Miniature multi-source navigation module based on mixing technology

Abstract

The invention belongs to the field of navigation and positioning, particularly relates to a miniature multi-source navigation module based on a mixed process, and aims to solve the problems that reliable positioning is difficult to realize, the system function is discrete, the size is large, the power consumption is high, the customization is strong, the universality is poor, the cost is high and the production period is long. The GNSS module is used for receiving multiple paths of GNSS radio frequency signals and at least completing the functions of signal frequency conversion, conversion, resolving and the like; the interface module is used for receiving various sensor data and sending the sensor data to the preprocessing module; the preprocessing module is used for preprocessing various sensor data and sending the data to the multi-source information processing module; the multi-source information processing module is used for performing data fusion, completing multi-source fusion calculation and outputting a final positioning result; the multi-source information processing module is also used for data conversion; the GNSS module is firstly integrated through Fan-out and then integrated on the substrate, and other modules are integrated on the substrate. According to the invention, the integration level is improved, the size is reduced, and long-time, high-precision and high-reliability navigation positioning service is provided.

Description

Technical Field

[0001] The invention belongs to the field of navigation and positioning, and in particular relates to a micro multi-source navigation module based on a hybrid process. Background Art

[0002] As a core component, the positioning accuracy and long-term autonomous operation of the navigation system play a vital role in whether space satellites, unmanned vehicles, robots, etc. can work normally. However, the application scope of a single navigation source is limited; for example, inertial navigation errors accumulate over time; GNSS signals are susceptible to interference and it is difficult to provide highly reliable and continuous positioning services in scenes such as environmental occlusion, underwater, cities, and forests. At present, the combined navigation system is still mainly based on the combination of IMU and GNSS; there are problems such as long-term reliable positioning when only relying on IMU for positioning when GNSS is unavailable. Therefore, it has become an inevitable trend to add more available sensor sources, such as visible light, infrared, air pressure, altitude, etc., to achieve multi-source fusion combined navigation; this also puts higher requirements on the overall processing capability of the navigation system and the diversity of sensor interfaces. The existing solutions mainly use board-level discrete devices, which have the disadvantages of discrete functions, large size, high power consumption, strong customization, poor versatility, high cost, and long production cycle, which are difficult to meet the needs of various application platforms such as space satellites, unmanned vehicles, and robots.

[0003] Based on this, the present invention proposes a micro multi-source navigation module based on a hybrid process. Summary of the invention

[0004] In order to solve the above-mentioned problems in the prior art, that is, it is difficult to achieve long-term reliable positioning, and the existing solutions mostly adopt board-level discrete device design, resulting in discrete system functions, large size, high power consumption, strong customization, poor versatility, high cost and long production cycle, and it is difficult to adapt to the application requirements of multiple platforms such as space satellites, unmanned vehicles, robots, etc., the present invention provides a micro multi-source navigation module based on a hybrid process, including a GNSS module, an interface module, a preprocessing module and a multi-source information processing module;

[0005] The GNSS module is used to receive multiple GNSS radio frequency signals and at least complete radio frequency signal down-conversion, AD conversion, digital baseband signal processing, acquisition and tracking, observation output and navigation solution functions;

[0006] The interface module is used to receive various external sensor data and send them to the preprocessing module;

[0007] The preprocessing module is used to preprocess the various sensor data, wherein the preprocessing method includes at least filtering, noise reduction, feature extraction and time unification, and send the preprocessing data to the multi-source information processing module;

[0008] The multi-source information processing module is used to receive the data processed by the GNSS module and the pre-processed data of various sensors for fusion, complete the multi-source fusion solution and output the final positioning result; the multi-source information processing module is also used for data conversion between the GNSS module, the interface module and the pre-processing module, as well as external data conversion;

[0009] The GNSS module is first integrated through Fan-out and then integrated on the substrate, and the interface module, the pre-processing module and the multi-source information processing module are integrated on the substrate.

[0010] In some preferred embodiments, the substrate is a packaging substrate having a multi-layer metal-dielectric heterostructure, and the packaging is in the form of solder ball array packaging and covered with a heat sink for heat dissipation.

