CN101950027A - Navigational satellite signal receiving module and information processing method applied to same - Google Patents
Navigational satellite signal receiving module and information processing method applied to same Download PDFInfo
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Abstract
The invention relates to a navigational satellite signal receiving module, comprising a radio frequency input unit, a base band processing unit, a sensor unit and a information output unit; wherein the radio frequency input unit is used for receiving a navigational satellite signal and outputting a digital intermediate frequency signal, the base band processing unit is used for acquiring satellite navigation information and positioning and resolving the current position of the receiving module, the sensor unit is used for acquiring the speed, acceleration or directional information of the current receiving module and outputting the speed, acceleration or directional information to the base band processing unit, and the information output unit is used for outputting the current position of the receiving module in NMEA format. By adopting the technical scheme of the invention, processing on sensor information of a user MCU can be eliminated, only a UART interface reported by a navigation message is processed, and navigation positioning information of NMEA-0183 and sensor information can be simultaneously acquired and reported. Thus, user demand can be met flexibly, not only accuracy of positioning is improved, but also port occupancy rate and processing overhead of the user MCU are reduced. The invention can be applicable to navigational satellite positioning systems such as GPS, Beidou navigation satellite system, GLONASS and Galileo navigation satellite system.
Description
Technical field
The present invention relates to a kind of navigation satellite signal receiver module and be used for the information processing method of this module, the navigation receiver module of especially built-in speed/direction/sensors such as acceleration.
Background technology
GNSS (Global Navigation Satellite System, GLONASS (Global Navigation Satellite System)) can provide location, navigation and time service information rapid, accurate, round-the-clockly, is widely used in recent years.But in the not good places of satellite-signal such as city high rise building district, boulevard, culvert and deep mountain valleys, the above-mentioned functions of GNSS usually lost efficacy.In order to realize location and navigation in these cases, just the shortcoming that must adopt certain special method to remedy simple GNSS location is arranged to vehicle.(DR, Dead-Reckoning) the combined type car navigator fix that combines with GNSS location is a kind of commonly used and effective vehicle positioning technology with dead reckoning.We just are necessary to gather the parameter such as speed, direction, acceleration of car in order to realize dead reckoning.
In some GNSS applications such as drive recorders, except simple GNSS navigator fix information, information such as speed, direction, acceleration also are that the user pays close attention in addition.
On the navigator fix receiving terminal, the GNSS navigation receiver module except simple also usually can be integrated with sensors such as speed, direction, acceleration like this.
Under normal conditions, on the navigator fix receiving terminal, user's MCU can receive respectively and handle GNSS locating information and sensor information.As shown in Figure 1: the GNSS satellite-signal enters into navigation receiver module by antenna, and the amplification, filtering, frequency conversion etc. of carrying out signal through RF processing unit are treated to digital medium-frequency signal with satellite-signal after handling; Baseband processing unit receives digital medium-frequency signal, through catching, behind tracking and the positioning calculation, calculate the navigation informations such as Position, Velocity and Time parameter of receiver, and with NMEA (The National Marine Electronics Association, American National ocean Institution of Electronics) form of navigation message reports user MCU by the output of UART (Universal AsynchronousReceiver/Transmitter, universal asynchronous reception/dispensing device) interface.User MCU is by SPI (Serial Peripheral interface simultaneously, Serial Peripheral Interface)/IIC (Inter-Integrated Circuit, internal integrated circuit) sensor informations such as interface control such as inbound pacing, acceleration, direction, and carry out together according to the navigation information of sensor information that receives and positioning calculation that inertial navigation is calculated or the application that utilizes sensor information to carry out other is handled.Again result and client are carried out alternately at last.User's MCU also needs additionally by interfaces such as SPI/IIC sensor information to be handled except receiving the NMEA location navigation message by the UART interface like this.This takies and the resource spending with regard to the port that has increased user MCU, has increased the complexity of GNSS receiving terminal system design.
