program upload verification, and program solidification. The entire data transmission and data writing process can be controlled more meticulously. The online upgrade process is started by the online upgrade handshake instruction, and the FLASH solidification operation is performed only after the data verification is correct. Finally, the solidified data is transmitted to the ground test equipment (ground test equipment) through the program download instruction, and the ground test equipment completes the comparison of the uploaded and downloaded data files. During the program upload process, if the program verification exception, program solidification exception, and program comparison exception occur, the ground test equipment can restart the online upgrade process; if a power outage occurs during the solidification process, resulting in the loss of the user program, the online upgrade can be achieved through the monitoring program after powering on again, and the user program can be uploaded continuously.

[0074] The communication protocol designed in the present invention can be applied to various types of three-autonomous inertial measurement combination external interfaces, including RS422 bus, RS485 bus, 1553B bus, optical fiber bus, CAN bus, etc. The specific instructions are shown in Table 1.

[0075] Table 1 Online upgrade communication protocol instruction table

[0076] Serial number Contents of the Agreement illustrate 1 Online upgrade handshake command Ground test equipment → Three-axis inertial measurement unit 2 Online upgrade handshake response Three-in-one inertial measurement unit → ground test equipment 3 Program upload command (data transmission) Ground test equipment → Three-axis inertial measurement unit 4 Program upload response Three-in-one inertial measurement unit → ground test equipment 5 Program upload verification instructions Ground test equipment → Three-axis inertial measurement unit 6 Program upload verification response Three-in-one inertial measurement unit → ground test equipment 9 Program upload solidification instructions Ground test equipment → Three-axis inertial measurement unit 10 Program upload solidification response Three-in-one inertial measurement unit → ground test equipment 11 Program download instructions Ground test equipment → Three-axis inertial measurement unit 12 Program download response (data transmission) Three-in-one inertial measurement unit → ground test equipment

[0077] Figure 1-Figure 2 A multi-interface high-reliability three-inertial measurement combination program online upgrade method is provided in an embodiment of the present invention. The three-inertial measurement combination is configured with a monitoring program and a user program. The user program can jump to the monitoring program through an online upgrade handshake instruction, and the monitoring program realizes the upload and download of the user program.

[0078] After the three-in-one inertial measurement combination product is powered on, it will directly run the monitoring program and wait for the online upgrade handshake command from the ground test equipment. If it receives the correct online upgrade handshake command or identifies an abnormal user program, it will stay in the monitoring program and wait for the online upgrade process to start; otherwise, after the waiting timeout, the three-in-one inertial measurement combination will enter the user program. During the normal operation of the user program, if the online upgrade handshake command is received again, the program can return to the monitoring program and execute the online upgrade process. The ground test equipment can send online upgrade handshake commands during the entire power-on process.

[0079] See also Figure 3 , the specific steps of the embodiment of the present invention are as follows:

[0080] S1, establish the communication between the three-inertial measurement unit and the ground test equipment. The three-inertial measurement unit uses the DSP6713 main control chip and realizes communication through the RS422 bus.

[0081] S2, start the three-inertial measurement combination (i.e. power on) and run the monitoring program.

[0082] S3, the monitoring program identifies the user program:

[0083] When the user program is normal, execute step S4;

[0084] When the user program is abnormal, the monitoring program continues to run and step S5 is executed.

[0085] S4, the ground test equipment shakes hands with the three-inertial measurement combination according to the online upgrade requirements; the monitoring program waits for the handshake and makes a judgment. The timeout threshold for waiting for the handshake can be set in the three-inertial measurement combination as needed.

[0086] Specifically,

[0087] S4-1, the ground test equipment sends an online upgrade handshake command to the three-auto inertial measurement combination according to the online upgrade requirements;

[0088] S4-2, monitoring program waiting for handshake: when the three-auto inertial measurement combination receives the online upgrade handshake command, it sends an online upgrade handshake response to the ground test equipment, otherwise it does not send it;

[0089] S4-3, ground test equipment is waiting:

[0090] When receiving the online upgrade handshake response, the handshake is successful, and step S5 is executed;

[0091] When no online upgrade handshake response is received, the handshake fails, and it is determined whether the waiting time for the handshake has timed out: if not, continue to wait for the online upgrade handshake response; if timed out, execute step S4-4;

[0092] S4-4, the three-self inertial measurement combination runs the user program and waits for handshake while the user program executes functions, and returns to step S4-1.

