CN111123320B - Satellite positioning device, satellite signal receiver and terminal equipment - Google Patents
Satellite positioning device, satellite signal receiver and terminal equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The satellite positioning device comprises a first satellite signal receiving module, a second satellite signal receiving module, a third satellite signal receiving module and an antenna; the antenna is respectively connected with the first satellite signal receiving module, the second satellite signal receiving module and the third satellite signal receiving module; the first satellite signal receiving module is connected with the second satellite signal receiving module, the satellite signals are processed and positioned through different satellite signal receiving modules respectively, the satellite-based correction information and the RTK correction information are decoded based on different satellite signal receiving modules respectively, the data processing and positioning functions of the universal navigation chip can be fully utilized, and the satellite positioning device formed by combining a plurality of universal navigation chips can effectively simplify the design process of the satellite signal receiver, reduce the implementation cost and realize high-precision positioning.
Description
Technical Field
The application belongs to the technical field of satellite navigation, and particularly relates to a satellite positioning device, a satellite signal receiver and terminal equipment.
Background
With the development and improvement of satellite navigation systems, the satellite navigation systems have increasingly enhanced functions in military and civil markets. In satellite navigation positioning, in order to implement high-precision satellite positioning algorithms such as Real-time kinematic (RTK) and Precision Point Positioning (PPP), a satellite signal receiver is required to process a very large amount of data in a very short time, and therefore, most of the existing satellite signal receivers rely on a high-performance navigation chip. However, the design process of the high-performance navigation chip is complicated, which leads to a high cost of the satellite signal receiver.
In summary, the problem of high cost of the satellite signal receiver exists due to the fact that the design process of the high-performance navigation chip is complex.
Disclosure of Invention
In view of this, embodiments of the present application provide a satellite positioning device, a satellite signal receiver, and a terminal device, so as to solve the problem that the cost of the satellite signal receiver is high due to a complicated design process of a high-performance navigation chip.
A first aspect of the present application provides a satellite positioning apparatus, including a first satellite signal receiving module, a second satellite signal receiving module, a third satellite signal receiving module, and an antenna;
the antenna is respectively connected with the first satellite signal receiving module, the second satellite signal receiving module and the third satellite signal receiving module; the first satellite signal receiving module is connected with the second satellite signal receiving module, and the third satellite signal receiving module is connected with the second satellite signal receiving module;
the first satellite signal receiving module receives a first satellite signal with a first preset frequency through the antenna, acquires and decodes satellite-based correction information, acquires first positioning information according to the first satellite signal, and sends the first positioning information and the decoded satellite-based correction information to the second satellite signal receiving module;
the second satellite signal receiving module receives a second satellite signal with a second preset frequency through the antenna, acquires second positioning information according to the second satellite signal, and sends the first positioning information, the second positioning information and decoded satellite-based correction information to the third satellite signal receiving module;
the third satellite signal receiving module receives a third satellite signal with a third preset frequency through the antenna, acquires and decodes RTK correction information, and acquires third positioning information according to the third satellite signal;
the third satellite signal receiving module carries out single-point positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded satellite-based correction information;
and the third satellite signal receiving module carries out real-time differential positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded RTK correction information.
Further, the first satellite signal receiving module comprises a first satellite navigation chip; the second satellite signal receiving module comprises a second satellite navigation chip; the third satellite signal receiving module comprises a third satellite navigation chip;
the first satellite navigation chip is connected with the second satellite navigation chip through a universal input/output interface and an internal serial interface;
and the second satellite navigation chip is connected with the third satellite navigation signal through a universal input/output interface and an internal serial interface.
Furthermore, the first satellite navigation chip provides a working power supply for the second satellite navigation chip and the third satellite navigation chip.
Further, the first satellite navigation chip decodes the satellite-based correction information to obtain satellite-based correction data.
