Beidou positioning device and method

Abstract

The invention provides a Beidou positioning device and method, and the device comprises a processor unit which is used for processing and forwarding positioning data; the positioning unit is connected with the processor unit, is connected with an external antenna, and is used for obtaining an external signal through the external antenna, carrying out amplification, power distribution, frequency mixing, filtering and analog-to-digital conversion on the external signal, and extracting a Beidou positioning digital signal; and the communication unit is connected with the processor unit and is used for receiving a positioning signal obtained by the processor unit according to the Beidou positioning digital signal and outputting the positioning signal.

Description

Technical Field

[0001] The present application relates to the field of target positioning technology, and in particular to a Beidou positioning device and method. Background Art

[0002] In the field of power positioning, the application of global GNSS (Global Navigation Satellite System) generally takes multi-system and multi-frequency as the development direction. After years of development, the satellite navigation positioning and timing of the power system has formed a situation where Beidou is the main system, GPS is the auxiliary system, and Beidou and GPS systems coexist.

[0003] However, with the development of technology, these multi-system parallel positioning methods have gradually shown their drawbacks and constraints, and there is an urgent need to develop a single-system autonomous, controllable, safe and reliable positioning device. Summary of the invention

[0004] In view of this, the present application proposes a Beidou positioning device and method to solve or partially solve the above problems.

[0005] Based on the above objectives, in a first aspect, the present application provides a Beidou positioning device, including:

[0006] A processor unit, used for processing and forwarding positioning data;

[0007] A positioning unit, connected to the processor unit and to an external antenna, for acquiring an external signal through the external antenna, and performing amplification, power distribution, frequency mixing, filtering, and analog-to-digital conversion on the external signal to extract a Beidou positioning digital signal;

[0008] The communication unit is connected to the processor unit, and is used to receive a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and output the positioning signal.

[0009] In some exemplary embodiments, the positioning unit comprises:

[0010] a low noise amplifier, used for receiving the external signal from the external antenna and amplifying the external signal;

[0011] A power divider, connected to the low noise amplifier, for performing power distribution and frequency mixing on the signal processed by the low noise amplifier;

[0012] at least one surface acoustic wave filter connected to the power divider and used for filtering the signal distributed by the power divider;

[0013] The processing module is connected to the at least one surface acoustic wave filter and is used to perform analog-to-digital conversion on the signal filtered by the at least one surface acoustic wave filter and extract the Beidou positioning digital signal.

[0014] In some exemplary embodiments, the positioning unit further includes:

[0015] The inertial measurement module is connected to the processing module and is used to provide attitude information to the processing module.

[0016] In some exemplary embodiments, the positioning unit further includes:

[0017] The power management module is connected to the low noise amplifier and the processing module, and is used for power management and power supply.

[0018] In some exemplary embodiments, the apparatus further comprises:

[0019] A battery unit is connected to the processor unit and is used to provide power.

[0020] In some exemplary embodiments, the device further comprises:

[0021] An indicating unit is connected to the processor unit and to an external indicator light, and is used to control the state of the external indicator light according to the processor unit.

[0022] In some exemplary embodiments, the indication unit is connected to the processor unit via a general purpose input and output interface.

[0023] In some exemplary embodiments, the positioning unit and the processor unit, and the communication unit and the processor unit are connected via a universal asynchronous receiver / transmitter.

[0024] Based on the same concept, in a second aspect, the present application also provides a Beidou positioning method using the Beidou positioning device described in the first aspect, comprising:

[0025] Receiving an external signal acquired by an external antenna through a positioning unit;

[0026] Amplifying, power distributing, mixing, filtering and analog-to-digital conversion are performed on the external signal to extract a Beidou positioning digital signal;

[0027] Processing the Beidou positioning digital signal by a processor unit with the aid of a real-time dynamic carrier phase differential algorithm to determine a positioning signal;

[0028] The positioning signal is outputted using a communication unit.