[0093] S5, the three-inertial measurement unit is configured to the online upgrade mode and waits for online upgrade. At this time, the monitoring program can receive relevant instructions from the ground test equipment and realize the online upgrade of the user program through the monitoring program.

[0094] S6, the ground test equipment uploads the program to the three-in-one inertial measurement unit according to the online upgrade requirements, performs upload verification on the uploaded program, and caches the uploaded program and the upload verification result in the SDRAM of the three-in-one inertial measurement unit. Specifically,

[0095] S6-1, the ground test equipment sends a program upload instruction to the three-in-one inertial measurement unit according to the online upgrade requirements, starts data transmission, and uploads the program to the three-in-one inertial measurement unit;

[0096] S6-2, when the three-in-one inertial measurement unit receives the program upload instruction, it caches the uploaded program into the SDRAM of the three-in-one inertial measurement unit; after the data transmission is completed, it sends a program upload response to the ground test equipment;

[0097] S6-3, the ground test equipment receives the program upload response, the program upload is completed, the uploaded program is verified and the upload verification result is sent to the three-autonomous inertial measurement combination.

[0098] S7, the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM and makes a judgment. Specifically,

[0099] S7-1, after the program upload is completed, the ground test equipment sends a program upload verification instruction to the three-autonomous inertial measurement combination and stores the upload verification result;

[0100] S7-2, when the three-autonomous inertial measurement combination receives the program upload verification command, it sends a program upload verification response to the ground test equipment;

[0101] S7-3, the ground test equipment receives the program upload verification response, and the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM;

[0102] S7-4, three self-inertial measurement combination to judge:

[0103] When the results of the upload verification are consistent with the calculation verification, step S8 is executed;

[0104] When the results of the upload verification and the calculation verification are inconsistent, the three-auto inertial measurement combination sends an error message of program verification abnormality to the ground test equipment and returns to step S5. At this time, the user program is not updated and can continue to run when the power is turned on again.

[0105] S8, solidify the program cached in SDRAM in the FLASH of the three-self inertial measurement unit and make a judgment. Solidification means that according to the program cached in SDRAM, the program storage space FLASH is erased and written accordingly. Specifically,

[0106] S8-1, the ground test equipment sends a program upload and solidification instruction to the three-autonomous inertial measurement combination;

[0107] S8-2, when the three-auto inertial measurement unit receives the program upload and solidification instruction, it solidifies the program cached in the SDRAM into the FLASH of the three-auto inertial measurement unit, and sends a program upload and solidification response to the ground test equipment after the solidification is completed; the program upload and solidification response contains the solidification status;

[0108] S8-3, the ground test equipment receives the program upload solidification response and makes a judgment:

[0109] When the program upload solidification response does not contain error information, execute step S9;

[0110] When the program upload and curing response contains error information, the ground test equipment generates an error message of program curing abnormality and returns to step S5. At this time, the user program may be written incorrectly, and the user program can be upgraded online again through the monitoring program when power is turned on again.

[0111] S9, download the program stored in FLASH to the ground test equipment and compare it with the uploaded program.

[0112] S9-1, the ground test equipment sends a program download command to the three-in-one inertial measurement unit;

[0113] S9-2, when the three-in-one inertial measurement unit receives the program download command and starts data transmission, the ground test equipment downloads the program solidified in the FLASH; after the data transmission is completed, the program download is completed, and the three-in-one inertial measurement unit sends a program download response;

[0114] S9-3, the ground test equipment receives the program download response and compares the downloaded program with the uploaded program:

[0115] When the results of upload and download are consistent, the online upgrade of this program is completed, restart the three-auto inertial measurement unit, and run the upgraded user program;

[0116] When the results of upload and download are inconsistent, the ground test equipment generates an error message of abnormal program comparison and returns to step S5. At this time, the user program may be written incorrectly, and the user program can be upgraded online again through the monitoring program when power is turned on again.

[0117] In the embodiment of the present invention, the online upgrade process is divided into:

[0118] 1. Normal situation

[0119] a) After the three-in-one inertial measurement combination product is powered on, the monitoring program that is automatically loaded and running determines that the user program is normal and jumps to the user program. The ground test program jumps to the monitoring program after sending a handshake command.

