CN108415056A - A kind of integrated navigation system based on OMAP-L138 processors - Google Patents
A kind of integrated navigation system based on OMAP-L138 processors Download PDFInfo
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- CN108415056A CN108415056A CN201810062480.2A CN201810062480A CN108415056A CN 108415056 A CN108415056 A CN 108415056A CN 201810062480 A CN201810062480 A CN 201810062480A CN 108415056 A CN108415056 A CN 108415056A
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- omap
- navigation system
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- integrated navigation
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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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (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 integrated navigation systems based on OMAP L138 processors,Including processor module,Satellite navigation signals receiver module,Navigation assistance module,Communication module,Power module,Wherein processor module is the total control module of the system,Satellite navigation signals receiving module includes a NV08C CSM receiver and external antenna radio circuit,Navigation assistance module includes inertia component MPU9150 and barometer MS5611,Communication module is UART RS 232s module all the way,Power module provides+5V and+3.3V level for platform,The present invention is combined by using ARM+DSP,ARM be mainly used to realize include to the Control ＆ data acquisition of whole system NV08C CSM receivers satellite navigation data,And the data of inertia component MPU9150 and barometer MS5611,The relatively high navigation algorithm of DSP major calculations complexities.The present invention can meet in integrated navigation information processing for requirements such as operational capability, data precision, synchronism, operation real-time and data sharings.
Description
Technical field
The invention belongs to integrated navigation system technical fields, and in particular to a kind of combination based on OMAP-L138 processors
Navigation system.
Background technology
The critical facility basis that satellite navigation system has developed into mankind's activity and promotes social development.Currently, the whole world is led
Boat satellite system（GNSS, Global Navigation Satellite System）Include all satellite navigations, including U.S.
This four large satellites navigation system of the GPS of state, Russian GLONASS, the GALILEO of European Union, Chinese BDS can be land, sea and air
User round-the-clock continuous three-dimensional position, three-dimensional velocity and temporal information are provided.The basic principle of satellite navigation system is logical
The time for measuring radio propagation is spent, the distance between two endpoints of transmitting-receiving are calculated in conjunction with the speed of propagation, further according to prior
Fixed transmission end position, can calculate the location information of receiving terminal.However since satellite-signal is easily disturbed in the air
And carrier may will cause user equipment not defended normally with the characteristic of high dynamic, the limitation of these two aspects
Star signal, therefore accurate location information cannot be generated, this largely limits the application of satellite navigation system.
Inertial navigation system（INS, Inertial Navigation System）According to the principle of Newtonian mechanics, top is utilized
The Inertial Measurement Unit of spiral shell instrument and accelerometer composition（IMU）, three axis angular rates and 3-axis acceleration are obtained, integral is then passed through
Operation obtains the navigation informations such as position, speed and the attitude angle of carrier.INS is a kind of autonomous navigation system, it does not depend on outside
Information also not transmitting information.INS has the advantages of good concealment, strong antijamming capability.The disadvantage is that missing over time
Difference can be built up, it is difficult to be individually used for navigating for a long time, and be lacked initial state information, it is difficult to realize autoregistration.
Currently, widely used integrated navigation is mainly GNSS/INS integrated navigations, provided using satellite navigation system
Temporal information is come synchronous into row clock with inertia component, is accumulated at any time to compensate INS errors, and navigation
Precision dissipates at any time.It can work simultaneously using the preferable concealment of inertial navigation and under any medium and adverse circumstances
Advantage makes GPS receiver be not easy capture and defends to overcome GPS carriers when doing high dynamic movement or satellite-signal is temporarily lost
The case where star signal, and then can be more better than a kind of navigation equipment is used alone in terms of the precision of navigation and reliability.
Invention content
Goal of the invention：
It is proposed for requirements, the present invention such as the operational capability of integrated navigation system, data precision, operation real-time, synchronisms
A kind of integrated navigation system based on OMAP-L138 processors.
