CN102109351A - Laser gyro POS (Point of Sales) data acquisition and pre-processing system - Google Patents
Laser gyro POS (Point of Sales) data acquisition and pre-processing system Download PDFInfo
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Abstract
The invention relates to a laser gyro POS data acquisition and pre-processing system which comprises a Field Programmable Gate Array (FPGA) data acquisition module and a Digital Signal Processor (DSP) data pre-processing module. The FPGA data acquisition module realizes the acquisition of laser gyro signal, accelerometer signal and temperature signal and acquires a clock by using the synchronous FPGA data of GPS second pulse. The DSP data pre-processing module reads the laser gyro data, the accelerometer data and the temperature data in the FPGA to pre-process the data and sends the pre-processing result to a navigation computer. The system realizes the integrated design of high-frequency and high-precision laser gyro POS data acquisition and pre-processing system of FPGA/DSP framework; therefore, the power consumption, the volume and the weight of the system are reduced so that the system performance can be greatly improved.
Description
Technical field
The present invention relates to a kind of laser gyro POS data acquisition and pretreatment system, belong to the inertial technology field, can be applied to POS (Position and Orientation System, the position and attitude measuring system), also can be applied to the data acquisition and the pre-service of inertial navigation, inertia/GPS (Global Position System, GPS) integrated navigation system.
Background technology
For high resolving power airborne remote sensing system, except high-definition remote sensing load, the principal element of restriction remote sensing system imaging resolution is high precision POS.High precision POS provides high precision position attitude reference for remote sensing load, provides accurate sensing for inertially stabilized platform simultaneously.No matter for the high-resolution optical camera, still airborne three-dimensional imaging laser radar, high precision POS is the key that improves imaging resolution, has become the technical bottleneck of restriction China high-definition remote sensing system development.Data acquisition and pretreatment system are the important component parts of POS system, are directly connected to the realization of POS system function and the raising of performance.
Abroad under the traction of high-definition remote sensing load development, high precision POS technology has also obtained fast development, and developed countries such as the U.S., Canada, Germany have formed product, and are widely used in high-performance airborne remote sensing field.Canada APPLANIX company is the representative of POS state-of-art in the world today, it has developed a series of POS, POS/AV610 laser gyro POS system wherein, be applied to aerial camera, imaging spectrometer, laser radar and synthetic-aperture radar etc., that its IMU adopts is the micro ISR of Honeywell company, since blockade on new techniques, the report of not relevant micro ISR data acquisition and pretreatment system.Honeywell is the representative of gyro and inertial navigation system state-of-art in the world today, and its high-precision laser gyroscope Inertial Measurement Unit HG9900 adopts is that the TMS320VC33 floating point processor of TI is as core processor.
Domestic at POS inertial measurement system technical elements, though start late, carry out corresponding research work at present, and obtained certain progress.The airborne POS experimental prototype of China's first generation is successfully applied to Chinese Academy of Sciences electron institute airborne microwave remote sensing system.The second generation POS principle prototype flexible gyroscope inertial measurement system of development; The high precision POS principle prototype optical fiber gyroscope inertial measurement system of development, attitude accuracy is up to 0.02 °, for high precision POS development provides technical support, its data acquisition and pretreatment system adopt single FPGA to add the array mode of peripheral chip, realize data acquisition, but FPGA is a fixed-point processor, can't carry out high accuracy data filtering, so the single FPGA data acquisition plan can't satisfy laser gyro POS system demand.The Laser-gym Inertial Navigation System that the National University of Defense technology makes, its data acquisition and pretreatment system adopt PC-104 as primary processor, but the PC-104 volume is big, power consumption is big, is difficult to satisfy POS system small size, low-power consumption, high-precision growth requirement.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, propose a kind of laser gyro POS data acquisition and pretreatment system, thereby satisfy POS system high-frequency and high-precision demand.