Further, the third satellite signal receiving module performs single-point positioning according to the first positioning information, the second positioning information, the third positioning information, and the decoded satellite-based correction information, and includes:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a first pre-positioning result;
and the third satellite navigation chip corrects the first pre-positioning result according to the satellite-based correction data to obtain a single-point positioning result.
Further, the third satellite navigation chip decodes the RTK correction information to acquire RTK correction data.
Further, the third satellite signal receiving module performs real-time differential positioning according to the first positioning information, the second positioning information, the third positioning information, and the decoded RTK correction information, and includes:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a second pre-positioning result;
and the third satellite navigation chip corrects the second pre-positioning result according to the RTK correction data to obtain a real-time differential positioning result.
Further, the first preset frequency comprises working frequencies of preset frequency bands of different navigation systems;
the second preset frequency comprises working frequencies of preset frequency bands of different navigation systems;
the third preset frequency comprises working frequencies of preset frequency bands of different navigation systems.
A second aspect of the present application provides a satellite signal receiver comprising the satellite positioning apparatus of the first aspect.
A third aspect of the present application provides a terminal device comprising the satellite signal receiver of the second aspect or the satellite positioning apparatus of the first aspect.
According to the satellite positioning device, the satellite signal receiver and the terminal equipment, satellite signals are processed and positioned through different satellite signal receiving modules respectively, the satellite-based correction information and the RTK correction information are decoded respectively based on the different satellite signal receiving modules, the data processing and positioning functions of a universal navigation chip can be fully utilized, the satellite positioning device formed by combining a plurality of universal navigation chips can effectively simplify the design process of the satellite signal receiver, the implementation cost is reduced, and high-precision positioning can be achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a satellite positioning apparatus according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a satellite positioning apparatus according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
As shown in fig. 1, the present embodiment provides a satellite positioning apparatus 100, the satellite positioning apparatus 100 includes a first satellite signal receiving module 110, a second satellite signal receiving module 120, a third satellite signal receiving module 130, and an antenna M.
The antenna M is connected to the first satellite signal receiving module 110, the second satellite signal receiving module 120, and the third satellite signal receiving module 130 respectively; the first satellite signal receiving module 110 is connected to the second satellite signal receiving module 120, and the third satellite signal receiving module 130 is connected to the second satellite signal receiving module 120.
The first satellite signal receiving module 110 receives a first satellite signal of a first preset frequency through the antenna M, acquires and decodes the satellite-based correction information, acquires first positioning information according to the first satellite signal, and sends the first positioning information and the decoded satellite-based correction information to the second satellite signal receiving module 120.
The second satellite signal receiving module 120 receives a second satellite signal of a second preset frequency through the antenna M, acquires second positioning information according to the second satellite signal, and sends the first positioning information, the second positioning information, and the decoded satellite-based correction information to the third satellite signal receiving module 120.
The third satellite signal receiving module 130 receives a third satellite signal of a third preset frequency through the antenna M, acquires and decodes the RTK correction information, and acquires third positioning information according to the third satellite signal.
The third satellite signal receiving module 130 performs single-point positioning according to the first positioning information, the second positioning information, the third positioning information, and the decoded satellite-based correction information.
The third satellite signal receiving module 130 performs real-time differential positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded RTK correction information.
Specifically, the antenna M can receive signals transmitted from satellites, and can receive satellite signals of different preset frequency bands of each satellite navigation system. For example, the antenna M can receive satellite information of an operating frequency (i.e., a frequency point of the frequency) of a frequency band such as L1/L2/L5 of the GPS satellite navigation system, a satellite signal of an operating frequency of a frequency band such as B1/B2/B3 of the beidou satellite navigation system, a satellite signal of an operating frequency of a frequency band such as E1/E5/E6 of the GALILEO satellite navigation system, and a satellite signal of an operating frequency of a frequency band such as G1/G2/G3 of the GLONASS satellite navigation system. In this embodiment, the first predetermined frequency, the second predetermined frequency and the third predetermined frequency are working frequencies (frequency points) of different working frequency bands of the same satellite navigation system. Illustratively, the first preset frequency is an operating frequency of an L1 frequency band of the GPS navigation system, the second preset frequency is an operating frequency of an L5 frequency band of the GPS navigation system, and the third preset frequency is an operating frequency of an L2 frequency band of the GPS navigation system; or the first preset frequency is the working frequency of the B1 frequency band of the Beidou satellite navigation system, the second preset frequency is the working frequency of the B3 frequency band of the Beidou satellite navigation system, and the third preset frequency is the working frequency of the B2 frequency band of the Beidou satellite navigation system.