[0120] b) After successfully jumping to the monitoring program, the program upload, program verification, program erasure and program solidification are completed in sequence according to the communication protocol, and no abnormal situation is sent.

[0121] c) After the program is successfully solidified, complete the program download according to the communication protocol.

[0122] d) After the program is uploaded and downloaded, the ground test equipment compares the uploaded and downloaded data and restarts the power to confirm that the program is running normally.

[0123] 2. Error Situation

[0124] a) Program verification exception:

[0125] After the program is uploaded, it is stored in SDRAM. When the program in SDRAM is verified (upload verification and calculation verification), the program sends the error information to the ground test equipment through the communication protocol, and the online upgrade can be performed again without power failure; the program verification abnormality will not damage the monitoring program and the user program. The user program can continue to run after power failure and restart, and the online upgrade can also be performed again.

[0126] b) Program curing exception:

[0127] One is the erasure FALSH error after the program verification is correct. The program sends the error information to the ground test equipment through the communication protocol, and can be upgraded online again without power failure; program solidification abnormality will damage the user program but not the monitoring program. Although the user program cannot continue to run after power failure and restart, it can be upgraded online again through the monitoring program.

[0128] The other is a write FALSH error after the program erases FALSH correctly. The program sends the error information to the ground test equipment through the communication protocol, and can be upgraded online again without power failure; program solidification abnormality will damage the user program but not the monitoring program. Although the user program cannot continue to run after power failure and restart, it can be upgraded online again through the monitoring program.

[0129] c) Program comparison exception:

[0130] After the program is uploaded and downloaded, the ground test equipment compares the uploaded and downloaded files for errors. Online upgrades can be performed again without power failure; program comparison anomalies will damage the user program but not the monitoring program. Although the user program cannot continue to run after power failure and restart, online upgrades can be performed again through the monitoring program.

[0131] d) Abnormal power failure:

[0132] During the program upload process, an abnormal power outage may cause the user program to be damaged. Although the user program cannot continue to run after power off and restart, it can be upgraded online again through the monitoring program.

[0133] After all the above abnormal situations are handled, the program online upgrade function can be correctly implemented.

[0134] The above content is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A multi-interface high-reliability three-self inertial measurement combination program online upgrade method, characterized in that: The following steps are involved: S1, establish communication between the three-inertial measurement unit and the ground test equipment; S2, start the three-inertial measurement combination and run the monitoring program; S3, the monitoring program identifies the user program: when the user program is normal, execute step Step S4; when the user program is abnormal, execute step S5; S4, the ground test equipment shakes hands with the three-inertial measurement combination according to the online upgrade requirements; the monitoring program waits for the handshake: When the handshake is successful, execute step S5; When the handshake fails, determine whether the waiting time for the handshake has timed out: if not, continue to wait for the handshake; if so, the three-self inertial measurement combination runs the user program, waits for the handshake while the user program executes the function, and switches to the monitoring program when the handshake succeeds, and executes step S5; S5, the three-inertial measurement unit is configured in online upgrade mode, waiting for online upgrade; S6, the ground test equipment uploads the program to the three-in-one inertial measurement unit according to the online upgrade requirements, performs upload verification on the uploaded program, and caches the uploaded program and the upload verification result in the SDRAM of the three-in-one inertial measurement unit; S7, the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM, and makes a judgment: when the results of the upload verification and the calculation verification are consistent, execute step S8; When the results of the upload verification and the calculation verification are inconsistent, the three-auto inertial measurement combination sends an error message of program verification abnormality to the ground test equipment, and returns to step S5; S8, fix the program cached in SDRAM into the FLASH of the three-inertial measurement unit: When the program is cured normally, execute step S9; When the program solidification is abnormal, the three-auto inertial measurement combination sends an error message of the program solidification abnormality to the ground test equipment, and returns to step S5; S9, download the program solidified in FLASH to the ground test equipment and compare it with the uploaded program: When the results of uploading and downloading are consistent, the online upgrade of this program is completed and the three-auto inertial measurement combination is restarted; when the results of uploading and downloading are inconsistent, the three-auto inertial measurement combination sends an error message of program comparison abnormality to the ground test equipment and returns to step S5.

