WO2023142793A1 - Navigation module and automobile - Google Patents

Abstract

A navigation module and an automobile. The navigation module comprises a first antenna assembly (110), a first navigation main unit (120), a second navigation main unit (130), a communication antenna (140), and a second navigation antenna (150), wherein the first antenna assembly (110) is configured to receive navigation signals and send first branch signals of the navigation signals to the second navigation main unit (130), the second navigation antenna (150) is configured to receive navigation signals and send the navigation signals to the second navigation main unit (130), the communication antenna (140) is configured to receive differential signals and send the differential signals to the first navigation main unit (120), the first navigation main unit (120) is configured to receive the differential signals and send the differential signals to the second navigation main unit (130), and the second navigation main unit (130) is configured to receive the first branch signals, the navigation signals and the differential signals so as to generate first navigation data.

Description

Navigation module and car

This application claims priority to a Chinese patent application with a filing date of January 26, 2022 and application number 202210096017.6, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of automobiles, for example, to a navigation module and an automobile.

Background technique

Due to the complex composition and structure of the navigation module in the related art, once some components in the navigation module fail, abnormal phenomena will appear in the navigation function of the navigation module. Therefore, the navigation module in the related art has the technical problem of poor navigation stability.

Contents of the invention

The present application provides a navigation module and a car, which can improve the navigation stability of the navigation module, thereby achieving the technical effect of improving user experience.

In the first aspect, an embodiment of the present application provides a navigation module, the module comprising: a first antenna assembly, a first navigation host and a second navigation host respectively connected to the first antenna assembly in communication, and The communication antenna connected to the first navigation host, the second navigation antenna connected to the second navigation host, the first navigation host and the second navigation host are connected in communication; wherein, the first antenna assembly, configured to receive a navigation signal, and send the first branch signal of the navigation signal to the second navigation host; the second navigation antenna, configured to receive the navigation signal, and send the navigation signal The signal is sent to the second navigation host; the communication antenna is configured to receive the differential signal, and the differential signal is sent to the first navigation host; the first navigation host is configured to receive the differential signal , and send the differential signal to the second navigation host; the second navigation host is configured to receive the first branch signal, receive the navigation signal, and receive the differential signal, and based on the The first branch signal, the navigation signal and the differential signal generate first navigation data.

In a second aspect, an embodiment of the present application provides a car, and the car includes the navigation module provided in the above embodiment.

Description of drawings

FIG. 1 is a schematic structural diagram of a navigation module provided in Embodiment 1 of the present application;

FIG. 2 is a schematic structural diagram of a navigation module provided in Embodiment 1 of the present application;

FIG. 3 is a schematic diagram of an installation structure of a car equipped with a navigation module provided in Embodiment 2 of the present application.

Detailed ways

Embodiment one

Fig. 1 is a schematic structural diagram of a navigation module provided by Embodiment 1 of the present invention. This embodiment is applicable to navigation, especially car navigation. The module can be realized by at least one of hardware and software. The module specifically includes the following structures: a first antenna assembly 110, a first navigation host 120 and a second navigation host 130 respectively communicated with the first antenna assembly 110, a communication antenna 140 communicated with the first navigation host 120, The second navigation antenna 150 communicated with the second navigation host 130, the first navigation host 120 and the second navigation host 130 are communicatively connected; wherein, the first antenna assembly 110 is configured to receive the navigation signal and transmit the first navigation signal A branch signal is sent to the second navigation host 130 .

Wherein, the first branch signal and the second branch signal may be signals output by dividing the navigation signal into two paths according to a preset power distribution ratio. Wherein, the preset power distribution ratio may be preset according to actual needs, for example, the preset power distribution ratio may be equal to two power points, four power points or six power points, etc., which is not specifically limited here. The first antenna assembly 110 can be understood as an antenna assembly configured to receive navigation signals. The second navigation antenna 150 may be an antenna configured to receive navigation signals sent by navigation satellites. In an embodiment, the second navigation antenna may be an antenna assembly configured to receive navigation signals sent by navigation satellites.

