CN115127553B

CN115127553B - Navigation positioning system and navigation positioning method for mining vehicle

Info

Publication number: CN115127553B
Application number: CN202211060213.4A
Authority: CN
Inventors: 明道鹏; 刘志勇; 谢意; 冯冲; 蒋先尧
Original assignee: Beijing Lukaizhixing Technology Co ltd
Current assignee: Beijing Lukaizhixing Technology Co ltd
Priority date: 2022-09-01
Filing date: 2022-09-01
Publication date: 2022-12-06
Anticipated expiration: 2042-09-01
Also published as: CN115127553A; CN115727844A; CN115727844B

Abstract

The invention discloses a navigation positioning system and a navigation positioning method for a mining vehicle, belongs to the technical field of navigation positioning, solves the problem of how to realize accurate positioning of the vehicle, and can be applied to the mining vehicle. The navigation positioning system comprises a first antenna receiving module, a second antenna receiving module, a first radio frequency signal processing module, a second radio frequency signal processing module, a first positioning module, a second positioning module, a programmable system on a chip and an inertia measuring module. The first antenna receiving module and the second antenna receiving module are respectively connected with the first radio frequency signal module and the second radio frequency signal module to form two paths of parallel radio frequency signal processing circuits. The first radio frequency signal module and the second radio frequency signal module are respectively connected with the first positioning module and the second positioning module. The first positioning module, the second positioning module and the IMU module are respectively accessed to the system on the programmable chip.

Description

Navigation positioning system and navigation positioning method for mining vehicle

Technical Field

The invention relates to the technical field of navigation and positioning, in particular to a navigation and positioning system and a navigation and positioning method for a mining vehicle.

Background

With the development of the automatic driving technology of the mine car, the high-precision combined positioning module becomes one of the key sensors in the automatic driving system of the mine car. Meanwhile, the system function safety requirement of the automatic driving vehicle is higher and higher, and the continuous and reliable work of the combined positioning module is an important factor of the automatic driving function safety. However, most of the current high-precision navigation positioning module products come from products applied in the surveying and mapping industry, the cost is high, the design is not on the vehicle scale, and the functional safety requirements are rarely considered. For example, the fault diagnosis of the antenna is not in place, so that the signal is blocked or the antenna cannot work, which causes trouble to subsequent strategies of the vehicle; for another example, if the power supply is not guaranteed in place, the whole positioning system will be disabled when some power supply fails.

In addition, the prior art has a single processing method for time synchronization between a plurality of sensors, and only provides a method of PPS (Pulse Per Second) plus GPRMC. With the trend of increasing the number of the autopilot sensor configurations, sufficient driving ability and flexibility cannot be provided. Meanwhile, the communication interface mostly takes a serial port as a main part, and actually, the reliability of serial port communication is difficult to control, so that the communication interface is not suitable for an in-vehicle bus.

Disclosure of Invention

In order to solve at least one aspect of the above problems and disadvantages in the prior art, the present invention provides a navigation and positioning system for a mining vehicle and a method for performing navigation and positioning by using the same.

The invention relates to a navigation positioning system of a mining vehicle, which comprises a first antenna receiving module, a second antenna receiving module, a first radio frequency signal processing module, a second radio frequency signal processing module, a first positioning module, a second positioning module, a programmable system on a chip and an inertia measuring module,

the first antenna receiving module and the second antenna receiving module are respectively connected with the first radio frequency signal processing module and the second radio frequency signal processing module to form two paths of parallel radio frequency signal processing circuits;

the first radio frequency signal processing module and the second radio frequency signal processing module are respectively connected with the first positioning module and the second positioning module so as to respectively input the two paths of satellite navigation signals obtained by the radio frequency signal processing circuit into the first positioning module and the second positioning module for signal processing;

the first positioning module, the second positioning module and the inertia measurement module are respectively connected to the system on the programmable chip.

Specifically, the system on a programmable chip comprises a microprocessor and a programmable gate array, wherein the microprocessor is used for processing external communication and protocol transmission of the navigation positioning system, and the programmable gate array is used for processing calculation of navigation positioning data.

Preferably, the PPS signal output by the system on chip is determined by logical and operation of the PPS signals output by the first positioning module and the second positioning module.

