Multi-source fusion acquisition method and device based on LINUX and RTOS

Abstract

The invention relates to the technical field of data processing, in particular to a multi-source fusion collection method and device based on LINUX and RTOS, computer equipment, a storage medium and a computer program product. The method comprises the steps of obtaining reference time data of a third system in response to execution of a target task, and determining system reference time according to the reference time data; obtaining first target data associated with the target task through a pre-constructed RTOS system, and sending the first target data to a pre-constructed LINUX system; obtaining second target data associated with the target task through the LINUX system; performing alignment calibration on the RTOS system and the LINUX system on the basis of the system reference time; and performing fusion acquisition processing on the first target data and the second target data based on the calibrated LINUX system. By the adoption of the method, the multi-task processing capacity of the LINUX system and the high real-time performance of the RTOS system can be fully utilized, and the task processing efficiency and the task processing quality are improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a multi-source fusion acquisition method, device, computer equipment, storage medium and computer program product based on LINUX and RTOS. Background Art

[0002] Linux is an open-source Unix-like operating system. With its powerful multi-tasking capabilities and rich software ecosystem, Linux is widely used in servers, desktop computers, embedded systems, mobile devices and other fields.

[0003] RTOS (Real-time Operating System) is an operating system designed to execute tasks within strict time constraints, and is often used in embedded and control systems that require timely response and processing. Compared with traditional operating systems, the main feature of RTOS is to provide predictable response time to ensure timely processing of external events. RTOS systems are widely used in various embedded systems and fields that require real-time processing.

[0004] In the related art, different systems have different degrees of adaptability to different application scenarios in engineering applications, and it is usually necessary to decide the application system to be used based on the specific application scenario.

[0005] However, the current data collection methods have the following problems:

[0006] The data collection method that relies on a single system is difficult to adapt to a variety of different application scenarios. Summary of the invention

[0007] Based on this, it is necessary to provide a LINUX and RTOS multi-source fusion acquisition method, device, computer equipment, computer-readable storage medium and computer program product based on LINUX and RTOS, which can fully utilize the multi-tasking processing capabilities of the LINUX system and the high real-time performance of the RTOS system to improve task processing efficiency and processing quality.

[0008] In a first aspect, the present application provides a multi-source fusion acquisition method based on LINUX and RTOS. The method comprises:

[0009] In response to the execution of the target task, obtaining reference time data of the third system, and determining the system base time according to the reference time data;

[0010] Acquire first target data associated with the target task through a pre-built RTOS system, and send the first target data to a pre-built LINUX system;

[0011] Acquire second target data associated with the target task through the LINUX system;

[0012] Performing alignment and calibration on the RTOS system and the LINUX system based on the system reference time;

[0013] The first target data and the second target data are fused and collected based on the calibrated LINUX system.

[0014] In one embodiment, in response to the execution of the target task, obtaining reference time data of the third system, and determining the system base time according to the reference time data comprises:

[0015] Acquire positioning information associated with the target task, and acquire satellite time data in a satellite time system according to the positioning information;

[0016] The reference time data is determined according to the satellite time data, and the system base time is determined according to the reference time data.

[0017] In one embodiment, determining the reference time data according to the satellite time data, and determining the system reference time according to the reference time data comprises:

[0018] Parsing the satellite time data to obtain a satellite time axis;

[0019] The local clock pulse signals of the RTOS system and the LINUX system are obtained, and the time error is determined based on the reference time axis and the local clock pulse signal.

[0020] In one embodiment, determining the reference time data according to the satellite time data, and determining the system reference time according to the reference time data comprises:

[0021] Determine the millisecond interrupt time of the local timer according to the local clock pulse signals of the RTOS system and the LINUX system;

[0022] The local real-time time of the RTOS system and the LINUX system is determined according to the millisecond interrupt time.

[0023] In one embodiment, after the calibrated LINUX system performs fusion acquisition processing on the first target data and the second target data, the method further includes:

[0024] The task data obtained after the fusion acquisition processing is processed based on the LINUX system, and the processing includes storage, external transmission and calculation processing based on a preset processing algorithm.

[0025] In one embodiment, the method further comprises:

[0026] In response to acquiring the exception information of the target task, acquiring an exception log associated with the exception information;

[0027] The system failure point associated with the abnormal information is located according to the log information of the abnormal log.

