SOC-based single-board multi-antenna attitude determination receiver

Abstract

An SOC (system on chip)-based single-board multi-antenna attitude-determining receiver comprises an attitude-determining antenna array, a radio-frequency module and a processing module.The attitude-determining antenna array is used for obtaining heading angle, pitch angle and roll angle three-axis attitudes in real time.The radio-frequency module comprises radio-frequency chips identical with antennae in the attitude-determining antenna array in number, and the radio-frequency chips receive satellite radio-frequency signals received by the antennae through radio-frequency coaxial cables respectively, output through independent channels and are connected with the processing module.The processing module comprises an FPGA (field programmable gate array) unit and a dual-core ARM (advanced reduced instruction set computer machines) unit, wherein the FPGA unit is used for completing baseband capture, correlation and sampling interval counting, cpu0 in the dual-core ARM unit is used for completing baseband signal tracking, bit synchronization and frame synchronization as well as navigation message extraction, and cpu1 in the dual-core ARM unit is used for completing positioning and attitude-determining calculation.The radio-frequency module and the processing module are positioned on a single PCB (printed circuit board), and the attitude-determining antenna array is connected with a host machine of the receiver through a radio-frequency cable.The SOC-based single-board multi-antenna attitude-determining receiver has the advantages of simple and compact structure, low cost, high integration level, small size, low power consumption and the like.

Description

technical field [0001] The invention mainly relates to the field of satellite carrier phase multi-antenna attitude-fixing receivers, in particular to a SOC-based single-board multi-antenna attitude-fixing receiver. Background technique [0002] The demand for attitude measurement accuracy in the flight control platform is mainly determined by the application. If the attitude data is used for flight control, the accuracy needs to be roughly at the level of 2~3 degrees, because the current working mode of determining the heading is generally used by the magnetic compass, and the magnetic compass The dynamic accuracy is in the 2~3 metric level. At present, the direction calculation inside almost all flight control platforms is based on the measurement information of the magnetic compass, such as multi-rotor drones. However, in the case of complex external magnetic interference (such as near buildings, near utility poles, and near large ferromagnetic materials, etc.), the magne...

AI Technical Summary

Problems solved by technology

This method inevitably brings clock synchronization errors between radio frequency modules. In theory, although the influence of this error on carrier phase measurement can be eliminated through inter-satellite-inter-station double difference and software compensation, the local clocks of different brands of receiver modules Different adjustment strategies, for low-cost receivers, the local clock often accumulates to a large error (millisecond level) before adjustment, which leads to a relatively significant synchronization error between multiple independent receiving modules, which directly affects the The quality of carrier phase double-difference observations, and the success rate and reliability of double-difference ambiguity resolution

Although the clock error calculated by PVT can be partially corrected, the actual effect of engineering application is not ideal

Moreover, the multi-board building method has many separate components, relatively large volume power consumption, and cumbersome interface resource scheduling, which brings a lot of inconvenience to product development and engineering applications.

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