Optionally, the PPS signal output by the system on a programmable chip is divided into multiple paths concurrently, and the multiple paths of PPS signals are used for being respectively matched with preset multiple paths of time-synchronized vehicle-mounted sensors.

Optionally, the system further includes a multi-channel external communication interface and a protocol serial port.

Preferably, the multi-path external communication interface comprises two paths of CAN/FD communication interfaces, three paths of RS232 communication interfaces and 1 path of 100BASE-T1 communication interface, the two paths of CAN/FD communication interfaces are respectively used for outputting positioning data and inputting signals participating in data correction in the vehicle, and the three paths of RS232 communication interfaces are respectively used for inputting external RTK data, outputting time-synchronized gprs mc and outputting positioning data of a serial port.

Preferably, the programmable gate array is connected with the first positioning module and the second positioning module respectively to process position data of the mining vehicle, and the programmable gate array is connected with the inertial measurement module to process acceleration and angular velocity data of the mining vehicle.

Preferably, the programmable gate array communicates with the first positioning module and the second positioning module through a UART protocol.

Preferably, the programmable gate array is connected with the inertial measurement module through an SPI interface.

Further, the navigation positioning system also comprises two hard-wire output interfaces used for informing the fault of the positioning system of the associated vehicle electronic control unit, and/or one hard-wire input interface used for informing the system when the fault of the associated vehicle electronic control unit occurs.

Furthermore, the navigation positioning system also comprises a hard wire signal output interface used for prompting the main power supply fault.

The invention also provides a method for carrying out navigation positioning by applying the navigation positioning system of the mining vehicle, which comprises the following steps:

the programmable gate array of the system on an editable chip receives two paths of positioning signals and one path of inertial navigation signal;

the programmable gate array of the system on the programmable chip respectively performs Kalman filtering processing on two paths of positioning signals and one path of inertial navigation signal;

the programmable gate array of the system on the programmable chip corrects the two paths of positioning signals after filtering;

and the programmable gate array of the system on the programmable chip performs fusion calculation on the two corrected positioning signals and the inertial navigation signal processed by Kalman filtering to obtain navigation positioning data of the vehicle.

According to the navigation positioning system of the mining vehicle, the data of two paths of GNSS and one path of IMU are fused by combining the double GNSS module and the IMU module, so that the navigation positioning of the vehicle is more accurate. Meanwhile, the programmable system on the chip is used for calculating two paths of GNSS positioning data and one path of IMU data in parallel, so that the calculation efficiency is improved, the processing delay of vehicle positioning is reduced, the overall reliability of vehicle positioning is further improved, and the functional safety level of the vehicle is improved.

Drawings

These and/or other aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the preferred embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic frame structure diagram of a navigation and positioning system of a mining vehicle according to an embodiment of the invention;

FIG. 2 is a schematic block diagram of a mining vehicle navigation and positioning system in accordance with an embodiment of the present invention;

fig. 3 is a schematic flow chart of a navigation and positioning method for a mining vehicle according to an embodiment of the present invention.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention and should not be construed as limiting the invention.

To more clearly illustrate the contents of the protected solution of the present invention, the terms referred to in the embodiments of the present invention are explained first as follows:

GNSS (Global Navigation Satellite System) Global Navigation Satellite System for locating the position of an object.

An IMU (Inertial Measurement Unit) Inertial Measurement Unit, which is mainly used to measure the attitude angle or angular velocity and acceleration of the object in the XYZ three axes.

An FPGA (Field Programmable Gate Array) Field Programmable logic Gate Array is a semi-custom circuit special for integrated circuits, and comprises basic modules such as a Programmable input/output unit, a configurable logic block, a digital clock management module, an embedded block RAM, wiring resources, an embedded special hard core, a bottom embedded functional unit and the like.

An SPI (Serial Peripheral Interface) Serial Peripheral Interface is a synchronous Serial data transmission standard, and is used to ensure that a master and a plurality of slaves connected to the master through the SPI Interface have the same clock signal.

PPS (Pulse Per Second) Second pulses indicate how many Pulse signals Per Second, and indicate the time of the whole Second, and are generally indicated by the rising edge of PPS.

