CN112612047B - Satellite/inertial combined micro navigation system - Google Patents
Satellite/inertial combined micro navigation system Download PDFInfo
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- CN112612047B CN112612047B CN202011364598.4A CN202011364598A CN112612047B CN 112612047 B CN112612047 B CN 112612047B CN 202011364598 A CN202011364598 A CN 202011364598A CN 112612047 B CN112612047 B CN 112612047B
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- 230000001133 acceleration Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- XYDVHKCVOMGRSY-UHFFFAOYSA-N 4-(4-benzylphenyl)-1,3-thiazol-2-amine Chemical compound S1C(N)=NC(C=2C=CC(CC=3C=CC=CC=3)=CC=2)=C1 XYDVHKCVOMGRSY-UHFFFAOYSA-N 0.000 description 1
- 101001050286 Homo sapiens Jupiter microtubule associated homolog 1 Proteins 0.000 description 1
- 101000928034 Homo sapiens Proteasomal ubiquitin receptor ADRM1 Proteins 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application discloses a satellite/inertial combined micro navigation system, the system includes: a GNSS antenna, an inertial device and a navigation chip; the GNSS antenna is used for receiving satellite navigation signals and sending the satellite navigation signals to the navigation chip; the inertial device is used for acquiring inertial data and sending the inertial data to the navigation chip; and the navigation chip is connected with the GNSS antenna and the inertial device and is used for obtaining a navigation positioning result according to the satellite navigation signals and the inertial data and performing navigation positioning according to the navigation positioning result. The technical problem that a satellite/inertial integrated navigation system in the prior art cannot meet actual requirements is solved.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a satellite/inertial integrated micro navigation system.
Background
Navigation systems play an important role in aircraft, and there are various types of navigation systems, for example, satellite navigation systems or pure inertial navigation systems. Because the pure inertial navigation has the defects of accumulated error, low precision and the like, with the success of the Beidou satellite navigation system, the satellite/inertial combined navigation mode becomes the most widely applied and most convenient positioning navigation means of the current aircraft.
At present, the satellite device and the inertial navigation device in the satellite/inertial integrated navigation system are usually independent subsystems, so that the satellite/inertial integrated navigation system is complex, large in size and low in reliability. With the development of aerospace technology, miniaturization of aircrafts has become a development trend, and compared with the traditional large aircrafts, the miniature aircrafts have many advantages, such as lighter weight, lower cost, better stability and the like. For arming equipment such as military accurate guided ammunition, due to the fact that satellite navigation signals are poor due to the influences of flight maneuverability and use environments, the positioning result still needs to be continuously output when satellites are rejected for a short period in order to complete combat tasks; meanwhile, in order to increase the operational efficiency of the ammunition as much as possible, the equipment such as navigation on the ammunition is required to be designed with small volume and low power consumption. Therefore, the existing satellite/inertial integrated navigation system is not suitable for small aircrafts or armsets such as military accurate guided ammunition, and the design of the satellite/inertial integrated navigation system with the advantages of small volume, low power consumption and the like becomes a problem to be solved urgently.
Disclosure of Invention
The technical problem that this application solved is: aiming at the situation that the satellite/inertial integrated navigation system in the prior art cannot meet the actual requirements, the application provides a satellite/inertial integrated micro navigation system, which integrates satellite navigation signals and inertial data processing into the same navigation chip, so that the satellite/inertial integrated navigation system is prevented from being processed by independent systems, and the volume of the satellite/inertial integrated navigation system is reduced; the satellite navigation signals and the inertial data are combined to obtain the navigation positioning result, so that the high precision and the environment adaptability of the navigation positioning result are improved, the positioning output with high precision can be still kept when the satellite signals are refused, the satellite positioning device is suitable for receiver terminals of various satellite navigation systems such as a small unmanned plane, accurate guided ammunition, guided missiles and the like, and the satellite positioning device has high practicability.
In a first aspect, embodiments of the present application provide a satellite/inertial integrated micro navigation system, the system comprising: a GNSS antenna, an inertial device and a navigation chip; wherein,
the GNSS antenna is used for receiving satellite navigation signals and sending the satellite navigation signals to the navigation chip;
the inertial device is used for acquiring inertial data and sending the inertial data to the navigation chip;
the navigation chip is connected with the GNSS antenna and the inertial device and is used for obtaining a navigation positioning result according to the satellite navigation signals and the inertial data and performing navigation positioning according to the navigation positioning result.
