CN108683433A - A kind of submarine navigation device multipurpose radio communication device - Google Patents
A kind of submarine navigation device multipurpose radio communication device Download PDFInfo
- Publication number
- CN108683433A CN108683433A CN201810219268.2A CN201810219268A CN108683433A CN 108683433 A CN108683433 A CN 108683433A CN 201810219268 A CN201810219268 A CN 201810219268A CN 108683433 A CN108683433 A CN 108683433A
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- China
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- pin
- circuit
- microprocessors
- navigation device
- submarine navigation
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
-
- 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
Abstract
The present invention proposes a kind of submarine navigation device multipurpose radio communication device, including CPU element, CAN interface, data recordin module, CPU element includes the STM32F407ZET6 microprocessors of ARM11 cores and the peripheral circuit that is connect with STM32F407ZET6 microprocessors.The present invention is due to using highly integrated STM32F407ZET6 types CPU for core devices, submarine navigation device multipurpose radio communication device is constituted by customizing corresponding peripheral components, the device with it is general using PC/104 types CPU compared with the embedded Control integration module of core, it reduces volume and weight and significantly reduces power consumption, improve the functional reliability and cruising ability of submarine navigation device.
Description
Technical field
The present invention relates to a kind of portable underwater aircraft multipurpose radio communication devices, belong to underwater robot control neck
Domain.
Background technology
Multipurpose radio communication device can determine that the position of submarine navigation device and realize that aircraft (is located at remote control
On the bank or lash ship) communication, be particularly important on the submarine navigation device for being used for marine exploration and submarine observation.
With reference to shown in attached drawing 1, submarine navigation device multipurpose radio communication device includes：STM32 microprocessors, GPS positioning
Module, wireless digital broadcasting station, dodges frequency lamp module at iridium communication module.Wherein, microprocessor realizes the work of control modules
Make, data acquisition and transmission, and is handed over into row information by CAN bus with aircraft automatic pilot (control administrative center)
It changes；GPS positioning module is used for the positioning of submarine navigation device, it is communicated between microprocessor using RS232；Iridium communication
Module is used for remote data and instruction transmission between submarine navigation device and remote control, it uses RS232 between microprocessor
It is communicated；Wireless digital broadcasting station be used between submarine navigation device and remote control the data of short distance and instruction transmit, it with it is micro-
It is communicated using RS232 between processor；Frequency lamp module is dodged with GPS positioning antenna to be located in vehicle hull external antenna column,
For the position instruction of navigation at night device, it is controlled by the I/O mouths of microprocessor.
The positioning of general submarine navigation device and communication module be connected directly between using PC/104 as the control system of processor from
On dynamic pilot, such design is very limited for positioning the resource being connect with communication module, it is difficult to which competent carrying is more outer
Boxing block, and storage and processing are compared with the task of multi information.Secondly, and more more importantly, submarine navigation device is certainly leading
Boat positioning system position error usually increase with the increase of voyage, when submarine navigation device pass through prolonged underwater operation,
When emerging, need to determine the exact position of itself using satellite positioning modules such as GPS, and by according to magnitude radio communication mold
Block tells the position of aircraft at this time to remote control, so that operating personnel assign next step aircraft control instruction.Therefore it navigates
Row device is very high to the reliability requirement of this part of satellite positioning with wireless communication, and due to the limited energy of aircraft, it is desirable to
The power consumption of this part is as low as possible.
Invention content
To achieve the above object, for the functional requirement of New Generation of Portable underwater observation system, the present invention is by satellite
Position is with wireless communication function separately as a device, it is proposed that a kind of submarine navigation device multipurpose radio communication device, micro- place
It manages device and selects ARM STM32, can not only carry more peripheral equipments, but also the body of multipurpose radio communication device can be reduced
Product, reduces the power consumption of whole device, improves the job stability of system, increase the cruising ability of submarine navigation device.
The technical scheme is that：
A kind of submarine navigation device multipurpose radio communication device, it is characterised in that：Including CPU element, satellite positioning
Module, wireless digital broadcasting station, dodges frequency lamp module, CAN interface at iridium communication module；
Satellite positioning module is used for the positioning of submarine navigation device；Iridium communication module is used for submarine navigation device and remote control
Between at a distance data and instruction transmit；Wireless digital broadcasting station be used between submarine navigation device and remote control the data of short distance and
Instruction transmission；CAN interface is used to the instruction that CPU element resolves being sent to paragraph controller after submarine navigation device；Institute
State the STM32F407ZET6 microprocessors and the periphery being connect with STM32F407ZET microprocessors that CPU element includes ARM11 cores
Circuit, the peripheral circuit include flash memory circuit, crystal oscillating circuit, reset circuit, power supply circuit, voltage conversion circuit,
Serial port circuit, CAN interface circuit.
