CN105571591A - Multi-information deep integration navigation micro-system and navigation method - Google Patents
Multi-information deep integration navigation micro-system and navigation method Download PDFInfo
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- CN105571591A CN105571591A CN201510937155.2A CN201510937155A CN105571591A CN 105571591 A CN105571591 A CN 105571591A CN 201510937155 A CN201510937155 A CN 201510937155A CN 105571591 A CN105571591 A CN 105571591A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a multi-information deep integration navigation micro-system and a navigation method. The micro-system comprises a three-axis MEMS (Micro Electro Mechanical System) gyroscope chipset, a three-axis acceleration chipset, a satellite navigation chip, a magnetic field meter, a height meter, a signal-driven demodulation amplifying circuit, a multi-channel ADC (Analog to Digital Converter) chip, a navigation solution circuit and a power supply management circuit. The navigation method comprises the following steps: (1) initializing the micro system; (2) acquiring a motion state signal of a carrier; (3) receiving a satellite navigation radio frequency signal; (4) performing satellite capturing, satellite loop tracking and satellite navigation solution; (5) judging an initial alignment state; (8) if initial alignment is finished, performing a strap-down inertial navigation calculation; (9) judging whether satellite navigation information is available or not; (10) acquiring an optimal navigation parameter, and meanwhile feeding back the optimal navigation parameter. The navigation system has more functions and higher navigation accuracy, is miniaturized and is low in power consumption and cost, so that the demand of modern navigation is met.
Description
Technical field
The present invention relates to field of navigation technology, particularly relate to a kind of multi information deep integrated navigation micro-system and air navigation aid.
Background technology
Along with the development of modern science and technology, vehicle, aircraft, boats and ships, armament systems etc. propose more and more higher requirement to navigational system, traditional single navigate mode such as inertial navigation, global navigation satellite (GNSS), earth-magnetic navigation, electronic chart etc. cannot meet application demand, therefore, modern navigation more and more have employed the mode of multiple guiding combination, i.e. integrated navigation, complex navigation improves navigational system precision, antijamming capability and redundance.But current complex navigation system is mostly only independently navigational system is carried out superposition obtain, it has that volume is large, power consumption is high, cost is high, precision is lower and function is less, also the demand of modernization navigation cannot be met, therefore, developing multi information deep integrated navigation microsystems technology is one of important trend of Navigation System Development.
Summary of the invention
For prior art above shortcomings, the object of the present invention is to provide a kind of multi information deep integrated navigation micro-system and air navigation aid, navigational system function can be made more, and navigation accuracy is higher, and microminaturization, low in energy consumption, cost is low, thus meet the demand of modernization navigation.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is such: a kind of multi information deep integrated navigation micro-system, is characterized in that: comprise 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal driving demodulation amplifying circuit, hyperchannel ADC chip, navigation calculation circuit and electric power management circuit;
Described 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetometer and altitude gauge drive after demodulation amplifying circuit through signal and are connected with hyperchannel ADC chip, by hyperchannel ADC chip, data are transported to navigation calculation circuit;
Satellite navigation chip is connected with hyperchannel ADC chip and navigation calculation circuit simultaneously, thus carries out exchanges data with hyperchannel ADC chip and navigation calculation circuit;
Described electric power management circuit is that 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal receiving and amplifying circuit, hyperchannel ADC chip and navigation calculation circuit are powered.
Further, described navigation micro-system is connected with carrier system, for obtaining the position of carrier, attitude and temporal information; Meanwhile, this navigation micro-system is connected with carrier computer for controlling, for obtaining navigation, the guidance information of carrier.
Further, described navigation calculation circuit comprises satellite navigation resolving circuit, micro-inertial navigation resolving circuit, earth-magnetic navigation resolving circuit and elevation carrection resolving circuit, resolves, micro-inertial navigation resolves, earth-magnetic navigation resolves, elevation carrection resolves, satellite navigation and inertial navigation combine KALMAN filtering evaluation work deeply for completing satellite navigation.
