伪令牌总线在中心式车辆导航系统中的实现及性能分析
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摘要
在吉林省科技厅项目《基于浮动车的动态路径导航方法的研究》(20060526)的研发背景下,以及在原科技厅《车载信息系统研制开发》项目(项目编号20050326)的基础上,本文主要对中心式车辆导航系统服务中心的通信协议进行了相关的研究及实现,在此基础上对系统的性能进行了分析。
本文根据系统要求,简化了标准令牌总线协议,并在使用VC++开发的中心式车辆导航系统仿真平台上实验验证。此外,对于中心式车辆导航系统来说,实时性问题是一个重要问题,通过对一般实时性理论的研究,再结合本系统的问题进行了分析。为了保证系统的实时性、可行性,主要从两方面来考虑,一方面是实时通信问题即排队问题,另一方面问题是实时任务问题即调度问题。本文就从这两方面对本系统的实时性进行了讨论。同时,对于整个系统的性能是否符合实时性和可靠性的问题也进行了讨论。
At the era of information technology, people pay more attention to the accuracy and real-time of the information than before. Under this circumstances, Jilin University is commissioned by the Science and Technology Department of Jilin Province, do the platforms research of ProbCar Dynamic Navigation of the Central-based Vehicle Navigation System。
The research and development platform include service center, vehicle(with GPS),communication units,ProbCar and so on. The position information of the vehicle is transmit to service center by communication units. According to the information provided by the vehicle, we make a path planning and update the database of customer. The commands of service center and the section sequences after path planning (the information is commands of the vehicle movement and the service information of path planning) are transmit to vehicle by communication units.
Service centre includes service terminals, the destination database, matching units of maps, path planning units. According to road conditions and dynamic information and task requirements provided by the vehicle, the information will get integrated treatments. As a part of the research and development platform, the emphasis of this paper is the research of protocols that make every unit can have a real-time communication of the service centre in Vehicle Navigation System.
Under the research background of the project that“A Research Based on ProbCar Dynamic Path Navigation Methods”of the Science and Technology Department of Jilin Province, the paper combines the actual system requirements with the research conditions of our own. On VC++ platform, the communication problem of the service centre are solved in the low-cost vehicle navigation system. The main research work is:
(1)According to the actual situation of the service centre,the characteristics of the system is determined and, the assumption of fake token bus system is presented. On VC++ platform, the ideas of fake token bus are achieved simply with the help of socket technology and multicate technology and soon.
This paper is based on the ideas of standard token bus. Given the complexity of standard token bus protocol and the difficulty to achieve, the operational principle of algorithm of the standard token bus are revised and achieved easily.Since our site is PC, in order to meet the real-time requirement of system, the structure of the frames is modified and adopted.
In the site-accessing algorithm, initiative ideas are adopted. When the sites want to be accessed the ring will be applied. In the token passing algorithm,is adopted. This can make sure that the tokens can not be lost and it is useful for the maintenance of tokens. In the whole process of protocols running, the lists of ring members are introduced. Its presence will be beneficial to the maintenance of the rings.
At the same time, I hope that this system can be applied to practical application.
(2) According to the characteristic of actual system, the real-time and feasibility of communication are analyzed in this system.
The real-time of system includes real-time communication and real-time task scheduling, so the design ideas must ensure the principle of real-time. Based on the analysis of real-time communication, we found the key to improve the real-time of system----queuing delay and MAC protocol problems. We made further analysis for queuing model is made and combined it with the characteristics of system, the performance analysis of m/m/1/n/n model is given, and it is the guarantee for the real-time and feasibility. We also analyze that the change of parameters also has an impact on system performance. Finally better methods that can improve the real-time of system is founded, and the parameterμ(service ratio) has great impact on system performance. In order to improve it, the approach is that we must improve the algorithms of the application software in addition to hardware improvement.
Because the service objects of the service centre include not only the general public vehicles but also the police and administrative staff vehicles.This paper presents queue model with priority. The high-priority with low-priority information is compared to illuminate that this system will provide high-priority information with convenience.For these characteristics, we all have done simulation experiments.
(3) Based on actual system, the task scheduling is analyzed in order to ensure real-time of the system.
There are the scheduling problems for our system, and the obvious phenomenon is in the service terminals and there are sequence problems between tasks. In order to ensure the effective work of service terminals, the task scheduling problems are analyzed on the basis of this system.
Based on the deep study in scheduling theory, we understand that the tasks served by service terminals have the characteristics of prior bind in this system, and the tasks have the non-cyclical characteristics, so C-EDF Aalgorithm is chosen. The real-time task scheduling of the system with it is analyzed, too. By the analysis of many examples, this task scheduling algorithm is very effective and reasonable in the node with N tasks. The results show that our system can achieve good task scheduling in the real-time instance. Proof of the C-EDF algorithm than EDF algorithm can more effectively ensure that the priority constraints task scheduling.
(4) The performance of fake token protocol is analyzed.
