CN114137582A - Satellite-borne GNSS receiver based on reconfigurable modularization - Google Patents
Satellite-borne GNSS receiver based on reconfigurable modularization Download PDFInfo
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- CN114137582A CN114137582A CN202111327908.XA CN202111327908A CN114137582A CN 114137582 A CN114137582 A CN 114137582A CN 202111327908 A CN202111327908 A CN 202111327908A CN 114137582 A CN114137582 A CN 114137582A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
A satellite-borne GNSS receiver based on reconfigurable modularization adopts modularized design and comprises a radio frequency module, a navigation module, a control module and a bottom plate; the radio frequency module, the navigation module and the control module adopt standardized structural design, and the modules can be reconstructed and combined, can support multi-antenna input and multi-machine redundancy backup and are suitable for satellite-borne scenes. The radio frequency module receives the input of the multi-path antenna GNSS radio frequency signal and completes the amplification, combination and power division processing; the navigation module finishes the acquisition, tracking and positioning of GNSS signals based on an integrated navigation chip; the control module completes communication with the satellite subsystem based on the main control CPU, control instruction receiving and execution and the like; the backplane is used for providing interconnection among modules, external interfaces and basic power supply. The method is suitable for complex satellite-borne scenes, has reconfigurable characteristics, flexibility, universality and reliability, can greatly reduce the design cost, and realizes the mass production capability.
Description
Technical Field
The invention relates to a reconfigurable modular satellite-borne GNSS receiver, and belongs to the field of satellite navigation.
Background
With the rapid development of commercial aerospace, the microsatellite has the advantages of small volume, strong maneuverability, high construction speed, low-orbit operation and the like, is rapidly developed in the fields of broadband communication, electronic investigation, remote sensing observation and the like, presents a large-scale networking trend and has large construction requirements. The satellite-borne GNSS receiver is one of the core group components and provides high-precision position, speed, time and other information for the satellite. Different from a ground scene, the satellite-borne scene is complex, the satellite motion speed is high, different attitude adjustment exists, the signal Doppler frequency shift is large, the visible satellite switching speed is high, and the like, and extremely high requirements are provided for the performance, the reliability and the like of a satellite-borne GNSS receiver. The traditional satellite-borne GNSS receiver still mainly takes a subsystem or a large single machine form, single boards such as an FPGA + DSP and an RF + special baseband are designed to ensure the performance and the reliability, and the degree of miniaturization and low power consumption is very limited. In recent years, some domestic satellites begin to select common ground commercial small-sized GNSS receivers as on-satellite orbit determination equipment, but the space adaptability and reliability cannot meet the long-term on-orbit working requirements. In addition, because the satellite models and the constellations are different in function and structure definition and cannot be generalized, most of the existing satellite-borne GNSS receivers are realized by adopting customized schemes, the design, production cost and period are difficult to compress, and the mass production capacity cannot be formed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the satellite-borne GNSS receiver based on reconfigurable modularization adopts a modularized design and comprises a radio frequency module, a navigation module, a control module and a bottom plate; the radio frequency module, the navigation module and the control module adopt standardized structural design, and the modules can be reconstructed and combined, can support multi-antenna input and multi-machine redundancy backup and are suitable for satellite-borne scenes. The radio frequency module receives the input of the multi-path antenna GNSS radio frequency signal and completes the amplification, combination and power division processing; the navigation module finishes the acquisition, tracking and positioning of GNSS signals based on an integrated navigation chip; the control module completes communication with the satellite subsystem based on the main control CPU, control instruction receiving and execution and the like; the backplane is used for providing interconnection among modules, external interfaces and basic power supply. The method is suitable for complex satellite-borne scenes, has reconfigurable characteristics, flexibility, universality and reliability, can greatly reduce the design cost, and realizes the mass production capability.
The purpose of the invention is realized by the following technical scheme:
a satellite-borne GNSS receiver based on reconfigurable modularization comprises a radio frequency module, a navigation module, a control module and a bottom plate;
the radio frequency module is used for receiving GNSS radio frequency signals, then carrying out primary filtering amplification, combining and power dividing processing and outputting a plurality of paths of radio frequency signals; each path of radio frequency signal is input to a navigation module;
the navigation module comprises a radio frequency front-end circuit and an integrated navigation chip; the radio frequency front-end circuit is used for receiving and processing radio frequency signals; the integrated navigation chip is used for completing GNSS signal capturing, tracking and positioning, outputting a positioning result and observed quantity data to the control module, and receiving a control module instruction;
the control module receives and packages the data output by the navigation module, completes data communication with the satellite subsystem, receives the instruction and controls the working mode and state of the navigation module;
the bottom plate is used for providing interconnection, external interfaces, debugging interfaces and power supply among the modules.