An air navigation aid for multi information deep integrated navigation micro-system, is characterized in that: comprise the steps:
1) navigation micro-system initialization;
2) taken into account the motion state signal of altitude gauge Real-time Collection carrier by 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetic field, and carry out signal transacting, error compensation;
3) satellite navigation radio-frequency signal is received by satellite navigation chip, and carry out pre-filtering, low noise amplification, mixing, intermediate frequency filtering, polyphase filter, numerical control gain amplify and drive amplification process, thus is that AD circuit can the intermediate-freuqncy signal of Direct Sampling by satellite navigation radio-frequency signal frequency conversion;
4) by navigation calculation circuit, high-speed AD sampling and anti-interference process are carried out to intermediate-freuqncy signal, then carry out acquiring satellite, satellite loop tracks and satellite navigation and resolve, calculate time, the pseudorange of carrier, pseudorange rates, position and velocity information;
5) initial alignment state is judged;
6) if initial alignment does not complete, then carry out coarse alignment, comprise initial position, speed, time setting, set up navigational coordinate system, calculate initial attitude, orientation;
7) then fine alignment is carried out, comprise and survey drift is carried out to 3 axis MEMS gyro, three axis accelerometer, adopt satellite navigation and inertial navigation deeply to combine KALMAN filtering mode and optimal estimation is carried out to navigational parameter, obtain navigation information and estimation of error, return after completing fine alignment and perform step 2);
8) if initial alignment completes, then carry out strap-down inertial calculating, separate quaternion differential equation, navigation equation, obtain the attitude of carrier, speed and position;
9) judge whether satellite navigation information, if there is satellite navigation information, then carry out inertia, satellite navigation, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating; If there is no satellite navigation information, then carry out inertia, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating;
10) obtain optimum navigational parameter, return step 2); Meanwhile, optimum navigational parameter is fed back to acquiring satellite, navigation loop tracks, satellite navigation are resolved.
Compared with prior art, tool of the present invention has the following advantages: Integrated navigation mode is deep integrated navigation mode, this system and method is by adopting the design philosophy of micro-system, by the micromechanical gyro of integrated navigation system, accelerometer, magnetometer, barometer, Beidou satellite navigation, signal processing circuit, communication, power supplys etc. integrate, adopt Kalman filtering Multi-information acquisition algorithm, the degree of depth merges satellite navigation, earth-magnetic navigation, the information such as inertial navigation, form minitype combined navigation system, navigational system function can be made more, navigation accuracy is higher, achieve the microminaturization of navigational system, and it is low in energy consumption, cost is low, improve navigational system precision, enhance antijamming capability, thus meet the demand of modernization navigation.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the multi information deep integrated navigation micro-system of this patent.
Fig. 2 is the process flow diagram of the air navigation aid of the multi information deep integrated navigation micro-system of this patent.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment: see Fig. 1, a kind of multi information deep integrated navigation micro-system, comprises 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal driving demodulation and amplifying circuit, hyperchannel ADC chip, navigation calculation circuit and electric power management circuit.
Described 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetometer and altitude gauge drive after demodulation and amplifying circuit through signal and are connected with hyperchannel ADC chip, by hyperchannel ADC chip, data are transported to navigation calculation circuit.
Satellite navigation chip is connected with hyperchannel ADC chip and navigation calculation circuit simultaneously, thus carries out exchanges data with hyperchannel ADC chip and navigation calculation circuit.
Described electric power management circuit is that 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal receiving and amplifying circuit, hyperchannel ADC chip and navigation calculation circuit are powered.
Described navigation micro-system is connected with carrier system, for obtaining the position of carrier, attitude and temporal information; Meanwhile, this navigation micro-system is connected with carrier computer for controlling, for obtaining navigation, the guidance information of carrier.
Described navigation calculation circuit comprises satellite navigation resolving circuit, micro-inertial navigation resolving circuit, earth-magnetic navigation resolving circuit and elevation carrection resolving circuit, completes that satellite navigation is resolved, micro-inertial navigation resolves, earth-magnetic navigation resolves, elevation carrection resolves, the work such as satellite navigation and inertial navigation dark composite card Germania (KALMAN) filtering calculating.
Navigation calculation circuit is the key control unit of native system, and internal module is dark coupling scheme, comprises logical block (PL) and ARM digital signal processing unit.Wherein logical block primary responsibility satellite navigation coherent signal catch, the generation of local carrier code, lead-lag correlator, correlator accumulation outputs, phase demodulation function, path filter, tracking calculating, logical circuit, sequential circuit, I/O control etc.
