CN217560655U - Navigation positioning and orienting device - Google Patents
Navigation positioning and orienting device Download PDFInfo
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- CN217560655U CN217560655U CN202220787155.4U CN202220787155U CN217560655U CN 217560655 U CN217560655 U CN 217560655U CN 202220787155 U CN202220787155 U CN 202220787155U CN 217560655 U CN217560655 U CN 217560655U
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Abstract
The utility model provides a navigation positioning and orienting device, include: the device comprises a first main control unit, a second main control unit and a posture detection unit, wherein the first main control unit is electrically connected with the second main control unit and the posture detection unit respectively; the attitude detection unit transmits the acquired attitude data to the first main control unit; the first main control unit receives the satellite positioning data and the attitude data transmitted by the attitude detection unit, outputs positioning information and transmits the positioning information to the second main control unit; the second main control unit receives the satellite positioning data and outputs directional information according to the satellite positioning data received by the second main control unit and the positioning information of the first main control unit. By adopting the double antennas and the double main control units, high-precision positioning and orientation data can be output.
Description
Technical Field
The utility model belongs to navigation location orientation field, concretely relates to navigation location orientation device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The Beidou navigation system is a satellite navigation system with independent intellectual property rights in China, has strong signal coverage capability and high positioning precision, and provides important technical support for intelligent development, and RTK positioning is a real-time dynamic technology based on carrier phase observed quantity. At present, most of modules cannot meet the requirements on computational power in a complex environment, and are low in precision and poor in stability in the aspect of positioning and orientation; the requirement of a navigation positioning terminal on the market on the module volume cannot be met; the combined positioning method is realized in navigation terminal products such as vehicles, ships, intelligent equipment and the like based on an RTK-GPS technology, and the combined positioning method cannot simultaneously support positioning of five systems such as BDS/GPS/GLONASS/GALILEO/QZSS; currently, the navigation orientation is commonly used based on an inertial orientation system, which obtains information such as a current angular velocity through an internal inertial device, but the inertial orientation system has errors caused by temperature change and vibration as the navigation continues.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned problem, provided a navigation positioning and orientation device, be a collection inertial navigation and the positioning and orientation device who makes up the navigation.
According to some embodiments, the utility model adopts the following technical scheme:
a navigational positioning orientation device, comprising: the device comprises a first main control unit, a second main control unit and a posture detection unit, wherein the first main control unit is electrically connected with the second main control unit and the posture detection unit respectively;
the attitude detection unit transmits the acquired attitude data to the first main control unit;
the first main control unit receives the satellite positioning data and the attitude data transmitted by the attitude detection unit, outputs positioning information and transmits the positioning information to the second main control unit;
the second main control unit receives the satellite positioning data and outputs directional information according to the satellite positioning data received by the second main control unit and the positioning information of the first main control unit.
In addition, according to the embodiment of the present invention, the following additional technical features can be provided:
preferably, the system further comprises a level control unit, wherein the level control unit supplies power to the attitude detection unit, the first main control unit and the second main control unit.
Preferably, the first main control unit and the second main control unit are respectively connected with an antenna, and receive satellite positioning data through the antenna.
Preferably, the level control unit, the first main control unit, the second main control unit and the posture detection unit are all integrated on the PCB.
Preferably, the navigation positioning and orienting device further comprises a shielding case, wherein the shielding case is welded on the PCB and protects the internal structure of the navigation positioning and orienting device.
Preferably, the first main control unit and the second main control unit transmit data through TTL1 communication protocol.
Preferably, the first main control unit is integrated with a BDS positioning data receiving unit, a GPS positioning data receiving unit, a GLONASS positioning data receiving unit, a GALILEO positioning data receiving unit, a QZSS positioning data receiving unit, and an attitude data receiving unit.
Preferably, the second main control unit is integrated with a BDS positioning data receiving unit, a GPS positioning data receiving unit, a GLONASS positioning data receiving unit, a GALILEO positioning data receiving unit, and a QZSS positioning data receiving unit.
Preferably, the attitude detection unit collects acceleration and angular velocity data and sends the acceleration and angular velocity data to the first main control unit.
Preferably, the first main control unit and the second main control unit respectively perform data transmission with the client in a wireless transmission mode.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a navigation positioning and orienting device, the little encapsulation of hardware, low-power consumption provide the location orientation of high accuracy for navigation products such as on-vehicle, shipborne, intelligent equipment, and can satisfy the requirement of navigation positioning and orienting terminal to module design.