RTK (Real-Time Kinematic) Real-Time Kinematic, the RTK technology is a technology for carrying out Real-Time Kinematic relative positioning by using GPS carrier phase observation, and the realization principle is as follows: the reference station receiver is arranged on a reference point with known or unknown coordinates and continuously receives all visible GNSS satellite signals; the reference station sends the coordinate of the station-finding point, the carrier phase observation value of the pseudo-range observation value, the satellite tracking state, the receiver working state and the like to the mobile station through a wireless data link; the mobile station is initialized first, and enters dynamic operation after the searching and solving of the whole week of unknown numbers are completed. When the mobile station receives data from the reference station, carrier phase data of the GNSS satellite are synchronously observed and collected, the carrier phase integer ambiguity is solved through intra-system difference processing, and the mobile station obtains plane coordinates x, y and elevation h of the mobile station according to the correlation between the mobile station and the reference station.

A UART (Universal Asynchronous Receiver/Transmitter) Universal Asynchronous Receiver/Transmitter (UART) is a serial Asynchronous Receiver/Transmitter full duplex protocol, and its working principle is to transmit one bit of binary bits of data. In the UART communication protocol, the high level of the status bit on the signal line represents '1' and the low level represents '0'. Of course, when two devices communicate by using a UART serial port, the transmission rate and some data bits must be defined first. The communication connection is performed through UART, and two pieces of hardware that communicate with each other need to have three data ports, which are respectively denoted as TX: a transmitting data end, which is to be connected with an RX of a face device; RX: a receiving data end, which is to be connected with TX of a face device; GND: the two devices are ensured to be in common ground and have a uniform reference plane.

MIC (MicroController) MicroController.

DDRM (Dual Data rate SRAM) Dual rate synchronous dynamic Data memory. MEMS sensors (micro electro Mechanical Systems) are micro electromechanical Systems sensors for measuring inertial navigation information such as acceleration and angular velocity of an object.

Reference is made to the schematic frame structure of the navigation and positioning system of a mining vehicle shown in fig. 1. The navigation positioning system of the mining vehicle comprises a first antenna receiving module, a second antenna receiving module, a first radio frequency signal processing module, a second radio frequency signal processing module, a first positioning module, a second positioning module, a programmable system on a chip and an inertia measuring module.

The first antenna receiving module and the second antenna receiving module are respectively connected with the first radio frequency signal module and the second radio frequency signal module to form two paths of parallel radio frequency signal processing circuits.

The first radio frequency signal module and the second radio frequency signal module are respectively connected with the first positioning module and the second GNSS positioning module so as to respectively input the two paths of satellite navigation signals obtained by the radio frequency signal processing circuit into the first positioning module and the second positioning module for signal processing.

The first positioning module, the second positioning module and the inertia measurement module are respectively connected with the system on the programmable chip.

In one example, the first positioning module and the second positioning module are both Global Navigation Satellite System (GNSS) modules for positioning location information of the mining vehicle, i.e., the first positioning module is a first GNSS positioning module and the second positioning module is a second GNSS positioning module.

In one example, the inertial measurement module is an Inertial Measurement Unit (IMU) for measuring angular velocity/attitude and acceleration of the mining vehicle, i.e. the inertial measurement module is an IMU module.

Specifically, the system on a programmable chip comprises a microprocessor and a programmable gate array, wherein the microprocessor is used for processing external communication and protocol transmission of the navigation positioning system, and the programmable gate array is used for processing calculation of navigation positioning data. In one example, the microprocessor is an ARM processor and the programmable gate array is a Field Programmable Gate Array (FPGA). The ARM processor and the programmable gate array respectively execute different data services of the system, so that the positioning accuracy and the positioning data calculation efficiency of the navigation positioning system are improved, and the external communication transmission rate of the whole system is improved.

Preferably, the PPS signal output by the system on a programmable chip is determined by the logic and operation of the PPS signals output by the first GNSS positioning module and the second GNSS positioning module, the clock signals of the first GNSS signal and the second GNSS signal are aligned, the time signal difference of the two GNSS signals is made up, and the clock precision output by the system on a programmable chip is improved.