Further, the radio frequency module receives the input of radio frequency signals of multiple paths of antennas, finishes primary filtering and amplification on each path of radio frequency signal, and outputs multiple paths of radio frequency signals sequentially through the all-in-one combiner and the one-in-multiple power divider; the radio frequency module supports at most 4 paths of radio frequency input and at most 3 paths of radio frequency signal output, and the gain is controlled within a range of 14-16 dB.
Further, a radio frequency front-end circuit of the navigation module receives a single-path radio frequency signal output by the radio frequency module, and outputs 3 paths of differential radio frequency signals after passing through an amplifier, a power divider, a filter and a single-end-to-differential balun in sequence, wherein the 3 paths of differential radio frequency signals are respectively a 1.5G frequency band, a 1.2G frequency band and a 1.1G frequency band; the gain of the single RF link should be controlled to 35-40 dB.
Further, the 3 paths of differential radio frequency signals are simultaneously input to an integrated navigation chip of the navigation module; the integrated navigation chip completes down-conversion and analog-to-digital conversion of the 3 paths of differential radio frequency signals, outputs digital intermediate frequency signals of different frequency points, and completes capture, tracking and positioning of multi-mode multi-frequency-point GNSS signals for the 3 paths of digital intermediate frequency signals.
Furthermore, a communication interface of the integrated navigation chip and the control module is a UART; the integrated navigation chip also reserves 1 path of UART interface as backup.
Furthermore, the bottom plate is provided with four paths of SMA connectors, receives radio frequency signals of the multi-four paths of GNSS antennas and outputs the radio frequency signals to the radio frequency module through the connectors between the miniature plates.
Furthermore, the radio frequency module is provided with at most four radio frequency signal inputs and three radio frequency signal outputs, and an antenna feed ANTVCC is reserved.
Further, the pin definition of the inter-board connector of the navigation module defines the test and debugging requirements of the integrated navigation chip except for power VCC, GND, UART, 1PPS, JTAG and reset signals: the integrated navigation chip simulates intermediate frequency output, an internal radio frequency chip configuration interface SPI of the integrated navigation chip and an internal radio frequency chip sampling clock of the integrated navigation chip; and IIC and GPIO interfaces are defined for communication interface extension, the universality of the navigation module is improved, and subsequent design change is reduced.
Furthermore, the pin definition of the inter-board connector of the control module adopts a unified standard, and a series of communication interfaces and debugging interfaces are provided besides a power supply signal, a reset signal and a JTAG; the communication interface of the control module and the satellite subsystem comprises CAN, IIC, RS422 and SPI, and 1 or more optional interfaces are supported.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts the modular design, the functions and interfaces of each module are clearly defined, and the standardized structural design is adopted, so that the design and production cost can be reduced.
(2) Under the condition of ensuring the design requirement of a standardized structure, the invention forms various pluggable and replaceable radio frequency modules by selecting different combiners and power dividers, supports the simultaneous input of multi-path antenna signals and the output of radio frequency signals, and improves the space applicability of the satellite-borne GNSS receiver.
(3) According to the invention, through the combination of the plurality of radio frequency modules, the navigation module, the control module and the bottom plate, multi-machine redundancy backup can be realized, and the reliability of the satellite-borne GNSS receiver is improved.
(4) The navigation module is realized based on an integrated navigation chip, has high function density ratio, supports multi-mode multi-frequency GNSS signal positioning, has small volume, low power consumption and high reliability, and can meet the application requirements of micro satellites.
Drawings
FIG. 1 is a basic schematic block diagram of an embodiment 1 of an on-board GNSS receiver of the present invention;
fig. 2 is a basic schematic block diagram of a radio frequency module according to embodiment 1 of the present invention;
FIG. 3 is a basic functional block diagram of a navigation module according to embodiment 1 of the present invention;
FIG. 4 is a basic functional block diagram of a control module according to embodiment 1 of the present invention;
fig. 5 is a basic schematic block diagram of an embodiment 2 of the GNSS receiver on board a satellite according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
The invention provides a reconfigurable modular satellite-borne GNSS receiver, which mainly comprises a radio frequency module, a navigation module, a control module and a bottom plate, as shown in figure 1. The navigation module A and the navigation module B are navigation modules of the same type, can be mutually cold-backed up and can also work simultaneously. The control module A and the control module B are the same type of control modules, can be mutually cold-backed up and can also work simultaneously.
