Beidou No.3 satellite navigation device and implementation method

Abstract

The invention provides a Beidou No.3 satellite navigation device and an implementation method. The device comprises a power management unit, a frequency conversion sampling unit, a special baseband chip, a system management unit, a clock unit and an interface unit, wherein the power management unit is used for configuring and managing a power-on time sequence; the frequency conversion sampling unit is used for signal filtering, amplification, down-conversion and intermediate frequency signal output; the special baseband chip is used for capturing and tracking a Beidou No.3 signal and providing an original observation value and a state quantity; the system management unit is used for realizing positioning calculation, baseband chip control, working state monitoring, resetting and interface protocol realization; the clock unit is used for providing a working clock for the baseband chip and the system management unit; the interface unit is used for realizing interface signal conversion, and a user terminal solution is provided for a user who does not master a universal baseband chip through the device.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a BeiDou-3 satellite navigation device and an implementation method thereof. Background Art

[0002] The BeiDou Navigation Satellite System is a global satellite navigation system independently built and operated by my country with a view to national security and economic and social development needs. It is an important national space-time infrastructure that provides all-weather, all-day, high-precision positioning, navigation and timing services to global users. On July 31, 2020, the BeiDou-3 global satellite navigation system was officially launched, marking the successful completion of BeiDou's "three-step" development strategy, BeiDou's entry into a new era of global services, and my country becoming the third country in the world to independently own a global satellite navigation system. The application and promotion of BeiDou is about to open a new model.

[0003] During the application stage of the BeiDou-2 navigation system, the implementation solutions for the baseband part of the BeiDou user terminal are mainly divided into two categories. The first category mainly uses dedicated chips to implement baseband design, and the second category adopts a processor + FPGA architecture. The FPGA implements the satellite signal receiving channel and signal capture and tracking algorithm, and the processor is used to control the FPGA satellite receiving channel, extract observation quantities, parse telegrams, perform positioning calculations, and output protocols.

[0004] During the application phase of the BeiDou-3 navigation system, with the promotion and application of BeiDou-3 dedicated chips, the baseband part of the BeiDou-3 user terminal must be designed based on the baseband chip, so it is necessary to explore new hardware architecture and software processing methods. Summary of the invention

[0005] The present invention provides a BeiDou-3 satellite navigation device and an implementation method, which are used to provide a user terminal solution for users who do not master universal baseband chips.

[0006] In the first aspect, a BeiDou-3 satellite navigation device and an implementation device are provided, including: a power management unit, a frequency conversion sampling unit, a dedicated baseband chip, a system management unit, a clock unit, and an interface unit; wherein,

[0007] The power management unit is used to configure and manage the power-on timing; the frequency sampling unit is used for signal filtering, amplification, down-conversion and intermediate frequency signal output; the dedicated baseband chip is used to capture and track Beidou-3 signals, and provide original observation values ​​and state quantities; the system management unit is used to realize positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol implementation; the clock unit is used to provide the working clock for the baseband chip and the system management unit; and the interface unit is used to realize interface signal conversion.

[0008] In one embodiment, after the dedicated baseband chip is powered on, it outputs ephemeris, ionospheric parameters, Beidou time and UTC time synchronization parameters and original observation information by default. The data update rate of the original observation information is designed to be consistent with the positioning calculation cycle. The typical original observation information update cycle is 10Hz, which can be increased to 100Hz at most.

[0009] In one implementation, the ephemeris, ionospheric parameters, Beidou time and UTC time synchronization parameter information are output after each analysis based on the original message parsing results.

[0010] In one embodiment, the system management unit is implemented using a ZYNQ SoC chip, which integrates an ARM processor core and an FPGA logic unit to implement positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol.

[0011] In one implementation, the system management unit implementation process includes a main function processing process and an 800us timer interrupt processing process.

