CN108196276A - A kind of multiple antennas satellite navigation system based on NV08C-CSM - Google Patents

A kind of multiple antennas satellite navigation system based on NV08C-CSM Download PDF

Info

Publication number
CN108196276A
CN108196276A CN201810029654.5A CN201810029654A CN108196276A CN 108196276 A CN108196276 A CN 108196276A CN 201810029654 A CN201810029654 A CN 201810029654A CN 108196276 A CN108196276 A CN 108196276A
Authority
CN
China
Prior art keywords
module
satellite navigation
nv08c
csm
multiple antennas
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810029654.5A
Other languages
Chinese (zh)
Inventor
王冬生
陆永杰
蒋国平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Post and Telecommunication University
Nanjing University of Posts and Telecommunications
Original Assignee
Nanjing Post and Telecommunication University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Post and Telecommunication University filed Critical Nanjing Post and Telecommunication University
Priority to CN201810029654.5A priority Critical patent/CN108196276A/en
Publication of CN108196276A publication Critical patent/CN108196276A/en
Pending legal-status Critical Current

Links

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • 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)

Abstract

The invention discloses a kind of multiple antennas satellite navigation systems based on NV08C CSM, including processor module, satellite navigation data receiving module, starting module, communication module, power module, wherein processor module is the nucleus module of the system, satellite navigation data receiving module includes four NV08C CSM receivers and external antenna radio circuit, starting module includes starting from TF card and start from NandFlash, and communication module includes I2C turns UART modules and UART turns RS422 modules, power module provides+5V and+3.3V level for platform, the present invention has transplanted the preferable Linux real time operating systems of real-time, can meet in navigation information processing for requirements such as operational capability, data precision, scalability, operation real-time and data sharings.

