CN206258588U - Sub_meter position equipment and alignment system - Google Patents
Sub_meter position equipment and alignment system Download PDFInfo
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- CN206258588U CN206258588U CN201621172403.5U CN201621172403U CN206258588U CN 206258588 U CN206258588 U CN 206258588U CN 201621172403 U CN201621172403 U CN 201621172403U CN 206258588 U CN206258588 U CN 206258588U
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Abstract
The utility model provides a kind of sub_meter position equipment and alignment system, equipment includes the antenna being connected with each other and data processing mainboard, and data processing mainboard includes the in running order processor of individual module in GNSS module, IMU modules and switching GNSS module and IMU modules.Whole equipment, selection GNSS module and two kinds of positioning devices of IMU modules, independent GNSS module small volume and sub_meter position demand can be substantially met, and IMU module dissipations are far below GNSS module, processor coordinates single locating module work in switching GNSS module and IMU modules, so as to take into account volume, energy consumption and positioning precision, therefore, the utility model sub_meter position equipment is a compact conformation and equipment low in energy consumption.
Description
Technical field
The utility model is related to technical field of satellite, more particularly to sub_meter position equipment and alignment system.
Background technology
At present, it is concentrated mainly in high accuracy (grade) positioning in the more people's sight of technical field of satellite, although
High accuracy positioning can realize more precise positioning, but its position fixing process is complicated and implementation cost is high, should in civil area
With not extensive.
Actual production life in, people need possibility it is more be sub_meter position technology support, low cost Asia rice
Level location equipment be used for logistic track, bus monitoring, municipal public transport, electric inspection process, sea fishery, agriculture exploration, public safety,
Smart travel and consumer electronics, sub_meter position technology are widely used in all kinds of civil areas, give people production and living and bring huge
Convenience.
However, in existing grade high accuracy positioning equipment due to navigational route type and geodetic type navigation positional device because its from
The Centimeter Level of the body even high-precision characteristic of grade, platform scheme constitutes more complicated, board cost highest.It is high-precision to realize
Degree and long range operation, the communication link power consumption for transmitting differential corrections data account for the overwhelming majority of whole set equipment power consumption, lead
Cause equipment power dissipation at a relatively high.
Utility model content
Based on this, it is necessary to for general grade high accuracy positioning equipment power dissipation problem high, there is provided a kind of structure is tight
Gather and sub_meter position equipment and alignment system low in energy consumption.
A kind of sub_meter position equipment, including the antenna being connected with each other and data processing mainboard；
Data processing mainboard includes GNSS (Global Navigation Satellite System, global navigation satellite
System) module, IMU (Inertial measurement unit, Inertial Measurement Unit) modules and alternating switching GNSS module
The processor in running order with individual module in IMU modules, GNSS module is connected with processor respectively with IMU modules.
A kind of sub_meter position system, it is characterised in that including sub_meter position equipment described above, ground base station and
Mobile terminal；
Sub_meter position equipment is connected with mobile terminal, and mobile terminal is connected by ground base station, sub_meter position equipment
It is connected with external navigation satellite, ground base station is connected with external navigation satellite.
The utility model sub_meter position equipment, including the antenna being connected with each other and data processing mainboard, data processing master
Plate includes the in running order treatment of individual module in GNSS module, IMU modules and switching GNSS module and IMU modules
Device.Whole equipment, selection GNSS module and two kinds of positioning devices of IMU modules and can expire at independent GNSS module small volume substantially
Sufficient sub_meter position demand, and IMU module dissipations are far below GNSS module, processor coordinates switching GNSS module and IMU modules
In the work of single locating module, so as to take into account volume, energy consumption and positioning precision, therefore, the utility model sub_meter position sets
Standby is a compact conformation and equipment low in energy consumption.
In addition, the utility model also provides a kind of sub_meter position system, including above-mentioned sub_meter position equipment, ground base
Stand and mobile terminal, sub_meter position equipment is connected with external navigation satellite and mobile terminal respectively, and mobile terminal passes through
Ground base station is connected with external navigation satellite.Whole system due to using above-mentioned sub_meter position equipment, can simply, it is efficient and
Sub_meter position is realized in low-power consumption.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model sub_meter position equipment one embodiment；
Fig. 2 is second structural representation of embodiment of the utility model sub_meter position equipment；
Fig. 3 is the structural representation of the utility model one of embodiment of sub_meter position system.
Specific embodiment
As shown in figure 1, a kind of sub_meter position equipment, including the antenna 100 being connected with each other and data processing mainboard 200,
Data processing mainboard 200 includes GNSS module 210, IMU modules 220 and alternately switches GNSS module 210 and IMU modules 220
The in running order processor 230 of middle individual module, GNSS module 210 is connected with processor 230 respectively with IMU modules 220.