Wherein, the first navigation host 120 may be a navigation host configured to receive the first branch signal sent by the first antenna assembly 110 . The second navigation host 130 may be a navigation host configured to receive the second branch signal sent by the first antenna assembly 110 and the navigation signal sent by the second navigation antenna 150 . The communication antenna 140 may be an antenna for communication. Exemplarily, the communication antenna may be a 5G communication antenna, or may be a 4G communication antenna.

In one embodiment, the power distribution ratio is preset: the first antenna assembly 110 receives the navigation signal sent by the navigation satellite, and divides the navigation signal into two or more paths according to the preset power distribution ratio. Furthermore, the first branch signal can be obtained. After obtaining the first branch signal, the first branch signal can be sent to the second navigation host 130 that is communicatively connected to the first antenna assembly 110 . In an embodiment, the preset power distribution ratio may be equal to two power divisions.

It should be noted that the "first" and "second" in the first navigation host 120 and the second navigation host 130 in the implementation of the present application are only used to distinguish different navigation hosts, not for the sequence or content of the navigation hosts. limited.

In one embodiment, the first antenna assembly 110 includes a first navigation antenna 111 and a power splitter 112 electrically connected to the first navigation antenna 111; wherein, the first navigation antenna 111 is configured to receive a navigation signal, and The signal is sent to power splitter 112 .

Wherein, the first navigation antenna 111 may be configured as an antenna for receiving navigation signals sent by navigation satellites.

In one embodiment, the first navigation antenna 111 receives the navigation signal sent by the satellite. After the first navigation antenna 111 receives the navigation signal, the received navigation signal may be sent to the power distributor 112 electrically connected to the first navigation antenna 111 .

It should be noted that the "first" and "second" in the first navigation antenna 111 and the second navigation antenna 150 in the implementation of the present application are only used to distinguish different navigation antennas, not for the order or content of the navigation antennas. limited.

The power distributor 112 is configured to receive the navigation signal, perform power distribution processing on the navigation signal, and send the first branch signal obtained after the power distribution processing to the second navigation host 130 .

In one embodiment, the navigation signal sent by the first navigation antenna 111 electrically connected to the power distributor 112 is received by the power distributor 112 . After the power splitter 112 receives the navigation signal, it can perform power distribution processing on the navigation signal, that is, divide the navigation signal into two or more paths according to a preset power distribution ratio and output it. Furthermore, the first branch signal can be obtained. The first branch signal may be sent to a second navigation host 130 communicatively coupled to the power splitter 112 .

The second navigation antenna 150 is configured to receive navigation signals and send the navigation signals to the second navigation host 130 .

In one embodiment, the second navigation antenna 150 receives the navigation signal sent by the navigation satellite. After the second navigation antenna 150 receives the navigation signal, it can send the navigation signal to the second navigation host 130 which is communicatively connected with the second navigation antenna 150 .

The communication antenna 140 is configured to receive the differential signal and send the differential signal to the first navigation host 120 .

Wherein, the differential signal can be understood as a signal received through a communication antenna.

In one embodiment, the differential signal is received by the communication antenna 140 . After the communication antenna 140 receives the differential signal, it can send the differential signal to the first navigation host 120 which is communicatively connected to the communication antenna 140 .

The first navigation host 120 is configured to receive the differential signal and send the differential signal to the second navigation host 130 .

In one embodiment, the differential signal sent by the communication antenna 140 communicated with the first navigation host 120 is received by the first navigation host 120 , that is, the differential signal sent by the communication antenna 140 is received by the first navigation host 120 . After the first navigation host 120 receives the differential signal, it can send the differential signal to the second navigation host 130 which is communicatively connected with the first navigation host 120 .