The radio frequency module, the navigation module and the control module are designed by adopting standardized structures, the size of a single radio frequency module is 40 multiplied by 20mm, the size of a single navigation module is 40 multiplied by 40mm, and the size of a single control module is 40 multiplied by 40 mm.
The bottom plate is used for providing interconnection, external interfaces, debugging interfaces and basic power supply among the modules; the radio frequency module, the navigation module, the control module and the bottom plate are connected through a connector between the miniature plates.
The bottom plate is provided with four paths of SMA connectors for receiving radio frequency signals of at most four paths of GNSS antennas. In the embodiment, two SMA connectors are used for receiving radio frequency signals of two GNSS antennas and inputting the radio frequency signals to the radio frequency module through the micro inter-board connector.
The radio frequency module outputs a plurality of radio frequency signals to the navigation module through the filter, the amplifier, the combiner and the power divider.
The navigation module is used for carrying out amplification, power division, filtering and other processing on an input single-path radio frequency signal to form 3 paths of differential radio frequency signals, finishing radio frequency signal down-conversion, analog-to-digital conversion, digital intermediate frequency processing, capturing, tracking, navigation positioning calculation and the like based on the integrated navigation chip, and outputting positioning result and other data to the control module through the UART.
The control module receives the data input by the navigation module through the UART and performs packaging processing. And 1 or more types of data communication with the satellite subsystem CAN be supported by adopting standardized interfaces including CAN, IIC, RS422 and SPI. And the control module receives the satellite subsystem control instruction and forwards the satellite subsystem control instruction to the navigation module to control the switching of the working mode of the navigation module and the like.
(1) Radio frequency module
As shown in fig. 2, the rf module receives rf signal input from the two-way GNSS antenna, and performs a first-stage filtering and amplification on each rf signal by using a filter and a low noise amplifier. Then the signals sequentially pass through the two-in-one combiner and the one-in-two power divider to output two-path radio frequency signals. The overall gain of the radio frequency module is controlled to be 14-16 dB.
In addition, according to the design requirements of the satellite-borne GNSS receiver, under the condition of keeping the standard structure design and pin definition, a combiner and a power divider with different port numbers can be selected in the radio frequency, so that the receiving of multi-path antenna signals and the output of multi-path radio frequency signals are realized. If the three-in-one combiner and the two-in-one power divider are selected, three-path GNSS antenna signal input and two-path radio frequency signal output can be realized.
However, it is necessary to ensure that the rf modules formed after selecting different combiners and power dividers conform to the standardized structural design, and the pin definitions of the connectors between boards adopt the same standard, so as to realize the equivalent plug replacement of different types of rf modules. Attenuation is caused by multi-path combination and power division; meanwhile, considering the volume limitation of the radio frequency module, the pin definition is provided with at most four radio frequency signal inputs except the pins of the fixed basic power source VCC and the GND, and three radio frequency signals are output and an antenna feed ANTVCC is reserved to improve the applicability and the compatibility. And the radio frequency module selects a corresponding radio frequency signal input and output pin according to the input port of the internal combiner and the output port of the power divider.
Each path of radio frequency signal output by the radio frequency module is input to a navigation module for processing.
(2) Navigation module
As shown in fig. 3, each rf signal output by the rf module is input to a navigation signal.
The navigation module mainly comprises a radio frequency front-end circuit and an integrated navigation chip. The radio frequency signal sequentially passes through the low noise amplifier, the power divider, the surface acoustic wave filter and the single-end-to-differential balun, 3 paths of differential radio frequency signals are output, and the differential radio frequency signals are respectively supported to a 1.5G frequency band, a 1.2G frequency band and a 1.1G frequency band. The gain of the single radio frequency link is controlled to be 35-40 dB.
And the 3 paths of differential radio frequency signals are simultaneously input to an integrated navigation chip of the navigation module.
