CN1975458B - Redundant GPS system and method thereof - Google Patents
Redundant GPS system and method thereof Download PDFInfo
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- CN1975458B CN1975458B CN2006101574899A CN200610157489A CN1975458B CN 1975458 B CN1975458 B CN 1975458B CN 2006101574899 A CN2006101574899 A CN 2006101574899A CN 200610157489 A CN200610157489 A CN 200610157489A CN 1975458 B CN1975458 B CN 1975458B
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Abstract
The invention relates to a redundant GPS system which can be used alone or combined with the GPS receiving device. It includes the CPU which deals with the GPS text input, the format conversion and temporary memory; comparing the temporary GPS text, output the GPS text and clear the temporary GPS text; the serial transformation controlled slug which is used to output the GPS text or receive the inputting GPS text. The invention can make the device with the GPS receiving ability share and verify the GPS text; also it can provide the GPS text for the device without the GPS ability or has the receiving error.
Description
Technical field
The present invention relates to the GPS technology, more particularly, relate to a kind of redundant GPS system and method thereof.
Background technology
GPS (Global Position System is called for short GPS) is navigation, time service and the positioning system by U.S.'s development.This system comprises parts such as overhead satellites, tracking and monitoring station, ground, ground satellite data injection plant, central station and data communication network.This system sends time service and positioning signal by 24 round-the-clock ground of geostationary satellite, and wherein high-precision signal closely uses for US military and allied forces of NATO, and domestic consumer is merely able to receive and resolve the civil signal of low longitude.Domestic consumer need buy the GPS receiver, just can enjoy free navigation, time service and positioning service.Global positioning system technology all is widely used in fields such as agricultural, forestry, water conservancy, traffic, aviation, mapping, safety precaution, military affairs, electric power, communication, city management at present.
The NMEA-0183 agreement is the GPS interface protocol standard that American National ocean Institution of Electronics (National Marine ElectronlcsAssociation) formulates.NMEA-0183 has defined the statement of the different implications of some representatives, and each statement is actually an ASCII character string.This sign indicating number string is directly perceived, is easy to identification and application.The NMEA-0183 form is with " $ " beginning, with＜LF〉finish, main statement has GPGGA, GPGLL, GPVTG, GPRMC etc., wherein GPGGA comprises time and locator data for the location output statement, uses more extensively, specifically form is as follows:
$GPGGA hh mm ss (Coordinated Universal Time(UTC) UTC), 1111.1111 (latitudes), N/S (north/south), yyyyyyyy (longitude), E/W (east/west), X (positioning states), XX (the satellite number of use), XXX (precision number percent), O/-XXXX (wireless height), M (unit rice), O/-XXX (geographical height), M (unit rice), * hh (verification and)＜LF 〉.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of redundant GPS system and strick precaution thereof are provided, make that the equipment with GPS receiving ability can be shared, verification GPS text, can also not provide GPS text for having the GPS receiving ability or the equipment that GPS receives fault occurring simultaneously.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of method that realizes redundant GPS system, comprise the following steps:
A, pre-set threshold value of setting are come input, the format conversion and temporary of the GPS text of each GPS receiving equipment of synchronous processing;
B, comparison temporary GPS text, output GPS text and removing temporary GPS text.
In the method for realization redundant GPS system of the present invention, described step a specifically may further comprise the steps:
A1, in described pre-set threshold value with the input the GPS text keep in; GPS text with input outside described pre-set threshold value abandons.
In the method for realization redundant GPS system of the present invention, before carrying out described step b, further comprise:
B00, in pre-set threshold value, judge whether all GPS texts all arrive system;
B01, if all GPS texts all arrive system, then start timer program, carry out described step b; Otherwise continue to wait for reception GPS text.
In the method for realization redundant GPS system of the present invention, in the time-count cycle of preset timer, described step b specifically may further comprise the steps:
B1, to institute's temporary GPS text, according to the quality of the field comparing data of agreement regulation;
B2, output quality be the GPS text preferably, and deletion institute temporary GPS text.