[0012] In one embodiment, the 800us timing interrupt processing flow of the system management unit includes: performing baseband chip control, parsing the satellite receiving channel status, parsing the original observation value and giving a parsing completion mark, giving a telegram data reception mark, giving an ionospheric parameter reception mark, giving a Beidou time and UTC time synchronization parameter data reception mark, giving a positioning calculation cycle mark, interface protocol data reception, giving a data reception mark and responding to partial results.

[0013] In one embodiment, the main function processing flow of the system management unit includes: performing navigation message parsing; performing pre-positioning observation value verification with a positioning calculation cycle identifier, calculating ionosphere and troposphere delays, performing corrections, and calculating satellite positions; calculating position, speed, and time deviations, and performing post-positioning and speed calculation verification; and adjusting the second pulse time according to the time deviation.

[0014] In one embodiment, the correction includes: pseudorange delay correction, satellite clock error correction, and frequency error correction.

[0015] In one implementation, the main function processing flow of the system management unit further includes: outputting the position, speed, current time calculation result and channel status information according to the data receiving identifier.

[0016] In a second aspect, a BeiDou-3 satellite navigation implementation method is provided, the method being applied to the above-mentioned BeiDou-3 satellite navigation device, comprising:

[0017] The dedicated baseband chip captures and tracks the BeiDou-3 signal, provides original observation values ​​and status quantities, and outputs the ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameters and original observation information by default after power-on. The data update rate of the original observation information is designed to be consistent with the positioning calculation cycle. The typical original observation information update cycle is 10Hz, which can be increased to 100Hz at most. The ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameter information are output after each analysis based on the original message analysis results.

[0018] The system management unit implements positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol;

[0019] The system management unit performs an 800us timing interrupt processing flow, including: baseband chip control, satellite receiving channel status analysis, original observation value analysis and analysis completion flag, message data reception flag, ionospheric parameter reception flag, Beidou time and UTC time synchronization parameter data reception flag, positioning calculation cycle flag, interface protocol data reception, data reception flag and partial result response;

[0020] The system management unit performs the main function processing flow, including: navigation message analysis; pre-positioning observation value verification with positioning calculation cycle identification, calculation of ionosphere and troposphere delays, pseudo-range delay correction, satellite clock error correction, frequency error correction, calculation of satellite position, calculation of position, speed, and time deviation, and post-position and speed calculation verification; adjustment of second pulse time according to time deviation; output of position, speed, current time calculation results and channel status information according to data reception identification.

[0021] The embodiment of the present invention provides a BeiDou-3 satellite navigation device and an implementation method, wherein the device comprises six parts: a power management unit, a frequency conversion sampling unit, a dedicated baseband chip, a system management unit, a clock unit, and an interface unit; wherein the power management unit is used for configuring and managing the power-on timing; the frequency conversion sampling unit is used for signal filtering, amplification, down-conversion, and intermediate frequency signal output; the dedicated baseband chip is used for BeiDou-3 signal capture and tracking, and providing original observation values ​​and state quantities; the system management unit is used for realizing positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol implementation; the clock unit is used for providing the working clock of the baseband chip and the system management unit; and the interface unit is used for realizing interface signal conversion. Through the above device, a user terminal solution is provided for users who do not master general baseband chips.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structure particularly pointed out in the written description, claims, and drawings thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A structural diagram of a BeiDou-3 satellite navigation device according to an embodiment of the present invention;

[0025] Figure 2 A flowchart of a BeiDou-3 satellite navigation device according to an embodiment of the present invention;

[0026] Figure 3 A flowchart of the main function implementation of a BeiDou-3 satellite navigation device system management unit according to an embodiment of the present invention;

[0027] Figure 4 The present invention is a flowchart of an interrupt function implementation of a BeiDou-3 satellite navigation device system management unit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to provide a user terminal solution for users who do not have access to universal baseband chips, a BeiDou-3 satellite navigation device and implementation method are provided.

[0029] The preferred embodiments of the present invention are described below in conjunction with the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other if there is no conflict.

