CN205594167U - BDSGPS location navigation's teaching and development platform - Google Patents

Abstract

The utility model relates to a BDSGPS location navigation's teaching and development platform, this platform include BDSGPS radio frequency module, the full SOC device able to programme of ZYNQ, bus interface, inertial navigation module. Wherein BDSGPS radio frequency module is for disposing radio frequency down coversion filter module frequently, the full SOC device able to programme of ZYNQ is the SOC device of integrated two ARM treaters with hardware programmable logic FPGA, inertial navigation module integration the gyroscope of high accuracy, accelerometer and geomagnetic field sensor. Teaching function is accomplished to this process of platform accessible demonstration, can realize the collection of original intermediate frequency data, can combine inertial navigation module data and satellite positioning information to accomplish the supplementary navigation feature of inertia, assist navigation provide platform for the user develops inertia.

Description

The teaching of a kind of BDS/GPS Position Fixing Navigation System and development platform

Technical field

This utility model relates to a kind of teaching and development platform, especially relates to the teaching of BDS Yu GPS Position Fixing Navigation System and the platform of exploitation.

Background technology

NAVSTAR is one of national information infrastructure construction, is also the symbol of national science and technology level and economic strength.Building up of China's dipper system, advances China's information infrastructure significantly, improves economic society and the military information level of China.Thus the offer of Beidou satellite navigation and positioning system precision, the lifting of performance and Big Dipper equipment is universal most important to China's information infrastructure.

In NAVSTAR is imparted knowledge to students, the main books that pass through implement teaching with software emulation, the receiver data form the basis not using true samples is analyzed, make the method used during teaching be difficult to data real to reality to process, cause theoretical and actual deviation, so that some achievements furtherd investigate in theory run into many insoluble problems when practice realizes.

Research starting point for NAVSTAR is higher, is difficult to grasp, and many enterprises or colleges and universities attempt this field of entering into, but to waste a large amount of valuable time because the degree of the teaching used and the open data of development platform is less.

Navigation satellite signal is affected by factors, positioning precision and dynamic property is made to be difficult to meet some high accuracy or occasion of high dynamic, inertia assisting navigation becomes a new effective ameliorative way, but is provided that the platform of inertia assisting navigation developmental research because market is rare, is allowed to be difficult to start to walk.

Summary of the invention

This utility model, for the problems referred to above, discloses a kind of Big Dipper BDS and GPS integraded theory with practice

The teaching of Position Fixing Navigation System and development platform, it uses the full SOC device able to programme of BDS/GPS radio-frequency module, ZYNQ, inertial navigation module, DDR internal memory and EBI, it is achieved the teaching platform of BDS/GPS Position Fixing Navigation System and development platform.

The technical solution of the utility model is:

The teaching of a kind of BDS/GPS Position Fixing Navigation System and development platform, for realizing teaching and the exploitation of Big Dipper BDS and GPS Position Fixing Navigation System, thus, the teaching of the BDS/GPS Position Fixing Navigation System that the utility model proposes and development platform include the full SOC device able to programme of Big Dipper BDS/GPS radio-frequency module, ZYNQ, inertial navigation module, DDR internal memory and EBI.

Described BDS/GPS radio-frequency module, for RNSS RF IC, the high frequency satellite-signal being responsible for receiving antenna carries out down coversion, then exporting with digital intermediate frequency signal and carry out IF process to FPGA, the frequency that this module can configure has GPS L1, GPS L2, GPS L5, BD2 B1, BD2 B2, BD2 B3, GLONASS L1.

Described inertial navigation module, integrated high-precision gyroscope, accelerometer, geomagnetic field sensors and attitude algorithm device, these sensing datas will be delivered to ARM1 processor and provide data support for inertia assisting navigation.

The full SOC device able to programme of described ZYNQ, comprises on-site programmable gate array FPGA and programmable double-core arm processor ARM0 and ARM1.FPGA receives the digital medium-frequency signal from the output of BDS/GPS radio-frequency module, then captures digital medium-frequency signal and follows the tracks of.First ARM0 is tracked the control of algorithm, then extracts satellite message signal in the signal after tracking, and resolves text and position.ARM1 gathers the data of inertial navigation module output and combines the text resolved data of ARM0 and be analyzed computing and complete inertia assisting navigation.

