技术领域Technical field
本发明涉及姿态角测量技术领域，具体地涉及一种姿态角测量系统、一种姿态角测量方法、一种机器可读存储介质及一种处理器。The present invention relates to the technical field of attitude angle measurement, and specifically relates to an attitude angle measurement system, an attitude angle measurement method, a machine-readable storage medium and a processor.
背景技术Background technique
风洞试验，特别是飞机模型动态试验，是飞行器研制过程中必不可少的环节，在航空航天发展与国防现代化建设中具有十分重要的地位及作用。风洞模型姿态角测量主要是用于风洞模型侧滑角、迎角与滚转角等姿态角的高精度实时测量，而且风洞试验的一个重要过程就是机构的行走和吹风的比对。Wind tunnel testing, especially dynamic testing of aircraft models, is an indispensable part of the aircraft development process and plays a very important role in aerospace development and national defense modernization. Wind tunnel model attitude angle measurement is mainly used for high-precision real-time measurement of attitude angles such as sideslip angle, attack angle, and roll angle of the wind tunnel model. An important process in the wind tunnel test is the comparison of the walking and blowing of the mechanism.
目前常用的方法是在风洞模型运动机构的特定位置安装标记点，通过惯性传感器进行姿态角的测量及数据采集。针对在风洞试验中对高精度及稳定性的需求，对惯性传感器的数据采集及处理有更高的要求，但目前大多数的惯性传感器的系统在连续长时进行姿态角测量时，接收到的采集数据会有误差，误差会随时间发散，不利于连续姿态角测量。The commonly used method at present is to install marking points at specific positions of the wind tunnel model's motion mechanism, and measure the attitude angle and collect data through inertial sensors. In response to the demand for high precision and stability in wind tunnel tests, there are higher requirements for data collection and processing of inertial sensors. However, most of the current inertial sensor systems receive attitude angle measurements during continuous long-term The collected data will have errors, and the errors will diverge over time, which is not conducive to continuous attitude angle measurement.
因此，现有的姿态角测量系统存在测量误差较大，不利于进行连续的姿态角测量的问题。Therefore, the existing attitude angle measurement system has the problem of large measurement error, which is not conducive to continuous attitude angle measurement.
发明内容Contents of the invention
本发明实施例的目的是提供一种姿态角测量系统、一种姿态角测量方法、一种机器可读存储介质及一种处理器，该姿态角测量系统通过对采集的角速度和加速度进行数据处理和转换，保证了数据采集和处理的高效性，减小了姿态解算所用到的角速度和加速度的误差，从而使得到的最终姿态角更加准确，有助于连续姿态角的测量。The purpose of the embodiments of the present invention is to provide an attitude angle measurement system, an attitude angle measurement method, a machine-readable storage medium and a processor. The attitude angle measurement system performs data processing on the collected angular velocity and acceleration. and conversion, ensuring the efficiency of data collection and processing, reducing the angular velocity and acceleration errors used in attitude calculation, thereby making the final attitude angle more accurate and conducive to the measurement of continuous attitude angles.
为了实现上述目的，本申请第一方面提供一种姿态角测量系统，包括IMU模块、控制模块和数据处理模块；In order to achieve the above purpose, the first aspect of this application provides an attitude angle measurement system, including an IMU module, a control module and a data processing module;
所述IMU模块用于实时采集被测物的角速度和加速度，并将所述角速度和加速度发送至所述控制模块；The IMU module is used to collect the angular velocity and acceleration of the measured object in real time, and send the angular velocity and acceleration to the control module;
所述控制模块用于对所述角速度和加速度进行预处理，并将预处理后的角速度和加速度并行发送至所述数据处理模块；The control module is used to preprocess the angular velocity and acceleration, and send the preprocessed angular velocity and acceleration to the data processing module in parallel;
所述数据处理模块用于对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。The data processing module is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle.
在本申请实施例中，所述控制模块为FPGA，所述FPGA包括数据通信协议接口单元和数据串并转换单元；In this embodiment of the present application, the control module is an FPGA, and the FPGA includes a data communication protocol interface unit and a data serial-to-parallel conversion unit;
所述数据通信协议接口单元用于调用USART通用IP核，生成对应的电路结构，并根据时序控制电路和对应的电路结构对所述角速度和加速度进行预处理，得到预处理后的角速度和加速度；The data communication protocol interface unit is used to call the USART general IP core, generate the corresponding circuit structure, and preprocess the angular velocity and acceleration according to the timing control circuit and the corresponding circuit structure to obtain the preprocessed angular velocity and acceleration;
所述数据串并转换单元用于将所述预处理后的角速度和加速度进行串并转换，并将转换后的角速度和加速度发送至所述数据处理模块。The data serial-to-parallel conversion unit is used to perform serial-to-parallel conversion on the preprocessed angular velocity and acceleration, and send the converted angular velocity and acceleration to the data processing module.
在本申请实施例中，所述FPGA还包括缓冲单元，所述缓冲单元位于所述数据通信协议接口单元和数据串并转换单元之间；In this embodiment of the present application, the FPGA further includes a buffer unit located between the data communication protocol interface unit and the data serial-to-parallel conversion unit;
所述缓冲单元用于对所述预处理后的角速度和加速度进行缓冲处理，并将缓冲处理后的角速度和加速度发送至所述数据串并转换单元。The buffering unit is used to buffer the preprocessed angular velocity and acceleration, and send the buffered angular velocity and acceleration to the data serial-to-parallel conversion unit.
在本申请实施例中，所述FPGA还包括控制状态机单元，用于协调所述数据通信协议接口单元、数据串并转换单元和缓冲单元运行。In this embodiment of the present application, the FPGA also includes a control state machine unit for coordinating the operation of the data communication protocol interface unit, data serial-to-parallel conversion unit and buffer unit.
在本申请实施例中，所述IMU模块包括惯性传感器，所述惯性传感器的主体材质为2A12铝合金和/或所述惯性传感器的结构内部进行灌胶处理。In this embodiment of the present application, the IMU module includes an inertial sensor. The main body material of the inertial sensor is 2A12 aluminum alloy and/or the inside of the structure of the inertial sensor is filled with glue.
在本申请实施例中，所述数据处理模块包括对准单元、计算单元和补偿单元；其中：In this embodiment of the application, the data processing module includes an alignment unit, a calculation unit and a compensation unit; where:
对准模块用于确定导航坐标系；The alignment module is used to determine the navigation coordinate system;
计算单元用于基于所述导航坐标系，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到初始姿态角；The computing unit is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration based on the navigation coordinate system using Kalman filtering to obtain an initial attitude angle;
补偿单元用于对所述初始姿态角进行补偿，得到最终姿态角。The compensation unit is used to compensate the initial attitude angle to obtain the final attitude angle.
在本申请实施例中，还包括温度采集模块；In the embodiment of this application, it also includes a temperature acquisition module;
所述温度采集模块用于实时采集被测物的温度信息，并将所述温度信息发送至所述控制模块；The temperature acquisition module is used to collect the temperature information of the measured object in real time and send the temperature information to the control module;
所述控制模块还用于将所述温度信息发送至所述数据处理模块的补偿单元；The control module is also used to send the temperature information to the compensation unit of the data processing module;
所述补偿单元用于根据所述温度信息对所述初始姿态角进行补偿，得到最终姿态角。The compensation unit is used to compensate the initial attitude angle according to the temperature information to obtain a final attitude angle.
在本申请实施例中，还包括上位机，所述数据处理模块与所述上位机连接。In this embodiment of the present application, it also includes a host computer, and the data processing module is connected to the host computer.
在本申请实施例中，还包括三轴转台；所述三轴转台用于通过设置参数进行姿态角测量的环境模拟，以便于进行姿态角测量；其中，所述参数是基于历史风洞试验数据得到的。In the embodiment of the present application, a three-axis turntable is also included; the three-axis turntable is used to perform environmental simulation of attitude angle measurement by setting parameters to facilitate attitude angle measurement; wherein the parameters are based on historical wind tunnel test data owned.
本申请第二方面提供一种姿态角测量方法，应用于上述的姿态角测量系统，包括：The second aspect of this application provides an attitude angle measurement method, which is applied to the above attitude angle measurement system, including:
实时采集被测物的角速度和加速度；Collect the angular velocity and acceleration of the measured object in real time;
对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输；Preprocess the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel;
对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。Perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle.
