Miniature multi-source navigation module based on hybrid process

Abstract

The present application belongs to the field of navigation and positioning, and particularly relates to a micro multi-source navigation module based on a hybrid process, aiming at solving the problems of difficult reliable positioning, system function division, large volume, high power consumption, strong customization, poor universality, high cost and long production cycle. The present application comprises: a GNSS module for receiving multiple GNSS radio frequency signals and at least completing signal frequency conversion, conversion, calculation and other functions; an interface module for receiving multiple sensor data and sending to a preprocessing module; the preprocessing module for preprocessing multiple sensor data and sending to a multi-source information processing module; the multi-source information processing module for data fusion, completing multi-source fusion calculation and outputting the final positioning result; the multi-source information processing module is also used for data conversion; the GNSS module is first integrated by Fan-out and then integrated on the substrate, and other modules are integrated on the substrate. The present application improves the integration, reduces the volume, and provides long-time, high-precision and high-reliable navigation and positioning services.

Description

Technical Field

[0001] This invention belongs to the field of navigation and positioning, and specifically relates to a miniature multi-source navigation module based on hybrid technology. Background Technology

[0002] As a core component, navigation systems play a crucial role in the proper functioning of space satellites, unmanned vehicles, and robots, ensuring their positioning accuracy and long-term autonomous operation. However, the applicability of a single navigation source is limited; for example, inertial navigation errors accumulate over time; GNSS signals are susceptible to interference and struggle to provide highly reliable, continuous positioning services in environments with obstructions, underwater, urban, or forest conditions. Currently, integrated navigation systems primarily combine IMUs and GNSS; however, relying solely on IMUs for positioning when GNSS is unavailable fails to address long-term reliable positioning issues. Therefore, incorporating more available sensor sources, such as visible light, infrared, barometric pressure, and altitude, to achieve multi-source fusion integrated navigation has become an inevitable trend; this also places higher demands on the overall processing power of navigation systems and the diversity of sensor interfaces. Existing solutions primarily use discrete board-level components, which suffer from drawbacks such as functional separation, large size, high power consumption, high customization requirements, poor versatility, high cost, and long production cycles, making it 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 hybrid technology. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, namely the difficulty in achieving reliable positioning over long periods, and the fact that existing solutions often employ board-level discrete component designs, resulting in discrete system functions, large size, high power consumption, high customization requirements, poor versatility, high cost, and long production cycles, making it difficult to meet the application needs of multiple platforms such as space satellites, unmanned vehicles, and robots, this invention provides a micro multi-source navigation module based on hybrid technology, 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 perform radio frequency signal down-conversion, AD conversion, digital baseband signal processing, acquisition and tracking, observation output and navigation calculation functions;

[0006] The interface module is used to receive data from various external sensors and send it to the preprocessing module.

[0007] The preprocessing module is used to preprocess data from various sensors. The preprocessing methods include at least filtering, noise reduction, feature extraction, and time unification, and the data is then sent to the multi-source information processing module.

[0008] The multi-source information processing module is used to receive data processed by the GNSS module and preprocessed data from multiple sensors, fuse them, complete the multi-source fusion calculation, 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 preprocessing module, as well as external data conversion;

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

[0010] In some preferred embodiments, the substrate is a packaging substrate with a multilayer metal-dielectric heterostructure, and the packaging method adopts a solder ball array packaging and a heat sink for heat dissipation.

[0011] In some preferred embodiments, the GNSS module is integrated via fan-out from a radio frequency-baseband processing SoC die and a configuration storage SPI Flash die.

[0012] The GNSS module has micro-bumps arranged in a predetermined spacing array, and the GNSS module is connected to the substrate via 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 die provides at least three UART interfaces, and a first speed sensor interface is provided through the receiving chip die and the transmitting chip die.

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

[0016] The FPGA bare die also has an embedded IP soft core that provides SPI, IIC and GPIO interfaces for expanding the sensor interface;

[0017] The receiver chip, transmitter chip, and FPGA chip are connected to the substrate using a flip-chip bonding method.

[0018] The interconnection between the receiving chip, the transmitting chip, and the FPGA chip is achieved through wiring on the substrate.

[0019] In some preferred embodiments, the preprocessing module and the interface module share a single FPGA die.

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

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

[0022] The multi-core processor SoC bare die also provides at least two interface expansions for receiving external system commands and status feedback, and converting multi-source positioning results into data protocols and outputting them to the external system;

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

[0024] In some preferred embodiments, the multi-core processor SoC die is connected to the substrate using a flip-chip bonding method.

[0025] In some preferred embodiments, the multi-source information processing module and the preprocessing module are interconnected via PCIE, UART, and GPIO, and the interconnection is achieved on the substrate through wiring.

