CN106707313A - Cross-platform satellite navigation receiver software system - Google Patents
Cross-platform satellite navigation receiver software system Download PDFInfo
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- CN106707313A CN106707313A CN201611047325.0A CN201611047325A CN106707313A CN 106707313 A CN106707313 A CN 106707313A CN 201611047325 A CN201611047325 A CN 201611047325A CN 106707313 A CN106707313 A CN 106707313A
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
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Abstract
The invention provides a cross-platform satellite navigation receiver software system applicable to satellite navigation receivers of multiple processor architectures. Common parts irrelevant to a hardware platform in satellite navigation receiver software are refined and isolated from the parts relevant to the hardware platform, so that hierarchical modular design is realized, and the portability and extendibility of the software are promoted. By adopting the software architecture, the satellite navigation receiver software can be flexibly transplanted on multiple DSP or ARM processors, so that the requirements of various users and products are met, the design flexibility is improved, and the software maintenance cost is reduced.
Description
Technical field
The invention belongs to the communications field, it is related to a kind of satellite navigation receiver software systems, more particularly to it is a kind of cross-platform
Satellite navigation receiver software systems.
Background technology
Satellite navigation receiver receives GNSS or RDSS satellite-signals, is generally divided into universal, mapping type and Custom Prosthesis three
Kind.The requirement of universal receiver realizes basic positioning, tests the speed and timing (PVT) function, and tendency is using lightweight, low-power consumption
Arm processor baseband chip solution；The requirement of mapping type receiver tracks multisystem multifrequency point satellite-signal simultaneously, except realization
Outside basic PVT functions, also need to realize orientation, survey the functions such as appearance, RTK, operand is big, and tendency uses High Performance DSP processor；It is fixed
Type receiver processed is customized by user's specific requirement, general to be realized using the general SOC based on ARM or dsp processor, for example China
Patent CN102313891A discloses a kind of navigation neceiver, including：Radio-frequency module, FPGA module and ARM7 modules；It is described to penetrate
Frequency module is connected to the FPGA module, and the FPGA module is connected to the ARM7 modules；The radio-frequency module is to receiving
Baseband signal process and obtain digital medium-frequency signal, and the digital medium-frequency signal is sent to the FPGA module；Institute
State FPGA module to process the digital medium-frequency signal, obtain the navigation message of satellite, and the navigation message is sent
To the ARM7 modules；The ARM7 modules are resolved to the navigation message data, obtain navigation information.
In sum, satellite navigation receiver software need to operate in the processor of different frameworks in different application scenarios
On.Usually, at aspects such as instruction set, interruption control, bus marcos there is larger difference in different processor, necessarily cause operation
There is larger difference in system and board suppot package design.Therefore, Receiver Software as functional realiey main body, in different disposal
The enterprising accommodating Rapid transplant of device platform, is to realize that product quickly upgrades, needs to solve for different application occasion flexible design
Problem.
Prior art：Towards the different many set Receiver Softwares of processor platform design, core algorithm identical is being kept
Under the premise of, use different operating system calling interfaces, interrupt response pattern and ancillary equipment driving interface.
There is problem：Many set softwares operating system, board suppot package, interrupt the implementation of the aspects such as service in the presence of compared with
Big difference, it is portable poor in face of different processor platform, storage configuration and peripheral hardware scheme.Developer need to be apparent from difference
The bottom layer realization difference of platform, it is difficult to carry out division of labor based on specialization；Development teams need to simultaneously safeguard multiple version softwares, it is difficult to quick
The changeable market demand of reply.
The content of the invention
The invention provides a kind of cross-platform satellite navigation receiver software systems, tieed up with the exploitation for overcoming prior art
Shield difficulty is big, portable difference deficiency.
To achieve the above object, the invention provides a kind of cross-platform satellite navigation receiver software systems, including letter
Number processing unit, information process unit, system upgrade unit, the signal processing unit include GNSS signal process part,
RDSS signal processings and common portion；Each business of the GNSS signal process part, the RDSS signal processings
Module is separated, and forbids the static variable of big intermodule to directly invoke, and each several part uses inside modules and external interface header file
Mode fixes each module interface；
Described information processing unit includes interface layer, operation layer, podium level and system management module；The podium level is included
Operating system and supporting interface, embedded file system and supporting interface, bottom layer driving and board suppot package, for operating bottom
Hardware interacts with signal processing unit, realizes multithreading task scheduling, isolates between different hardware platforms and external device
Difference, provide interface unified running environment to upper layer software (applications), need to carry out adaptability to this layer in cross-platform transplanting to repair
Change；The system management module includes interrupt management and memory management module, the interrupt management module and memory management module
Need to modify in cross-platform transplanting；
The system upgrade unit point includes upper computer module and slave computer module：The slave computer module is by information processing
Unit cuts modification and forms；The upper computer module realizes man-machine interaction using the framework based on MFC dialog box, including man-machine
Interface, data parsing and serial ports receive and dispatch three modules.
