Positioning and orienting system and vehicle

Abstract

The invention discloses a positioning and orientation system and a vehicle, and belongs to the technical field of positioning. The system comprises a first antenna, a second antenna, a master processing module and a slave processing module, the main processing module is used for acquiring a first antenna signal received by the first antenna, acquiring first positioning data based on the first antenna signal, and sending the first positioning data to the slave processing module; the first antenna is used for receiving a satellite signal of a target global navigation satellite system; the slave processing module is used for acquiring the first positioning data and a second antenna signal received by the second antenna, acquiring directional data based on the first positioning data and the second antenna signal, and feeding back the directional data to the master processing module; the second antenna is used for receiving a satellite signal of a target global navigation satellite system; the main processing module is further used for obtaining a positioning and orientation result based on the first orientation data and the first positioning data.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and in particular relates to a positioning and orientation system and a vehicle. Background Art

[0002] During vehicle driving, in order to facilitate the driver to control the vehicle, the vehicle's position is generally located through positioning technology, and the vehicle body posture is captured through infrared detection technology.

[0003] However, while the vehicle's position is located based on common GNSS positioning technology, carrier phase difference technology and other positioning technologies, the body posture data obtained by capturing the body posture through infrared detection technology is often not very accurate. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a positioning and orientation system and a vehicle to improve the accuracy of capturing vehicle body posture data while obtaining centimeter-level first positioning data.

[0005] In a first aspect, the present application provides a positioning and orientation system, the system comprising: a first antenna, a second antenna, a main processing module and a slave processing module; the main processing module is used to obtain a first antenna signal received by the first antenna, obtain first positioning data based on the first antenna signal, and send the first positioning data to the slave processing module; the first antenna is used to receive a satellite signal of a target global navigation satellite system;

[0006] The slave processing module is used to obtain the first positioning data and the second antenna signal received by the second antenna, obtain the directional data based on the first positioning data and the second antenna signal, and feed the directional data back to the main processing module; the second antenna is used to receive the satellite signal of the target global navigation satellite system;

[0007] The main processing module is also used to obtain a positioning and orientation result based on the orientation data and the first positioning data.

[0008] According to the positioning and orientation system of the present application, the slave processing module obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and feeds the orientation data back to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the first positioning data.

[0009] According to one embodiment of the present application, the slave processing module is specifically used to solve the first positioning data and the second antenna signal based on a target algorithm to obtain directional data; wherein the directional data includes at least one of azimuth angle data, roll angle data and pitch angle data.

[0010] According to one embodiment of the present application, the main processing module further includes an inertial measurement unit and a processing unit; the processing unit is used to correct the orientation data based on the measurement results obtained by the inertial measurement unit.

[0011] According to one embodiment of the present application, the system also includes a third antenna and a mobile communication module; the mobile communication module is used to obtain a mobile communication signal received by the third antenna, obtain second positioning data based on the mobile communication signal, and send the second positioning data to a main processing module; the main processing module is used to obtain original positioning data based on the first antenna signal; the original positioning data and the second positioning data are merged to obtain the first positioning data.

[0012] According to one embodiment of the present application, the main processing module also includes a slave module control circuit; the slave module control circuit is used to output a control signal to the slave processing module; the control signal is used to control the slave processing module to enter a download mode and / or restart.

[0013] According to one embodiment of the present application, the control signal includes a first control signal; the slave module control circuit includes a start pin;

[0014] When the main processing module detects the upgrade package applied to the slave processing module, a first control signal is sent to the slave processing module through the start pin of the slave module control circuit to make the slave processing module enter the download mode and download the upgrade package.

[0015] According to one embodiment of the present application, the control signal includes a second control signal; the slave module control circuit includes a restart pin; when the main processing module detects that the slave processing module is abnormal, the second control signal is sent to the slave processing module through the restart pin of the slave module control circuit to restart the slave processing module.

[0016] According to one embodiment of the present application, the system further includes a power module; the power module is used to supply power to the main processing module and the slave processing module.

[0017] According to one embodiment of the present application, the system further includes an antenna detection module for cutting off power to the main processing module when an abnormal state of the first antenna is detected, and / or cutting off power to the slave processing module when an abnormal state of the second antenna is detected.