Optionally, the PPS signals output by the system on a programmable chip are concurrently divided into multiple paths (for example, 4 paths) for respectively matching with preset multiple paths of vehicle-mounted sensors with time synchronization, so as to ensure time signal synchronization of the multiple paths of vehicle-mounted sensors, reduce signal delay between the vehicle-mounted sensors, and enhance scalability of the number of the sensors.

Optionally, the navigation positioning system further includes multiple external communication interfaces and a protocol serial port, so as to further improve the data concurrency processing capability of the system.

The IMU consists of three axes of accelerometer and gyroscope. The accelerometer detects acceleration signals of the vehicle on three independent axes of the coordinate system, the gyroscope detects angular velocity signals relative to the navigation coordinate system, and attitude information of the vehicle is obtained by processing the signals. The IMU provides positioning information that is only relative positioning information for measuring a path traveled by the vehicle relative to the origin, and does not provide a specific geographic location of the vehicle (e.g., a longitude, latitude, etc. coordinate position of the vehicle) as GNSS signals do. However, when the GNSS signals are weak, the IMU may interpolate and correct the previous valid position of the vehicle to obtain the current real-time position of the vehicle, and may also be used in combination with the GNSS signals to improve the navigation and positioning accuracy of the vehicle.

Further, the navigation positioning system also comprises two hard-wire output interfaces for informing the related vehicle electronic control unit of the fault of the positioning system, and/or one hard-wire input interface for informing the system when the related vehicle electronic control unit has the fault, so that the system has certain diagnostic capability. When the self fault can not be recovered after being diagnosed, a fault prompt signal is sent to the outside, wherein the signal comprises a bus signal and also has a backup hard-line output prompt; when the external fault exists, the fault prompt input system of the bus and the hard line can also be used, and the system module can be allowed to carry out emergency treatment to a certain degree.

Furthermore, the navigation positioning system also comprises a hard-wired signal output interface used for prompting the main power supply fault. When the main power supply fails and the bus and the logic prompt signal are invalid, the navigation positioning system can still normally output a fault prompt to the outside through an independent hard wire signal.

Fig. 2 shows a schematic block diagram of a navigation and positioning system of a mining vehicle according to an embodiment of the present invention. In the figure, a first antenna receiving module ANT1 and a second antenna receiving module ANT2 are two paths of satellite navigation positioning signal receiving antennas; the first radio frequency signal processing module RF1 and the second radio frequency signal processing module RF2 are radio frequency processing modules, and comprise antenna feed bias and protection circuits, radio frequency filters and the like; as shown by reference numerals 1 and 2 in fig. 2, the first and second radio frequency processing modules RF1 and RF2 are respectively connected to the first antenna receiving module ANT1 and the second antenna receiving module ANT2, and output the positioning results to the first and second GNSS positioning modules (two-way GNSS positioning module for short), and the first and second GNSS positioning modules output the positioning results to the FPGA of the MIC. According to the embodiment of the invention, two paths of independent GNSS positioning modules are used, so that common errors such as a star-orbit error, a satellite geometric configuration error, an ionosphere error, a troposphere error, a clock error, a multipath effect, receiver noise, an antenna phase center error, an internal delay error and the like can be eliminated, and the positioning accuracy of the vehicle navigation positioning system is improved. As shown in fig. 2 at 4, both the RF1 and RF2 modules are connected to a Main Power source (Main Power) and a Backup Power source (Backup Power), and as shown in fig. 2 at 3, the GNSS1 module is connected to the Main Power source and the Backup Power source, so as to ensure that when one of the Power sources fails, the other Power source can still ensure the Power supply requirement.

Preferably, the MIC adopts a Z-7012S SoC of Zynq 7000S of Xilinx, meets the automobile-grade AEC-Q100 standard, and comprises an ARM core with the main frequency of 667MHz, and a logic unit of a system on a programmable chip is provided with a 36Kb dual-port RAM and a 4-channel high-speed serial transceiver. The DDRAM equipped with the programmable system-on-chip Zynq selects 512M LPDDR MT46H16M32LF series particles of Micron, the NOR FLASH selects a Cypress SPI interface chip S25FS512SAGNFA, the GNSS positioning module selects a uBlox module ZED-F9K, a module specially designed for automobile-level ADAS (advanced driving assistance system) application, and the DDRAM supports L1 and L2 frequency bands of GPS + GLO + GAL + BDS, also supports SBAS and QZSS, and internally integrates MEMS sensors; the high-precision independent IMU selects ADI ADIS 16505-2, and the PMIC used for MIC adopts Renesas ISL91211AIK.