Therefore, the satellite positioning device provided by the embodiment of the application can be configured with the navigation positioning chip in the satellite positioning device as required to respectively receive satellite signals of different frequency bands of different satellite navigation systems.
The first satellite signal receiving module 110 receives a first satellite signal with a first preset frequency, the second satellite signal receiving module 120 receives a second satellite signal with a second preset frequency, the third satellite signal receiving module 130 receives a third satellite signal with a third preset frequency, and positioning is performed through satellite signals with different frequencies, so that influences such as ionospheric delay and multipath effect can be weakened, and positioning accuracy is improved.
Specifically, the first satellite signal receiving module 110 can obtain the satellite-based correction information, decode the satellite-based correction information, obtain corresponding satellite-based correction data, and correct the first positioning result based on the satellite-based correction data. Here, the satellite-based correction information may be a request sent by the first satellite signal receiving module 110 to an auxiliary service center (which may be a satellite) to obtain satellite-based correction information, and then the auxiliary service center sends the satellite-based correction information to the first satellite signal receiving module 110 through a specific communication protocol, and the first satellite signal receiving module 110 obtains the satellite-based correction information sent by the auxiliary service center and decodes the satellite-based correction information based on the communication protocol to obtain satellite-based correction data contained therein, where the satellite-based correction data includes, but is not limited to: ephemeris error, satellite clock error, ionospheric delay, regional comprehensive correction information, and the like.
For example, for a GPS navigation system, the satellite-based correction data includes SBAS augmentation information of the GPS, including information such as ephemeris error, satellite clock error, ionospheric delay, and various correction information; for the Beidou navigation system, the satellite-based augmentation information of the Beidou comprises ephemeris error, satellite clock error, ionosphere delay and partition comprehensive correction information, so that the positioning error correction similar to the SBAS can be realized, and the partition comprehensive correction information can be used for realizing the precise single-point positioning of the Beidou navigation system. It should be noted that the satellite-based PPP reference information mainly includes ephemeris error, satellite clock error, ionospheric delay, partition comprehensive correction information, and the like, and the correction information is corrected into the observed quantity and the positioning equation, so that the positioning accuracy can be improved.
The third satellite signal receiving module 130 can perform precise single-point positioning based on the first satellite signal, the second satellite signal, the third satellite signal, and the decoded satellite-based correction data. Specifically, the third satellite signal receiving module 130 performs pre-positioning based on the first satellite signal, the second satellite signal and the third satellite signal, and then corrects the predetermined result based on the satellite-based correction data, so as to obtain an accurate single-point positioning result and implement three-frequency accurate single-point positioning. It should be noted that the observation quantity of one frequency point is increased by the three-frequency PPP compared with the two-frequency PPP, so that the redundant observation quantity is more, and the positioning precision and the positioning reliability are improved; and the three-frequency observed value can construct a combination of an ultra-wide lane and a wide lane, thereby being beneficial to eliminating cycle slip and fixing integer ambiguity by utilizing the advantage of long wavelength and improving the PPP convergence speed.