Further preferred embodiment, a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：It is described
Flash storage circuits connect STM32F407ZET6 microprocessors respectively using W25Q128 types NOR flash, pin CS, SO, CLK, SI
F_CS, SPI1MISO, SPI1SCK, SPI1MOSI pin of device, pin WP#, HOLD access DC power supply 3.3V, pin GND
With accessing DC power supply, pin VCC is by connecting 104 capacitances with connecing DC power supply.
Further preferred embodiment, a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：It is described
Crystal oscillating circuit is made of the crystal oscillating circuit of two kinds of frequencies of 32.768KHz and 8MHz；Wherein 32.768KHz types crystal oscillating circuit is used for
In the real-time clock module of STM32F407ZET6 microprocessors, 8MHz types crystal oscillating circuit is as STM32F407ZET6 microprocessors
Oikocryst shake；XYIrtc the and XT0rtc pins of wherein 32.768KHz types crystal oscillator are respectively connected to STM32F407ZET6 microprocessors
PC14OSC32_IN and PC15OSC32_OUT；XTIP11 the and XT0P11 pins of 8MHz type crystal oscillators are respectively connected to
The PH1-OSC_OUT and PH0-OSC_IN of STM32F407ZET6 microprocessors.
Further preferred embodiment, a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：It is described
Reset circuit realizes that the low level of CPU resets using reset chip MAX811；The power pins 4 of reset chip connect 3.3V direct currents
Source, and with connecing 3.3V DC power supplies by capacitance, the pin 3 of reset chip with connecing 3.3V DC power supplies, is answered by button switch
With connecing 3.3V DC power supplies, the pin 2 of reset chip connects STM32F407ZET6 microprocessors to the pin 1 of position chip by resistance
NRST pins.
Further preferred embodiment, a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：It is described
Serial port circuit is realized using MAX232 chips；T1IN, R1OUT pin of MAX232 chips meet the micro- places STM32F407ZET6 respectively
Serial ports output pin USART RX, the USART TX of device are managed, pin T1OUT, R1IN of MAX232 chips are respectively connected to outside and connect
Cause for gossip shows serial communication.
Further preferred embodiment, a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：It is described
CAN interface circuit realizes CAN protocol control by TJA1050 chips, completes CAN communication；D, R points of TJA1050 chip pins
CAN communication interface CAN TX, the CANRX of STM32F407ZET6 microprocessors are not met, and TJA1050 chip pins CANH, CANL are logical
Cross the CAN communication equipment outside non-essential resistance access in parallel.
Advantageous effect
The present invention uses highly integrated STM32F407ZET6 type microprocessor CPU control units, corresponding by customizing
Peripheral components constitute submarine navigation device multipurpose radio communication device, which is the embedding of core with general PC/104 types CPU
Enter formula control module to compare, reduce device volume and weight, significantly reduce power consumption, improves the work of submarine navigation device
Reliability and cruising ability.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Attached drawing 1 is the composition frame chart of submarine navigation device multipurpose radio communication device.
Attached drawing 2 is the CPU element composition frame chart of the present invention.
Attached drawing 3 is STM32F407ZET6 type CPU pinouts first part.
Attached drawing 4 is STM32F407ZET6 type CPU pinouts second parts.
Attached drawing 5 is STM32F407ZET6 type CPU pinouts Part III.
Attached drawing 6 is flash circuit diagrams.
Attached drawing 7 is reset circuit figure.
Attached drawing 8 is crystal oscillating circuit figure.
Attached drawing 9 is power supply circuit circuit diagram.
Attached drawing 10 is serial port circuit figure.
Attached drawing 11 is CAN bus circuit figure.
Attached drawing 12 is BOOT circuit diagrams.
Attached drawing 13 is jtag circuit figure.
Attached drawing 14 is GPS module circuit diagram.
Attached drawing 15 is wireless digital broadcasting station module circuit diagram.