Summary of the invention
The purpose of this invention is to provide a kind of in GNSS uses, degree of will speed up/sensor informations such as speed/direction are integrated into the method for handling in the NEMA navigator fix message, and the navigation receiver module of the built-in speed/direction/sensor functions such as acceleration of method design in view of the above.
The present invention is achieved in that
A kind of navigation satellite signal receiver module comprises: the radio frequency input block is used to receive navigation satellite signal and exports digital medium-frequency signal; Baseband processing unit is used for obtaining satellite navigation information and positioning solution is calculated the current location of described receiver module from digital medium-frequency signal; Described receiver module also comprises, sensor unit is used to obtain speed, acceleration or the directional information of current receiver module, and exports described speed, acceleration or directional information and give described baseband processing unit; Information output unit is used to export the current location of described receiver module.
Further, described baseband processing unit also comprises inertial navigation reckoning unit, and the described speed of described inertial navigation reckoning unit by using, acceleration or directional information are calculated the current location of described receiver module; Described inertial navigation calculates that the unit also comprises the navigation data Fusion Module, it is according to the carrier-to-noise ratio of navigation satellite signal, current location information and described inertial navigation that described positioning solution is calculated are calculated that the current location that module is calculated out merges, and generates the current location after merging.
Further, described receiver module also comprises the information output select unit, and it is according to the request of user MCU, optionally exports current location that described positioning solution calculates or the current location after the described fusion.
Further, described information output select unit is optionally exported described speed, acceleration or directional information according to the request of user MCU.
Further, described information output unit is exported described current location information or is exported described speed, acceleration or directional information with self-defining NMEA format statement with the NMEA form.
Further, described navigation satellite signal is the Big Dipper two a generations navigation satellite signal.
The present invention also provides a kind of information processing method of navigation satellite signal receiver module, and this method comprises: receive navigation satellite signal, and the current location of the described receiver module of positioning calculation; Obtain the sensor information of present speed, acceleration or the direction of receiver module, and utilize this information to calculate the current location of described receiver module; Obtain the carrier-to-noise ratio of navigation satellite signal, current location information and described inertial navigation that described positioning solution is calculated are calculated that the current location that module is calculated out merges, and generates the current location after merging; With the NMEA form select the current location that the described positioning solution of output calculates or merge after current location.
Further, select the sensor information of present speed, acceleration or the direction of the described receiver module that obtains of output with self-defined NMEA format statement.
The present invention also provides a kind of information processing method of navigation satellite signal receiver module, and this method comprises: 221 pairs of Navsats of capturing unit are caught; 222 pairs of Navsats of tracking cell are followed the tracks of, and obtain the navigation message; Positioning calculation unit 223 calculates the Position, Velocity and Time parameter of receiver according to the navigation message; Inertial navigation is calculated unit 224, by IIC or control of SPI interface and pick-up transducers data; Whether the inertial navigation enable signal of judging user MCU output is effective; If invalid, judge whether the sensor output enable is effective; If the sensor output enable is invalid, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, and directly the navigation positioning data that the positioning calculation unit is calculated reports user MCU by NMEA; If the sensor output enable is effective, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, directly sensing data is integrated into NMEA with the navigation positioning data that calculates and reports user MCU; If the customer requirements inertial navigation enables effectively, judge the power of the navigation satellite signal that positioning solution is calculated; According to the navigation satellite signal power, determine inertial navigation weight and Navsat navigation weight; According to weight, carry out the fusion that navigation data and inertial navigation are calculated data; Judge whether the sensor output enable is effective; If sensor output enable invalidating signal then will report user MCU by the NMEA statement through the navigation positioning data that inertial navigation merges after proofreading and correct; If sensor output enable signal is effective, the navigation positioning data after then fusion is proofreaied and correct with sensing data with through inertial navigation reports user MCU by the NMEA statement together.
Further, described method also comprises: when navigation satellite signal intensity for strong, then the inertial navigation weight is 0.01, Navsat positioning calculation weight is 0.99; When navigation satellite signal intensity is the blind area, then the inertial navigation weight is 1, and Navsat positioning calculation weight is 0; A little less than navigation satellite signal intensity was, then weight determined that according to being used for the position dilution of precision of positional precision is definite.