The present invention also discloses a kind of redundant GPS system simultaneously, this system can independently exist, or be incorporated in the GPS receiving equipment, comprise: central processing unit is used for coming the input of the GPS text of each GPS receiving equipment of synchronous processing, format conversion and temporary according to setting a pre-set threshold value in this gps system; Compare temporary GPS text, output GPS text and remove temporary GPS text;
The serial ports transmission control chip, the GPS text that is used for externally exporting the GPS text or receives extraneous input.
In redundant GPS system of the present invention, adopt wired connection or wireless connections between described system and the described GPS receiving equipment.
In redundant GPS system of the present invention, described wired connection can be used serial ports connected mode or USB connected mode; Described wireless connections can be used bluetooth connected mode or infrared connected mode.
In redundant GPS system of the present invention, the serial communication parameter of described serial ports transmission control chip is: 4800baud, 8 bit data positions, no parity, 1 position of rest, per second upgrade 1 secondary data.
In redundant GPS system of the present invention, the form of described GPS text is a NMEA-0183 form text.
The invention has the beneficial effects as follows, can allow the equipment with GPS receiving ability can be shared, verification GPS text, can also not provide GPS text for having the GPS receiving ability or the equipment that GPS receives fault occurring simultaneously.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the functional-block diagram of redundant GPS system of the present invention;
Fig. 2 is the method flow diagram that the present invention realizes described redundant GPS system.
Embodiment
As shown in Figure 1, the GPS receiving equipment in this preferred embodiment comprises gps antenna, GPS receiver module, serial ports transmission control chip and other functional part.
The GPS receiving equipment can externally be exported the GPS text or receive the extraneous GPS text of importing by serial ports, and the GPS receiving equipment not only can receive the GPS text from self GPS receiver module by gps antenna, can also receive the GPS text by the serial ports input.The GPS receiving equipment can be provided with priority in the use of GPS text, preferentially use the GPS text of the sort of mode.
Nearly all GPS receiver module is all supported NMEA-0183 form text, and by comparing the additional information that comprises in the NMEA-0183 text, selection information GPS text is preferably exported.If the employed GPS receiver module of GPS receiving equipment is not supported the NMEA-0183 form, when input and output, need the form of conversion GPS text.
Hence one can see that, and the GPS receiving equipment generally all has following function:
1, can export the GPS text;
2, can receive the GPS text of outside input;
State consistency when the GPS receiver module is working properly in the duty when 3, receiving the GPS text of importing the outside and this equipment.
Redundant GPS system comprises central processing unit and serial ports transmission control chip, and system cooperates realization by software and hardware.Redundant GPS system can independently exist, and also can be incorporated in the GPS receiving equipment, and the redundant GPS system in the preferred embodiment of the present invention is self-existent.
Communication modes between redundant GPS system and the GPS receiving equipment can adopt wired connection, also can adopt wireless connections.Wired connection can be used modes such as serial ports, USB, and wireless connections can be used bluetooth, mode such as infrared.What the preferred embodiment of the present invention adopted is the serial communication mode, and the serial communication parameter is: 4800baud, 8 bit data positions, no parity, 1 position of rest, per second upgrade 1 secondary data.The GPS text of the input of GPS receiving equipment, output is the NMEA-0183 form.
Redundant GPS system comes the GPS text of each GPS receiving equipment input synchronously by setting a threshold values.The GPS text that arrives redundant GPS system in threshold values is preserved earlier.Relatively working of GPS text is all to arrive redundant GPS at all GPS texts just to begin to carry out after completely.For the GPS text that does not arrive redundant GPS system in threshold values, redundant GPS system will abandon these GPS texts.