[0018] In a second aspect, the present application provides a vehicle, comprising the positioning and orientation system according to the first aspect.

[0019] According to the vehicle of the present application, a slave processing module of the positioning and orientation system in the vehicle obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and sends the orientation data to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision vehicle orientation data while obtaining the first vehicle positioning data.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 It is one of the structural schematic diagrams of the positioning and orientation system provided in the embodiment of the present application;

[0023] Figure 2 This is the second structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0024] Figure 3 This is the third structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0025] Figure 4 This is the fourth structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0026] Figure 5 This is the fifth structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0027] Figure 6 This is the sixth structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0028] Figure 7 This is the seventh structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0029] Figure 8 This is the eighth structural diagram of the positioning and orientation system provided in the embodiment of the present application;

[0030] Fig. 9 is a structural schematic diagram of a first antenna provided in an embodiment of the present application;

[0031] Fig.10 is a schematic diagram of the structure of the second antenna provided in an embodiment of the present application;

[0032] Fig.11It is a structural diagram of a communication serial port between a micro control unit and a main processing module provided in an embodiment of the present application;

[0033] Fig.12 It is a structural diagram of the pins of the main processing module provided in an embodiment of the present application;

[0034] Fig.13 It is a structural diagram of an asynchronous transceiver between a mobile communication module and a main processing module provided in an embodiment of the present application;

[0035] Fig.14 is a top view of a vehicle provided in an embodiment of the present application;

[0036] Fig.15 is a rear view of a vehicle provided in an embodiment of the present application;

[0037] Fig.16 is a side view of a vehicle provided in an embodiment of the present application;

[0038] Fig.17 is a structural diagram of an asynchronous transceiver between a slave processing module and a master processing module provided in an embodiment of the present application;

[0039] Fig.18 It is a schematic diagram of a process in which a main processing module sends a first control signal to a slave processing module through a reset pin provided by an embodiment of the present application;

[0040] Fig.19 It is a schematic diagram of a process in which a main processing module sends a first control signal to a slave processing module through a start pin provided by an embodiment of the present application;

[0041] Fig. 20 This is a schematic diagram of the power supply process of the power module provided in an embodiment of the present application;

[0042] Fig.21 is a structural schematic diagram of a first antenna detection unit provided in an embodiment of the present application;

[0043] Fig. 22 is a structural schematic diagram of a second antenna detection unit provided in an embodiment of the present application;

[0044] Fig.23 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0046] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] The following, in conjunction with the accompanying drawings, describes in detail the positioning and orientation system, vehicle, electronic device, and readable storage medium provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0048] The positioning and orientation system may include a terminal, and the terminal may include hardware and software.

[0049] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0050] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.

[0051] The positioning and orientation system provided in the embodiments of the present application can be deployed in electronic devices or functional modules or functional entities in electronic devices that can achieve positioning and orientation. The electronic devices mentioned in the embodiments of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, wearable devices, etc.

[0052] like Figure 1As shown, the positioning and orientation system includes: a first antenna 110, a second antenna 120, a main processing module 130 and a slave processing module 140; the main processing module 130 is used to obtain a first antenna signal received by the first antenna 110, obtain first positioning data based on the first antenna signal, and send the first positioning data to the slave processing module 140; the first antenna is used to receive a satellite signal of a target global navigation satellite system; the slave processing module 140 is used to obtain the first positioning data and the second antenna signal received by the second antenna 120, obtain orientation data based on the first positioning data and the second antenna signal, and feed the orientation data back to the main processing module 130; the second antenna is used to receive a satellite signal of a target global navigation satellite system; the main processing module 130 is also used to obtain a positioning and orientation result based on the orientation data and the first positioning data.

[0053] In some embodiments, the positioning and orientation system can be applied to a vehicle.

[0054] In actual implementation, the first antenna signal may be a signal received by the first antenna and collected by a target Global Navigation Satellite System (GNSS). After acquiring the first antenna signal received by the first antenna, the main processing module may resolve the first antenna signal to obtain the first positioning data.