In the scheme provided by the embodiment of the application, the navigation system comprises a GNSS antenna, an inertial device and a navigation chip; the method comprises the steps of receiving satellite navigation signals through a GNSS antenna, obtaining inertial data through an inertial device, obtaining a navigation positioning result by a navigation chip according to the satellite navigation signals and the inertial data, and performing navigation positioning according to the navigation positioning result. In the scheme provided by the embodiment of the application, satellite navigation signals and inertial data are processed and integrated into the same navigation chip, so that the processing of independent systems is avoided, and the volume of a satellite/inertial integrated navigation system is reduced; the satellite navigation signals and the inertial data are combined to obtain the navigation positioning result, so that the high precision and the environment adaptability of the navigation positioning result are improved, the positioning output with high precision can be still kept when the satellite signals are refused, the satellite positioning device is suitable for receiver terminals of various satellite navigation systems such as a small unmanned plane, accurate guided ammunition, guided missiles and the like, and the satellite positioning device has high practicability.
Optionally, the navigation chip includes: the system comprises a down-conversion module, an AD module, a satellite navigation baseband processor, a multi-source navigation processor and a memory; wherein,
the down-conversion module is used for performing down-conversion processing on the satellite navigation signals and converting the satellite navigation signals into intermediate frequency signals;
the AD module is connected with the down-conversion module and is used for carrying out analog-to-digital processing on the intermediate frequency signal to obtain a digital signal;
the satellite navigation baseband processor is connected with the down-conversion and AD module and the memory, and is used for carrying out baseband processing on the digital signals to obtain satellite positioning data, and sending the satellite positioning data to the multi-source navigation processor and the memory;
the multi-source navigation processor is connected with the satellite navigation baseband processor, the inertial device and the memory, and is used for determining positioning data according to the satellite positioning data and the inertial data and sending the positioning data to the memory;
the memory is used for storing the satellite navigation data and the navigation positioning result.
Optionally, the satellite navigation baseband processor is connected with the down-conversion module, the AD module and the memory, and the multi-source navigation processor is connected with the inertial device and the memory by buses.
Optionally, the satellite navigation baseband processor and the multi-source navigation processor have the same structure and each include an internal RAM, an internal ROM, and a processor.
Optionally, the inertial device comprises a gyroscope or an accelerometer.
Optionally, the memory is a FLASH memory.
Optionally, a power divider is also included; the power divider is arranged between the GNSS antenna and the navigation chip and is used for dividing the satellite navigation signals into four paths.
Drawings
FIG. 1 is a schematic diagram of a satellite/inertial integrated micro navigation system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a navigation chip according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a satellite/inertial integrated micro navigation system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a satellite/inertial integrated micro navigation system according to an embodiment of the present application.
Detailed Description
In the solutions provided by the embodiments of the present application, the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In order to better understand the technical solutions described above, the following detailed description of the technical solutions of the present application is provided through the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
Referring to fig. 1, a satellite/inertial integrated micro navigation system according to an embodiment of the present application includes: a GNSS antenna 1, an inertial device 2, and a navigation chip 3; wherein,
the GNSS antenna 1 is configured to receive satellite navigation signals and send the satellite navigation signals to the navigation chip 3;
the inertial device 2 is configured to acquire inertial data, and send the inertial data to the navigation chip 3;
the navigation chip 3 is connected with the GNSS antenna 1 and the inertial device 2, and is configured to obtain a navigation positioning result according to the satellite navigation signal and the inertial data, and perform navigation positioning according to the navigation positioning result.
Further, referring to fig. 2, in one possible implementation, the navigation chip 3 includes: a down-conversion module 31, an AD module 32, a satellite navigation baseband processor 33, a multi-source navigation processor 34, and a memory 35; wherein,
the down-conversion module 31 is configured to down-convert the satellite navigation signal into an intermediate frequency signal;
the AD module 32 is connected with the down-conversion module 31 and is used for performing analog-to-digital processing on the intermediate frequency signal to obtain a digital signal;
the satellite navigation baseband processor 33 is connected to the AD module 32 and the memory 35, and is configured to perform baseband processing on the digital signal to obtain satellite positioning data, and send the satellite positioning data to the multi-source navigation processor 34 and the memory 35;
the multi-source navigation processor 34 is connected to the satellite navigation baseband processor 33, the inertial device 2 and the memory 35, and is configured to determine positioning data according to the satellite positioning data and the inertial data, and send the positioning data to the memory 35;
the memory 35 is configured to store the satellite navigation data and the navigation positioning result.
Further, in one possible implementation, the satellite navigation baseband processor 33 is connected to the down-conversion module 31, the AD module 32 and the memory 35, and the multi-source navigation processor 34 is connected to the inertial device 2 and the memory 35 by buses.
Further, in one possible implementation, the inertial device 2 comprises a gyroscope or an accelerometer.
Further, in one possible implementation, the memory 35 is a FLASH memory.
Further, in one possible implementation, the power divider 4 is further included; the power divider 4 is disposed between the GNSS antenna 1 and the navigation chip 3, and is configured to divide the satellite navigation signal into four paths.