As shown in Figure 2, redundant GPS system of the present invention is mainly realized by two task programs.Wherein, task is responsible for handling input, the format conversion and temporary of GPS text; Another task is a timer program, is responsible for relatively temporary GPS text, output GPS text and removing temporary GPS text.These two tasks are mutually exclusive, and synchronization can only have a task carrying out.The workflow of the implementation method of redundant GPS system of the present invention may further comprise the steps:
Step 1: program brings into operation, and timer picks up counting.Should be the twice of serial communication Data Update time the time-count cycle of task of timer, the time that is provided with in this preferred embodiment is 2 seconds.
Step 2: program is waited for the data that receive the transmission of GPS receiving equipment, and variable is set.For example, be provided with and repel variable S1, initial value is 0.
Step 3: when the GPS receiving equipment had data to arrive system by serial ports, system began to receive data.After receiving, at first reading the S1 value, is 2 as the S1 value, waits for 10 milliseconds, reads the value of S1 once more, is 0 up to the S1 value.If the S1 value is 0, S1 assignment 1 is judged the validity of received data again.The standard of judging validity is whether to have complete data head-$GPGGA, whether positioning states is A, the field number-12 whether regulation is arranged, the checksum field that comprises in the data whether and the data consistent of receiving, whether have the active data ending-＜IF.Invalid as data, S1 assignment 0 abandons the data of receiving, program changes step 2 over to.Effective as data, program changes step 4 over to.
Step 4: keep in the data of receiving, and indicate the source of these data.The preferred embodiment of the present invention adopts mark D1 and D2 to carry out the source of identification data.
Step 5: judge whether all GPS telegraph text datas that connect all arrive, promptly check mark is whether the data of D1 and D2 all exist.
Step 6:, then start timer program if the GPS telegraph text data all arrives; If the GPS telegraph text data does not also all arrive, then with S1 assignment 0, program changes above-mentioned steps 2 over to.
Step 7: if the timing time of timer finishes or when starting timer program by step 6, timer program at first reads the value of S1.If the S1 value is 1, wait for 10 milliseconds, read the value of S1 once more, be 0 up to the S1 value.If S1 is 0, start timer program, S1 assignment 2.
Step 8: get temporary data, the quality of coming comparing data according to the satellite number and the precision number percent field of the use in the data.One is the shaping data in these two fields, and another is the floating type data, can directly compare.The quality of data that precision number percent is high is better, uses the many qualities of data of satellite number better.Precision number percent is preferential.If temporary data have only one among D1 or the D2, then do not compare; If two do not exist, with S1 assignment 0, timeing closing device program is restarted timing.
Step 9: by serial ports output quality GPS telegraph text data preferably, and deletion institute temporary GPS text data.Simultaneously, with S1 assignment 0, timeing closing device program is restarted timing.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (8)
1. a method that realizes redundant GPS system is characterized in that, comprises the following steps:
A, pre-set threshold value of setting are come input, the format conversion and temporary of the GPS text of each GPS receiving equipment of synchronous processing, in described pre-set threshold value the GPS text of input are kept in; GPS text with input outside described pre-set threshold value abandons;
B, comparison temporary GPS text, output GPS text and removing temporary GPS text.
2. the method for realization redundant GPS system according to claim 1 is characterized in that, further comprises before carrying out described step b:
B00, in pre-set threshold value, judge whether all GPS texts all arrive system;
B01, if all GPS texts all arrive system, then start timer program, carry out described step b; Otherwise continue to wait for reception GPS text.
3. the method for realization redundant GPS system according to claim 2 is characterized in that, in the time-count cycle of preset timer, described step b specifically may further comprise the steps:
B1, to institute's temporary GPS text, according to the quality of the field comparing data of agreement regulation;
B2, output quality be the GPS text preferably, and deletion institute temporary GPS text.
4. a redundant GPS system is characterized in that, this system can independently exist, or is incorporated in the GPS receiving equipment, comprising:
Central processing unit is used for the GPS text that does not arrive redundant GPS system in threshold value is preserved, abandoned to the GPS text that arrives redundant GPS system in threshold value earlier; Handle the input and the format conversion of the GPS text of each GPS receiving equipment; Compare temporary GPS text, output GPS text and remove temporary GPS text;
The serial ports transmission control chip, the GPS text that is used for externally exporting the GPS text or receives extraneous input.