Further, described method also comprises: judge the navigation satellite signal power, according to the Navsat message data that positioning solution is calculated, draw the carrier-to-noise ratio C/N scope of navigation signal; If C/N 〉=35 determine that navigation satellite signal is strong; If 20≤C/N＜35, determine that navigation satellite signal is a little less than; If C/N＜20 are defined as the navigation satellite signal blind area.
After adopting technical scheme of the present invention, user MCU can save the processing to sensor information, only with the UART interface of handling the navigation message reporting, can obtain navigator fix information and the sensor information of NMEA-0183 simultaneously.In addition, whether the user can control the inertial navigation function and enable as required, if enable, then the navigator fix information of Huo Deing is the information after fusion is proofreaied and correct through inertial navigation.Also can control sensor information output and whether enable,, when then reporting the navigation message, report sensor information by self-defining NMEA-0183 statement if enable.Can both improve the accuracy of location flexibly at user's request like this, the port of having saved user MCU again takies and handles spending.
Description of drawings
Fig. 1 is the hardware block diagram of navigator fix receiving terminal;
Fig. 2 is the hardware block diagram of navigation receiving terminal of the present invention;
Fig. 3 is the message processing flow figure of navigation receiving terminal of the present invention;
Fig. 4 merges process flow diagram for the adjustment of data.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Fig. 2 is the hardware block diagram of navigation receiving terminal of the present invention.Receive the GNSS satellite-signal by antenna, pass through processing such as amplification, filtering, frequency conversion onboard, satellite-signal is treated to digital intermediate frequency signal.The GNSS satellite-signal enters into navigation receiver module 2 by antenna load module 1, and the amplification, filtering, frequency conversion etc. of carrying out signal through RF processing unit 21 are treated to digital medium-frequency signal with satellite-signal after handling.Digital medium-frequency signal enters baseband processing unit 22, obtains the satellite navigation signals of 50HZ through capturing unit 221 and tracking cell 222 backs, is calculated the Position, Velocity and Time parameter etc. of receiver again by positioning calculation unit 223.Simultaneously, sensing data unit 225 is by interfaces such as SPI/IIC, receiving sensor information, sensor units 23 such as speed, acceleration, direction are carried out control and treatment, whether user MCU 3 can control sensor information output by gauge tap 231 and enable, if enable, then when reporting navigation information, self-defining sensor information statement of interpolation and navigator fix information are exported to user MCU 3 together in standard N MEA-0183 sign indicating number.Inertial navigation is calculated the navigation signal power that unit 224 utilizes sensor information that sensing data unit 225 receives and positioning calculation unit 223 to parse, the data that navigation data and sensor draw are proofreaied and correct fusion, generate final navigation information, and report user MCU 3 by the output of UART interface with the form of NMEA-0183.User MCU 3 can pass through the inertial navigation enable signal, and the navigation data that control selector switch 230 is selected to report is that raw navigation information or the process inertial navigation that positioning calculation unit 223 calculates calculated the navigation information that unit 224 is proofreaied and correct after merging.User MCU only needs the NMEA data of UART interface are handled like this, can obtain more accurate inertial navigation locator data.Be not difficult to find out that by foregoing description user MCU 3 can select to obtain original navigation information or the navigation information after overcorrect is merged as required, can also select whether to obtain sensing data; Like this, user MCU 3 can utilize sensor information and raw navigation information to carry out the reckoning of inertial navigation voluntarily or sensor information is carried out other use, and final navigation information or merging sensor information are outputed to client 4.