After the establishment of system, if you want to actual application is be wanted, what most concerned about is its performance. Through the general analysis of performance and theoretical research, the analytic theory that matches this system is presented, and give some parameter values of fake token bus are given.
The analysis of this system is general and it conforms to the actual situation.
Through the amendment of protocols and the realization of the program and the analysis of performance, as we know, it is the most important that theory and practice are combined together.
本文根据系统要求,简化了标准令牌总线协议,并在使用VC++开发的中心式车辆导航系统仿真平台上实验验证。此外,对于中心式车辆导航系统来说,实时性问题是一个重要问题,通过对一般实时性理论的研究,再结合本系统的问题进行了分析。为了保证系统的实时性、可行性,主要从两方面来考虑,一方面是实时通信问题即排队问题,另一方面问题是实时任务问题即调度问题。本文就从这两方面对本系统的实时性进行了讨论。同时,对于整个系统的性能是否符合实时性和可靠性的问题也进行了讨论。
At the era of information technology, people pay more attention to the accuracy and real-time of the information than before. Under this circumstances, Jilin University is commissioned by the Science and Technology Department of Jilin Province, do the platforms research of ProbCar Dynamic Navigation of the Central-based Vehicle Navigation System。
The research and development platform include service center, vehicle(with GPS),communication units,ProbCar and so on. The position information of the vehicle is transmit to service center by communication units. According to the information provided by the vehicle, we make a path planning and update the database of customer. The commands of service center and the section sequences after path planning (the information is commands of the vehicle movement and the service information of path planning) are transmit to vehicle by communication units.
Service centre includes service terminals, the destination database, matching units of maps, path planning units. According to road conditions and dynamic information and task requirements provided by the vehicle, the information will get integrated treatments. As a part of the research and development platform, the emphasis of this paper is the research of protocols that make every unit can have a real-time communication of the service centre in Vehicle Navigation System.
Under the research background of the project that“A Research Based on ProbCar Dynamic Path Navigation Methods”of the Science and Technology Department of Jilin Province, the paper combines the actual system requirements with the research conditions of our own. On VC++ platform, the communication problem of the service centre are solved in the low-cost vehicle navigation system. The main research work is:
(1)According to the actual situation of the service centre,the characteristics of the system is determined and, the assumption of fake token bus system is presented. On VC++ platform, the ideas of fake token bus are achieved simply with the help of socket technology and multicate technology and soon.
This paper is based on the ideas of standard token bus. Given the complexity of standard token bus protocol and the difficulty to achieve, the operational principle of algorithm of the standard token bus are revised and achieved easily.Since our site is PC, in order to meet the real-time requirement of system, the structure of the frames is modified and adopted.
In the site-accessing algorithm, initiative ideas are adopted. When the sites want to be accessed the ring will be applied. In the token passing algorithm,is adopted. This can make sure that the tokens can not be lost and it is useful for the maintenance of tokens. In the whole process of protocols running, the lists of ring members are introduced. Its presence will be beneficial to the maintenance of the rings.
At the same time, I hope that this system can be applied to practical application.
(2) According to the characteristic of actual system, the real-time and feasibility of communication are analyzed in this system.
The real-time of system includes real-time communication and real-time task scheduling, so the design ideas must ensure the principle of real-time. Based on the analysis of real-time communication, we found the key to improve the real-time of system----queuing delay and MAC protocol problems. We made further analysis for queuing model is made and combined it with the characteristics of system, the performance analysis of m/m/1/n/n model is given, and it is the guarantee for the real-time and feasibility. We also analyze that the change of parameters also has an impact on system performance. Finally better methods that can improve the real-time of system is founded, and the parameterμ(service ratio) has great impact on system performance. In order to improve it, the approach is that we must improve the algorithms of the application software in addition to hardware improvement.
Because the service objects of the service centre include not only the general public vehicles but also the police and administrative staff vehicles.This paper presents queue model with priority. The high-priority with low-priority information is compared to illuminate that this system will provide high-priority information with convenience.For these characteristics, we all have done simulation experiments.
(3) Based on actual system, the task scheduling is analyzed in order to ensure real-time of the system.
There are the scheduling problems for our system, and the obvious phenomenon is in the service terminals and there are sequence problems between tasks. In order to ensure the effective work of service terminals, the task scheduling problems are analyzed on the basis of this system.
Based on the deep study in scheduling theory, we understand that the tasks served by service terminals have the characteristics of prior bind in this system, and the tasks have the non-cyclical characteristics, so C-EDF Aalgorithm is chosen. The real-time task scheduling of the system with it is analyzed, too. By the analysis of many examples, this task scheduling algorithm is very effective and reasonable in the node with N tasks. The results show that our system can achieve good task scheduling in the real-time instance. Proof of the C-EDF algorithm than EDF algorithm can more effectively ensure that the priority constraints task scheduling.
(4) The performance of fake token protocol is analyzed.