[0029] In some exemplary embodiments, before the processor unit processes the Beidou positioning digital signal by means of a real-time dynamic carrier phase difference algorithm, the method further includes:

[0030] In response to determining that the signal quality of the Beidou positioning digital signal meets the set conditions, a request is made to an external terminal through the communication unit to perform WiFi-assisted positioning.

[0031] As can be seen from the above, the present application provides a Beidou positioning device and method, which includes: a processor unit for processing and forwarding positioning data; a positioning unit connected to the processor unit and connected to an external antenna, for obtaining an external signal through the external antenna, and amplifying, power distributing, mixing, filtering and analog-to-digital conversion of the external signal to extract a Beidou positioning digital signal; a communication unit connected to the processor unit, for receiving a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and outputting the positioning signal. The present application uses the positioning unit to obtain and process a single Beidou signal, and uses the processor unit to obtain a positioning signal by processing a single Beidou signal, thereby realizing the satellite navigation positioning function under a single Beidou module, realizing autonomous, controllable and reliable positioning information, and the positioning device finally realized can achieve a positioning error within 3 meters horizontally, within 5 meters vertically, within 6 meters in plane, and within 10 meters in elevation, and realizes high-precision positioning of a single Beidou signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the structure of an exemplary device provided in an embodiment of the present application.

[0034] Figure 2 A schematic diagram of the structure of an exemplary positioning unit provided in an embodiment of the present application.

[0035] Figure 3 A schematic diagram of functional modules designed for an exemplary device in a specific embodiment provided in the embodiments of the present application.

[0036] Figure 4 A flowchart of software system processing in a specific embodiment provided in the embodiment of the present application.

[0037] Figure 5 A flowchart of an exemplary method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this specification more clear, this specification is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0039] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements, objects or method steps appearing before the word cover the elements, objects or method steps listed after the word and their equivalents, without excluding other elements, objects or method steps. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] As mentioned in the background technology section, BeiDou navigation and positioning technology is one of the core components of the global satellite navigation system (BeiDou Navigation Satellite System, referred to as BDS or BeiDou system) independently developed by China. The main purpose of this technology is to provide continuous positioning, navigation and timing services to global users. Compared with other global navigation and positioning technologies such as GPS and GLONASS, the BeiDou system has obvious advantages in specific application scenarios with its unique short message communication function, high-precision positioning and security. The navigation and positioning devices currently used in the field of power systems mainly use the BeiDou and GPS dual system with BeiDou as the main system and GPS as the auxiliary system.

[0041] However, in the face of the requirements under the new situation, some fields have already faced technical restrictions and blockades. Therefore, it is urgent to give full play to the advantages of the Beidou system's autonomy, controllability, safety and reliability, fully carry out research on single Beidou technology, promote the application of single Beidou in the power industry, fundamentally eliminate dependence on other satellite navigation systems, and fully guarantee the spatiotemporal information security of the power grid. In the process of promoting the large-scale application of single Beidou in power, there are still problems such as the lack of overall application architecture, the need to improve the performance of timing and positioning applications, and the need to verify service reliability, which cannot fully and effectively support the large-scale integration of single Beidou in various business areas of the company. In other words, the existing high-precision positioning devices in the power industry generally use Beidou and GPS dual-system positioning with Beidou as the main and GPS as the auxiliary. This positioning working method has not been fully domestically autonomous and controllable, and lacks a certain degree of safety and reliability. At the same time, if a single Beidou system is used for positioning, there is also the problem of improving the performance of timing and positioning applications.

[0042] In combination with the above actual situation, the embodiment of the present application provides a Beidou positioning device and method, which includes: a processor unit for processing and forwarding positioning data; a positioning unit connected to the processor unit and connected to an external antenna, for obtaining an external signal through the external antenna, and amplifying, power distributing, mixing, filtering and analog-to-digital conversion of the external signal to extract a Beidou positioning digital signal; a communication unit connected to the processor unit, for receiving a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and outputting the positioning signal. The present application uses the positioning unit to obtain and process a single Beidou signal, and uses the processor unit to obtain a positioning signal by processing a single Beidou signal, thereby realizing the satellite navigation positioning function under a single Beidou module, realizing autonomous, controllable and reliable positioning information, and the positioning device finally realized can achieve a positioning error within 3 meters horizontally, 5 meters vertically, 6 meters in the plane, and 10 meters in elevation, and realizes high-precision positioning of a single Beidou signal.