The utility model provides a navigation positioning and orientation device adopts the design of dual antenna and two main control units, can support RTK technique, combination navigation technique, location orientation technique, can export the location orientation information of high accuracy.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
FIG. 1 is a schematic view of a navigation, positioning and orientation device of the present invention;
fig. 2 is a pin diagram of U16A of the first master control unit of the present invention;
fig. 3 is a pin diagram of U16B of the first master control unit of the present invention;
fig. 4 is a pin diagram of U16C of the first main control unit of the present invention;
fig. 5 is a pin diagram of U1A of a second master control unit in the present invention;
fig. 6 is a pin diagram of U1B of the second master control unit of the present invention;
fig. 7 is a pin diagram of U1C of the second master control unit of the present invention;
fig. 8 is a schematic circuit diagram of the level control unit according to the present invention;
fig. 9 is a schematic circuit diagram of the posture detecting unit of the present invention;
FIG. 10 is an overall schematic view of the navigation, positioning and orientation device of the present invention;
fig. 11 is a schematic structural diagram of the navigation positioning and orienting device of the present invention.
Description of reference numerals:
1. PCB board, 2 shield cover, 3 stamp hole, 4 first main control unit, 5 second main control unit, 6 posture detection unit, 7 level control unit
The specific implementation mode is as follows:
the present invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example one
As shown in fig. 1, the utility model provides a navigation positioning and orientation device, include: the device comprises a first main control unit, a second main control unit and a posture detection unit, wherein the first main control unit is electrically connected with the second main control unit and the posture detection unit respectively; the attitude detection unit transmits the acquired attitude data to the first main control unit; the first main control unit receives the satellite positioning data and the attitude data transmitted by the attitude detection unit, outputs positioning information and transmits the positioning information to the second main control unit; the second main control unit receives the satellite positioning data and outputs directional information according to the satellite positioning data received by the second main control unit and the positioning information of the first main control unit.
The attitude detection device further comprises a level control unit which supplies power to the attitude detection unit, the first main control unit and the second main control unit.
The first main control unit and the second main control unit are respectively connected with an antenna and used for receiving satellite positioning data through the antennas.
The utility model discloses a two main control unit of two antennas, wherein the antenna that first main control unit connects is main antenna, and the antenna that second main control unit can connect is for following the antenna, and main antenna can both receive BDS/GPS/GLONASS/GALILEO/QZSS's positioning data from the antenna.
When the external interface of the second main control unit is connected with the external serial port, the first main control unit outputs positioning information, and the second main control unit outputs course information and positioning information relative to the first main control unit.
Specifically, a first main control unit receives satellite positioning data and attitude data of a mechanical vehicle through a main antenna and differential data of an external base station, the RTK differential technology is utilized, the first main control unit performs data fusion on observed positioning data, the differential data and the attitude data, and positioning information is output through an external serial port of the first main control unit. In addition, the first main control unit also transmits the observed satellite positioning data, the attitude data and the differential data received by the external base station to the second main control unit.
The second main control unit regards the main antenna and the slave antenna as two points according to the received satellite positioning data and attitude data of the first main control unit and the satellite positioning data received by the second main control unit, the two points determine a straight line, the position vector of the main antenna and the slave antenna is determined, and then the included angle between the main antenna and the slave antenna and the true north direction is determined, so that the heading information of the mechanical vehicle is obtained through calculation; in addition, the navigation positioning and orientation device is arranged on a vehicle or a ship and the like, the navigation positioning and orientation device is mobile, the second main control unit calculates mobile RTK differential data based on the received satellite positioning data of the first main control unit and the differential data of the external base station, positioning information relative to the first main control unit is obtained based on the mobile RTK differential data and the satellite positioning data received by the second main control unit, and the second main control unit outputs course information and information relative to the first main control unit through an external serial port.
And when the external interface of the second main control unit is not connected with the external serial port, the first main control unit outputs positioning and orientation information.
Specifically, the second main control unit determines the position vector of the main antenna and the auxiliary antenna according to the received satellite positioning data and attitude data of the first main control unit and the satellite positioning data received by the second main control unit, further determines the included angle between the main antenna and the auxiliary antenna and the true north direction, calculates the course information of the mechanical vehicle and transmits the course information to the first main control unit; because the positioning information of the second main control unit is the mobile differential data based on the positioning information of the first main control unit, the positioning data obtained based on the differential data of the external base station is more accurate by default, and therefore, the second main unit only transmits course information to the first main control unit; the first main control unit receives satellite positioning data and attitude data of the mechanical vehicle through the main antenna, receives differential data of the external base station, fuses observed positioning data, the differential data and the attitude data received by the external base station and course information transmitted by the second main control unit by using an RTK differential technology, and outputs positioning orientation information through an external serial port.
In a specific embodiment, as shown in fig. 2-4, the first master control unit employs a model AG3335A chip, the AG3335A chip includes three parts, i.e., U16A, U16B, and U16C, the AG3335A chip supports BDS, GPS, GLONASS, GALILEO, and QZSS, and supports RTK technology, combined navigation technology, and positioning and orientation technology.
As shown in fig. 5-7, the second master control unit employs a model AG3335A chip, the AG3335A chip includes three parts, i.e., U1A, U1B, and U1C, the AG3335A chip supports BDS, GPS, GLONASS, GALILEO, and QZSS, and supports RTK technology, combined navigation technology, and positioning and orientation technology.