The technology of the present invention solution is: a kind of laser gyro POS data acquisition and pretreatment system comprise: FPGA data acquisition module and DSP data preprocessing module; The FPGA data acquisition module comprises I/F change-over circuit, optical coupling isolation circuit, quadrature decoder circuit, the minimum subsystem of FPGA and temperature signal regulation circuit; The DSP data preprocessing module comprises minimum subsystem of DSP and RS-422 serial ports transtation mission circuit; Three tunnel laser gyro orthogonal intersection code signals send to the quadrature decoder circuit through optical coupling isolation circuit, obtain the laser gyro decoded signal after the quadrature decoder circuit decoding is finished, and send to the minimum subsystem of FPGA; No. three accelerometer current signals are converted to the accelerometer pulse through the I/F change-over circuit, send to the minimum subsystem of FPGA through optical coupling isolation circuit then; The GPS pps pulse per second signal sends to the minimum subsystem of FPGA through optical coupling isolation circuit; Laser gyro temperature signal and ACTE signal send to the minimum subsystem of FPGA through optical coupling isolation circuit by the SPI communication mode after carrying out signal amplification and A/D conversion through the processes temperature signal circuit; The minimum subsystem of FPGA is built ware circuit by hardware description language in FPGA, realize the high frequency sampling of laser gyro data and accelerometer data 2KHz-20KHz, specific implementation is for to gather the synchronous FPGA data acquisition of GPS pulse per second (PPS) clock by the acquisition pulse mode, gather the laser gyro signal by the mode of acquisition pulse and level, mode by acquisition pulse is gathered accelerometer signal, gathers laser gyro temperature signal and ACTE signal by the SPI communication mode; The minimum subsystem of DSP reads three tunnel laser gyro signals, three tunnel accelerometer signal, laser gyro temperature signal and the ACTE signal that the minimum subsystem of FPGA is gathered, and carry out pre-service, pre-service comprises carries out low-pass digital filter to three tunnel laser gyro data and three road accelerometer datas; Utilize laser gyro temperature data and ACTE data respectively laser gyro data and accelerometer data to be searched the tabular form temperature compensation; Utilize the laser gyro data that accelerometer data is carried out the vibration error compensation; To sum up smoothly through the laser gyro data and the accelerometer data of low-pass filtering, temperature error compensation and vibration error compensation, by the RS-422 serial communication circuit pre-service result is sent to navigational computer at last; The minimum subsystem of DSP is carried out efficient by improving DSP hardware utilization factor and software algorithm, realizes system's small size, low-power consumption and high operational performance.
Described quadrature decoder circuit adopts HCTL-2020 to realize the hardware of laser gyro orthogonal intersection code signal is decoded, and every road laser gyro signal decoding is output as one tunnel pulse and one tunnel level signal.
Described FPGA data acquisition module adopts a slice XC3S1500 as processor.
Described FPGA data collecting module collected GPS pulse per second (PPS) by the hardware implementation method of GPS pulse per second (PPS) pulse edge replacement data acquisition clock counter, realizes the collection clock of FPGA data acquisition module and the clock synchronization of GPS pulse per second (PPS).
Described FPGA data acquisition module carries out the sampling of 2KHz-20KHz high-frequency signal to laser gyro and accelerometer signal.
Described DSP data preprocessing module adopts a slice to have the TMS320C6713B float-point DSP of EMIF as processor.
Described temperature signal regulation circuit comprises nine tunnel laser gyro processes temperature signal circuit and three tunnel ACTE signal processing circuits; The laser gyro internal temperature sensor is a platinum resistance, utilize the temperature variant principle of resistance value size of platinum resistance, with its dividing potential drop of connecting with precision resistance, then voltage division signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to the A/D conversion chip and carry out analog to digital conversion, pass through optical coupling isolation circuit then, send to the minimum subsystem of FPGA by the SPI communication mode; Utilize the temperature variant principle of accelerometer internal temperature sensor output current size, output current is carried out electrorheological voltage with a precision resistance, then voltage signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to the A/D conversion chip and carry out analog to digital conversion, pass through optical coupling isolation circuit (4) then, send to the minimum subsystem (6) of FPGA by the SPI communication mode.
Principle of the present invention is: the laser gyro output signal is an orthogonal intersection code signal, data acquisition and pretreatment system pass through the quadrature decoder function of HCTL-2020 chip to the laser gyro signal decoding, with the laser gyro conversion of signals is one road pulse signal and one tunnel level signal, by the function of FPGA acquisition pulse and level, finish collection to the laser gyro signal; Accelerometer is output as current signal, and current signal is converted to pulse signal by the I/F change-over circuit earlier, by FPGA pulse collection function, finishes the collection of accelerometer signal again; Laser gyro and ACTE signal at first carry out signal by OPA4350 and amplify, and carry out the A/D conversion by ADS8345E then, and last FPGA is by SPI communication mode collecting temperature signal.When data acquisition and pretreatment system are gathered clock arrival, FPGA notifies DSP by interrupt mode, DSP dumps to the DSP internal storage region by 16 parallel port bus EMIF with laser gyro data, accelerometer data and the temperature data that FPGA gathers, then laser gyro data, accelerometer data are carried out low-pass filtering, temperature compensation, vibration error compensation and data smoothing, at last the pre-service result is sent to navigational computer by serial interface communication mode.
