CN104749583A - High-precision satellite receiver capable of being automatically adapted to work mode - Google Patents
High-precision satellite receiver capable of being automatically adapted to work mode Download PDFInfo
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- CN104749583A CN104749583A CN201310733920.XA CN201310733920A CN104749583A CN 104749583 A CN104749583 A CN 104749583A CN 201310733920 A CN201310733920 A CN 201310733920A CN 104749583 A CN104749583 A CN 104749583A
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- circuit
- satellite receiver
- high precision
- big dipper
- module
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
Abstract
The invention provides a high-precision satellite receiver capable of being automatically adapted to a work mode, which comprises a receiver body. The receiver is mainly composed of a main control module, a power supply module, an interface circuit, a Beidou/GPS module, a temperature compensation module, a charging circuit and a basic function module. The high-precision satellite receiver capable of being automatically adapted to a work mode has the advantages of strong adaptability, automatic work mode switching, and convenient use; and compared with the traditional satellite receiver, the PPP technology, the RTK technology and the high-precision differential post-processing technology are integrated, and the application range of the satellite receiver is greatly expanded.
Description
Technical field
The invention belongs to high precision field of satellite location, can be used for the fields such as bridge deformation monitoring, dam deformation monitoring, geology settlement monitoring, Tailings Dam on-line monitoring, land mapping.
Background technology
At present, the Big Dipper/gps satellite navigation positioning system is widely used in every field.The known high precision Big Dipper/GPS navigation ICBM SHF satellite terminal has: the high precision satellite positioning receiver of the high precision satellite positioning receiver using real time dynamic differential location (RTK) technology, the high precision satellite positioning receiver using Static Precise Point Positioning (PPP) technology and utilization high-precision difference post-processing technology.
RTK location technology is located based on the centimetre-sized real time dynamic differential of carrier phase observation data, system is made up of base station and rover station, base station receiving satellite sends to rover station according to the treated differential corrections that obtains, rover station receives the information such as differential corrections and satellite carrier phase place and obtains positioning result by data processing, and it utilizes difference to eliminate ionosphere delay error, tropospheric delay error.
PPP precise single-point positioning technology be based on carrier phase observation high precision absolute fix technology, utilize precise ephemeris and the Clock Bias of the Big Dipper/gps satellite, reduce satellite orbital error and satellite clock mistake poor, double frequency combination observation elimination ionospheric error.Reach centimetre-sized even inferior centimeter order absolute fix precision.
High-precision difference post-processing technology belongs to differential position afterwards, positioning precision grade, and system is also made up of base station and monitoring station, and base station, monitoring station distance can reach 10km.Within Continuous Observation 2 hours positioning precision horizontal directions reach 3 millimeters, within vertical direction 6 millimeters.Utilizing difference to eliminate the interference such as ionosphere delay, tropospheric delay, introducing multiple Error Correction Model for improving precision.Data processing generally passes to system platform and processes, and because process data volume is large, platform data process introduces GPU technology in order to accelerate computing velocity.
These three kinds of high precision satellite positioning receivers, different according to function, have different designs, use different high-precision location technique to adopt different high precision satellite receiver, they are at common defect: range of application limitation is large, has poor applicability.In view of this, a kind of mode of operation that can automatically switch, applying flexible are provided, are suitable for the satellite receiver of different high precision satellite positioning algorithm easily and have great importance.
Summary of the invention
The object of this invention is to provide the high precision satellite receiver of a kind of automatic adaptation three kinds of hi-Fix mode of operations.This receiver has according to different hi-Fix algorithm automatic switchover mode, applying flexible, easily feature.
The high precision satellite receiver of automatic adaptation mode of operation of the present invention, comprises body, and the main comprising modules of receiver is: main control module, power module, interface circuit, the Big Dipper/GPS module, temperature compensation module, charging circuit, fundamental functional modules.
Described control circuit comprises the STM32(ARM7 of ST company of the U.S.) chip, the algorithm routine that described STM32 chip switches for the control program and the Big Dipper/GPS tri-kinds of station-keeping modes storing satellite receiver, for controlling satellite receiver modules duty.
The high precision satellite receiver of described automatic adaptation mode of operation, described power module comprises adapter circuit, 12V turns 3.3V circuit, 3.3V turns 3V circuit, 3.3V turns 1.2V circuit and BD2/GPS feed circuit, and this circuit is mainly used in being used for that the complete machine of satellite receiver is powered, external sensor is powered, temperature-compensation circuit is powered, fundamental functional modules circuit is powered, the Big Dipper/GPS module is powered.
