CN104280758A - Intelligent high-precision combined navigation system - Google Patents
Intelligent high-precision combined navigation system Download PDFInfo
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- CN104280758A CN104280758A CN201410616664.0A CN201410616664A CN104280758A CN 104280758 A CN104280758 A CN 104280758A CN 201410616664 A CN201410616664 A CN 201410616664A CN 104280758 A CN104280758 A CN 104280758A
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- China
- Prior art keywords
- microprocessor
- module
- navigation
- gps
- navigation system
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention provides an intelligent high-precision combined navigation system. The intelligent high-precision combined navigation system comprises a first microprocessor, an upper PC host, a GPS module and an IMU (inertial measurement unit) module, wherein the first microprocessor is connected with a resetting circuit, a clock circuit and a power supply circuit, the IMU module is used for acquiring signals of an MEMS inertial component and a magnetometer and transmitting the signals to the first microprocessor, the first microprocessor is communicated with the upper PC host through an RS232 interface, a second microprocessor which is embedded inside the GPS module is used for processing a GPS signal, the GPS module is communicated with the upper PC host through the RS232 interface, and the upper PC host is used for data processing and navigation computation. The intelligent high-precision combined navigation system is simple in structure, capable of solving the problem that the inertial navigation error is accumulated and capable of providing continuous navigation information by virtue of independent working of the inertial navigation at the instantaneous period that the GPS signal is loss-of-lock.
Description
Technical field
The present invention relates to integrated navigation technology field, particularly relate to a kind of intelligent high-precision integrated navigation system.
Background technology
In recent years, the Traffic Problems that brings of the high speed development of auto industry is day by day serious.Gordian technique-automobile navigation technology as intelligent transportation system becomes current study hotspot.Traditional automobile navigation technology adopts simple GPS navigation technology, and vehicle often occurs GPS losing lock and affects the situation of navigation locating function in navigation procedure.Strapdown inertial navigation system is a kind of self-aid navigation mode, it has, and anti-interference ability is strong, stability advantages of higher, but due to inertial sensor precision and strapdown inertial navigation system principle of work, cause navigation positioning error to accumulate, so can not round-the-clockly work independently.
Summary of the invention
In order to solve the technical matters existed in background technology, the present invention proposes a kind of intelligent high-precision integrated navigation system, structure is simple, solves the problem of the inertial navigation accumulation of error, and can be worked independently by inertial navigation in the brief period of gps signal losing lock and continue to provide continuous print navigation information.
The one intelligence high-precision integrated navigation system that the present invention proposes, comprise first microprocessor, upper PC main frame, GPS module and IMU module, first microprocessor is connected with reset circuit, clock circuit and power circuit, IMU module to be gathered MEMS inertia device and magnetometer signals by data acquisition circuit and transfers to first microprocessor, first microprocessor is communicated with upper PC by RS232 interface, built-in second microprocessor of GPS module processes gps signal, GPS module is communicated with upper PC by RS232 interface, upper PC is used for data processing and navigation calculates.
Preferably, first microprocessor adopts model to be the single-chip microcomputer of AT8952.
Preferably, MEMS inertia device employing model is the accelerometer model of ADXL345 is the gyroscope of ITG3205.
Preferably, GPS module adopts model to be that M-87 module is as gps signal receiver.
Preferably, power circuit is for adopting MIC5205 low-dropout regulator, and the I/O interface being respectively IMU module, first microprocessor and first microprocessor is powered.
Preferably, data acquisition circuit adopts I
2c bus communication pattern, AT8952 single-chip microcomputer is as main frame, and MEMS inertia device is as from machine, and MEMS inertia device is connected with power circuit by level shifting circuit.
The one intelligence high-precision integrated navigation system that the present invention proposes, adopting GPS module and IMU module, IMU module (Inertial Measurement Unit) i.e. Inertial Measurement Unit, is the device measuring object tri-axis angular rate and acceleration; IMU module can make inertial measurement component with MEMS inertia device, under the prerequisite ensureing experiment effect, minimizes cost, and reduces the volume and weight of hardware.But low cost MEMS inertia device exists, and precision is low, the shortcoming such as large of drifting about, and under cost-saving prerequisite, also should reduce the navigation error brought by MEMS inertia device precision problem as far as possible.GPS module, for receiving gps satellite positioning signal, compensate for the navigation error brought by MEMS inertia device precision problem and obtains not enough.Structure of the present invention is simple, solves the problem of the inertial navigation accumulation of error, and can be worked independently by inertial navigation in the brief period of gps signal losing lock and continue to provide continuous print navigation information.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of intelligent high-precision integrated navigation system that the present invention proposes.
Fig. 2 is the circuit diagram of power circuit in a kind of intelligent high-precision integrated navigation system that the present invention proposes.
Embodiment
As shown in Figure 1 and Figure 2, Fig. 1 is the structured flowchart of a kind of intelligent high-precision integrated navigation system that the present invention proposes; Fig. 2 is the circuit diagram of power circuit in a kind of intelligent high-precision integrated navigation system that the present invention proposes.
With reference to Fig. 1, the present invention proposes a kind of intelligent high-precision integrated navigation system, comprise first microprocessor, upper PC main frame, GPS module and IMU module, first microprocessor adopts model to be the single-chip microcomputer of AT8952, first microprocessor is connected with reset circuit, clock circuit and power circuit, IMU module to be gathered MEMS inertia device and magnetometer signals by data acquisition circuit and transfers to first microprocessor, first microprocessor is communicated with upper PC by RS232 interface, built-in second microprocessor of GPS module processes gps signal, GPS module is communicated with upper PC by RS232 interface, upper PC is used for data processing and navigation calculates.