[0028] In a second aspect, the present application also provides a multi-source fusion acquisition device based on LINUX and RTOS. The device comprises:

[0029] A reference time module, configured to obtain reference time data of a third system in response to the execution of a target task, and determine a system reference time according to the reference time data;

[0030] A real-time acquisition module, used for acquiring first target data associated with the target task through a pre-built RTOS system, and sending the data to a pre-built LINUX system;

[0031] A data processing module, used for acquiring second target data associated with the target task through the LINUX system;

[0032] A time calibration module, used for aligning and calibrating the RTOS system and the LINUX system based on the system reference time;

[0033] A fusion acquisition module is used to perform fusion acquisition processing on the first target data and the second target data based on the calibrated LINUX system.

[0034] In one embodiment, the reference time module includes:

[0035] A satellite time module, used to obtain positioning information associated with the target task, and obtain satellite time data in a satellite time system according to the positioning information;

[0036] A reference time module is used to determine the reference time data according to the satellite time data, and to determine the system base time according to the reference time data.

[0037] In one of the embodiments, the reference time module includes:

[0038] A time axis module, used for parsing the satellite time data and obtaining a satellite time axis;

[0039] The time error module is used to obtain the local clock pulse signals of the RTOS system and the LINUX system, and determine the time error based on the reference time axis and the local clock pulse signal.

[0040] In one of the embodiments, the reference time module includes:

[0041] An interrupt time module, used for determining the millisecond interrupt time of a local timer according to the local clock pulse signals of the RTOS system and the LINUX system;

[0042] The real-time time module is used to determine the local real-time time of the RTOS system and the LINUX system according to the millisecond interrupt time.

[0043] In one embodiment, after the fusion acquisition module, it also includes:

[0044] The processing system module is used to process the task data obtained after the fusion acquisition processing based on the LINUX system, and the processing includes storage, external transmission and calculation processing based on a preset processing algorithm.

[0045] In one embodiment, the device further comprises:

[0046] an exception log module, configured to obtain an exception log associated with the exception information in response to obtaining the exception information of the target task;

[0047] The abnormality locating module is used to locate the system fault point associated with the abnormal information according to the log information of the abnormality log.

[0048] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps in a multi-source fusion acquisition method based on LINUX and RTOS as described in any one of the embodiments in the first aspect when executing the computer program.

[0049] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the steps in the multi-source fusion acquisition method based on LINUX and RTOS as described in any one of the embodiments in the first aspect are implemented.

[0050] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the multi-source fusion acquisition method based on LINUX and RTOS as described in any one of the embodiments in the first aspect are implemented.

[0051] The above-mentioned multi-source fusion acquisition method, device, computer equipment, storage medium and computer program product based on LINUX and RTOS can achieve the beneficial effects of the technical problems in the corresponding background technology by deducing the technical features in the claims:

[0052] A multi-source fusion data acquisition method based on LINUX and RTOS includes: in response to the execution of a target task, obtaining reference time data of a third system, and determining a system base time according to the reference time data; obtaining first target data associated with the target task through a pre-built RTOS system, and sending it to a pre-built LINUX system; obtaining second target data associated with the target task through the LINUX system; aligning and calibrating the RTOS system and the LINUX system based on the system base time; and fusion acquisition processing of the first target data and the second target data based on the calibrated LINUX system. In implementation, during the execution of the target task, the reference time data of the third system is first obtained, so as to obtain a reference time data independent of the RTOS system and the LINUX system, so as to determine the system base time according to the reference time data, so as to realize the alignment and calibration of the LINUX system and the RTOS system, so that the fusion processing of data from the two systems can be supported in the time dimension. At this time, the terminal can obtain data from the LINUX system and the RTOS system respectively. The data in the RTOS system can be guaranteed to be more real-time, and the data in the LINUX system can process multi-source data in different processes, such as image recognition, 3D reconstruction, etc., to meet the data collection application requirements. In this way, with the support of dual-system fusion acquisition, the multi-tasking processing capabilities of the LINUX system and the high real-time performance of the RTOS system can be fully utilized to improve task processing efficiency and processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is an application environment diagram of a multi-source fusion acquisition method based on LINUX and RTOS in an embodiment;

[0054] Figure 2 It is a first flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in one embodiment;

[0055] Figure 3 It is a second flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in another embodiment;

[0056] Figure 4A third flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in another embodiment;

[0057] Figure 5 It is a fourth flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in another embodiment;

[0058] Figure 6 It is a fifth flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in another embodiment;

[0059] Figure 7 It is a sixth flow chart of a multi-source fusion acquisition method based on LINUX and RTOS in another embodiment;

[0060] Figure 8 A flowchart of a multi-source fusion acquisition method based on LINUX and RTOS in a specific embodiment

[0061] Fig. 9 It is a structural block diagram of a multi-source fusion acquisition device based on LINUX and RTOS in one embodiment;

[0062] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Linux is an open-source Unix-like operating system. With its powerful multi-tasking capabilities and rich software ecosystem, Linux is widely used in servers, desktop computers, embedded systems, mobile devices and other fields.

