CN216900939U

CN216900939U - High-precision dynamic positioning device based on Beidou satellite navigation

Info

Publication number: CN216900939U
Application number: CN202122726939.4U
Authority: CN
Inventors: 尤蓉蓉; 苏卡尼
Original assignee: Guangdong Guotian Space Time Technology Co ltd
Current assignee: Guangdong Guotian Space Time Technology Co ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-07-05
Anticipated expiration: 2031-11-09

Abstract

The utility model belongs to the technical field of navigation, and discloses a high-precision dynamic positioning device based on Beidou satellite navigation, which comprises a network bridge module, a power supply module, a signal processing module and a positioning module; the power supply module converts the input voltage and then supplies power to other modules; the bridge module comprises a server, an antenna and a 4G communication module; the signal processing module comprises a filter and an A/D processor; the positioning module comprises a Beidou module and an upper computer, and the Beidou module comprises an MEMS chip, a matrix multiplication accelerator, an LDPC decoding accelerator and an inertial navigation sensor; the upper computer, the Beidou module, the A/D processor, the filter and the 4G communication module antenna are connected through TTL data lines. The utility model can realize high-precision Beidou dynamic positioning; and the processing of signals is accelerated through a matrix multiplication accelerator and an LDPC decoding accelerator.

Description

High-precision dynamic positioning device based on Beidou satellite navigation

Technical Field

The utility model belongs to the technical field of navigation, and particularly relates to a high-precision dynamic positioning device based on Beidou satellite navigation.

Background

With the rapid development of satellite positioning technology, people have increasingly strong demands for rapid and high-precision position information. The most widely used high-precision positioning technology at present is RTK (Real-time kinematic), which is characterized in that the carrier phase observation of GPS is used, the spatial correlation of the observation error between the reference station and the rover station is utilized, and most of the errors in the observation data of the rover station are removed by a differential mode, thereby realizing high-precision (decimeter or even centimeter level) positioning. The key of the RTK technology lies in a data processing technology and a data transmission technology, a base station receiver is required to transmit observed data (pseudo-range observed values and phase observed values) and known data to a rover receiver in real time during RTK positioning, the data volume is large, along with the continuous development of scientific technology, the RTK technology is developed to a wide area difference system WADGPS from the traditional 1+1 or 1+2, and a CORS system is established in some cities, so that the RTK measurement range is greatly improved, the data transmission is greatly improved, the radio station transmission is developed to the existing GPRS and GSM network transmission, and the data transmission efficiency and range are greatly improved.

At present, the number of dynamic positioning devices based on a GPS is large, the number of dynamic positioning devices based on Beidou satellite navigation is small, and particularly, the high-precision dynamic positioning device based on the Beidou satellite navigation is lacked.

SUMMERY OF THE UTILITY MODEL

In view of the above, the utility model provides a high-precision dynamic positioning device based on Beidou satellite navigation, wherein Beidou signals of an upper computer are sent to a server after differential comparison through a Beidou module, optimized data returned by the server are resolved to obtain an accurate position, and the accurate position is fed back to the upper computer, so that the high-precision Beidou dynamic positioning device is provided.

The utility model discloses a high-precision dynamic positioning device based on Beidou satellite navigation, which comprises: the device comprises a network bridge module, a power supply module, a signal processing module and a positioning module;

the power supply module comprises a power supply adapter and a power supply conversion module, and the power supply conversion module converts the input voltage of the power supply adapter into 3.3V or 5V voltage and then supplies power to the signal processing module, the positioning module and the network bridge module;

the bridge module comprises a server, an antenna and a Dongle 4G communication module, and the Dongle 4G communication module receives or sends data to the server through the antenna and forwards the data to the signal processing module;

the signal processing module comprises a filter and an A/D processor, the filter filters received data, and the A/D processor performs digital-to-analog conversion on the filtered data;

the positioning module comprises a Beidou module and an upper computer, the Beidou module comprises an MEMS chip, a matrix multiplication accelerator, an LDPC decoding accelerator and an inertial navigation sensor, the upper computer receives and transmits Beidou signals to the Beidou module, the Beidou module sends rough positioning information to a server through a signal processing module, and the inertial navigation sensor is combined with the Beidou signals for positioning;

the upper computer is connected with the Beidou module, the Beidou module is connected with the A/D processor, the A/D processor is connected with the filter, the filter is connected with the Dongle 4G communication module, and the Dongle 4G communication module is connected with the antenna through TTL data lines.

