CN205647549U - Navigation operation monitoring system based on big dipper two take place ofs and mobile network - Google Patents

Abstract

The utility model relates to a navigation operation monitoring system based on big dipper two take place ofs and mobile network. GSM module I through two take the place ofs chips of the big dipper I in proper order with STM32 data acquisition module I, FPGA monitoring system I connects, GSM module II through two take the place ofs chips of the big dipper II in proper order with STM32 data acquisition module II, FPGA monitoring system II connects, the big dipper, the GPS satellite respectively with two take the place ofs chips I of the big dipper, two take the place ofs II connections of chip of the big dipper, the ground satellite station respectively with GSM module I, GSM module II is connected, the display respectively with STM32 data acquisition module I, STM32 data acquisition module II connects. The effect is: the security is good, the sexual valence relative altitude, keep watch on that the precision is high, control real -time, high efficiency, running cost are low, it is convenient to use.

Description

A kind of navigation operation monitoring system based on Beidou II and mobile network

Technical field

This utility model relates to supervision and the operation of a kind of aircraft of opening the navigation or air flight, particularly to one based on Beidou II and movement The navigation operation monitoring system of network.

Background technology

General Aviation includes the operation flight being engaged in industry, agricultural, forestry, fishery and building industry and health care, robs The flying activity of the aspects such as the danger disaster relief, meteorological detection, marine monitoring, scientific experiments, education and training, culture and sports.Due to China Aircraft communication, navigate and supervision means ratio is relatively low, the most wide-open present situation of opening the navigation or air flight, nothing from technological means and AIRSPACE PLANNING Method ensures the planning universal on a large scale of the navigation aircraft of CAAC's planning.Within 2011, the U.S. has navigation aircraft 190000 frame Secondary is China's navigation 500 times of number of aircraft.The supervision means that China's General Aviation uses are mainly by visual flight and machine The equipment such as ADS-B and ACARS carried, visual surveillance means fall behind, and safety coefficient is low, and is unfavorable for extensive development；Due to it Airborne equipment is expensive, it is impossible to popularize on a large scale, monitors and airmanship improves and can optimize spatial domain, overcome congested in traffic and The generation of dangerous accident；Flying height is low, and existing air traffic control Means of Ensuring cannot carry out real-time tracking supervision, radar to it " can't see ", the outstanding problem that radio " does not joins ".This present situation has not only had a strong impact on Homeland air defense and flight safety, also Seriously govern the opening of low altitude airspace and the development of General Aviation.Therefore, a set of accurate positioning, real-time Communication for Power, safety high, Low altitude airspace flight posture is monitored by the Aerial vehicle position suiting China's reality of reasonable price and monitoring system in real time Extremely advantageous, the accelerated development process for navigation adds favourable counterweight.

Summary of the invention

In view of situation and the problem of existence of prior art, for strengthening monitoring precision, reduce airborne vehicle interval, reduce Operating cost, this utility model provides a kind of navigation operation monitoring system based on Beidou II and mobile network.

The technical solution adopted in the utility model is: a kind of navigation of based on Beidou II and mobile network operation monitoring system System, it is characterised in that: include that master control system airborne equipment, back-up system airborne equipment, ground station reception process display system, defend Star Beidou II receives equipment, and described master control system airborne equipment includes gsm module I, Beidou II chip I, STM32 data Acquisition module I, FPGA monitoring system I, described back-up system airborne equipment include gsm module II, Beidou II chip II, STM32 data acquisition module II, FPGA monitoring system II, described ground station reception processes display system and includes earth station, display Device, described satellite Beidou II receives equipment and includes the Big Dipper, gps satellite, and physical circuit is connected as: described gsm module I is by north The secondary chip I that struggles against is connected with STM32 data acquisition module I, FPGA monitoring system I successively, and described gsm module II is by the Big Dipper two Be connected with STM32 data acquisition module II, FPGA monitoring system II successively for chip II, the described Big Dipper, gps satellite respectively with north Struggle against secondary chip I, Beidou II chip II connection, and described earth station is connected with gsm module I, gsm module II respectively, described aobvious Show that device is connected with STM32 data acquisition module I, STM32 data acquisition module II respectively.