The second navigation host 130 is configured to receive the first branch signal, the navigation signal and the difference signal, and generate first navigation data based on the first branch signal, the navigation signal and the difference signal.

Wherein, the first navigation data may be the navigation data generated by the first branch signal, the navigation signal and the differential signal received by the second navigation host 130 . The first navigation data may include location information, attitude information and the status of the second navigation host 130 . Wherein, the location information may be positioning information. Positioning information may include three-dimensional data of longitude, latitude, and altitude data. The posture information may be body posture information. The state of the second navigation host 130 may be a normal state or an abnormal state. In an embodiment, when the state of the second navigation host 130 is abnormal, it may indicate that the second navigation host 130 is out of order.

In an embodiment, the first branch signal sent by the first antenna assembly 110 , the navigation signal sent by the second navigation antenna 150 , and the differential signal sent by the first navigation host 120 are received by the second navigation host 130 . After the second navigation host 130 receives the first branch signal, the navigation signal and the differential signal, it can generate first navigation data based on the first branch signal, the navigation signal and the differential signal, that is, generate positioning information and attitude information.

On this basis, referring to FIG. 2 , the power allocator 112 is also configured to send the second branch signal obtained after power distribution processing to the first navigation host 120; correspondingly, the first navigation host 120 is also configured to receive A second branch signal, generating second navigation data based on the second branch signal and the differential signal.

Wherein, the second navigation data may be generated based on the second branch signal and the differential signal received by the first navigation host. The second navigation data may include position information, attitude information and the state of the first navigation host 120 . Wherein, the location information may be positioning information. Positioning information may include three-dimensional data of longitude, latitude, and altitude data. The posture information may be body posture information.

In an embodiment, the navigation signal sent by the first navigation antenna 111 is subjected to power allocation processing through the power allocator 112 . Furthermore, the second branch signal can be obtained. After obtaining the second branch signal and receiving the differential signal sent by the communication antenna 140, the second navigation data may be generated based on the second branch signal and the differential signal.

In an embodiment, the "first" and "second" in the first navigation data and the second navigation data in the implementation of the present application are only used to distinguish different navigation data, rather than to limit the order or content of the navigation data .

In the embodiment of the present application, based on the concept of redundancy design, the first antenna assembly 110, the first navigation host 120 and the second navigation host 130 respectively connected to the first antenna assembly 110 can be connected to the first antenna assembly 110 in the navigation module. A communication antenna 140 that is connected to the navigation host 120, a second navigation antenna 150 that is connected to the second navigation host 130, and a communication connection between the first navigation host 120 and the second navigation host 130. The technical problem of poor stability improves the navigation stability of the navigation module, thereby achieving the technical effect of improving user experience.

In an embodiment, after the connection of multiple components in the navigation module is completed, when the first antenna assembly 110 fails, it can be based on the navigation signal sent by the second navigation antenna 150 received by the second navigation host 130 and the first navigation host 120 to generate navigation data; when the second navigation antenna 150 fails, it can be based on the first branch signal sent by the first antenna assembly 110 received by the second navigation host 130 and the differential signal sent by the first navigation host 120 Generate navigation data; when the second navigation host 130 fails, it can generate navigation data based on the second branch signal sent by the first antenna assembly 110 received by the first navigation host 120 and the differential signal sent by the communication antenna 140; when the first After the navigation host 120 or the communication antenna 140 fails, the navigation data can be generated based on the navigation signal sent by the second navigation antenna 150 received by the second navigation host 130 .

The embodiment of the present application provides that the navigation module is also configured to be able to generate Fault prompt information.

