CN106443734A - System for realizing centimeter-level precision GPS positioning in ARM platform - Google Patents
System for realizing centimeter-level precision GPS positioning in ARM platform Download PDFInfo
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- CN106443734A CN106443734A CN201610829832.3A CN201610829832A CN106443734A CN 106443734 A CN106443734 A CN 106443734A CN 201610829832 A CN201610829832 A CN 201610829832A CN 106443734 A CN106443734 A CN 106443734A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The invention discloses a system for realizing centimeter-level precision GPS positioning in an ARM platform. The system for realizing the centimeter-level precision GPS positioning in the ARM platform comprises a front receiving device integrated on a board card, an FPGA correlator and a micro-processor. The front receiving device is used for receiving a satellite signal through an external antenna, and is integrated with a band-pass filter, a mixer/oscillator and a three-position digital analog converter. The FPGA correlator is used for performing the further filtering and the correlation analysis to the satellite signal, and is integrated with a sample memory, a satellite signal obtaining channel, a satellite signal tracking channel and a system timer. The micro-processor is used for receiving the intermediate calculation result output by the FPGA correlator, and executing all calculations on the FPGA correlator, and outputting the real time carrier phase difference position and speed result. The system for realizing the centimeter-level precision GPS positioning in the ARM platform is capable of performing the deep optimization to the solution algorithm of the ambiguity of whole cycles so as to enable the real time positioning of the centimeter-level, effectively reducing the error caused by the carrier phase measurement, and realizing the manufacture and application of the RTK micromation and low cost device.
Description
Technical field
The present invention relates to a kind of alignment system, more particularly, to a kind of what centimetre class precision GPS location realized by ARM platform it is
System.
Background technology
Global positioning system (GPS, global positioning system) is to utilize position location satellite, in the world
Inside carry out the system positioning, navigating in real time.With the development of intelligent terminal, GPS positioning technology is widely deployed not
Same domain.One-Point Location, or absolute fix is a kind of the most frequently used method in GPS positioning technology, it be by gps receiver with
The distance of four or more than four known satellite is determining gps receiver position on earth.Gps receiver and known satellite
Between measurement distance error, such as Satellite clock errors and the measure of time that causes through ionosphere time delay during satellite-signal passback be by mistake
Difference, is the main source of error of GPS location., P code error is 1～2m taking real-time One-Point Location (for navigating) as a example；C/A
Code error is 5～10m, and how to reduce real-time positioning error becomes the key problem in technology of the application in civil area for the GPS and popularization.
Real-time and Dynamic carrier phase difference (RTK, real time kinematic) location technology, is built upon locating in real time
On the basis of the carrier phase of two survey stations of reason, the carrier phase that base station is gathered is sent to subscriber board and carries out asking difference to resolve seat
Mark, it can provide the three-dimensional coordinate of observation station in real time, and reaches the high accuracy of Centimeter Level.Huge accuracy benefits make RTK be answered
Use the fields such as geographical mapping, examination of driver.
The key problem in technology of RTK positioning is the solution of integer ambiguity (integer ambiguity), only quickly and accurately
Calculate integer ambiguity, guarantee realizes high accuracy real-time dynamic positioning.At present, be limited to RTKLIB efficiency of algorithm and
Running environment and the level of development of related hardware, existing RTK arithmetic system is huge, needs higher operational capability, higher
Power consumption, so as to integrated level is relatively low, portability is very poor for more element of installation, price very high (typically need to rise at 40,000 yuan).
Its high equipment cost, installation cost, operating cost and maintenance cost constrain application in real life for the RTK significantly.
So that class is in unmanned plane delivery of packages, the safety navigation of automatic Pilot, the accurate plantation of intelligent farm machinery, smart city etc.
The products ＆ services needing high precision position all fail to become universal reality in the daily life of the common people.
