Optical fiber inertial measurement unit program online upgrading method and system

Abstract

The invention belongs to the technical field of optical fiber inertial measurement, and particularly discloses an optical fiber inertial measurement unit program online upgrading method and system based on a CAN bus, and the method comprises the steps: sending an upgrading instruction to an optical fiber inertial measurement unit through an integrated CAN bus upgrading upper computer and CAN bus hardware interface equipment; a preparation completion instruction is replied through the inertial measurement unit, handshake is completed, and the optical fiber inertial measurement unit and the upper computer are both in a program upgrading state; an FPGA program or an ARM program is selected to be upgraded through an integrated CAN bus upgrading upper computer, program upgrading is carried out, and original programming data and upgrading programming data are stored; the original programming data and the upgrading programming data are verified through the integrated CAN bus upgrading upper computer, and whether upgrading succeeds or not is judged. According to the method, the problems that the online program upgrading capability of the optical fiber inertial measurement unit is insufficient, and the equipment bus is used for upgrading on large transportation equipment such as automobiles and unmanned aerial vehicles are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fiber optic inertial measurement, and particularly relates to a method and system for online upgrading of a fiber optic inertial measurement unit program. Background Art

[0002] As a core sensor for inertial navigation, attitude measurement, and servo control, fiber optic inertial measurement units have been widely used in navigation, guidance, and control systems of various weapons and carrier platforms on land, sea, air, and space. They are not only the core devices of modern weapon systems but also gradually find applications in civilian fields such as unmanned aerial vehicles, automated guided vehicles, automotive assisted driving, and other unmanned transportation fields.

[0003] There are two core control chips inside the fiber optic inertial measurement unit: 1. The FPGA, with its superior expansion interface, logic control, and digital signal processing capabilities, is widely used in fiber optic inertial measurement unit products and plays a significant role in fiber optic gyro signal demodulation and analog signal acquisition; 2. The ARM chip, with its rich integrated peripherals and powerful floating-point operation capabilities, undertakes sensor data compensation, calibration, and many standard industrial interface functions of the fiber optic inertial measurement unit.

[0004] When the programs of the FPGA and ARM chips in the fiber optic inertial measurement unit product need to be upgraded, the traditional method is to establish a connection between the non-volatile memory configured for the FPGA or ARM and the PC through a dedicated downloader, and deposit the new programming data into the chip configuration non-volatile memory through a dedicated download program on the PC side to complete the chip upgrade.

[0005] Using this method, when the fiber optic inertial measurement unit product is in the design and debugging stage, the chip program upgrade can be completed through a dedicated downloader and a dedicated physical interface on the chip. However, when the fiber optic inertial measurement unit product has been delivered to the user, the dedicated physical interface on the chip is covered by the housing. If the program needs to be upgraded, the product cover needs to be opened. For some products with special installation locations, it is difficult to connect the downloader. Product disassembly is required, or when the product has been installed in the entire system, it is even more difficult to disassemble, greatly increasing the maintenance cost of chip program upgrade. At the same time, due to the presence of two different types of chips inside the product, the upgrade difficulty is greatly increased. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of insufficient online upgrade program capabilities of fiber optic inertial measurement units in the prior art and the problem of upgrading using the device bus on large transportation equipment such as automobiles and unmanned aerial vehicles. A method and system for online upgrading of a fiber optic inertial measurement unit program based on the CAN bus are proposed.

[0007] The technical solution of the present invention is as follows: In the first aspect, a method for online upgrading of the program of a fiber optic inertial measurement unit based on the CAN bus includes the following steps:

[0008] S1. Send an upgrade instruction to the fiber optic inertial measurement unit through the integrated CAN bus upgrade host computer and the CAN bus hardware interface device, and complete the "handshake" through the ready completion instruction replied by the inertial measurement unit, so that both the fiber optic inertial measurement unit and the integrated CAN bus upgrade host computer are in the program upgrade state;

[0009] S2. Select the program to be upgraded through the integrated CAN bus upgrade host computer, perform program upgrade, and save the original programming data and the upgraded programming data;

[0010] S3. Verify the original programming data and the upgraded programming data through the integrated CAN bus upgrade host computer, judge whether the upgrade is successful. If so, the process ends; if not, return to step S2.