[0043] Figure 1 A schematic structural diagram of an exemplary device provided in an embodiment of the present application is shown.

[0044] like Figure 1 As shown, the Beidou positioning device exemplarily proposed in the embodiment of the present application specifically includes the following structure.

[0045] The processor unit 110 is used to process and forward the positioning data.

[0046] The positioning unit 120 is connected to the processor unit 110 and to the external antenna, and is used to obtain an external signal through the external antenna, and amplify, power distribute, mix, filter and convert the external signal into an analog-to-digital signal to extract a Beidou positioning digital signal.

[0047] The communication unit 130 is connected to the processor unit 110, and is used to receive a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and output the positioning signal.

[0048] In this embodiment, the processor unit 110 mainly performs functions such as processing and forwarding Beidou positioning information, driving the local communication unit, controlling the peripheral interface and indicator light. In a specific scenario, the processor unit 110 mainly uses the Beidou positioning digital signal obtained from the positioning unit 120 and the Beidou differential data obtained from the external network to perform position positioning calculation with the help of a real-time dynamic carrier phase differential algorithm. Among them, Beidou differential data is a key technology for improving the accuracy of satellite navigation positioning. Beidou differential positioning calculates the distance difference between the two receivers by comparing the signals of the two receivers. A reference station is required to provide high-precision positioning data. The reference station can eliminate atmospheric errors, clock errors, etc. The differential data includes pseudo-range observations, carrier phase observations, Doppler observations, satellite information, coordinate conversion information, orbit information and other data used to correct the user receiver observations. The real-time dynamic carrier phase differential algorithm is the RTK (Real-Time Kinematic) algorithm, which is a differential method for real-time processing of the carrier phase observations of two measuring stations. The carrier phase collected by the reference station is sent to the user receiver to perform differential coordinate calculation.

[0049] Afterwards, the positioning unit 120 is mainly used to process the received signal into a Beidou positioning digital signal. For the external antenna, it can be a GNSS antenna in this scenario. Various signals can be received through the GNSS antenna, so these signals need to be processed, and the processing method may include signal amplification, power distribution, mixing, filtering and analog-to-digital conversion, and finally extracting the Beidou positioning digital signal. These processing methods can be completed with corresponding targeted algorithms, and then these steps can be integrated into the core processing module of the positioning unit 120. In other embodiments, these steps can also be set in different unit modules respectively, and each unit module concentrates on processing one step to improve the overall efficiency. Therefore, in some embodiments, for the positioning unit 120, its specific structure can be as follows Figure 2 shown.

[0050] For the positioning unit 120, in combination with the attached Figure 2, which can mainly include: a low noise amplifier 121, used to receive the external signal of the external antenna and amplify the external signal; a power divider 122, connected to the low noise amplifier, used to distribute power and mix the signal processed by the low noise amplifier; at least one surface acoustic wave filter 123, connected to the power divider, used to filter the signal distributed by the power divider; a processing module 124, connected to the at least one surface acoustic wave filter, used to perform analog-to-digital conversion on the signal filtered by the at least one surface acoustic wave filter, and extract the Beidou positioning digital signal. Among them, the low noise amplifier 121 (LNA) is generally used as a high-frequency or intermediate-frequency preamplifier of various radio receivers, and an amplifying circuit of a high-sensitivity electronic detection device. In the case of amplifying weak signals, the noise of the amplifier itself may seriously interfere with the signal, so it is hoped to reduce this noise to improve the output signal-to-noise ratio. A power divider 122 (power divider) is a device that divides the energy of an input signal into two or more equal or unequal energy outputs. It can also combine the energy of multiple signals into one output, which can also be called a combiner. Surface acoustic wave filter 123 (surface acoustic wave, SAW filter) SAW is an elastic wave generated and propagated on the surface of a piezoelectric substrate material, and the amplitude decreases rapidly as the depth of the substrate material increases. The basic structure of the SAW filter is to make two acoustic-electric transducers - interdigital transducers (IDT) on the polished surface of a substrate material with piezoelectric characteristics, which are used as a transmitting transducer and a receiving transducer respectively. The subsequent processing module 124 can mainly be some core chip structures for positioning, which are used to filter the intermediate frequency signal, convert it into a digital signal after AD analog-to-digital conversion, and extract the Beidou positioning digital signal from the digital signal.