The GNSS signal process part is divided into five modules：Direct current biasing suppression, Suppression of narrow band interference, capture engine,
Capture confirms and tracking channel that the anti-arrowband of acquisition search, related operation and Big Dipper frequency for GNSS satellite signal is disturbed
Treatment.
The RDSS signal processings are specifically subdivided into six modules：Anti- arrowband interference, bandpass filter, amplitude control
System, capture engine, correlator channel, Viterbi decodings, for the anti-arrowband interference of big-dipper satellite RDSS signals, and are caught
Tracking, Viterbi decoding and decoded message are obtained, while the module realizes L frequency emission functions, the operation of RDSS inbounds is performed.
The interface layer realizes the interactive interface of receiver and external equipment, comprising GNSS interfaces, RDSS interfaces, public connects
Mouthful, general standard interface and self defined interface are sub-divided into inside the submodule of each interface.
The system upgrade unit is divided into interface layer, operation layer, podium level, and the system upgrade unit platforms layer includes
FPGA interface, serial port drive and Flash drive；The operation layer includes updating operation module, is responsible for the solidification of ROMPaq；Institute
Interface layer is stated only comprising upgrade interface module, is responsible for serial data transmitting-receiving and the parsing of self-defined updating protocol.
The signal processing unit runs in being deployed in FPGA, the bottom of described information processing unit and system upgrade unit
Machine module is run in being deployed in Floating-point DSP or fixed point arm processor, and the upper computer module of the system upgrade unit is deployed in PC
On machine.
According to the above-mentioned framework of software, present invention also offers a kind of reality of cross-platform satellite navigation receiver software systems
Existing method, comprises the following steps：
S1：Satellite navigation receiver software is divided into signal processing unit, information process unit, system upgrade unit；
The signal processing unit is divided into GNSS signal process part, RDSS signal processings and common portion；By the letter
Breath processing unit is divided into the system management module of interface layer, operation layer, podium level and cross-layer；
S2：By the module directly transplanting that hardware platform is unrelated, to hardware platform, related module does adaptation.
Further, the related module of the hardware platform includes interface control module, the information in signal processing unit
Interrupt management module in podium level and system management module in processing unit, memory management module.
Further, the adaptation in the step S2 include to processor, external bus, Flash devices,
SDRAM device, FPGA device, radio-frequency devices, RTC devices, file system, the modification of the code of Support Library.
Preferably, the software systems can be used for DSPC6713, DSPC6747 or STM32F427 platform.
The beneficial effects of the invention are as follows：
1) messaging software hierarchical design：It is divided into podium level, operation layer, interface layer and system administration part, by function
The source code file that separate category stores each module is divided, architecture design is corresponded with source file storage path, it is ensured that soft
Part framework is clear, and design is mutually echoed with realization；
2) software modularity design：Each business modules of GNSS/RDSS are separated, and forbid the static variable of big intermodule directly to adjust
With, each module interface is fixed using the mode of inside modules and external interface header file, improve module level portable；If with
Module is transplanted for unit, only need to again realize other module-external interface functions that the module is called；
3) architecture design takes out hardware-related podium level, preliminary abstracting operating system interface and board suppot package
Interface, realizes that operation layer, podium level are separated with interface layer, to adapt to platform change；The current compatible floating-point of messaging software
DSPC6713, DSPC6747 and fixed point ARM tri- kinds of processor platforms of Cortex-M4F, based on identical podium level Interface design
Operation layer and interface layer software, improve portable；
4) board suppot package is built in modular fashion, the different hardware solutions of adaptation, such as various radio frequency chip,
Flash, RTC etc.；It is convenient to increase New Hardware interface, such as inertial navigation device；The convenient various physical communication interfaces of extension, such as go here and there
Mouthful, CAN mouthfuls etc.；
5) interface layer software builds mode, can be by protocol contents attribute, and new interface protocol is realized in convenient addition；
6) decoupling of open software architecture and intermodule, appropriate use condition compiling, with the continuous lifting of conformability
Improve and function cutting, such as：GNSS/RDSS functions can cut, GNSS frequencies can cut, authorization service function can cut, RDSS
Commander's machine function can cut；
7) the reasonable design of data structure makes software in satellite system, signal frequency point, signal system, passage extension, observation
Amount turnover rate, resolving frequency etc. are many-sided to have scalability；
8) have on portability with scalability and significantly lifted.