The integrated navigation chip of the invention integrates a radio frequency chip, a digital baseband chip, Flash and a power supply, has high function density ratio and low power consumption, and supports three-mode eight-frequency signals of GPS L1/L2/L5, BDS B1/B2/B3 and GLONASS L1/L2. The radio frequency chip integrated in the integrated navigation chip supports simultaneous input of 3 paths of differential radio frequency signals, and secondary down conversion, an amplifier, a filter and the like are completed. The digital baseband chip performs parameter configuration on the radio frequency chip, completes down-conversion and analog-to-digital conversion of 3 paths of differential radio frequency signals, and outputs 3 paths of digital intermediate frequency signals with different frequency points. The digital baseband chip integrated in the integrated navigation chip supports 3 paths of digital intermediate frequency signal processing, and three-mode eight-frequency GNSS signal capturing, tracking and positioning are completed through software algorithm design. And data such as positioning results, observed quantities and the like are output to the control module through the UART interface of the integrated navigation chip. Meanwhile, 1 path of UART interface is reserved as backup.
The navigation module inter-board connector pin definition still defines partial interface to the integrated navigation chip test and debugging requirement except that power VCC, GND, UART, 1PPS, JTAG, reset signal and other basic signal are fixed, includes: the integrated navigation chip simulates intermediate frequency output, the radio frequency chip in the integrated navigation chip is configured with an interface SPI, and the radio frequency chip in the integrated navigation chip is used for sampling a clock. Meanwhile, IIC and GPIO interfaces are defined for communication interface extension, the universality of a navigation module is improved, and subsequent design changes are reduced.
(3) Control module
As shown in fig. 4, the control module mainly comprises a main control CPU, an interface circuit, a power supply, and a storage unit. And receiving the data output by the navigation module through the UART, and performing packaging processing according to data convention. Data packing is accomplished by software algorithms. The pin definition of the connector between the control module boards adopts a unified standard, and a series of communication interfaces and debugging interfaces are provided besides basic signal fixed definitions such as power supply signals, reset signals, JTAG and the like. The communication interface of the control module and the satellite subsystem comprises CAN, IIC, RS422 and SPI, and 1 or more optional interfaces are supported.
The CAN bus interface is realized by a CAN transceiver and a peripheral circuit, and the IIC bus interface mainly comprises an IIC repeater and a peripheral circuit. The control module sends the packed data to the outside at regular time through the interface, and can also select a specific interface to send the data according to specific design requirements.
In addition, the control module receives a polling instruction sent by the satellite subsystem through the CAN or IIC bus interface and sends specified data according to the polling instruction. Meanwhile, a control instruction sent by the satellite subsystem is received and forwarded to the navigation module, and the navigation module completes working mode switching and the like based on the control instruction.
The power supply part of the control module mainly completes 5V power supply and conversion and control of power supplies of 3.3V, 1.8V and 1.2V required by the interior. The storage unit mainly comprises Flash required by the stored program.
Example 2
This embodiment is shown in fig. 5:
(1) the design of the satellite-borne GNSS receiver is realized by selecting 1 radio frequency module, 2 navigation modules, 2 control modules and a bottom plate.
(2) The radio frequency module supports three-path GNSS antenna input, and outputs 2-path radio frequency signals by sequentially selecting a filter, a low noise amplifier, a three-in-one combiner and a one-to-two power divider.
(3) 2 navigation modules and 2 control modules are selected respectively, the design in the embodiment 1 is continued, and double-machine cold backup is adopted, so that the space applicability and the reliability are improved.
(4) The radio frequency module, the navigation module and the control module are all designed by adopting standardized structures and defined by pins, the size of a single radio frequency module is 40 multiplied by 20mm, the size of a single navigation module is 40 multiplied by 40mm, and the size of a single control module is 40 multiplied by 40 mm.
(5) The backplane follows the design in example 1, using one of the three-way SMA connectors, supporting a three-way GNSS antenna input.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (9)
1. A satellite-borne GNSS receiver based on reconfigurable modularization is characterized by comprising a radio frequency module, a navigation module, a control module and a bottom plate;
the radio frequency module is used for receiving GNSS radio frequency signals, then carrying out primary filtering amplification, combining and power dividing processing and outputting a plurality of paths of radio frequency signals; each path of radio frequency signal is input to a navigation module;
the navigation module comprises a radio frequency front-end circuit and an integrated navigation chip; the radio frequency front-end circuit is used for receiving and processing radio frequency signals; the integrated navigation chip is used for completing GNSS signal capturing, tracking and positioning, outputting a positioning result and observed quantity data to the control module, and receiving a control module instruction;
the control module receives and packages the data output by the navigation module, completes data communication with the satellite subsystem, receives the instruction and controls the working mode and state of the navigation module;
the bottom plate is used for providing interconnection, external interfaces, debugging interfaces and power supply among the modules.