Content of the invention
In order to solve the weak point in above-mentioned technical problem, the invention provides one kind realizes Centimeter Level in ARM platform
The system of precision GPS location.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is：One kind realizes Centimeter Level essence in ARM platform
The system of degree GPS location, including the front end receiver device being integrated on board, FPGA correlator and three units of microprocessor；
Front end receiver device by exterior antenna receive satellite-signal, be integrated with band filter, mixer/oscillator and
Three digit weighted-voltage D/A converters；After the satellite-signal that front end receiver device receives is first by band-pass filter, then input mixer/shake
Swing device, mixer/oscillator is transformed into the L1 carrier signal of input on lower intermediate frequency, export Low Medium Frequency or zero intermediate frequency I and Q
Signal, does not change the structure of modulated signal simultaneously；Three digit weighted-voltage D/A converters can be each output of I and Q passage one or two simultaneously
Individual quantization or for I passage export three quantization；
FPGA correlator is used for the satellite-signal stream of front end receiver device is further filtered and correlation analysiss,
It is integrated with sampling memory, satellite-signal obtains channel, satellite-signal follows the trail of channel and system timer；Sampling memory, defend
Star signal acquisition channel, satellite-signal are followed the trail of channel, system timer and are passed through serial peripheral equipment interface SPI and microprocessor phase respectively
Even；
Microprocessor receives the intermediate calculation results of FPGA correlator output, and execute all on FPGA correlator upper strata
Computing, exports real-time carrier phase difference location/velocity result；
Board is structure identical two, a base station as RTK location equipment, and another sets as RTK positioning
Standby rover station.
Front end receiver device adopts MAX2769 receiver；FPGA correlator is using the Spartan-6FPGA of match SEL；Micro-
Processor is using the STM32 processor based on ARM.
Front end receiver device, FPGA correlator and microprocessor are arranged on the central area of board, the outside surrounding of board
It is provided with link block；Link block includes exterior antenna, USB interface, JTAG debugging mouth, outside serial ports A and outside serial ports B；
Wherein, the input of exterior antenna is to be realized by a radio-frequency joint SMA adapter being arranged on board, and board passes through outside
Antenna multipath reception GNSS satellite signal.
The satellite number that board receives is 0-10, carries out accepting and believing computing when footpath letter number is equal to or more than 5, and footpath letter number is less than 5
When do not carry out accepting and believing computing.
USB interface is used for the communication of PC main frame and board；The default configuration of USB interface is to be connected to micro- place as serial bridge
Reason device, USB interface may be alternatively configured as the fifo interface of high speed, and the signal stream after FPGA correlator is processed exports to PC master
Machine；Board turns serial port chip and USB interface by F232R USB, on PC main frame, board is configured, and USB interface is plate
Card provides the power supply of+5V.
Outside serial ports A and outside serial ports B provides asynchronous serial communication mouth UART of the 3.3V LVTTL level of high speed；Work as plate
When card is as base station, the positioning result at outside serial ports A output reference station, the measured value at outside serial ports B output reference station and star
Go through；When board is as rover station, outside serial ports A exports the Differential positioning result of rover station, and outside serial ports B receives base station
Measured value and ephemeris.
The connection of base station mainly includes three interfaces, and first interface is by the radio-frequency joint SMA of board and high accuracy
Antenna is connected, and the length of connection cables is relevant with the base station erection of user；Second interface be by the outside serial ports B of board with
User radio station is connected；3rd interface is that the USB interface of board is connected with PC main frame, by front-end control platform, base station is entered
Row relevant configuration, the content of configuration mainly includes the input of benchmark station coordinates and serial port setting.
The present invention has carried out depth optimization to the derivation algorithm of integer ambiguity, and so that the real-time positioning of Centimeter Level is become can
Can, and by selecting receives frequency to be 1575.42MHz, wavelength is the L1 carrier signal of 19.03cm, and reduction is right effectively
The error that carrier phase measurement brings.Additionally, the present invention can carry out multipath satellite reception, realized by high performance dsp board card
The full rate of primary signal is passed through, and satellite information is carried out with noise point domain and filters, and fraud detection, in conjunction with associated accelerator, is passed through
The transformation of the upgrading of algorithm and computing environment, it is achieved that RTK miniaturization, the manufacture of low-cost equipment, makes application cost (equipment system
Make, mounting, commissioning and maintenance etc.) be only the 2% of existing conventional scheme.
Brief description
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the system composition structured flowchart of the present invention.
Fig. 2 is product appearance figure of the present invention.
In figure：1st, outside serial ports A；2nd, outside serial ports B；3rd, USB interface；4th, JTAG debugging mouth；5th, status indicator lamp.