[0055] In some embodiments, the main processing module can send the first positioning data to the slave processing module based on a control pin, and the control pin can be a communication serial port or a circuit. The main processing module can also control the slave processing module to perform an upgrade operation through the control pin.

[0056] In some embodiments, the main processing module may acquire the second positioning data, and acquire the first positioning data based on the second positioning data and the first antenna signal.

[0057] In some embodiments, the second antenna signal may be a signal received by the second antenna and collected by a target Global Navigation Satellite System (GNSS). The slave processing module may solve the received first positioning data and the second antenna signal to obtain orientation data.

[0058] In some embodiments, after acquiring the directional data, the slave processing module may send the directional data to the master processing module through a control pin between the slave processing module and the master processing module.

[0059] In some embodiments, the orientation data may be data characterizing the posture of the vehicle body. After receiving the orientation data sent by the slave processing module, the main processing module may obtain a positioning and orientation result based on the first positioning data and the orientation data. The positioning and orientation result may include the longitude and latitude of the vehicle's location, the vehicle body offset angle, etc.

[0060] In some embodiments, the main processing module may obtain the operating status of the slave processing module, and control the slave processing module to restart when the slave processing module is in an abnormal state.

[0061] In some embodiments, when the first antenna state is detected to be abnormal, the power supply to the main processing module may be cut off, and / or when the second antenna state is detected to be abnormal, the power supply to the slave processing module may be cut off.

[0062] According to the positioning and orientation system of the embodiment of the present application, the slave processing module obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and feeds the orientation data back to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the first positioning data.

[0063] In some embodiments, the slave processing module is specifically used to solve the first positioning data and the second antenna signal based on a target algorithm to obtain directional data; wherein the directional data includes at least one of azimuth angle data, roll angle data and pitch angle data.

[0064] In actual implementation, the orientation data may be data representing the posture of the vehicle body. The target algorithm may include a Moving base function.

[0065] In some embodiments, after receiving the first positioning data, the processing module may perform Heading solution on the first positioning data and the second antenna signal based on a target algorithm to obtain at least one of azimuth angle data, roll angle data and pitch angle data.

[0066] In actual implementation, the directional angle data may be data representing the direction and angle of vehicle body deviation, the roll angle data may be data representing the direction and angle of vehicle body rollover, and the pitch angle may be data representing the angle of vehicle body dive or crawl.

[0067] In some embodiments, the second antenna signal may be solved by the processing module to obtain solved data, and the solved data may be compared with the first positioning data based on the target algorithm with the solved data as a reference to obtain directional data.

[0068] According to the positioning and orientation system of the embodiment of the present application, the slave processing module solves the first positioning data and the second antenna signal based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module based on the target algorithm, obtains the orientation data, and sends the orientation data to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the first positioning data.

[0069] In some embodiments, Figure 2 As shown, the main processing module 230 also includes an inertial measurement unit 231 and a processing unit; the processing unit is used to correct the orientation data based on the measurement results obtained by the inertial measurement unit 231.

[0070] In actual implementation, the measurement result may be in any theoretically feasible form such as audio, text, etc. The measurement result may include information such as vehicle positioning, heading angle, roll angle, and pitch angle.

[0071] In some embodiments, the main processing module 230 may include an inertial measurement unit 231 (IMU). After receiving the orientation data sent from the processing module 240, the main processing module 230 measures the orientation data based on the inertial measurement unit 231 to obtain the measurement result. The processing unit is used to correct the orientation data based on the measurement result obtained by the inertial measurement unit 231 to determine the vehicle positioning (such as the longitude and latitude of the vehicle's location), the heading angle (such as the deviation angle of the vehicle's driving direction), the roll angle (such as the body rollover angle) and the pitch angle (such as the body's downward dive angle or the body's upward pitch angle).

[0072] According to the positioning and orientation system of the embodiment of the present application, the slave processing module obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and sends the orientation data to the main processing module; the main processing module uses a processing unit to correct the orientation data based on the measurement result obtained by the inertial measurement unit 231, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the first positioning data.