According to the technical solution of the embodiment of the present application, the navigation module includes a first antenna assembly, a first navigation host and a second navigation host connected to the first antenna assembly in communication, a communication antenna connected to the first navigation host, and a communication antenna connected to the first navigation host. The second navigation antenna connected to the two navigation hosts is communicatively connected to the first navigation host and the second navigation host. Through the redundant design of the navigation module, the navigation stability of the navigation module is improved. Wherein, the first antenna assembly is set to receive the navigation signal and send the first branch signal of the navigation signal to the second navigation host; the second navigation antenna is set to receive the navigation signal and send the navigation signal to the second navigation host The navigation host; the communication antenna, configured to receive differential signals, and send the differential signals to the first navigation host; the first navigation host, configured to receive differential signals, and send the differential signals to the second navigation host; the second navigation host, It is set to receive the first branch signal, the navigation signal and the differential signal, and generate the first navigation data based on the first branch signal, the navigation signal and the differential signal, which solves the problem of poor navigation stability in the navigation module in the related art The problem is to improve the navigation stability of the navigation module, so as to achieve the technical effect of improving the user experience.

Embodiment two

Embodiment 2 of the present application provides a first navigation host. On the basis of the foregoing embodiments, following FIG. The first micro-control unit 122 electrically connected to the unit 121, the first inertial measurement unit 123 and the communication unit 124 electrically connected to the first micro-control unit 122 respectively; wherein, the first navigation unit 121 is configured to receive the second branch signal , and send the second branch signal to the first micro control unit 122 .

Wherein, the first navigation unit 121 can be understood as a navigation unit configured to receive the second branch signal. The first microcontroller unit 122 may be a microprocessor, and may be configured to receive the second branch signal sent by the first antenna assembly 110 . The first inertial measurement unit 123 may be an inertial measurement unit configured to detect an acceleration and an angular velocity of a target object equipped with a navigation module. Wherein, the target object may be a motor vehicle or a non-motor vehicle. The first inertial measurement unit 123 may include an accelerometer and a gyroscope. The communication unit 124 may be configured to receive the differential signal sent by the communication antenna 140 .

In an embodiment, the second branch signal sent by the power splitter 112 electrically connected to the first navigation unit 121 is received by the first navigation unit 121 . After the first navigation unit 121 receives the second branch signal, it can send the second branch signal to the first micro control unit 122 .

The first inertial measurement unit 123 is configured to detect the first acceleration and the first angular velocity of the target object equipped with the navigation module, and send the first acceleration and the first angular velocity to the first micro control unit 122 .

Wherein, the first acceleration may be the acceleration of the target object configured with the navigation module detected by the first inertial measurement unit 123 . The first angular velocity may be the angular velocity of the target object configured with the navigation module detected by the first inertial measurement unit 123 .

In an embodiment, the first acceleration and the first angular velocity can be obtained by detecting the acceleration and angular velocity of the target object configured with the navigation module by the first inertial measurement unit 123 . After obtaining the first acceleration and the first angular velocity, the first acceleration and the first angular velocity may be sent to the first micro-control unit 122 which is communicatively connected with the first inertial measurement unit 123 .

The communication unit 124 is configured to receive the differential signal and send the differential signal to the first micro control unit 122 .

In one embodiment, the communication unit 124 receives the differential signal sent by the communication antenna 140 which is communicatively connected to the communication unit 124 . After the communication unit 124 receives the differential signal, it can send the differential signal to the first micro-control unit 122 which is communicatively connected with the communication unit 124 .

The first micro-control unit 122 is configured to receive the second branch signal, the first acceleration, the first angular velocity and the differential signal, and generate second navigation data based on the second branch signal, the first acceleration, the first angular velocity and the differential signal, And send the differential signal to the second navigation host 130 .

In one embodiment, the first micro-control unit 122 receives the second branch signal sent by the first antenna assembly 110, the first acceleration and the first angular velocity sent by the first inertial measurement unit 123 and the differential signal sent by the communication unit 124 . After receiving the second branch signal, the first acceleration, the first angular velocity and the differential signal, second navigation data may be generated based on the second branch signal, the first acceleration, the first angular velocity and the differential signal, and the communication unit 124 The sent differential signal is sent to the second navigation host 130 .