5. redundant GPS system according to claim 4 is characterized in that, adopts wired connection or wireless connections between described system and the described GPS receiving equipment.
6. redundant GPS system according to claim 5 is characterized in that, described wired connection can be used serial ports connected mode or USB connected mode; Described wireless connections can be used bluetooth connected mode or infrared connected mode.
7. according to each described redundant GPS system of claim 4-6, it is characterized in that the serial communication parameter of described serial ports transmission control chip is: 4800baud, 8 bit data positions, no parity, 1 position of rest, per second upgrade 1 secondary data.
8. redundant GPS system according to claim 7 is characterized in that, the form of described GPS text is a NMEA-0183 form text.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101574899A CN1975458B (en) | 2006-12-12 | 2006-12-12 | Redundant GPS system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101574899A CN1975458B (en) | 2006-12-12 | 2006-12-12 | Redundant GPS system and method thereof |
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| Publication Number | Publication Date |
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| CN1975458A CN1975458A (en) | 2007-06-06 |
| CN1975458B true CN1975458B (en) | 2011-03-23 |
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| CN2006101574899A Expired - Fee Related CN1975458B (en) | 2006-12-12 | 2006-12-12 | Redundant GPS system and method thereof |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5461388A (en) * | 1994-06-17 | 1995-10-24 | Honeywell Inc. | Dual GPS timer apparatus and method |
| CN1307683A (en) * | 1998-04-28 | 2001-08-08 | 施耐普特拉克股份有限公司 | Satellite positioning reference system and method |
| CN1344372A (en) * | 1999-03-22 | 2002-04-10 | 施耐普特拉克股份有限公司 | Method and appts. for satellite positioning system (SPS) time measurement |
| CN1633605A (en) * | 2002-06-06 | 2005-06-29 | 松下电器产业株式会社 | GPS receiver |
| CN1668937A (en) * | 2002-05-13 | 2005-09-14 | 高通股份有限公司 | System and method for reference data processing in network assisted position determination |
| CN1735816A (en) * | 2003-01-03 | 2006-02-15 | 诺思路·格鲁曼公司 | Dual redundant GPS anti-jam air navigation system |
| CN1858615A (en) * | 2005-04-30 | 2006-11-08 | 深圳市因泰克计算机技术有限公司 | Single frequency GPS measuring device and its measuring positioning method |
-
2006
- 2006-12-12 CN CN2006101574899A patent/CN1975458B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5461388A (en) * | 1994-06-17 | 1995-10-24 | Honeywell Inc. | Dual GPS timer apparatus and method |
| CN1307683A (en) * | 1998-04-28 | 2001-08-08 | 施耐普特拉克股份有限公司 | Satellite positioning reference system and method |
| CN1344372A (en) * | 1999-03-22 | 2002-04-10 | 施耐普特拉克股份有限公司 | Method and appts. for satellite positioning system (SPS) time measurement |
| CN1668937A (en) * | 2002-05-13 | 2005-09-14 | 高通股份有限公司 | System and method for reference data processing in network assisted position determination |
| CN1633605A (en) * | 2002-06-06 | 2005-06-29 | 松下电器产业株式会社 | GPS receiver |
| CN1735816A (en) * | 2003-01-03 | 2006-02-15 | 诺思路·格鲁曼公司 | Dual redundant GPS anti-jam air navigation system |
| CN1858615A (en) * | 2005-04-30 | 2006-11-08 | 深圳市因泰克计算机技术有限公司 | Single frequency GPS measuring device and its measuring positioning method |
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| Publication number | Publication date |
|---|---|
| CN1975458A (en) | 2007-06-06 |
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Granted publication date: 20110323 Termination date: 20211212 |