The beneficial effects of the utility model are:

1, safety is good: the height of navigation aircraft is relatively low, and the area coverage of mobile network is big, network strength and quality Constantly promoting, Beidou II system can utilize 10 multi-satellites to position navigation aircraft simultaneously simultaneously, improves aircraft Monitor precision, be effectively guaranteed the stable operation of this cover system, greatly strengthen the safety of navigation aircraft.

It addition, consider for safety and stablization angle, this cover system devises a set of main operation system and a set of identical merit The standby operation of energy monitors and communication system, and carries operational support monitoring system based on FPGA digit chip, and main system is transported During row, back-up system is in hot SBR.When main system breaks down, FPGA ensures that monitoring system can wake up up rapidly standby System, improves safety and stability that navigation aircraft runs, optimizes the course line, air route of air traffic simultaneously.

2, cost performance is high: at present to the monitoring system (ACARS, ADS-B) on airline carriers of passengers and navigation aircraft, communication system (HF, VHF) and navigation system (VOR, NDB, DME) cost are high, and weight is big, adds load and the operation cost of aircraft, and Set of system can not realize the function of communication and navigation simultaneously.Compare high frequency, very high frequency(VHF) communication system, onboard radar system, big Gas data system, this cover system weight are little, can effectively reduce the load of aircraft.Additionally, this cover system can realize whole world prison simultaneously Depending on communication function, as long as the most any place having network can realize the navigation supervision of aircraft and communication function, Simultaneously can full intelligent processing method open the navigation or air flight aircraft flying quality (longitude and latitude, highly, course, speed), considerably reduce logical Boat operation cost.

3, monitor that precision is high: the positioning precision of GPS is at about 10 meters, and the positioning precision of Beidou II can be controlled in 3 meters Within.Utilize Beidou II system that navigation aircraft is monitored, it is possible to reduce the position error of aircraft to greatest extent, thus Show the particular location of navigation aircraft more accurately, it is ensured that good monitored state, it is ensured that the high accuracy of flight monitors.

4, control real-time: the hardware system that Big Dipper module and other parts form is installed on navigation aircraft, utilizes The alignment system of Beidou II system, by mobile network by the flying quality of navigation aircraft (longitude and latitude, highly, speed, machine Tail number, time) it is transferred to the base station on ground, set up virtual port in earth station, utilize VB program display to go out the flight path of aircraft, with And the state of flight, it is achieved thereby that for the monitoring of aircraft and realtime dynamic observation.

5, high efficiency: this project utilizes Beidou II alignment system and mobile network system, transmits energy by Data-Link The most preferably realize the supervision to navigation aircraft and control.It is effectively guaranteed that the safety of general aviation aircraft, and can supervise simultaneously Open the navigation or air flight aircraft depending on multi rack, and by the flight information of these aircrafts (longitude and latitude, highly, course, speed) show can be accurately On the computer of base station, improve the efficiency that navigation runs.

6, the convenience used: on the basis of monitoring, also set up man-machine intersection interface respectively at aircraft and ground base station, Such that it is able to realize the timely communication of ground controlling officer and navigation aircraft pilot and exchange, more ensure and navigation has been flown The supervision intensity of machine and intensive reading, be greatly improved contacting of navigation aircraft and ground base station, enhance in flight course Safety and accuracy.

Accompanying drawing explanation

Fig. 1 is that system of the present utility model connects block diagram；

Fig. 2 is the block diagram of this utility model master control system airborne equipment；

Fig. 3 is the main circuit diagram of this utility model STM32 data acquisition module I；

Fig. 4 is the main circuit diagram of gsm module I of the present utility model；

Fig. 5 is SIM part design drawing of the present utility model；

Fig. 6 is the circuit theory diagrams of Beidou II chip I of the present utility model；

Fig. 7 is that earth station of the present utility model data process flow for displaying figure.

Detailed description of the invention

As it is shown in figure 1, a kind of navigation operation monitoring system based on Beidou II and mobile network, including master control system machine Load equipment, back-up system airborne equipment, ground station reception process display system, satellite Beidou II receives equipment, master control system Airborne equipment includes gsm module I, Beidou II chip I, STM32 data acquisition module I, FPGA monitoring system I.

Back-up system airborne equipment include gsm module II, Beidou II chip II, STM32 data acquisition module II, FPGA monitoring system II.