[0011] In some preferred embodiments, the GNSS module is integrated by a RF-baseband processing SoC bare core and a configuration storage SPI Flash bare core through Fan-out;

[0012] The GNSS module has micro-bumps, and the micro-bumps are arranged in an array with a set pitch. The GNSS module is connected to the substrate through a flip-chip bonding technology.

[0013] In some preferred embodiments, the interface module includes a receiving chip die, a transmitting chip die, and an FPGA die;

[0014] The FPGA bare core provides at least three UART interfaces, and provides a first speed sensor interface through the receiving chip bare core and the sending chip bare core;

[0015] The FPGA bare core embedded IP soft core provides Ethernet and MIPI interfaces for implementing the input of a second speed sensor; wherein the second speed is greater than the first speed;

[0016] The FPGA bare core also embeds an IP soft core to provide SPI, IIC and GPIO interfaces for implementing the expansion of the sensor interface;

[0017] The receiving chip bare core, the transmitting chip bare core and the FPGA bare core are connected to the substrate by flip-chip bonding;

[0018] The interconnection relationship between the receiving chip bare core, the transmitting chip bare core and the FPGA bare core is realized through wiring on the substrate.

[0019] In some preferred implementations, the preprocessing module and the interface module share one FPGA bare core.

[0020] In some preferred embodiments, the multi-source information processing module includes a multi-core processor SoC bare core;

[0021] The multi-core processor SoC bare core completes high-precision integrated navigation and positioning based on the pre-processed sensor data;

[0022] The multi-core processor SoC bare core also provides at least 2-way interface expansion for receiving instructions and status feedback from external subsystems, and converting multi-source positioning results into data protocols and outputting them to external subsystems;

[0023] The multi-core processor SoC bare core also has an ADC module, which supports the acquisition of the internal and external core operating voltage and current of the navigation module to realize status monitoring.

[0024] In some preferred embodiments, the multi-core processor SoC bare core is connected to the substrate by flip-chip bonding.

[0025] In some preferred implementations, the multi-source information processing module and the pre-processing module are interconnected by PCIE, UART, and GPIO, and the interconnection is realized by wiring on the substrate.

[0026] In some preferred implementations, the multi-source information processing module and the GNSS module are interconnected using UART and GPIO, and the interconnection is achieved on the substrate through wiring.

[0027] In some preferred embodiments, the core number of the multi-core processor SoC bare core is not less than 4 cores, the processor operating frequency is better than 800MHz, the embedded convolutional network accelerator is not less than 2TOPS, and multi-source navigation solution computing power support is provided.

[0028] Beneficial effects of the present invention:

[0029] (1) The micro multi-source navigation module designed by the present invention is based on the system-level packaging technology of the hybrid process, which integrates the functional modules such as GNSS, interface, pre-processing, multi-source information processing and multiple bare cores in a single package, thereby improving the integration level and greatly reducing the overall volume, weight and difficulty of subsequent product design and development;

[0030] (2) The micro multi-source navigation module designed by the present invention uses a GNSS radio frequency-baseband processing SoC bare core and a configuration storage SPI Flash bare core. Compared with the traditional solution of using a discrete solution of a radio frequency chip, a baseband chip, and a FLASH chip, it further realizes functional integration; at the same time, it reduces the difficulty of fan-out integrated design, which is conducive to improving the processing yield rate;

[0031] (3) The micro multi-source navigation module designed by the present invention adopts the Fan-out process to first form the GNSS injection molding module, and then adopts the flip-chip bonding method to connect with the multi-layer high-density packaging substrate; for the overall implementation effect of the micro multi-source navigation module, while improving the integration, it can greatly reduce the difficulty of multi-layer packaging substrate design, reduce the number of substrate layers and area, and achieve miniaturization;

[0032] (4) The micro multi-source navigation module designed by the present invention integrates an RS422 receiving chip bare core, an RS422 transmitting chip bare core and an FPGA bare core, and can realize a variety of low-speed interfaces and high-speed interfaces in combination with the FPGA embedded IP soft core, meeting the parallel input of data from multiple types of sensors such as IMU, visible light, infrared, etc. Compared with the traditional navigation system, the flexibility and versatility are greatly improved, simplifying product development and application scenario adaptation;