在本申请实施例中，所述对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输，包括：In the embodiment of the present application, preprocessing the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel includes:
调用USART通用IP核，生成对应的电路结构，并根据时序控制电路和对应的电路结构对所述角速度和加速度进行预处理，得到预处理后的角速度和加速度；Call the USART general IP core to generate the corresponding circuit structure, and preprocess the angular velocity and acceleration according to the timing control circuit and the corresponding circuit structure to obtain the preprocessed angular velocity and acceleration;
将所述预处理后的角速度和加速度进行串并转换，以使预处理后的角速度和加速度并行传输。The preprocessed angular velocity and acceleration are converted from serial to parallel, so that the preprocessed angular velocity and acceleration are transmitted in parallel.
在本申请实施例中，所述对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角，包括：In the embodiment of the present application, the data fusion and attitude calculation of the preprocessed angular velocity and acceleration are performed to obtain the final attitude angle, including:
确定导航坐标系；Determine the navigation coordinate system;
基于所述导航坐标系，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到初始姿态角；Based on the navigation coordinate system, Kalman filtering is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the initial attitude angle;
对所述初始姿态角进行补偿，得到最终姿态角。The initial attitude angle is compensated to obtain the final attitude angle.
本申请第三方面提供一种处理器，被配置成执行上述的姿态角测量方法。A third aspect of the present application provides a processor configured to execute the above attitude angle measurement method.
本申请第四方面提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令在被处理器执行时使得所述处理器被配置成执行上述的姿态角测量方法。A fourth aspect of the present application provides a machine-readable storage medium. Instructions are stored on the machine-readable storage medium. When executed by a processor, the instructions cause the processor to be configured to perform the above-mentioned attitude angle measurement method.
通过上述技术方案，通过设置IMU模块、控制模块和数据处理模块；控制模块和数据处理模块通过对采集的角速度和加速度进行数据处理和转换，保证了数据采集和处理的高效性，减小了姿态解算所用到的角速度和加速度的误差，从而使得到的最终姿态角更加准确，有助于连续姿态角的测量。在连续长时进行姿态角测量时，由于每一次测量得到的最终姿态角误差更小，更加准确，从而有助于充分理解每一个行走位置的状态，通过采集足够多的数据，可以利用高精度高稳定性算法确定实时位置，进而得到长时稳定准确的姿态角跟踪结果。通过该系统完善连续扫描试验能力，可以进一步提高风洞试验效率和试验数据精准度。Through the above technical solution, by setting up the IMU module, control module and data processing module; the control module and data processing module process and convert the collected angular velocity and acceleration to ensure the efficiency of data collection and processing, and reduce the posture The errors in the angular velocity and acceleration used are solved to make the final attitude angle more accurate and contribute to the measurement of continuous attitude angles. When measuring attitude angles continuously for a long time, since the final attitude angle error obtained by each measurement is smaller and more accurate, it helps to fully understand the status of each walking position. By collecting enough data, high accuracy can be used The high-stability algorithm determines the real-time position, thereby obtaining long-term stable and accurate attitude angle tracking results. By improving the continuous scanning test capabilities of this system, the wind tunnel test efficiency and test data accuracy can be further improved.
本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of embodiments of the present invention will be described in detail in the detailed description that follows.
附图说明Description of the drawings
附图是用来提供对本发明实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施例，但并不构成对本发明实施例的限制。在附图中：The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the description. Together with the following specific implementation modes, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the attached picture:
图1示意性示出了根据本申请实施例的一种姿态角测量系统的框架图；Figure 1 schematically shows a framework diagram of an attitude angle measurement system according to an embodiment of the present application;
图2示意性示出了根据本申请实施例的姿态角测量系统的结构模拟图；Figure 2 schematically shows a structural simulation diagram of an attitude angle measurement system according to an embodiment of the present application;
图3示意性示出了根据本申请实施例的FPGA系统框架图；Figure 3 schematically shows the FPGA system framework diagram according to an embodiment of the present application;
图4示意性示出了根据本申请实施例的MCU系统框架图；Figure 4 schematically shows the MCU system framework diagram according to an embodiment of the present application;
图5示意性示出了根据本申请实施例的三个单位正交矢量的几何示意图；Figure 5 schematically shows a geometric diagram of three unit orthogonal vectors according to an embodiment of the present application;
图6示意性示出了根据本申请实施例的上位机界面示意图；Figure 6 schematically shows a schematic diagram of the host computer interface according to an embodiment of the present application;
图7示意性示出了根据本申请实施例的三轴转台示意图；Figure 7 schematically shows a schematic diagram of a three-axis turntable according to an embodiment of the present application;
图8示意性示出了根据本申请实施例的姿态角测量方法的流程示意图；Figure 8 schematically shows a flow chart of an attitude angle measurement method according to an embodiment of the present application;
图9示意性示出了根据本申请实施例的计算机设备的内部结构图。Figure 9 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.
附图标记说明Explanation of reference signs
A01-处理器；A02-网络接口；A03-内存储器；A04-显示屏；A05-输入装置；A06-非易失性存储介质；B01-操作系统；B02-计算机程序。A01-processor; A02-network interface; A03-internal memory; A04-display screen; A05-input device; A06-non-volatile storage medium; B01-operating system; B02-computer program.
具体实施方式Detailed ways
以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施例，并不用于限制本发明实施例。Specific implementation modes of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementations described here are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.
请参看图1和图2，图1示意性示出了根据本申请实施例的一种姿态角测量系统的框架图；图2示意性示出了根据本申请实施例的姿态角测量系统的结构模拟图。本实施例提供一种姿态角测量系统，包括IMU模块、控制模块和数据处理模块；Please refer to Figures 1 and 2. Figure 1 schematically shows a framework diagram of an attitude angle measurement system according to an embodiment of the present application; Figure 2 schematically shows the structure of an attitude angle measurement system according to an embodiment of the present application. Simulation diagram. This embodiment provides an attitude angle measurement system, including an IMU module, a control module and a data processing module;
所述IMU模块用于实时采集被测物的角速度和加速度，并将所述角速度和加速度发送至所述控制模块；The IMU module is used to collect the angular velocity and acceleration of the measured object in real time, and send the angular velocity and acceleration to the control module;
所述控制模块用于对所述角速度和加速度进行预处理，并将预处理后的角速度和加速度并行发送至所述数据处理模块；The control module is used to preprocess the angular velocity and acceleration, and send the preprocessed angular velocity and acceleration to the data processing module in parallel;
所述数据处理模块用于对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。The data processing module is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle.
在本实施例中，所述IMU(Inertial Measurement Unit，惯性测量单元)模块包括三轴陀螺和三轴加速度计，其中三轴陀螺可以是三轴陀螺或者三个正交单轴的陀螺，相应地，三轴加速度计可以是三轴加速度计或者三个正交单轴的加速度计。所述三轴陀螺用于实时测量被测物的三轴角速度，所述三轴加速度计用于实时测量被测物的加速度。所述IMU模块还包括模数转换模块，三轴陀螺和三轴加速度计采集到的信号为模拟信号，可以通过模数转换模块将三轴陀螺和三轴加速度计采集到的模拟信号转化为数字信号，以得到被测物的角速度和加速度。其中，在具体实施时，模数转换模块可以采用ADS1263模数转换器，其具有集成PGA、电压基准和内部故障监视器的低噪声、低漂移、38.4kSPS、O-E(OZ)ADC(模数转换器)。In this embodiment, the IMU (Inertial Measurement Unit) module includes a three-axis gyroscope and a three-axis accelerometer, where the three-axis gyroscope can be a three-axis gyroscope or three orthogonal single-axis gyroscopes, correspondingly , the three-axis accelerometer can be a three-axis accelerometer or three orthogonal single-axis accelerometers. The three-axis gyroscope is used to measure the three-axis angular velocity of the measured object in real time, and the three-axis accelerometer is used to measure the acceleration of the measured object in real time. The IMU module also includes an analog-to-digital conversion module. The signals collected by the three-axis gyroscope and the three-axis accelerometer are analog signals. The analog signals collected by the three-axis gyroscope and the three-axis accelerometer can be converted into digital signals through the analog-to-digital conversion module. signal to obtain the angular velocity and acceleration of the object being measured. Among them, in specific implementation, the analog-to-digital conversion module can use the ADS1263 analog-to-digital converter, which has low noise, low drift, 38.4kSPS, O-E (OZ) ADC (analog-to-digital conversion) with integrated PGA, voltage reference and internal fault monitor. device).