[0011] Preferably, the program to be upgraded in step S2 includes the FPGA program and the ARM program.

[0012] Preferably, when selecting to upgrade the FPGA program, it specifically includes the following steps:

[0013] S201. Select the programming data file of the FPGA, click the upgrade button, and transmit the programming data in the programming data file to the ARM-side upgrade interaction software through the CAN bus and temporarily store the programming data in the on-chip or off-chip memory;

[0014] S202. Verify the correctness of the programming data file through the cyclic redundancy check method. If the verification is correct, execute step S203; if the verification is incorrect, notify the geological survey device to re-transmit the programming data file of the FPGA and return to step S1;

[0015] S203. Configure the FLASH communication interface corresponding to the FPGA through the ARM-side upgrade interaction software, and automatically read back the original programming data of the FLASH to the integrated CAN bus upgrade host computer for automatic storage;

[0016] S204. After the original programming data of the FLASH is read back, erase the data at the corresponding address, and write the programming data of the FPGA to the specified address of the FLASH storage chip;

[0017] S205. After the programming data of the FPGA is written, send the upgrade success status data to the integrated CAN bus upgrade host computer through the ARM-side upgrade interaction software, and perform a pull-down reset on the reset pin of the FPGA through the corresponding pin of the ARM-side upgrade interaction software to load the new program, completing the upgrade of the FPGA program.

[0018] Preferably, when upgrading the ARM program, the following steps are specifically included:

[0019] S211. Select the programming data file of the ARM, click the upgrade button, and transmit the programming data in the programming data file to the ARM-side upgrade interaction software through the CAN bus and temporarily store the programming data in on-chip or off-chip memory;

[0020] S212. Verify the correctness of the programming data file through the cyclic redundancy check method. If the verification is correct, execute step S213; if the verification is incorrect, notify the geodetic survey device to re-transmit the programming data file of the ARM and return to step S1;

[0021] S213. Configure the FLASH communication interface corresponding to the ARM through the ARM-side upgrade interaction software, and automatically read back the original programming data of the FLASH to the integrated CAN bus upgrade host computer for automatic storage;

[0022] S214. After completing the reading back of the original programming data of the FLASH, erase the data at the corresponding address and write the programming data of the ARM to the specified address of the FLASH storage chip;

[0023] S215. After completing the writing of the programming data of the ARM, send the upgrade success status data to the integrated CAN bus upgrade host computer through the ARM-side upgrade interaction software to complete the upgrade of the ARM program.

[0024] Preferably, after completing the upgrade of the ARM program in step S215, if it is necessary to load a new working program of the inertial measurement unit, click the handshake release button on the integrated CAN bus upgrade host computer.

[0025] Preferably, the step S3 specifically includes the following sub-steps:

[0026] Click the ARM / FPGA verification button on the integrated CAN bus upgrade host computer respectively, read out the upgrade programming data file from the corresponding FLASH address through the ARM-side upgrade interaction software, and transmit it to the integrated CAN bus upgrade host computer for storage;

[0027] The integrated CAN bus upgrade host computer performs byte-by-byte verification on the upgrade programming data file and the original programming file stored in the integrated CAN bus upgrade host computer. If the verification is correct, the upgrade is successful; if the verification is incorrect, the upgrade programming file is damaged and return to step S2.