A programmable system on chip (MIC) internally contains two major parts, PS and PL. PS is ARM from Cortex-A9. PL is FPGA's programmable logic gate array, and FPGA can calculate the azimuth angle and the pitch angle of two antennas according to the output result and two antenna baseline vectors of two GNSS modules to need not to move a section of distance and can confirm the course very fast, and FPGA offsets public error part according to difference technique simultaneously, improves positioning accuracy.

For a clear explanation of the solution of the present invention, the principle of calculating the azimuth angle and the elevation angle of the two antennas by using the results output by the two GNSS modules and the two antenna baseline vectors is described as follows:

the GNSS signals include carrier information, spreading codes, navigation data information (including system time, satellite ephemeris, satellite clock correction parameters, almanac, ionospheric delay model parameters, etc.), and the like.

The satellite ephemeris refers to the position of a satellite, namely the coordinates of the satellite in a geocentric coordinate system, the coordinate system rotates with the earth, and the longitude and the latitude of a receiving antenna can be obtained according to the satellite ephemeris;

the almanac represents coarse orbit parameters for the orbiting satellites for predicting the positions of the satellites.

The navigation positioning of the vehicle refers to determining the information such as the position and the posture of the dynamic vehicle in a map relative to a coordinate system, and then drawing a navigation line by the information. Wherein, the relative coordinate system can be a local coordinate system, such as a determined mine map coordinate system, and any point in the mine is taken as a coordinate origin; in the global map coordinate system, the position information of the vehicle with respect to the coordinate origin may be dynamically determined using an arbitrary point as the coordinate origin. The navigation positioning information comprises the position and the posture of the vehicle, specifically, the position of the vehicle refers to a coordinate point in three directions X, Y, Z, the posture of the vehicle refers to pitching, rolling and heading directions, the vehicle posture corresponds to three directions X, Y, Z respectively, and the vehicle posture is an included angle between three axes of a coordinate system of the vehicle and three axes of a relative coordinate system. In addition, the navigation positioning information can also comprise X, Y, Z speeds, accelerations, angular velocities and the like in three directions.

The pitch angle of the antenna refers to the angle of the antenna relative to the horizontal plane, and the higher the dimension of the antenna, the smaller the pitch angle of the antenna, and the lower the dimension, the larger the pitch angle of the antenna.

The azimuth angle of the antenna is the angle of rotation of the antenna relative to the true north direction, and is positive if the antenna is rotated westward and negative if the antenna is rotated eastward.

Specifically, by analyzing GNSS signals, information such as carrier phase, carrier wavelength, satellite ephemeris, and the like is obtained, an azimuth angle and a pitch angle of an antenna baseline are calculated, the azimuth angle and the baseline pitch angle of the antenna baseline form an antenna baseline vector, the antenna baseline vector is converted into a coordinate vector in a coordinate system where the antenna is located, and the azimuth angle and the pitch angle of the antenna are calculated through the antenna baseline vector subjected to coordinate transformation. Therefore, the heading coordinate of the vehicle motion can be quickly obtained.

In order to further improve the updating speed of the vehicle navigation, the invention adopts a plurality of external communication interfaces with different protocols to process the communication transmission of different signals in parallel. In one aspect, external communication interfaces, protocol processing and the like of the mining vehicle navigation and positioning system are processed by an ARM processor on the MIC. Preferably, the external communication interface of the positioning system comprises 3 paths of RS232,2 paths of CAN/FD and 1 path of 100BASE-T1; the protocol processing includes the output statement packing and unpacking of the serial port, a CAN protocol stack, an ethernet protocol stack, a gPTP protocol stack, a calibration protocol, a UDS protocol stack, and the like, which is not limited in the present invention.