In the technical solution of the embodiment of the present application, the second branch signal is received by the first navigation unit, and the second branch signal is sent to the first micro control unit. The first acceleration and the first angular velocity of the target object configured with the navigation module are detected by the first inertial measurement unit, and the first acceleration and the first angular velocity are sent to the first micro control unit. The differential signal is received through the communication unit and sent to the first micro control unit. Receive the second branch signal, the first acceleration, the first angular velocity and the differential signal through the first micro control unit, generate the second navigation data based on the second branch signal, the first acceleration, the first angular velocity and the differential signal, and convert the differential The signal is sent to the second navigation host to realize the generation of second navigation data by the first navigation host and improve the navigation stability of the navigation module.

Embodiment three

Embodiment 3 of the present application provides a second navigation host. On the basis of the foregoing embodiments, following FIG. The third navigation unit 132 electrically connected to the antenna 150, the second micro-control unit 133 electrically connected to the second navigation unit 131, the third navigation unit 132 and the first micro-control unit 122, and the second micro-control unit 133 are electrically connected. The connected second inertial measurement unit 134 , wherein the second navigation unit 131 is configured to receive the first branch signal and send the first branch signal to the second micro control unit 133 .

Wherein, the second navigation unit 131 can be understood as a navigation unit configured to receive the first branch signal. The third navigation unit 132 may be a navigation unit configured to receive a navigation signal sent by the second navigation antenna 150 . The second inertial measurement unit 134 may be an inertial measurement unit configured to detect acceleration and angular velocity of a target object on which the navigation module is configured. Wherein, the target object may be a motor vehicle or a non-motor vehicle. The second inertial measurement unit 134 may include an accelerometer and a gyroscope. The second micro control unit 133 may be a microprocessor, and may be configured to receive the first branch signal.

In an embodiment, the first branch signal sent by the power allocator 112 is received by the second navigation unit 131 . After the second navigation unit 131 receives the first branch signal, it can send the first branch signal to the second micro control unit 133 which is communicatively connected with the second navigation unit 131 .

The third navigation unit 132 is configured to receive the navigation signal and send the navigation signal to the second micro control unit 133 .

In one embodiment, the third navigation unit 132 receives the navigation signal sent by the second navigation antenna 150, and after the third navigation unit 132 receives the navigation signal, it can send the navigation signal to the third navigation unit 132. the second microcontroller unit 133 .

The second inertial measurement unit 134 is configured to detect the second acceleration and the second angular velocity of the target object, and send the second acceleration and the second angular velocity to the second micro control unit 133 .

Wherein, the second acceleration may be the acceleration of the target object configured with the navigation module detected by the second inertial measurement unit 134 . The second angular velocity may be the angular velocity of the target object configured with the navigation module detected by the second inertial measurement unit 134 .

In an embodiment, the second acceleration and the second angular velocity can be obtained by detecting the acceleration and angular velocity of the target object configured with the navigation module through the second inertial measurement unit 134 . After obtaining the second acceleration and the second angular velocity, the second acceleration and the second angular velocity may be sent to the second micro-control unit 133 which is communicatively connected with the second inertial measurement unit 134 .

The second micro-control unit 133 is configured to receive the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal, and based on the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal, The signal generates first navigation data.

In one embodiment, the second micro control unit 133 receives the first branch signal sent by the power distributor 112, the navigation signal sent by the second navigation antenna 150, the second acceleration and the second Angular velocity, and the differential signal sent by the first micro control unit 122 . After receiving the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal, the second micro-control unit 133 may base on the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential The signal generates first navigation data.

The "first", "second" and "third" in the first navigation unit 121, the second navigation unit 131 and the third navigation unit 132 in the embodiment of the present application are only used to distinguish different navigation units, not to Qualification of the order or content of the navigation elements. And the "first" and "second" in the first micro-control unit 122 and the second micro-control unit 133 in the embodiment of the present application are only used to distinguish different micro-control units, rather than the sequence or content of the micro-control units limit.