Specifically, the third satellite signal receiving module 130 is capable of acquiring RTK correction information, decoding the RTK correction information, acquiring corresponding RTK correction data, and correcting the second positioning result based on the RTK correction data. Here, the RTK correction information may be the RTK correction data contained in the RTK correction information transmitted by the reference station by the third satellite signal receiving module 130 by transmitting a request for acquiring the RTK correction information to the reference station, and then transmitting the RTK correction information to the third satellite signal receiving module 130 by the reference station through a specific communication protocol (for example, RTCM communication protocol), and the third satellite signal receiving module 130 acquires the RTK correction information transmitted by the reference station and decodes it based on the communication protocol, and the RTK correction data includes, but is not limited to: pseudoranges and carrier-phase observations of a reference station, coordinates of the reference station.
The third satellite signal receiving module 130 can perform real-time differential positioning based on the first satellite signal, the second satellite signal, the third satellite signal and the decoded RTK correction data. Specifically, the third satellite signal receiving module 130 performs pre-positioning based on the first satellite signal, the second satellite signal and the third satellite signal, and then corrects the predetermined result based on the RTK correction data, so that an accurate real-time differential positioning result can be obtained, and triple-frequency real-time differential positioning is realized. It should be noted that the three-frequency observation data can construct a combined observation value of an ultra-wide lane, a wide lane and a basic frequency point, the carrier phase ambiguity can be preferentially fixed by the long-wavelength advantages of the ultra-wide lane and the wide lane, the basic frequency point is restrained, the long-distance baseline ambiguity can be rapidly fixed, and the positioning success rate and the positioning accuracy of the long-distance RTK can be improved.
In practical applications, the positioning result can be obtained through various calculation algorithms such as common whole-cycle deblurring calculation, partial deblurring calculation, accurate positioning calculation and the like, and details are not repeated herein.
It should be noted that the satellite positioning apparatus may acquire the RTK correction information sent by the auxiliary service center and the reference station through a communication network such as a radio station, a 4G/5G network, and the like. And acquiring the satellite-based correction information through a Beidou satellite or an SBAS satellite. It is understood that the satellite positioning device may also obtain the above mentioned satellite-based correction information and RTK correction information through other communication means, which is not limited herein.
It should be noted that the first satellite signal receiving module 110 can obtain first positioning information after processing the first satellite signal, where the first positioning information includes corresponding observation data; the second satellite signal receiving module 120 can obtain second positioning information after processing the second satellite signal, where the second positioning information includes corresponding observation data; the third satellite signal receiving module 130 can obtain third positioning information after processing the third satellite signal, where the third positioning information includes corresponding observation data. The observation data (i.e., signal data) includes, but is not limited to, ephemeris received by a satellite, pseudorange observations, carrier phase observations, doppler observations, carrier-to-noise ratio, and the like.
The satellite positioning device provided by the embodiment of the application can process and position satellite signals through different satellite signal receiving modules respectively, decodes the satellite-based correction information and the RTK correction information respectively based on the different satellite signal receiving modules, can make full use of the data processing and positioning functions of the universal navigation chip, can effectively simplify the design process of a satellite signal receiver and reduce the implementation cost through the satellite positioning device formed by combining a plurality of universal navigation chips. And the satellite high-precision positioning algorithm such as Real-time kinematic (RTK) and Precision Point Positioning (PPP) technologies can be realized, and the application range is wide.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a satellite positioning apparatus 100 according to another embodiment of the present application, and referring to fig. 1 together, as shown in fig. 2, a first satellite signal receiving module 110 includes a first satellite navigation chip U1; the second satellite signal receiving module 120 comprises a second satellite navigation chip U2; the third satellite signal receiving module 130 includes a third satellite navigation chip U3.
The first satellite navigation chip U1 and the second satellite navigation chip U2 are connected through a general purpose input/output interface (GPIO) and an internal serial interface.
The second satellite navigation chip U2 is connected to the third satellite navigation signal U3 via a general purpose input/output interface and an internal serial interface.
The first satellite navigation chip U1 outputs clock synchronization commands to the second satellite navigation chip U2 based on the GPIO interface.