Ground station reception processes display system and includes earth station, display, satellite Beidou II receive equipment include the Big Dipper, Gps satellite.

Physical circuit is connected as: gsm module I by Beidou II chip I successively with STM32 data acquisition module I, FPGA monitoring system I connects, gsm module II by Beidou II chip II successively with STM32 data acquisition module II, FPGA Monitoring system II connects, and the Big Dipper, gps satellite are connected with Beidou II chip I, Beidou II chip II respectively, and earth station is respectively Being connected with gsm module I, gsm module II, display is respectively with STM32 data acquisition module I, STM32 data acquisition module II even Connect.

This utility model utilizes mobile network and Beidou II, uses Beidou II and GPS co-located technology, utilizes Gsm module I by SIM attachment GPRS and sets up stable mobile network data transmission channel with base station, simultaneously and earth station Aeronautical data receives terminal and sets up stable data communication channel, and STM32 data acquisition module I uses STM32F103ZET6 core Sheet receives and decodes the Big Dipper, the dual satellite positioning information of GPS that Beidou II chip receives, and by serial line interface send to Gsm module, the mobile network data transmission channel that encoded rear recycling is set up sends to earth station.Earth station controlling officer Communication can be obtained by the Internet with Flight personnel according to the flight information that native system is sent back, thus realize in real time simultaneously Monitor the purpose with air traffic control.

The circuit design of back-up system airborne equipment and operation principle and above-mentioned master control system airborne equipment circuit design and Operation principle is identical, breaks down once master control system airborne equipment, and back-up system airborne equipment begins to use.

One, master control system airborne equipment design: as in figure 2 it is shown,

STM32 data acquisition module I uses STM32F103ZET6 chip to receive and decode Beidou II chip I and receives The Big Dipper, the gps satellite i.e. Big Dipper, the dual satellite positioning information of GPS, and sent to gsm module I, Jing Guobian by serial line interface The mobile network data transmission channel recycling foundation after Ma sends to earth station.

1, STM32 data acquisition module I designs: as it is shown on figure 3, physical circuit is: 6 feet of STM32F103ZET6 chip Connecing the negative pole of diode DT2, the positive pole of diode DT2 connects VCC3V power supply, between 23 feet of STM32F103ZET6 chip, 24 feet Parallel resistance RT3 and quartz oscillator VT2, electric capacity CT11 mono-terminates 23 feet of STM32F103ZET6 chip, electric capacity CT12 24 feet of one termination STM32F103ZET6 chip, electric capacity CT11, the other end of electric capacity CT12 and STM32F103ZET6 chip 30 feet and 31 feet ground connection respectively, electric capacity CT13, one end of electric capacity CT14 connect 30 feet and the resistance of STM32F103ZET6 chip respectively One end of RT11, another termination VCC3V power supply of resistance RT11, electric capacity CT13, the other end ground connection of electric capacity CT14.

STM32 data acquisition module I use STM32F103ZET6 chip as processor chips, by the Big Dipper carried Secondary chip I, the information such as the real-time reception Big Dipper, the location information of gps satellite and height, speed, by the GSM mould carried Block I chip realizes Beidou II chip I data gathered and the real-time Transmission being realized data by Transmission Control Protocol and host computer.With STM32F103ZET6 chip, as core processor chip, controls gsm module I and Beidou II chip I respectively.

STM32 data acquisition module I sends corresponding control instruction by serial ports to gsm module I: i.e. AT+CGCLASS/AT+ CGDCONT/AT+CGATT/AT+CIPCSGP/AT+CLPORT/AT+CIPSTART/AT+CIPSEN/AT+CIPSTATUS/AT+ The AT such as CIPCLOSE/A T+CIPSHUT instruction, determines that Mobile Station Class that gsm module I data transmit, PDP are upper and lower respectively Literary composition, CSD or GPRS linking scheme, local port number, set up TCP connect, send data, inquiry current connection state, Close TCP/UDP to connect, close mobile context etc..Meanwhile, STM32 data acquisition module I is by another serial ports and the Big Dipper Secondary chip I carries out data communication, and finally data is sent to earth station by gsm module I, and then earth station is by solving The data that analysis receives judge the information such as the flying height of navigation aircraft, flight speed, geographical position.