The present invention's advantage compared with prior art is:
(1) the present invention has adopted FPGA, realize the sampling of 2KHz-20KHz high-frequency is carried out in laser gyro and accelerometer data by the high-speed hardware algorithm, high speed, Floating-point DSP have been adopted, carry out high accuracy number low-pass filtering, temperature error compensation, vibration error compensation and data smoothing by laser gyro and the accelerometer data that FPGA is collected, thereby satisfy POS system high-frequency, high-precision demand;
(2) the present invention has adopted the scheme of FPGA+DSP, in FPGA, build ware circuit by hardware description language, in DSP, improve DSP hardware utilization factor and software algorithm efficient by the software program algorithm, thereby more traditional data acquisition and pretreatment system based on the X86 framework have been realized small size, low-power consumption and high operational performance.
Description of drawings
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is laser gyro decoding circuit figure of the present invention;
Fig. 3 is GPS Second pulse circuit figure of the present invention;
Fig. 4 is RS-422 high-speed serial data transmission circuit figure of the present invention;
Fig. 5 is a FPGA circuit diagram of the present invention;
Fig. 6 is a DSP circuit diagram of the present invention;
Fig. 7 is FPGA of the present invention and DSP program flow diagram.
Embodiment
As shown in Figure 1, the present invention includes FPGA data acquisition module 1 and DSP data preprocessing module 2.FPGA data acquisition module 1 comprises the minimum subsystem 6 of I/F change-over circuit 3, optical coupling isolation circuit 4, quadrature decoder circuit 5, processes temperature signal circuit 7 and FPGA; The DSP data preprocessing module comprises RS-422 serial ports transtation mission circuit 9 and the minimum subsystem 8 of DSP.
Laser gyro output orthogonal coded signal, signal is A, B two-way square-wave signal, and 90 ° of A, the phasic differences of B two paths of signals phase, flow to quadrature decoder circuit 5 through optical coupling isolation circuit 4, quadrature decoder circuit 5, as shown in Figure 2, utilize the quadrature decoder function of HCTL-2020 chip, the laser gyro orthogonal intersection code signal is decoded, be converted to one road pulse signal and one tunnel level signal, send to the minimum subsystem 6 of FPGA; The current signal of accelerometer is converted to pulse signal through I/F change-over circuit 3, exports to the minimum subsystem 6 of FPGA through optical coupling isolation circuit 4; The GPS pps pulse per second signal as shown in Figure 3, flows to the minimum subsystem 6 of FPGA through optical coupling isolation circuit 4; Optical coupling isolation circuit 4, utilize photoelectrical coupler input and the electrical isolation principle of exporting, by photoelectricity coupling chip HCPL-063L and HCPL-0630 laser gyro, accelerometer, GPS and mimic channel and rear end Acquisition Circuit are carried out electrical isolation, reduce the phase mutual interference between each parts.
Temperature signal regulation circuit 7 comprises nine tunnel laser gyro processes temperature signal circuit and three tunnel ACTE signal processing circuits.The laser gyro internal temperature sensor is a platinum resistance, utilize the temperature variant principle of resistance value size of platinum resistance, with its dividing potential drop of connecting with precision resistance, then voltage division signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to A/D conversion chip ADS8345E and carry out analog to digital conversion, pass through optical coupling isolation circuit 4 then, send to the minimum subsystem 6 of FPGA by the SPI communication mode.The accelerometer internal temperature sensor is AD590, utilize the temperature variant principle of output current size of AD590, its output current is carried out electrorheological voltage with a precision resistance, then voltage signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to A/D conversion chip ADS8345E and carry out analog to digital conversion, pass through optical coupling isolation circuit 4 then, send to the minimum subsystem 6 of FPGA by the SPI communication mode.