[0073] In some embodiments, Figure 3As shown, the positioning and orientation system may also include a third antenna and a mobile communication module 350; the mobile communication module 350 is used to obtain the mobile communication signal received by the third antenna, obtain the second positioning data based on the mobile communication signal, and send the second positioning data to the main processing module 330; the main processing module 330 is used to obtain the original positioning data based on the first antenna signal; the original positioning data and the second positioning data are merged to obtain the first positioning data.

[0074] In actual implementation, the mobile communication module can be a Long Term Evolution (LTE) module, and the third antenna can be used to receive mobile communication signals sent by a base station. The mobile communication signals may include carrier phases collected by a static base station or a Real-time kinematic (RTK) network via a satellite (e.g., a GPS satellite).

[0075] In some embodiments, the main processing module can obtain original positioning data based on the first antenna signal, and the original positioning data can be a type of the above-mentioned first positioning data. After receiving the second positioning data sent by the mobile communication module, the second positioning data and the original positioning data are differentially analyzed based on the carrier phase difference technology to obtain the first positioning data of centimeter-level positioning.

[0076] According to the positioning and orientation system of the embodiment of the present application, the first positioning data is obtained by using the second positioning data and the first antenna signal obtained by the mobile communication module, and the slave processing module obtains the orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and sends the orientation data to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the centimeter-level first positioning data.

[0077] In some embodiments, Figure 4 As shown, the main processing module 430 also includes a slave module control circuit 432; the slave module control circuit 432 is used to output a control signal to the slave processing module 440; the control signal is used to control the slave processing module to enter the download mode and / or restart.

[0078] In some embodiments, the main processing module 430 is connected to the slave processing module 440 via the slave module control circuit 432; the slave module control circuit 432 is used to forward the upgrade package sent by the main processing module 430 to the slave processing module 440 when the main processing module 430 detects an upgrade package applied to the slave processing module 440, so as to enable the slave processing module 440 to enter the download mode.

[0079] In actual implementation, the slave module control circuit may include a communication serial port and a control circuit. The slave module control circuit may also include a Universal Asynchronous Receiver / Transmitter (UART).

[0080] In some embodiments, after the main control module acquires the first positioning data, the first positioning data may be sent to the slave processing module based on the slave module control circuit. After the slave processing module acquires the orientation data, the slave processing module may send the orientation data to the main processing module based on the slave module control circuit.

[0081] In some embodiments, when the main processing module detects an upgrade package applied to the slave processing module, the upgrade package can be forwarded to the slave processing module through the slave module control circuit based on the transparent transmission technology to make the slave processing module enter the download mode.

[0082] According to the positioning and orientation system of the embodiment of the present application, when the main processing module detects an upgrade package applied to the slave processing module, the upgrade package sent by the main processing module is forwarded to the slave processing module through the slave module control circuit, so as to achieve the purpose of controlling the upgrade of the slave processing module through the connection between the main processing module and the slave processing module.

[0083] In some embodiments, the control signal includes a first control signal; Figure 5 As shown, the slave module control circuit 532 may also include a start pin 532.3; when the main processing module 530 detects an upgrade package applied to the slave processing module 540, a first control signal is sent to the slave processing module 540 through the start pin 532.3 of the slave module control circuit 532, so that the slave processing module 540 enters the download mode and downloads the upgrade package.

[0084] In actual implementation, the first control signal may be a low level signal.

[0085] In actual implementation, the main processing module can control the boot pin (BOOT pin) through a general purpose input output (GPIO) port.

[0086] According to the positioning and orientation system of the embodiment of the present application, when the main processing module detects an upgrade package applied to the slave processing module, the main processing module sends the upgrade package to the slave processing module through the universal asynchronous receiver and transmitter, and sends a first control signal to the reset pin and the start pin respectively, so that the slave processing module enters the download mode, reducing the client serial port occupancy, so as to achieve the purpose of controlling the upgrade of the slave processing module through the connection between the main processing module and the slave processing module.

[0087] In some embodiments, the control signal includes a second control signal; Figure 5 As shown, the slave module control circuit 532 includes a restart pin 532.2; when the main processing module 530 detects that the slave processing module 540 is abnormal, a second control signal is sent to the slave processing module 540 through the restart pin 532.2 of the slave module control circuit 532 to restart the slave processing module 540.