Attached drawing 16 is iridium communication module circuit diagram.
Attached drawing 17 is to dodge frequency lamp module circuit diagram.
Specific implementation mode
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to for explaining the present invention, and
It is not considered as limiting the invention.
With reference to attached drawing 1, attached drawing 1 gives the composition frame chart of this example submarine navigation device multipurpose radio communication device, wraps
It includes：STM32 microprocessors, iridium communication module, wireless digital broadcasting station, dodge frequency lamp module, power supply control electricity at GPS positioning module
Road.Wherein, microprocessor realize control modules work, data acquisition and send, and with aircraft automatic pilot
(control administrative center) carries out information exchange by CAN bus；GPS positioning module be used for submarine navigation device positioning, it with it is micro-
It is communicated using RS232 between processor；Iridium communication module for counting at a distance between submarine navigation device and remote control
It is transmitted according to instruction, it is communicated between microprocessor using RS232；Wireless digital broadcasting station is for submarine navigation device and remote control
The data of short distance and instruction are transmitted between device, it is communicated between microprocessor using RS232；Dodge frequency lamp module and GPS
Positioning antenna is located in vehicle hull external antenna column, is used for the position instruction of navigation at night device, it passes through microprocessor
I/O mouthfuls of controls.
Control unit includes CPU element, serial ports and CAN interface；Serial ports is for CUP units and each peripheral module
Communication and the communication between outer computer；CAN interface is sent for controller by obtained various instructions are resolved
To other controllers of back segment.
Attached drawing 2 is the composition frame chart of CPU element in this example, and CPU element includes with the STM32F407ZET6 of ARM11 cores
Microprocessor and the peripheral circuit being connect with STM32F407ZET6 microprocessors, peripheral circuit include 128MB flash memories
Circuit, crystal oscillating circuit, reset circuit, power supply circuit, voltage conversion circuit, 4 road serial port circuits, CAN interface circuit.
The dominant frequency of STM32F407ZET6 microprocessors reaches as high as 280MHz, totally 144 pin, and pin resource is for example attached
Shown in Fig. 3~5.To ensure that CUP normal works, the capacitance that Vcap_1, Vcap_2 pin connect one 225 respectively are followed by direct current
Source 3.3V, VDDA pin by pull-up resistor access DC power supply, VSSA by with two 104 resistance of VDDA pins in parallel
With accessing DC power supply, PDR_ON access DC power supplies 3.3V.As shown in Figure 5.In addition, 9 road VDD pins of the bottoms CUP successively with
Bottom VSS pins are cascaded by 104 resistance, as shown in Figure 5.
Attached drawing 6 is flash storage circuits.Flash storage circuits use W25Q128 type NOR flash, which is
128MB.Its pin CS, SO, CLK, SI connect respectively STM32F407ZET6 microprocessors F_CS, SPI1MISO, SPI1SCK,
SPI1MOSI pins, pin WP#, HOLD are directly accessed DC power supply 3.3V, pin GND access DC power supplies,
Pin VCC passes through with connecting a 104 resistance access DC power supply.
Attached drawing 7 and attached drawing 8 are reset, crystal oscillating circuit.Reset circuit realizes CPUC using the reset chip MAX811 of profession
Required low level resets.The power pins 4 of the chip meet DC power supply 3.3V, and meet 3.3V by the capacitance of a 1uf
DC power supply, to improve power filter performance, pin 3 by a button switch with connecing 3.3V DC power supplies, pin 1
With connecing 3.3V DC power supplies, pin 2 is drawn by the NRST of the resistance connection STM32F407ZET6 microprocessors of 470 Ω
Foot.Crystal oscillating circuit is made of the crystal oscillating circuit of two kinds of frequencies.32.768KHz type crystal oscillating circuits are used in the micro- places STM32F407ZET6
In real-time clock (rtc) module for managing device, 8MHz type crystal oscillating circuits are that the oikocryst of STM32F407ZET6 microprocessors shakes.Wherein
XYIrtc the and XT0rtc pins of 32.768KHz type crystal oscillators are respectively connected to the PC14OSC32_ of STM32F407ZET6 microprocessors
IN and PC15OSC32_OUT；XTIP11 the and XT0P11 pins of 8MHz type crystal oscillators are respectively connected to STM32F407ZET6 microprocessors
PH1-OSC_OUT and PH0-OSC_IN.