其中，采用三个单轴陀螺仪和三个单轴加速度计构成三轴陀螺和三轴加速度计，可以采用立体组装结构设计，如图2所示，将三轴陀螺和三轴加速度计分别以XYZ三个方向进行正交安装，使得结构紧凑，从而可以最大限度减小安装误差，保持结构稳定。显著降低了封装的复杂性，保证了三个轴向上的精度。既增加空间利用率、实现初步小型化的要求，又同时保证了测量精度的问题。Among them, three single-axis gyroscopes and three single-axis accelerometers are used to form a three-axis gyroscope and a three-axis accelerometer, which can be designed with a three-dimensional assembly structure. As shown in Figure 2, the three-axis gyroscope and the three-axis accelerometer are respectively Orthogonal installation in the three directions of XYZ makes the structure compact, thereby minimizing installation errors and maintaining structural stability. It significantly reduces the complexity of packaging and ensures accuracy in three axes. It not only increases space utilization and achieves preliminary miniaturization requirements, but also ensures measurement accuracy.
在本实施例中，所述控制模块用于接收IMU模块采集到的角速度和加速度，由于角速度和加速度分别来自不同的传感器，为了保证采集到的角速度和加速度是同一时刻的数据，减少采集到的数据的误差，所述控制模块需要对角速度和加速度进行预处理，这里的预处理包括对角速度和加速度进行整理，以使数据能够准确对齐，并将角速度和加速度以并行的方式发送至数据处理模块。In this embodiment, the control module is used to receive the angular velocity and acceleration collected by the IMU module. Since the angular velocity and acceleration come from different sensors, in order to ensure that the collected angular velocity and acceleration are data at the same time, reduce the collected For data errors, the control module needs to preprocess the angular velocity and acceleration. The preprocessing here includes sorting the angular velocity and acceleration so that the data can be accurately aligned, and sending the angular velocity and acceleration to the data processing module in a parallel manner. .
在一些实施例中，为了提高控制模块数据处理的高效性，可以利用Verilog语言，采用基于IP核的设计流程，完成系统设计。即所述控制模块为FPGA，所述FPGA包括数据通信协议接口单元和数据串并转换单元；In some embodiments, in order to improve the efficiency of data processing of the control module, the Verilog language can be used and the IP core-based design process can be used to complete the system design. That is, the control module is an FPGA, and the FPGA includes a data communication protocol interface unit and a data serial-to-parallel conversion unit;
所述数据通信协议接口单元用于调用USART通用IP核，生成对应的电路结构，并根据时序控制电路和对应的电路结构对所述角速度和加速度进行预处理，得到预处理后的角速度和加速度；The data communication protocol interface unit is used to call the USART general IP core, generate the corresponding circuit structure, and preprocess the angular velocity and acceleration according to the timing control circuit and the corresponding circuit structure to obtain the preprocessed angular velocity and acceleration;
所述数据串并转换单元用于将所述预处理后的角速度和加速度进行串并转换，并将转换后的角速度和加速度发送至所述数据处理模块。The data serial-to-parallel conversion unit is used to perform serial-to-parallel conversion on the preprocessed angular velocity and acceleration, and send the converted angular velocity and acceleration to the data processing module.
在本实施例中，FPGA设计了与IMU模块进行数据通信的数据通信协议接口，由于陀螺仪以及加速度计采用UART接口协议输出测得的角速度，加速度，可以调用USART通用IP核，例化生成相应的电路结构，同时加入时序控制电路对所述角速度和加速度进行预处理，以保证预处理后的角速度和加速度能够准确对齐。FPGA得到相关数据后，采用并行通信总线将数据发送到数据处理模块，由于FPGA与数据处理模块之间采用并行通信协议，I MU模块与FPGA之间采用串行通信协议，因此需要完成数据的串并转换。为简化设计，可以采用简单的并行结构设计，并加入时序控制及校验电路，保障数据的完整性。在具体实施时，所述FPGA可以采用EP2C8T144I8N芯片，拥有416个逻辑元件(LE)，并提供多达622个可用I/O引脚和高达1.1Mb的嵌入式内存。In this embodiment, the FPGA has designed a data communication protocol interface for data communication with the IMU module. Since the gyroscope and accelerometer use the UART interface protocol to output the measured angular velocity and acceleration, the USART general IP core can be called to instantiate and generate the corresponding circuit structure, and at the same time, a timing control circuit is added to preprocess the angular velocity and acceleration to ensure that the preprocessed angular velocity and acceleration can be accurately aligned. After the FPGA obtains the relevant data, it uses a parallel communication bus to send the data to the data processing module. Since the parallel communication protocol is used between the FPGA and the data processing module, and the serial communication protocol is used between the IMU module and the FPGA, it is necessary to complete the serialization of the data. and convert. To simplify the design, a simple parallel structure design can be adopted, and timing control and verification circuits can be added to ensure data integrity. In specific implementation, the FPGA can use the EP2C8T144I8N chip, has 416 logic elements (LEs), and provides up to 622 available I/O pins and up to 1.1Mb of embedded memory.
上述实现过程中，通过采用FPGA基于IP核的方式生成时序控制电路和对应的电路结构以便于更加高效地对角速度和加速度进行处理，并采用数据串并转换单元将数据并行发送至数据处理模块，降低了采集数据的误差，提高了数据采集的有效性。In the above implementation process, the timing control circuit and corresponding circuit structure are generated by using FPGA based on IP core to process angular velocity and acceleration more efficiently, and the data serial-to-parallel conversion unit is used to send the data in parallel to the data processing module. The error of collected data is reduced and the effectiveness of data collection is improved.
在一些实施例中，由于IMU模块及数据处理模块的数据通信一般采用不同的时钟频率，为了防止数据丢失，进一步增强数据可靠性，需要在两端的数据接口之间加入数据缓冲功能。即所述FPGA还包括缓冲单元，所述缓冲单元位于所述数据通信协议接口单元和数据串并转换单元之间；In some embodiments, since data communication between the IMU module and the data processing module generally uses different clock frequencies, in order to prevent data loss and further enhance data reliability, a data buffering function needs to be added between the data interfaces at both ends. That is, the FPGA further includes a buffer unit, the buffer unit is located between the data communication protocol interface unit and the data serial-to-parallel conversion unit;
所述缓冲单元用于对所述预处理后的角速度和加速度进行缓冲处理，并将缓冲处理后的角速度和加速度发送至所述数据串并转换单元。The buffering unit is used to buffer the preprocessed angular velocity and acceleration, and send the buffered angular velocity and acceleration to the data serial-to-parallel conversion unit.
在本实施例中，FPGA调用成熟的FIFO通用IP核，选择合适的数据位宽及时钟频率，就可以完成数据缓冲及校验功能，防止数据丢失，从而提高了数据可靠性。In this embodiment, the FPGA calls the mature FIFO general-purpose IP core and selects the appropriate data bit width and clock frequency to complete the data buffering and verification functions to prevent data loss, thereby improving data reliability.
在一些实施例中，所述FPGA还包括控制状态机单元，用于协调所述数据通信协议接口单元、数据串并转换单元和缓冲单元运行。In some embodiments, the FPGA further includes a control state machine unit for coordinating the operation of the data communication protocol interface unit, data serial-to-parallel conversion unit and buffer unit.
在本实施例中，由于FPGA中的各个模块需要在统一的控制信号下完成相应功能，因此需要设计独立的控制状态机单元，以协调各功能模块的运行，同时对可能产生的故障进行处理，保证了FPGA中的各个功能模块的正常运行，进而确保预处理的准确实施，提高了输入至数据处理模块的数据的可靠性。In this embodiment, since each module in the FPGA needs to complete corresponding functions under a unified control signal, an independent control state machine unit needs to be designed to coordinate the operation of each functional module and handle possible faults at the same time. This ensures the normal operation of each functional module in the FPGA, thereby ensuring the accurate implementation of preprocessing and improving the reliability of data input to the data processing module.