Description

A kind of multiple antennas satellite navigation system based on NV08C-CSM
Technical field
The invention belongs to navigation system technical fields, and in particular to a kind of multiple antennas satellite navigation based on NV08C-CSM System.
Background technology
Satellite navigation system can be that global ship, aircraft, vehicle etc. point the direction, and range extends over the entire globe each corner, Can round-the-clock, round-the-clock navigation information with high accuracy, the critical facility for having developed into mankind's activity and promoting social development are provided Basis.At present, main GPS, the Russian GLONASS for including the U.S. of Global Navigation Satellite System (GNSS), European Union This four large satellites navigation system of GALILEO, Chinese BDS.The individual antenna used in navigation system, which can only obtain one, not to be had The location information of angle direction point forms a face by the position for arranging mutiple antennas, can be defended with what mutiple antennas obtained Star location information determines the posture of carrier.The advantages of satellite navigation system is that error will not be with accumulated time, therefore it is often It is applied in combination with inertial navigation system (INS), to determine initial information and correction error.
With the development of satellite technology, receiver development experience integrated level continuous improvement, price constantly reduce, and performance is not The process of disconnected enhancing.With the proposition of GNSS, multimode and multi-protocols receiver also come into being, and so-called multimode rake receiver is exactly can The satellite-signal from different system is received simultaneously, then is comprehensively utilized these information and provided a user a more fully positioning knot Fruit；So-called multi-protocols receiver, in addition to supporting NMEA agreements, moreover it is possible to support other such as 104 agreements of BINR, RTCMSC, it can More fully satellite navigation initial data is provided, so as to improve positioning accuracy.
Invention content
Goal of the invention：
For requirements such as the operational capability of navigation system, data precision, operation real-time, scalability and data sharings, The present invention proposes a kind of multiple antennas satellite navigation system based on NV08C-CSM.
Technical solution：
The present invention is adopted the following technical scheme that solve more than technical problem：
A kind of multiple antennas satellite navigation system based on NV08C-CSM is received including processor module, satellite navigation data Module, starting module, communication module, power module, the satellite navigation data receiving module, starting module, communication module point Do not connect with processor module, the power module respectively with processor module, satellite navigation data receiving module, start mould Block, communication module connection, for providing required electric energy；
Wherein, satellite navigation data receiving module, for acquiring satellite navigation signals；
Starting module, for providing two kinds of start-up operation system modes；
Communication module is sent out for the data after processor is handled.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Processor module uses the AM335X processors of TI companies.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Processor module designs multi-channel data acquisition and satellite navigation by transplanting Linux real time operating systems, using multithreading Algorithm routine.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Satellite navigation data receiving module includes four NV08C-CSM receivers and external antenna radio circuit.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention It is 50 ohm that satellite navigation data, which receives the impedance between capacitance C206 and antennal interface SMA in mould,.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention The processor sends the request command of BINR agreements to obtain corresponding satellite navigation initial data to receiver.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Starting module includes TF card starting module and NandFlash starting modules, and Starting mode is selected by toggle switch.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Communication module includes I2C turns UART modules and UART turns RS422 modules.
It is described as a kind of further preferred scheme of the multiple antennas satellite navigation system based on NV08C-CSM of the present invention Power module includes the second source that+15V/+12V/+9V turns the first power supply of+5V ,+5V turns+3.3V, and according to different purposes It is isolated between same level-one level.
Advantageous effect：
Advantageous effect of the present invention is mainly manifested in：
1. the AM335X processors used can not only meet the needs of navigation operations ability, moreover it is possible to meet multi pass acquisition letter Number demand；
2. using the proprietary binary data exchange agreements of BINR of NV08C-CSM receivers, it can receive and more fully navigate Data information；
3. transplanting Linux real time operating systems has the advantages that multi-task scheduling, the multichannel of Parallel Implementation signal is adopted Collection and navigation algorithm.
Description of the drawings
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the satellite navigation data receiving module circuit diagram of the present invention；
Fig. 3 is the starting module circuit diagram of the present invention；
Fig. 4 is the communication module circuitry figure of the present invention；
Fig. 5 is the power module circuitry figure of the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of multiple antennas satellite navigation system based on NV08C-CSM is received including processor module, satellite navigation data Module, starting module, communication module, power module.
The data that embedded computer receives such as are schemed from four satellite navigation data receiving modules and extensible modules Shown in 1.Wherein：
1. satellite navigation data receiving module receives satellite-signal by the antenna of radio-frequency front-end, the signal received is led to The UART2 Interface and Controler connection of receiver is crossed, embedded computer is sent to BINR data exchange agreements；
2. the data that expansion module can receive inertial navigation and read by connecting inertia assembly module, as to satellite navigation number According to signal compensation, specific embodiment is：Data-signal on expansion module is defeated using the universal asynchronous serial of RS422 standards Enter, and pass through the digital signal that MAX3490 electrical level transferring chips are converted into Transistor-Transistor Logic level form, then pass through SC16IS750 interfaces Conversion chip converts the signal to I2C interface and processor communication；
3. navigation calculation program is run by embedded computer to receive data and carry out data calculation, and be sent out Data after resolving, specific embodiment are：The digital signal of Transistor-Transistor Logic level form is converted by RS422 by MAX3490 chips Form be sent out.