Attached drawing 9 is power supply circuit.Power supply circuit turns 5V and 5V turns of 3.3 two parts circuits by 12V and forms, and wherein 12V turns
External 12V DC power supply is converted to 5V DC power supplies (referring to Fig. 9 b) by 5V using MP2359 chips；5V turns 3.3V circuits and adopts
5V DC voltages are converted to 3.3V DC voltages with AMS1117 chips (referring to Fig. 9 a).
Attached drawing 10 is serial port circuit.Serial port circuit realizes the conversion of Transistor-Transistor Logic level on core board, 4 tunnels using MAX232 chips
The output of serial ports uses same circuit, T1IN, R1OUT pin of chip to connect STM32F407ZET6 microprocessors respectively
Serial ports output pin USART RX, USART TX, the interface that pin T1OUT, R1IN are respectively connected to external DB9 realize that serial ports is logical
Letter, C1+ and C1- are cascaded by 104 capacitances, C2+ and C2- (referring to Figure 10) identical as C1- as C1+, VCC
Pin connects 3.3V DC power supplies, and is connected to GND pin by 104 capacitances, and GND pin (participates in figure with connecing DC power supply
10) its VDD pin is connected with VEE pins by two 104 capacitances, and (participates in Figure 10) with accessing DC power supply.
Attached drawing 11 is CAN bus circuit.CAN bus circuit realizes control and the physics of CAN protocol using TJA1050 chips
The direct interface of bus.Its D, R pin is respectively connected to CANTX the and CANRX pins of STM32F407ZET6 microprocessors, VCC
Pin accesses DC power supply 5V, and is connected with its GND pin by 104 capacitances, and GND, RS pin access DC power supply
Ground (referring to Fig.1 1), CANH, CANL pin access external equipment (referring to Figure 11).
12 attached drawing 13 of attached drawing is the burning program circuit BOOT circuits and jtag circuit of STM32F407ZET6 microprocessors.
BOOT circuit chips 1,2 pins meet DC power supply 3.3V, and with connecing DC power supply, 3,4 pins are separately connected 1K's to 5,6 pins
Resistance accesses BOOT0 the and BOOT1 pins of STM32F407ZET6 microprocessors (referring to Figure 12).Jtag circuit is chip used
TRST, TDI, TMS/SWDIO, TCK/SWCLK, TDO/SWO, RESET pin are respectively connected to STM32F407ZET6 microprocessors
JTRST, JTDI, JTMS, JTCK, JTDO, NRST pin simultaneously access DC power supply 3.3V by the resistance of a pull-up 10K again
(participating in Figure 13), for TCK/SWCLK by pulling down the resistance of 10K with accessing DC power supply, VDD pins access DC power supply
3.3V, remaining GND pin access DC power supply.
Attached drawing 14 is GPS module.Its external cabling VCC and GND is with being respectively connected to DC power supply 3.3V and DC power supply.Its
TXD and RXD pins access the output U3T1OUT and U3RIN of serial ports 3 (referring to Figure 14).
Attached drawing 15 is radio station's module.Its VCC pin and GND, AFIN pin are respectively connected to DC power supply 12V and direct current
Power ground, PC10, PC9, PC8 that TTL RXD, TTLTXD, SQ pin are respectively connected to STM32F407ZET6 microprocessors draw
Foot, RS-232TXD, RS232RXD pin are respectively connected to output U1T1OUT, U1RIN pin of 1 circuit of serial ports (referring to figure
15)。
Attached drawing 16 is iridium satellite module.Two EXT_PWR pin meets DC power supply 5V, two EXT_GND, SIG_GND
With connecing DC power supply, DF_DCD, DF_DSR, DF_CTS, DF_RI, DF_RTS, DF_DTR, NETWORK AVAILABLE,
SUPPLY_OUT pins are respectively connected to PC0~PC7 of STM32F407ZET6 microprocessors, and DF_S_TX, DF_S_RX connect respectively
Enter U2T1OUT, U2R1IN pin (referring to Fig.1 6) of 2 output circuit of serial ports.
Attached drawing 17 is to dodge frequency lamp module.Its pin VCC and GND with connecing DC power supply 12V and DC power supply respectively, I/O
Mouth connect STM32F407ZET6 microprocessors PC11 carry out dodge frequency lamp break-make control (referring to Figure 17).