Specifically, in the solution provided in the embodiment of the present application, the GNSS antenna 1 is a multi-frequency multi-mode antenna, and may receive satellite signals with multi-frequency multi-mode. Inertial device 2 includes, but is not limited to, MEMS inertial devices, such as gyroscopes, which are tri-axial gyroscopes, and accelerometers, which are tri-axial accelerometers. The navigation chip 3 adopts a dual-processor architecture of a satellite navigation baseband processor 33 and a multi-source navigation processor 34 and an on-chip peripheral architecture, wherein the on-chip peripheral architecture comprises a down-conversion module 31, an AD module 32, a memory 35 and a communication interface, the communication interface comprises an SPI interface, a UART interface or a CAN interface and the like, the memory 35 CAN comprise a FLASH memory, the satellite navigation baseband processor 33 and the multi-source navigation processor 34 are uniformly connected with the FLASH memory, and CAN also comprise two FLASH memories, and the satellite navigation baseband processor 33 and the multi-source navigation processor 34 are respectively connected with the FLASH memory, so that the method is not limited.
Further, a multi-layer high-speed bus and low-speed bus structure is adopted in the navigation chip 3, high-speed bus communication is adopted between the satellite navigation baseband processor 33 and the multi-source navigation processor 34 as well as between the on-chip and off-chip devices, and the satellite navigation baseband processor 33 and the multi-source navigation processor 34 respectively use independent buses and on-chip and off-chip devices for communication.
In order to realize data communication between the satellite navigation baseband processor 33 and the multi-source navigation processor 34, a shared RAM memory 36 is also included in the navigation chip 3, and the satellite navigation baseband processor 33 and the multi-source navigation processor 34 use the shared RAM memory 36 for data sharing and communication.
Further, in the solution provided in the embodiment of the present application, the memory 35 stores, in addition to the satellite positioning data output by the satellite navigation baseband processor 33 and the inertial data output by the multi-source navigation processor 34, processing program codes of the satellite navigation baseband processor 33 and the multi-source navigation processor 34. After the AD module 32 converts the satellite navigation signal into a digital signal, the satellite navigation baseband processor 33 loads the program code from the memory 35, and then performs tracking and observation calculation according to the digital signal output from the AD module 32 to obtain satellite positioning data such as satellite position, speed, pseudo range, pseudo code rate, carrier phase, doppler and the like, and stores the satellite positioning data in the shared RAM memory 36.
The multi-source navigation processor 34 receives satellite positioning data obtained by the satellite navigation baseband processor 33 through resolving, acquires inertial data of the inertial device 2 from the SPI interface, runs the self-adaptive filter program, performs integrated navigation resolving, and outputs a positioning result through the external interface.
Further, in one possible implementation, the satellite navigation baseband processor 33 and the multi-source navigation processor 34 have the same structure and each include an internal RAM, an internal ROM, and a processor.
Specifically, referring to fig. 3, in the solution provided in the embodiment of the present application, the two satellite navigation baseband processors 33 and the multi-source navigation processor 34 adopt the same architecture, which are both ARM cores, for example, the ARM core model is ARM926EJ-S, and an internal RAM and an internal ROM are integrated in each of the satellite navigation baseband processor 33 and the multi-source navigation processor 34, where the sizes of the internal RAM and the internal ROM are not limited, and are for example 512KB. The processor ARM1 in the satellite navigation baseband processor 33 is used for baseband processing of satellite navigation, and the processor ARM2 in the multi-source navigation processor 34 is used for fusion processing of satellites and inertial data and positioning calculation.
In order to facilitate understanding of the operation principle of the navigation system, the operation process of the GNSS antenna 1 will be briefly described below by taking the example of receiving four frequency points of the dual system.
Specifically, referring to fig. 4, the multi-frequency multi-mode GNSS antenna 1 receives satellite navigation signals, then sends the satellite navigation signals to the power divider 4, divides the satellite navigation signals into four paths of GPS L1, L2 and BD B1, B3 radio frequency signals after passing through the power divider 4, inputs the four paths of radio frequency signals to the down-conversion module 31 of the navigation chip 3, the down-conversion module 31 performs down-conversion processing on the four paths of radio frequency signals to obtain four paths of intermediate frequency signals, sends the four paths of intermediate frequency signals to the AD module 32, and the AD module 32 converts the four paths of intermediate frequency signals into four paths of digital signals, and then inputs the four paths of digital signals to the satellite navigation baseband processor 33.