2. The satellite-borne GNSS receiver according to claim 1, wherein the radio frequency module receives a plurality of antenna radio frequency signal inputs, performs one-stage filtering amplification on each of the plurality of antenna radio frequency signals, and outputs a plurality of radio frequency signals sequentially through the all-in-one combiner and the one-division multi-power divider; the radio frequency module supports at most 4 paths of radio frequency input and at most 3 paths of radio frequency signal output, and the gain is controlled within a range of 14-16 dB.
3. The satellite-borne GNSS receiver according to claim 1, wherein the radio frequency front end circuit of the navigation module receives a single-path radio frequency signal output by the radio frequency module, and outputs 3 paths of differential radio frequency signals after passing through the amplifier, the power divider, the filter and the single-ended-to-differential balun in sequence, wherein the 3 paths of differential radio frequency signals are respectively a 1.5G frequency band, a 1.2G frequency band and a 1.1G frequency band; the gain of the single RF link should be controlled to 35-40 dB.
4. The satellite-borne GNSS receiver of claim 3, wherein the 3-way differential RF signals are simultaneously input to an integrated navigation chip of the navigation module; the integrated navigation chip completes down-conversion and analog-to-digital conversion of the 3 paths of differential radio frequency signals, outputs digital intermediate frequency signals of different frequency points, and completes capture, tracking and positioning of multi-mode multi-frequency-point GNSS signals for the 3 paths of digital intermediate frequency signals.
5. The satellite-borne GNSS receiver of claim 4, wherein the communication interface of the integrated navigation chip and the control module is UART; the integrated navigation chip also reserves 1 path of UART interface as backup.
6. The satellite-borne GNSS receiver of any one of claims 1 to 5, wherein the bottom board is provided with four-way SMA connectors for receiving RF signals of the multi-four-way GNSS antenna and outputting the signals to the RF module via the micro inter-board connector.
7. The on-board GNSS receiver of any of claims 1 to 5, wherein the radio frequency module is provided with at most four inputs and three outputs for radio frequency signals, and reserves an antenna feed ANTVCC.
8. The on-board GNSS receiver of any of claims 1 to 5, wherein the board-to-board connector pin definition of the navigation module defines, in addition to the power VCC, GND, UART, 1PPS, JTAG, reset signal, the test and debug requirements for the integrated navigation chip: the integrated navigation chip simulates intermediate frequency output, an internal radio frequency chip configuration interface SPI of the integrated navigation chip and an internal radio frequency chip sampling clock of the integrated navigation chip; and IIC and GPIO interfaces are defined for communication interface extension, the universality of the navigation module is improved, and subsequent design change is reduced.
9. The on-board GNSS receiver of any of claims 1 to 5, wherein the pin definition of the inter-board connector of the control module adopts a unified standard, and provides a series of communication interfaces and debugging interfaces in addition to the power signal, the reset signal and the JTAG; the communication interface of the control module and the satellite subsystem comprises CAN, IIC, RS422 and SPI, and 1 or more optional interfaces are supported.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116056329A (en) * | 2023-01-19 | 2023-05-02 | 中国科学院微小卫星创新研究院 | Single-board integrated electronic unit and integrated electronic system for microsatellite |
| CN116054937A (en) * | 2023-03-31 | 2023-05-02 | 中国电子科技集团公司第五十四研究所 | Dual-frenquency point common aperture laser communication system |
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- 2021-11-10 CN CN202111327908.XA patent/CN114137582A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116056329A (en) * | 2023-01-19 | 2023-05-02 | 中国科学院微小卫星创新研究院 | Single-board integrated electronic unit and integrated electronic system for microsatellite |
| CN116056329B (en) * | 2023-01-19 | 2023-12-19 | 中国科学院微小卫星创新研究院 | Single-board integrated electronic unit and integrated electronic system for microsatellite |
| CN116054937A (en) * | 2023-03-31 | 2023-05-02 | 中国电子科技集团公司第五十四研究所 | Dual-frenquency point common aperture laser communication system |
| CN116054937B (en) * | 2023-03-31 | 2023-06-23 | 中国电子科技集团公司第五十四研究所 | Dual-frenquency point common aperture laser communication system |
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