[0088] In actual execution, slave processing module exceptions include slave processing module running away and getting stuck.

[0089] In actual execution, after sending the first positioning data to the slave processing module, the master processing module determines that the slave processing module is abnormal if the master processing module does not receive the directional data sent by the slave processing module through the asynchronous transceiver within the target time period. In some embodiments, after sending the first positioning data to the slave processing module through the asynchronous transceiver, the master processing module does not receive the directional data sent by the slave processing module in response to the first positioning data within 3 seconds, and determines that the slave processing module is abnormal.

[0090] According to the positioning and orientation system of the embodiment of the present application, when the main processing module detects that the slave processing module is in an abnormal state, the main processing module sends a second control signal to the slave processing module through the reset pin to restart the slave processing module, thereby achieving the purpose of real-time detection and maintenance of the operating status of the slave processing module.

[0091] In some embodiments, Figure 6 As shown, the positioning and orientation system further includes a power module 660 ; the power module 660 is used to supply power to the main processing module 630 and the slave processing module 640 .

[0092] In actual implementation, the power module may include a DC-DC converter, a low dropout regulator (LDO), a circuit voltage (Voltage To Current Converter, VCC), a battery voltage (Voltage of Battery, VBAT) and a battery. The battery may be a button battery or any theoretically feasible battery, and this application does not impose any specific restrictions on this.

[0093] In some embodiments, in the case of an external input power source, the DC-DC converter converts the external input 5V-12V DC power into 5V DC power, and the low voltage difference linear regulator converts the 5V DC power into 3.3V DC power and supplies it to the circuit voltage to power the main processing module and the slave processing module. At the same time, the low voltage difference linear regulator can also convert the 5V DC power into 3.3V DC power and supply it to the battery for charging, so that in the case of no external input power source, the battery outputs 3.3V DC power to the battery voltage to power the main processing module and the slave processing module.

[0094] In some embodiments, when the first antenna or the second antenna is abnormal, the power supply of the power module is cut off.

[0095] According to the positioning and orientation system of the embodiment of the present application, power is supplied to the main processing module and the slave processing module through the power supply module, so that the slave processing module obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and sends the orientation data to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision orientation data while obtaining the first positioning data.

[0096] In some embodiments, Figure 7 As shown, the positioning and orientation system also includes an antenna detection module 770, which is used to cut off the power supply of the main processing module 730 when the first antenna 710 is detected to be in an abnormal state, and / or cut off the power supply of the slave processing module 740 when the second antenna 720 is detected to be in an abnormal state.

[0097] In actual implementation, the antenna detection module may include a first antenna detection unit and a second antenna detection unit. The first antenna detection unit is used to detect whether the first antenna is in a normal or abnormal state, and the second antenna detection unit is used to detect whether the second antenna is in a normal or abnormal state.

[0098] In actual implementation, the abnormal states of the first antenna and the second antenna both include a short circuit or an open circuit state.

[0099] In some embodiments, when the first antenna detection unit detects that the first antenna state is abnormal, it can cut off the on-off of the Metal-Oxide-Semiconductor Field-Effect Transistor (MOS) to cut off the power supply of the power module to the main processing module. When the second antenna detection unit detects that the second antenna state is abnormal, it can cut off the on-off of the Metal-Oxide-Semiconductor Field-Effect Transistor to cut off the power supply of the power module to the slave processing module.

[0100] According to the positioning and orientation system of the embodiment of the present application, when the antenna detection module detects that the first antenna state is abnormal, the power supply of the power module to the main processing module is cut off, and / or when the second antenna state is detected to be abnormal, the power supply of the power module to the slave processing module is cut off, so as to improve the safety of use and provide a stable positioning and orientation basis.

[0101] In order to better understand the positioning and orientation system provided in the embodiments of the present application, further explanation is given below. It should be understood that the discussion below is only exemplary.

[0102] like Figure 8 As shown, the present application provides a positioning and orientation system, which includes: a first antenna 810, a second antenna 820, a main processing module 830, a slave processing module 840, a mobile communication module 850, a power module 860 and an antenna detection module.