Fpga chip XC3S1500 in the minimum subsystem 6 of FPGA, as shown in Figure 5, build ware circuit by hardware description language, the specific algorithm flow process is shown in Fig. 7 the first half, to gather clock and obtain 2KHz-20KHz by dominant frequency 25MHz frequency division, by FPGA at a high speed, the characteristics of parallel running, parallel acquisition is through the laser gyro pulse and the level signal of 5 decodings of quadrature decoder circuit, the accelerometer pulse signal of I/F change-over circuit 3 outputs of isolating through optical coupling isolation circuit 4, the laser gyro temperature signal and the ACTE signal of GPS pps pulse per second signal of isolating through optical coupling isolation circuit 4 and processes temperature signal circuit 7 outputs isolated through optical coupling isolation circuit 4; Utilize the GPS pulse per second (PPS) to reset and gather the counter of clock, the synchronous data collection clock makes the collection clock align the data acquisition that the active crystal oscillator frequency deviation of modifying factor is brought and the clock drift of pretreatment system with gps time; And it is the laser gyro data, accelerometer data, laser gyro temperature data and the ACTE data that collect are temporary to buffer zone; Fpga chip XC3S1500 is by the data transmission of 16 parallel port buses realizations with DSP.
Dsp chip TMS320C6713B in the minimum subsystem 8 of DSP, shared by EMIF address wire and data line as shown in Figure 6 to Flash storer and FPGA, improve DSP hardware utilization factor; The dsp software algorithm, by C Language And Assembly Language hybrid programming, improve the dsp software algorithm and carry out efficient, idiographic flow is shown in Fig. 7 the latter half, by 16 parallel port bus EMIF outside asynchronous device FPGA is carried out read operation, from FPGA, read the laser gyro data, accelerometer data, laser gyro temperature data and the ACTE data that collect through FPGA, and temporary to buffer zone.After data block reads and finishes, data are carried out pre-service, pre-service comprises carries out low-pass digital filter to three tunnel laser gyro data and three road accelerometer datas by wave digital lowpass filter, mechanical shaking noise filtering with gyro, keep effective angular velocity information and linear acceleration information, low-pass data wave filter main design parameters is: cut-off frequecy of passband is 50Hz-100Hz, the stopband cutoff frequency is 200Hz-250Hz, the passband maximum attenuation is 0.001dB-3dB, and the stopband minimal attenuation is 60dB-80dB; System is carried out-40 ℃～+ 60 ℃ full temperature temperature calibrations, set up the system temperature model, model is placed in the middle of the DSP program as look-up table, utilize laser gyro temperature data and ACTE data respectively laser gyro data and accelerometer data to be carried out the temperature compensation of real-time searching tabular form then; Under system's quiescent conditions, when the laser gyro power-on and power-off, measure the output of accelerometer average respectively, utilize of the influence of this method Laser Measurement gyro mechanical shaking, utilize the laser gyro vibration information that accelerometer data is carried out the vibration error compensation then the accelerometer output data; To sum up smoothly through the laser gyro data and the accelerometer data of filtering and error compensation at last, add and obtain the 200Hz data from the 2KHz-20KHz data, and it is temporary to sending buffer zone, pass through RS-422 serial ports transtation mission circuit 9 then, adopt RS-422 asynchronous serial communication pattern, by chip MAX3488, as shown in Figure 4, the result sends navigational computer to pre-service.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.