The NMEA-0183 agreement is in order to set up unified BTCM (RTCM) standard in different GPS (GPS) navigator, by a cover communications protocol of American National ocean Institution of Electronics (NMEA-TheNational Marine Electronics Association) formulation.The GPS receiver is sent to navigator fix terminal devices such as PC, PDA according to the standard criterion of NMEA-0183 agreement with information such as position, speed by serial ports.Most of common GPS receivers, gps data process software, navigation software is all observed or compatible at least this agreement.ASCII character is adopted in unified standard form NMEA-0183 output, and the parameter of its serial communication is: baud rate=4800bps, data bit=8bit, start bit=1bit, position of rest=1bit, no parity.Data transmission is carried out in the mode of " statement ", each statement with " $ " beginning, is " identifier " of two letters and " statement name " of three letters then all, is the data volume of cutting apart with comma with that, the statement end be verification and, the whole piece statement finishes with new line symbol.
The data message of NMEA-0183 has tens kinds, but compatible the widest in other words statement statement $GPGGA, $GPGSA, $GPGSV, $GPRMC, $GPVTG, $GPGLL commonly used etc.The effect of these information is respectively: $GPGGA: the locating information of output GPS; $GPGLL: output terrestrial coordinate information; $GPZDA: output UTC temporal information; $GPGSV: export visible satellite information; $GPGST: output localization criteria difference information; $GPGSA: output satellite DOP value information; $GPALM: output satellite ephemeris information; $GPRMC: the short data information that output GPS recommends etc.
With reference to the NMEA-0183 agreement, we have defined the NMEA statement of sensor information.Comprise two kinds of statements of OUTPUT, INPUT.Wherein
OUTPUT statement: the 1. state of read sensor; 2. the chip id of read sensor (also be simultaneously for the duty of verificating sensor whether normal); 3. the numerical value of read sensor.
INPUT statement: 1. according to the configuration register of sensor, the working attributes of sensor is set, as rang (scope), bandwidth (bandwidth) etc.; 2. according to the configuration register of sensor, precision, the threshold value of sensor is set; 3. according to the configuration register of sensor, mode of operation (as interrupt type etc.) is set.
Like this, just can report away with the NMEA statement sensor information is the same with navigator fix information.As following Example, be exactly the GNSS locating module of a built-in speed/direction/acceleration transducer, the NMEA information that goes out by serially printing.Last statement De $GPSNSOR promptly is self-defining sensor statement.
07:20:49 $GPGGA，072048.70，2233.50531，N，11356.09798，E，1，6，2.11，
155.8，M，48.0，M，，0*5E
07:20:49 $GPGLL，2233.50531，N，11356.09798，E，072048.70，A，A*6A
07:20:49 $GPGSA，A，3，23，19，20，32，31，13，，，，，，，2.29，2.11，0.88*03
07:20:49 GPGSV，3，1，9，01，22，050，41，13，41，302，41，19，65，202，41，20，
04，219，44*42
07:20:49 GPGSV，3，2，9，21，02，049，，23，56，264，45，24，24，103，，31，19，
115，31*41
07:20:49?$GPGSV，3，3，9，32，04，199，37*70
07:20:49?$GPRMC，072048.70，A，2233.50531，N，11356.09798，E，0.50，，
150710，，，A*44
07:20:49?$GPVTG，79.84，T，，M，0.495，N，0.917，K，A*08
07:20:49?$GPZDA，072048.70，15，07，2010，00，00*68
07:20:49?$GPSNSOR，0.195，0.547，0.695，*6B
Describe below and how to proofread and correct the GPS navigation locating information.
Step S21,221 pairs of Navsats of capturing unit are caught.
Step S22,222 pairs of Navsats of tracking cell are followed the tracks of, and obtain the navigation message of 50HZ.
Step S23, positioning calculation unit 223 calculates the Position, Velocity and Time parameter of receiver etc. according to the navigation message.
Step S24, inertial navigation is calculated unit 224, by IIC or control of SPI interface and pick-up transducers data.
Step S25 judges whether the inertial navigation enable signal of user MCU output is effective.
If step S26 invalid, judges whether the sensor output enable is effective.
Step S261, if the sensor output enable is invalid, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, directly the navigation positioning data that the positioning calculation unit is calculated reports user MCU by NMEA-0183.