[0065] RTOS (Real-time Operating System) is an operating system designed to execute tasks within strict time constraints, and is often used in embedded and control systems that require timely response and processing. Compared with traditional operating systems, the main feature of RTOS is to provide predictable response time to ensure timely processing of external events. RTOS systems are widely used in various embedded systems and fields that require real-time processing.

[0066] In the related art, different systems have different degrees of adaptability to different application scenarios in engineering applications, and it is usually necessary to decide the application system to be used based on the specific application scenario.

[0067] However, the current data collection methods have the following problems:

[0068] The data collection method that relies on a single system is difficult to adapt to a variety of different application scenarios.

[0069] Based on this, the embodiment of the present application provides a multi-source fusion acquisition method based on LINUX and RTOS, which can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be but is not limited to various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0070] In one embodiment, Figure 2 As shown in the figure, a multi-source fusion acquisition method based on LINUX and RTOS is provided. Figure 1 The terminal in is used as an example to illustrate, including the following steps:

[0071] Step 201: in response to the execution of the target task, obtaining reference time data of a third system, and determining a system base time according to the reference time data;

[0072] Step 203: Acquire the first target data associated with the target task through the pre-built RTOS system, and send it to the pre-built LINUX system;

[0073] Step 205: Acquire second target data associated with the target task through the LINUX system;

[0074] Step 207: aligning and calibrating the RTOS system and the LINUX system based on the system reference time;

[0075] Step 209: performing fusion acquisition processing on the first target data and the second target data based on the calibrated LINUX system.

[0076] In the above-mentioned multi-source fusion acquisition method based on LINUX and RTOS, reasonable deduction is performed in combination with the technical features in the embodiment to achieve the beneficial effect of solving the technical problems raised in the background technology:

[0077] A multi-source fusion data acquisition method based on LINUX and RTOS includes: in response to the execution of a target task, obtaining reference time data of a third system, and determining a system base time according to the reference time data; obtaining first target data associated with the target task through a pre-built RTOS system, and sending it to a pre-built LINUX system; obtaining second target data associated with the target task through the LINUX system; aligning and calibrating the RTOS system and the LINUX system based on the system base time; and fusion acquisition processing of the first target data and the second target data based on the calibrated LINUX system. In implementation, during the execution of the target task, the reference time data of the third system is first obtained, so as to obtain a reference time data independent of the RTOS system and the LINUX system, so as to determine the system base time according to the reference time data, so as to realize the alignment and calibration of the LINUX system and the RTOS system, so that the fusion processing of data from the two systems can be supported in the time dimension. At this time, the terminal can obtain data from the LINUX system and the RTOS system respectively. The data in the RTOS system can be guaranteed to be more real-time, and the data in the LINUX system can process multi-source data in different processes, such as image recognition, 3D reconstruction, etc., to meet the data collection application requirements. In this way, with the support of dual-system fusion acquisition, the multi-tasking processing capabilities of the LINUX system and the high real-time performance of the RTOS system can be fully utilized to improve task processing efficiency and processing quality.

[0078] In one embodiment, if Figure 3 As shown, step 201 includes:

[0079] Step 301: Acquire positioning information associated with the target task, and acquire satellite time data in a satellite time system according to the positioning information;

[0080] Step 303: Determine the reference time data according to the satellite time data, and determine the system base time according to the reference time data.

[0081] In this embodiment, the satellite time data is requested from the satellite time system through positioning information to determine the system reference time, which helps to determine the system reference time based on the satellite time data through simple external interaction and helps to improve the accuracy of the system reference time.

[0082] In one embodiment, if Figure 4 As shown, step 303 includes:

[0083] Step 401: parsing the satellite time data to obtain the satellite time axis;

[0084] Step 403: Acquire local clock pulse signals of the RTOS system and the LINUX system, and determine a time error based on the reference time axis and the local clock pulse signal.

[0085] In this embodiment, the satellite time axis is determined by satellite time data, and the time error is determined according to the local clock pulse signal, which helps to improve the accuracy of the system reference time and improve the data quality of fusion data acquisition.