[0030] like Figure 1 As shown, the legend of the figure explains: 1 Beidou satellite navigation signal; 2 intermediate frequency sampling signal; 3 baseband chip control; 4 ephemeris, ionospheric parameters, Beidou time and UTC time synchronization parameters and original observation information; 5 clock signal; 6 output information; 7 input command; 8 external output information; 9 external input command.

[0031] The BeiDou-3 satellite navigation device designed by the present invention mainly includes six parts: a power management unit, a frequency conversion sampling unit, a dedicated baseband chip, a system management unit, a clock unit, and an interface unit. The power management unit is used to configure and manage the power-on timing, the frequency conversion sampling unit is used for signal filtering, amplification, down-conversion and intermediate frequency signal output, the dedicated baseband chip is used for BeiDou-3 signal capture and tracking, providing original observation values ​​and state quantities, the system management unit is used to realize positioning calculation, baseband chip control, working status monitoring, reset, interface protocol implementation, etc., the clock unit is used to provide the baseband chip and the system management unit working clock, and the interface unit is used to realize interface signal conversion.

[0032] like Figure 2 The following is the implementation flow chart of BeiDou-3 satellite navigation device:

[0033] S1: The dedicated baseband chip is used for BeiDou-3 signal capture and tracking, providing raw observation values ​​and state quantities. After the dedicated baseband chip is powered on, it outputs ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameters and raw observation information by default. The data update rate of raw observation information is designed to be consistent with the positioning calculation cycle. The typical raw observation information update cycle is 10Hz, which can be increased to 100Hz at most. The ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameter information are based on the original message analysis results and are output after each analysis.

[0034] S2: The system management unit is implemented using the ZYNQ SoC chip, which integrates an ARM processor core and an FPGA logic unit to implement positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol;

[0035] The system management unit implementation process includes a main function processing process and an 800us timer interrupt processing process;

[0036] S3: Figure 4 As shown, the system management unit 800us timing interrupt processing flow controls the baseband chip, analyzes the satellite receiving channel status, analyzes the original observation value and gives the analysis completion mark, gives the message data reception mark, gives the ionospheric parameter reception mark, gives the Beidou time and UTC time synchronization parameter data reception mark, gives the positioning calculation cycle mark, receives the interface protocol data, gives the data reception mark and responds to some results;

[0037] S4: Figure 3As shown, the main function processing flow of the system management unit performs navigation message parsing; performs pre-positioning observation value verification with a positioning calculation cycle identifier, calculates ionosphere and troposphere delays, performs pseudorange delay correction, satellite clock error correction, frequency error correction, calculates satellite position, calculates position, speed, and time deviation, and performs post-position and speed calculation verification; adjusts the second pulse time according to the time deviation; outputs the position, speed, current time calculation results and channel status information according to the data receiving identifier.

[0038] The embodiment provides a BeiDou-3 satellite navigation device and an implementation method, wherein the device includes six parts: a power management unit, a frequency conversion sampling unit, a dedicated baseband chip, a system management unit, a clock unit, and an interface unit; wherein the power management unit is used to configure and manage the power-on timing; the frequency conversion sampling unit is used for signal filtering, amplification, down-conversion, and intermediate frequency signal output; the dedicated baseband chip is used for BeiDou-3 signal capture and tracking, and providing original observation values ​​and state quantities; the system management unit is used to implement positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol implementation; the clock unit is used to provide the working clock of the baseband chip and the system management unit; the interface unit is used to implement interface signal conversion. Through the above device, a user terminal solution is provided for users who do not master general baseband chips.

[0039] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0040] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A BeiDou-3 satellite navigation device, characterized in that: include: The six parts are power management unit, frequency conversion sampling unit, dedicated baseband chip, system management unit, clock unit and interface unit. The power management unit is used to configure and manage the power-on timing; the frequency sampling unit is used for signal filtering, amplification, down-conversion and intermediate frequency signal output; the dedicated baseband chip is used to capture and track Beidou-3 signals, and provide original observation values ​​and state quantities; the system management unit is used to realize positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol implementation; the clock unit is used to provide the working clock for the baseband chip and the system management unit; and the interface unit is used to realize interface signal conversion.