[0051] In a more specific scenario, the final extracted Beidou positioning digital signal can be the original observations and navigation messages of the B1I and B3I signals. For the signal frequency band, the general B1C and B2A frequency bands have the largest frequency difference, and the noise amplification factor of the ionosphere-free combined observation value is the smallest. In theory, the positioning accuracy is better than other frequency band combinations, but the baseband processing of the B1C frequency band of various chip manufacturers is not mature at present, and the solution has not achieved the optimal effect. The frequency bands of B1I and B1C are relatively close. At the same time, the two frequency bands of B1I and B3I will be broadcast on Beidou-2 and Beidou-3. The advantage of using B1I and B3I is that more satellites can be received. Finally, a single Beidou dual-frequency positioning module is used for the positioning unit 120, which supports the reception of satellite signals in the B1I and B3I frequency bands, and supports ordinary single-point positioning and RTK positioning functions. The module adopts a single antenna solution, and the design basis is that the mainstream GNSS dual-frequency modules on the market basically adopt a single antenna design. Compared with the dual-antenna solution, the number of single antennas is reduced, which can reduce costs. At the same time, there is not much difference between the algorithm performance of a single antenna and that of a dual antenna. In addition, considering that a single Beidou dual-frequency positioning module does not involve directional functions, a single antenna design can meet the dual-frequency signal reception performance, and the module antenna interface can also be compatible with the module antenna interfaces of mainstream manufacturers on the market. The working principle of the positioning unit 120 module is as follows: after the RF front end receives various standard signals from the antenna interface, the signal is amplified and mixed by the low noise amplifier 121 and the power divider 122 (specifically, it can be a down-conversion mixer), and then the surface acoustic wave filter 123 that processes different band waves is used to filter out the useless interference signal outside the band, and the intermediate frequency signal is obtained and sent to the processing module 124 (for example, OC-8110 chip), and the processing module 124 filters the intermediate frequency signal, AD analog-to-digital conversion and other processing, and then converts it into a digital signal, and captures, tracks, and synchronizes the digital signal to extract the original observation and navigation message of the B1I and B3I signals, where the original observation and navigation message are the required Beidou positioning digital signal. Afterwards, in the present application scheme, the Beidou positioning digital signal is transmitted to the processor unit 110, and the processor unit 110 is used to complete the position solution through the corresponding positioning algorithm (such as RTK algorithm), and finally the position information is output through the UART interface of the device. Of course, in some other embodiments, some of the functions implemented by the above processor unit 110 may also be integrated into the processing module 124, which is not specifically limited in the present application.

[0052] Furthermore, if Figure 2As shown, in order to accurately determine the specific posture of the current device, an inertial measurement module 125 can also be set on the positioning unit 120. Through the inertial measurement module 125 (Inertial Measurement Unit, IMU), the inertial measurement module 125 is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three axes of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and solves the posture of the object. It has very important application value in navigation. That is, in some embodiments, the positioning unit 120 also includes: an inertial measurement module 125, which is connected to the processing module 124 and is used to provide attitude information to the processing module 124.