Step S262, if the sensor output enable is effective, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, directly sensing data is integrated into NMEA-0183 with the navigation positioning data that calculates and reports user MCU.User MCU can utilize sensing data to carry out the reckoning of inertial navigation voluntarily, and the application that perhaps sensor information is used for other is handled.
If the customer requirements inertial navigation enables effectively then to enter step S27, judge the power of the gps signal that positioning solution is calculated.
Step S28 according to the gps signal power, determines inertial navigation weight and GPS navigation weight.
Step S29 according to weight, carries out the fusion that navigation data and inertial navigation are calculated data.
Step S30 judges whether the sensor output enable is effective.
Step S301 will be if sensor output enable invalidating signal then will report user MCU by the NMEA-0183 statement through the navigation positioning data that inertial navigation merges after proofreading and correct.User MCU calculates without inertial navigation, navigation data more accurately after can obtaining proofreading and correct.
Step S302, if sensor output enable signal is effective, the navigation positioning data after then fusion is proofreaied and correct with sensing data with through inertial navigation reports user MCU by the NMEA-0183 statement together.User MCU calculates without inertial navigation, and navigation data more accurately after can obtaining proofreading and correct also can utilize the sensor information that obtains simultaneously, carries out other application and handles.
Wherein the weight of GPS navigation data under the unlike signal intensity and inertial navigation data is as shown in table 1 below.
Table 1
When gps signal intensity is strong, then the inertial navigation weight is 0.01, and the gps signal weight is 0.99;
When gps signal intensity is the blind area, then the inertial navigation weight is 1, and the gps signal weight is 0;
A little less than gps signal intensity was, then weight determined that according to being used for the position dilution of precision of positional precision is definite, and this position dilution of precision can be made as P; If P≤2 o'clock, the GPS navigation weight is 0.99, and the inertial navigation weight is 0.01; If 2＜P≤5, then the GPS navigation weight is 2/P, and the inertial navigation weight is 1-2/P; If 5＜P≤10, then the GPS navigation weight is 1/P, and the inertial navigation weight is 1-1/P; If P＞10, then the GPS navigation weight is 1/2P, and the inertial navigation weight is 1-1/2P.
As shown in Figure 4, among the above-mentioned steps S27-S29, determine that according to the GPS navigation data gps signal is strong and weak and determine that according to power inertial navigation and the GPS navigation data weighting line data of going forward side by side proofreaies and correct the step that merges and also comprise:
Step S271 judges the gps signal power, according to the GPS message data that positioning solution is calculated, draws the carrier-to-noise ratio C/N scope of navigation signal.
Step S272 is if C/N 〉=35 determine that gps signal is strong.
Step S273, if 20≤C/N＜35, determine that gps signal is a little less than.
Step S274 is if C/N＜20 are defined as the gps signal blind area.
Need to prove; native system only with GPS as an example; equally; the present invention also can be suitable for other Navsat positioning systems such as Beidou satellite navigation system, GLONASS or Galileo; bimodulus or multimode navigation positioning system; its ultimate principle is also the same with the present invention, also within protection scope of the present invention.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. navigation satellite signal receiver module, comprising: the radio frequency input block is used to receive navigation satellite signal and exports digital medium-frequency signal; Baseband processing unit is used for obtaining satellite navigation information and positioning solution is calculated the current location of described receiver module from digital medium-frequency signal; It is characterized in that described receiver module also comprises, sensor unit is used to obtain speed, acceleration or the directional information of current receiver module, and exports described speed, acceleration or directional information and give described baseband processing unit; Information output unit is used to export the current location of described receiver module.
2. navigation satellite signal receiver module as claimed in claim 1, it is characterized in that, described baseband processing unit also comprises inertial navigation reckoning unit, and the described speed of described inertial navigation reckoning unit by using, acceleration or directional information are calculated the current location of described receiver module; Described inertial navigation calculates that the unit also comprises the navigation data Fusion Module, it is according to the carrier-to-noise ratio of navigation satellite signal, current location information and described inertial navigation that described positioning solution is calculated are calculated that the current location that module is calculated out merges, and generates the current location after merging.