请参看图3，图3示意性示出了根据本申请实施例的FPGA系统框架图。FPGA分为三层，分别是硬件驱动层，软件层，系统层。包含七个模块，分别是加速度计采集模块，陀螺仪采集模块，温度传感器采集模块，输入信号处理模块，输出信号处理模块，输出模块，系统模块。其中，系统层用于提供基本的系统驱动，也是最为基础的部分。其实现了对系统程序的划分，为产品提供了可靠性，稳定性，可扩展性，安全性都有保障的系统平台。其为全系统提供有效的系统时钟，保证了系统的同步性。软件层主要提供的是系统的软件，其实现了系统的功能，包括输入信号的处理和输出信号的处理等。输入信号处理模块实现了外部输入信号的调理和解析，输出信号处理实现了数据的打包加入命令和外部模块的通信功能。硬件驱动层提供了产品对外的接口驱动，用于采集数据和输出数据。采集模块可以以很高的速率进行稳定的数据采集。输出模块可以很高的速率进行数据输出。Please refer to Figure 3, which schematically shows a framework diagram of an FPGA system according to an embodiment of the present application. FPGA is divided into three layers, namely hardware driver layer, software layer and system layer. It contains seven modules, namely accelerometer acquisition module, gyroscope acquisition module, temperature sensor acquisition module, input signal processing module, output signal processing module, output module and system module. Among them, the system layer is used to provide basic system drivers and is also the most basic part. It realizes the division of system programs and provides a system platform with guaranteed reliability, stability, scalability, and security for products. It provides an effective system clock for the entire system and ensures system synchronization. The software layer mainly provides system software, which implements system functions, including input signal processing and output signal processing. The input signal processing module implements the conditioning and analysis of external input signals, and the output signal processing implements the packaging and adding commands of data and the communication function of external modules. The hardware driver layer provides the product's external interface driver for data collection and data output. The acquisition module can perform stable data acquisition at a very high rate. Output modules can output data at very high rates.
其中，所述数据处理模块用于实现陀螺仪、加速度计的接收、信号整合、补偿及数据输出等功能。具体包括利用三轴陀螺仪和三轴加速度计的数据完成初始对准，姿态解算和卡尔曼滤波算法。在具体实施时，数据处理模块可以是微控制单元(MicrocontrollerUnit；MCU)，其中MCU采用STM32F767ZGT6单片机，基于运行频率高达216MHz的高性能ArmCortex-M7 32位RISC内核。支持Arm双精度和单精度数据处理指令和数据类型。实现了全套DSP指令和内存保护单元(MPU)，增强了应用程序的安全性，还可以通过SPI接口实时同步采集三轴加速度计和三轴陀螺的原始值。Among them, the data processing module is used to realize functions such as reception, signal integration, compensation and data output of gyroscopes and accelerometers. Specifically, it includes using data from three-axis gyroscopes and three-axis accelerometers to complete initial alignment, attitude calculation and Kalman filtering algorithms. In specific implementation, the data processing module can be a microcontroller unit (MicrocontrollerUnit; MCU), where the MCU uses an STM32F767ZGT6 microcontroller, based on a high-performance ArmCortex-M7 32-bit RISC core running at a frequency of up to 216MHz. Supports Arm double-precision and single-precision data processing instructions and data types. It implements a full set of DSP instructions and memory protection unit (MPU) to enhance the security of the application. It can also collect the raw values of the three-axis accelerometer and three-axis gyroscope in real time through the SPI interface.
请参看图4，图4示意性示出了根据本申请实施例的MCU系统框架图。MCU部分也分为三层，分别是硬件驱动层，软件层，系统层。其中包含几个模块，分别是输入模块，输入信号处理模块，算法处理模块，输出信号处理模块，其中输出模块系统层提供了基础的系统驱动，比如时钟的初始化，总线的初始化等。为程序的稳定高速运行提供可靠的平台。软件层通过不同的软件模块，完成了系统的各个功能的具体实现，包括算法和信号输入输出的处理模块。输入和输出信号的处理模块主要完成了系统的输入和输出信号的处理。算法模块主要完成了补偿，如：温度漂移补偿、时间漂移补偿、侧滑角误差角解算等。硬件驱动层：主要提供了产品对外接口的驱动，用于采集数据和输出数据。Please refer to FIG. 4 , which schematically shows an MCU system framework diagram according to an embodiment of the present application. The MCU part is also divided into three layers, namely the hardware driver layer, software layer and system layer. It contains several modules, namely input module, input signal processing module, algorithm processing module, and output signal processing module. The output module system layer provides basic system drivers, such as clock initialization, bus initialization, etc. Provide a reliable platform for the stable and high-speed operation of the program. The software layer completes the specific implementation of each function of the system through different software modules, including algorithms and signal input and output processing modules. The input and output signal processing module mainly completes the processing of the input and output signals of the system. The algorithm module mainly completes compensation, such as: temperature drift compensation, time drift compensation, sideslip angle error angle calculation, etc. Hardware driver layer: mainly provides the driver for the product's external interface, which is used to collect data and output data.
在一些实施例中，所述数据处理模块包括对准单元、计算单元和补偿单元；其中：In some embodiments, the data processing module includes an alignment unit, a calculation unit and a compensation unit; wherein:
对准模块用于确定导航坐标系；The alignment module is used to determine the navigation coordinate system;
计算单元用于基于所述导航坐标系，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到初始姿态角；其中，卡尔曼滤波在初始对准确定导航坐标系之后，基于噪音估计准确，符合正态分布的基础上，主要利用随机噪声的协方差来融合通过陀螺仪角速度积分计算得到转动角度和通过基于加速度计原理的倾角仪得到转动角度The computing unit is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration based on the navigation coordinate system using Kalman filtering to obtain an initial attitude angle; wherein, the Kalman filter determines the navigation coordinates during initial alignment. After the system, based on the fact that the noise estimation is accurate and consistent with the normal distribution, the covariance of random noise is mainly used to fuse the rotation angle calculated by the gyroscope angular velocity integral and the rotation angle obtained by the inclinometer based on the accelerometer principle.
补偿单元用于对所述初始姿态角进行补偿，得到最终姿态角。The compensation unit is used to compensate the initial attitude angle to obtain the final attitude angle.
在本实施例中，确定导航坐标系就是姿态初始对准，在姿态角测量系统上电启动时，其载体坐标系相对于参考导航坐标系的各轴指向完全未知或不够精确，无法立即进入导航状态，因此必须先确定载体坐标系相对于导航坐标系的空间方位，从惯导的角度看这等效于寻找参考导航坐标系的一个过程。以地理坐标系作为参考坐标系为例，它的三轴指向分别是东向、北向和天向，其中天向是根据重力加速度矢量方向定义的，有了天向也就相当于确定了当地水平面，在水平面上寻找东向和北向需要测定地球自转信息，由于北向是根据地球自转轴定义的。因此，重力加速度和地球自转角速度是惯导自对准的天然物理参考量，可分别利用加速度计和陀螺仪进行测量和确定。In this embodiment, determining the navigation coordinate system is the initial attitude alignment. When the attitude angle measurement system is powered on and started, the direction of each axis of its carrier coordinate system relative to the reference navigation coordinate system is completely unknown or not accurate enough, making it impossible to enter navigation immediately. state, so the spatial orientation of the carrier coordinate system relative to the navigation coordinate system must first be determined. From the perspective of inertial navigation, this is equivalent to a process of finding a reference navigation coordinate system. Taking the geographical coordinate system as the reference coordinate system as an example, its three axes point to the east, north and sky. The sky direction is defined based on the direction of the gravity acceleration vector. The sky direction is equivalent to determining the local horizontal plane. , finding east and north directions on the horizontal plane requires measuring the earth's rotation information, because north direction is defined based on the earth's rotation axis. Therefore, the acceleration of gravity and the angular velocity of the Earth's rotation are natural physical reference quantities for inertial navigation self-alignment, which can be measured and determined using accelerometers and gyroscopes respectively.
其中，姿态初始对准分为粗对准和精对准两种方式：Among them, the initial posture alignment is divided into two methods: coarse alignment and fine alignment:
粗对准方式采用双矢量定姿，在三维空间中有两个直角坐标系：r系和b系，已知两个不共线的参考矢量V1和V2，它们在两个坐标下的投影坐标分别记为V1r，V1b和通过已知投影坐标求解r系和b系之间的方位关系问题，称为双矢量定姿。The coarse alignment method uses two vectors to determine the posture. There are two rectangular coordinate systems in the three-dimensional space: r system and b system. Two non-collinear reference vectors V1 and V2 are known. Their values under the two coordinates The projected coordinates are denoted as V1r , V1b and Solving the problem of the orientation relationship between the r system and the b system through known projection coordinates is called two-vector attitude determination.