[0053] Furthermore, in order to better ensure the energy supply of the positioning unit 120, a power management module 126 can also be set in the positioning unit 120. The power management module 126 (Power Management Unit, PMU) is a microcontroller that controls the power function of the digital platform. The microchip has many components similar to ordinary computers, including firmware and software, memory, CPU, input / output functions, timers for measuring time intervals, and analog-to-digital converters for measuring the voltage of the main battery or power supply. At the same time, even if the terminal is completely turned off and powered entirely by the backup battery, the PMU is one of the few modules that can remain active.

[0054] Finally, the positioning unit 120 can also be provided with a variety of external interfaces for connecting with other units, such as PPS (Programmable Power Supply), UART (Universal Asynchronous Receiver / Transmitter), I2C (Inter-Integrated Circuit), SPI (Serial Peripheral Interface), GPIO (General Purpose Input / Output) and RST (Reset) and other common interfaces in electronic systems.

[0055] In a more specific scenario, the specific performance indicators of the positioning unit 120 can be: frequency band: select B1I+B3I frequency band; capture sensitivity: that is, after the device is started, the minimum signal level required to capture the navigation signal and normally locate, less than or equal to -140dBm; tracking sensitivity: that is, after the device is normally located, the minimum signal level required to continue to track and locate the navigation signal, less than or equal to -150dBm; number of satellite receiving channels: the number of channels that can simultaneously receive Beidou satellite signals, greater than or equal to 120; number Data update rate: The number of times the module outputs positioning information per second, greater than or equal to 10Hz; Single-point positioning accuracy: The statistical value of the difference between the receiver position and its true position determined by pseudo-range observations, horizontally less than or equal to 3 meters (RMS, mean), vertically less than or equal to 5 meters (RMS, mean), plane less than or equal to 6 meters (95%), and elevation less than or equal to 10 meters (95%); RTK positioning accuracy: The statistical value of the error calculated by real-time dynamic differential positioning based on carrier phase observations, horizontally less than or equal to 2cm+1ppm (RMS , mean), vertical less than or equal to 4cm+1ppm (RMS, mean), plane less than or equal to 4cm+1ppm (95%), elevation less than or equal to 8cm+1ppm (95%); RTK initialization time, when the device uses dynamic or static observation data for RTK solution, the time required to search and complete the initial integer ambiguity solution process is less than or equal to 10s; cold start first positioning time, when the ephemeris, almanac, approximate time and approximate position are unknown, the time required from the time the device is turned on to the time when it can output the positioning error less than the standard positioning data for the continuous time specified by the standard for the first time thereafter, is less than or equal to 35s; hot start first positioning time: when the ephemeris, almanac, approximate time and approximate position are known, the time required from the time the device is turned on to the time when it can output the positioning error less than the standard positioning data for the continuous time specified by the standard for the first time thereafter, is less than or equal to 5s; speed measurement accuracy: refers to the statistical value of the difference between the speed determined using the public service signal / satellite signal simulator and its real / simulated speed, which is less than or equal to 0.2m / s (95%, three-dimensional).

[0056] Afterwards, for the communication unit 130, it is mainly used to establish a connection between the Beidou positioning device and the external terminal. Specifically, it can further include a Bluetooth module and a WiFi module. Among them, the Bluetooth module is mainly used to realize the connection between the Beidou positioning device and the external terminal (such as a mobile phone, a tablet, etc.), and transmit various types of information such as positioning signals and status information to the App of the external terminal, and finally display the data or further process it through the App of the external terminal. Afterwards, for the Bluetooth module, it can also configure the Beidou positioning device parameters and upgrade the firmware version of the Beidou positioning device through the external terminal. Afterwards, the WiFi module can be used for auxiliary positioning functions. In scenarios where the Beidou signal is weak and cannot be positioned indoors, the Beidou positioning device can turn on the WiFi positioning mode, and the WiFi module scans the MAC addresses and signal strengths of multiple WiFi APs around, and transmits the scanned data to the processor unit 110, and the processor unit 110 transmits the data to the Bluetooth module, and then the Bluetooth module transmits it to the external terminal, and cooperates with the APP of the external terminal to realize the WiFi assisted positioning function.