Further, the big dipper module still includes a plurality of UART interfaces, 1 SPI interface and 1 PPS interface, the PPS interface receives the full frequency point GNSS signal of full constellation.

Furthermore, the upper computer comprises a PC and a mobile phone.

Further, the matrix multiplication accelerator comprises a computing unit, a cache and a memory.

Further, the inertial navigation sensor is TDK IAM-20680.

Further, the Beidou signals comprise B1I, B2I, B3I, B1C, B2a and B2B signals.

The utility model has the following beneficial effects:

the Beidou module sends Beidou positioning information of the upper computer to the server, and optimized data returned by the server is resolved to obtain an accurate position, so that high-precision Beidou dynamic positioning is realized;

the processing of signals can be accelerated by a matrix multiplication accelerator and an LDPC decoding accelerator.

Drawings

FIG. 1 is a schematic structural diagram of a high-precision dynamic positioning apparatus according to the present invention.

Detailed Description

The present invention is further described with reference to the drawings, but the present invention is not limited thereto in any way, and any modifications or alterations based on the teaching of the present invention shall fall within the scope of the present invention.

The utility model discloses a high-precision dynamic positioning device based on Beidou satellite navigation, which comprises a network bridge module, a power supply module, a signal processing module and a positioning module.

The power supply module comprises a power adapter and a power conversion module, and after the power conversion module converts the input voltage of the power adapter into 3.3V or 5V voltage, the power conversion module supplies power to the signal processing module, the positioning module and the bridge module.

The bridge module comprises a server, an antenna and a Dongle 4G communication module, and the Dongle 4G communication module receives or transmits data to the server through the antenna and forwards the data to the signal processing module.

The signal processing module comprises a filter and an A/D processor, the filter filters the received data, and the A/D processor performs digital-to-analog conversion on the filtered data. The filters and the a/D processor are conventional in the art and will not be described in detail.

The positioning module comprises a Beidou module and an upper computer, the Beidou module comprises an MEMS chip, a matrix multiplication accelerator, an LDPC decoding accelerator and an inertial navigation sensor, the upper computer receives Beidou signals, the Beidou signals comprise B1I, B2I, B3I, B1C, B2a and B2B signals, the upper computer transmits the Beidou signals to the Beidou module, the Beidou module and the processor carry out difference comparison and then obtain initial positioning information, and the rough positioning information is sent to the server through the signal processing module.

Between host computer and the big dipper module, between big dipper module and the AD treater, between AD treater and wave filter, between wave filter and the Dongle 4G communication module, be connected through the TTL data line between Dongle 4G communication module and the antenna.

The matrix multiplication accelerator includes a computing unit, a cache (formed by SRAM, etc.) and a memory (such as DDR, etc.), and is a prior art in the field, for example, the CUBE Core in Davinci Max is a 16 × 16 × 16 MAC array, which is not described in detail in this embodiment.

The LDPC decoding accelerator is realized through an FPGA. The LDPC decode accelerator is used to accelerate the decoding speed of LDPC encoding that prevents errors in the correction of data transmission. The LDPC decoding acceleration algorithm is the prior art in the field, and is not described in detail in this embodiment.

The Beidou module further comprises a plurality of UART interfaces, 1 SPI interface and 1 PPS (pulse Per second) interface, the PPS interface receives full-constellation full-frequency-point GNSS signals, and the received GPS signals can be used as supplement of the Beidou signals. The UART interface is used as a serial port and can be connected with a plurality of sensors, and the functions of the utility model can be seamlessly expanded.

The host computer includes the PC, cell-phone etc. and functions such as big dipper No. two RDSS short message communication of big dipper, RNSS location, bluetooth communication, alarm and voice broadcast fall into water can be integrated to the host computer, and small in size easily carries, satisfies position report, and the orbit presents, needs such as emergency alarm and information interaction are applicable to scene uses such as surface of water lifesaving, outdoor tourism, field work.