Claims (7)
1. laser gyro POS data acquisition and pretreatment system is characterized in that: comprise FPGA data acquisition module (1) and DSP data preprocessing module (2); FPGA data acquisition module (1) comprises I/F change-over circuit (3), optical coupling isolation circuit (4), quadrature decoder circuit (5), the minimum subsystem (6) of FPGA and temperature signal regulation circuit (7); DSP data preprocessing module (2) comprises minimum subsystem (8) of DSP and RS-422 serial ports transtation mission circuit (9); Three tunnel laser gyro orthogonal intersection code signals send to quadrature decoder circuit (5) through optical coupling isolation circuit (4), obtain the laser gyro decoded signal after quadrature decoder circuit (5) decoding is finished, and send to the minimum subsystem (6) of FPGA; No. three accelerometer current signals are converted to the accelerometer pulse through I/F change-over circuit (3), pass through optical coupling isolation circuit (4) then and send to the minimum subsystem (6) of FPGA; The GPS pps pulse per second signal sends to the minimum subsystem (6) of FPGA through optical coupling isolation circuit (4); Laser gyro temperature signal and ACTE signal send to the minimum subsystem (6) of FPGA through optical coupling isolation circuit (4) by the SPI communication mode after carrying out signal amplification and A/D conversion through processes temperature signal circuit (7); The minimum subsystem of FPGA (6) is built ware circuit by hardware description language in FPGA, realize the high frequency sampling of laser gyro data and accelerometer data 2KHz-20KHz, specific implementation is for to gather the synchronous FPGA data acquisition of GPS pulse per second (PPS) clock by the acquisition pulse mode, gather the laser gyro signal by the mode of acquisition pulse and level, mode by acquisition pulse is gathered accelerometer signal, gathers laser gyro temperature signal and ACTE signal by the SPI communication mode; The minimum subsystem of DSP (8) reads three tunnel laser gyro signals, three tunnel accelerometer signal, laser gyro temperature signal and the ACTE signal that the minimum subsystem of FPGA (6) is gathered, and carry out pre-service, pre-service comprises carries out low-pass digital filter to three tunnel laser gyro data and three road accelerometer datas; Utilize laser gyro temperature data and ACTE data respectively laser gyro data and accelerometer data to be searched the tabular form temperature compensation; Utilize the laser gyro data that accelerometer data is carried out the vibration error compensation; To sum up smoothly through the laser gyro data and the accelerometer data of low-pass filtering, temperature error compensation and vibration error compensation, by RS-422 serial communication circuit (9) the pre-service result is sent to navigational computer at last; The minimum subsystem of DSP (8) is carried out efficient by improving DSP hardware utilization factor and software algorithm, realizes system's small size, low-power consumption and high operational performance.
2. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system, it is characterized in that: described quadrature decoder circuit (5) adopts HCTL-2020 to realize the hardware of laser gyro orthogonal intersection code signal is decoded, and every road laser gyro signal decoding is output as one tunnel pulse and one tunnel level signal.
3. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system is characterized in that: described FPGA data acquisition module (1) adopts a slice XC3S1500 as processor.
4. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system, it is characterized in that: described FPGA data acquisition module (1) is gathered the GPS pulse per second (PPS), by the hardware implementation method of GPS pulse per second (PPS) pulse edge replacement data acquisition clock counter, realize the collection clock of FPGA data acquisition module and the clock synchronization of GPS pulse per second (PPS).
5. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system is characterized in that: described FPGA data acquisition module (1) carries out the sampling of 2KHz-20KHz high-frequency signal to laser gyro and accelerometer signal.
6. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system is characterized in that: described DSP data preprocessing module (2) adopts a slice to have the TMS320C6713B float-point DSP of EMIF as processor.
7. a kind of laser gyro POS according to claim 1 data acquisition and pretreatment system is characterized in that: described temperature signal regulation circuit (7) comprises nine tunnel laser gyro processes temperature signal circuit and three tunnel ACTE signal processing circuits; The laser gyro internal temperature sensor is a platinum resistance, utilize the temperature variant principle of resistance value size of platinum resistance, with its dividing potential drop of connecting with precision resistance, then voltage division signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to the A/D conversion chip and carry out analog to digital conversion, pass through optical coupling isolation circuit (4) then, send to the minimum subsystem (6) of FPGA by the SPI communication mode; Utilize the temperature variant principle of accelerometer internal temperature sensor output current size, output current is carried out electrorheological voltage with a precision resistance, then voltage signal being flowed to operational amplifier amplifies, after the amplification through the one-level voltage follower, flow to the A/D conversion chip and carry out analog to digital conversion, pass through optical coupling isolation circuit (4) then, send to the minimum subsystem (6) of FPGA by the SPI communication mode.
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| CN102591200A (en) * | 2011-11-09 | 2012-07-18 | 华南理工大学 | Field programmable gate array (FPGA) control system development platform |
| CN102736591A (en) * | 2012-05-28 | 2012-10-17 | 北京航空航天大学 | Distributed POS (Position and Orientation System) sub-IMU (Inertial Measurement Unit) synchronous data acquisition system |
| CN102997915A (en) * | 2011-09-15 | 2013-03-27 | 北京自动化控制设备研究所 | POS post-processing method with combination of closed-loop forward filtering and reverse smoothing |
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