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (6)
1. a kind of submarine navigation device multipurpose radio communication device, it is characterised in that：Including CPU element, satellite positioning module, iridium
Star communication module, dodges frequency lamp module, CAN interface at wireless digital broadcasting station；
Satellite positioning module is used for the positioning of submarine navigation device；Iridium communication module is used for remote between submarine navigation device and remote control
The data of distance and instruction are transmitted；Wireless digital broadcasting station is used for the data of short distance and instruction between submarine navigation device and remote control
Transmission；CAN interface is used to the instruction that CPU element resolves being sent to paragraph controller after submarine navigation device；The CPU
Unit includes the STM32F407ZET6 microprocessors of ARM11 cores and the peripheral circuit that is connect with STM32F407ZET microprocessors,
The peripheral circuit includes flash memory circuit, crystal oscillating circuit, reset circuit, power supply circuit, voltage conversion circuit, serial ports
Circuit, CAN interface circuit.
2. a kind of submarine navigation device multipurpose radio communication device according to claim 1, it is characterised in that：The flash
Storage circuit connects STM32F407ZET6 microprocessors respectively using W25Q128 types NOR flash, pin CS, SO, CLK, SI
F_CS, SPI1MISO, SPI1SCK, SPI1MOSI pin, pin WP#, HOLD access DC power supply 3.3V, pin GND accesses
DC power supply, pin VCC is by connecting 104 capacitances with connecing DC power supply.
3. a kind of submarine navigation device multipurpose radio communication device according to claim 1 or claim 2, it is characterised in that：The crystalline substance
The circuit that shakes is made of the crystal oscillating circuit of two kinds of frequencies of 32.768KHz and 8MHz；Wherein 32.768KHz types crystal oscillating circuit is used for
In the real-time clock module of STM32F407ZET6 microprocessors, 8MHz types crystal oscillating circuit is as STM32F407ZET6 microprocessors
Oikocryst shake；XYIrtc the and XT0rtc pins of wherein 32.768KHz types crystal oscillator are respectively connected to STM32F407ZET6 microprocessors
PC14OSC32_IN and PC15OSC32_OUT；XTIP11 the and XT0P11 pins of 8MHz type crystal oscillators are respectively connected to
The PH1-OSC_OUT and PH0-OSC_IN of STM32F407ZET6 microprocessors.
4. a kind of submarine navigation device multipurpose radio communication device according to claim 3, it is characterised in that：The reset electricity
Realize that the low level of CPU resets using reset chip MAX811 in road；The power pins 4 of reset chip connect 3.3V DC power supplies, and
With connecing 3.3V DC power supplies by capacitance, the pin 3 of reset chip by button switch with connecing 3.3V DC power supplies, reset chip
Pin 1 with connecing 3.3V DC power supplies, the pin 2 of reset chip meets the NRST of STM32F407ZET6 microprocessors by resistance
Pin.
5. a kind of submarine navigation device multipurpose radio communication device according to claim 4, it is characterised in that：The serial port power
It is realized using MAX232 chips on road；T1IN, R1OUT pin of MAX232 chips connect STM32F407ZET6 microprocessors respectively
Serial ports output pin USART RX, USART TX, pin T1OUT, R1IN of MAX232 chips are respectively connected to external interface realization
Serial communication.
6. a kind of submarine navigation device multipurpose radio communication device according to claim 5, it is characterised in that：The CAN is total
Interface circuit realizes CAN protocol control by TJA1050 chips, completes CAN communication；TJA1050 chip pins D, R connect respectively
CAN communication interface CAN TX, the CANRX of STM32F407ZET6 microprocessors, TJA1050 chip pins CANH, CANL pass through simultaneously
CAN communication equipment outside one non-essential resistance access of connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810219268.2A CN108683433A (en) | 2018-03-16 | 2018-03-16 | A kind of submarine navigation device multipurpose radio communication device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810219268.2A CN108683433A (en) | 2018-03-16 | 2018-03-16 | A kind of submarine navigation device multipurpose radio communication device |
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| CN201810219268.2A Pending CN108683433A (en) | 2018-03-16 | 2018-03-16 | A kind of submarine navigation device multipurpose radio communication device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109217890A (en) * | 2018-10-23 | 2019-01-15 | 武汉中元通信股份有限公司 | A kind of noise reduction communication radio station |
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Application publication date: 20181019 |