On the other hand, the high computation tasks such as the resolving, rectifying, fusing, and coordinate system transformation of the received GNSS positioning and orientation data are performed by the FPGA on the MIC. As described above, the GNSS positioning and orientation data form two GNSS coordinate vectors, the two coordinate vectors respectively used for describing GNSS signals are input to the FPGA, the FPGA calculates corresponding GNSS signals to obtain the positioning and orientation data, meanwhile, because the positioning and orientation data of the GNSS signals have errors, the corresponding data needs to be corrected, and then the corrected two paths of GNSS positioning and orientation data are fused, the fusion mode can adopt a mode of performing differential processing on the two paths of GNSS signals, and the like.

Meanwhile, the precision of the MEMS sensor in the positioning module is limited, so that an independent high-precision IMU is added, the positioning precision is corrected and improved, the positioning time can be improved under the condition of no GPS data, and the enough emergency response time of the vehicle is given. Therefore, the data of the high-precision IMU can be output to the FPGA end, and fusion algorithm processing is carried out by the FPGA, so that the calculation speed and precision are improved; the PPS signal requires very small delay and high computational power, and therefore, the PPS signal should be processed and output by the FPGA. Specifically, as shown by reference number 16 in fig. 2, the output end of the PPS signal processing module is connected to the FPGA, and the FPGA receives PPS signals output by the two GNSS modules, and performs logical and operation on the PPS signals of the two GNSS modules, so that the result is used as a PPS output signal of the whole navigation positioning system. Simultaneously, FPGA samples and compensates the PPS signal of two GNSS location modules to make the system parallelly output 4 way homophase PPS signals (as shown by reference numeral 12 in fig. 2), conveniently match the multiple sensor, preferably, every way possesses 20 mA's load drive ability, thereby solves the not enough problem of sensor configuration flexibility among the prior art.

Further, the NOR FLASH is a nonvolatile FLASH memory used for storing an operating system on a chip, and the DDRAM adopts a two-chip mode and is respectively used for independent processing and data storage of the ARM and the FPGA; an Embedded multimedia Card (eMMC) is designed for reservation and can be expanded for future functions; a Watchdog (WDT) is a Timer circuit, is an external hardware Watchdog and is used for monitoring the work of the MIC and preventing the crash; the MIC may reset the positioning module with software.

To further explain the specific implementation principle of the navigation positioning system of the mining vehicle shown in fig. 2, an internal communication structure and an external communication interface are further explained, wherein the internal communication structure mainly comprises the following groups:

the FPGA and the GNSS positioning module respectively use two paths of UART communication, such as

marks

13, 14 and 18, 19 shown in FIG. 2, one path (such as the mark 14 shown in FIG. 2) is used for the GNSS module to output results, and the other path (such as the mark 13 shown in FIG. 2) is used for the GNSS module to receive RTK data; an SPI interface is adopted between the IMU and the MIC, and the mark 7 is shown in figure 2; meanwhile, NOR FLASH is an SPI interface and is used for reading operating system files and configuration files; the DDRAM is a parallel communication interface, such as a label 6 shown in fig. 2, and is used for data read-write storage in the running process; the PMIC and MIC are also communicated by SPI, as indicated by the label 5 in FIG. 2, for monitoring power states and controlling state switching. 15 and 17 shown in fig. 2 are respectively used for transmitting control signals, such as a restart signal, between the two GNSS positioning modules and the FPGA.

The external communication interface of the navigation positioning system mainly comprises the following steps:

three paths of RS232 interfaces (vehicle scale level converters), such as a label 8 shown in fig. 2, where one path is used to receive external RTK data, one path is used for time-synchronized GPRMC output, and the other path is used for serial port location data output; two paths of CAN/FD interfaces, such as the label 9 shown in FIG. 2, one path CAN be used for outputting positioning data, and CAN FD is supported to improve the data bandwidth and base higher frequency of output data; the other of the two CAN/FD interfaces CAN be used for receiving signals in the vehicle to participate in data correction, such as signals of vehicle speed, gear and the like, so as to provide more accurate vehicle positioning information correction information.