Miniature navigation calculation circuit comprises ARM1 data processing module and ARM2 data processing module, the calculating such as ARM1 mainly carries out the control of satellite navigation track loop, satellite navigation pseudorange, pseudorange rates calculating, ephemeris computation, inertial navigation resolve, KALMAN integrated navigation wave filter; ARM2 mainly carries out gyro, accelerometer signal collection, Inertial Measurement Unit (IMU) calculates, earth-magnetic navigation calculates, altitude gauge calculates, receive input instruction, export the calculating such as navigational parameter.
This navigation micro-system framework specifically can be divided into physical sensing layer, navigation algorithm to merge, revise key horizon, LI(link interface) layer, wherein:
Physical sensing layer is each physical function unit of this micro-system, comprises Inertial Measurement Unit, height measurement unit, magnetic sensing unit, satellite navigation unit etc.
Navigation algorithm merges, revise key horizon, by anti-interference satellite navigation algorithm, micro-inertial navigation algorithm, earth-magnetic navigation algorithm, elevation carrection Algorithm constitution, the dark array mode of Kalman filtering is adopted to merge information such as each satellite navigation, inertial navigation, earth-magnetic navigation, altitude gauge assisting navigations, the correction of course and time service etc.
LI(link interface), comprises application strategy, application interface, internal data interactive interface, user interface, debugging, test interface etc.
Application platform, i.e. task system or carrier, comprise unmanned plane, vehicle, naval vessels etc.
See Fig. 2, a kind of air navigation aid of multi information deep integrated navigation micro-system, comprises the steps:
1) navigation micro-system initialization;
2) taken into account the motion state signal of altitude gauge Real-time Collection carrier by 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetic field, and carry out signal transacting (comprise over-sampling is level and smooth, low-pass filtering, gamma correction etc.), error compensation;
3) satellite navigation radio-frequency signal is received by satellite navigation chip, and carry out pre-filtering, low noise amplification, mixing, intermediate frequency filtering, polyphase filter, numerical control gain amplify and drive amplification process, thus is that AD circuit can the intermediate-freuqncy signal of Direct Sampling by satellite navigation radio-frequency signal frequency conversion;
4) by navigation calculation circuit, high-speed AD sampling and anti-interference process are carried out to intermediate-freuqncy signal, then carry out acquiring satellite, satellite loop tracks and satellite navigation and resolve, calculate time, the pseudorange of carrier, pseudorange rates, position and velocity information;
5) initial alignment state is judged;
6) if initial alignment does not complete, then carry out coarse alignment, comprise initial position, speed, time setting, set up navigational coordinate system, calculate initial attitude, orientation;
7) then fine alignment is carried out, comprise and carry out surveying drift (3 axis MEMS GYROCHIP group, 3-axis acceleration chipset are the ingredient of 3 axis MEMS gyro, three axis accelerometer inside respectively) to 3 axis MEMS gyro, three axis accelerometer, adopt satellite navigation and inertial navigation deeply to combine KALMAN filtering mode and optimal estimation is carried out to navigational parameter, obtain navigation information and estimation of error, return after completing fine alignment and perform step 2);
8) if initial alignment completes, then carry out strap-down inertial calculating, separate quaternion differential equation, navigation equation:
Hypercomplex number vector differential equation is as follows
Four element computing method
The computing method of attitude matrix:
Attitude angle computing method are as follows:
The specific force differential equation and computing method as follows
Velocity differentials equation and computing method
The position differential equation and computing method as follows:
Resolved by above-mentioned Series of Equations, obtain the attitude of carrier, speed and position;
9) judge whether satellite navigation information, if there is satellite navigation information, then carry out inertia, satellite navigation, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating; If there is no satellite navigation information, then carry out inertia, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating;
Wherein Kalman filter has 17 state variables, 3 site error variablees, 3 velocity error variablees, 3 attitude error variablees, 3 gyroscopic drift variablees, 3 accelerometer bias variablees respectively, and the quantity of state of satellite navigation system, be respectively the distance rate that Distance geometry equivalence clock frequency error corresponding to receiver equivalence clocking error is corresponding, that is:
Observation equation is as follows
10) obtain optimum navigational parameter, return step 2); Meanwhile, optimum navigational parameter is fed back to acquiring satellite, navigation loop tracks, satellite navigation are resolved.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, those of ordinary skill in the art is to be understood that, those are modified to technical scheme of the present invention or equivalent replacement, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of right of the present invention.