两坐标系间方位关系可用方向余弦阵(姿态阵)来描述，记为显然，两矢量坐标在不同坐标系下存在如下转换关系式：The orientation relationship between the two coordinate systems can be described by the direction cosine matrix (attitude matrix), which is recorded as Obviously, the following conversion relationship exists between the two vector coordinates in different coordinate systems:
上述两式中共含有6个标量方程，为了方便求解再构造一个矢量等式(含3个标量方程)，构造方法是将上面两式叉乘式，得辅助矢量等式The above two equations contain a total of 6 scalar equations. In order to facilitate the solution Then construct a vector equation (including 3 scalar equations) by cross-multiplying the above two equations to get the auxiliary vector equation.
将前述三式合并在一起，写成矩阵形式，可得Combining the above three equations together and writing them in matrix form, we can get
由于矢量V1和V2不共线，因而V1b，和/>三者必定不共面，即/>可逆，可直接解得Since vectors V1 and V2 are not collinear, V1b , and/> The three must not be coplanar, that is/> Reversible, can be solved directly
考虑到是单位正交阵，有/>两边同时转置后再求逆，可得considering It is a unit orthogonal matrix, with/> Transpose both sides at the same time and then find the inverse, we can get
上式是求解双矢量定姿问题的比较简单的算法，等式右边两个矩阵中的每一行向量均表示相应矢量(含辅助矢量)在两坐标系的投影坐标，只要三个行向量不共面即可。然而，实际中V1r，V1b或中的某些甚至所有值是由测量设备提供的，存在一定的测量误差，对于矢量误差往往既包含模值误差又包含方向误差，使得按上式求解的姿态阵并不能严格满足单位正交化要求。The above formula is a relatively simple algorithm for solving the problem of two-vector attitude determination. Each row vector in the two matrices on the right side of the equation represents the projected coordinates of the corresponding vector (including auxiliary vectors) in the two coordinate systems. As long as the three row vectors are different Just face it. However, in practice V1r , V1b or Some or even all of the values in are provided by measuring equipment, and there are certain measurement errors. Vector errors often include both modulus errors and direction errors, so that the attitude matrix solved according to the above formula cannot strictly satisfy unit orthogonalization. Require.
针对上式进行改进，一种思路是预先对参与解算的所有矢量作正交及单位化处理。请参看图5，图5示意性示出了根据本申请实施例的三个单位正交矢量的几何示意图。图中给出了由测量矢量和/>依次求解三个单位正交矢量/>和/>的几何示意图。图中/>被选为主矢量，选择主矢量的原则通常是选择两个矢量中的重要性较大者，或者相对测量误差较小者。To improve the above formula, one idea is to perform orthogonal and unitized processing on all vectors participating in the solution in advance. Please refer to FIG. 5 , which schematically shows a geometric diagram of three unit orthogonal vectors according to an embodiment of the present application. The figure gives the measured vector by and/> Solve three unit orthogonal vectors in sequence/> and/> geometric diagram. In the picture/> The main vector is selected. The principle of selecting the main vector is usually to choose the one with greater importance among the two vectors, or the one with smaller relative measurement error.
对应地，由和/>也可求得/>和/>再根据/>构造姿态阵如下：Correspondingly, by and/> Also available/> and/> Then based on/> The attitude matrix is constructed as follows:
式中，自然满足单位正交化条件。In the formula, Naturally satisfies the unit orthogonalization condition.
初始对准一般是在运载体对地静止的环境下进行的，即运载体相对地面既没有明显的线运动也没有角运动，且对准地点处的地理位置准确已知，也就是说，重力矢量g和地球自转角速度矢量ωie在地理坐标系(初始对准参考坐标系)的分量准确已知，分别如下：The initial alignment is generally performed in an environment where the vehicle is stationary to the ground, that is, the vehicle has neither obvious linear nor angular motion relative to the ground, and the geographical location of the alignment location is accurately known, that is, the gravity The components of the vector g and the earth's rotation angular velocity vector ωie in the geographical coordinate system (initial alignment reference coordinate system) are accurately known, and they are as follows:
其中，L,g和ωie分别表示当地纬度、重力加速度大小和地球自转角速率大小，且记地球自转角速度的北向分量ωN＝ωiecosL和天向分量ωU＝ωiesinL。利用前述双矢量定姿方法，即可完成姿态的粗对准。Among them, L, g and ωie respectively represent the local latitude, gravity acceleration and the earth's rotation angular rate, and record the north component of the earth's rotation angular velocity ωN =ωie cosL and the sky component ωU =ωie sinL. Using the aforementioned two-vector attitude determination method, rough alignment of the attitude can be completed.
经过粗对准阶段，得了粗略的姿态矩阵，但与真实地理坐标系相比往往还存在一定的失准角误差，需进行进一步的精对准，尽量减小失准角误差。实际上，在静基座下的导航解算速度即为速度误差，根据惯导系统误差传播规律，从速度误差中能够反推出失准角误差。在静基座下进行初始对准，可以提高惯导的精度及可靠性。但是由于真实惯导系统的地理位置没有明显移动，且真实速度为零，至多因干扰而产生微小线晃动，因而对准过程中的惯导解算可以使用简化的导航算法。After the rough alignment stage, a rough attitude matrix is obtained, but there is still a certain misalignment angle error compared with the real geographical coordinate system. Further fine alignment is required to minimize the misalignment angle error. In fact, the navigation solution speed under the static base is the speed error. According to the error propagation law of the inertial navigation system, the misalignment angle error can be deduced from the speed error. Initial alignment under a static base can improve the accuracy and reliability of inertial navigation. However, since the geographical position of the real inertial navigation system does not move significantly, and the real speed is zero, at most small line shaking occurs due to interference, the inertial navigation solution during the alignment process can use a simplified navigation algorithm.
其中，姿态解算主要是根据陀螺的输出实时解算四元数，利用加速度计的输出解算速度和位置，通过陀螺和加速度计融合算法得到准确姿态角并建立导航坐标系，解算被测模型的速度，最后计算得到姿态角度。输出的是飞行器机体在导航坐标系(东-北-天)中的姿态。Among them, the attitude calculation is mainly to calculate the quaternion in real time based on the output of the gyroscope, use the output of the accelerometer to calculate the speed and position, obtain the accurate attitude angle through the fusion algorithm of the gyroscope and the accelerometer, establish the navigation coordinate system, and calculate the measured The speed of the model, and finally the attitude angle is calculated. The output is the attitude of the aircraft body in the navigation coordinate system (east-north-sky).
在本实施例中，对所述初始姿态角进行补偿包括有采用振动干扰算法进行误差补偿、时间漂移补偿和侧滑角误差补偿，在具体实施过程中，可以是采用上述多种补偿中的一种或多种。In this embodiment, compensating the initial attitude angle includes using a vibration interference algorithm for error compensation, time drift compensation and sideslip angle error compensation. During the specific implementation process, one of the above multiple compensations may be used. Kind or variety.
其中，振动干扰算法是基于风洞试验环境中扰动震动较多的应用场景进行的误差补偿。基于减振装置结构设计，通过优化3个加速度计的安装位置和方位，减小了加速度计测量点相对减振装置几何中心的距离，设计3个陀螺和加速度计安装面的平面度和正交度，减小系统安装误差；在一定尺寸、重量条件下,增加IMU转动惯量，可有效提高系统抗角振动性能，减小陀螺抖动引起的尺寸效应、圆锥漂移等误差。时间漂移补偿利用径向基函数RB F神经网络建立传感器角度的时漂补偿模型，对传感器角度的时漂补偿。将传感器三个角度迎角、滚转角和侧滑角实际输出值作为RBF网络的输入，而真实值作为网络输出，对网络进行训练。在补偿阶段，将传感器输出值作为训练好的RBF神经网络的输入，由网络得到预测值，最终实现角度的时漂补偿。侧滑角误差角解算主要是利用具有自主学习特征的能力和平移不变性的卷积神经网络建立传感器的侧滑角误差补偿模型，对传感器角度的误差补偿。Among them, the vibration interference algorithm is error compensation based on application scenarios with a lot of disturbance and vibration in the wind tunnel test environment. Based on the structural design of the vibration damping device, by optimizing the installation position and orientation of the three accelerometers, the distance between the accelerometer measurement point and the geometric center of the vibration damping device was reduced, and the flatness and orthogonality of the mounting surfaces of the three gyroscopes and accelerometers were designed. degree, reducing system installation errors; under certain size and weight conditions, increasing the IMU moment of inertia can effectively improve the system's resistance to angular vibration and reduce errors such as size effects and cone drift caused by gyro jitter. Time drift compensation uses the radial basis function RB F neural network to establish the time drift compensation model of the sensor angle to compensate for the time drift of the sensor angle. The actual output values of the sensor's three angles of attack, roll angle and sideslip angle are used as the input of the RBF network, and the real values are used as the network output to train the network. In the compensation stage, the sensor output value is used as the input of the trained RBF neural network, and the predicted value is obtained from the network, and finally the angle time drift compensation is realized. The calculation of the sideslip angle error angle mainly uses the convolutional neural network with the ability of autonomous learning characteristics and translational invariance to establish the sideslip angle error compensation model of the sensor to compensate for the sensor angle error.