2. The BeiDou-3 satellite navigation device according to claim 1, characterized in that: After the dedicated baseband chip is powered on, the default output is ephemeris, ionospheric parameters, Beidou time and UTC time synchronization parameters and raw observation information. The data update rate of the raw observation information is designed to be consistent with the positioning calculation cycle. The typical raw observation information update cycle is 10Hz, which can be increased to 100Hz.

3. The BeiDou-3 satellite navigation device according to claim 2, characterized in that: The ephemeris, ionospheric parameters, Beidou time and UTC time synchronization parameter information are output after each analysis based on the original message analysis results.

4. The BeiDou-3 satellite navigation device according to claim 3, characterized in that: The system management unit is implemented using a ZYNQ SoC chip, which integrates an ARM processor core and an FPGA logic unit to implement positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol.

5. The BeiDou-3 satellite navigation device according to claim 4, characterized in that: The system management unit implementation process includes a main function processing process and an 800us timing interrupt processing process.

6. The BeiDou-3 satellite navigation device according to claim 5, characterized in that: The 800us timing interrupt processing flow of the system management unit includes: baseband chip control, satellite receiving channel status analysis, original observation value analysis and analysis completion mark, message data reception mark, ionospheric parameter reception mark, Beidou time and UTC time synchronization parameter data reception mark, positioning calculation cycle mark, interface protocol data reception, data reception mark and partial result response.

7. The BeiDou-3 satellite navigation device according to claim 6, characterized in that: The main function processing flow of the system management unit includes: parsing the navigation message; checking the observation value before positioning with the positioning calculation cycle mark, calculating the ionosphere and troposphere delays, making corrections, and calculating the satellite position; calculating the position, speed, and time deviation, and checking the positioning and speed calculations; adjusting the second pulse time according to the time deviation.

8. The BeiDou-3 satellite navigation device according to claim 7, characterized in that: The correction includes: pseudo-range delay correction, satellite clock error correction, and frequency error correction.

9. The BeiDou-3 satellite navigation device according to claim 8, characterized in that: The main function processing flow of the system management unit also includes: outputting the position, speed, current time calculation result and channel status information according to the data receiving identifier.

10. A BeiDou-3 satellite navigation implementation method, the method being applied to the BeiDou-3 satellite navigation device described in 1 to 9, characterized in that: include: The dedicated baseband chip captures and tracks the BeiDou-3 signal, provides original observation values ​​and status quantities, and outputs the ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameters and original observation information by default after power-on. The data update rate of the original observation information is designed to be consistent with the positioning calculation cycle. The typical original observation information update cycle is 10Hz, which can be increased to 100Hz at most. The ephemeris, ionospheric parameters, BeiDou time and UTC time synchronization parameter information are output after each analysis based on the original message analysis results. The system management unit implements positioning calculation, baseband chip control, working status monitoring, reset, and interface protocol; The system management unit performs an 800us timing interrupt processing flow, including: baseband chip control, satellite receiving channel status analysis, original observation value analysis and analysis completion flag, message data reception flag, ionospheric parameter reception flag, Beidou time and UTC time synchronization parameter data reception flag, positioning calculation cycle flag, interface protocol data reception, data reception flag and partial result response; The system management unit performs the main function processing flow, including: navigation message analysis; pre-positioning observation value verification with positioning calculation cycle identification, calculation of ionosphere and troposphere delays, pseudo-range delay correction, satellite clock error correction, frequency error correction, calculation of satellite position, calculation of position, speed, and time deviation, and post-position and speed calculation verification; adjustment of second pulse time according to time deviation; output of position, speed, current time calculation results and channel status information according to data reception identification.

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