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

[0027] In some preferred embodiments, the multi-core processor SoC bare die has no less than 4 cores, the processor operating frequency is better than 800MHz, the embedded convolutional network accelerator has no less than 2TOPS, and provides multi-source navigation solution computing power support.

[0028] The beneficial effects of this invention are:

[0029] (1) The micro multi-source navigation module designed in this invention is based on system-level packaging technology of hybrid process, which integrates GNSS, interface, preprocessing, multi-source information processing and other functional modules and multiple bare cores in a single package, which improves the integration degree and greatly reduces the overall volume, weight and subsequent product design and development difficulty.

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

[0031] (3) The miniature multi-source navigation module designed in this invention first forms a GNSS injection molding module using the Fan-out process, and then connects it to a multi-layer high-density packaging substrate using flip-chip bonding. In terms of the overall implementation effect of the miniature multi-source navigation module, while improving the integration, it can significantly reduce the design difficulty of the multi-layer packaging substrate, reduce the number of substrate layers and area, and achieve miniaturization.

[0032] (4) The miniature multi-source navigation module designed in this invention integrates RS422 receiver chip, RS422 transmitter chip and FPGA chip. Combined with the FPGA embedded IP soft core, it can realize a variety of low-speed and high-speed interfaces, meet the parallel input of data from various types of sensors such as IMU, visible light and infrared. Compared with traditional navigation systems, its 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 in this invention can provide functions such as sensor data preprocessing and time unification, which can guarantee the effectiveness and real-time performance of subsequent multi-source combined navigation calculations. At the same time, combined with the configurable characteristics of FPGA, it can be applied to various sensor source combination methods in different application scenarios, and has good versatility and environmental adaptability.

[0034] (6) The interface module and the preprocessing module in the micro multi-source navigation module designed in this invention share a single FPGA bare chip, which can reduce the overall area of ​​the module, improve the functional integration, and provide functional expansion such as control of the working mode of external sensors according to the working scenario and working state of the micro multi-source navigation module.

[0035] (7) The miniature multi-source navigation module designed in this invention integrates a multi-core processor SoC bare chip, possessing high-performance processing, high computing power, and intelligent processing capabilities. Compared with traditional IMU-GNSS integrated navigation systems, the processing capability of the navigation module is significantly improved, supporting parallel input, processing, and fusion calculation of more low-speed and high-speed navigation source data. Therefore, it can meet the requirements of different application scenarios and various navigation and positioning services. Even in scenarios where a certain navigation source fails or is unavailable, the miniature multi-source navigation module can still provide long-term, high-precision, and highly reliable navigation and positioning services.

[0036] (8) The interconnection between the preprocessing module, GNSS module and multi-source information processing module in the micro multi-source navigation module designed in this invention is achieved by wiring on a multi-layer high-density packaging substrate. In particular, it involves high-speed interfaces such as PCIe. Compared with existing single-board or single-machine solutions, the interconnection length is greatly shortened and the signal quality is greatly improved, which is conducive to improving the overall performance of the navigation module. Attached Figure Description

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

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

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

[0040] Figure 3 This is a schematic diagram of the structure of a micro multi-source navigation module based on hybrid technology according to the present invention. Detailed Implementation

[0041] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] like Figures 1-3 As shown, see Figure 1 and Figure 3 The present invention provides a miniature multi-source navigation module based on hybrid technology, including a GNSS module 1, an interface module 2, a preprocessing 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 perform radio frequency signal down-conversion, AD conversion, digital baseband signal processing, acquisition and tracking, observation output and navigation calculation functions;

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

[0046] The preprocessing module 3 is used to preprocess data from various sensors. The preprocessing methods include at least filtering, noise reduction, feature extraction, and time unification, and the data is then sent 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 preprocessed data from multiple sensors, fuse them, complete the multi-source fusion calculation, 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 preprocessing module 3, as well as for external data conversion;

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

[0049] For further explanation of the present invention, see [link to relevant documentation]. Figure 2 The GNSS module 1 is integrated by fan-out of a radio frequency-baseband processing SoC bare die 11 and a configuration storage SPI Flash bare die 12;

[0050] The GNSS module 1 has micro-bumps 13, which are arranged in a predetermined spacing array. The GNSS module 1 is connected to the substrate 5 by flip-chip bonding technology.

[0051] The signal processing operations include at least radio frequency signal down-conversion and sampling, and realize functions such as acquisition and tracking, observation output, message calculation, and GNSS positioning.

[0052] The GNSS module 1 in this invention provides three channels of radio frequency signal input, which can support multiple frequency points and bands such as GPS L1 / L2 / L5 and BDS B1 / B2 / B3, realize multi-mode multi-frequency positioning, and greatly improve the accuracy of GNSS observation and positioning results.