The inertial navigation sensor is TDK IAM-20680, and the inertial navigation sensor passes through the gyroscope and detects the position, as the supplement under the bad condition of big dipper signal reception, the position when big dipper signal will be lost to the big dipper module combines together the back with the position signal that the inertial navigation sensor detected, sends the server through signal processing module and Dongle 4G module, and the server returns for the big dipper module after optimizing differential data, and the big dipper module is resolved data and is sent for the host computer after. The data calculation to obtain the optimized positioning position is a mature technology in the field, and the description of the embodiment is omitted.

And after receiving the data, the server performs data processing to form multi-reference station differential positioning user data, forms a data file with a certain format and distributes the data file to users. The server in this embodiment is a core unit of the existing COR S system, and is also a key point for implementing high-precision real-time dynamic positioning. The server continuously carries out overall modeling calculation in an area for 24 hours according to real-time observation data collected by each base station, automatically generates a virtual reference station (comprising base station coordinates and Beidou observation value information) corresponding to the position of the rover station, and provides code phase/carrier phase difference correction information to various users needing measurement and navigation in an international universal format through the existing data communication network and a wireless data broadcasting network so as to solve the accurate position of the rover station in real time.

The working principle of the utility model is as follows:

the power adapter provides 12V power to the power converter. The power adapter converts 12V voltage into 3.3V and 5V, for big dipper module, signal processing module and bridge module provide the power, the host computer sends the order to big dipper module, passes to the AD treater through the difference comparison between big dipper module and the AD treater to rough location data, the AD treater is after digital-to-analog conversion, sends to the wave filter, sends to the server through the antenna through Dongle 4G module on. The server optimizes the differential data, then filters the data, converts the data into digital analog data, returns the data to the 4G module to the signal processing module, the signal processing module sends the optimized data to the Beidou module, and the Beidou module retransmits the optimized data to the upper computer.

The utility model has the following beneficial effects:

The word "preferred" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "preferred" is not necessarily to be construed as advantageous over other aspects or designs. Rather, use of the word "preferred" is intended to present concepts in a concrete fashion. The term "or" as used in this application is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from context, "X employs A or B" is intended to include either of the permutations as a matter of course. That is, if X employs A; b is used as X; or X employs both A and B, then "X employs A or B" is satisfied in any of the foregoing examples.

Also, although the disclosure has been shown and described with respect to one or an implementation, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations, and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components (e.g., elements, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the disclosure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or other features of the other implementations as may be desired and advantageous for a given or particular application. Furthermore, to the extent that the terms "includes," has, "" contains, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.

Each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or a plurality of or more than one unit are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Each apparatus or system described above may execute the storage method in the corresponding method embodiment.

In summary, the above-mentioned embodiment is an implementation manner of the present invention, but the implementation manner of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be regarded as equivalent replacements within the protection scope of the present invention.

Claims

1. High accuracy dynamic positioning device based on big dipper satellite navigation, its characterized in that includes: the device comprises a network bridge module, a power supply module, a signal processing module and a positioning module;

the power supply module supplies power to the signal processing module, the positioning module and the network bridge module;

the upper computer is connected with the Beidou module, the Beidou module is connected with the A/D processor, the A/D processor is connected with the filter, the filter is connected with the Dongle 4G communication module, and the Dongle 4G communication module is connected with the antenna through TTL data lines;

the inertial navigation sensor is TDK IAM-20680.

2. The Beidou satellite navigation based high precision dynamic positioning device according to claim 1, wherein the Beidou module further comprises a plurality of UART interfaces, 1 SPI interface and 1 PPS interface, and the PPS interface receives full constellation frequency point GNSS signals.

3. The Beidou satellite navigation based high-precision dynamic positioning device according to claim 1, wherein the upper computer comprises a PC and a mobile phone.

4. The Beidou satellite navigation based high precision dynamic positioning device according to claim 1, wherein the matrix multiplication accelerator comprises a computing unit, a cache and a memory.