[0103] In some embodiments, the main processing module 830 is used to obtain a first antenna signal received by the first antenna 810, obtain first positioning data based on the first antenna signal, and send the first positioning data to the slave processing module 840; the first antenna is used to receive a satellite signal of a target global navigation satellite system; the slave processing module 840 is used to obtain the first positioning data and a second antenna signal received by the second antenna 820, obtain orientation data based on the first positioning data and the second antenna signal, and feed the orientation data back to the main processing module 830; the second antenna is used to receive a satellite signal of a target global navigation satellite system; the main processing module 830 is also used to obtain a positioning and orientation result based on the orientation data and the first positioning data.

[0104] In some embodiments, the positioning and orientation system can be applied to a vehicle.

[0105] In actual execution, after acquiring the first antenna signal received by the first antenna, the main processing module may resolve the first antenna signal to acquire the first positioning data.

[0106] In some embodiments, Fig. 9 and Fig.10 As shown, the first antenna and the second antenna may both include a low noise amplifier (LNA), so that the first antenna receives a first antenna signal and the second antenna receives a second antenna signal. The first antenna signal and the second antenna signal may both be signals collected by a target global navigation satellite system (GNSS).

[0107] In some embodiments, Fig.11As shown, the main processing module can be connected to the micro control unit (MCU) through a set of asynchronous transceivers. The asynchronous transceiver may include a TXD port, a RXD interface, and a GND interface. The main processing module can send the positioning and orientation results to the micro control unit through the asynchronous transceiver, and the micro control unit can send the upgrade package of the slave processing module to the main processing module through the asynchronous transceiver, and the main processing module forwards it to the slave processing module.

[0108] In some embodiments, Fig.12 As shown, the main processing module may further include an output pin PPS (used to output a 100ms high-level square wave pulse per second), a wheel speed input pin WHEELTICK and a forward / reverse signal input pin FWD.

[0109] In some embodiments, the mobile communication module 850 is used to obtain the mobile communication signal received by the third antenna, obtain the second positioning data based on the mobile communication signal, and send the second positioning data to the main processing module 830; the main processing module 830 is used to obtain the original positioning data based on the first antenna signal; the original positioning data and the second positioning data are merged to obtain the first positioning data.

[0110] In actual implementation, the mobile communication module can be a Long Term Evolution (LTE) module, and the third antenna can be used to receive mobile communication signals sent by a base station. The mobile communication signals may include carrier phases collected by a static base station or a Real-time kinematic (RTK) network via a satellite (e.g., a GPS satellite).

[0111] In actual implementation, Fig.13 As shown, the mobile communication module can obtain the second positioning data and send the second positioning data to the main processing module.

[0112] In some embodiments, the main processing module can obtain original positioning data based on the first antenna signal, and the original positioning data can be a type of the above-mentioned first positioning data. After receiving the second positioning data sent by the mobile communication module, the second positioning data and the original positioning data are differentially resolved based on the carrier phase difference technology to obtain the first positioning data of centimeter-level positioning. In some embodiments, the slave processing module is specifically used to resolve the first positioning data and the second antenna signal based on the target algorithm to obtain directional data; wherein the directional data includes at least one of the azimuth angle data, the roll angle data, and the pitch angle data.

[0113] In actual implementation, the orientation data may be data representing the posture of the vehicle body. The target algorithm may include a Moving base function.

[0114] In some embodiments, after receiving the first positioning data, the processing module may perform Heading solution on the first positioning data and the second antenna signal based on a target algorithm to obtain at least one of azimuth angle data, roll angle data and pitch angle data.

[0115] In actual implementation, the directional angle data may be data representing the direction and angle of vehicle body deviation, the roll angle data may be data representing the direction and angle of vehicle body rollover, and the pitch angle may be data representing the angle of vehicle body dive or crawl.

[0116] In some embodiments, the second antenna signal may be solved by the processing module to obtain solved data, and the solved data may be compared with the first positioning data based on the target algorithm with the solved data as a reference to obtain directional data.

[0117] In some embodiments, the main processing module 830 further includes an inertial measurement unit 831 and a processing unit; the processing unit is used to correct the orientation data based on the measurement results obtained by the inertial measurement unit 831.

