CN100365426C - Multi-mode positioning module based on satellite positioning - Google Patents

Multi-mode positioning module based on satellite positioning Download PDF

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Publication number
CN100365426C
CN100365426C CNB2004100783987A CN200410078398A CN100365426C CN 100365426 C CN100365426 C CN 100365426C CN B2004100783987 A CNB2004100783987 A CN B2004100783987A CN 200410078398 A CN200410078398 A CN 200410078398A CN 100365426 C CN100365426 C CN 100365426C
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China
Prior art keywords
interface
module
locating module
positioning
processing unit
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CNB2004100783987A
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Chinese (zh)
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CN1755390A (en
Inventor
何铁
徐亚卿
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北京航天鼎一科技发展有限公司
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Priority to CNB2004100783987A priority Critical patent/CN100365426C/en
Publication of CN1755390A publication Critical patent/CN1755390A/en
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Publication of CN100365426C publication Critical patent/CN100365426C/en

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Abstract

The present invention discloses a multi-module positioning module based on satellite positioning. The present invention comprises a two-layer structure which comprises a GPS OEM board of the upper layer and a DR circuit board of the lower layer, and the GPS OEM board of the upper layer and the circuit board of the lower layer are connected through an interface. The multi-module positioning module also comprises a positioning beacon machine interface, a matching electronic map interface, an angular velocity measuring element, an automobile mileage and reverse running signal matching reception circuit, an MCU central processing unit, a computer communication port and a power supply management module. The present invention can independently determine the position of vehicles; in order to eliminate the influence caused by accumulated errors, the present invention can carry out correction according to positioning data when satellite signals are favorably received and can also utilize map matching technology to calibrate the positions and the running directions of the vehicles according to an electronic map; besides, the present invention can utilize beacon machine signals fixed by a receiving device to correct the positioning data.

Description

Multimode locating module based on satnav

Technical field

The present invention relates to a kind of communication module, particularly a kind of multimode locating module based on satnav.

Background technology

In the technology of modern vehicle satellite navigation and location, be extensive use of satellite positioning tech, for example the Big Dipper positioning system of the GPS of the U.S. (GPS), Muscovite GLONASS, China; Particularly GPS is extensive use of, as long as load the GPS receiver on vehicle, if can guarantee to receive well 4 satellite-signals, just can accurately know key elements such as vehicle location, speed, direction of motion; But in actual applications, reason such as, tunnel overhead, viaduct owing to the metropolis, many regional satellite-signals can't accept; And because the radiowave multipath effect that brings of city edifice, greatly reduce the bearing accuracy of GPS; Or in the tall and big city of trees, jungle area, owing to the influence of leaf to radiowave, on rainy day, the location of GPS is unreliable; Such consequence is that vehicle location accurately can not be provided continuously, has influenced the use of satellite navigation system; On market, there are many companies that the GPS locating module of standard is provided; The GPS locating module is a circuit board, does not have shell and domestic consumer's operation interface, mainly uses for GPS receiver and system integration producer.

Summary of the invention

The objective of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of multimode locating module based on satnav is provided.

The technical solution used in the present invention is: a kind of multimode locating module based on satnav, include GPS OEM plate, described multimode locating module also includes the DR circuit board, autonomous positioning parts, power management component, MCU central processing unit and locating module interface are arranged on the described DR circuit board, described GPS OEM plate is connected with the DR circuit board by interface on the DR circuit board.

Further, described multimode locating module includes angular velocity measurement element, speedometer for automobile and astern signal coupling receiving circuit, MCU central processing unit, computer communication port, power management module, described MCU central processing unit is connected with GPS OEM plate, angular velocity measurement element, speedometer for automobile and astern signal coupling receiving circuit, computer communication port, power management module respectively, and described power management module is connected with the angular velocity measurement element.

Further, described multimode locating module also has localizer beacon machine interface and coupling electronic chart interface.

Further, described locating module interface has the RS232 interface and the Transistor-Transistor Logic level interface of standard.

Further, described multimode locating module uses power-switching circuit generations+5V and+3.3V power supply.

Further, described MCU central processing unit is controlled GPS OEM warm start by control circuit and is resetted.

With respect to prior art, have following advantage according to technical scheme provided by the invention:

The present invention is a kind of novel location product, is a kind of novel locating module based on satnav multimode locating module, can realize the continuous accurate in locating of vehicle; In this module, support four kinds of station-keeping modes: satellite-signal location, autonomous positioning, electronic map match auxiliary positioning, fixed beacon machine auxiliary positioning based on dead reckoning; By the processing of MCU,, realize optimum positioning signal output by the enhancement mode Kalman filter; Can offer GPS receiver manufacturer, vehicle navigator manufacturer, GPS location technology system integrator etc. extensively adopts; It utilizes the GPS OEM module of self, demarcates mileometer automatically, has eliminated the influence of tire variation to bearing accuracy; Utilize gyrosensor to take measurement of an angle, utilize mileometer to obtain current speed,, have independence and precision preferably reliably by can determine the exact position of moving vehicle effectively based on the multi-sensor information fusion technology of parameter estimation.To in the Technique of Satellite Navigation and Positioning development in future, occupy crucial status.