上述实现过程中，通过初始对准确定导航坐标系后，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，并进行补偿，从而可以得到更加准确的姿态角，减少了姿态角测量误差，有利于进行连续的姿态角测量。In the above implementation process, after the navigation coordinate system is determined through initial alignment, Kalman filtering is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration, and compensation is performed, so that a more accurate attitude angle can be obtained. The attitude angle measurement error is reduced and is conducive to continuous attitude angle measurement.
在一些实施例中，还包括温度采集模块；In some embodiments, it also includes a temperature acquisition module;
所述温度采集模块用于实时采集被测物的温度信息，并将所述温度信息发送至所述控制模块；The temperature acquisition module is used to collect the temperature information of the measured object in real time and send the temperature information to the control module;
所述控制模块还用于将所述温度信息发送至所述数据处理模块的补偿单元；The control module is also used to send the temperature information to the compensation unit of the data processing module;
所述补偿单元用于根据所述温度信息对所述初始姿态角进行补偿，得到最终姿态角。The compensation unit is used to compensate the initial attitude angle according to the temperature information to obtain a final attitude angle.
在本实施例中，还可以设置温度采集模块，可以是温度传感器，采集到的温度信息可以是与角速度和加速度一起发送至控制模块，经处理后再发送至数据处理模块，数据处理模块可以根据温度信息进行温度漂移补偿，温度漂移补偿可以是基于最小二乘法的迎角，滚转角和侧滑角温度漂移的补偿模型，补偿温度漂移的误差。最小二乘法能通过最小化误差的平方和寻找数据的最佳函数匹配，能简便地求得未知的数据，并使得这些求得的数据与实际数据之间误差的平方和为最小，达到角度随着温度漂移的最佳补偿。通过温度漂移补偿，使得到的姿态角减少了因温度漂移带来的误差，进而进一步减小了姿态角误差，提高了姿态角测量准确度。In this embodiment, a temperature acquisition module can also be provided, which can be a temperature sensor. The collected temperature information can be sent to the control module together with the angular velocity and acceleration, and then sent to the data processing module after processing. The data processing module can according to Temperature information is used for temperature drift compensation. Temperature drift compensation can be a compensation model based on the least squares method for angle of attack, roll angle and sideslip angle temperature drift to compensate for temperature drift errors. The least squares method can find the best function matching of the data by minimizing the sum of squares of errors, and can easily obtain unknown data, and minimize the sum of squares of errors between the obtained data and the actual data, so as to achieve a random angle. optimal compensation for temperature drift. Through temperature drift compensation, the obtained attitude angle reduces the error caused by temperature drift, thereby further reducing the attitude angle error and improving the attitude angle measurement accuracy.
上述实现过程中，通过设置IMU模块、控制模块和数据处理模块；所述IMU模块用于实时采集被测物的角速度和加速度，并将所述角速度和加速度发送至所述控制模块；所述控制模块用于对所述角速度和加速度进行预处理，并将预处理后的角速度和加速度并行发送至所述数据处理模块；所述数据处理模块用于对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。控制模块和数据处理模块通过对采集的角速度和加速度进行数据处理和转换，保证了数据采集和处理的高效性，减小了姿态解算所用到的角速度和加速度的误差，从而使得到的最终姿态角更加准确，有助于连续姿态角的测量。在连续长时进行姿态角测量时，由于每一次测量得到的最终姿态角误差更小，更加准确，从而有助于充分理解每一个行走位置的状态，通过采集足够多的数据，可以利用高精度高稳定性算法确定实时位置，进而得到长时稳定准确的姿态角跟踪结果。通过该系统完善连续扫描试验能力，可以进一步提高风洞试验效率和试验数据精准度。In the above implementation process, an IMU module, a control module and a data processing module are set up; the IMU module is used to collect the angular velocity and acceleration of the measured object in real time, and send the angular velocity and acceleration to the control module; the control module The module is used to preprocess the angular velocity and acceleration, and send the preprocessed angular velocity and acceleration to the data processing module in parallel; the data processing module is used to perform data processing on the preprocessed angular velocity and acceleration. Fusion and attitude calculation are performed to obtain the final attitude angle. The control module and data processing module process and convert the collected angular velocity and acceleration to ensure the efficiency of data collection and processing, and reduce the errors of angular velocity and acceleration used in attitude calculation, so that the final attitude can be obtained The angle is more accurate and facilitates the measurement of continuous attitude angles. When measuring attitude angles continuously for a long time, since the final attitude angle error obtained by each measurement is smaller and more accurate, it helps to fully understand the status of each walking position. By collecting enough data, high accuracy can be used The high-stability algorithm determines the real-time position, thereby obtaining long-term stable and accurate attitude angle tracking results. By improving the continuous scanning test capabilities of this system, the wind tunnel test efficiency and test data accuracy can be further improved.
在一些实施例中，所述IMU模块包括惯性传感器，所述惯性传感器的主体材质为2A12铝合金和/或所述惯性传感器的结构内部进行灌胶处理。In some embodiments, the IMU module includes an inertial sensor, the main body material of the inertial sensor is 2A12 aluminum alloy and/or the inside of the structure of the inertial sensor is filled with glue.
在本实施例中，针对惯性传感器系统的抗摔、防冲击性能通过两种方法来进行设计：1、通过金属材料的特性。惯性传感器结构的主体材质采用了2A12铝合金，为铝-铜-镁系中的典硬铝合金。硬铝合金高温强度高，且可以进行热处理强化，极大保证了结构的稳定性，提高结构的抗震抗摔性能。2、结构内部进行灌胶处理。通过将模块用电子防护胶水完整包覆来达到抗震和缓冲的效果，灌胶区域包括了主PCB板、加速度模块、传感器接头。通过金属材料的特性与内部灌入电子防护胶水两种方式来实现测量单元的抗冲击及防震性能，通过将模块完整包覆来达到完整缓冲的特性，灌胶区域包括了主PCB板、加速度模块、传感器接头等。In this embodiment, the anti-fall and anti-impact performance of the inertial sensor system is designed through two methods: 1. Through the characteristics of metal materials. The main material of the inertial sensor structure is 2A12 aluminum alloy, which is a typical hard aluminum alloy in the aluminum-copper-magnesium system. Duralumin alloy has high high-temperature strength and can be strengthened by heat treatment, which greatly ensures the stability of the structure and improves the structure's earthquake and fall resistance. 2. The inside of the structure is filled with glue. The module is completely covered with electronic protective glue to achieve anti-seismic and buffering effects. The glue filling area includes the main PCB board, acceleration module, and sensor connectors. The impact resistance and shockproof performance of the measurement unit are achieved through two methods: the characteristics of metal materials and the filling of electronic protective glue inside. The complete buffering characteristics are achieved by completely covering the module. The glue filling area includes the main PCB board and the acceleration module. , sensor connector, etc.
在一些实施例中，还包括上位机，所述数据处理模块与所述上位机连接。In some embodiments, it also includes a host computer, and the data processing module is connected to the host computer.