[0033] (5) The preprocessing module in the micro multi-source navigation module designed by the present invention can provide functions such as sensor data preprocessing and time unification, which guarantees the effectiveness and real-time performance of the subsequent multi-source combined navigation solution; at the same time, combined with the configurable characteristics of FPGA, it can be applied to a variety of sensor source combinations in different application scenarios, and has good versatility and environmental adaptability;

[0034] (6) The interface module and the pre-processing module in the micro multi-source navigation module designed by the present invention share one FPGA bare core, which can not only reduce the overall area of ​​the module and improve the functional integration, but also provide functional expansion such as control of the working mode of the external sensor according to the working scene and working state of the micro multi-source navigation module;

[0035] (7) The micro multi-source navigation module designed by the present invention integrates a multi-core processor SoC bare core, which has high-performance processing, high computing power, and intelligent processing capabilities. Compared with the traditional IMU-GNSS combined navigation system, the processing capacity of the navigation module is greatly improved, and it can support more low-speed and high-speed navigation source data parallel input, processing and fusion solution. Therefore, it can meet different application scenarios and various navigation and positioning service requirements. Even if there is a scenario where a navigation source fails or is unavailable, the micro multi-source navigation module can still provide long-term, high-precision, and high-reliability navigation and positioning services;

[0036] (8) The interface interconnection relationships among the pre-processing module, GNSS module and multi-source information processing module in the micro multi-source navigation module designed by the present invention are all realized by wiring on a multi-layer high-density packaging substrate, especially involving high-speed interfaces such as PCIe. Compared with the existing single-board or single-machine solutions, the length of the interconnection line is greatly shortened and the signal quality is greatly improved, which is beneficial to improving the overall performance of the navigation module. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 It is a basic principle block diagram of a micro multi-source navigation module based on a hybrid process of the present invention;

[0039] Figure 2 It is a structural schematic diagram of a GNSS injection molding module of a micro multi-source navigation module based on a hybrid process of the present invention;

[0040] Figure 3 It is a structural schematic diagram of a micro multi-source navigation module based on a hybrid process of the present invention. DETAILED DESCRIPTION

[0041] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] like Figure 1-Figure 3 As shown, see Figure 1 and Figure 3 , the present invention provides a micro multi-source navigation module based on a hybrid process, comprising a GNSS module 1, an interface module 2, a pre-processing module 3 and a multi-source information processing module 4;

[0044] The GNSS module 1 is used to receive multiple GNSS radio frequency signals and at least complete radio frequency signal down-conversion, AD conversion, digital baseband signal processing, acquisition and tracking, observation output and navigation solution functions;

[0045] The interface module 2 is used to receive various external sensor data and send them to the preprocessing module 3;

[0046] The preprocessing module 3 is used to preprocess the data of various sensors, wherein the preprocessing method includes at least filtering, noise reduction, feature extraction and time unification, and send the preprocessing data to the multi-source information processing module 4;

[0047] The multi-source information processing module 4 is used to receive the data processed by the GNSS module 1 and the pre-processed data of various sensors for fusion, complete the multi-source fusion solution and output the final positioning result; the multi-source information processing module 4 is also used for data conversion between the GNSS module 1, the interface module 2 and the pre-processing module 3, as well as external data conversion;

[0048] The GNSS module 1 is first integrated through Fan-out and then integrated on the substrate 5. The interface module 2, the preprocessing module 3 and the multi-source information processing module 4 are integrated on the substrate 5. The substrate 5 is a packaging substrate with a multi-layer metal-dielectric heterostructure. The packaging form adopts solder ball 6 array packaging and is covered with a heat sink 7 for heat dissipation.