[0053] The radio frequency-baseband processing SoC in this invention integrates a radio frequency processing unit and a digital baseband processor inside the chip. It performs down-conversion and AD conversion on the three input GNSS radio frequency signals into digital intermediate frequency signals. Subsequently, the digital baseband processor inside the radio frequency-baseband processing SoC completes the acquisition and tracking, and outputs the observation or GNSS positioning results according to the working mode requirements.

[0054] GNSS Module 1 uses a 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, GNSS module 1 employs a 13-micro-bump array with a micro-bump spacing better than the set spacing of 200µm and a sphere diameter greater than 0.1mm. Furthermore, GNSS module 1 is interconnected with multi-source information processing module 4 via UART and GPIO interfaces. Multi-source information processing module 4 uses these interfaces to control the operating mode, monitor the status, and receive data from GNSS module 1.

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

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

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

[0058] The FPGA bare die 23 also has an embedded IP soft core that provides SPI, IIC and GPIO interfaces for expanding 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 between the receiving chip 21, the transmitting chip 22, and the FPGA 23 is achieved through wiring on the substrate 5.

[0061] The first speed is low speed, and the second speed is high speed.

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

[0063] Specifically, the interface module 2 in this invention provides external low-speed and high-speed sensor interfaces and supports interface expansion. Interface module 2 includes three bare chips: an RS422 receiver chip, an RS422 transmitter chip, and an FPGA chip 23. The FPGA chip 23 provides at least three UART interfaces. Through the RS422 receiver and transmitter chips, it provides multiple low-speed sensor interfaces, which can be used for data input from sensors such as IMUs, barometers, altimeters, and angle encoders. The FPGA chip 23 uses embedded IP soft cores to provide Ethernet and MIPI high-speed sensor interfaces, supporting input from visible light cameras, infrared cameras, etc. Simultaneously, the FPGA chip also uses embedded IP soft cores to provide CAN, SPI, IIC, and GPIO sensor interfaces, possessing flexible and expandable characteristics, and enabling communication with external interface transceiver chips.

[0064] As a further explanation of the present invention, the preprocessing module 3 and the interface module 2 share a single FPGA bare chip 23.

[0065] The preprocessing module 3 is responsible for filtering, noise reduction, feature extraction, and time synchronization of the received data from various sensors, and then sends the processed data to the multi-source information processing module 4. Because the raw sensor data contains errors, high noise, and inconsistencies in data frame rates and timestamps between different sensor sources, the preprocessing module 3 needs to perform corresponding preprocessing functions on the raw data from different sensors. The preprocessing module 3 is primarily implemented using an FPGA and shares the same FPGA chip as the interface module. This reduces the overall area of ​​the miniature multi-source navigation module, improves functional integration, and allows for functional expansion, such as controlling the operating modes of external sensors, based on the working scenario and status of the miniature multi-source navigation module.

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

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

[0068] The multi-core processor SoC bare die 41 also provides at least two interface expansions for receiving external system commands and status feedback, and converting multi-source positioning results into data protocols and outputting them to the external system;

[0069] The multi-core processor SoC bare die 41 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. The multi-core processor SoC bare die 41 is connected to the substrate 5 by flip-chip bonding.

[0070] The interface is expanded through UART, 1 CAN, 1 SPI, and 1 IIC interface.

[0071] The multi-source information processing module 4 and the preprocessing module 3 are interconnected via PCIE, UART, and GPIO, and the interconnection is achieved on the substrate 5 through wiring.

[0072] In this invention, the multi-source information processing module 4 completes multi-source navigation fusion calculation based on preprocessed sensor data and outputs the final positioning result. The multi-source information processing module uses a single multi-core processor SoC die 41 with at least four cores and a processor operating frequency better than 800MHz. Simultaneously, it embeds a convolutional network accelerator of at least 2 TOPS, providing effective computing power support for the deployment of complex multi-source combined navigation algorithms. The multi-core processor SoC die 41 adopts a SPARC V8 or ARM Cortex A-series architecture to meet the needs of different application scenarios, such as high-reliability applications. The multi-source information processing module 4 provides at least two UART, one CAN, one SPI, and one IIC interfaces for receiving external system commands and providing status feedback, and converting the multi-source positioning results according to data protocols before outputting them to the external system. Since the micro multi-source navigation module needs to receive data from various sensors, and the amount of visible light and infrared sensor data is large, the multi-source information processing module 4 and the preprocessing module 3 use PCIE, UART, and GPIO as data and control interfaces.

[0073] In addition, the multi-core processor SoC bare die 41 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.