DDR3 internal memory is saved as in described DDR, it is operated under 533Mhz dominant frequency total capacity 256MB, processor ARM0 Yu ARM1 shares this memory headroom, but runs respective program at different address sections, and processor also uses DDR internal memory to cache the data from FPGA Real-time Collection in addition.

Described EBI includes USB port, network interface ETH, JTAG mouth, extension mouth and two serial ports UART0 and UART1.The data that wherein USB port gathers for high-speed transfer FPGA with network interface ETH, JTAG mouth is used for platform and debugs in teaching R&D process and download, and extension mouth is used for gathering data output or external digital signal imports.Serial ports UART0 is for positioning the printing of information result, and UART1 is mutual for the function processing ARM.

The BDS/GPS antenna of Position Fixing Navigation System receives the radiofrequency signal from satellite；BDS/GPS radio-frequency module carries out down coversion Filtering Processing to the radiofrequency signal from satellite, and the radiofrequency signal received is converted to manageable digital medium-frequency signal；FPGA receives digital medium-frequency signal and carries out Base-Band Processing, i.e. utilizes acquisition algorithm to capture digital medium-frequency signal at FPGA thus primarily determines which satellite the signal received comes from；Then proceed to utilize track algorithm parallel satellite to be tracked in FPGA, after the success of FPGA tracking satellite, the telegraph signal that this satellite sends will be obtained；The telegraph signal of multi-satellite is resolved by processor ARM0, then uses location algorithm to calculate the position being currently located；Processor ARM1 gathers the information such as the sensing data of the inertial navigation module position with the text of ARM0 resolving and calculating, and utilizes inertia assisting navigation algorithm to realize the inertia deep integrated positioning of auxiliary.

Data high-speed gathers, processor ARM1 can send instruction to FPGA while ARM0 carries out satellite fix resolving makes FPGA start the high speed acquisition digital medium-frequency signal from BDS/GPS radio-frequency module, and the digital signal of collection is stored in FPGA in the FIFO memory built；ARM1 uses DMA technology quickly the data in FIFO memory to be sent in internal memory DDR internal memory, and uses gigabit Ethernet outspoken speed that the data of storage in DDR internal memory are sent to PC host computer in real time.The speed using DMA to transmit the speed of data and 1000M Ethernet interface because of ARM1 is both greater than in FPGA the speed gathering digital medium-frequency signal, it is possible to realize the Real-time Collection of digital medium-frequency signal.The intermediate processing data of global position system data acquisition the most in the same way.

The beneficial effects of the utility model are.

1. it is integrated on the full SOC device able to programme of ZYNQ due to major function, and radio-frequency module is all integrated module with inertial navigation module, also improves system stability while being substantially reduced the volume of teaching platform.

2. realize the location positioning navigation system of BDS/GPS the part intermediate data that optional output is relevant due to this utility model, start to text to resolve from signals collecting, then to location positioning, help user more intuitively to understand flow process and the principle of location more really.

3. this utility model realizes high-speed data acquisition, the original figure intermediate-freuqncy signal exported from radio frequency is acquired, user is made can more to press close to truth when utilizing the performance of digital medium-frequency signal research raising alignment system, contribute to decreasing theoretical research and the actual deviation realized, enable the achievement in research of user to be converted to the product of reality quickly.

4. the open processor ARM1 of this utility model freely programs to user, and reserved expansion interface and integrated inertial navigation module, this is easy to user and adds external sensor voluntarily and combine the sensing data of inertial navigation module real-time Transmission and carry out inertia assisting navigation exploitation, provides the development platform of convenient and practical BDS/GPS Position Fixing Navigation System for inertia assisting navigation.

Accompanying drawing explanation

Fig. 1 is the teaching hardware block diagram with development platform of a kind of BDS/GPS Position Fixing Navigation System.

Fig. 2 is the teaching operation principle schematic diagram with development platform of a kind of BDS/GPS Position Fixing Navigation System.

Detailed description of the invention

Below in conjunction with Figure of description, the technical solution of the utility model is described in further detail.

