光学 精密工程, 2008, 16 (11): 2151, 网络出版: 2010-02-28   

实时特征级数据融合系统在光电经纬仪上的应用

Application of real-time feature level multi-sensor data fusion system to photoelectric theodolite
作者单位
1 中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033
2 中国科学院 研究生院,北京 100039
摘要
为满足含有多个成像系统的光电经纬仪跟踪实时性的要求,保证其跟踪的精度与可靠性,设计并研制了符合MIMD架构的计算系统。对经纬仪预测滤波、数据融合问题进行了理论推导,证明该算法需要大量的数值计算。为满足上述计算要求,开发出一套具有双DSP,单FPGA的3个运算单元的专用并行计算系统,分析了每个运算单元实时运算的时间开销。仿真实验表明,在具有3个成像系统的光电经纬仪中,当CCD采样频率为50 Hz时,光电编码器采样频率为800 Hz,该系统可以满足1.25 ms的实时性要求。
Abstract
In order to satisfy the requirement of real-time tracing for photoelectric theodolite with multi imaging systems and to guarantee tracing precision and reliability,a new servo-control system according to Multiple Instruction Multiple Data Stream(MIMD) structure was proposed.The predictive filtering and data fusion of theodolite was derived theoretically.The results show that solution of data fusion needs a vast amount of numerical calculations.In order to satisfy the calculation requirement,a special parallel calculation system with three arithmetic units,two DSPs and a single FPGA was developed.The time outgoing of real-time calculation for each calculation unit was analysed.The simulation results show that the system can achieve 1.25 ms operation time in real-time for the theodolite with three imaging systems,while the CCD sampling frequency is 50 Hz and sampling frequency of photoelectric encoder is 800 Hz.
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程国英, 张淑梅, 蔡盛, 高慧斌, 乔彦峰. 实时特征级数据融合系统在光电经纬仪上的应用[J]. 光学 精密工程, 2008, 16(11): 2151. CHENG Guo-ying, ZHANG Shu-mei, CAI Sheng, GAO Hui-bin, QIAO Yan-feng. Application of real-time feature level multi-sensor data fusion system to photoelectric theodolite[J]. Optics and Precision Engineering, 2008, 16(11): 2151.

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