The satellite navigation baseband processor 33 processes four paths of digital signals to obtain rough carrier Doppler and code phase, then a signal tracking loop tracks, the tracking loop adopts a two-loop structure of a code loop and a carrier loop, wherein the code loop part, the digital signals and a local carrier I, Q are multiplied and enter a code correlator, the code correlator is used for transmitting the integrated and cleared digital signals into a code phase discriminator to obtain a code phase error signal, and the code phase error signal is used for correcting the frequency word of a code NCO after passing through a code loop filter; and the carrier ring part is used for obtaining a phase error after the two paths of instant accumulation results are subjected to carrier phase discrimination, and the self-adaptive control module is used for selecting proper carrier loop order and loop filter parameters according to the externally input dynamic information, filtering the carrier phase discrimination results and then using the filtered carrier phase discrimination results for carrier NCO frequency words, so that the local carrier tracks the dynamic change of the satellite carrier frequency in real time. The satellite navigation baseband processor 33 calculates satellite positioning data such as satellite position, speed, pseudo range, carrier phase, etc., and outputs the data to the multi-source navigation processor 34 via the internal bus.
The multi-source navigation processor 34 receives three-axis attitude data and three-axis acceleration data of the inertial device 2 (a three-axis gyroscope/a three-axis accelerometer) through an SPI interface, the multi-source navigation processor 34 fuses the three-axis attitude data and the three-axis acceleration data with the received satellite positioning data through a combined filtering module to obtain fused data, and the fused data is resolved to obtain a navigation positioning result. The combined filtering module designed by the scheme utilizes an Extended Kalman Filter (EKF) to perform data fusion and calculation processing on the position, the speed, the pseudo-range rate, the carrier phase, doppler information, the triaxial attitude and triaxial acceleration information of MEMS inertial measurement, and finally outputs a high-precision combined navigation and positioning result.
In the solution provided in this embodiment, the navigation system includes a GNSS antenna 1, an inertial device 2, and a navigation chip 3; satellite navigation signals are received through the GNSS antenna 1, inertial data are acquired through the inertial device 2, then the navigation chip 3 obtains navigation positioning results according to the satellite navigation signals and the inertial data, and navigation positioning is carried out according to the navigation positioning results. In the scheme provided by the embodiment of the application, satellite navigation signals and inertial data are processed and integrated into the same navigation chip, so that the processing of independent systems is avoided, and the volume of a satellite/inertial integrated navigation system is reduced; the satellite navigation signals and the inertial data are combined to obtain the navigation positioning result, so that the high precision and the environment adaptability of the navigation positioning result are improved, the positioning output with high precision can be still kept when the satellite signals are refused, the satellite positioning device is suitable for receiver terminals of various satellite navigation systems such as a small unmanned plane, accurate guided ammunition, guided missiles and the like, and the satellite positioning device has high practicability.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (6)
1. A satellite/inertial integrated micro navigation system, comprising: a GNSS antenna, an inertial device and a navigation chip; wherein,
the GNSS antenna is used for receiving satellite navigation signals and sending the satellite navigation signals to the navigation chip;
the inertial device is used for acquiring inertial data and sending the inertial data to the navigation chip;
the navigation chip is connected with the GNSS antenna and the inertial device and is used for obtaining a navigation positioning result according to the satellite navigation signals and the inertial data and performing navigation positioning according to the navigation positioning result;
the navigation chip includes: the system comprises a down-conversion module, an AD module, a satellite navigation baseband processor, a multi-source navigation processor and a memory; wherein,
the down-conversion module is used for performing down-conversion processing on the satellite navigation signals and converting the satellite navigation signals into intermediate frequency signals;
the AD module is connected with the down-conversion module and is used for carrying out analog-to-digital processing on the intermediate frequency signal to obtain a digital signal;
the satellite navigation baseband processor is connected with the down-conversion module, the AD module and the memory, and is used for carrying out baseband processing on the digital signals to obtain satellite positioning data, and sending the satellite positioning data to the multi-source navigation processor and the memory;
the multi-source navigation processor is connected with the satellite navigation baseband processor, the inertial device and the memory, and is used for determining positioning data according to the satellite positioning data and the inertial data and sending the positioning data to the memory;
the memory is used for storing the satellite navigation data and the navigation positioning result.
2. The system of claim 1, wherein the satellite navigation baseband processor is connected to the down-conversion module, the AD module, and the memory using a bus; the multi-source navigation processor is connected with the inertial device and the memory by adopting a bus.
3. The system of claim 2, wherein the satellite navigation baseband processor and the multi-source navigation processor have the same structure and each comprise an internal RAM, an internal ROM, and a processor.
4. A system according to any one of claims 1 to 3, wherein the inertial device comprises a gyroscope or accelerometer.
5. A system as claimed in any one of claims 1 to 3, wherein the memory is a FLASH memory.
6. A system according to any one of claims 1 to 3, further comprising a power divider; the power divider is arranged between the GNSS antenna and the navigation chip and is used for dividing the satellite navigation signals into four paths.
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