[0118] In actual implementation, the measurement result may be in any theoretically feasible form such as audio, text, etc. The measurement result may include information such as vehicle positioning, heading angle, roll angle, and pitch angle.

[0119] In some embodiments, Figure 8 As shown, the main processing module 830 may include an inertial measurement unit 831 (IMU). After receiving the orientation data sent from the processing module 840, the main processing module 830 measures the orientation data based on the inertial measurement unit 831 to obtain the measurement result. The processing unit is used to correct the orientation data based on the measurement result obtained by the inertial measurement unit 831 to determine the vehicle positioning (such as the longitude and latitude of the vehicle's location), the heading angle (such as the deviation angle of the vehicle's driving direction), the roll angle (such as the body rollover angle) and the pitch angle (such as the body's downward dive angle or the body's upward pitch angle). Fig.14 The figure shows a top view of the vehicle, and angle a is the direction angle. Fig.15 The figure shows the rear view of the vehicle, and angle b is the roll angle. Fig.16 The rear view of the vehicle is shown, and angle c is the pitch angle.

[0120] In some embodiments, the main processing module 830 includes a slave module control circuit 832; the main processing module 830 is connected to the slave processing module 840 through the slave module control circuit 832; the slave module control circuit 832 is used to forward the upgrade package sent by the main processing module 830 to the slave processing module 840 when the main processing module 830 detects an upgrade package applied to the slave processing module 840, so as to enable the slave processing module 840 to enter the download mode.

[0121] In some embodiments, the slave module control circuit 832 may include a universal asynchronous receiver / transmitter 832.1, a reset pin 832.2, and a start pin 832.3. The slave module control circuit 832 is used to output a control signal to the slave processing module 840.

[0122] In some embodiments, when the main processing module 830 detects an upgrade package applied to the slave processing module 840, the main processing module 830 sends the upgrade package to the slave processing module 840 through the asynchronous transceiver 832.1, and sends a first control signal to the reset pin 832.2 and the start pin 832.3 respectively to enable the slave processing module 840 to enter the download mode.

[0123] In some embodiments, Fig.17 As shown, after acquiring the first positioning data, the main processing module can send the first positioning data to the slave processing module based on the asynchronous transceiver. After acquiring the directional data, the slave processing module can send the directional data to the main processing module based on the asynchronous transceiver. The asynchronous transceiver may include a TXD port, a RXD interface, and a GND interface.

[0124] In some embodiments, Fig.18 and Fig.19 As shown, the master processing module can send a first control signal to a reset (RESET) pin and a boot (BOOT) pin respectively to enable the slave processing module to enter a download mode.

[0125] In some embodiments, when the master processing module 830 detects that the slave processing module 840 is abnormal, the master processing module 830 sends a second control signal to the slave processing module 840 via the reset pin 832 . 2 to restart the slave processing module 840 .

[0126] In actual execution, slave processing module exceptions include slave processing module running away and getting stuck.

[0127] In actual execution, after the master processing module sends the first positioning data to the slave processing module through the asynchronous transceiver, if the master processing module does not receive the directional data sent by the slave processing module through the asynchronous transceiver within the target time period, the slave processing module is determined to be abnormal. In some embodiments, after the master processing module sends the first positioning data to the slave processing module through the asynchronous transceiver, if the master processing module does not receive the directional data sent by the slave processing module through the asynchronous transceiver in response to the first positioning data within 3 seconds, the slave processing module is determined to be abnormal.

[0128] In some embodiments, the power module 860 is used to supply power to the master processing module 830 and the slave processing module 840 .

[0129] In actual implementation, the power module may include a DC-DC converter, a low dropout regulator (LDO), a circuit voltage (Voltage To Current Converter, VCC), a battery voltage (Voltage of Battery, VBAT) and a battery.

[0130] In some embodiments, Fig. 20 As shown, in the case of external input power, the DC-DC converter converts the external input 5V-12V DC power into 5V DC power, and the low voltage difference linear regulator converts the 5V DC power into 3.3V DC power and supplies it to the circuit voltage to power the main processing module and the slave processing module. At the same time, the low voltage difference linear regulator can also convert the 5V DC power into 3.3V DC power and supply it to the battery for charging, so that in the case of no external input power, the battery outputs 3.3V DC power to the battery voltage to power the main processing module and the slave processing module.