Described interface circuit comprises RS232 interface circuit, RS485 interface circuit, ethernet interface circuit.Described RS232 interface circuit, debugging and the outside COMS imageing sensor of the main high precision satellite receiver as automatic adaptation mode of operation realize image data acquiring; RS232 serial ports is connected with the Big Dipper/GPS module, for gathering the Big Dipper, gps data simultaneously; Described RS485 interface circuit, be connected with STM32 main control module by RS485 serial ports conversion chip, this partial circuit is mainly used in the external sensor interface of high precision satellite receiver, to connect electron type level sensor, perpendicular displacement sensor, 485 interface water-level gauges, 485 interface rain sensors, humidity sensor etc.; Described ethernet communication module, mainly in order to connecting communication network, sends the Big Dipper locator data and external sense data that gather to data processing centre (DPC).
The high precision satellite receiver of described automatic adaptation mode of operation, the described Big Dipper/GPS module mainly uses high precision bimodulus four Big Dipper/GPS module frequently, is mainly used in the collection of the Big Dipper/gps satellite data.
The high precision satellite receiver of described automatic adaptation mode of operation, described charging circuit mainly uses BQ2057W charging management chip, management back-up source charging work;
The high precision satellite receiver of described automatic adaptation mode of operation, described fundamental functional modules comprises: watchdog circuit, indicating circuit, memory circuit, clock circuit, and described watchdog circuit suffers abnormal interference in order to prevent program; Described indicating circuit adapts to the high precision satellite receiver duty of mode of operation automatically in order to indicate; Described memory circuit is in order to store program and the data of the high precision satellite receiver automatically adapting to mode of operation; Described clock circuit is in order to provide reference clock to the high precision satellite receiver automatically adapting to mode of operation.
The high precision satellite receiver of automatic adaptation mode of operation of the present invention has strong adaptability, automatic switchover mode of operation, feature easy to use, compared with traditional satellite receiver, be integrated with PPP technology, RTK technology and high-precision difference post-processing technology, the range of application of satellite receiver is expanded greatly.
Accompanying drawing explanation
Fig. 1 is the system chart that the present invention adapts to the high precision satellite receiver of mode of operation automatically.
Fig. 2 is satellite receiver Three models switching flow figure.
Embodiment
Below in conjunction with specific embodiment, the present invention will be described.
Embodiment 1:
The present invention is a kind of high precision satellite receiver of automatic adaptation mode of operation, as shown in figure.
Described control module mainly uses STM32 (ARM7) chip of ST company of the U.S., the control program of internal reservoir satellite receiver and three kinds of mode of operation handoff algorithms programs.The control module of described satellite receiver is mainly used in control LED indicating circuit, the collection Big Dipper, GPS module data, controls the Big Dipper/GPS module, control temperature compensating module circuit, controls fundamental functional modules circuit etc.The principle of three kinds of mode of operation switchings is: the Big Dipper/GPS identification code that control module collects by judging RS232, then switches station-keeping mode according to internal algorithm program and control module.
The high precision satellite receiver of described automatic adaptation mode of operation, described power module comprises adapter circuit, 12V turns 3.3V circuit, 3.3V turns 3V circuit, 3.3V turns 1.2V circuit and the Big Dipper/GPS feed circuit.Described adapter circuit is mainly used in external 12V adaptor power supplies, by use civil power for satellite receiver complete machine and external sensor are powered; It is that 12V DC voltage exports 3.3V DC voltage, for providing operating voltage for master control and ADC through MP1494 chip that described 12V turns 3.3V circuit; It is that 3.3V DC voltage exports 3V DC voltage, for providing reference voltage for ADC through XC6201 chip that described 3.3V turns 3V circuit; It is that 3.3V DC voltage exports 1.2V DC voltage after RP102N121D chip that described 3.3V turns 1.2V circuit, for powering for CPU CORE kernel; The described Big Dipper/GPS feed circuit are that 12V DC voltage exports 5V DC voltage after ASM1117-5V chip, are mainly used in the Big Dipper/GPS module and power.Meanwhile, the high precision satellite receiver automatically adapting to mode of operation has lithium battery back-up source, and in the event of a loss of power, lithium battery is that satellite receiver is powered as main power source, and satellite receiver can normally be worked within the regular hour.