[0049] For further explanation of the present invention, see Figure 2 , the GNSS module 1 is integrated by a RF-baseband processing SoC bare core 11 and a configuration storage SPI Flash bare core 12 through Fan-out;

[0050] The GNSS module 1 has micro bumps 13, and the micro bumps 13 are arranged in an array with a set pitch. The GNSS module 1 is connected to the substrate 5 by a flip-chip bonding technology.

[0051] The signal processing operation at least includes RF signal down-conversion, sampling and other processing, and realizes functions such as capture tracking, observation output, telegram solution, and GNSS positioning.

[0052] The GNSS module 1 in the present invention provides 3-channel RF signal input, which can support multiple frequency points and frequency bands such as GPS L1 / L2 / L5, BDS B1 / B2 / B3, etc., to achieve multi-mode and multi-frequency positioning, greatly improving the accuracy of GNSS observation and positioning results.

[0053] The RF-baseband processing SoC bare core 11 in the present invention integrates a RF processing unit and a digital baseband processor, which down-converts the input three-way GNSS RF signals and converts them into digital intermediate frequency signals after AD conversion; then the digital baseband processor inside the RF-baseband processing SoC bare core 11 completes the capture and tracking, and outputs the observation value or GNSS positioning result according to the working mode requirements.

[0054] GNSS module 1 uses the Fan-out process to integrate two bare cores into a single injection molded module. The specific structure of GNSS module 1 is as follows: Figure 2As shown. The GNSS module 1 uses a micro-bump 13 array, the micro-bump spacing is better than the set spacing of 200um, and the ball diameter is greater than 0.1mm. In addition, the GNSS module 1 and the multi-source information processing module 4 are interconnected through the UART and GPIO interfaces, and the multi-source information processing module 4 realizes the working mode control, status monitoring, data reception, etc. of the GNSS module 1 through the above interfaces.

[0055] For further explanation of the present invention, see Figure 3 , the interface module 2 includes a receiving chip bare core 21, a sending chip bare core 22 and an FPGA bare core 23;

[0056] The FPGA bare core 23 provides at least 3 UART interfaces, and provides a first speed sensor interface through the receiving chip bare core 21 and the sending chip bare core 22;

[0057] The FPGA bare core 23 has an embedded IP soft core that provides Ethernet and MIPI interfaces for implementing the input of a second speed sensor; wherein the second speed is greater than the first speed;

[0058] The FPGA bare core 23 also has an embedded IP soft core to provide SPI, IIC and GPIO interfaces for implementing the expansion of the sensor interface;

[0059] The receiving chip bare core 21, the transmitting chip bare core 22 and the FPGA bare core 23 are all connected to the substrate 5 by flip-chip bonding;

[0060] The interconnection relationship between the receiving chip bare core 21 , the transmitting chip bare core 22 and the FPGA bare core 23 is realized through wiring on the substrate 5 .

[0061] Among them, the first speed is a low speed, and the second speed is a high speed.

[0062] Among them, the sending chip bare core 22 and the FPGA bare core 23 are RS422 sending chip bare core and RS422FPGA bare core respectively.

[0063] Specifically. The interface module 2 in the present invention provides external low-speed and high-speed sensor interfaces and supports interface expansion. Among them, the interface module 2 includes three bare cores, namely, an RS422 receiving chip bare core, an RS422 sending chip bare core, and an FPGA bare core 23. The FPGA bare core 23 provides at least 3 UART interfaces, and provides multiple low-speed sensor interfaces through the RS422 receiving chip bare core and the RS422 sending chip bare core, which can be used for sensor data input such as IMU, barometer, altimeter, and angle encoder. The FPGA bare core 23 is embedded with an IP soft core to provide Ethernet and MIPI high-speed sensor interfaces, which can support inputs such as visible light cameras and infrared cameras; at the same time, the FPGA bare core is embedded with an IP soft core to provide CAN, SPI, IIC, GPIO and other sensor interfaces, which have flexible and scalable characteristics, and communicate with the module's external interface transceiver chip and the like.

[0064] As a further explanation of the present invention, the pre-processing module 3 and the interface module 2 share one FPGA bare core 23 .