2. A multi-interface high-reliability three-self inertial measurement combination program online upgrade method according to claim 1, characterized in that: Step S4 is specifically as follows: S4-1, the ground test equipment sends an online upgrade handshake command to the three-auto inertial measurement combination according to the online upgrade requirements; S4-2, monitoring program waiting for handshake: when the three-auto inertial measurement combination receives the online upgrade handshake command, it sends an online upgrade handshake response to the ground test equipment, otherwise it does not send it; S4-3, ground test equipment is waiting: When receiving the online upgrade handshake response, the handshake is successful, and step S5 is executed; When no online upgrade handshake response is received, the handshake fails, and it is determined whether the waiting time for the handshake has timed out: if not, continue to wait for the online upgrade handshake response; if timed out, execute step S4-4; S4-4, the three-self inertial measurement combination runs the user program and waits for handshake while the user program executes functions, and returns to step S4-1.

3. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: Step S6 is specifically as follows: S6-1, the ground test equipment sends a program upload instruction to the three-in-one inertial measurement unit according to the online upgrade requirements, starts data transmission, and uploads the program to the three-in-one inertial measurement unit; S6-2, when the three-in-one inertial measurement unit receives the program upload instruction, it caches the uploaded program into the SDRAM of the three-in-one inertial measurement unit; after the data transmission is completed, it sends a program upload response to the ground test equipment; S6-3, the ground test equipment receives the program upload response, the program upload is completed, the uploaded program is verified and the upload verification result is sent to the three-autonomous inertial measurement combination.

4. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: Step S7 is specifically as follows: S7-1, after the program upload is completed, the ground test equipment sends a program upload verification instruction to the three-autonomous inertial measurement combination and stores the upload verification result; S7-2, when the three-autonomous inertial measurement combination receives the program upload verification command, it sends a program upload verification response to the ground test equipment; S7-3, the ground test equipment receives the program upload verification response, and the three-self inertial measurement combination performs calculation verification on the program cached in SDRAM; S7-4, three self-inertial measurement combination to judge: When the results of the upload verification are consistent with the calculation verification, step S8 is executed; When the results of the upload verification are inconsistent with the calculation verification, the three-autonomous inertial measurement combination sends an error message of program verification abnormality to the ground test equipment and returns to step S5.

5. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: Step S8 is specifically as follows: S8-1, the ground test equipment sends a program upload and solidification instruction to the three-autonomous inertial measurement combination; S8-2, when the three-auto inertial measurement unit receives the program upload and solidification instruction, it solidifies the program cached in the SDRAM into the FLASH of the three-auto inertial measurement unit, and sends a program upload and solidification response to the ground test equipment after the solidification is completed; S8-3, the ground test equipment receives the program upload solidification response and makes a judgment: when the program upload solidification response does not contain error information, execute step S9; When the program upload solidification response contains error information, the ground test equipment generates an error message of program solidification abnormality and returns to step S5.

6. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: Step S9 is specifically as follows: S9-1, the ground test equipment sends a program download command to the three-in-one inertial measurement unit; S9-2, when the three-in-one inertial measurement unit receives the program download command and starts data transmission, the ground test equipment downloads the program solidified in the FLASH; after the data transmission is completed, the program download is completed and the three-in-one inertial measurement unit sends a program download response; S9-3, the ground test equipment receives the program download response and compares the downloaded program with the uploaded program: When the results of upload and download are consistent, the online upgrade of this program is completed and the three-auto inertial measurement unit is restarted; When the results of uploading and downloading are inconsistent, the ground test equipment generates an error message indicating that the program comparison is abnormal, and returns to step S5.

7. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: In step S8, the solidification of the program in the FLASH is that the three-self inertial measurement combination performs corresponding erasing and writing operations on the program storage space FLASH according to the program cached in the SDRAM.

8. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: In step S1, the three-inertial measurement unit uses the DSP6713 chip.

9. The method for online upgrading of a multi-interface high-reliability three-inertial measurement unit program according to claim 1, characterized in that: In step S1, the communication between the three-autonomous inertial measurement unit and the ground test equipment is achieved through RS422 bus, RS485 bus, 1553B bus, optical fiber bus or CAN bus.

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