Claims (4)
1. a multi information deep integrated navigation micro-system, is characterized in that: comprise 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal driving demodulation amplifying circuit, hyperchannel ADC chip, navigation calculation circuit and electric power management circuit;
Described 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetometer and altitude gauge drive after demodulation amplifying circuit through signal and are connected with hyperchannel ADC chip, by hyperchannel ADC chip, data are transported to navigation calculation circuit;
Satellite navigation chip is connected with hyperchannel ADC chip and navigation calculation circuit simultaneously, thus carries out exchanges data with hyperchannel ADC chip and navigation calculation circuit;
Described electric power management circuit is that 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, satellite navigation chip, magnetometer, altitude gauge, signal receiving and amplifying circuit, hyperchannel ADC chip and navigation calculation circuit are powered.
2. a kind of multi information deep integrated navigation micro-system according to claim 1, is characterized in that: described navigation micro-system is connected with carrier system, for obtaining the position of carrier, attitude and temporal information; Meanwhile, this navigation micro-system is connected with carrier computer for controlling, for obtaining navigation, the guidance information of carrier.
3. a kind of multi information deep integrated navigation micro-system according to claim 1, it is characterized in that: described navigation calculation circuit comprises satellite navigation resolving circuit, micro-inertial navigation resolving circuit, earth-magnetic navigation resolving circuit and elevation carrection resolving circuit, resolve for completing satellite navigation, micro-inertial navigation resolves, earth-magnetic navigation resolves, elevation carrection resolves, satellite navigation and inertial navigation combine KALMAN filtering evaluation work deeply.
4. an air navigation aid for multi information deep integrated navigation micro-system, is characterized in that: comprise the steps:
1) navigation micro-system initialization;
2) taken into account the motion state signal of altitude gauge Real-time Collection carrier by 3 axis MEMS GYROCHIP group, 3-axis acceleration chipset, magnetic field, and carry out signal transacting, error compensation;
3) satellite navigation radio-frequency signal is received by satellite navigation chip, and carry out pre-filtering, low noise amplification, mixing, intermediate frequency filtering, polyphase filter, numerical control gain amplify and drive amplification process, thus is that AD circuit can the intermediate-freuqncy signal of Direct Sampling by satellite navigation radio-frequency signal frequency conversion;
4) by navigation calculation circuit, high-speed AD sampling and anti-interference process are carried out to intermediate-freuqncy signal, then carry out acquiring satellite, satellite loop tracks and satellite navigation and resolve, calculate time, the pseudorange of carrier, pseudorange rates, position and velocity information;
5) initial alignment state is judged;
6) if initial alignment does not complete, then carry out coarse alignment, comprise initial position, speed, time setting, set up navigational coordinate system, calculate initial attitude, orientation;
7) then fine alignment is carried out, comprise and survey drift is carried out to 3 axis MEMS gyro, three axis accelerometer, adopt satellite navigation and inertial navigation deeply to combine KALMAN filtering mode and optimal estimation is carried out to navigational parameter, obtain navigation information and estimation of error, return after completing fine alignment and perform step 2);
8) if initial alignment completes, then carry out strap-down inertial calculating, separate quaternion differential equation, navigation equation, obtain the attitude of carrier, speed and position;
9) judge whether satellite navigation information, if there is satellite navigation information, then carry out inertia, satellite navigation, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating; If there is no satellite navigation information, then carry out inertia, magnetic field, altitude gauge KALMAN filtering information fusion navigation calculating;
10) obtain optimum navigational parameter, return step 2); Meanwhile, optimum navigational parameter is fed back to acquiring satellite, navigation loop tracks, satellite navigation are resolved.