Specific embodiment
As shown in figure 1, the present invention includes front end receiver device, the FPGA correlator (programmable chip being integrated on board
Control module), microprocessor；Wherein, the satellite-signal that front end receiver device is used for exterior antenna is received is filtered, frequency reducing
And sliding-model control；It is then passed through the satellite-signal stream after front end receiver device digitized to be sent in FPGA correlator,
FPGA correlator carries out further Filtering Processing and correlation operation to satellite-signal stream, then passes through Serial Peripheral Interface (SPI)
SPI (Serial Peripheral Interface (SPI), Serial Peripheral Interface) coupled microprocessor can be read and write and control
Module in FPGA correlator processed, collects calculation result, and carries out location/velocity/time to the satellite-signal stream after processing
RTK solves.Concrete setting is as follows：
Front end receiver device by exterior antenna receive satellite-signal, be integrated with band filter, mixer/oscillator and
Three digit weighted-voltage D/A converters；After the satellite-signal that front end receiver device receives is first by band-pass filter, then input mixer/shake
Swing device, the L1 carrier signal of the 1575.42MHz input for the mixer/oscillator frequency mixer is transformed on lower intermediate frequency, comes defeated
Go out Low Medium Frequency or zero intermediate frequency I and Q signal, do not change the structure of modulated signal simultaneously；Wherein, three digit weighted-voltage D/A converters can be simultaneously
For I and Q passage respectively export one or two quantization or for I passage export three quantization.The present embodiment selects low cost
With the MAX2769 receiver of high integration as front end receiver device, the acquisition sensitivity that MAX2769 provides reaches -143dB, with
Track sensitivity reaches -154dB.Due to the built-in configuration register of MAX2769, many configurations can pass through serial peripheral equipment interface SPI
Input port corresponding depositor is configured, the high integration of MAX2769 makes it just only need little peripheral circuit
The GPS of complete low cost can be realized.
The present invention, in order to ensure the real-time operation of RTK algorithm, receives simultaneously and processes multiple GPS letters that receiver is beamed back
Number, the resolving of the present invention is combined by FPGA correlator and microprocessor and is completed.The FPGA correlator of the present invention have selected match SEL
Spartan-6FPGA, its build storage control process simply direct.As match SEL Spartan FPGA series the
Six generation products, Spartan-6FPGA series achieves low cost and low-power consumption and high performance balance, using the teaching of the invention it is possible to provide more elevation
That spends is system-level integrated.FPGA correlator be integrated with sampling memory, satellite-signal obtain channel, satellite-signal follow the trail of channel and
The acquisition of system timer, wherein satellite-signal and tracking two important channels of channel are used for the satellite letter to front end receiver device
Number stream is further filtered and correlation analysiss.FPGA correlator passes through to load the system firmware of pre-programmed, can conduct
Programmable module opening is to microprocessor.Microprocessor can be configured to FPGA correlator by the input port of SPI
And programming.FPGA correlator provides the calculation result of satellite-signal stream to microprocessor, makes microprocessor can quickly enter line position
Put/speed/time carrier phase difference solution.
The microprocessor of the present invention is made up of the STM32F4 processor based on ARM.STM32F4 processor is ST (meaning method half
Conductor) company's exploitation, based on the high performance controller of Cortex-M4 kernel, dominant frequency can reach 168MHz.STM32F4 receives
The intermediate calculation results of FPGA correlator output, and execute all computings on FPGA correlator upper strata, including tracking loop filter
Ripple, navigation process etc..STM32F4 pass through run upper strata Falcon algorithm, can export real-time carrier phase difference position/
Rate results.In order to corresponding with the measurement frequency of Falcon algorithm, the RTK refresh rate of STM32F4 is 10Hz.
Different from One-Point Location, RTK location equipment at least needs a base station (receiver) and a rover station (to receive
Machine).Wherein, base station is used for receiving stationary satellite signal, and the observation itself, and ephemeris is sent to rover station.Rover station
The base station observed quantity being sent by the satellite-signal that receives and base station, is carried out with base station observed quantity to satellite-signal
Contrast is processed, thus the observed quantity to oneself is modified.According to design system structure, our independent developments GPS location letter
Number receive and process mainboard (i.e. board), according to user's needs, board can be configured to base station or rover station.As Fig. 2
Shown, each serial port setting of board is in the outer side edges of board, the link block of board corresponding with the composition system structure of the present invention
Mainly include exterior antenna, USB interface, JTAG debugging mouth, outside serial ports A and outside serial ports B.
Wherein, the input of exterior antenna is to be realized by the radio-frequency joint SMA adapter that is arranged on board.Plate
Card passes through exterior antenna multipath reception GNSS satellite signal.More specifically, the satellite number that it receives is 0-10, in footpath letter number etc.
In or carry out accepting and believing computing during more than 5, footpath letter number does not carry out accepting and believing computing when being less than 5.After exterior antenna receives satellite-signal,
MAX2769 front end receiver (its acquisition sensitivity -143dB, tracking sensitivity -154dB) carries out noise point domain to satellite-signal
Filter, low noise amplification (gain 30dB), accepted and believed in 45db domain, filter the larger information of noise, for improving computing essence
Degree carries out basis.