Technical solution：
The present invention adopts the following technical scheme that in order to solve the above technical problems：
A kind of integrated navigation system based on OMAP-L138 processors, including processor module, satellite navigation signals receiver mould
Block, navigation assistance module, communication module, power module；
Wherein, processor module, for controlling entire integrated navigation system and data acquisition；
Satellite navigation signals receiver module, for acquiring satellite navigation signals；
Navigation assistance module, for compensating satellite navigation.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
Satellite navigation signals receiver module includes a NV08C-CSM receiver and external antenna radio circuit；
Wherein, NV08C-CSM receivers, for acquiring pseudorange, carrier phase initial data；
External antenna radio circuit, for receiving GPS signal and being transferred to receiver.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
Navigation assistance module includes inertia component and barometer；
Wherein, inertia component, for acquiring 3-axis acceleration, three axis angular rates and three-axle magnetic field；
Barometer is used for collecting temperature and pressure, and then calculates the height above sea level of carrier.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
Processor module uses OMAP-L138 chips.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
The chip model of inertia component is MPU9150.
As a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention, air pressure
The chip model of meter is MS5611.
As a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention, satellite
The method of synchronization of navigation signal receiver module and inertia component uses hardware synchronization, by the FSYNC pins of MPU9150 with
The 1PPS pins of NV08C_CSM connect, by 1PPS pins one pulse signal of transmission per second, by by the variation of FSYNC pins
The variation of lowest order with the data of MPU9150 acquisitions compares, come judge with GPS whether be synchronization sampled value.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
Communication module is using UART RS 232s module all the way.
It is described as a kind of further preferred scheme of the integrated navigation system based on OMAP-L138 processors of the present invention
Power module turns+3.3V using+5V all the way, and is isolated between same level-one level according to different purposes.
Advantageous effect：
Advantageous effect of the present invention is mainly manifested in：
1, OMAP-L138 chips of the present invention are a kind of ARM+DSP Duo-Core Architectures, can not only meet integrated navigation fortune
The demand of calculation ability, moreover it is possible to which graft procedure system meets the design requirement of multi-task scheduling；
2, the data of the MPU9150 in navigation assistance module of the present invention and MS5611 acquisitions can compensate GPS signal, to
Improve navigation accuracy and reliability；
3, the GPS receiver in integrated navigation of the present invention is realized hard synchronous with inertia component MPU9150.
Description of the drawings
Fig. 1 is collectivity Scheme Design figure of the present invention；
Fig. 2 is processor module circuit diagram of the present invention；
Fig. 3 is satellite navigation data receiving module circuit diagram of the present invention；
Fig. 4 is navigation assistance module circuit diagram of the present invention；
Fig. 5 is communication module circuitry figure of the present invention；
Fig. 6 is power module circuitry figure of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
A kind of integrated navigation system based on OMAP-L138 processors, including processor module, satellite navigation data receive
Module, navigation assistance module, communication module, power module.
Inertia component of the data that processor module receives in satellite navigation data receiving module and supplementary module
MPU9150 and barometer MS5611, as shown in Figure 1.Wherein：1）Satellite navigation data module is received by the antenna of radio-frequency front-end
Satellite-signal is sent by the signal received by the connection of the UART2 and controller of receiver with BINR data exchange agreements
To embedded computer；2）Inertia component MPU9150 I in supplementary module2The communication mode of C is read to processor transmission
Information, barometer MS5611 sends information with the communication mode of SPI to processor；3）Navigation calculation journey is run by processor
Sequence receives data and carries out data calculation, and GPS navigation data is used when having GPS signal, is made when not having GPS signal
With the navigation data of inertia component, and the data after resolving are sent out, specific implementation mode is：It will by MAX3232 chips
The form that the digital signal of Transistor-Transistor Logic level form is converted into RS232 is sent out.
