CN-121994216-A - Parameter binding method in optical fiber inertial navigation alignment navigation process

CN121994216ACN 121994216 ACN121994216 ACN 121994216ACN-121994216-A

Abstract

The specification discloses a parameter binding method in the process of optical fiber inertial navigation alignment navigation, which relates to the technical field of parameter binding in the process of alignment navigation, and comprises the steps of distributing an alignment navigation function of an inertial navigation system to a core 0 for operation, and distributing a parameter uploading function in the process of navigation to a core 1 for operation; and the core 1 immediately executes the parameter uploading function after receiving the parameter uploading mark information sent by the core 0, and the core 1 adopts the inter-core interrupt communication function to perform data interaction in the parameter uploading process so as to ensure the accuracy and the integrity of parameter uploading. The parallel processor architecture changes the limitation of serial execution of the functional modules in the traditional scheme, and even in the extreme scene of high-speed maneuvering or unmanned aerial vehicle formation collaborative operation of the aircraft, the inertial navigation system can finish the alignment navigation and upload key parameters (such as correction parameters, calibration parameters and the like) to the inertial navigation system with millisecond delay.

Inventors

LIU YUMENG
You mao
ZHANG WEIXING
FU JIAJIA
QU ZHIYONG
WANG YONGKAI
XU LU

Assignees

贵州航天控制技术有限公司

Dates

Publication Date: 20260508
Application Date: 20251210

Claims (4)

1. The parameter binding method in the optical fiber inertial navigation alignment navigation process is characterized by being applied to an inertial navigation system with a multi-core CPU, wherein the multi-core CPU at least comprises a core 0 and a core 1, and the method comprises the following steps: the alignment navigation function of the inertial navigation system is distributed to the core 0 for operation, and the parameter uploading function in the navigation process is distributed to the core 1 for operation; The core 0 monitors whether an uploading parameter instruction sent by the flight control machine is received or not in real time; After receiving the parameter uploading flag information sent by the core 0, the core 1 immediately executes a parameter uploading function, and in the parameter uploading process, the core 1 adopts an inter-core interrupt communication function to perform data interaction so as to ensure the accuracy and the integrity of parameter uploading.
2. The method for binding parameters in the optical fiber inertial navigation alignment navigation process according to claim 1, wherein the allocation of the alignment navigation function of the inertial navigation system to the core 0 operation and the allocation of the parameter uploading function in the navigation process to the core 1 operation comprise: The alignment navigation function executed by the core 0 comprises alignment and navigation tasks of the inertial navigation system when the inertial navigation system runs in the air, and the core 1 is responsible for a parameter uploading function for uploading relevant parameters of the inertial navigation system to an external device.
3. The method for binding parameters in the process of inertial navigation alignment and navigation of optical fiber according to claim 2, wherein the core 0 monitors in real time whether an uploading parameter instruction sent by the flight control machine is received, and the method comprises the following steps: when the core 0 receives an uploading parameter instruction sent by the flight control machine, the core 0 sends mark information and parameter data to the core 1 through an inter-core interrupt mechanism, and the mark and the triggered interrupt signal are used for informing the core 1 that a parameter uploading task needs to be executed.
4. The method for binding parameters in the process of inertial navigation alignment and navigation of optical fiber according to claim 1, wherein the core 0 monitors in real time whether an uploading parameter instruction sent by the flight control machine is received, and the method comprises the following steps: The flight control machine sends an 'upload preparation' instruction to the core 0, the core 0 sends an 'upload confirmation' response state to the flight control machine after receiving the instruction, the flight control machine sends an 'upload execution' command after receiving the 'upload confirmation' response instruction, the core 0 records the instruction and transmits the instruction to the core 1 to execute parameter uploading after receiving the 'upload execution' instruction, returns to the 'upload' state after uploading successfully, if the core 0 receives the 'upload preparation' instruction and returns to the 'upload confirmation' response state and does not receive the 'upload execution' instruction within a set time, the execution command is abandoned, the 'upload confirmation' response state is changed into the 'not uploaded', and if the core 0 receives the 'upload preparation' instruction and returns to the 'upload confirmation' response state, the 'discard uploading command' is not received, the upload is executed, and the 'upload confirmation' response state is changed into the 'not uploaded'.

Description

Parameter binding method in optical fiber inertial navigation alignment navigation process Technical Field The invention relates to the technical field of parameter binding in an alignment navigation process, in particular to a parameter binding method in an optical fiber inertial navigation alignment navigation process. Background With the rapid development of the aerospace technology and the unmanned aerial vehicle technology, the performance of the unmanned aerial vehicle is improved, the application scene is expanded, and the requirements on the core technology of an inertial navigation system are more severe from the accurate positioning of a high-resolution earth observation satellite to the autonomous combat of an observing and striking integrated unmanned aerial vehicle. In the core link of the inertial navigation system, namely in the alignment navigation process, the traditional single-core architecture has difficulty in meeting calculation requirements due to the real-time calculation of sensor data, high-precision operation of a complex dynamics model and error correction under a dynamic environment, so that the influence of factors such as high dynamics, strong interference and the like in the running process of equipment is avoided, the inertial navigation system can still continuously and reliably realize the alignment navigation function under different scenes, and the performance and integrated design of a processor become the key point for breaking through bottlenecks. On the other hand, the intelligent level improvement requires that the inertial navigation device can perform real-time data interaction and function coordination with other devices, such as updating navigation parameters in real time according to task change, performing data fusion with a satellite navigation system and the like, so that the data volume required to be processed by the inertial navigation system is greatly increased in the alignment navigation process, and higher requirements are put on data processing capacity and function integration level. However, the inertial navigation system is faced with a plurality of technical bottlenecks in practical application at present, the conventional inertial navigation system mostly adopts a single-core processor architecture, when an alignment navigation task is executed, processor resources are occupied by a complex calculation process, and if parameter uploading or other operations are performed, the data transmission and processing process can further compete for limited resources, so that the running alignment navigation algorithm is interrupted or delayed, and the navigation accuracy of equipment and the task execution result are seriously affected. In order to solve the above problems, although the implementation can be realized by means of hardware upgrade or large-scale software modification, the development cost and period can be greatly increased, and new compatibility risks can be possibly caused, and the method is difficult to rapidly popularize and apply in the inertial navigation system of the existing equipment, so that an efficient parameter binding method based on the existing hardware architecture is needed to realize parallel processing of alignment navigation and parameter uploading of the inertial navigation system and reliable storage of parameters, so as to meet the performance requirements of the modern aerospace technology on the inertial navigation system. At present, the implementation schemes similar to the invention in the prior art are mainly focused on the aspects of software optimization and task scheduling of an inertial navigation system, and some schemes try to relieve the resource conflict problem of parameter uploading and navigation tasks to a certain extent by improving the task scheduling algorithm of a single-core processor and adopting strategies such as priority preemption or time slice rotation, for example, by setting high priority of the navigation tasks, the operation of the navigation algorithm is ensured to be guaranteed preferentially in the parameter uploading process, but the method cannot fundamentally solve the problem of limited processor resources, and the navigation tasks still can be interfered to a certain extent in the parameter uploading process. In addition, some researches try to share the parameter processing task by adding a coprocessor to realize parallel processing of parameter uploading and navigation algorithm, but the scheme needs to greatly change a hardware architecture, increases the complexity and cost of a system, and meanwhile needs to solve the problems of communication and cooperation between a main processor and the coprocessor, so that the method is difficult to be widely applied to the existing equipment. In summary, although the existing scheme improves the parameter processing problem of the inertial navigation system to a certain extent, the problems of task parallel processing and reliabl