2, gsm module I designs: as shown in Figure 4, and physical circuit is: gsm module I uses SIM900A chip, SIM900A chip 1 foot by switch KEY1 ground connection, serial capacitance C8 between 16 feet and 17 feet, 17 foot ground connection, 18 feet and 26 feet it Between serial capacitance C9,18 foot ground connection, 29 feet, 39 feet, 45 feet, 46 feet, 53 feet, 54 feet, 58 feet, 59 feet, 61 feet, 62 feet, 63 feet, 64 feet, 65 foot ground connection, 32 feet pass sequentially through resistance R1, light emitting diode D2 ground connection, and 55 feet, 56 feet, 57 feet are connect by electric capacity C6 Ground.

By experimentation, gsm module I finally selects SIM900A chip, SIM900A chip main feature:

SMT encapsulation: be prone to client's production and processing,

Size is little: 24*24*3mm,

It is low in energy consumption: standby mode electric current is less than 2mA less than 18mA, sleep pattern,

Supply district width: 3.2～4.8V,

Band support: GSM/GPRS 900/1800MHz,

Voice coding: support that half rate, full rate, enhancement mode speed support echo Restrainable algorithms, can be based on different visitors Family equipment is eliminated by AT order regulation echo suppression.

SIM900A chip uses single supply to power, between VBAT supply district 3.2～4.8V, it is recommended that voltage is 4.0V, mould Voltage Drop, the at this moment the highest meeting of the peak value of electric current can be caused during block radio-frequency transmissions to reach more than 2A, and therefore power supply power supply capacity is to the greatest extent It is likely to be breached 2A, and advises VBAT pin and connect bulky capacitor (electric capacity determines according to power supply IC fan-out capability).

(1) power pack design (VBAT pin):

Power supply chip it is noted that if external input voltage is the biggest with VBAT pressure reduction on selecting, it is proposed that selects switch electricity When selecting DC-DC, source, should be noted that EMI disturbs, it is proposed that concatenation magnetic bead is in case adjusting；If external input voltage and VBAT pressure reduction Not quite, LDO is preferably selected.The product needed of client crosses the certifications such as TA, CE, FCC, it is recommended that select LDO to power.In order to strengthen module Power supply capacity of resisting disturbance (main antisurge, impulse train, electrostatic etc.), is unlikely in the case of external environment is relatively more severe to cause Module for power supply is abnormal, it is proposed that add some devices such as common mode inductance, TVS pipe according to actual application at external power input, VBAT power supply chip outfan adds some nf, pf level electric capacity, filtering interfering.

(2) serial ports part design:

Serial ports part: the serial ports of general ARM system all need not pull-up, even if pulling up internal system to be pulled upward to (such as VDD_EXT pin), module serial ports partial level about 2.8V, therefore client can carry out electricity according to MCU serial ports level Flat coupling, to ensure voltage matches；When the level of MCU end and module end does not mates, it is proposed that use level at MCU and module Shifter chip or audion carry out level match.When the level difference of MCU end and module end is not the biggest, such as MCU Level be 3V, simple design directly can carry out level match by series resistor, but this may make the electric current string of MCU end extremely Module, causes module start abnormal.The resistance value concatenated the most in the design should draw according to side circuit debugging, typically pushes away Recommending value is 300 ohm.

(3) SIM part design: as it is shown in figure 5,

SIM900A chip supports the SIM of 1.8/3.0V.SIM is powered, and automatically selects output according to the type of SIM Voltage, can be 3.0V ± 10% or 1.8V ± 10%, and this pin maximum output current ability is about 10mA.

SIM part Reference Design is as shown in Figure 5:

SIM part design notes as follows:

SIM_VDD: need and 100 or 220nF electric capacity, exports with stabilized power source, reduces ripple；

SIM_DATA: suggestion pF level electric capacity, prevent High-frequency Interference；

SIM_RST: suggestion nF level electric capacity, prevent High-frequency Interference；

Other pin design of SIM:

STATUS: be mainly used for judge module on-off state, is for low electricity after start after 2.8V high level, shutdown Flat；

VDD_EXT: export the level of 2.8V after start, if module does not has STATUS pin to reserve, it is proposed that drawn by this Foot judge module on-off state, is configured to input (if client can be configured to ADC by the IO of client during design Good), it is to avoid string electricity problem causes module switch machine abnormal；VDD_EXT uses (such as module serial ports part as pull-up simultaneously Pull-up), maximum output current 10mA；Inside modules pull-up is only done in the suggestion of this pin.