The hardware core module OMAP-L138 processors of the system are the low-power consumption application processors based on ARM+DSP,
The kernel of ARM926EJ-STM and TMS320C674X, the flexibility with hybrid processor.The Duo-Core Architecture of the device provides
The instruction set simplified.ARM926EJ is 32 risc processor kernels, can perform 32 or 16 bit instructions, uses flowing water
Line, all parts of processor and memory system can be used with continuous operation, TMS320C674X kernels based on L2 cache
Framework, level-one program cache（L1P）It is the direct mapped cache of a 32KB, level one data caching（L1D）It is a 32KB
Bi-directional combination associative cache, side program caching（L2P）It is made of the memory space of a 256KB, in program and program
Between shared data space.Hardware connection includes two-way UART interface（UART1 and UART2）, I all the way2C interface, SPI connects all the way
Mouth and all the way jtag interface, as shown in Figure 2.
Wherein：1）The two-way UART interface, UART1 are used for being connected with receiver, and UART2 is used for being sent out number
According to；2）I2C interface includes two pin I2C0_SDA is with I2C0_SCL, by pull up 4.7k resistance to+3.3V_MPU with
MPU9150 is connected；3）The SPI interface all the way is used for connecting with barometer MS5611.
The circuit diagram of satellite navigation data receiving module is as shown in figure 3, radio circuit part includes SMA antennal interfaces and confession
Circuit, there are two RF channels for NV08C-CSM tools（Each it is configurable to GPS, GLONASS or BDS）And double-filtration, to carry
High noise resisting ability；The baud rate method of hardware configuration UART is to draw pin GPIO3, GPIO4, GPIO5, GPIO6, passes through choosing
The low and high level of these pins is selected to be configured, the level of GPIO6 is drawn high in figure, and the level of GPIO3, GPIO4, GPIO5 are drawn
It is low, realize that the baud rate of configuration is 115200；There are 1PPS outputs on GPIO1 pins, the time scale defined according to internal hardware
One pulse signal of generation per second, this pin is drawn, for synchronous with the inertia component realization in supplementary module.
Navigation assistance module is as shown in figure 4, include inertial navigation device MPU9150 and barometer MS5611.The inertial navigation component
MPU9150 has SPI and I2The communication mode of C, the I of MPU9150 selections here2The communication mode of C is needed input signal I2C_
SDA and I2C_SCL pulls up 4.7K resistance to+3.3V.
FSYNC is frame synchronization input pin, and referring to recipient should can distinguish from the binary bit stream received
The starting and termination of frame make the corresponding each channel time slot pulse of transmitting-receiving two-end be consistent, to ensure that each road correctly carries out
Confusion does not occur for transmission and reception.Since the shortcomings that inertial navigation is that error accumulates rapidly at any time, it is difficult to be individually used for growing
Time Navigation positions, it is also difficult to initial autoregistration is realized, therefore in order to realize that MPU9150 is synchronous with satellite navigation signals, by MPU
FSYNC pins draw, connect with the 1PPS pins of NV08C_CSM, by 1PPS pins one pulse signal of transmission per second, pass through
The variation of FSYNC pins and the variation of the lowest order of the MPU9150 data acquired are compared, to judge to be with NV08C_CSM
The no sampled value for synchronization, it is hard synchronous to realize.
The barometer MS5611 uses SPI communication mode, corresponding pin to be directly connected with core board.
Communication module is as shown in figure 5, i.e. Transistor-Transistor Logic level RS 232 level all the way.Processor module believes the data handled well
Breath is transferred out by UART2, and the digital signal of Transistor-Transistor Logic level form is converted to RS232 by MAX3232 electrical level transferring chips
Level form.
Power module turns+3.3V modules including+5V all the way, and using AMS1117-3.3V chips, peripheral circuit is such as
Shown in Fig. 6.Input power VCC_+5V is divided into+5V_ANT ,+5V as needed, wherein+5V_ANT is the day in radio circuit
Line is powered；The VCC_+3.3V of gained is divided into+3.3V_BPS ,+3.3V_MPU ,+3.3VCCIO ,+3.3V_VIN as needed,
Respectively MS5611, MPU9150 and NV08C-CSM power.