[0057] In some embodiments, the Beidou positioning device can use an external power supply, and only power management is required. If only power management is performed, it can be completed by the processor unit 110. In order to facilitate portability and various extreme scene requirements, such as Figure 1 As shown, a battery unit 140 can also be provided in the Beidou positioning device, which is connected to the processor unit to provide power. The battery unit 140 can be provided with a battery module and a management module, the battery module can be provided as a rechargeable battery, and the management module can manage the battery alone. The management module is mainly used to control and manage the power supply system of the Beidou positioning device, and provide efficient and stable power supply for each functional unit of the Beidou positioning device. The Beidou positioning device should be powered by a built-in lithium battery to realize mobile operation at the power distribution professional site, and support USB or Type C interface charging. Furthermore, the Beidou positioning device can continue to be provided with an external interface unit for charging the battery and some debugging work. Specifically, the debugging and charging of the power single Beidou high-precision positioning device can be realized. The unit can use USB or Type C as the external interface.

[0058] In some embodiments, in order to indicate the current working state of the Beidou positioning device, an indication unit 150 may be further provided on the Beidou positioning device, which is used to connect with an external indicator light, obtain information from the processor unit 110, and determine the indication state of the indicator light according to the information, such as indicating a normal state, a damaged state, a good signal, a bad signal, etc. Specifically, the BLE, Beidou, and WiFi working states and power levels of the power-only Beidou high-precision positioning device may be displayed.

[0059] Furthermore, since the data processed by the indication unit 150 is relatively simple, a relatively simple digital interface can be selected as the interface for data transmission, for example, a general purpose input / output interface can be used to connect the indication unit 150 and the processor unit 110. The pins of the general purpose input / output interface (GPIO) can be freely used by the user through program control, and the PIN pin can be used as a general purpose input (GPI) or a general purpose output (GPO) or a general purpose input and output (GPIO) according to practical considerations, such as when a clk generator, chip select, etc.

[0060] In some embodiments, for the connection mode between other units, in order to pursue transmission quality and speed, the connection can be made with the help of a universal asynchronous receiver / transmitter. Universal asynchronous receiver / transmitter (UART) is a commonly used serial communication protocol used for data transmission between computers or electronic devices. That is, in some embodiments, the positioning unit 120 is connected to the processor unit 110, and the communication unit 130 is connected to the processor unit 110 through a universal asynchronous receiver / transmitter.

[0061] In a more specific scenario, the specific hardware indicators of the Beidou positioning device can be: specification size, less than or equal to 60×90×30mm; weight, less than or equal to 200g; debugging interface, USB, Type C interface, etc., used for device debugging; Bluetooth, BLE 5.3, etc.; WiFi, WiFi802.11b / g / n, etc.; Beidou receiving frequency band, B1I, B3I; antenna, external helical antenna; indicator light, power indicator light for indicating the remaining power, status indicator light for indicating the status of Bluetooth, Beidou positioning, WiFi, etc.; button, with power on and off button; power supply mode, battery power; charging interface, shared with the debugging interface USB, Type C interface; average power consumption, no more than 2W; battery and battery life, battery capacity is about 3000mAh, battery life is more than 8 hours; working temperature, -20℃~+60℃; working humidity, 0~95%; shell protection level, IP64, the shell can completely prevent dust intrusion, and the shell can prevent water splashing from all directions; electrostatic discharge immunity, contact discharge 8kV, air discharge 15kV; power frequency magnetic field immunity, level 4, stable continuous magnetic field, 30A / m, 60s; damped oscillation magnetic field immunity, level 4, frequency 100kHz, 1MHz, 30A / m, 60s; pulse magnetic field immunity, level 4, 300A / m, 60s; radio frequency electromagnetic field radiation disturbance immunity, level 3, 80MHz~1000MHz, 10V / m.