Described interface circuit comprises RS232 interface circuit, RS485 interface circuit and ethernet interface circuit.Described RS232 circuit is the MAX3232 low voltage difference RS-232 transceiving chip using U.S.'s Maxim, RS232 serial ports is mainly used as the debugging of high precision satellite receiver, the view data of outside COMS imageing sensor Real-time Collection that automatically adapt to mode of operation and is saved in the memory module of satellite receiver by RS232 module, RS232 serial ports is connected with the Big Dipper/GPS module simultaneously, for gathering the Big Dipper, gps data, the data after collection will be transferred to remote data processing center; RX485 mainly uses SP3485 low-power consumption half-duplex RS-485 transceiving chip, this part circuit as the external interface of satellite receiver, mainly in order to connect electron type level sensor, perpendicular displacement sensor, 485 interface water-level gauges, 485 interface rain sensors, soil layer humidity sensor etc.This some work situation is: the data that control center is passed back by RS485 circuit reception external sensor, after calculating, be transferred to remote data processing center; Described ethernet interface circuit, mainly in order to connecting communication network.Its principle of work is: satellite receiver main control module signal, after 11FB-05NL network transformer, sends the Big Dipper locator data and external sense data that gather to remote data processing center.
The described Big Dipper/GPS module circuit, main use high precision bimodulus four Big Dipper/GPS module frequently.Use in the present invention and lead to UB240BD2/GPS module and compass in ancient China K501BD2/GPS module with core star, described and core star leads to UB240BD2/GPS module and has employing low power dissipation design, can provide the feature of grade carrier phase observation data and centimetre-sized RTK positioning precision; Described compass in ancient China K501 BD2/GPS module has the advantages that superior Dynamical capture performance and High-precision carrier phase place are resolved.The Main Function of the Big Dipper/GPS module is the precision positioning after base stations detected signal, monitored result being transferred to STM32 control module and satellite receiver.
Described temperature compensation module, comprises based on the control section circuit of RLC37021D chip and the implementation section circuit based on AO4419.When satellite receiver detects ambient temperature lower than subzero-10 DEG C, the control module of the Big Dipper/gps satellite receiver sends an enabling signal to temperature compensation module, after temperature compensation module receives enabling signal, satellite receiver temperature compensation module starts.This main circuit will in order to keep the built-in temperature of the high precision satellite receiver automatically adapting to mode of operation, makes satellite receiver can normal table work.
Described charging circuit mainly uses BQ2057W lithium cell charging managing chip, and its main operational principle is: when BQ2057W chip has external power supply to access, if lithium battery is in underfill state, satellite receiver charging circuit works; If when lithium battery is in full state or lithium battery fault, satellite receiver charging circuit does not work.The electricity whether satellite receiver control module has external power supply to access mainly for detection of BQ2057W chip, gathers BQ2057W chip temperature transducing signal, detects lithium cell charging state and collection lithium battery in charging module.
Described fundamental functional modules comprises: watchdog circuit, indicating circuit, memory circuit, clock circuit.
Watchdog circuit: the main MAX823E watchdog chip using Maxim, watchdog circuit monitors STM32 main control chip running state of programs in real time, when monitoring STM32 control module and occurring abnormal, MAX823E provides a reset signal for STM32, STM32 Program reset, satellite receiver is restarted.
Indicating circuit: described indicating circuit is primarily of LED and current-limiting resistance composition, and indicating circuit is controlled the duty being used for showing satellite receiver by STM32.
Memory circuit: the Flash chip that described memory circuit mainly uses model to be W25X16AVSIG, STM32 carries out data transmission by spi bus and Flash memory chip, the program of satellite receiver and data is kept in Flash.
Clock circuit: described clock circuit mainly uses PCF8563T clock chip, PCF8563T clock chip by I2C bus for STM32 provides reference clock.
Embodiment 2:
The present invention is a kind of high precision satellite receiver of automatic adaptation mode of operation, and the workflow of its automatic switchover mode as shown in Figure 2.
When satellite receiver has been energized, after starting normal work.The Big Dipper/the GPS module of satellite receiver starts the base station signal in reception, coupling air, and mated result is transferred to control module by Serial Port Line.If satellite receiver matches the base station signal with RTK identification code, then the station-keeping mode of the Big Dipper/GPS module is switched to real time dynamic differential location (RTK) technology according to internal processes setting by control module.Now the data sampling frequency of satellite receiver switches to 5HZ, and satellite receiver starts to gather GPS L1, L2 carrier wave, Doppler and Pseudo-range Observations and BD B1, B2 carrier wave, Doppler and Pseudo-range Observations.The base station correction data of collected data and acquisition are transferred to remote data processing center by Ethernet by satellite receiver, and remote data processing center calculates survey station coordinate in real time and shows positioning result.If satellite receiver matches the base station signal with aftertreatment identification code, then the station-keeping mode of the Big Dipper/GPS module is switched to high-precision difference post-processing technology according to internal processes setting by control module.Now the data sampling frequency of satellite receiver switches to 5HZ, and satellite receiver starts to gather GPS L1, L2 carrier wave, Doppler and Pseudo-range Observations and BD B1, B2 carrier wave, Doppler and Pseudo-range Observations.Collected data are transferred to remote data processing center by Ethernet by satellite receiver, and the transmission of remote data processing center batch processing returns to show positioning result after data message calculates survey station coordinate.If satellite receiver does not still match any base station signal after 30s, then the station-keeping mode of the Big Dipper/GPS module is switched to Static Precise Point Positioning (PPP) technology according to internal processes setting by control module.Now the data sampling frequency of satellite receiver switches to 1HZ, and satellite receiver starts to gather GPS L1, L2 carrier wave, Doppler and Pseudo-range Observations and BD B1, B2 carrier wave, Doppler and Pseudo-range Observations.Satellite receiver calculates the coordinate of survey station according to accessed locator data and the precise ephemeris received, clock correction, and the result obtained is transferred to remote data processing center by Ethernet, the positioning result of remote data processing center display simultaneously.