[0086] In one embodiment, if Figure 5 As shown, step 303 includes:

[0087] Step 501: Determine the millisecond interrupt time of the local timer according to the local clock pulse signals of the RTOS system and the LINUX system;

[0088] Step 503: Determine the local real-time time of the RTOS system and the LINUX system according to the millisecond interrupt time.

[0089] In this embodiment, the millisecond interrupt time of the local timer is determined by the local clock pulse signal, and then the local real time is determined, which helps to improve the accuracy of the system reference time calibration.

[0090] In one embodiment, if Figure 6 As shown, after step 209, the following steps are further included:

[0091] Step 601: Processing the task data obtained after the fusion acquisition processing based on the LINUX system, the processing includes storage, external transmission and calculation processing based on a preset processing algorithm.

[0092] In this embodiment, after the fused collected data is acquired, the subsequent complex processing flow is implemented by the LINUX system, which helps to fully utilize the processing performance of the LINUX system and improve the processing efficiency of tasks within the system.

[0093] In one embodiment, if Figure 7 As shown, the method also includes:

[0094] Step 701: in response to obtaining the exception information of the target task, obtaining an exception log associated with the exception information;

[0095] Step 703: Locate the system fault point associated with the abnormal information according to the log information of the abnormal log.

[0096] In this embodiment, when a task is abnormal, the system fault point is located by analyzing the abnormal log, so that the system fault point can be accurately located, which helps to improve the efficiency of fault location processing.

[0097] In a most specific embodiment, Figure 8 As shown in the figure, after RTOS is started, necessary real-time configuration and interrupt management settings are performed, magnetic sensors, barometers, odometers, GNSS and inertial navigation sensors are initialized, and interrupt service routines are configured. Real-time tasks are defined, task priorities and stack sizes are set, and collection tasks for magnetic sensors, barometers, odometers, GNSS and inertial navigation are allocated. Sensor data collection tasks read sensor data through interrupts or polling, and perform necessary preprocessing, such as filtering and calibration. The collected sensor data is cached in a memory area with high real-time requirements to ensure the real-time and accuracy of the data. Responsible for fusion processing of the collected sensor data, sensor fusion algorithms, etc., to provide accurate vehicle positioning and navigation information. Ensure that data with high real-time requirements can be quickly transmitted to the Linux system, or directly sent to external devices. Through mechanisms such as heartbeat detection and watchdog timers, ensure the stability and real-time performance of the system, and record real-time related logs, such as task switching and interrupt processing, for subsequent analysis and troubleshooting.

[0098] In the Linux system, the camera and lidar hardware devices are detected through the device management tool, and the corresponding driver is loaded to create a data acquisition service process, and the data acquisition parameters of the camera and lidar are configured, such as resolution, frame rate, etc. It is responsible for caching and preliminary processing of the collected camera and lidar data, such as compression, format conversion, etc., for subsequent analysis and storage. It can run more complex data processing algorithms, such as image recognition, 3D reconstruction, etc., and synchronize the processed data with the RTOS system. It is responsible for persistent storage of all collected data, such as writing to the hard disk or sending it to the cloud server. It records detailed log information, including abnormal conditions and system errors during the data acquisition process. When the system is shut down or restarted, the Linux system is responsible for safely shutting down the data acquisition process to ensure that data is not lost.

[0099] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0100] Based on the same inventive concept, the embodiment of the present application also provides a LINUX and RTOS based multi-source fusion acquisition device for implementing the above-mentioned LINUX and RTOS based multi-source fusion acquisition method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the LINUX and RTOS based multi-source fusion acquisition device provided below can refer to the above limitations on the LINUX and RTOS based multi-source fusion acquisition method, which will not be repeated here.

[0101] In one embodiment, Fig. 9 As shown, a multi-source fusion acquisition device based on LINUX and RTOS is provided, including: a reference time module, a real-time acquisition module, a data processing module, a time calibration module and a fusion acquisition module, wherein:

[0102] A reference time module, configured to obtain reference time data of a third system in response to the execution of a target task, and determine a system reference time according to the reference time data;

[0103] A real-time acquisition module, used for acquiring first target data associated with the target task through a pre-built RTOS system, and sending the data to a pre-built LINUX system;

[0104] A data processing module, used for acquiring second target data associated with the target task through the LINUX system;

[0105] A time calibration module, used for aligning and calibrating the RTOS system and the LINUX system based on the system reference time;

[0106] A fusion acquisition module is used to perform fusion acquisition processing on the first target data and the second target data based on the calibrated LINUX system.