[0028] The beneficial effects of the present invention are:

[0029] 1. Using the CAN bus as the interface for online upgrade facilitates the integration of industrial and military equipment. Compared with the RS422 serial interface, it has strong bus compatibility, does not require dedicated interface allocation, has good electrical isolation effect, and high interface generality, making it particularly suitable for the online upgrade of large-scale civil and military equipment;

[0030] 2. The present invention does not require additional equipment and devices. Through the CAN bus interface of the fiber optic inertial measurement unit facing outwards, it realizes the online upgrade of the FPGA program and the ARM program;

[0031] 3. When the fiber optic inertial measurement unit has been delivered to the user, it replaces the method of completing the FPGA program upgrade and the ARM program upgrade through a dedicated USB downloader or programmer, eliminating operations such as opening the cover, disassembling, or removing the fiber optic inertial measurement unit from the entire system, saving time cost and maintenance cost, reducing the operation risks brought by opening the cover and disassembling operations, and improving the reliability and maintainability of the fiber optic inertial measurement unit;

[0032] 4. The method of the present invention uses a dedicated host computer to complete program upgrade, program verification, program backup, and product restart, reducing the risk of human error and the work intensity of personnel, and improving the upgrade efficiency of the test inertial measurement unit;

[0033] 5. The present invention adopts the method of automatically backing up data during the program upgrade process, avoiding the loss of the original program due to upgrade errors, greatly protecting the product and improving the reliability of the upgrade process;

[0034] 6. The data verification of the present invention adopts two methods, namely: on-chip verification adopts CRC verification of programming data and byte-by-byte verification of the data read back by the host computer. The dual verification ensures the correctness of the upgrade program;

[0035] 7. The present invention can use the same program to upgrade two types of chips on the fiber optic inertial measurement unit simultaneously, saving interface resources and reducing the difficulty of program upgrade.

[0036] In the second aspect, a fiber optic inertial measurement unit program online upgrade system based on the CAN bus includes:

[0037] A product handshake module, which is used to send upgrade instructions to the fiber optic inertial measurement unit through an integrated CAN bus upgrade host computer and a CAN bus hardware interface device, and complete the "handshake" through the ready completion instruction replied by the inertial measurement unit, so that both the fiber optic inertial measurement unit and the integrated CAN bus upgrade host computer are in the program upgrade state;

[0038] An upgrade module, which is used to select the program to be upgraded through the integrated CAN bus upgrade host computer, perform the upgrade, and save the original programming data and the upgraded programming data;

[0039] The verification module is used to verify and upgrade the programming data of the host computer through the integrated CAN bus and determine whether the upgrade is successful.

[0040] In a third aspect, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method as in the first aspect.

[0041] In a fourth aspect, a non-transitory computer-readable storage medium storing computer instructions is provided, and the computer instructions are used to cause a computer to execute the method as in the first aspect.

[0042] In a fifth aspect, a computer program product includes a computer program, and when the computer program is executed by a processor, the method as in the first aspect is implemented. Description of the Drawings

[0043] Figure 1 The figure shows a flowchart of a method for online upgrading of a fiber optic inertial measurement unit program based on a CAN bus provided in Embodiment 1 of the present invention.

[0044] Figure 2 The figure shows a flowchart block diagram of a method for online upgrading of a fiber optic inertial measurement unit program based on a CAN bus provided in Embodiment 1 of the present invention.

[0045] Figure 3 The figure shows a connection diagram of a program upgrade product provided in Embodiment 1 of the present invention.

[0046] Figure 4 The figure shows a frame diagram of an integrated CAN bus upgrade host computer provided in Embodiment 1 of the present invention. Detailed Embodiments

[0047] Now, exemplary embodiments of the present invention will be described in detail with reference to the drawings. It should be understood that the embodiments shown and described in the drawings are merely exemplary, intended to illustrate the principles and spirit of the present invention, and not to limit the scope of the present invention.