请参看图6，图6示意性示出了根据本申请实施例的上位机界面示意图。在本实施例中，所述上位机用于上位机软件完成系统的参数设置、安装误差修正、姿态角数据的接收与发布。上位机可实时接收和显示由MCU发出来的姿态角度数据；在所述数据处理模块为MCU时，还可以配合MCU的基本命令，可以设置波特率、传输频率、传输格式，保证数据传输的完整性；为了方便校准与调试，还可以输出传感器的原始数据，比如加速度计和陀螺仪的原始数据；还可以保留参数输入接口，可以将误差参数写入上位机，由上位机进行解算；还可以根据旋转矩阵增加欧拉角转迎角、横滚角的功能，并在界面具备转换选项，提高本系统的风洞试验条件适用性。具体实施时，可以采用C#等软件进行开发并配合UDP广播调试，也可以用LABVIEW等软件进行界面设计，具有本地采集保存、局域网UDP广播以及接受现场试验管理软件试验命令的功能。具有界面简洁、操作简单，功能齐全、扩展性好的特点。Please refer to Figure 6, which schematically shows a schematic diagram of a host computer interface according to an embodiment of the present application. In this embodiment, the host computer is used for the host computer software to complete system parameter setting, installation error correction, and reception and release of attitude angle data. The host computer can receive and display the attitude angle data sent by the MCU in real time; when the data processing module is an MCU, it can also cooperate with the basic commands of the MCU to set the baud rate, transmission frequency, and transmission format to ensure the smoothness of data transmission. Completeness; in order to facilitate calibration and debugging, the raw data of the sensor can also be output, such as the raw data of the accelerometer and gyroscope; the parameter input interface can also be retained, and the error parameters can be written to the host computer for calculation by the host computer; You can also add the function of Euler angle to angle of attack and roll angle according to the rotation matrix, and have conversion options on the interface to improve the applicability of this system to wind tunnel test conditions. During specific implementation, software such as C# can be used for development and UDP broadcast debugging, or software such as LABVIEW can be used for interface design, with the functions of local collection and storage, LAN UDP broadcast, and acceptance of test commands from on-site test management software. It has the characteristics of simple interface, simple operation, complete functions and good scalability.
所述上位机还可以进一步进行安装误差角解算，主要是为消除交叉轴误差及安装时引入的误差，提升工装系统的工作精度，可以采用一种隐藏式现场校准方法，只需要在安装轴向上转动任意角度，即可解算出安装引起的三个误差角度。同时，为了减少校准步骤，在第一次角度测量时同时完成误差标定，从而解算出被测角度的精确值。The upper computer can also further calculate the installation error angle, mainly to eliminate cross-axis errors and errors introduced during installation, and improve the working accuracy of the tooling system. A hidden on-site calibration method can be used, which only requires the installation axis By turning it upward at any angle, you can calculate the three error angles caused by the installation. At the same time, in order to reduce the calibration steps, the error calibration is completed at the same time during the first angle measurement, so as to calculate the precise value of the measured angle.
数据处理模块与上位机之间可以是通过通信模块进行信号传输，可以采用通信方式为RS422和RS232这两种方式：RS-232是一种在低速率串行通讯中增加通讯距离的单端标准，采取不平衡传输方式，即单端通讯，点对点通讯，适合本地设备之间的通信。RS-422数据信号采用差分传输方式，也称作平衡传输，最大传输距离为4000英尺，最大传输速率为10Mb/s适合远距离传输。使用两种不同的串口通讯方式以满足不同场景的需要。Signal transmission can be carried out between the data processing module and the host computer through the communication module. The communication methods can be RS422 and RS232: RS-232 is a single-ended standard that increases the communication distance in low-rate serial communication. , adopting an unbalanced transmission method, that is, single-ended communication, point-to-point communication, suitable for communication between local devices. RS-422 data signals use differential transmission, also called balanced transmission. The maximum transmission distance is 4000 feet, and the maximum transmission rate is 10Mb/s, which is suitable for long-distance transmission. Use two different serial communication methods to meet the needs of different scenarios.
例如：通信接口可以采用J30J-21系列矩形连接器。该系列电连接器符合GJB2446的要求。其连接方式为压接基本型，操作方便、连接牢靠。采用绞线式弹性插针(麻花针)，接触密度高，具有接触电阻小、抗振、耐冲、耐温的特点。For example: the communication interface can use the J30J-21 series rectangular connector. This series of electrical connectors complies with the requirements of GJB2446. The connection method is the basic crimping type, which is easy to operate and has a reliable connection. It adopts twisted wire elastic pins (twist pins), has high contact density, has the characteristics of small contact resistance, vibration resistance, impact resistance and temperature resistance.
在一些实施例中，还包括电源模块用于完成电源电压的转换，将外部电源转换为姿态测量系统及相应电路所需电源。比如，电源模块的惯导板的供电电压是9-36V直流供电，为了将其转换为12V电压，可以选用URB2412LD-30WR3芯片，超宽电压输入，隔离稳压正负双路/单路输出DC/DC模块电源。此外，还需要其他的电压转换模块，将电压转换成个部分电路需要的电压(-15V、-5V、5V、3.3V、-2.5V、2.5V和1.2V)，保障电路的正常工作。In some embodiments, a power module is also included to complete the conversion of the power voltage and convert the external power into the power required by the attitude measurement system and corresponding circuits. For example, the power supply voltage of the inertial navigation board of the power module is 9-36V DC power supply. In order to convert it to 12V voltage, you can choose the URB2412LD-30WR3 chip, ultra-wide voltage input, isolated and regulated positive and negative dual-channel/single-channel output DC/ DC module power supply. In addition, other voltage conversion modules are needed to convert the voltage into the voltage required by some circuits (-15V, -5V, 5V, 3.3V, -2.5V, 2.5V and 1.2V) to ensure the normal operation of the circuit.
在一些实施例中，还包括三轴转台；所述三轴转台用于通过设置参数以进行姿态角测量的环境模拟，以便于进行姿态角测量；其中，所述参数是基于历史风洞试验数据得到的。In some embodiments, a three-axis turntable is also included; the three-axis turntable is used to perform environmental simulation of attitude angle measurement by setting parameters to facilitate attitude angle measurement; wherein the parameters are based on historical wind tunnel test data owned.
在本实施例中，可以采用三轴多功能转台进行姿态测量系统的精度测试及仿真实验。三轴转台由机械台体与测控系统两大部分组成，台体采用U-O-O结构形式和精密机械轴系，具有高刚度台体结构。主要有位置、速率、低频摇摆运动和仿真功能，可为姿态角测量系统提供精准的单轴、双轴或三轴的定位及速率基准。可以基于大量实测风洞试验数据，提取风洞实验中的数据特性，对转台进行参数设置，保证风洞模拟实验仿真结果的准确性及可靠性。比如进行传感器精度测试时，将传感器贴装于轴转台上，保证传感器的轴向与转台轴向平行，通过对风洞实验数据特性的提取编写系统软件，对三轴转台进行参数设置，控制转台的转速及转动范围，通过转台与传感器输出的姿态角角度进行计算，得到传感器的精度测量值。In this embodiment, a three-axis multi-function turntable can be used to conduct accuracy testing and simulation experiments of the attitude measurement system. The three-axis turntable consists of two parts: the mechanical table body and the measurement and control system. The table body adopts U-O-O structure and precision mechanical shaft system, and has a high-rigidity table structure. It mainly includes position, velocity, low-frequency swing motion and simulation functions, which can provide accurate single-axis, dual-axis or three-axis positioning and velocity benchmarks for attitude angle measurement systems. Based on a large amount of measured wind tunnel test data, the data characteristics in the wind tunnel experiment can be extracted, and the parameters of the turntable can be set to ensure the accuracy and reliability of the simulation results of the wind tunnel simulation experiment. For example, when performing a sensor accuracy test, the sensor is mounted on an axis turntable to ensure that the axis of the sensor is parallel to the axis of the turntable. System software is compiled by extracting the characteristics of wind tunnel experimental data to set parameters for the three-axis turntable and control the turntable. The rotation speed and rotation range are calculated through the attitude angle output by the turntable and the sensor, and the accuracy measurement value of the sensor is obtained.