Seeing Fig. 1, this utility model includes the full SOC device 004 able to programme of BDS/GPS radio-frequency module 001, inertial navigation module 002, DDR internal memory 003, ZYNQ, USB controller 005, Gigabit Ethernet controller 006, serial ports RS232 level translator 007, extension mouth 008, USB port 009, network interface ETH010, serial ports UART0011 and UART1012.Wherein USB controller 005, Gigabit Ethernet controller 006, serial ports RS232 level translator 007, extension mouth 008, USB port 009, network interface ETH010, serial ports UART0011 Yu UART1012 are the EBI part of platform, USB port 009 and network interface ETH010 are high speed interface, the ability of high speed real time output data is provided for platform, serial ports UART0011 Yu UART1012 is positioning result output interface and the interactive interface of this platform, extension mouth 008 is the open input/output interface provided the user, and can connect peripheral hardware or the sensor of various support Transistor-Transistor Logic level.

See the operation principle schematic diagram that Fig. 2 is this teaching research/development platform.Antenna 016 receives BDS/GPS satellite-signal, is delivered in BDS/GPS radio-frequency module 001 by BDS/GPS antennal interface 015；The signal received is carried out down coversion and filters by BDS/GPS radio-frequency module 001, then turns to digital medium-frequency signal；Capture that then digital medium-frequency signal trapping module 021 in FPGA017 completes satellite-signal 022 time at tracking module and tracking；The arm processor 0018 signal after having followed the tracks of extracts satellite message, then satellite message is carried out resolving and calculates position location, current platform place；Textual information and positioning position information are exported in host computer 014 for user by serial ports UART0011.

After FPGA017 receives digital medium-frequency signal, under the control of arm processor 1019, complete the high speed acquisition of intermediate-freuqncy signal.The sample frequency of digital intermediate frequency signal is 62Mhz, the bit wide of digital intermediate frequency signal is 4bit, digital signal is stored in the FIFO of structure by FPGA017, then arm processor 1019 uses dma mode by the data buffer storage of FIFO to DDR internal memory 003, then re-use and by gigabit network interface ETH010, the data cached in DDR are sent in host computer 014, it is achieved the high speed acquisition of original figure intermediate-freuqncy signal.

Inertial navigation module 002 is under the control of arm processor 1019, sensing data is stored in DDR003, user can send instruction by host computer 014 and inertial navigation data exports host computer 014 analyze inertial data and number of position fixes inertia assisting navigation algorithm according to the study on the computer of oneself for user, by JTAG mouth 013 download program to arm processor 1019 can will be debugged and test after completing algorithm research, to complete the research and development of inertia auxiliary positioning navigation.

Claims (1)

1. the teaching of a BDS/GPS Position Fixing Navigation System and development platform, it is characterised in that: it includes the full SOC device (004) able to programme of BDS/GPS radio-frequency module (001), inertial navigation module (002), DDR internal memory (003), ZYNQ, EBI (023)；

Described BDS/GPS radio-frequency module (001) is RNSS RF IC, its effect is radio-frequency antenna to receive high-frequency signal carry out down coversion, filter and sample, being converted to manageable digital medium-frequency signal, the frequency of support has GPS L1, GPS L2, GPS L5, BD2 B1, BD2 B2, BD B3, GLONASS L1；

Described inertial navigation module (002) is integrated with high-precision gyroscope, accelerometer, geomagnetic field sensors and attitude algorithm device, and these sensing datas are exported to the full SOC device able to programme of ZYNQ by module, and the exploitation for inertia assisting navigation provides data support；

Described DDR internal memory (003) is DDR3 internal memory, for the running memory of processor ARM0 Yu processor ARM1, also uses the temporary memory of data acquisition；

Described ZYNQ is complete, and SOC device (004) able to programme contains PLD FPGA(017) and two arm processors (018,019), FPGA(017) digital medium-frequency signal carried out data high-speed collection (020), capture (021) with following the tracks of (022), digital medium-frequency signal is converted to text；Arm processor (018) completes the algorithm controls to base band, resolves text and calculates positional information；Arm processor (019) is combined analysis meter according to the information of textual information with inertial navigation module output and calculates positional information more accurately；Arm processor (019) controls to coordinate FPGA(017), DDR internal memory (003) and gigabit ethernet interface (010) complete the collection to original figure intermediate-freuqncy signal；

Described EBI (023) includes USB interface (009), gigabit ethernet interface (010), serial ports UART0(011) and UART1(012), the digital medium-frequency signal of Real-time Collection is sent to PC host computer (014) at a high speed in real time by USB interface (009) or gigabit ethernet interface (010), satellite message information, positional information, inertia supplementary guiding information are sent to PC host computer (014) in real time by serial ports (011 and 012), process for customer analysis, it is achieved inertia assisting navigation development platform.