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Cited By (14)
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| CN107238332A (en) * | 2017-07-31 | 2017-10-10 | 中国工程物理研究院电子工程研究所 | A kind of underawater ordnance fuze system and control method for possessing safety zone control function |
| CN107356250A (en) * | 2017-07-10 | 2017-11-17 | 嘉兴市纳杰微电子技术有限公司 | Suitable for the time-sharing multiplex integrated circuit of single-sheet miniature location navigation time dissemination system |
| CN108151741A (en) * | 2018-01-04 | 2018-06-12 | 北京原子机器人科技有限公司 | Multimode Intelligent inertial navigation sensor-based system and its data processing method |
| CN108180905A (en) * | 2018-01-04 | 2018-06-19 | 北京原子机器人科技有限公司 | The signal conditioner and method of intelligent inertial navigation system |
| CN108303082A (en) * | 2018-01-04 | 2018-07-20 | 北京原子机器人科技有限公司 | Intelligent inertial navigation sensor-based system and its data processing method |
| CN108931155A (en) * | 2018-07-09 | 2018-12-04 | 北京航天控制仪器研究所 | One kind not depending on satellite navigation and increases journey guided munition self-contained guidance system |
| CN109931926A (en) * | 2019-04-04 | 2019-06-25 | 山东智翼航空科技有限公司 | A kind of small drone based on topocentric coordinate system is seamless self-aid navigation algorithm |
| CN110174902A (en) * | 2019-05-22 | 2019-08-27 | 长光卫星技术有限公司 | Magnetometer/MEMS gyroscope combination system for microsatellite |
| CN111781626A (en) * | 2020-08-09 | 2020-10-16 | 湖南星至导航科技有限公司 | Multifunctional navigation system and method |
| CN112344929A (en) * | 2020-11-27 | 2021-02-09 | 中电科技集团重庆声光电有限公司 | Multilayer bare chip stacking 3D heterogeneous integrated navigation micro system |
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| CN112612047A (en) * | 2020-11-27 | 2021-04-06 | 航天恒星科技有限公司 | Satellite/inertia combined micro navigation system |
| CN112733409A (en) * | 2021-04-02 | 2021-04-30 | 中国电子科技集团公司信息科学研究院 | Multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform |
| CN113959438A (en) * | 2021-10-20 | 2022-01-21 | 广东电力通信科技有限公司 | Navigation positioning method based on multi-source data fusion and storage medium |
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| CN108151741A (en) * | 2018-01-04 | 2018-06-12 | 北京原子机器人科技有限公司 | Multimode Intelligent inertial navigation sensor-based system and its data processing method |
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| CN108931155B (en) * | 2018-07-09 | 2020-08-14 | 北京航天控制仪器研究所 | Autonomous guidance system independent of satellite navigation extended-range guidance ammunition |
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| CN109931926A (en) * | 2019-04-04 | 2019-06-25 | 山东智翼航空科技有限公司 | A kind of small drone based on topocentric coordinate system is seamless self-aid navigation algorithm |
| CN110174902B (en) * | 2019-05-22 | 2022-01-28 | 长光卫星技术有限公司 | magnetometer/MEMS gyroscope combination system for microsatellite |
| CN110174902A (en) * | 2019-05-22 | 2019-08-27 | 长光卫星技术有限公司 | Magnetometer/MEMS gyroscope combination system for microsatellite |
| CN111781626A (en) * | 2020-08-09 | 2020-10-16 | 湖南星至导航科技有限公司 | Multifunctional navigation system and method |
| CN111781626B (en) * | 2020-08-09 | 2023-08-18 | 湖南星至导航科技有限公司 | Multifunctional navigation system and method |
| CN112484723A (en) * | 2020-11-27 | 2021-03-12 | 南京理工大学 | High-dynamic micro-inertial navigation system |
| CN112612047A (en) * | 2020-11-27 | 2021-04-06 | 航天恒星科技有限公司 | Satellite/inertia combined micro navigation system |
| CN112344929A (en) * | 2020-11-27 | 2021-02-09 | 中电科技集团重庆声光电有限公司 | Multilayer bare chip stacking 3D heterogeneous integrated navigation micro system |
| CN112484723B (en) * | 2020-11-27 | 2024-02-13 | 南京理工大学 | High dynamic micro inertial navigation system |
| CN112612047B (en) * | 2020-11-27 | 2024-03-15 | 航天恒星科技有限公司 | Satellite/inertial combined micro navigation system |
| CN112733409A (en) * | 2021-04-02 | 2021-04-30 | 中国电子科技集团公司信息科学研究院 | Multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform |
| CN113959438A (en) * | 2021-10-20 | 2022-01-21 | 广东电力通信科技有限公司 | Navigation positioning method based on multi-source data fusion and storage medium |
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