Brief description of the drawings
Fig. 1 is the composition frame chart of invention software framework；
Fig. 2 is the software unit deployment graph of a relation of invention software framework；
Fig. 3 is the signal processing unit of invention software framework and the system assumption diagram of information process unit；
Fig. 4 is the system assumption diagram of the system upgrade unit of invention software framework.
Specific embodiment
In order to be better understood from technical scheme proposed by the invention, below in conjunction with the accompanying drawings with specific embodiment to this hair
It is bright to be further elaborated.
As shown in figure 1, a kind of cross-platform satellite navigation receiver software systems, including at signal processing unit, information
Reason unit, system upgrade unit, the signal processing unit include GNSS signal process part, RDSS signal processings and public affairs
Common part；The GNSS signal process part, each business module of the RDSS signal processings are separated, and forbid big intermodule
Static variable directly invoke, each several part fixes each module interface using the mode of inside modules and external interface header file；
Described information processing unit includes interface layer, operation layer, podium level and system management module；The podium level is included
Operating system and supporting interface, embedded file system and supporting interface, bottom layer driving and board suppot package, for operating bottom
Hardware interacts with signal processing unit, realizes multithreading task scheduling, isolates between different hardware platforms and external device
Difference, provide interface unified running environment to upper layer software (applications), need to carry out adaptability to this layer in cross-platform transplanting to repair
Change；The system management module includes interrupt management and memory management module, the interrupt management and memory management module across
Need to modify during platform transplantation.
As shown in Figure 2, signal processing unit is deployed in FPGA and runs, information process unit and system upgrade unit
Slave computer module is run in being deployed in Floating-point DSP or fixed point arm processor, and the upper computer module of system upgrade unit is deployed in PC
On machine.
As shown in figure 3, signal processing unit is divided into three parts：GNSS signal process part, RDSS signal processings
And common portion.
1) GNSS signal process part is mainly responsible for acquisition search, related operation and the Big Dipper frequency of GNSS satellite signal
Anti- arrowband interference treatment, is specifically subdivided into five modules：Direct current biasing suppression, Suppression of narrow band interference, capture engine, capture confirm
And tracking channel.
2) RDSS signal processings are mainly responsible for completing the anti-arrowband interference of big-dipper satellite RDSS signals, and are captured
Tracking, Viterbi decoding and decoded message, while the module realizes L frequency emission functions, perform the operation of RDSS inbounds, specific thin
It is divided into six modules：Anti- arrowband interference, bandpass filter, amplitude control, capture engine, correlator channel, Viterbi decodings.
3) common portion is responsible for the realization of GNSS and RDSS common functions, is divided into time management, interrupt management and interface control
Three modules of system.Time management be responsible for the realization of internal RTC, RNSS authorization signals code stream extract, local zone time adjustment control with
And external time service Interface Controller.Interrupt management is responsible for the management of processor external interrupt signal, equivalent to processor peripheral interrupt,
Including：Capture completes interruption, the interruption of 500us Interruptions, serial ports, the interruption of RDSS IC-cards.Interface Controller is responsible for realizing general different
The respective logic circuit of step serial ports, synchronous serial interface, I2C buses and spi bus.
Information process unit uses hierarchical design, including interface layer, operation layer, podium level and cross-layer system administration mould
Block.
1) system administration：Bootloader and program entry, there is provided Booting sequence control, time slice scheduling, system are public
Management service；Comprising system mode management, interrupt management, storage management, time management and public function；Wherein, interrupt management
It is hardware platform correlation module with memory management module, needs to modify during cross-platform transplanting.
2) podium level：Operation bottom hardware, interacts with signal processing unit, realizes multithreading task scheduling, isolates
Difference between different hardware platforms and external device, provides interface unified running environment to upper layer software (applications).This layer includes behaviour
Make system and supporting interface, embedded file system and supporting interface, three modules of bottom layer driving and board suppot package, it is cross-platform
Need to change this layer of software during transplanting.