3. navigation satellite signal receiver module as claimed in claim 2, it is characterized in that, described receiver module also comprises the information output select unit, and it is according to the request of user MCU, optionally exports current location that described positioning solution calculates or the current location after the described fusion.
4. as any described navigation satellite signal receiver module in the claim 1 to 3, it is characterized in that described information output select unit is optionally exported described speed, acceleration or directional information according to the request of user MCU.
5. navigation satellite signal receiver module as claimed in claim 4 is characterized in that, described information output unit is exported described current location information or exported described speed, acceleration or directional information with self-defining NMEA format statement with the NMEA form.
6. navigation satellite signal receiver module as claimed in claim 5 is characterized in that, described navigation satellite signal is the Big Dipper two a generations navigation satellite signal.
7. the information processing method of a navigation satellite signal receiver module, this method comprises: receive navigation satellite signal, and the current location of the described receiver module of positioning calculation; Obtain the sensor information of present speed, acceleration or the direction of receiver module, and utilize this information to calculate the current location of described receiver module; Obtain the carrier-to-noise ratio of navigation satellite signal, current location information and described inertial navigation that described positioning solution is calculated are calculated that the current location that module is calculated out merges, and generates the current location after merging; It is characterized in that this method also comprises: with the NMEA form select the current location that the described positioning solution of output calculates or merge after current location.
8. information processing method as claimed in claim 7 is characterized in that, this method also comprises: the sensor information of selecting present speed, acceleration or the direction of the described receiver module that obtains of output with self-defining NMEA format statement.
9. the information processing method of a navigation satellite signal receiver module is characterized in that, this method comprises:
Capturing unit (221) is caught Navsat;
Tracking cell (222) is followed the tracks of Navsat, obtains the navigation message;
Positioning calculation unit (223) calculates the Position, Velocity and Time parameter of receiver according to the navigation message;
Inertial navigation is calculated unit (224), by IIC or control of SPI interface and pick-up transducers data;
Whether the inertial navigation enable signal of judging user MCU output is effective;
If invalid, judge whether the sensor output enable is effective;
If the sensor output enable is invalid, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, and directly the navigation positioning data that the positioning calculation unit is calculated reports user MCU by NMEA;
If the sensor output enable is effective, then baseband processing unit does not utilize sensor information to carry out the reckoning of inertial navigation, directly sensing data is integrated into NMEA with the navigation positioning data that calculates and reports user MCU;
If the customer requirements inertial navigation enables effectively, judge the power of the navigation satellite signal that positioning solution is calculated;
According to the navigation satellite signal power, determine inertial navigation weight and Navsat navigation weight;
According to weight, carry out the fusion that navigation data and inertial navigation are calculated data;
Judge whether the sensor output enable is effective;
If sensor output enable invalidating signal then will report user MCU by the NMEA statement through the navigation positioning data that inertial navigation merges after proofreading and correct;
If sensor output enable signal is effective, the navigation positioning data after then fusion is proofreaied and correct with sensing data with through inertial navigation reports user MCU by the NMEA statement together.
10. the information processing method of navigation satellite signal receiver module as claimed in claim 9 is characterized in that, described method also comprises:
When navigation satellite signal intensity is strong, then the inertial navigation weight is 0.01, and Navsat positioning calculation weight is 0.99;
When navigation satellite signal intensity is the blind area, then the inertial navigation weight is 1, and Navsat positioning calculation weight is 0;
A little less than navigation satellite signal intensity was, then weight determined that according to being used for the position dilution of precision of positional precision is definite.
11. the information processing method of navigation satellite signal receiver module as claimed in claim 10 is characterized in that, described method also comprises:
Judge the navigation satellite signal power,, draw the carrier-to-noise ratio C/N scope of navigation signal according to the Navsat message data that positioning solution is calculated;
If C/N 〉=35 determine that navigation satellite signal is strong;
If 20≤C/N＜35, determine that navigation satellite signal is a little less than;
If C/N＜20 are defined as the navigation satellite signal blind area.
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