PPS second pulse clock calibration method, processor, storage medium and unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle clock calibration, and discloses a PPS second pulse clock calibration method, a processor, a storage medium and an unmanned aerial vehicle. A board card pulse per second pin is connected with a GPIO of a flight control system processor, and the GPIO of the processor triggers interruption when receiving a pulse rising edge; inthe interrupt service function, the clock of the flight control system is set to be a whole second, then 1 is added to the seconds of the system time, and the steps is circulated continuously; and after a period of time of calibration, when the GPS signal is lost at a certain moment, the board card does not send the PPS second pulse signal on time any more, and at the moment, the timer is switchedto perform clock calibration. Tests show that the calibration precision can reach the microsecond level, when GPS signals are lost, the high-precision timer of the processor is switched to complete microsecond-level calibration, and the calibration precision depends on the precision of a processor crystal oscillator.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle clock calibration, and in particular relates to a PPS second pulse clock calibration method, a processor, a storage medium and an unmanned aerial vehicle. Background technique [0002] At present, during the formation flight of UAVs, accurate clocks are required in the navigation and control processes to ensure the real-time performance of the algorithm, and when flying in formation, the clock consistency between different UAVs is particularly important. During the flight of man-machine formation, the clock error between different drones is too large, which will directly lead to the collision of multiple aircraft at the same time and cause bombing. [0003] At present, GPS timing is mostly used for time calibration in UAV systems, but the accuracy of GPS timing can only reach the second level, which is low precision, and when the GPS signal is lost, the clock of the flight control ...

AI Technical Summary

Problems solved by technology

[0002] At present, during the formation flight of UAVs, accurate clocks are required in the navigation and control processes to ensure the real-time performance of the algorithm, and when flying in formation, the clock consistency between different UAVs is particularly important. During the flight of man-machine formation, the clock error between different drones is too large, which will directly lead to the collision of multiple drones at the same time and cause bombing.

[0003] At present, GPS timing is mostly used for time calibration in UAV systems, but the accuracy of GPS timing can only reach the second level, and the accuracy is low, and when the GPS signal is lost, the clock of the flight control system will drift

[0004] Through the above analysis, the problems and defects of the existing technology are: in the existing method of using GPS timing to realize the time calibration of the UAV system, the accuracy of GPS timing can only reach the second level, the accuracy is low, and when the GPS signal is lost , the clock of the flight control system will drift

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