Antenna 100 is used for receiving and transmitting signal.Antenna 100 can be connected using removably with data processing mainboard 200, this
Sample can be easy to antenna 100 to dismount and change, safeguard.Preferential choosing, antenna 100 includes antenna element and antenna casing, day
Line unit is built in antenna casing, and antenna casing is used to protect internal components, it is to avoid it is subject to external force to damage.Further to
Say, antenna element can be using the air of low-k as medium, and stable performance, structure is spiral eight arms, Neng Gou
Receiving ability of the antenna element to signal is largely improved, while antenna element has bandwidth wider, and band internal loss
Small, Out-of-band rejection is good, therefore, there are high building and trees or even be close in the environment of human body blocks, still can receive stronger
Satellite-signal, this provides a guarantee for the precision of sub_meter position equipment, in addition, antenna element uses plastic material, weight
Amount is light, small volume low cost.
In data processing mainboard 200, GNSS module 210 is a to be determined based on GNSS (GPS)
The module of position, it can realize initial longitude and latitude and elevation location.IMU modules 220 are inertial navigation unit module, are used
IMU modules 220 as sub_meter position module GNSS navigator fixs auxiliary positioning equipment, IMU modules 220 navigation information ginseng
High precision in a short time is counted, renewal rate is fast, and the information such as exportable three-dimensional velocity, course attitude and navigation path has
Initial accurate longitude and latitude and height coordinate point position, INU unit modules can be according to initial point position information, binding modules
The movement locus of equipment, the longitude and latitude and height coordinate of output extension, or even the also speed of service of exportable three-dimensional.Treatment
The in running order processor 230 of individual module, that is, processed in the alternating of device 230 switching GNSS module 210 and IMU modules 220
Device 230 control in GNSS module 210 and IMU modules 220 one it is in running order, another is in holding state, more popular
For, in running order in the control GNSS module 210 of very first time processor 230, IMU modules 220 are in holding state,
The control GNSS module 210 of second time processor 230 is in holding state, and IMU modules 220 are in running order.Actually should
This switching cycle according to application scenarios needs, and can be preset based on historical empirical data in.Due to IMU moulds
The power consumption of block is far below GNSS module, therefore above-mentioned sub_meter position equipment can realize low power operation.
It is non-essential, in actual applications, GNSS module 210, IMU modules 220 and the co-ordination process of processor 230
Can be as follows：Initial longitude and latitude and elevation location is carried out by GNSS navigation positioning modules first, and starts leading for a segment distance
Boat positioning, is then switched off GNSS navigation positioning modules, to save the operating power consumption of the module, opens inertial navigation positioning unit,
Navigator fix is carried out by the module of the relatively low operating power consumption, by after one section of working time, IMU modules 220 cannot ensure sub- rice
Class precision, is then turned on GNSS navigator fixs, by navigation and positioning accuracy amendment return sub_meter position accurate location, afterwards again by
IMU modules 220 work on.More particularly, the output of IMU modules 220 navigation path, will be navigated by I2C serial bus interfaces
To, the information transfer such as speed, longitude and latitude to processor 230, after being received by processor 230, with reference to initial defeated by GNSS module
The sub_meter position result that the original observed data and carrier phase differential data for going out are calculated, carries out closing GNSS satellite letter
Sub-meter grade navigator fix under number.Afterwards when navigation and positioning accuracy is less than sub-meter grade, then transition is carried out by GNSS module,
Positioning precision is modified, accurate sub_meter position precision is come back to.Contrast IMU modules 220 and GNSS module 210
Working characteristics understands that the power consumption of IMU modules 220 is generally less than 2 milliamperes, and the power consumption of GNSS module 210 is adopted about at 50 milliamperes
It is operated with inertia navigation positioning module and compares the power consumption of GNSS navigation positioning modules and can reduce about 25 times.
Processor 230 as data processing mainboard 200 core.Non-essential, processor 230 can also be responsible for carrier wave phase
Position algorithm and data communication, specifically include the decoding of the original observed data of GNSS module 210, the decoding of differential correcting data, carrier wave
The control of phase location algorithm, data storage and data transfer.Carrier phase difference algorithm is to obtain sub_meter position precision
Important method, it weakens or eliminates rover station and base station with carrier phase observation data as basic observation, using differential technique
Between general character error, sub- rice to the precision of Centimeter Level can be obtained, compared to conventional pseudo range difference algorithm, carrier phase difference
Divide algorithm has larger advantage in precision.The source of the data of processor 230 has two, and one is that GNSS module 210 is received
The original observed data of the GPS/ Big Dipper satellite signals for arriving, another is the differential corrections of the aeronautical satellite that ground base station is broadcast
According to.Processor 230 is resolved by carrier phase difference technique algorithm to this two groups of differential correcting data, final output positioning
Result is transferred to mobile terminal and is shown in real time.In addition processor 230 can also be by the original observation number of GNSS module 210
Post processing support is provided according to memory device is stored in.Carrier phase algorithm is relatively complicated, it is desirable to which processor 230 has higher
Data processing performance, particularly floating-point operation ability.Processor 230 can selection take into account performance, cost, volume and work(
Can, using low cost, efficiency arm processor high, the processor not only has small volume and characteristic low in energy consumption, and has
Security higher.