Claims (7)
1. one kind adapts to the high precision satellite receiver of mode of operation automatically, it is characterized in that: comprise body, the main comprising modules of receiver is: main control module, power module, interface circuit, the Big Dipper/GPS module, temperature compensation module, charging circuit, fundamental functional modules.
2. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, it is characterized in that: described control circuit comprises the STM32(ARM7 of ST company of the U.S.) chip, the algorithm routine that described STM32 chip switches for the control program and the Big Dipper/GPS tri-kinds of station-keeping modes storing satellite receiver, for controlling satellite receiver modules duty.
3. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, it is characterized in that: described power module comprises adapter circuit, 12V turns 3.3V circuit, 3.3V turns 3V circuit, 3.3V turns 1.2V circuit and BD2/GPS feed circuit, this circuit is mainly used in being used for that the complete machine of satellite receiver is powered, external sensor is powered, temperature-compensation circuit is powered, fundamental functional modules circuit is powered, the Big Dipper/GPS module is powered.
4. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, it is characterized in that: described interface circuit comprises RS232 interface circuit, RS485 interface circuit, ethernet interface circuit, described RS232 interface circuit, debugging and the outside COMS imageing sensor of the main high precision satellite receiver as automatic adaptation mode of operation realize image data acquiring; RS232 serial ports is connected with the Big Dipper/GPS module, for gathering the Big Dipper, gps data simultaneously; Described RS485 interface circuit, be connected with STM32 main control module by RS485 serial ports conversion chip, this partial circuit is mainly used in the external sensor interface of high precision satellite receiver, to connect electron type level sensor, perpendicular displacement sensor, 485 interface water-level gauges, 485 interface rain sensors, humidity sensor etc.; Described ethernet communication module, mainly in order to connecting communication network, sends the Big Dipper locator data and external sense data that gather to data processing centre (DPC).
5. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, is characterized in that: the described Big Dipper/GPS module mainly uses high precision bimodulus four Big Dipper/GPS module frequently, is mainly used in the collection of the Big Dipper/gps satellite data.
6. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, is characterized in that: described charging circuit mainly uses BQ2057W charging management chip, management back-up source charging work.
7. the high precision satellite receiver of automatic adaptation mode of operation according to claim 1, it is characterized in that: described fundamental functional modules comprises: watchdog circuit, indicating circuit, memory circuit, clock circuit, described watchdog circuit suffers abnormal interference in order to prevent program; Described indicating circuit adapts to the high precision satellite receiver duty of mode of operation automatically in order to indicate; Described memory circuit is in order to store program and the data of the high precision satellite receiver automatically adapting to mode of operation; Described clock circuit is in order to provide reference clock to the high precision satellite receiver automatically adapting to mode of operation.
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Cited By (5)
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| CN105334520A (en) * | 2015-11-02 | 2016-02-17 | 中国科学院光电研究院 | Difference enhancement method based on aerostat reference station |
| CN107707294A (en) * | 2017-09-26 | 2018-02-16 | 徐跃登 | A kind of signal transmitting and receiving debugging system of satellite antenna |
| CN108519611A (en) * | 2018-03-01 | 2018-09-11 | 上海交通大学 | Big Dipper B1C/B1I double frequency parallel multi-channels based on GPU cooperate with catching method |
| CN108923842A (en) * | 2018-07-17 | 2018-11-30 | 千寻位置网络有限公司 | Star the more algorithm fusions of one high-precision locating method, system and terminal |
| CN112240738A (en) * | 2020-10-15 | 2021-01-19 | 厦门星环科技有限公司 | Dam deformation early warning system based on big dipper + GPS |
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