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Position attitude system hardware time synchronizing method

A technology of attitude system and hardware time, which is applied in satellite radio beacon positioning system, radio wave measurement system, positioning, etc., can solve the problems of position and attitude system data synchronization accuracy decrease, position and attitude information accuracy decrease, etc., and achieve good adaptability , high reliability and high synchronization accuracy

Inactive Publication Date: 2007-11-07
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

This will lead to a decrease in the data synchronization accuracy of the position and attitude system during long-term remote sensing operations, which in turn will lead to a decrease in the accuracy of the output position and attitude information

Method used

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  • Position attitude system hardware time synchronizing method
  • Position attitude system hardware time synchronizing method
  • Position attitude system hardware time synchronizing method

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Experimental program
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Embodiment Construction

[0038] The position attitude system in this embodiment is made up of IMU, GPS, odometer and POS computer. According to the sampling frequency of the IMU, set the hardware synchronization pulse frequency to 100Hz, that is, the timing interval is 10ms. In this embodiment, the POS computer uses the DSP chip TMS320C6713B as the processor to respond to GPS second pulse interruption and system timing interruption, and generate hardware synchronization pulse. The specific embodiment of the present invention is as shown in Figure 1:

[0039] (1) After the POS is turned on, the system time will be synchronized to UTC time. As shown in Figure 4, including:

[0040] ① Set the timing period of TMS320C6713B timer T0 to 10ms, so that after starting the timer, a timing interrupt will be generated every 10ms.

[0041] ② After obtaining the GPS time synchronized with UTC time, enable the GPS second pulse interrupt.

[0042]③ When the next GPS second pulse arrives, update the GPS time at th...

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Abstract

The invention is a hardware synchronizing method for position and orientation system (POS), relating to a method for synchronizing various sensor data in the POS, firstly using GPS receiver-outputted GPS second pulse signal accurately synchronous with UTC time (Coordinate Universal Time) to synchronize the system time of the POS with the UTC time, then generating UTC time-containing hardware synchronous pulse through system timer and collecting various sensor data, and then implementing synchronization of various sensor data in the POS. And the invention uses GPS second pulse to real-timely correct system clock drift and implements GPS signal monitoring and thus has features of high synchronizing accuracy, good adaptability and high reliability.

Description

technical field [0001] The invention relates to a hardware time synchronization method of a position and orientation system (Position & Orientation System, POS), which belongs to the field of remote sensing information acquisition and is used for time synchronization of sensor data in the position and orientation system. Background technique [0002] The position and attitude system is composed of sensor part and POS computer. The sensor part includes an inertial measurement unit (Inertial Measurement Unit, IMU), a global satellite positioning system (GlobalPosition System, GPS) and auxiliary sensors, such as odometers, altimeters, etc. The POS computer extracts the angular velocity and acceleration information output by the IMU, the speed and position information output by the GPS, and the auxiliary information output by the auxiliary sensor, such as speed and altitude, and performs data fusion processing through the data fusion algorithm, and corrects it through feedback t...

Claims

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Application Information

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IPC IPC(8): G01S5/14G01P5/10G01S19/48
Inventor 房建成杨胜刘百奇宫晓琳韩晓英
Owner BEIHANG UNIV
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