The utility model sub_meter position equipment, including the antenna 100 being connected with each other and data processing mainboard 200, data
Processing main plate 200 includes GNSS module 210, IMU modules 220 and switches single mould in GNSS module 210 and IMU modules 220
The in running order processor 230 of block.Whole equipment, selection GNSS module 210 and 220 two kinds of positioning devices of IMU modules, it is single
Only small volume of GNSS module 210 and sub_meter position demand can be substantially met, and the power consumption of IMU modules 220 is far below GNSS moulds
Block 210, processor 230 coordinates single locating module work in switching GNSS module 210 and IMU modules 220, so as to take into account body
Product, energy consumption and positioning precision, therefore, the utility model sub_meter position equipment is a compact conformation and low in energy consumption sets
It is standby.
Wherein in one embodiment, GNSS module 210 is the GNSS module 210 that carrier frequency is 1.5G hertz.
In carrier phase real time dynamic differential technology, carrier phase measurement is the phase for measuring carrier wave, corresponding GNSS
The carrier frequency of module 210 in 1.5G hertzs, be it is more efficient realize sub_meter position, herein from carrier frequency be 1.5G
The GNSS module of hertz.
As shown in Fig. 2 wherein in one embodiment, data processing mainboard 200 also includes bluetooth module 240, bluetooth mould
Block 240 is connected with processor 230.
Bluetooth module 240 is used to realize and external equipment Bluetooth communication that for example the utility model sub_meter position equipment can
, by Bluetooth communication, sub_meter position result is pushed on outside mobile terminal with outside mobile terminal.Specifically, it is blue
Tooth module 240 can be carried out data transmission using BLE (Bluetooth Low Energy, low-power consumption bluetooth) 4.0 bluetooths, its tool
There is low cost, small volume, low in energy consumption.Bluetooth BLE4.0 patterns can provide the wireless communication connection of more low-power consumption, it is adaptable to a small amount of
The transmitting-receiving of data, in addition, BLE4.0 bluetooth modules are lower compared with the cost of 2.0/2.1/3.0 versions, volume is also smaller, such as Dezhou instrument
The CC2540 chip sizes of device are 6*6 millimeters.
As shown in Fig. 2 wherein in one embodiment, data processing mainboard 200 also includes memory module 250, mould is stored
Block 250 is connected with processor 230.
Memory module 250 is used for data storage.More particularly, memory realizes that data are locally stored, and data include
The differential corrections that the Satellite Observations and mobile terminal that GNSS module 210 is received send are resolved according to this and through processor 230
Location information data out.Local datastore can realize that Data Post is resolved.Can realize measuring operation process
The differential correcting data of mobile terminal are not received, and the original satellite observation data for only exporting GNSS module 210 are stored in storage
In device.After the completion of measurement operation, data copy is out resolved with the poster processing soft of specialty, can be obtained than solution in real time
Calculate precision post processing resolved data higher.
Wherein in one embodiment, antenna 100 includes helical antenna.
Wherein in one embodiment, antenna 100 includes eight arm helical antennas.
Helical antenna can strengthen phase centre stability compared to common plane ceramic antenna, improve the low angle of pitch
When receipts star number amount.Helical antenna has bandwidth wider, and band internal loss is small, and Out-of-band rejection effect is strong, therefore is blocking
Helical antenna can receive more satellite-signals compared to plane ceramic antenna under environment, it is ensured that measurement and positioning precision.Spiral day
Line transmission medium is air, and compared to ceramic antenna, weight is lighter, and cost is lower.
Wherein in one embodiment, also including the shell of data processing mainboard 200 and data processing mainboard 200 is placed on
The clamping assembly of shell, data processing mainboard 200 is built in the shell of data processing mainboard 200.
The shell of data processing mainboard 200 is used for protector internal components, it is to avoid it is influenceed to damage by external force, at data
Equipped with the clamping part conveniently worn on the reason shell of mainboard 200, it is more easily carried sub_meter position module, it is such as wearable in people
On the pocket of the arm, waistband and clothes of body.
As shown in figure 3, the utility model also provides a kind of sub_meter position system, including above-mentioned sub_meter position equipment,
Ground base station and mobile terminal, sub_meter position equipment are connected with external navigation satellite and mobile terminal respectively, mobile whole
End is connected by ground base station with external navigation satellite.Whole system due to use above-mentioned sub_meter position equipment, can simply,
Efficiently and sub_meter position is realized in low-power consumption.