The first satellite navigation chip U1 sends the first positioning information and the satellite based reference data to the second satellite navigation chip U2 based on the internal serial interface.
The second satellite navigation chip U2 outputs clock synchronization commands to the third satellite navigation chip U3 based on the GPIO interface.
The second satellite navigation chip U2 sends the first positioning information, the second positioning information and the satellite-based reference data to the third satellite navigation chip U3 based on the internal serial interface.
In a specific application, the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 may be general navigation chips, and the general navigation chips generally only receive single-frequency satellite signals and can perform algorithm positioning processing on the received satellite signals, and perform positioning based on a positioning algorithm integrated in the general navigation chips, and the general navigation chips have the characteristics of low cost, low power consumption, small size, and the like, and a baseband algorithm of the general navigation chips can output high-precision observed quantities after certain processing (such as phase half cycle detection, reduction of dynamic characteristics, prolongation of coherent integration time, and the like). For example, the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 may be general navigation chips with model number TD 1030. It should be noted that the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 may also be general navigation chips of other models. It should be further noted that the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 may be general navigation chips of the same model, or may be general navigation chips of different models, which is not limited herein.
In this embodiment, the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 employ the same type of universal navigation chip. And data interaction and synchronous control among the chips are realized through the connection of a general purpose input/output interface (GPIO) and an internal serial interface. When the multi-chip clock synchronization system is used, the first satellite navigation chip U1, the second satellite navigation chip U2 and the third satellite navigation chip U3 adopt the design of a same power supply and a same clock, that is, the same power supply is used for driving and setting the clock synchronization among the multiple chips.
Specifically, the first satellite navigation chip U1, the second satellite navigation chip U2, and the third satellite navigation chip U3 distinguish firmware through an internal protocol, perform firmware numbering first during software upgrading, perform firmware upgrading through an external serial port, and perform data transmission to four chips respectively, where each chip only identifies a corresponding firmware.
Specifically, the first satellite navigation chip U1 may be connected to a working power supply, and the first satellite navigation chip U1 may be used to provide the working power supply for the second satellite navigation chip U2 and the third satellite navigation chip U3. In practical applications, the working power supply may be an external working power supply or an internal working power supply, and the external working power supply may be an external power supply for the satellite positioning device, and output the working power supply to the first satellite navigation chip U1 after voltage conversion and other processing are performed by a power supply processing module (not shown in the figure) of the satellite positioning device, and then provide the working power supply for the second satellite navigation chip U2 and the third satellite navigation chip U3 based on the first satellite navigation chip U1. The internal operating power source can be provided by a built-in battery (not shown) of the satellite positioning device, and will not be described herein.
Specifically, the clock synchronization may be based on the same frequency generator (crystal oscillator, etc.) to provide an external clock for each satellite navigation chip, so as to implement clock synchronization between each chip.
Specifically, the first satellite navigation chip U1 outputs a clock synchronization command to the second satellite navigation chip U2 based on the general purpose input/output interface, and the second satellite navigation chip U2 performs clock calibration based on the command, thereby realizing clock synchronization between the first satellite navigation chip U1 and the second satellite navigation chip U2.
Specifically, the second satellite navigation chip U2 outputs a clock synchronization command to the third satellite navigation chip U3 based on the gpio interface, and the third satellite navigation chip U3 performs clock calibration based on the clock synchronization command, thereby achieving clock synchronization between the second satellite navigation chip U2 and the third satellite navigation chip U3.
In a specific application, the operating frequency of the first satellite navigation chip U1 is configured to receive a first satellite signal of a first preset frequency through the antenna M, the operating frequency of the second satellite navigation chip U2 is configured to receive a second satellite signal of a second preset frequency through the antenna M, and the operating frequency of the third satellite navigation chip U3 is configured to receive a third satellite signal of a third preset frequency through the antenna M. Here, the process of configuring the operating frequency of the satellite navigation chip is configured according to the existing configuration mode, and is not described herein again.