The "first" and "second" in the first inertial measurement unit 123 and the second inertial measurement unit 134 in the embodiment of the present application are only used to distinguish different inertial measurement units, not for the sequence or content of the inertial measurement units limited. And "first" and "second" in the first acceleration and the second acceleration in the embodiment of the present invention are only used to distinguish different accelerations, rather than limiting the sequence or content of the accelerations. And the "first" and "second" in the first angular velocity and the second angular velocity in the embodiment of the present invention are only used to distinguish different angular velocities, but not to limit the order or content of the angular velocities.

In the technical solution of the embodiment of the present application, the first branch signal is received by the second navigation unit, and the first branch signal is sent to the second micro control unit. The navigation signal is received by the third navigation unit and sent to the second micro control unit. The second acceleration and the second angular velocity of the target object are detected by the second inertial measurement unit, and the second acceleration and the second angular velocity are sent to the second micro control unit. Receive the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal through the second micro control unit, and generate the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal based on the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal The first navigation data realizes the generation of the first navigation data by the second navigation host and improves the navigation stability of the navigation module.

Embodiment four

Embodiment 4 of the present application provides a car configured with the navigation module proposed in the foregoing embodiments. In one embodiment, the car includes a driving controller communicatively connected with the navigation module; wherein, the driving controller is configured to receive at least one of the first navigation data and the second navigation data.

In one embodiment, the driving controller can receive the second navigation data sent by the second navigation host 130, or the driving controller can receive the first navigation data sent by the first navigation host 120, or, the driving controller can receive The device can receive the second navigation data sent by the second navigation host 130 and the first navigation data sent by the first navigation host 120.

In order to calculate the first navigation data and the second navigation data more accurately, referring to Fig. 3, the first antenna assembly 110 can be arranged on the roof area of the car near the left rear wheel, and the second navigation antenna 150 can be arranged on The roof area of the car near the right rear wheel.

In order to receive differential signals conveniently, the communication antenna can be arranged in the front area of the roof of the car.

In order to calculate and obtain the first navigation data and the second navigation data more accurately, the first navigation host 120 and the second navigation host 130 can be arranged in the cockpit and on the central axis of the vehicle body.

In one embodiment, when the first antenna assembly 110 can be arranged on the roof area of the car near the left rear wheel, and the second navigation antenna 150 can be arranged on the roof area of the car near the right rear wheel, then it can be based on the first The navigation signal received by the first antenna assembly 110 and the navigation signal received by the second navigation antenna 150 determine the positioning information of the first antenna assembly 110 and the second navigation antenna 150 . Furthermore, the direction in which the first antenna assembly 110 points to the second navigation antenna 150 can be determined based on the positioning information of the first antenna assembly 110 and the second navigation antenna 150 . After the direction is determined, after the direction is rotated by 90°, the heading of the vehicle body can be determined.

According to the technical solution of an embodiment of the present application, by configuring the navigation module in the car, the driving controller of the car receives the second navigation data sent by the second navigation host 130 and the first navigation data sent by the first navigation host 120 . In one embodiment, the configuration of the navigation module in the car can be that the first antenna assembly 110 can be arranged on the roof area of the car near the left rear wheel, and the second navigation antenna 150 can be arranged on the car near the right rear wheel. roof area. The communication antenna can be arranged in the front area of the roof of the motor vehicle. The first navigation host 120 and the second navigation host 130 can be arranged in the cockpit and located on the central axis of the vehicle body. The technical problem of poor navigation stability in the navigation module in the related art is solved, and the navigation stability of the navigation module is improved, thereby achieving the technical effect of improving user experience.