Nucleus module of the processor module as the system, the AM3354 microprocessors of use are based on ARMCortex-A8 Processor, dominant frequency 600MHz, reaches as high as 1GHz, contains six tunnel UART interfaces (UART0~UART5), all the way I2C interface, one Road MMC interfaces are enhanced in terms of image procossing, peripheral hardware and industrial interface options, support operating system.It is wherein described Six tunnel UART interfaces, UART0 are debugging ports, and UART1~4 are used for being connected with GNSS receiver, and UART5 is used for being sent out counting According to；I2C interface turns RS422 level and PERCOM peripheral communication again by turning UART interface；MMC interfaces all the way, for transmitting number with TF card According to.
The circuit diagram of satellite navigation data receiving module is as shown in Fig. 2, radio circuit part includes SMA antennal interfaces and confession Circuit, there are two RF channel (being each configurable to GPS, GLONASS, GALILEO or BDS) and two levels for NV08C-CSM tools Filtering, to improve noise resisting ability；Due to signal, power can decay in transmission process, need the RF between C206 and antenna The impedance adjustment of signal is to close to 50 ohm；The baud rate method of hardware configuration UART be draw pin GPIO3, GPIO4, GPIO5, GPIO6 are configured by selecting the low and high level of these pins, and the level of GPIO6 is drawn high in figure, GPIO3, The level of GPIO4, GPIO5 drag down, and the baud rate for realizing configuration is 115200bps；There are 1PPS outputs on GPIO1 pins, according to Time scale one pulse signal of generation per second that internal hardware defines, this pin is drawn, in the block used available for expanded mode Property component realize synchronize；Receiver signal transmission is using binary message form, and message format is as shown in table 1, message format It illustrates as shown in table 2.
Table 1
DLE ID data DLE CRC CS DLE ETX
1 2 3 4 5 6 7 8
Table 2
In the navigation data acquisition of the present invention, three kinds of navigation informations are mainly acquired, respectively：PVT vector (message identifiers Accord with as 0x27), time and frequency parameter (message identifier 0x1F) and initial data (message identifier 0xF4).Program is transported CPU sends these three request instructions to receiver during row, then the primary corresponding binary data of receiver response per second. The common message request type of NV08C-CSM receivers and corresponding request message identifier and response message identifier such as table 3 It is shown.
Table 3
Message request type Request message identifier Response message identifier
Restart 0x01 Nothing
Request/setting port status 0x0B 0x50
Request/setting receiver channel state 0x17 0x42
Ask software version information 0x1B 0x70
Request time and frequency parameter 0x1F 0x72
Ask the azimuth and the elevation angle of all visible satellites 0x24 0x52
Ask PVT vectors 0x27 0x88
Ask raw data format output 0xF4 0xF5
For example, request represents the use of symbol 0x27：
The instruction request/the periodical of PVT vectors is forbidden to export, response message 0x88 include description user location Basic：Date, time, coordinate, speed, coordinate precision estimation, PVT calculating/extrapolation mark.The message count of one byte The interval of rate of navigation determines the period of output according to this.The value of the message data field of the instruction is as shown in table 4, corresponding finger It enables as shown in table 5.
Table 4
Table 5
DLE ID data DLE ETX
10 27 01 10 03
Navigation data is sent to CPU by receiver by UART2 interfaces, and further according to corresponding data type, data are turned Current navigation information is changed to, the range and precision of floating number are as shown in table 6.
Table 6
Starting module is as shown in figure 3, the level state for the selection change BOOT2 for passing through toggle switch may be selected by starting Mode, acquiescence Starting mode start for the NandFlash of core board, and BOOT2 is pulled to+3.3V by 10K resistance to cut It is changed to MMC Starting mode.Pin MMC0_DAT0, MMC0_DAT1 of TF card, MMC0_DAT2, MMC0_DAT3, MMC0_CMD, MMC0_CLK, MMC0_CD are directly connected with core board, and are pulled to+3.3V by 47K resistance.
Communication module is as shown in figure 4, including I all the way2C turns UART, two-way UART turns RS422, wherein I all the way2C turns UART Module, using SC16IS750 chips, which has I2C turns UART and SPI and turns UART functions, passes through pin I2C-/SPI It is pulled to+3.3V selections I2C turns UART functions, input signal I2C_SDA and I2C_SCL needs to be pulled to by 4.7K resistance+ 3.3V；UART described in module turns RS422 modules, and for MAX3490, the MAX3490 to draw the chip used there are four exporting Foot A, B, Z, Y, wherein A, Z pin need to be pulled to+3.3V by 10K resistance, and B, Y pin are needed through 10K resistive pull-downs extremely GND。
Power module includes the second source that+15V/+12V/+9V turns the first power supply of+5V ,+5V turns+3.3V, described 15V/+12V/+9V turns the first power supply of+5V using MP1493 chips, and the second source that+5V turns+3.3V uses Be AMS1117-3.3V chips, peripheral circuit is as shown in Figure 5.The VCC_+5V of gained be divided into according to demand+5V_ANT ,+ 5V wherein+5V_ANT need to be the antenna power supply in four radio circuits, then is divided into+5V_ANT1 ,+5V_ANT2 ,+5V_ ANT3、+5V_ANT4；The VCC_+3.3V of gained is divided into+3.3V_SD ,+3.3V, respectively TF card and other portions according to demand Divide power supply；+ the 3.3V_N1＆N2 of gained is divided into VIN_RF＆D_N1 and VIN_RF＆D_N2, and+3.3V_N3＆N4 is divided into VIN_ RF＆D_N3 and VIN_RF＆D_N4.
The suitable kernel of relevant configuration tool making that the present invention is provided using Linux.In the kernel source code, according to Actual demand of the present invention needs to change the allocation problem of pin multiplexing (MUX), since TI chip architectures are similar, for many TI For chip, the configuration of pin multiplexing is configured in the register of Control Module (configuration module), can be passed through The MUX of interface configuration function configuration chip in the ready-made frame of linux kernel, correlative code are located at arch/arm/mach- Under omap2 catalogues, it will be added in static struct pinmux_config uart5_pin_mux_s2 []：{"lcd_ data9.uart5_rxd",OMAP_MUX_MODE4|AM33XX_SLEWCTRL_SLOW|AM33XX_PIN_INPUT_ PULLUP},{"lcd_data8.uart5_txd",OMAP_MUX_MODE4|AM33XX_PULL_UP|AM33XX_PULL_DISA | AM33XX_SLEWCTRL_SLOW }, the reception pin of UART5 is configured and sends pin；Cut to kernel the step of In, using relevant default configuration file, under arch/arm/configs this catalogue, operation make menuconfig refer to Order is reconfigured on the profile-base, and unwanted function is just cut.After configuration is completed and exited, under current directory Operating instruction：Make CROSS_COMOILE=arm-arago-linux-gnueabi-ARCH=arm uImage, the instruction UImage files can be generated under arch/arm/boot/ catalogues automatically, this document is copied into TF card boot subregions or programming is arrived It can be used after NandFlash.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field Technical staff without departing from the inventive concept of the premise, can also make a variety of changes and modification, should all be considered as belonging to this The protection domain of invention.