In this embodiment, the upper first preset frequency may be an operating frequency of a basic frequency band of each satellite navigation system, such as an operating frequency (frequency point) of an L1 frequency band. The second predetermined frequency may be an operating frequency of another frequency band under the same satellite navigation system as the first predetermined frequency, such as an operating frequency of an L5 frequency band, and the third predetermined frequency is an operating frequency of another frequency band under the same satellite navigation system as the first predetermined frequency and the second predetermined frequency, such as an operating frequency of an L2 frequency band, which is not limited herein.
Specifically, the third satellite signal receiving module performs single-point positioning according to the first positioning information, the second positioning information, the third positioning information, and the decoded satellite-based correction information, and includes:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a first pre-positioning result;
and the third satellite navigation chip corrects the first pre-positioning result according to the satellite-based correction data to obtain a single-point positioning result.
Specifically, a first satellite signal is processed based on a first satellite navigation chip U1, satellite-based correction information is decoded, the obtained first positioning information and satellite-based correction data are sent to a second satellite navigation chip U2 through the internal serial interface, the second satellite navigation chip U2 processes the received second satellite signal to obtain second positioning information, the first positioning information and the satellite-based correction data are sent to a third satellite navigation chip U3 through the internal serial interface, the third satellite navigation chip U3 processes the received third satellite signal to obtain third positioning information, positioning is carried out based on the first positioning information, the second positioning information and the third positioning information to obtain a first pre-positioning result, and the first pre-positioning result is corrected based on the satellite-based correction data, and obtaining a high-precision single-point positioning result. It should be noted that, the correcting the first pre-positioning result based on the above mentioned satellite-based correction data may be to perform differential processing on the first pre-positioning result based on the satellite-based correction data, and correcting the positioning result based on the satellite-based correction data is a prior art means in the field, and therefore, details thereof are not described again.
Specifically, the third satellite signal receiving module performs real-time differential positioning according to the first positioning information, the second positioning information, the third positioning information, and the decoded RTK correction information, and includes:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a second pre-positioning result;
and the third satellite navigation chip corrects the second pre-positioning result according to the RTK correction data to obtain a real-time differential positioning result.
Specifically, the first satellite signal is processed based on the first satellite navigation chip U1, and then the obtained first positioning information is sent to the second satellite navigation chip U2 through the internal serial interface, the second satellite navigation chip U2 processes the received second satellite signal to obtain the second positioning information, and the first positioning information and the second positioning information are sent to the third satellite navigation chip U3 through the internal serial interface, the third satellite navigation chip U3 processes the third satellite signal to obtain third positioning information, and decodes the acquired RTK correction information to obtain corresponding RTK correction data, then positioning is carried out based on the first positioning information, the second positioning information and the third positioning information to obtain a second pre-positioning result, and correcting the second pre-positioning result based on the RTK correction data to obtain a high-precision real-time differential positioning result. It should be noted that, the correcting the second predetermined bit result based on the RTK correction data may be performing differential processing on the second predetermined bit result based on the RTK correction data, and correcting the positioning result based on the RTK correction data is a prior art means in the art, and therefore, details thereof are not described again.
In the embodiment, the universal navigation chip is used for processing the single-frequency satellite signal, the satellite-based correction information and the RTK correction information are respectively decoded based on different navigation chips, the data processing and positioning functions of the universal navigation chip can be fully utilized, and the satellite positioning device formed by combining a plurality of universal navigation chips can effectively simplify the design process of the satellite signal receiver, reduce the implementation cost and realize high-precision positioning.
Another embodiment of the present application further provides a satellite signal receiver, where the satellite signal receiver includes the satellite positioning device provided in any of the above embodiments, and performs satellite signal receiving and positioning based on the satellite positioning device.