USB interface is used for the communication of PC main frame and board.The default configuration of USB interface is to be connected to micro- place as serial bridge
Manage device, in addition USB interface may be alternatively configured as the fifo interface of high speed, the signal stream after FPGA correlator is processed exports to PC
Main frame, high performance dsp board card can make satellite-signal stream full rate pass through.FTDI company is used on board of the present invention
F232R USB turns serial port chip, and by USB interface, user can be configured to board on PC main frame.Additionally, USB interface
The power supply of+5V can also be provided for board.
Outside serial ports A and B provides the asynchronous serial communication mouth UART (universal asynchronous receiving-transmitting of the 3.3V LVTTL level of high speed
Transmitter, Universal Asynchronous Receiver/Transmitter).This two outside serial ports can be set
For transmitting NMEA-1083 satellite-signal, system mode, the information of Debugging message and transmitting-receiving main frame or other boards or instruction.
When board is as base station, the positioning result at outside serial ports A output reference station, the measured value at outside serial ports B output reference station
And ephemeris.When board is as rover station, outside serial ports A exports the Differential positioning result of rover station, and outside serial ports B receives benchmark
The measured value stood and ephemeris.Communicated by open, legal, free wave band (433MHz) between base station and rover station, its
Transmission signal coding is based on binary system F-SBP agreement.
The connection of base station mainly includes three interfaces.First is that the radio-frequency joint SMA of board is connected with exterior antenna,
The length of connection cables is relevant with the base station erection of user, and in order to ensure antenna to the signal gain of board, length of cable is little
Using the RF cable of model LMR200 when 20 meters, recommend to select type when length of cable is more than 20 meters and is less than 50 meters
The RF cable of number LMR300.Second is that the outside serial ports B of board is connected with user radio station.3rd is to meet the USB of board
Mouthful be connected with PC main frame, base station is carried out relevant configuration by front end Falcon console (control station), configuration interior
Hold the main benchmark station coordinates that includes to input and serial port setting.Because RTK is using relative localization principle, the positional precision of base station
Most important to the Differential positioning result of rover station.In order to obtain higher positional precision, base station should be placed on one
Observation condition is relatively good, and the overhead visual field is good, around glitch-free place.Correspondingly, rover station connects and configuration should be with base station
Unanimously.In actual applications, the outside serial ports A of rover station is connected with the flight controller of user equipment such as unmanned plane.
The design principle explanation of the present invention：Integer ambiguity be carrier wave in transmitting procedure, carrier phase and reference phase
Between phase contrast the integral cycle unknown corresponding to first observation, determine that integer ambiguity is asking of must solving in GPS location
Topic.Cycle slip refer to saltus step that the complete cycle that in the carrier phase measurement of GPS, led to due to the losing lock of satellite-signal counted or in
Disconnected.Integer ambiguity and cycle slip make the Baseline Survey of GPS complicate.In existing calculation method, by satellite and observation station
Prior information or Pseudo-range Observations can estimate its approximation, and resolve its optimum evaluation in compensating computation, so that ionosphere is rolled over
The impact penetrating the systematic bias such as effect and multipath effect is gradually weakened so that eliminating.
The precision of GPS location is decided by the frequency of carrier wave, gps receiver and computation.One good GPS of design connects
Receipts machine, can make the precision of One-Point Location reach 3～8 meters.Therefore design and Implement GPS, be to improve GPS location precision
The first step.In theory, single-point static immobilization also can reach the precision of Centimeter Level, but is present to ensure that accuracy, and observation time exists
More than one hour.Reach higher Real-Time Positioning it is necessary to new algorithm such as Differential positioning (DGPS) and more preferably
E measurement technology.Different from One-Point Location, RTK passes through the difference value of two measuring station carrier phase observed quantities of real-time processing, will
The carrier phase of base station collection issues mobile receiver, to carry out asking difference to resolve coordinate, to eliminate most of common error.Existing
Algorithms most in use be method based on reliable Differential positioning (DGPS)/inertial navigation system (INS), DGPS/INS's
Under framework, the estimation result of all of amount of nonlinearity, the arithmetic result being drawn by maximum a posteriori (MAP) estimation technique, is logical
Cross and consider all factors, including motion, satellite orbit, the available information such as Inertial Measurement Unit (IMU) sensor resolves.
The huge operand that integer ambiguity brings is resolved by GPS and IMU, particularly as the IMU needing to ensure real-time
High sampling rate, is to realize real-time Centimeter Level and its integrated maximum technological difficulties.