Claims (9)

1. a kind of multiple antennas satellite navigation system based on NV08C-CSM, it is characterised in that：It is led including processor module, satellite Navigate data reception module, starting module, communication module, power module, the satellite navigation data receiving module, starting module, Communication module is connect respectively with processor module, and the power module receives mould with processor module, satellite navigation data respectively Block, starting module, communication module connection, for providing required electric energy；
Wherein, satellite navigation data receiving module, for acquiring satellite navigation signals；
Starting module, for providing two kinds of start-up operation system modes；
Communication module is sent out for the data after processor is handled.
2. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute State the AM335X processors that processor module uses TI companies.
3. a kind of multiple antennas satellite navigation system based on NV08C-CSM as described in claim 1, it is characterised in that：It is described Processor module designs multi-channel data acquisition and satellite navigation by transplanting Linux real time operating systems, using multithreading Algorithm routine.
4. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It states satellite navigation data receiving module and includes four NV08C-CSM receivers and external antenna radio circuit.
5. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It is 50 ohm to state the impedance that satellite navigation data is received in mould between capacitance C206 and antennal interface SMA.
6. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It states processor and sends the request command of BINR agreements to receiver to obtain corresponding satellite navigation initial data.
7. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It states starting module and includes TF card starting module and NandFlash starting modules, Starting mode is selected by toggle switch.
8. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It states communication module and includes I2C turns UART modules and UART turns RS422 modules.
9. a kind of multiple antennas satellite navigation system based on NV08C-CSM according to claim 1, it is characterised in that：Institute It states power module and includes the second source that+15V/+12V/+9V turns the first power supply of+5V ,+5V turns+3.3V, and according to different use Way is isolated between same level-one level.
CN201810029654.5A 2018-01-12 2018-01-12 A kind of multiple antennas satellite navigation system based on NV08C-CSM Pending CN108196276A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810029654.5A CN108196276A (en) 2018-01-12 2018-01-12 A kind of multiple antennas satellite navigation system based on NV08C-CSM