As shown in fig. 8, the level control unit of this embodiment is composed of a level control chip and a peripheral circuit, the level control chip is of a type RT5707WSC, the level control unit is externally connected with a 3.3V voltage, converts the 3.3V voltage into a 1.8V voltage, and provides working voltages for the first main control tonna element, the second main control unit, and the posture detection unit.
As shown in fig. 9, the attitude detection unit adopts an attitude detection chip, specifically adopts a BMI160 sensor, the BMI160 is a six-axis sensor, and can acquire raw observed values of a three-axis gyroscope and a three-axis accelerometer, and the BMI160 transmits acquired attitude data to the first main control unit.
In another embodiment, the product structure of the navigation, positioning and orientation device of the present invention is disclosed, as shown in fig. 10-11, the level control unit 7 is electrically connected to the second main control unit 5, the first main control unit 4 and the attitude detection unit 6, the attitude detection unit 6 is electrically connected to the first main control unit 4, and the first main control unit 4 is electrically connected to the second main control unit 5; first main control unit 4, second main control unit 5, gesture detecting element 6 and level control unit 7 are all integrated on PCB board 1, edge side is provided with a plurality of stamp holes 3 respectively about PCB board 1, a plurality of stamp holes 3 correspond different external interfaces respectively (including the antenna interface), first main control unit 4 sets up the left side position at PCB board 1, second main control unit 5 sets up the right side at first main control unit 4, gesture detecting element 6 sets up the below position at first main control unit 4, level control unit 7 sets up the below position at second main control unit 5. The PCB packaging structure further comprises a shielding case 2, wherein the shielding case 2 is welded on the PCB 1 through a plurality of welding pads and adopts a standard packaging format. The shielding case 2 is disposed at the peripheries of the first main control unit 4, the second main control unit 5, the posture detection unit 6 and the level control unit 7, and the stamp hole 3 is disposed at the outer side of the shielding case 1. Through the mode of integration on the PCB, the size of the module volume is effectively reduced, the size is 22mm multiplied by 17mm multiplied by 3mm, and the requirement on the module volume during the design of the navigation positioning orientation terminal product is met.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. A navigation positioning and orientation device, comprising:
the device comprises a first main control unit, a second main control unit and a posture detection unit, wherein the first main control unit is electrically connected with the second main control unit and the posture detection unit respectively;
the attitude detection unit transmits the acquired attitude data to the first main control unit;
the first main control unit receives the satellite positioning data and the attitude data transmitted by the attitude detection unit, outputs positioning information and transmits the positioning information to the second main control unit;
the second main control unit receives the satellite positioning data and outputs directional information according to the satellite positioning data received by the second main control unit and the positioning information of the first main control unit.
2. The navigation, positioning and orientation device of claim 1 further comprising a level control unit, wherein the level control unit supplies power to the attitude detection unit, the first master control unit and the second master control unit.
3. The navigation positioning and orientation device of claim 1 wherein the first master control unit and the second master control unit are each connected to an antenna for receiving satellite positioning data via the antenna.
4. The device as claimed in claim 2, wherein the level control unit, the first master control unit, the second master control unit and the gesture detection unit are integrated on the PCB.
5. The device as claimed in claim 4, further comprising a shielding case soldered on the PCB for protecting the internal structure of the device.
6. The navigation positioning and orientation device of claim 1 wherein the first master control unit and the second master control unit communicate data via TTL1 communication protocol.
7. The apparatus as claimed in claim 1, wherein the first master control unit is integrated with a BDS positioning data receiving unit, a GPS positioning data receiving unit, a GLONASS positioning data receiving unit, a GALILEO positioning data receiving unit, a QZSS positioning data receiving unit and an attitude data receiving unit.
8. The apparatus as claimed in claim 1, wherein the second master control unit is integrated with a BDS positioning data receiving unit, a GPS positioning data receiving unit, a GLONASS positioning data receiving unit, a GALILEO positioning data receiving unit, and a QZSS positioning data receiving unit.
9. The device as claimed in claim 1, wherein the attitude sensing unit collects acceleration and angular velocity data and transmits the data to the first master control unit.
10. The navigation, positioning and orientation device of claim 1 wherein the first master control unit and the second master control unit respectively perform data transmission with the client via wireless transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220787155.4U CN217560655U (en) | 2022-04-06 | 2022-04-06 | Navigation positioning and orienting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220787155.4U CN217560655U (en) | 2022-04-06 | 2022-04-06 | Navigation positioning and orienting device |
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| Publication Number | Publication Date |
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| CN217560655U true CN217560655U (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220787155.4U Active CN217560655U (en) | 2022-04-06 | 2022-04-06 | Navigation positioning and orienting device |
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| CN (1) | CN217560655U (en) |
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