In a particular embodiment, MEMS inertia device employing model is the accelerometer model of ADXL345 is the gyroscope of ITG3205; GPS module adopts model to be that M-87 module is as gps signal receiver.Data acquisition circuit adopts I
2c bus communication pattern, AT8952 single-chip microcomputer is as main frame, and MEMS inertia device is as from machine, and MEMS inertia device is connected with power circuit by level shifting circuit.
With reference to Fig. 2, IMU module Bian 5V DC power supply, then convert by power-switching circuit the I/O interface being respectively first microprocessor and first microprocessor to and power.Consider that IMU module is except MEMS inertia device operating voltage, the operating voltage of other each elements is all 5V DC voltage, adopts MIC5205 low-dropout regulator to provide 3.3V direct supply for system.When design circuit, ensure filtering clutter at the in parallel multiple electric capacity of the output terminal of each power supply.
The present invention adopts GPS module and IMU module, IMU module (Inertial Measurement Unit) i.e. Inertial Measurement Unit, is the device measuring object tri-axis angular rate and acceleration; IMU module can make inertial measurement component with MEMS inertia device, under the prerequisite ensureing experiment effect, minimizes cost, and reduces the volume and weight of hardware.But low cost MEMS inertia device exists, and precision is low, the shortcoming such as large of drifting about, and under cost-saving prerequisite, also should reduce the navigation error brought by MEMS inertia device precision problem as far as possible.GPS module, for receiving gps satellite positioning signal, compensate for the navigation error brought by MEMS inertia device precision problem and obtains not enough.
In the present invention, data acquisition circuit adopts I
2c bus communication pattern, AT8952 single-chip microcomputer is as main frame, and MEMS inertia device is as from machine, and MEMS inertia device is connected with power circuit by level shifting circuit.Can not only meet the requirement of two-way level converting, the bus portion of power down and remaining bus system can also be kept apart, protection voltage devices prevents the high voltage burr ripple of high voltage device; Can by two parts I different with logic level for supply voltage by use two-way level converting device
2c bus couples together.
Integrated navigation mode of the present invention, determines the loose coupling Integrated navigation mode of employing speed, position.GPS module and IMU module error are analyzed, obtains integrated navigation system error state equation.Upper PC is adopted to focus on data, integrated navigation module primary responsibility data Bian collection and pre-service, GPS module internal processor, for obtaining GPS navigation information; IMU module using single-chip microcomputer as process core, gather gyroscope, accelerometer and magnetometer nine tunnel output signal, resolve for strap-down inertial.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (1)
1. the one intelligence high-precision integrated navigation system of the present invention's proposition, comprise first microprocessor, upper PC main frame, GPS module and IMU module, first microprocessor is connected with reset circuit, clock circuit and power circuit, IMU module to be gathered MEMS inertia device and magnetometer signals by data acquisition circuit and transfers to first microprocessor, first microprocessor is communicated with upper PC by RS232 interface, built-in second microprocessor of GPS module processes gps signal, GPS module is communicated with upper PC by RS232 interface, upper PC is used for data processing and navigation calculates.Structure of the present invention is simple, solves the problem of the inertial navigation accumulation of error, and can be worked independently by inertial navigation in the brief period of gps signal losing lock and continue to provide continuous print navigation information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410616664.0A CN104280758A (en) | 2014-11-05 | 2014-11-05 | Intelligent high-precision combined navigation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410616664.0A CN104280758A (en) | 2014-11-05 | 2014-11-05 | Intelligent high-precision combined navigation system |
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| CN201410616664.0A Pending CN104280758A (en) | 2014-11-05 | 2014-11-05 | Intelligent high-precision combined navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108240809A (en) * | 2017-12-08 | 2018-07-03 | 佛吉亚好帮手电子科技有限公司 | A kind of system and method that inertial navigation is navigated in QNX vehicle systems based on L3GD20 chips |
| CN112902949A (en) * | 2021-01-20 | 2021-06-04 | 上海华测导航技术股份有限公司 | Small, portable and low-cost integrated navigation system device |
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| US20090115655A1 (en) * | 2005-05-10 | 2009-05-07 | Trimble Navation Limited | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
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Patent Citations (6)
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| US20090115655A1 (en) * | 2005-05-10 | 2009-05-07 | Trimble Navation Limited | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
| CN101105401A (en) * | 2007-08-06 | 2008-01-16 | 北京航空航天大学 | SDINS/GPS combined guidance system time synchronism and synchronous data extraction method |
| CN102890278A (en) * | 2011-07-19 | 2013-01-23 | 哈尔滨伟方智能科技开发有限责任公司 | MIMU (Micro Inertial Measurement Unit) fully-integrated navigation system based on FPGA (Field Programmable Gate Array) Beidou |
| CN103217700A (en) * | 2013-04-10 | 2013-07-24 | 南昌大学 | GPS (global positioning system), IMU (inertial measurement unit), magnetometer and barometer combinational navigation system device |
| CN103616710A (en) * | 2013-12-17 | 2014-03-05 | 靳文瑞 | Multi-sensor combined navigation time synchronizing system based on field programmable gate array (FPGA) |
| CN103760584A (en) * | 2014-01-02 | 2014-04-30 | 上海交通大学 | Motion monitoring system for floating support mounting practical measuring |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108240809A (en) * | 2017-12-08 | 2018-07-03 | 佛吉亚好帮手电子科技有限公司 | A kind of system and method that inertial navigation is navigated in QNX vehicle systems based on L3GD20 chips |
| CN112902949A (en) * | 2021-01-20 | 2021-06-04 | 上海华测导航技术股份有限公司 | Small, portable and low-cost integrated navigation system device |
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