请参看图7，图7示意性示出了根据本申请实施例的三轴转台示意图。在对三个轴向的加速度计及陀螺仪分别进行校准之后，基于姿态角融合算法、振动干扰算法、温度漂移补偿、时间漂移补偿、侧滑角误差角解算及安装误差角解算等多种算法，根据风洞试验测试环境，采用三轴转台(U-O-O)对可能出现的测试情况进行模拟，采用后处理的方式验证算法可行性。比如，为模拟风洞环境中的动态吹风情况，会进行动态吹风模拟试验，即在三轴转台设置攻角按一定速率进行一定范围内角度变化时，在转动过程中同步添加滚转角和侧滑角的摇摆。然后分析在这过程中的姿态角的最大误差及均方根误差，由此来验证算法的可行性。Please refer to FIG. 7 , which schematically shows a schematic diagram of a three-axis turntable according to an embodiment of the present application. After calibrating the accelerometers and gyroscopes in the three axes respectively, based on attitude angle fusion algorithm, vibration interference algorithm, temperature drift compensation, time drift compensation, sideslip angle error angle calculation and installation error angle calculation, etc. Based on the wind tunnel test environment, a three-axis turntable (U-O-O) is used to simulate possible test situations, and post-processing is used to verify the feasibility of the algorithm. For example, in order to simulate the dynamic blowing situation in the wind tunnel environment, a dynamic blowing simulation test will be carried out. That is, when the angle of attack of the three-axis turntable changes at a certain rate within a certain range, the roll angle and sideslip will be added simultaneously during the rotation process. The swing of the horns. Then the maximum error and root mean square error of the attitude angle during this process are analyzed to verify the feasibility of the algorithm.
请参看图8，图8示意性示出了根据本申请实施例的姿态角测量方法的流程示意图。本实施例还提供一种姿态角测量方法，应用于上述的姿态角测量系统，包括以下步骤：Please refer to FIG. 8 , which schematically shows a flow chart of an attitude angle measurement method according to an embodiment of the present application. This embodiment also provides an attitude angle measurement method, which is applied to the above attitude angle measurement system, including the following steps:
步骤210：实时采集被测物的角速度和加速度；Step 210: Collect the angular velocity and acceleration of the measured object in real time;
步骤220：对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输；Step 220: Preprocess the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel;
步骤230：对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。Step 230: Perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle.
在一些实施例中，所述对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输，包括以下步骤：In some embodiments, preprocessing the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel includes the following steps:
首先，调用USART通用IP核，生成对应的电路结构，并根据时序控制电路和对应的电路结构对所述角速度和加速度进行预处理，得到预处理后的角速度和加速度；First, call the USART general IP core to generate the corresponding circuit structure, and preprocess the angular velocity and acceleration according to the timing control circuit and the corresponding circuit structure to obtain the preprocessed angular velocity and acceleration;
然后，将所述预处理后的角速度和加速度进行串并转换，以使预处理后的角速度和加速度并行传输。Then, the preprocessed angular velocity and acceleration are converted from serial to parallel, so that the preprocessed angular velocity and acceleration are transmitted in parallel.
其中，所述对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角，包括：Wherein, performing data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle includes:
确定导航坐标系；Determine the navigation coordinate system;
基于所述导航坐标系，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到初始姿态角；Based on the navigation coordinate system, Kalman filtering is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the initial attitude angle;
对所述初始姿态角进行补偿，得到最终姿态角。The initial attitude angle is compensated to obtain the final attitude angle.
上述实现过程中，通过实时采集被测物的角速度和加速度，并将所述角速度和加速度发送至所述控制模块；对所述角速度和加速度进行预处理，并将预处理后的角速度和加速度并行发送至所述数据处理模块；对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。通过对采集的角速度和加速度进行数据处理和转换，保证了数据采集和处理的高效性，减小了姿态解算所用到的角速度和加速度的误差，从而使得到的最终姿态角更加准确，有助于连续姿态角的测量。在连续长时进行姿态角测量时，由于每一次测量得到的最终姿态角误差更小，更加准确，从而有助于充分理解每一个行走位置的状态，通过采集足够多的数据，可以利用高精度高稳定性算法确定实时位置，进而得到长时稳定准确的姿态角跟踪结果。通过该系统完善连续扫描试验能力，可以进一步提高风洞试验效率和试验数据精准度。In the above implementation process, the angular velocity and acceleration of the measured object are collected in real time, and the angular velocity and acceleration are sent to the control module; the angular velocity and acceleration are preprocessed, and the preprocessed angular velocity and acceleration are processed in parallel. Send to the data processing module; perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle. Through data processing and conversion of the collected angular velocity and acceleration, the efficiency of data collection and processing is ensured, and the errors of the angular velocity and acceleration used in attitude calculation are reduced, thereby making the final attitude angle more accurate and helpful. Measurement of continuous attitude angles. When measuring attitude angles continuously for a long time, since the final attitude angle error obtained by each measurement is smaller and more accurate, it helps to fully understand the status of each walking position. By collecting enough data, high accuracy can be used The high-stability algorithm determines the real-time position, thereby obtaining long-term stable and accurate attitude angle tracking results. By improving the continuous scanning test capabilities of this system, the wind tunnel test efficiency and test data accuracy can be further improved.
本发明实施例提供了一种机器可读存储介质，其上存储有程序，该程序被处理器执行时实现所述姿态角测量方法。Embodiments of the present invention provide a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the attitude angle measurement method is implemented.
本发明实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行所述姿态角测量方法。An embodiment of the present invention provides a processor, which is configured to run a program, wherein the attitude angle measurement method is executed when the program is run.
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端，其内部结构图可以如图9所示。该计算机设备包括通过系统总线连接的处理器A01、网络接口A02、显示屏A04、输入装置A05和存储器(图中未示出)。其中，该计算机设备的处理器A01用于提供计算和控制能力。该计算机设备的存储器包括内存储器A03和非易失性存储介质A06。该非易失性存储介质A06存储有操作系统B01和计算机程序B02。该内存储器A03为非易失性存储介质A06中的操作系统B01和计算机程序B02的运行提供环境。该计算机设备的网络接口A02用于与外部的终端通过网络连接通信。该计算机程序被处理器A01执行时以实现一种姿态角测量方法。该计算机设备的显示屏A04可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置A05可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 9 . The computer equipment includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes internal memory A03 and non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the execution of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with external terminals through a network connection. The computer program implements an attitude angle measurement method when executed by the processor A01. The display screen A04 of the computer device may be a liquid crystal display or an electronic ink display. The input device A05 of the computer device may be a touch layer covered on the display screen, or may be a button, trackball or touch screen provided on the shell of the computer device. A control panel can also be an external keyboard, trackpad, or mouse.
本领域技术人员可以理解，图9中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art can understand that the structure shown in Figure 9 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Specific computer equipment can May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps:
实时采集被测物的角速度和加速度；Collect the angular velocity and acceleration of the measured object in real time;
对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输；Preprocess the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel;
对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角。Perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle.
在一个实施例中，所述对所述角速度和加速度进行预处理，以使预处理后的角速度和加速度并行传输，包括：In one embodiment, preprocessing the angular velocity and acceleration so that the preprocessed angular velocity and acceleration are transmitted in parallel includes:
调用USART通用IP核，生成对应的电路结构，并根据时序控制电路和对应的电路结构对所述角速度和加速度进行预处理，得到预处理后的角速度和加速度；Call the USART general IP core to generate the corresponding circuit structure, and preprocess the angular velocity and acceleration according to the timing control circuit and the corresponding circuit structure to obtain the preprocessed angular velocity and acceleration;
将所述预处理后的角速度和加速度进行串并转换，以使预处理后的角速度和加速度并行传输。The preprocessed angular velocity and acceleration are converted from serial to parallel, so that the preprocessed angular velocity and acceleration are transmitted in parallel.
在一个实施例中，所述对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到最终姿态角，包括：In one embodiment, performing data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the final attitude angle includes:
确定导航坐标系；Determine the navigation coordinate system;
基于所述导航坐标系，采用卡尔曼滤波对所述预处理后的角速度和加速度进行数据融合和姿态解算，得到初始姿态角；Based on the navigation coordinate system, Kalman filtering is used to perform data fusion and attitude calculation on the preprocessed angular velocity and acceleration to obtain the initial attitude angle;
对所述初始姿态角进行补偿，得到最终姿态角。The initial attitude angle is compensated to obtain the final attitude angle.
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。Memory may include non-volatile memory in computer-readable media, random access memory (RAM), and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory. (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device. As defined in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above are only examples of the present application and are not used to limit the present application. To those skilled in the art, various modifications and variations may be made to this application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of the claims of this application.
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