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 can also make a variety of changes and modification without departing from the inventive concept of the premise, all shall be regarded as belonging to this
The protection domain of invention.
Claims (9)
1. a kind of integrated navigation system based on OMAP-L138 processors, it is characterised in that：Including processor module, satellite are led
Navigate signal receiver module, navigation assistance module, communication module, power module；
Wherein, processor module, for controlling entire integrated navigation system and data acquisition；
Satellite navigation signals receiver module, for being used to acquire satellite navigation signals；
Navigation assistance module, for compensating satellite navigation.
2. a kind of integrated navigation system based on OMAP-L138 processors according to claim 1, it is characterised in that：Institute
It includes a NV08C-CSM receiver and external antenna radio circuit to state satellite navigation signals receiver module；
Wherein, NV08C-CSM receivers, for acquiring pseudorange, carrier phase initial data；
External antenna radio circuit, for receiving GPS signal and being transferred to receiver.
3. a kind of integrated navigation system based on OMAP-L138 processors according to claim 1, it is characterised in that：Institute
It includes inertia component and barometer to state navigation assistance module；
Wherein, inertia component, for acquiring 3-axis acceleration, three axis angular rates and three-axle magnetic field；
Barometer is used for collecting temperature and pressure, and then calculates the height above sea level of carrier.
4. a kind of integrated navigation system based on OMAP-L138 processors according to claim 1, it is characterised in that：Institute
It states processor module and uses OMAP-L138 chips.
5. a kind of integrated navigation system based on OMAP-L138 processors according to claim 3, it is characterised in that：Institute
The chip model for stating inertia component is MPU9150.
6. a kind of integrated navigation system based on OMAP-L138 processors according to claim 3, it is characterised in that：Gas
The chip model of pressure meter is MS5611.
7. a kind of integrated navigation system based on OMAP-L138 processors as claimed in claim 5, it is characterised in that：Satellite
The method of synchronization of navigation signal receiver module and inertia component uses hardware synchronization, by the FSYNC pins of MPU9150 with
The 1PPS pins of NV08C_CSM connect, by 1PPS pins one pulse signal of transmission per second, by by the variation of FSYNC pins
The variation of lowest order with the data of MPU9150 acquisitions compares, come judge with GPS whether be synchronization sampled value.
8. a kind of integrated navigation system based on OMAP-L138 processors according to claim 1, it is characterised in that：Institute
Communication module is stated using UART RS 232s module all the way.
9. a kind of integrated navigation system based on OMAP-L138 processors according to claim 1, it is characterised in that：Institute
It states power module and+3.3V is turned using+5V all the way, and be isolated between same level-one level according to different purposes.
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| CN101672650A (en) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | Orienting and locating navigation system in circumstance of electromagnetic interference |
| CN102608642A (en) * | 2011-01-25 | 2012-07-25 | 北京七维航测科技股份有限公司 | Beidou/inertial combined navigation system |
| CN103344969A (en) * | 2013-07-09 | 2013-10-09 | 北京理工大学 | Dual-mode navigator with GPS receiving mode and plough receiving mode |
| CN103995272A (en) * | 2014-06-11 | 2014-08-20 | 东南大学 | Novel inertial assisted GPS receiver achieving method |
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2018
- 2018-01-23 CN CN201810062480.2A patent/CN108415056A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101672650A (en) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | Orienting and locating navigation system in circumstance of electromagnetic interference |
| CN102608642A (en) * | 2011-01-25 | 2012-07-25 | 北京七维航测科技股份有限公司 | Beidou/inertial combined navigation system |
| CN103344969A (en) * | 2013-07-09 | 2013-10-09 | 北京理工大学 | Dual-mode navigator with GPS receiving mode and plough receiving mode |
| CN103995272A (en) * | 2014-06-11 | 2014-08-20 | 东南大学 | Novel inertial assisted GPS receiver achieving method |
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Application publication date: 20180817 |