Claims (10)

1. A navigation module, comprising a first antenna assembly, a first navigation host and a second navigation host respectively connected to the first antenna assembly in communication, a communication antenna connected to the first navigation host in communication, and the The second navigation antenna connected to the second navigation host by communication, the first navigation host and the second navigation host are connected by communication; wherein,

   The first antenna assembly is configured to receive a navigation signal, and send a first branch signal of the navigation signal to the second navigation host;

   The second navigation antenna is configured to receive the navigation signal and send the navigation signal to the second navigation host;

   The communication antenna is configured to receive a differential signal and send the differential signal to the first navigation host;

   The first navigation host is configured to receive the differential signal and send the differential signal to the second navigation host;

   The second navigation host is configured to receive the first branch signal, receive the navigation signal and receive the differential signal, and generate a signal based on the first branch signal, the navigation signal and the differential signal First navigation data.
2. The module of claim 1, wherein the first antenna assembly includes a first navigation antenna and a power divider electrically connected to the first navigation antenna; wherein,

   The first navigation antenna is configured to receive the navigation signal and send the navigation signal to the power splitter;

   The power allocator is configured to receive the navigation signal, perform power distribution processing on the navigation signal, and send the first branch signal obtained after the power distribution processing to the second navigation host.
3. The module according to claim 2, wherein the power distributor is further configured to send the second branch signal obtained after power distribution processing to the first navigation host;

   The first navigation host is further configured to receive the second branch signal, and generate second navigation data based on the second branch signal and the differential signal.
4. The module according to claim 3, wherein the first navigation host includes a first navigation unit electrically connected to the power distributor, a first micro-control unit electrically connected to the first navigation unit, and a first micro-control unit electrically connected to the first navigation unit, respectively The first inertial measurement unit and the communication unit electrically connected to the first micro-control unit; wherein,

   The first navigation unit is configured to receive the second branch signal and send the second branch signal to the first micro control unit;

   The first inertial measurement unit is configured to detect a first acceleration and a first angular velocity of a target object configured with the navigation module, and send the first acceleration and the first angular velocity to the first micro-controller unit;

   The communication unit is configured to receive the differential signal and send the differential signal to the first micro control unit;

   The first micro-control unit is configured to receive the second branch signal, the first acceleration, the first angular velocity and the differential signal, based on the second branch signal, the first acceleration , the first angular velocity and the differential signal generate second navigation data, and send the differential signal to the second navigation host.
5. The module according to claim 4, wherein the second navigation host includes a second navigation unit electrically connected to the power splitter, a third navigation unit electrically connected to the second navigation antenna, and a third navigation unit electrically connected to the second navigation antenna, respectively. The second navigation unit, the third navigation unit and the second micro control unit electrically connected to the first micro control unit, and the second inertial measurement unit electrically connected to the second micro control unit, wherein,

   The second navigation unit is configured to receive the first branch signal and send the first branch signal to the second micro control unit;

   The third navigation unit is configured to receive the navigation signal and send the navigation signal to the second micro control unit;

   The second inertial measurement unit is configured to detect a second acceleration and a second angular velocity of the target object, and send the second acceleration and the second angular velocity to the second micro control unit;

   The second micro-control unit is configured to receive the first branch signal, the navigation signal, the second acceleration, the second angular velocity and the differential signal, and based on the first branch signal , the navigation signal, the second acceleration, the second angular velocity and the differential signal to generate the first navigation data.
6. An automobile, comprising the navigation module described in any one of claims 1-5.
7. The vehicle according to claim 6, further comprising a driving controller communicatively connected to the navigation module; wherein the driving controller is configured to receive at least one of the first navigation data and the second navigation data one.
8. The vehicle according to claim 6, wherein said first antenna assembly is disposed on a roof area of said vehicle adjacent to a left rear wheel, and said second navigation antenna is disposed on a roof area of said vehicle adjacent to a right rear wheel the roof area.
9. The automobile according to claim 6, wherein the communication antenna is provided in a front area of a roof of the automobile.
10. The automobile according to claim 6, wherein the first navigation host and the second navigation host are arranged in the cockpit and located on the central axis of the vehicle body.

Images