[0065] The preprocessing module 3 is responsible for filtering, noise reduction, feature extraction, time unification and other functions of the received multiple sensor data, and sends the processed data to the multi-source information processing module 4. Since the original sensor data has errors, large noise, and different sensor sources have inconsistent data frame rates and timestamps, the preprocessing module 3 is required to complete the corresponding preprocessing functions for the original data of different sensors. The preprocessing module 3 is mainly implemented based on FPGA and shares the same FPGA bare core with the interface module. It can not only reduce the overall area of ​​the micro multi-source navigation module and improve the functional integration, but also provide functional extensions such as external sensor working mode control according to the working scene and working status of the micro multi-source navigation module.

[0066] For further explanation of the present invention, see Figure 3 , the multi-source information processing module 4 includes a multi-core processor SoC bare core 41;

[0067] The multi-core processor SoC bare core 41 completes high-precision integrated navigation and positioning based on the pre-processed sensor data;

[0068] The multi-core processor SoC bare core 41 also provides at least 2-way interface expansion for receiving instructions and status feedback from external subsystems, and converting multi-source positioning results into data protocols and outputting them to external subsystems;

[0069] The multi-core processor SoC bare core 41 also has an ADC module, which supports the acquisition of the core operating voltage and current inside and outside the navigation module to achieve status monitoring. The multi-core processor SoC bare core 41 is connected to the substrate 5 by flip-chip bonding.

[0070] Among them, interface expansion is achieved through UART, 1 CAN, 1 SPI, and 1 IIC interface.

[0071] The multi-source information processing module 4 and the pre-processing module 3 are interconnected by PCIE, UART, and GPIO, and the interconnection relationship is realized on the substrate 5 by wiring.

[0072] In the present invention, the multi-source information processing module 4 completes the multi-source navigation fusion solution based on the pre-processed sensor data and outputs the final positioning result. The multi-source information processing module uses a multi-core processor SoC bare core 41, the number of cores is not less than 4 cores, and the processor operating frequency is better than 800MHz; at the same time, the embedded convolution network accelerator is not less than 2TOPS, which can provide effective computing power support for the deployment of complex multi-source combined navigation algorithms. The multi-core processor SoC bare core 41 adopts SPARC V8 or ARMCortex A series architecture to meet the needs of different application scenarios, such as high-reliability applications. At the same time, the multi-source information processing module 4 provides no less than 2 UARTs, 1 CAN, 1 SPI, and 1 IIC interfaces for external subsystem instruction reception and status feedback, and converts the multi-source positioning results into data protocols and outputs them to the external subsystem. Since the micro multi-source navigation module needs to receive multiple sensor data and the amount of visible light, infrared and other sensor data is large; therefore, PCIE, UART, and GPIO are used as data and control interfaces between the multi-source information processing module 4 and the preprocessing module 3.

[0073] In addition, the multi-core processor SoC bare core 41 is equipped with an ADC module, which supports the collection of the internal and external core operating voltage and current of the navigation module to achieve status monitoring.

[0074] The final integration of the micro multi-source navigation module adopts a packaging substrate and is a multi-layer high-density substrate. The final integrated GNSS injection molding module, RS422 receiving chip bare core, RS422 transmitting chip bare core, FPGA bare core, and multi-core processor SoC are all connected to the multi-layer high-density packaging substrate by flip-chip bonding. The interconnection relationship between the RS422 receiving chip bare core, RS422 transmitting chip bare core and FPGA bare core is realized by wiring on the multi-layer high-density packaging substrate. The interconnection relationship between the multi-core processor SoC and the GNSS injection molding module and the FPGA bare core is realized by wiring on the multi-layer high-density packaging substrate. The final packaging form of the micro multi-source navigation module adopts a solder ball 6 array package and is rectangular. Since the micro multi-source navigation module integrates multiple high-performance processing bare cores, a heat sink 7 is added to provide good heat dissipation.