Technical matters solved by the invention is exactly vehicle to be positioned continuously, and the inertial navigation locating module can be located voluntarily, has good bearing accuracy at short notice; This module utilizes satellite-signal to eliminate the positioning error of inertial navigation locating module when satellite-signal is good simultaneously; Like this, though in the bad place of satellite-signal, also can be stablized, continuously, vehicle location information accurately; This module has the electronic map match of acceptance and accepts interface and localizer beacon machine interface, can accept these two kinds of auxiliary positioning modes and improve bearing accuracy.

Traditional inertial navigation technology of use angular-rate sensor and acceleration transducer can realize the autonomous positioning of vehicle, and its advantage is that quite high precision is arranged at short notice, and can provide positioning signal continuously.

If on vehicle, install the variation of vehicle angles and the measuring equipment of velocity variations additional, we just can independently determine the position of vehicle, simultaneously in order to eliminate the influence that cumulative errors are brought, locator data in the time of can well receiving according to satellite-signal is calibrated, also can utilize map matching technology calibration vehicle location and direction of motion according to electronic chart; Can also utilize the fixing Radio Beacon signal of receiving position to proofread and correct locator data.

Utilize the GPS OEM module of self, demarcate mileometer automatically, eliminated the influence of tire variation bearing accuracy.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a theory diagram of the present invention;

Fig. 3 is interface circuit figure of the present invention;

Fig. 4 is power-switching circuit figure of the present invention;

Fig. 5 is the connection diagram of MCU central processing unit of the present invention;

Fig. 6 is the control synoptic diagram of MCU central processing unit of the present invention and GPS OEM plate.

Embodiment

Below in conjunction with description of drawings the specific embodiment of the present invention.

As shown in Figure 1, the embedded software system that the autonomous positioning part of employing inertial navigation technology and power management, MCU central processing unit, the band of product strengthen Kalman filter algorithm is installed in (title DR plate) on the circuit board, GPS OEM circuit board is installed in the top of DR plate, standard interface by present GPS OEM plate obtains the power supply supply from the DR plate, also provides GPS locator data by this standard interface to the DR plate; Enhancement mode GPS OEM plate data-interface has been installed, the GPS OEM plate interface compatibility of this interface and standard on the DR; Can realize the exchange of this module and GPS OEM plate like this.

The size of module is slightly larger than GPS OEM board size, and the height of module is decided by the height of gyro; GPS OEM plate is fixed in the DR plate, between two circuit boards distance 8 to 10mm, and by self interface and DR is firm and hard now is electrically connected; The locating module interface is fully compatible GPS OEM plate interface, thus can realize the exchange of locating module and GPSOEM plate.

GPS/DR integrated positioning module can be exported two kinds of standard navigation form: GPRMC of NEMA0183 and GPGGA, can also export GPS OEM plate locator data and DR plate locator data simultaneously; Except the complete compatible with GPS OEM of physical interface plate, the signal output format also can be compatible fully, thereby make module have the compatibility of software.

As shown in Figure 2, the present invention consists of: use an angular velocity measurement element, speedometer for automobile astern signal coupling receiving circuit, a central processing unit (MCU), computer communication port, a cover power source special and a related software constitute the autonomous positioning part of this locating module and electronic map match, Radio Beacon auxiliary positioning, and, just constituted the multimode locating module in conjunction with the GPS OEM plate that provides on the present market; Angular-rate sensor is a gyroscope, and gyro signal is the angle displacement signal, in order accurately to calculate angle, delivers to the MCU central processing unit after the V/F conversion;

Directly use the mileometer signal of vehicle body to replace acceleration transducer to test the speed, the displacement signal that must move backward by mileometer and the integration test of advancing/moveing backward;

The MCU central processing unit adopts the microprocessor of 16 bit, can reduce power consumption, guarantees arithmetic speed;

The MCU central processing unit is analyzed and handled satellite message, and is stable when satellite-signal, when bearing accuracy satisfies location condition, eliminates the positioning error of independent navigation automatically;

No matter when, the MCU central processing unit is being handled mileometer signal and gyroscope signal always, calculates the autonomous positioning data; If the MCU central processing unit is judged the not enough or satnav inefficacy of GPS bearing accuracy, the MCU central processing unit will be exported the autonomous positioning data;

The GPS location is invalid in other words if can not receive gps signal for a long time, and this locating module also has the calibration that interface is accepted the electronic map match data calibration and the localizer beacon machine of outer computer;

This module is provided with unique power management, and corresponding single vehicle power does not need to install additional separately the external power source circuit when user uses.

