Zynq-7020-based ultra-tight coupling micro-system and navigation method thereof
A zynq-7020, ultra-tightly coupled technology, applied in the field of integrated navigation, which can solve the problems of the ultra-tight integrated navigation system not working properly, the system volume and power consumption being large, and the information interaction being complex, achieving strong tailorability and low cost. , the effect of high running speed
Active Publication Date: 2019-10-08
NANJING UNIV OF SCI & TECH
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Problems solved by technology
However, most of the existing research adopts the mode of "receiver + MIMU + integrated navigation", and each module is independently processed by different chips, which leads to large system size and power consumption, and complicated information interaction of each module
In addition, in high dynamic, weak signal, signal interference and other working environments, the carrier may face situations such as loss of satellite signal lock, making the ultra-tight integrated navigation system unable to work normally
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[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0021] combine figure 1 , figure 2 , the present invention is based on the ultra-tightly coupled microsystem of Zynq-7020, including GNSS positioning and navigation module, micro-inertial navigation module, combined navigation module with Zynq-7020 as platform, power supply module and host computer communication module, wherein:
[0022] The GNSS positioning and navigation module, with Zynq-7020 as a platform, includes an active antenna, a crystal oscillator, a radio frequency module, a baseband signal digital processing module, and a satellite positioning solution module; wherein the radio frequency module amplifies, converts, filters and simulates satellite signals digital conversion, and finally get the digital intermediate frequency signal; the baseband signal digital processing module performs capture, tracking, bit synchroniza...
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The invention discloses a Zynq-7020-based ultra-tight coupling micro-system and a navigation method thereof. The system comprises a GNSS positioning navigation module, a micro-inertial navigation module, a combined navigation module based on the Zynq-7020 platform, a power module, and a host computer communication module. In addition, the method includes the following steps that: the micro-inertial navigation module provides calculated position and velocity information of a carrier and calculates a pseudorange and a pseudorange rate of the carrier according to ephemeris information of the satellite; the GNSS positioning navigation module directly calculates the pseudorange and the pseudorange rate; difference processing is performed on the calculated pseudorange and pseudorange rate, the difference as measurement information is filtered in a Kalman filter; and then the obtained carrier position, velocity and attitude error information is fed back to the system for correction to obtainfinal navigation information, and real-time navigation information is monitored and displayed by the host computer communication module. The Zynq-7020-based ultra-tight coupling micro-system and the navigation method thereof are suitable for the high dynamic navigation scenarios and have the g anti-interference ability in different environments.
Description
technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a Zynq-7020-based ultra-tight coupling microsystem and method. Background technique [0002] The navigation performance of the GNSS navigation system is severely degraded when the signal is interfered or blocked by urban canyons; the inertial navigation system is limited by its principle, and the navigation error diverges over time. The ultra-tight coupling system of GNSS and SINS can improve the alignment accuracy of the SINS system and reduce the divergence of its navigation results. At the same time, SINS can enhance the ability of GNSS to capture signals and track satellites, improve the dynamic characteristics and anti-interference characteristics of the receiver, thereby improving The precision and reliability of the entire integrated navigation system. [0003] At present, the GNSS / SINS ultra-compact integrated navigation system combines the advantages of sa...
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Login to View More IPC IPC(8): G01S19/37G01S19/49G01S19/31G01S19/29G01S19/27G01S19/25
CPCG01S19/37G01S19/49G01S19/31G01S19/29G01S19/27G01S19/256
Inventor 陈帅谭聚豪王琛温哲君顾得友刘善武张敏姚晓涵李杰
Owner NANJING UNIV OF SCI & TECH