[0062] In some embodiments, the main software functions of the Beidou positioning device may include the following aspects: (1) Information transmission function: The Beidou positioning device is connected to the external terminal via Bluetooth, and obtains Beidou differential data through the network of the external terminal to achieve RTK precise positioning. In addition, the Beidou positioning device transmits positioning information, device ID, version information, status information, etc. to the APP of the external terminal via Bluetooth, and can also receive parameter configuration commands sent by the external terminal. (2) Positioning function: including Beidou positioning function and WiFi assisted positioning function. When the Beidou positioning device can obtain Beidou differential data through the public network of the external terminal, the positioning unit or processor unit uses the RTK algorithm to achieve high-precision positioning; when the Beidou positioning device cannot obtain differential data, it automatically switches to a single-point positioning mode to obtain positioning information; when the number of satellites searched by the Beidou positioning device cannot meet the single Beidou positioning requirements, the WiFi module of the Beidou positioning device scans nearby WiFi APs, obtains the MAC address and signal strength value of each AP and sends them to the APP of the external terminal, and the APP obtains the location information through services provided by other third parties. (3) System management function: including parameter configuration, query function and version upgrade function. The Beidou positioning device can configure and query various parameters through a direct connection to the local debugging interface or through the APP of an external terminal; the Beidou positioning device version upgrade function can be upgraded locally through a direct connection to the terminal debugging interface, or through the first operation terminal communication network to connect to the terminal management server for OTA upgrade.

[0063] In order to realize the software function of the Beidou positioning device, in some specific embodiments, such as Figure 3 As shown in the figure, six software function modules can be designed, namely Beidou module communication module, auxiliary positioning module, information reporting module, system management module, local communication module and WiFi positioning module. Among them, the device software loads two components: the Ntrip component in the auxiliary positioning module used to parse the Beidou satellite differential navigation data issued by the Beidou related service network and the version upgrade component used for firmware version upgrade in the system management module. Finally, the processing flow of the software system can be as follows Figure 4 shown.

[0064] Finally, for the Beidou positioning device, in specific scenarios, such as mobile operations on the power distribution site, the Beidou positioning device can be held by the operator or hung on the pocket of clothing, connected to an external terminal (such as a mobile phone, etc.) via Bluetooth and transmit the positioning data to the external terminal, which displays and records the precise location, thereby providing integrated indoor and outdoor high-precision positioning services.

[0065] It can be seen from the above embodiments that the embodiment of the present application provides a Beidou positioning device, which includes: a processor unit for processing and forwarding positioning data; a positioning unit connected to the processor unit and connected to an external antenna, for obtaining an external signal through the external antenna, and amplifying, power distributing, mixing, filtering and analog-to-digital conversion of the external signal to extract a Beidou positioning digital signal; a communication unit connected to the processor unit, for receiving a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and outputting the positioning signal. The present application uses the positioning unit to obtain and process a single Beidou signal, and uses the processor unit to obtain a positioning signal by processing a single Beidou signal, thereby realizing the satellite navigation positioning function under a single Beidou module, realizing autonomous, controllable and reliable positioning information, and the positioning device finally realized can achieve a positioning error within 3 meters horizontally, within 5 meters vertically, within 6 meters in plane, and within 10 meters in elevation, and realizes high-precision positioning of a single Beidou signal.

[0066] Based on the same concept, corresponding to any of the above-mentioned embodiments, the present application also provides a Beidou positioning method, which is applied to the Beidou positioning device as described in any of the above-mentioned embodiments.

[0067] refer to Figure 5 , the Beidou positioning method comprises:

[0068] Step 502: Receive an external signal acquired by an external antenna through a positioning unit.

[0069] Step 504, amplify, distribute power, mix, filter and perform analog-to-digital conversion on the external signal to extract the Beidou positioning digital signal.

[0070] Step 506: Process the Beidou positioning digital signal by means of a real-time dynamic carrier phase differential algorithm through a processor unit to determine a positioning signal.

[0071] Step 508: Use a communication unit to output the positioning signal.