3) operation layer：The treatment of GNSS, RDSS real time business is performed, downward calling platform layer interface carries out hardware operation and disappears
Breath transmission, interacts transmission GNSS, RDSS business information with interface layer upwards.This layer includes GNSS PVT resolvings, GNSS observed quantities
Treatment, the treatment of GNSS texts, GNSS acquisition and trackings, RNSS authorization signals bite rate control, RDSS management control, the outbound controls of RDSS
System, RDSS enter stand control and RDSS IC controls；The design of this layer is unrelated with hardware platform, need not modification during cross-platform transplanting.
4) interface layer：By specific agreement specify, realize the interactive interface of receiver and external equipment, comprising GNSS interfaces,
RDSS interfaces, common interface, are sub-divided into general standard interface and self defined interface inside each submodule, can be wanted according to using
Ask, convenient all kinds of interface protocols of addition；The design of this layer is unrelated with hardware platform, need not modification during cross-platform transplanting.
It is the software module (interface) related to hardware platform wherein with the module of broken line representation, needs to make corresponding during transplanting
Modification；Other modules are the software module unrelated with hardware platform, can directly transplanting.
As shown in figure 4, system upgrade unit point upper computer module and slave computer module are designed.Slave computer module is designed
Modification is cut by information process unit to form.Podium level drives and only retain FPGA interface, serial port drive and Flash to drive；Business
Layer only includes updating operation module, is responsible for the solidification of ROMPaq；Interface layer only includes upgrade interface module, is responsible for serial data
Transmitting-receiving and the parsing of self-defined updating protocol.Upper computer module realizes man-machine interaction using the framework based on MFC dialog box, including
Man-machine interface, data parsing and serial ports receive and dispatch three modules.
According to above-mentioned framework, present invention also offers a kind of realization side of cross-platform satellite navigation receiver software systems
Method, comprises the following steps：
S1：Satellite navigation receiver software is divided into signal processing unit, information process unit, system upgrade unit；
The signal processing unit is divided into GNSS signal process part, RDSS signal processings and common portion；By the letter
Number processing unit is divided into the system management module of interface layer, operation layer, podium level and cross-layer；
S2：By the module directly transplanting that hardware platform is unrelated, to hardware platform, related module does adaptation.
The related module of the platform includes flat in interface control module, information process unit in signal processing unit
Interrupt management module, memory management module in platform layer and system management module.
Adaptation in the step S2 include to processor, external bus, Flash devices, SDRAM device,
FPGA device, radio-frequency devices, RTC devices, file system, the modification of the code of Support Library.
According to above-mentioned Software Architecture Design, on following three processor platform carrying out satellite navigation receiver software opens
Hair work.It is consistent with hardware platform irrelevant portions software, it is as follows with hardware platform relevant portion software concrete modification situation：
1st, the configuration of DSPC6713 platforms receiver and corresponding transplanting is amended as follows described in table.
2nd, the configuration of DSPC6747 platforms receiver and corresponding transplanting is amended as follows described in table.
3rd, the configuration of STM32F427 platforms receiver and corresponding transplanting is amended as follows described in table.
Software transplanting result：
On three hardware platforms run satellite navigation receiver software can realize to GNSS system (BD2, GPS,
GLONASS) capture of satellite-signal, tracking and text parsing, realization is positioned, tested the speed, timing function；Realize BD2RDSS positioning,
Communication, position function of reporting.Software architecture is consistent, and each module interface is clear, meets the cross-platform target transplanted and use.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
The correlation module and software architecture of formula make adaptability change and change.Therefore, the invention is not limited in being disclosed above and describe
Specific embodiment, to invent some modifications and changes should also be as falling into scope of the claims of the invention.
Although additionally, used some specific terms in this specification, these terms merely for convenience of description, not to this hair
It is bright to constitute any limitation.