[0107] In one embodiment, the reference time module includes:

[0108] A satellite time module, used to obtain positioning information associated with the target task, and obtain satellite time data in a satellite time system according to the positioning information;

[0109] A reference time module is used to determine the reference time data according to the satellite time data, and to determine the system base time according to the reference time data.

[0110] In one of the embodiments, the reference time module includes:

[0111] A time axis module, used for parsing the satellite time data and obtaining a satellite time axis;

[0112] The time error module is used to obtain the local clock pulse signals of the RTOS system and the LINUX system, and determine the time error based on the reference time axis and the local clock pulse signal.

[0113] In one of the embodiments, the reference time module includes:

[0114] An interrupt time module, used for determining the millisecond interrupt time of a local timer according to the local clock pulse signals of the RTOS system and the LINUX system;

[0115] The real-time time module is used to determine the local real-time time of the RTOS system and the LINUX system according to the millisecond interrupt time.

[0116] In one embodiment, after the fusion acquisition module, it also includes:

[0117] The processing system module is used to process the task data obtained after the fusion acquisition processing based on the LINUX system, and the processing includes storage, external transmission and calculation processing based on a preset processing algorithm.

[0118] In one embodiment, the device further comprises:

[0119] an exception log module, configured to obtain an exception log associated with the exception information in response to obtaining the exception information of the target task;

[0120] The abnormality locating module is used to locate the system fault point associated with the abnormal information according to the log information of the abnormality log.

[0121] Each module in the above-mentioned multi-source fusion acquisition device based on LINUX and RTOS can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0122] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a multi-source fusion acquisition method based on LINUX and RTOS is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0123] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0124] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0125] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0126] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0127] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0128] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0129] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-source fusion acquisition method based on LINUX and RTOS, characterized in that: The method comprises: In response to the execution of the target task, obtaining reference time data of the third system, and determining the system base time according to the reference time data; Acquire first target data associated with the target task through a pre-built RTOS system, and send the first target data to a pre-built LINUX system; Acquire second target data associated with the target task through the LINUX system; Performing alignment and calibration on the RTOS system and the LINUX system based on the system reference time; The first target data and the second target data are fused and collected based on the calibrated LINUX system.

2. The method according to claim 1, characterized in that In response to the execution of the target task, obtaining reference time data of the third system, and determining the system base time according to the reference time data comprises: Acquire positioning information associated with the target task, and acquire satellite time data in a satellite time system according to the positioning information; The reference time data is determined according to the satellite time data, and the system base time is determined according to the reference time data.

3. The method according to claim 2, characterized in that Determining the reference time data according to the satellite time data, and determining the system reference time according to the reference time data comprises: Parsing the satellite time data to obtain a satellite time axis; The local clock pulse signals of the RTOS system and the LINUX system are obtained, and the time error is determined based on the reference time axis and the local clock pulse signal.

4. The method according to claim 3, characterized in that: Determining the reference time data according to the satellite time data, and determining the system reference time according to the reference time data comprises: Determine the millisecond interrupt time of the local timer according to the local clock pulse signals of the RTOS system and the LINUX system; The local real-time time of the RTOS system and the LINUX system is determined according to the millisecond interrupt time.

5. The method according to claim 1, characterized in that After the calibrated LINUX system performs fusion acquisition processing on the first target data and the second target data, the method further includes: The task data obtained after the fusion acquisition processing is processed based on the LINUX system, and the processing includes storage, external transmission and calculation processing based on a preset processing algorithm.

6. The method according to claim 1, characterized in that The method further comprises: In response to acquiring the exception information of the target task, acquiring an exception log associated with the exception information; The system failure point associated with the abnormal information is located according to the log information of the abnormal log.

7. A multi-source fusion acquisition device based on LINUX and RTOS, characterized in that: The device comprises: A reference time module, configured to obtain reference time data of a third system in response to the execution of a target task, and determine a system reference time according to the reference time data; A real-time acquisition module, used for acquiring first target data associated with the target task through a pre-built RTOS system, and sending the data to a pre-built LINUX system; A data processing module, used for acquiring second target data associated with the target task through the LINUX system; A time calibration module, used for aligning and calibrating the RTOS system and the LINUX system based on the system reference time; A fusion acquisition module is used to perform fusion acquisition processing on the first target data and the second target data based on the calibrated LINUX system.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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