A vehicle-mounted ethernet interface, such as the label 10 shown in fig. 2, is used for data output, time synchronization, diagnosis, and other functions; a three-way hardwire interface, shown as 11 in fig. 2, in which two of the two output hardwire signals are used to notify the associated ECU of a positioning system fault, and one of the hardwires is used to input a fault prompt to the positioning system when the associated ECU fails. The design of the external interface adopts a vehicle-mounted communication interface, namely CANFD,100BASE-T1, so that the vehicle-mounted network can be matched more conveniently. Further, the PMIC supplies power to the MIC and the DDR, and since the MIC is a multiplexed voltage rail, the PMIC is also a matched multiplexed power supply IC. The voltage range of two power supplies of the system is 9-36V, and one stage of DCDC can convert the input voltage into stable 5V and provide the stable 5V for each PMIC of the later stage. By adopting a main-standby double-path power supply, the power supply reliability of the whole positioning system is improved, and the diagnosis and protection capability of each key module is improved. When the self fault can not be recovered after being diagnosed, a fault prompt signal is sent to the outside, wherein the signal comprises a bus signal and also has a backup hard-line output prompt; when the external fault exists, the fault prompt input of the bus and the hard line is also carried out, so that the module can be allowed to carry out emergency treatment to a certain degree; when the main power supply of the module fails, the bus and the logic prompting signal are both invalid, so that the power supply part has independent fault prompting hard-wire signal output.

The embodiment of the invention adopts the redundancy design of key components, such as a GNSS positioning module, an MEMS sensor and an IMU module, a double-path DDRAM, a double-power supply and the like; in addition, the vehicle gauge device is adopted, so that the overall reliability of the positioning module is integrally improved, and the navigation positioning system of the vehicle achieves the functional safety level.

According to the navigation positioning system of the mining vehicle, the dual GNSS positioning module design is adopted, the positioning data can be rapidly calculated, the positioning data cannot be output even if one module fails, and the purpose of redundancy design is achieved;

secondly, the performance of the independent high-precision IMU module on the board is greatly improved compared with that of the positioning module, and meanwhile, the three-redundancy design of the IMU is adopted, so that the functional safety level of the whole module is improved;

then, a vehicle-mounted communication interface, particularly a vehicle-mounted Ethernet interface is adopted, so that vehicle-mounted application CAN be matched more accurately, and meanwhile, a CAN interface supporting CAN FD and an automobile-level RS232 interface are also provided;

and finally, the FPGA is adopted to calculate the data of the GNSS positioning data and the IMU in two paths in parallel, and compared with a common MCU or ARM processor, the method has shorter processing delay and faster data output.

As shown in fig. 3, the invention further provides a method for performing navigation positioning by using the above-mentioned navigation positioning system for mining vehicles, and the method comprises the following steps:

s30, receiving two paths of GNSS positioning signals and one path of IMU inertial navigation signals by a programmable gate array of the editable system on chip;

s31, respectively carrying out Kalman filtering processing on two paths of GNSS positioning signals and one path of IMU inertial navigation signals by a programmable gate array of the system on a programmable chip;

s32, correcting the two paths of GNSS positioning signals after filtering by a programmable gate array of the system on a programmable chip;

and S33, the programmable gate array of the system on the programmable chip performs fusion calculation on the two corrected GNSS positioning signals and the IMU inertial navigation signal processed by the Kalman filtering to obtain navigation positioning data of the vehicle.

The two GNSS positioning modules receive two paths of satellite navigation signals through two paths of GNSS antennas, specifically, the two paths of GNSS positioning signals are received by a programmable gate array of the system on a programmable chip after being processed by a radio frequency signal processing module, kalman filtering processing is carried out on the two paths of GNSS positioning signals, meanwhile, in order to obtain more accurate GNSS positioning signals, the programmable gate array corrects the two paths of GNSS positioning signals according to received gear data, vehicle speed data and antenna baseline data in a vehicle, and then high-precision absolute positioning data and time are obtained through resolving of the two paths of GNSS positioning signals; meanwhile, the two GNSS positioning modules can respectively generate pulse signals (namely 1 PPS) once per second, and the programmable gate array of the system on a programmable chip performs logic AND operation on the PPS signals of the two GNSS positioning modules for synchronizing clock synchronization signals of the multi-path sensor.