[0075] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0076] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0078] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A micro multi-source navigation module based on hybrid technology, characterized in that: It comprises a GNSS module (1), an interface module (2), a pre-processing module (3) and a multi-source information processing module (4); The GNSS module (1) is used to receive multiple GNSS radio frequency signals and at least complete radio frequency signal down-conversion, AD conversion, digital baseband signal processing, capture and tracking, observation output and navigation solution functions; The interface module (2) is used to receive various external sensor data and send them to the preprocessing module (3); The preprocessing module (3) is used to preprocess the data of various sensors, wherein the preprocessing method at least includes filtering, noise reduction, feature extraction and time unification, and sends the preprocessed data to the multi-source information processing module (4); The multi-source information processing module (4) is used to receive the data processed by the GNSS module (1) and the pre-processed data of various sensors, perform fusion, complete the multi-source fusion solution and output the final positioning result; the multi-source information processing module (4) is also used for data conversion between the GNSS module (1), the interface module (2) and the pre-processing module (3), as well as external data conversion; The GNSS module (1) is first integrated through Fan-out and then integrated on a substrate (5); the interface module (2), the preprocessing module (3) and the multi-source information processing module (4) are integrated on the substrate (5).

2. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The substrate (5) is a packaging substrate having a multi-layer metal-medium heterostructure, and the packaging form adopts solder ball (6) array packaging and is covered with a heat sink (7) for heat dissipation.

3. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The GNSS module (1) is integrated by a radio frequency-baseband processing SoC bare core (11) and a configuration storage SPIFlash bare core (12) through fan-out; The GNSS module (1) has micro-bumps (13), and the micro-bumps (13) are arranged in an array with a set pitch. The GNSS module (1) is connected to the substrate (5) by means of a flip-chip bonding technology.

4. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The interface module (2) comprises a receiving chip bare core (21), a transmitting chip bare core (22) and an FPGA bare core (23); The FPGA bare core (23) provides at least three UART interfaces, and provides a first speed sensor interface through the receiving chip bare core (21) and the sending chip bare core (22); The FPGA bare core (23) has an embedded IP soft core that provides Ethernet and MIPI interfaces, and is used to implement input of a second speed sensor; wherein the second speed is greater than the first speed; The FPGA bare core (23) is also embedded with an IP soft core to provide SPI, IIC and GPIO interfaces for implementing the expansion of the sensor interface; The receiving chip bare core (21), the transmitting chip bare core (22) and the FPGA bare core (23) are all connected to the substrate (5) by flip-chip bonding; The interconnection relationship between the receiving chip bare core (21), the transmitting chip bare core (22) and the FPGA bare core (23) is achieved through wiring on the substrate (5).

5. The micro multi-source navigation module based on hybrid technology according to claim 4, characterized in that: The preprocessing module (3) and the interface module (2) share one FPGA bare core (23).

6. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The multi-source information processing module (4) comprises a multi-core processor SoC bare core (41); The multi-core processor SoC bare core (41) completes high-precision integrated navigation positioning based on the pre-processed sensor data; The multi-core processor SoC bare core (41) also provides at least two-way interface expansion for receiving external subsystem instructions and status feedback, and converting multi-source positioning results into data protocols and outputting them to the external subsystem; The multi-core processor SoC bare core (41) is also provided with an ADC module, which supports the acquisition of the core operating voltage and current inside and outside the navigation module, thereby realizing status monitoring.

7. The micro multi-source navigation module based on hybrid technology according to claim 6, characterized in that: The multi-core processor SoC bare core (41) is connected to the substrate (5) by flip-chip bonding.

8. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The multi-source information processing module (4) and the pre-processing module (3) are interconnected by using PCIE, UART, and GPIO, and the interconnection relationship is realized on the substrate (5) by wiring.

9. The micro multi-source navigation module based on hybrid technology according to claim 1, characterized in that: The multi-source information processing module (4) and the GNSS module (1) are interconnected by UART and GPIO, and the interconnection relationship is realized by wiring on the substrate (5).

10. The hybrid process-based micro multi-source navigation module according to claim 6, characterized in that: The core number of the multi-core processor SoC bare core (41) is not less than 4 cores, the processor operating frequency is better than 800MHz, and the embedded convolutional network accelerator is not less than 2TOPS, providing multi-source navigation solution computing power support.

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