[0074] The final integrated miniature multi-source navigation module utilizes a multi-layer high-density packaging substrate. The integrated GNSS injection-molded module, RS422 receiver chip, RS422 transmitter chip, FPGA chip, and multi-core processor SoC are all connected to the multi-layer high-density packaging substrate using flip-chip bonding. The interconnections between the RS422 receiver chip, RS422 transmitter chip, and FPGA chip are achieved through wiring on the multi-layer high-density packaging substrate. Similarly, the interconnections between the multi-core processor SoC and the GNSS injection-molded module and FPGA chip are also achieved through wiring on the multi-layer high-density packaging substrate. The final package of the miniature multi-source navigation module is a rectangular 6-ball array package. Due to the integration of multiple high-performance processing chips within the miniature multi-source navigation module, a heat sink (7) is added to provide excellent heat dissipation.

[0075] In the description of this invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0076] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

[0078] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

Claims

1. A hybrid process based micro multi-source navigation module characterized in that, It comprises a GNSS module (1), an interface module (2), a preprocessing module (3) and a multi-source information processing module (4); The GNSS module (1) is used for receiving multiple GNSS radio frequency signals and at least completing the functions of radio frequency signal down conversion, AD conversion, digital baseband signal processing, capture tracking, observation output and navigation solution; The interface module (2) is used for receiving external multiple sensor data and sending to the preprocessing module (3); The interface module (2) comprises a receiving chip die (21), a sending chip die (22) and an FPGA die (23); The FPGA die (23) provides at least 3 UART interfaces, and the first speed sensor interface is provided through the receiving chip die (21) and the sending chip die (22); The FPGA die (23) inlaid IP soft core provides Ethernet and MIPI interfaces for realizing the input of the second speed sensor; wherein the second speed is greater than the first speed; The FPGA die (23) further inlaid IP soft core provides SPI, IIC and GPIO interfaces for realizing the expansion of the sensor interface; The receiving chip die (21), the sending chip die (22) and the FPGA die (23) are connected with the substrate (5) in flip-chip manner; The interconnection relationship between the receiving chip die (21), the sending chip die (22) and the FPGA die (23) is realized through the wiring on the substrate (5); The preprocessing module (3) is used for preprocessing multiple sensor data, and the preprocessing mode at least comprises filtering, noise reduction, feature extraction and time unification, and sends to the multi-source information processing module (4); the preprocessing module (3) and the interface module (2) share one FPGA die (23); The multi-source information processing module (4) is used for receiving the data processed by the GNSS module (1) and the multiple sensor data preprocessed for fusion, completing multi-source fusion solution and outputting 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 preprocessing module (3), and external data conversion; The multi-source information processing module (4) comprises one multi-core processor SoC die (41); The multi-core processor SoC die (41) completes high-precision integrated navigation positioning based on the preprocessed sensor data; The multi-core processor SoC die (41) further provides expansion of at least 2 interfaces for external system instruction receiving and state feedback, and converts the multi-source positioning result into data protocol and outputs to the external system; The multi-core processor SoC die (41) further has an ADC module, which supports collecting the internal and external core working voltage and current of the navigation module to realize state monitoring; 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).

2. A hybrid process based micro multi-source navigation module as claimed in claim 1, wherein, The substrate (5) is a package substrate with a multi-layer metal-dielectric heterostructure, and the package form adopts a ball grid array (6) package and a cover heat sink (7) heat dissipation.

3. A hybrid process based micro multi-source navigation module as claimed in claim 1, wherein, The GNSS module (1) is integrated by a radio frequency-baseband processing SoC die (11) and a configuration storage SPI Flash die (12) through a Fan-out process. The GNSS module (1) has micro bumps (13) arranged in an array with a set spacing, and the GNSS module (1) is connected to the substrate (5) through a flip-chip bonding technology.

4. The hybrid process based micro multi-source navigation module according to claim 1, wherein, The multi-core processor SoC die (41) is connected to the substrate (5) through a flip-chip bonding process.

5. The hybrid process based micro multi-source navigation module according to claim 1, wherein, The multi-source information processing module (4) and the preprocessing module (3) are interconnected through PCIE, UART and GPIO, and the interconnection relationship is realized through wiring on the substrate (5).

6. A hybrid process based micro multi-source navigation module as claimed in claim 1, wherein, The multi-source information processing module (4) and the GNSS module (1) are interconnected through UART and GPIO, and the interconnection relationship is realized through wiring on the substrate (5).

7. The hybrid process based micro multi-source navigation module according to claim 1, wherein, The number of cores of the multi-core processor SoC die (41) is not less than 4 cores, the processor operating frequency is better than 800MHz, the embedded convolution network accelerator is not less than 2TOPS, and multi-source navigation calculation power support is provided.

Images