The software of MCU central processing unit comprises dead reckoning (DR), coordinate system conversion, combined filter, 4 submodules compositions of interface management.

As shown in Figure 3, increased the RS232 interface circuit in this module, MCU central processing unit data stream can directly connect computing machine by the RS232 interface circuit, also can connect communication module or other administration module by match circuit.

As shown in Figure 4, this module uses vehicle power directly to power, power-switching circuit generations+5V and+the 3.3V power supply, can corresponding existing GPS module and the use of DR plate.

As shown in Figure 5, the MCU central processing unit uses the MSP430F149 type of TI company, and gyro signal, mileometer, astern signal, shielded signal are connected with P4.7, P1.2, P1.3, the P1.5 interface of MCU central processing unit successively; Radio Beacon is connected with the P1.4 interface by Interface Matching; Vehicle power is received on the power management component, is connected with the MCU central processing unit again; Clock circuit and reset circuit directly are connected on the MCU central processing unit; MCU central processing unit and interface circuit be by the two-way connection of TXD0, RXD0, and with GPS OEM plate by the two-way connection of TXD1, RXD1, and carry out GPS by the P2.0 interface and reset, interface circuit links to each other with computing machine RS232 interface again.

As shown in Figure 6, greater than 4, but GPS does not have to calculate accurate position in official hour in the gps satellite data; At this moment, the MCU central processing unit detects data stream, after in time threshold, judging, control GPS OEM warm start, use MCU central processing unit management GPS OEM plate, by the MCU central processing unit to GPS OEM plate output signal analysis and MCU central processing unit to the GPS management that resets, reduce accurate time of location of GPS OEM.

Claims (5)

1. multimode locating module based on satnav, include GPS OEM plate, it is characterized in that: described multimode locating module also includes the DR circuit board, autonomous positioning parts, power management component, MCU central processing unit and locating module interface are arranged on the described DR circuit board, described GPS OEM plate is on the DR circuit board, be connected with the DR circuit board by interface, described multimode locating module also has localizer beacon machine interface and coupling electronic chart interface.
2. the multimode locating module based on satnav as claimed in claim 1, it is characterized in that: described multimode locating module includes angular velocity measurement element, speedometer for automobile and astern signal coupling receiving circuit, MCU central processing unit, computer communication port, power management module, described MCU central processing unit is connected with GPS OEM plate, angular velocity measurement element, speedometer for automobile and astern signal coupling receiving circuit, computer communication port, power management module respectively, and described power management module is connected with the angular velocity measurement element.
3. the multimode locating module based on satnav as claimed in claim 1 is characterized in that: described locating module interface has the RS232 interface and the Transistor-Transistor Logic level interface of standard.
4. the multimode locating module based on satnav as claimed in claim 1 is characterized in that: described multimode locating module uses power-switching circuit generations+5V and+3.3V power supply.
5. the multimode locating module based on satnav as claimed in claim 1 is characterized in that: described MCU central processing unit is controlled GPS OEM warm start by control circuit and is resetted.
CNB2004100783987A 2004-09-27 2004-09-27 Multi-mode positioning module based on satellite positioning CN100365426C (en)

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CN100365426C true CN100365426C (en) 2008-01-30

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101666653B (en) * 2008-09-05 2014-03-26 鸿富锦精密工业(深圳)有限公司 Gps device and navigation method
CN101907716A (en) * 2010-07-29 2010-12-08 东莞市泰斗微电子科技有限公司 Method and device for selecting double-mode or multi-mode positioning satellite signal receiving mode
CN103630918B (en) * 2012-08-23 2017-03-01 联想(北京)有限公司 A kind of localization method and device, alignment system
CN103826330A (en) * 2013-12-05 2014-05-28 成都天奥信息科技有限公司 Motherboard applied to satellite terminal

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US6091359A (en) * 1997-07-14 2000-07-18 Motorola, Inc. Portable dead reckoning system for extending GPS coverage
CN2402532Y (en) * 2000-02-18 2000-10-25 张其善 Multifunctional intelligent avigraph capable of connecting with internet
EP1143264A2 (en) * 2000-03-28 2001-10-10 CLARION Co., Ltd. GPS receiver having DR sensor signal sampling function
CN1428596A (en) * 2001-12-24 2003-07-09 菱科电子技术(中国)有限公司 Multifunctional vehicle-mounted satellite navigation system
CN1529128A (en) * 2003-10-09 2004-09-15 广州市丰凌电器有限公司 Vehicular satellite-positioning and havigation system

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