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810029654.5A CN108196276A (en) 2018-01-12 2018-01-12 A kind of multiple antennas satellite navigation system based on NV08C-CSM

Publications (1)

Publication Number Publication Date
CN108196276A true CN108196276A (en) 2018-06-22

Family

ID=62588716

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810029654.5A Pending CN108196276A (en) 2018-01-12 2018-01-12 A kind of multiple antennas satellite navigation system based on NV08C-CSM

Country Status (1)

Country Link
CN (1) CN108196276A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203825199U (en) * 2013-12-06 2014-09-10 杭州银江智慧城市技术集团有限公司 Vehicle-mounted terminal based on Beidou navigation system
CN204515142U (en) * 2015-03-04 2015-07-29 邓伟廷 Multimode positioning signal reception device
CN204925400U (en) * 2015-09-15 2015-12-30 张友辉 Automobile -mounted terminal based on bimodulus satellite navigation system
CN205230024U (en) * 2015-12-21 2016-05-11 上海华测导航技术股份有限公司 Embedded system switching starting drive
US20170329015A1 (en) * 2014-11-28 2017-11-16 Sportss Information Services Limited Method and system for tracking race participants

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203825199U (en) * 2013-12-06 2014-09-10 杭州银江智慧城市技术集团有限公司 Vehicle-mounted terminal based on Beidou navigation system
US20170329015A1 (en) * 2014-11-28 2017-11-16 Sportss Information Services Limited Method and system for tracking race participants
CN204515142U (en) * 2015-03-04 2015-07-29 邓伟廷 Multimode positioning signal reception device
CN204925400U (en) * 2015-09-15 2015-12-30 张友辉 Automobile -mounted terminal based on bimodulus satellite navigation system
CN205230024U (en) * 2015-12-21 2016-05-11 上海华测导航技术股份有限公司 Embedded system switching starting drive

Similar Documents

Publication Publication Date Title
CN100401267C (en) Chip dynamic tracing method of microprocessor
CN102099800A (en) Off-line task list architecture
US7091904B2 (en) Tracker architecture for GPS systems
CN205229465U (en) Baseband chip and multimode GNSS receiver of multimode GNSS receiver
CN102099801A (en) Reconfigurable wireless modem sub-circuits to implement multiple air interface standards
CN115033444B (en) 8051 core-based online debugging circuit control device
CN108170626A (en) A kind of 1553B bus softwares dynamic and configurable method
CN108196276A (en) A kind of multiple antennas satellite navigation system based on NV08C-CSM
CN110932748B (en) Large-scale antenna array digital wave control signal interface design method
CN103916336B (en) Ethernet driver realized by FPGA
US8035486B1 (en) Radio frequency identification device power-on reset management
US9118374B2 (en) Integrated circuit with inter-chip link for boot-up
CN109451440A (en) Vehicle data transmission equipment, vehicle and data transmission system
CN207833021U (en) A kind of miniaturization commercial satellite navigation neceiver board
CN208156199U (en) positioning and communication system based on SIM868
CN105095033B (en) Debugging apparatus and method on a kind of server
CN113238499A (en) Full-duplex narrow-band Internet of things general data acquisition device and method under symmetric channel
CN206922880U (en) A kind of multifunctional data acquisition card based on Internet of Things
CN201936329U (en) UHF (UltraHigh Frequency) RFID (Radio Frequency Identification) antenna demultiplexer
CN102176231A (en) UHF RFID (Ultra High Frequency-Radio Frequency Identification Device) antenna demultiplexer
CN214151059U (en) Small-size low-power consumption big dipper location module of M.2 interface
CN206133005U (en) Compass navigation satellite system's receiving arrangement based on niosII
CN217607895U (en) Portable DVB data acquisition system
CN109582620A (en) A kind of UART interface conversion equipment and interface conversion method
CN212301897U (en) Double-antenna satellite receiving terminal machine of LVDS bus with high output rate

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20180622

WD01 Invention patent application deemed withdrawn after publication