Wherein in one embodiment, sub_meter position equipment passes through bluetooth connection with mobile terminal.
Further to introduce above-mentioned sub_meter position system, above-mentioned sub-meter grade in actual applications is described in detail below
Two kinds of courses of work of working method of the real-time processing of alignment system and post processing.
Real-time processing
1st, sub_meter position module receives navigation satellite signal, while ground base station receives navigation satellite signal.
2nd, sub_meter position module parses the data such as satellite observation, ephemeris, while ground base station calculates difference changing
Correction data is simultaneously updated to data processing centre.
3rd, mobile terminal by network receive the differential correcting data broadcast of data processing centre and by bluetooth send to
Sub_meter position module.
4th, sub_meter position module carries out real-time carrier phase Difference Solution calculation.
5th, sub_meter position module output positioning result, and sent to mobile terminal by bluetooth.
6th, mobile terminal shows real-time positioning result.
Post processing
1st, GNSS module receives navigation satellite signal.
2nd, processor parses the data messages such as satellite observation, ephemeris.
3rd, processor preserves in memory the data such as satellite original observed data, ephemeris.
The 4th, data copy is out calculated the position at each moment after the measurement end of job with the poster processing soft.
5th, sub_meter position module pushes positioning result to mobile terminal.
6th, mobile terminal shows real-time positioning result.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (9)
1. a kind of sub_meter position equipment, it is characterised in that including the antenna and the data processing mainboard that are connected with each other；
The data processing mainboard includes GNSS module, IMU modules and alternately switches the GNSS module and the IMU modules
The in running order processor of middle individual module, the GNSS module is connected with the processor respectively with the IMU modules.
2. sub_meter position equipment according to claim 1, it is characterised in that the GNSS module is for carrier frequency
1.5G hertz of GNSS module.
3. sub_meter position equipment according to claim 1, it is characterised in that the data processing mainboard also includes bluetooth
Module, the bluetooth module is connected with the processor.
4. sub_meter position equipment according to claim 1, it is characterised in that the data processing mainboard also includes storage
Module, the memory module is connected with the processor.
5. sub_meter position equipment according to claim 1, it is characterised in that the antenna includes helical antenna.
6. sub_meter position equipment according to claim 1, it is characterised in that the antenna includes eight arm helical antennas.
7. sub_meter position equipment according to claim 1, it is characterised in that also including data processing mainboard shell and
The clamping assembly of the data processing mainboard shell is placed on, the data processing mainboard is built in outside the data processing mainboard
Shell.
8. a kind of sub_meter position system, it is characterised in that including the sub_meter position as described in claim 1-7 any one
Equipment, ground base station and mobile terminal；
The sub_meter position equipment is connected with the mobile terminal, and the mobile terminal is connected by the ground base station, institute
State sub_meter position equipment to be connected with external navigation satellite, the ground base station is connected with the external navigation satellite.
9. sub_meter position system according to claim 8, it is characterised in that the sub_meter position equipment and the shifting
Dynamic terminal passes through bluetooth connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621172403.5U CN206258588U (en) | 2016-10-26 | 2016-10-26 | Sub_meter position equipment and alignment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621172403.5U CN206258588U (en) | 2016-10-26 | 2016-10-26 | Sub_meter position equipment and alignment system |
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| Publication Number | Publication Date |
|---|---|
| CN206258588U true CN206258588U (en) | 2017-06-16 |
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ID=59024731
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| CN201621172403.5U Active CN206258588U (en) | 2016-10-26 | 2016-10-26 | Sub_meter position equipment and alignment system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031384A (en) * | 2018-06-27 | 2018-12-18 | 杭州爱体科技有限公司 | A kind of low-power consumption mobile satellite location equipment |
| CN111342856A (en) * | 2020-02-28 | 2020-06-26 | Oppo广东移动通信有限公司 | Communication device and electronic equipment |
| WO2021226986A1 (en) * | 2020-05-15 | 2021-11-18 | 华为技术有限公司 | Positioning method, positioning chip, and terminal device |
-
2016
- 2016-10-26 CN CN201621172403.5U patent/CN206258588U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031384A (en) * | 2018-06-27 | 2018-12-18 | 杭州爱体科技有限公司 | A kind of low-power consumption mobile satellite location equipment |
| CN111342856A (en) * | 2020-02-28 | 2020-06-26 | Oppo广东移动通信有限公司 | Communication device and electronic equipment |
| WO2021226986A1 (en) * | 2020-05-15 | 2021-11-18 | 华为技术有限公司 | Positioning method, positioning chip, and terminal device |
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