The method comprises the steps that a programmable system on a chip is synchronous, the programmable system on the chip is connected with an IMU module, the IMU module sends three-axis angular velocity and three-axis acceleration data to a programmable gate array of the programmable system on the chip, the programmable gate array of the programmable system on the chip receives IMU inertial navigation signals and conducts Kalman filtering processing, then high-precision absolute positioning data obtained by resolving GNSS positioning signals are fused with the three-axis angular velocity and three-axis acceleration data sent by the IMU module, and finally navigation positioning data of a vehicle are obtained.

In conclusion, the navigation positioning system and the navigation positioning method for the mining vehicle provided by the invention have the advantages that the data of two paths of GNSS and one path of IMU are fused by combining the double GNSS module and the IMU module, so that the navigation positioning of the vehicle is more accurate. Meanwhile, the programmable system on the chip is used for calculating two paths of GNSS positioning data and one path of IMU data in parallel, so that the calculation efficiency is improved, the processing delay of vehicle positioning is reduced, the overall reliability of vehicle positioning is further improved, and the functional safety level of the vehicle is improved.

Although a few embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A navigation positioning system of a mining vehicle is characterized by comprising a first antenna receiving module, a second antenna receiving module, a first radio frequency signal processing module, a second radio frequency signal processing module, a first GNSS positioning module, a second GNSS positioning module, a programmable system on a chip and an inertia measurement module,

the first radio frequency signal processing module and the second radio frequency signal processing module are respectively connected with the first GNSS positioning module and the second GNSS positioning module so as to respectively input two paths of satellite navigation signals obtained by the radio frequency signal processing circuit into the first GNSS positioning module and the second GNSS positioning module for signal processing;

the first GNSS positioning module, the second GNSS positioning module and the inertia measurement module are respectively connected with the system on the programmable chip,

wherein the system on a programmable chip calculates the azimuth angle and the pitch angle of the two antennas according to the output results of the first GNSS positioning module and the second GNSS positioning module and the baseline vectors of the two antennas so as to determine the heading and simultaneously counteract the common error part according to the difference technology,

the PPS signals output by the system on the programmable chip are determined by logic and operation of the PPS signals output by the first GNSS positioning module and the second GNSS positioning module, clock signals of the first GNSS signal and the second GNSS signal are aligned, and time signal difference of the first GNSS signal and the second GNSS signal is made up;

the navigation positioning system also comprises two hard wire output interfaces used for informing the fault of the positioning system of the associated vehicle electronic control unit, one hard wire input interface used for informing the navigation positioning system when the associated vehicle electronic control unit has the fault, and one hard wire signal output interface used for prompting the fault of the main power supply.

2. The system of claim 1, wherein the system on a programmable chip comprises a microprocessor and a programmable gate array, the microprocessor is used for processing external communication and protocol transmission of the system, and the programmable gate array is used for processing calculation of the navigational positioning data.

3. The system according to claim 2, wherein the PPS signal output from the system on chip is divided into multiple paths concurrently for matching with the preset multiple paths of time-synchronized vehicle-mounted sensors respectively.

4. The navigational positioning system of claim 1, further comprising a multi-way external communication interface and a protocol serial port.

5. The navigation positioning system of claim 4, wherein the multi-channel external communication interface comprises two CAN/FD communication interfaces for outputting positioning data and inputting signals participating in data correction in the vehicle, a three RS232 communication interface for outputting external RTK data, outputting time-synchronized GPRMC, and outputting serial positioning data, and a 1-channel 100BASE-T1 communication interface.

6. The navigation positioning system of claim 2, wherein the programmable gate array is connected with a first GNSS positioning module and a second GNSS positioning module, respectively, to process position data of the mining vehicle, the programmable gate array being connected with an inertial measurement module to process acceleration and angular velocity data of the mining vehicle.

7. The navigation positioning system of claim 2, wherein the programmable gate array communicates with the first GNSS positioning module and the second GNSS positioning module via a UART protocol.

8. The navigational positioning system of claim 2, wherein the programmable gate array is coupled to the inertial measurement module via an SPI interface.

9. A method for performing navigation positioning by using the navigation positioning system of any one of claims 1-8, comprising the steps of:

respectively carrying out Kalman filtering processing on two paths of positioning signals and one path of inertial navigation signal by a programmable gate array of the system on a programmable chip;