[0072] In some embodiments, if the signal quality of the Beidou positioning digital signal is difficult to meet the requirements, according to the introduction of the aforementioned embodiments, WiFi can be used for auxiliary positioning. That is, in some embodiments, before the processor unit processes the Beidou positioning digital signal with the help of a real-time dynamic carrier phase difference algorithm, the method further includes: in response to determining that the signal quality of the Beidou positioning digital signal meets the set conditions, requesting WiFi-assisted positioning from an external terminal through the communication unit.

[0073] The method of the above embodiment is applied to the corresponding Beidou positioning device in the above embodiment. The description of the specific contents of the above steps and the corresponding beneficial effects have been involved in the embodiment of the above Beidou positioning device, so they will not be repeated in this embodiment.

[0074] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of the embodiment of the present application can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0075] It should be noted that the above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0076] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the Beidou positioning method described in any of the above embodiments.

[0077] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0078] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the Beidou positioning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0079] Based on the same concept, corresponding to any of the above-mentioned embodiments, the present application also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer so that the computer and / or the processor execute the Beidou positioning method. Corresponding to the execution subject corresponding to each step in each embodiment of the Beidou positioning method, the processor that executes the corresponding step may belong to the corresponding execution subject.

[0080] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the Beidou positioning method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0081] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0082] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0083] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0084] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A Beidou positioning device, characterized in that: include: A processor unit, used for processing and forwarding positioning data; A positioning unit, connected to the processor unit and to an external antenna, for acquiring an external signal through the external antenna, and performing amplification, power distribution, frequency mixing, filtering, and analog-to-digital conversion on the external signal to extract a Beidou positioning digital signal; The communication unit is connected to the processor unit, and is used to receive a positioning signal obtained by the processor unit according to the Beidou positioning digital signal, and output the positioning signal.

2. The device according to claim 1, characterized in that The positioning unit comprises: a low noise amplifier, used for receiving the external signal from the external antenna and amplifying the external signal; A power divider, connected to the low noise amplifier, for performing power distribution and frequency mixing on the signal processed by the low noise amplifier; at least one surface acoustic wave filter connected to the power divider and used for filtering the signal distributed by the power divider; The processing module is connected to the at least one surface acoustic wave filter and is used to perform analog-to-digital conversion on the signal filtered by the at least one surface acoustic wave filter and extract the Beidou positioning digital signal.

3. The device according to claim 2, characterized in that The positioning unit further includes: The inertial measurement module is connected to the processing module and is used to provide attitude information to the processing module.

4. The device according to claim 2, characterized in that The positioning unit further includes: The power management module is connected to the low noise amplifier and the processing module, and is used for power management and power supply.

5. The device according to claim 1, characterized in that Also includes: A battery unit is connected to the processor unit and is used to provide power.

6. The device according to claim 1, characterized in that Also includes: An indicating unit is connected to the processor unit and to an external indicator light, and is used to control the state of the external indicator light according to the processor unit.

7. The device according to claim 6, characterized in that The indicating unit is connected to the processor unit via a general input and output interface.

8. The device according to claim 1, characterized in that The positioning unit and the processor unit, and the communication unit and the processor unit are connected via a universal asynchronous receiver / transmitter.

9. A Beidou positioning method using the Beidou positioning device according to any one of claims 1 to 8, characterized in that: include: Receiving an external signal acquired by an external antenna through a positioning unit; Amplifying, power distributing, mixing, filtering and analog-to-digital conversion are performed on the external signal to extract a Beidou positioning digital signal; Processing the Beidou positioning digital signal by a processor unit with the aid of a real-time dynamic carrier phase differential algorithm to determine a positioning signal; The positioning signal is outputted using a communication unit.

10. The method according to claim 9, characterized in that Before the processor unit processes the Beidou positioning digital signal by means of a real-time dynamic carrier phase differential algorithm, the method further includes: In response to determining that the signal quality of the Beidou positioning digital signal meets the set conditions, a request is made to an external terminal through the communication unit to perform WiFi-assisted positioning.

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