[0048] Embodiment 1:

[0049] As Figure 1 and Figure 2 shown, a method for online upgrading of a fiber optic inertial measurement unit program based on a CAN bus includes the following steps:

[0050] S1. The host computer is upgraded through the integrated CAN bus, and the CAN bus hardware interface device sends an upgrade instruction to the fiber optic inertial measurement unit. Through the ready completion instruction replied by the inertial measurement unit, the "handshake" is completed, so that both the fiber optic inertial measurement unit and the host computer upgraded by the integrated CAN bus are in the program upgrade state;

[0051] S2. The host computer upgraded by the integrated CAN bus selects the program to be upgraded, performs program upgrade, and saves the original programming data and the upgraded programming data;

[0052] S3. The host computer upgraded by the integrated CAN bus verifies the original programming data and the upgraded programming data to determine whether the upgrade is successful. If so, the process ends; if not, return to step S2.

[0053] In this embodiment, the program to be upgraded in step S2 includes the FPGA program and the ARM program.

[0054] In this embodiment, when selecting to upgrade the FPGA program, it specifically includes the following steps:

[0055] S201. Select the programming data file of the FPGA, click the upgrade button, and transmit the programming data in the programming data file to the ARM-side upgrade interaction software through the CAN bus and temporarily store the programming data in the on-chip or off-chip memory;

[0056] S202. Verify the correctness of the programming data file through the cyclic redundancy check method. If the verification is correct, execute step S203; if the verification is incorrect, notify the geodetic survey device to re-transmit the programming data file of the FPGA and return to step S1;

[0057] S203. Configure the FLASH communication interface corresponding to the FPGA through the ARM-side upgrade interaction software, and automatically read back the original programming data of the FLASH to the host computer upgraded by the integrated CAN bus for automatic storage;

[0058] S204. After the original programming data of the FLASH is read back, erase the data at the corresponding address, and write the programming data of the FPGA to the specified address of the FLASH storage chip;

[0059] S205. After the programming data of the FPGA is written, the ARM-side upgrade interaction software sends the upgrade success status data to the host computer upgraded by the integrated CAN bus, and the corresponding pin of the ARM-side upgrade interaction software pulls down the reset pin of the FPGA for reset to load the new program, completing the upgrade of the FPGA program.

[0060] In this embodiment, when selecting to upgrade the ARM program, it specifically includes the following steps:

[0061] S211. Select the programming data file of the ARM, click the upgrade button, and transmit the programming data in the programming data file to the upgrade interaction software at the ARM end through the CAN bus and temporarily store the programming data in the on-chip or off-chip memory;

[0062] S212. Verify the correctness of the programming data file through the cyclic redundancy check method. If the verification is correct, execute step S213; if the verification is incorrect, notify the geodetic survey device to re-transmit the programming data file of the ARM and return to step S1;

[0063] S213. Configure the FLASH communication interface corresponding to the ARM through the upgrade interaction software at the ARM end, and automatically read back the original programming data of the FLASH to the integrated CAN bus upgrade host computer for automatic storage;

[0064] S214. After completing the reading back of the original programming data of the FLASH, erase the data at the corresponding address and write the programming data of the ARM to the specified address of the FLASH storage chip;

[0065] S215. After completing the writing of the programming data of the ARM, send the upgrade success status data to the integrated CAN bus upgrade host computer through the upgrade interaction software at the ARM end to complete the upgrade of the ARM program.

[0066] In this embodiment, after completing the upgrade of the ARM program in step S215, if it is necessary to load a new working program of the inertial measurement unit, click the handshake release button on the integrated CAN bus upgrade host computer.

[0067] In this embodiment, step S3 specifically includes the following sub-steps:

[0068] Click the ARM / FPGA verification button on the integrated CAN bus upgrade host computer respectively, read out the upgrade programming data file from the corresponding FLASH address through the upgrade interaction software at the ARM end, and transmit it to the integrated CAN bus upgrade host computer for storage;

[0069] The integrated CAN bus upgrade host computer performs byte-by-byte verification on the upgrade programming data file and the original programming file stored by the integrated CAN bus upgrade host computer. If the verification is correct, the upgrade is successful; if the verification is incorrect, the upgrade programming file is damaged and return to step S2.