After the establishment of system, if you want to actual application is be wanted, what most concerned about is its performance. Through the general analysis of performance and theoretical research, the analytic theory that matches this system is presented, and give some parameter values of fake token bus are given.
The analysis of this system is general and it conforms to the actual situation.
Through the amendment of protocols and the realization of the program and the analysis of performance, as we know, it is the most important that theory and practice are combined together.
引文
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[3] http://www.hitachi.com/ICSFiles/afieldfile/2004/11/26/r2004_04_105.pdf:Trend in Vehicle Information Systems and Hitachi Group's Initiatives.
[4] 董艳红,张其善,常青,中心式车辆导航系统监控平台设计,电子测量技术,2006.02,第 29 卷 1 期,98-99 页.
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[2] 彭飞,智能车辆定位与导航系统研究,北京航空航天大学博士学位论文,2000.
[3] http://www.hitachi.com/ICSFiles/afieldfile/2004/11/26/r2004_04_105.pdf:Trend in Vehicle Information Systems and Hitachi Group's Initiatives.
[4] 董艳红,张其善,常青,中心式车辆导航系统监控平台设计,电子测量技术,2006.02,第 29 卷 1 期,98-99 页.
[5] Seung H H,YU C K.Implementation of a bandwidth allocation shceme in a token-passing fieldbus network[J].IEEE Transactions on Instrumentation and Measurement,2002,51(2):246-251.
[6] LUI C,ADRIANO V.Acknowledgment and priority mechanisms in 802.4 token-bus[J].IEEE Transaction on Industrial Electronics, 1988,35(2): 307-316.
[7] 许庆阳,基于令牌通讯方式的控制网络研究,大连海事大学,硕士论文,2007年 3 月,17-21 页.
[8] 李忠勇,李人厚, 容错型令牌总线网性能估计算法[J]. 计算机报,1996,19(1): 72-76.
[9] 李忠勇,李人厚,IEEE 802.4 令牌总线网实时应用性能分析算法[J]. 西安交通大学学报, 1997, 31(6):8-13.
[10] HONG S P, SANG C A, WOOK H K. Performance and parameter region for real-time use in IEEE 802.4 token bus network[J]. IEEE Transaction on Industrial Electronics, 1993,40(4):412-419.
[11] 刘怀,费树岷,沈捷,不对称令牌总线在分布式控制系统中应用的性能分析和参数设置,《通信学报》,2004 年 2 月,第 25 卷 2 期.
[12] 关平,双向 HFC 网络中令牌总线接入方法研究,硕士论文,四川大学,2004 年 4月 20 日.
[13] 苟帅,两种基于总线结构的局域网通信协议的分析与实现,硕士论文,西安交通大学,2002 年 3 月.
[14] William Stallings 著,高传善等译,局域网与城域网(第 5 版),电子工业出版社,1998.
[15] 杨军,基于 LAN 的分布式系统实时性研究与应用,硕士论文,哈尔滨工程大学, 2003 年 1 月.
[16]xuxu, Function Analysis of Severs in Central-based Vehicle Navigation System. The Second International Conference on Complex Systems and Applications -Modeling, Control and Simulations(Hanlin, Jinan, China, June 8-10, 2007),2007.
[17] Willim Stallings 著,齐望东等译,高速网络——TCP/IP 和 ATM 的设计原理,电子工业出版社,1999 年 10 月,页数:126-151.
[18] 盛友招著,排队论及其在计算机通信中的应用,北京邮电大学出版社,1998,页数:129-160.
[19] 陆传赉著,排队论,北京邮电大学出版社,1994,页数:43-76,211-217.
[20] 范兴刚,网络控制系统若干通信网络实时特性研究,博士论文,浙江大学,2004年 3 月.
[21] ANURA P J, GEETHA G J. On the use of IEEE 802.4 token bus in distributed real-time control systems [J]. IEEE Transaction on Industrial Electronics, 1989, 36(3): 391-397.
[22] MONTUSCHI P, CIMINIERA L, VALENZANO A. Time characteristics of IEEE 802.4 token bus protocol[J]. Computers and Digital Techniques, IEE Proceedings-E, 1992, 139(1):81-87.
[23] Jane, W.S.Liu,实时系统(影印版),高等教育出版社,北京,2002 年.
[24] 徐维涛等,无线传感器网络中任务调度算法的研究,科学技术与工程,2008 年 1月,第 1 期,106-112.
[25] 赵亦林 编著,谭国真 译,车辆定位与导航系统,北京,电子工业出版社,1993.
[26] Jorg F. Wagner, Gunther Kasties. Applying the principle of integrated navigation systems to estimating the motion of large vehicles Anwendung des Prinzips integrierter Navigationssysteme auf die Bewegungserfassung grober Fahrzeuge. Aerospace Science and Technology 8 (2004) 155–166.
[27] C.M.Krishna,Kang G.Shin,实时系统(影印版),清华大学出版社,北京,2001年.
[28] 郎锐,孙方编著,Visual C++网络通信程序开发基础及实例解析,北京,机械工业出版社,2006.
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