The internal operation (being certainly named as Falcon algorithm) of the present invention is adjustment and the RTK computation optimizing.RTK algorithm
Operand essentially from track estimation in order to reduce the complexity of RTK, in execution cycle, Falcon algorithm obtain exist
GPS the and IMU measured value of fixed time period, resolves integer ambiguity and estimation movement station track.Falcon algorithm is assumed solid
Fix time in section, effective phase measurement that receiver receives multiple satellites does not have clocking error, measurement frequency is 10Hz.When
When the measurement of GPS is linear time invariant, the Falcon algorithm after optimization is consistent with the calculation result of former algorithm.Nonlinear border
The error error related with time of measuring is reduced by the design of receiver and optimizes.
Above-mentioned embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, and this technology is led
Change, remodeling, interpolation or replacement that the technical staff in domain is made in the range of technical scheme, also belong to this
Bright protection domain.
Claims (7)
1. a kind of ARM platform realize centimetre class precision GPS location system it is characterised in that：It includes being integrated on board
Front end receiver device, FPGA correlator and three units of microprocessor；
Described front end receiver device by exterior antenna receive satellite-signal, be integrated with band filter, mixer/oscillator and
Three digit weighted-voltage D/A converters；After the satellite-signal that described front end receiver device receives is first by band-pass filter, then input mixing
Device/agitator, mixer/oscillator is transformed into the L1 carrier signal of input on lower intermediate frequency, in output Low Medium Frequency or zero
Frequency I and Q signal, do not change the structure of modulated signal simultaneously；Described three digit weighted-voltage D/A converters can be that I and Q passage is each defeated simultaneously
Go out one or two quantization or export three quantization for I passage；
Described FPGA correlator is used for the satellite-signal stream of front end receiver device is further filtered and correlation analysiss,
It is integrated with sampling memory, satellite-signal obtains channel, satellite-signal follows the trail of channel and system timer；Described samples storage
Device, satellite-signal obtain channel, satellite-signal is followed the trail of channel, system timer and passed through serial peripheral equipment interface SPI and Wei Chu respectively
Reason device is connected；
Described microprocessor receives the intermediate calculation results of FPGA correlator output, and execute all on FPGA correlator upper strata
Computing, exports real-time carrier phase difference location/velocity result；
Described board is structure identical two, a base station as RTK location equipment, and another sets as RTK positioning
Standby rover station.
2. according to claim 1 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
Front end receiver device adopts MAX2769 receiver；FPGA correlator is using the Spartan-6FPGA of match SEL；Microprocessor is adopted
With the STM32 processor based on ARM.
3. according to claim 1 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
Front end receiver device, FPGA correlator and microprocessor are arranged on the central area of board, and the outside surrounding of board is provided with even
Connection module；Described link block includes exterior antenna, USB interface, JTAG debugging mouth, outside serial ports A and outside serial ports B；
Wherein, the input of exterior antenna is to be realized by a radio-frequency joint SMA adapter being arranged on board, described board
By exterior antenna multipath reception GNSS satellite signal.
4. according to claim 3 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
The satellite number that board receives is 0-10, carries out accepting and believing computing when footpath letter number is equal to or more than 5, and footpath letter number is not carried out when being less than 5
Accept and believe computing.
5. according to claim 3 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
USB interface is used for the communication of PC main frame and board；The default configuration of described USB interface is to be connected to microprocessor as serial bridge
Device, USB interface may be alternatively configured as the fifo interface of high speed, and the signal stream after FPGA correlator is processed exports to PC main frame；
Described board turns serial port chip and USB interface by F232R USB, on PC main frame, board is configured, USB interface
The power supply of+5V is provided for board.
6. according to claim 3 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
Outside serial ports A and outside serial ports B provides asynchronous serial communication mouth UART of the 3.3V LVTTL level of high speed；When board is as base
During quasi- station, the positioning result at outside serial ports A output reference station, the measured value at outside serial ports B output reference station and ephemeris；Work as board
During as rover station, outside serial ports A exports the Differential positioning result of rover station, outside serial ports B receive base station measured value and
Ephemeris.
7. according to claim 6 ARM platform realize centimetre class precision GPS location system it is characterised in that：Described
The connection of base station mainly includes three interfaces, and first interface is that the radio-frequency joint SMA of board is connected with high-precision antenna,
The length of connection cables is relevant with the base station erection of user；Second interface is by the outside serial ports B of board and user radio station
It is connected；3rd interface is that the USB interface of board is connected with PC main frame, carries out correlation by front-end control platform to base station and joins
Put, the content of configuration mainly includes the input of benchmark station coordinates and serial port setting.
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Application publication date: 20170222 |