Another embodiment of the present application further provides a terminal device, which may include the satellite signal receiver or include the satellite positioning system, and the terminal device may be a vehicle-mounted device, a mobile phone, a tablet computer, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, a super-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), an unmanned aerial vehicle, a robot, a ship-mounted device, and the like, which is not limited herein.
In this embodiment, the terminal device may include at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, and the processing implements the satellite positioning when executing the computer program.
The Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may in some embodiments be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. In other embodiments, the memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device. Further, the memory may also include both an internal storage unit and an external storage device of the terminal device. The memory is used for storing an operating system, application programs, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer programs. The memory may also be used to temporarily store data that has been output or is to be output.
Illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present application. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. A satellite positioning device is characterized by comprising a first satellite signal receiving module, a second satellite signal receiving module, a third satellite signal receiving module and an antenna;
the antenna is respectively connected with the first satellite signal receiving module, the second satellite signal receiving module and the third satellite signal receiving module; the first satellite signal receiving module is connected with the second satellite signal receiving module, and the third satellite signal receiving module is connected with the second satellite signal receiving module;
the first satellite signal receiving module receives a first satellite signal with a first preset frequency through the antenna, acquires and decodes satellite-based correction information, acquires first positioning information according to the first satellite signal, and sends the first positioning information and the decoded satellite-based correction information to the second satellite signal receiving module;
the second satellite signal receiving module receives a second satellite signal with a second preset frequency through the antenna, acquires second positioning information according to the second satellite signal, and sends the first positioning information, the second positioning information and decoded satellite-based correction information to the third satellite signal receiving module;
the third satellite signal receiving module receives a third satellite signal with a third preset frequency through the antenna, acquires and decodes RTK correction information, and acquires third positioning information according to the third satellite signal;
the third satellite signal receiving module carries out single-point positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded satellite-based correction information;
the third satellite signal receiving module carries out real-time differential positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded RTK correction information;
the first preset frequency, the second preset frequency and the third preset frequency are working frequencies of different working frequency bands of the same satellite navigation system.
2. The satellite positioning device according to claim 1, wherein the first satellite signal receiving module includes a first satellite navigation chip; the second satellite signal receiving module comprises a second satellite navigation chip; the third satellite signal receiving module comprises a third satellite navigation chip;
the first satellite navigation chip is connected with the second satellite navigation chip through a universal input/output interface and an internal serial interface;
the second satellite navigation chip is connected with the third satellite navigation chip through a universal input/output interface and an internal serial interface.
3. The satellite positioning apparatus of claim 2, wherein the first satellite navigation chip provides operating power for the second satellite navigation chip and the third satellite navigation chip.
4. The satellite positioning device of claim 2, wherein the first satellite navigation chip decodes the satellite based correction information to obtain satellite based correction data.
5. The satellite positioning apparatus according to claim 4, wherein the third satellite signal receiving module performs a single-point positioning according to the first positioning information, the second positioning information, the third positioning information and the decoded satellite-based correction information, and comprises:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a first pre-positioning result;
and the third satellite navigation chip corrects the first pre-positioning result according to the satellite-based correction data to obtain a single-point positioning result.
6. The satellite positioning apparatus of claim 2, wherein the third satellite navigation chip decodes the RTK correction information to obtain RTK correction data.
7. The satellite positioning apparatus of claim 6, wherein the third satellite signal receiving module performs real-time differential positioning based on the first positioning information, the second positioning information, the third positioning information and the decoded RTK correction information, comprising:
the third satellite navigation chip carries out positioning according to the first positioning information, the second positioning information and the third positioning information to obtain a second pre-positioning result;
and the third satellite navigation chip corrects the second pre-positioning result according to the RTK correction data to obtain a real-time differential positioning result.
8. A satellite signal receiver, characterized in that it comprises a satellite positioning device according to any one of claims 1 to 7.
9. A terminal device, characterized in that the terminal device comprises a satellite signal receiver according to claim 8 or a satellite positioning arrangement according to any one of claims 1 to 7.
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