VRTC: voltage range 2.0 3.15V, normal power supply 3V.If keeping real-time clock after needing VBAT de-electrifying, please External reserce cell or electric capacity；If need not preserve real-time clock, ask external uf level electric capacity, it is recommended that 4.7uf.

NRESET: reset on hardware, Low level effective.Recommending external 100nF electric capacity, this signal is only used for urgent multiple Position, it is proposed that client is as reserved use, when module cannot be shut down, had better be enabled by VBAT and re-power to module.

3, Beidou II chip I key property design: as shown in Figure 6, physical circuit is: Beidou II chip I uses UM220-III N chip, 1 foot of Beidou II chip I is connected with 7 feet of interface JU2, and 3 feet are connected with 8 feet of interface JU2, and 6 Foot is connected with 6 feet of interface JU2, and 7 feet are connected with 5 feet of interface JU2, and 20 feet are connected with 3 feet of interface JU2,21 feet and interface 2 feet of JU2 connect, and 11 feet are connected with 2 feet, inductance LUI one end of interface JU1 respectively, and the inductance LUI other end passes through resistance RU1 Connect electric capacity CU1, switch SS1 one end, switch SS1 another termination VCC3V power supply, 23 feet connect electric capacity CU1, the one of electric capacity CU1 End and 1 foot of interface JU2,24 feet connect electric capacity CU1, the other end of electric capacity CU1 and ground, and 1 foot of interface JU2 connects VCC power supply, interface 4 feet of JU2 and 1 foot of interface JU1,3 feet are with meeting GND respectively.

Beidou II chip I dual system high-performance GNSS module, uses UM220-III N chip, has based on company The multisystem multi-frequency high-performance SOC chip of entirely autonomous intellectual property, it is possible to simultaneously support BD2 B1, GPS L1 two Frequency.UM220 overall dimensions is compact, uses SMT pad, and support standard picks and places and reflow soldering full-automation is integrated, especially It is applicable to low cost, low-power consumption field.

NMEA-0183 protocol analysis part, resolves here with simple several comma methods.It is understood that NMEA-0183 agreement is all with the beginning of similar $ BDGSV, then fixes output format, whether has data to export, funny Number certainly have, and all can using ' * ' as the ending of valid data, so, it is understood that NMEA-0183 agreement Data form (being discussed in detail at the user's manual of ATK-NEO-6M) after, it is possible to by the method for several commas, come Resolve data.This code achieves the $ BDGGA to NMEA-0183 agreement, $ BDGSA, $ BDGSV, $ BDRMC and $ The parsing of BDVTG etc. 5 class frame.

Two, earth station's data process and show design:

As it is shown in fig. 7, a kind of navigation operation monitoring network system realization based on Beidou II and mobile network, step is such as Under:

(1), earth station receives, by mobile network, the data that master control system airborne equipment sends, first by data preservation Store to data buffer zone；

(2) if the data received are effective messages, then earth station data base is stored data into；If message without These part data are then automatically deleted by effect；

(3), the data that will be stored in data base be analyzed by C# program software and decode, decoding is by the Big Dipper eventually The data that end sends are integrated into the data that can show at software interface, the decoded data of extract real-time again；

(4), according to the program write, longitude after extracting, latitude, course, highly, velocity information shows with Real-time and Dynamic Show at display interface；

(5), earth station personnel can also send data to master control airborne equipment in real time by mobile network, aircrew can Read corresponding data to be received by display screen, thus realize monitoring the purpose with air traffic control in real time simultaneously.

Three, technical specification

1, frequency influence Orientation on map that the information that on aircraft, Beidou II chip I receives is returned by mobile network Refreshing frequency and positioning precision, information back frequency is typically set to 1 time/s or 2 times/s.

2, the receiving ability of Big Dipper module satellite data reception antenna affects positioning precision, and that we select is the Big Dipper, GPS The satellite i.e. Big Dipper/GPS dual-mode formula data reception antenna.

3, native system is capable of the Big Dipper/GPS dual-mode formula location, can reach preferable when satellite positions simultaneously more than 10 Precision, when 10 satellite fixes once, native system still can normally work.