Claims (10)
1. a kind of cross-platform satellite navigation receiver software systems, including signal processing unit, information process unit, system liter
Level unit, it is characterised in that
The signal processing unit includes GNSS signal process part, RDSS signal processings and common portion；The GNSS
Signal processing, each business module of the RDSS signal processings are separated, and forbid the static variable of big intermodule direct
Call, each several part fixes each module interface using the mode of inside modules and external interface header file；
Described information processing unit includes interface layer, operation layer, podium level and system management module；The podium level includes operation
System and supporting interface, embedded file system and supporting interface, bottom layer driving and board suppot package are hard for operating bottom
Part interacts with signal processing unit, realizes multithreading task scheduling, isolates between different hardware platforms and external device
Difference, provide interface unified running environment to upper layer software (applications), need to carry out adaptation to this layer in cross-platform transplanting；
The system management module includes interrupt management and memory management module, the interrupt management module and memory management module across
Need to modify during platform transplantation；
The system upgrade unit point includes upper computer module and slave computer module：The slave computer module is by information process unit
Modification is cut to form；The upper computer module realizes man-machine interaction using the framework based on MFC dialog box, including man-machine interface,
Data are parsed and serial ports receives and dispatches three modules.
2. a kind of cross-platform satellite navigation receiver software systems according to claim 1, it is characterised in that described
GNSS signal process part is divided into five modules：Direct current biasing suppression, Suppression of narrow band interference, capture engine, capture confirm and with
Track passage, the anti-arrowband interference treatment of acquisition search, related operation and Big Dipper frequency for GNSS satellite signal.
3. a kind of cross-platform satellite navigation receiver software systems according to claim 2, it is characterised in that described
RDSS signal processings are specifically subdivided into six modules：Anti- arrowband interference, bandpass filter, amplitude control, capture engine, phase
Device passage, Viterbi decodings are closed, the anti-arrowband for big-dipper satellite RDSS signals is disturbed, and carry out acquisition and tracking, Viterbi and translated
Code and decoded message, while the module realizes L frequency emission functions, perform the operation of RDSS inbounds.
4. a kind of cross-platform satellite navigation receiver software systems according to claim 1, it is characterised in that described to connect
Mouthful layer realizes the interactive interface of receiver and external equipment, comprising GNSS interfaces, RDSS interfaces, common interface, it is described each connect
General standard interface and self defined interface are sub-divided into inside the submodule of mouth.
5. a kind of cross-platform satellite navigation receiver software systems according to claim 1, it is characterised in that the system
System upgrade unit is divided into interface layer, operation layer, podium level, and the system upgrade unit platforms layer includes that FPGA interface, serial ports drive
Dynamic and Flash drives；The operation layer includes updating operation module, is responsible for the solidification of ROMPaq；The interface layer is only included
Upgrade interface module, is responsible for serial data transmitting-receiving and the parsing of self-defined updating protocol.
6. a kind of cross-platform satellite navigation receiver software systems according to claim 1, it is characterised in that the letter
Number processing unit runs in being deployed in FPGA, and the slave computer module of described information processing unit and system upgrade unit is deployed in floating
Run in point DSP or fixed point arm processor, the upper computer module of the system upgrade unit is deployed on PC.
7. the realization side of a kind of cross-platform satellite navigation receiver software systems according to any one of claim 1 to 6
Method, it is characterised in that comprise the following steps：
S1：Satellite navigation receiver software is divided into signal processing unit, information process unit, system upgrade unit；By institute
State signal processing unit and be divided into GNSS signal process part, RDSS signal processings and common portion；At described information
Reason dividing elements are the system management module of interface layer, operation layer, podium level and cross-layer；
S2：By the module directly transplanting that hardware platform is unrelated, to hardware platform, related module does adaptation.
8. the implementation method of satellite navigation receiver software systems according to claim 7, it is characterised in that the hardware
The related module of platform includes the interface control module in signal processing unit, the podium level in information process unit and system pipes
Interrupt management module, memory management module in reason module.
9. according to the implementation method of any described satellite navigation receiver software systems of claim 7 or 8, it is characterised in that
Adaptation in the step S2 includes to processor, external bus, Flash devices, SDRAM device, FPGA device, penetrates
Frequency device, RTC devices, file system, the modification of the code of Support Library.
10. the implementation method of satellite navigation receiver software systems according to claim 7, it is characterised in that described soft
Part system can be used for DSPC6713, DSPC6747 or STM32F427 platform.
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| CN111208537B (en) * | 2020-03-20 | 2021-02-23 | 上海井融网络科技有限公司 | GNSS receiver and data transmission method thereof |
| CN117424615A (en) * | 2023-12-19 | 2024-01-19 | 长沙金维信息技术有限公司 | Multistage processor baseband architecture and receiver |
| CN117424615B (en) * | 2023-12-19 | 2024-03-15 | 长沙金维信息技术有限公司 | Multistage processor baseband architecture and receiver |
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