[0070] After the fiber optic inertial measurement unit product of the present invention is delivered, for the technical problem of the traditional upgrade method, which requires disassembling the product, resulting in high upgrade and maintenance costs and great risks, it is proposed to use a dedicated integrated CAN bus upgrade host computer, a CAN bus hardware interface device, and an upgrade interaction software at the ARM end for online upgrade. The product connection diagram is as Figure 3 shown, and the frame diagram of the integrated CAN bus upgrade host computer is asFigure 4 As shown in Figure 4 ; the present invention does not require additional equipment and devices. After the fiber optic inertial measurement unit product is delivered to the user, the program can be upgraded without disassembly. At the same time, it does not affect the debugging and upgrading of the fiber optic inertial measurement unit product using a dedicated programmer during the design and debugging phases.

[0071] Embodiment 2:

[0072] Based on Embodiment 1, this embodiment provides an online program upgrade system for a fiber optic inertial measurement unit based on the CAN bus, which is used to implement the online program upgrade method for a fiber optic inertial measurement unit based on the CAN bus as described in Embodiment 1. The system includes:

[0073] A product handshake module, which is used to send an upgrade instruction to the fiber optic inertial measurement unit through an integrated CAN bus upgrade host computer and a CAN bus hardware interface device, and complete the "handshake" through the ready completion instruction replied by the inertial measurement unit, so that both the fiber optic inertial measurement unit and the integrated CAN bus upgrade host computer are in the program upgrade state;

[0074] An upgrade module, which is used to select the program to be upgraded through the integrated CAN bus upgrade host computer, perform the upgrade, and save the original programming data and the upgraded programming data;

[0075] A verification module, which is used to verify the upgraded programming data through the integrated CAN bus upgrade host computer and determine whether the upgrade is successful.

[0076] According to the embodiments of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0077] In an exemplary embodiment, the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described in Embodiment 1 above.

[0078] In an exemplary embodiment, the readable storage medium may be a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause a computer to execute the method as described in Embodiment 1 above.

[0079] In an exemplary embodiment, the computer program product includes a computer program, and the computer program implements the method as described in the above embodiments when executed by a processor.

[0080] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program codes can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or executed entirely on a remote machine or server.

[0081] In the context of the present invention, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0083] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0084] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, can also be a server of a distributed system, or a server incorporating a blockchain.

[0085] Those of ordinary skill in the art will realize that the embodiments described herein are for the purpose of assisting the reader in understanding the principles of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific deformations and combinations that do not depart from the essence of the present invention based on the technical revelations disclosed in the present invention, and these deformations and combinations are still within the scope of protection of the present invention.

Claims

1. An online program upgrade method for a fiber optic inertial measurement unit based on the CAN bus, characterized in that, It includes the following steps: S1. The host computer upgraded by the integrated CAN bus and the CAN bus hardware interface device send upgrade instructions to the fiber optic inertial measurement unit, and complete the "handshake" through the ready completion instruction replied by the inertial measurement unit, so that both the fiber optic inertial measurement unit and the host computer upgraded by the integrated CAN bus are in the program upgrade state; S2. The host computer upgraded by the integrated CAN bus selects the program to be upgraded, performs program upgrade, and saves the original programming data and the upgraded programming data; S3. The host computer upgraded by the integrated CAN bus verifies the original programming data and the upgraded programming data to judge whether the upgrade is successful. If so, the process ends; if not, return to step S2.

2. The method for online program upgrade of the fiber optic inertial measurement unit based on the CAN bus according to claim 1, characterized in that The program to be upgraded described in step S2 includes the FPGA program and the ARM program.