4, needing to carry out heart-beat test during gsm module attachment GPRS, when data-transmission interruptions, native system can re-establish Connecting, heart-beat test interval time is 5s.

5, FPGA digital supervision chip is carried, the operation of real-time monitoring system, in case switching master control system and standby at any time System, is greatly increased the safety of this cover system.

Claims (4)

1. a navigation operation monitoring system based on Beidou II and mobile network, it is characterised in that: include master control system machine Load equipment, back-up system airborne equipment, ground station reception process display system, satellite Beidou II receives equipment, described master control System airborne equipment includes gsm module I, Beidou II chip I, STM32 data acquisition module I, FPGA monitoring system I, institute State back-up system airborne equipment and include that gsm module II, Beidou II chip II, STM32 data acquisition module II, FPGA monitor System II, described ground station reception processes display system and includes earth station, display, and described satellite Beidou II receives equipment bag Including the Big Dipper, gps satellite, physical circuit is connected as: described gsm module I by Beidou II chip I successively with STM32 data acquisition Collection module I, FPGA monitoring system I connect, described gsm module II by Beidou II chip II successively with STM32 data acquisition Module II, FPGA monitoring system II connect, the described Big Dipper, gps satellite respectively with Beidou II chip I, Beidou II chip II Connect, described earth station is connected with gsm module I, gsm module II respectively, described display respectively with STM32 data acquisition module I, STM32 data acquisition module II connects.

A kind of navigation operation monitoring system based on Beidou II and mobile network the most according to claim 1, its feature Being: described STM32 data acquisition module I uses STM32F103ZET6 chip, 6 feet of STM32F103ZET6 chip connect two poles The negative pole of pipe DT2, the positive pole of diode DT2 connects VCC3V power supply, electricity in parallel between 23 feet of STM32F103ZET6 chip, 24 feet Resistance RT3 and quartz oscillator VT2, electric capacity CT11 mono-terminate 23 feet of STM32F103ZET6 chip, and electric capacity CT12 mono-terminates 24 feet of STM32F103ZET6 chip, 30 feet of electric capacity CT11, the other end of electric capacity CT12 and STM32F103ZET6 chip and 31 feet respectively ground connection, electric capacity CT13, one end of electric capacity CT14 meet 30 feet of STM32F103ZET6 chip and resistance RT11 respectively One end, another termination VCC3V power supply of resistance RT11, electric capacity CT13, the other end ground connection of electric capacity CT14.

A kind of navigation operation monitoring system based on Beidou II and mobile network the most according to claim 1, its feature Being: described gsm module I uses SIM900A chip, SIM900A chip 1 foot is by switch KEY1 ground connection, 16 feet and 17 Serial capacitance C8 between foot, 17 foot ground connection, serial capacitance C9 between 18 feet and 26 feet, 18 foot ground connection, 29 feet, 39 feet, 45 feet, 46 Foot, 53 feet, 54 feet, 58 feet, 59 feet, 61 feet, 62 feet, 63 feet, 64 feet, 65 foot ground connection, 32 feet pass sequentially through resistance R1, luminescence two Pole pipe D2 ground connection, 55 feet, 56 feet, 57 feet pass through electric capacity C6 ground connection.

A kind of navigation operation monitoring system based on Beidou II and mobile network the most according to claim 1, its feature Being: described Beidou II chip I uses UM220-III N chip, 1 foot of Beidou II chip I connects with 7 feet of interface JU2 Connecing, 3 feet are connected with 8 feet of interface JU2, and 6 feet are connected with 6 feet of interface JU2, and 7 feet are connected with 5 feet of interface JU2,20 feet with connect 3 feet of mouth JU2 connect, and 21 feet are connected with 2 feet of interface JU2, and 11 feet are connected with 2 feet, inductance LUI one end of interface JU1 respectively, The inductance LUI other end connects electric capacity CU1, one end of switch SS1 by resistance RU1, another termination VCC3V power supply of switch SS1, and 23 Foot connects 1 foot of electric capacity CU1, one end of electric capacity CU1 and interface JU2, and 24 feet connect electric capacity CU1, the other end of electric capacity CU1 and ground, connect 1 foot of mouth JU2 connects VCC power supply, and 4 feet of interface JU2 and 1 foot of interface JU1,3 feet are with meeting GND respectively.