3. The method for online program upgrade of the fiber optic inertial measurement unit based on the CAN bus according to claim 2, wherein When selecting to upgrade the FPGA program, it specifically includes the following steps: S201. Select the programming data file of the FPGA, click the upgrade button, and transmit the programming data in the programming data file to the ARM-side upgrade interaction software through the CAN bus and temporarily store the programming data in the on-chip or off-chip memory; S202. Verify the correctness of the programming data file by means of cyclic redundancy check. If the verification is correct, execute step S203; if the verification is incorrect, notify the ground survey device to re-transmit the programming data file of the FPGA, and return to step S1; S203. Configure the FLASH communication interface corresponding to the FPGA through the ARM-side upgrade interaction software, and automatically read back the original programming data of the FLASH to the host computer upgraded by the integrated CAN bus for automatic saving; S204. After the original programming data of the FLASH is read back, erase the data at the corresponding address, and write the programming data of the FPGA to the specified address of the FLASH storage chip; S205. After the programming data of the FPGA is written, send the upgrade success status data to the host computer upgraded by the integrated CAN bus through the ARM-side upgrade interaction software, and pull down and reset the reset pin of the FPGA through the corresponding pin of the ARM-side upgrade interaction software to load the new program, and complete the FPGA program upgrade.

4. The method for online upgrade of the fiber optic inertial measurement unit program based on the CAN bus according to claim 2, characterized in that, When selecting to upgrade the ARM program, it specifically includes the following steps: S211. Select the programming data file of the ARM, click the upgrade button, and transmit the programming data in the programming data file to the ARM-side upgrade interaction software through the CAN bus and temporarily store the programming data in the on-chip or off-chip memory; S212. Verify the correctness of the programming data file by means of cyclic redundancy check. If the verification is correct, execute step S213; if the verification is incorrect, notify the ground survey device to re-transmit the programming data file of the ARM, and return to step S1; S213. Configure the FLASH communication interface corresponding to the ARM through the ARM-side upgrade interaction software, and automatically read back the original programming data of the FLASH to the host computer upgraded by the integrated CAN bus for automatic saving; S214. After the original programming data of the FLASH is read back, erase the data at the corresponding address, and write the programming data of the ARM to the specified address of the FLASH storage chip; After writing the programming data of the ARM, the ARM-side upgrade interaction software sends the upgrade success status data to the integrated CAN bus upgrade host computer to complete the ARM program upgrade.

5. The online program upgrade method for the fiber optic inertial measurement unit based on the CAN bus according to claim 4, characterized in that, After completing the ARM program upgrade in step S215, if it is necessary to load a new inertial measurement unit working program, click the "Release Handshake" button on the integrated CAN bus upgrade host computer.

6. The online program upgrade method for the fiber optic inertial measurement unit based on the CAN bus according to claim 1, characterized in that, Step S3 specifically includes the following sub-steps: Click the ARM / FPGA verification button on the integrated CAN bus upgrade host computer respectively. Read the upgrade programming data file from the corresponding FLASH address through the ARM-side upgrade interaction software and transfer it to the integrated CAN bus upgrade host computer for storage. The integrated CAN bus upgrade host computer performs byte-by-byte verification on the upgrade programming data file and the original programming file stored in the integrated CAN bus upgrade host computer. If the verification is correct, the upgrade is successful; if the verification is incorrect, the upgrade programming file is damaged, and return to step S2.

7. An in - line program upgrade system for a fiber optic inertial measurement unit based on the CAN bus, characterized in that, It includes: A product handshake module, which is used to send an upgrade instruction to the fiber optic inertial measurement unit through the integrated CAN bus upgrade host computer and the CAN bus hardware interface device, and complete the "handshake" through the ready completion instruction replied by the inertial measurement unit, so that both the fiber optic inertial measurement unit and the integrated CAN bus upgrade host computer are in the program upgrade state. An upgrade module, which is used to select the program to be upgraded through the integrated CAN bus upgrade host computer, perform the upgrade, and save the original programming data and the upgrade programming data. A verification module, which is used to verify the upgrade programming data through the integrated CAN bus upgrade host computer to determine whether the upgrade is successful.

8. An electronic device, characterized in that, It includes: At least one processor; And a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

10. A computer program product, characterized in that, It includes a computer program, and the computer program realizes the method according to any one of claims 1-6 when executed by a processor.

Images