[0131] In some embodiments, the antenna detection module includes a first antenna detection unit 871 and a second antenna detection unit 872. The first antenna detection unit 871 is used to detect whether the first antenna 810 is in a normal or abnormal state, and the second antenna detection unit 872 is used to detect whether the second antenna 820 is in a normal or abnormal state.

[0132] In actual implementation, the abnormal states of the first antenna and the second antenna both include a short circuit or an open circuit state.

[0133] In some embodiments, Fig.21 As shown, when the first antenna detection unit detects that the first antenna is in an abnormal state, it can cut off the power supply from the power module to the main processing module by cutting off the on-off of the Metal-Oxide-Semiconductor Field-Effect Transistor (MOS). Fig. 22As shown, when the second antenna detection unit detects that the second antenna state is abnormal, it can cut off the power supply from the power module to the slave processing module by cutting off the on-off of the metal oxide semi-conductor field effect transistor.

[0134] In a second aspect, the present application provides a vehicle, comprising the positioning and orientation system according to the first aspect.

[0135] According to the vehicle of the embodiment of the present application, a slave processing module of the positioning and orientation system in the vehicle obtains orientation data based on the second antenna signal received through the second antenna and the first positioning data sent by the main processing module, and sends the orientation data to the main processing module; the main processing module obtains the positioning and orientation result based on the orientation data and the first positioning data, so as to achieve the purpose of obtaining high-precision vehicle orientation data while obtaining the first positioning data of the vehicle.

[0136] The positioning and orientation system in the embodiment of the present application can be deployed in an electronic device, or in a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0137] The positioning and orientation system in the embodiment of the present application can be deployed on a device having an operating system. The operating system can be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0138] In some embodiments, Fig.23As shown, an embodiment of the present application also provides an electronic device 2300, including a processor 2301, a memory 2302, and a computer program stored in the memory 2302 and executable on the processor 2301. When the program is executed by the processor 2301, the above-mentioned positioning and orientation system embodiments are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0139] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0140] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned positioning and orientation system embodiment is implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0141] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0142] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned positioning and orientation system when executed by a processor.

[0143] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0144] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above-mentioned positioning and orientation system embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0145] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0146] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0147] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0148] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0149] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0150] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A positioning and orientation system, characterized in that: It includes a first antenna, a second antenna, a main processing module and a slave processing module; The main processing module is used to obtain a first antenna signal received by the first antenna, obtain first positioning data based on the first antenna signal, and send the first positioning data to the slave processing module; the first antenna is used to receive a satellite signal of a target global navigation satellite system; The slave processing module is used to obtain the first positioning data and the second antenna signal received by the second antenna, obtain directional data based on the first positioning data and the second antenna signal, and feed the directional data back to the main processing module; the second antenna is used to receive satellite signals of a target global navigation satellite system; The main processing module is also used to obtain a positioning and orientation result based on the orientation data and the first positioning data.

2. The positioning and orientation system according to claim 1, characterized in that: The slave processing module is specifically used to solve the first positioning data and the second antenna signal based on a target algorithm to obtain directional data; wherein the directional data includes at least one of azimuth angle data, roll angle data and pitch angle data.

3. The positioning and orientation system according to claim 1, characterized in that: The main processing module also includes an inertial measurement unit and a processing unit; The processing unit is used to correct the orientation data based on the measurement result obtained by the inertial measurement unit.

4. The positioning and orientation system according to claim 1, characterized in that: The system also includes a third antenna and a mobile communication module; The mobile communication module is used to obtain the mobile communication signal received by the third antenna, obtain the second positioning data based on the mobile communication signal, and send the second positioning data to the main processing module; The main processing module is used to obtain original positioning data based on the first antenna signal; and to fuse the original positioning data with the second positioning data to obtain the first positioning data.

5. The positioning and orientation system according to claim 1, characterized in that: The main processing module also includes a slave module control circuit; The slave module control circuit is used to output a control signal to the slave processing module; the control signal is used to control the slave processing module to enter a download mode and / or restart.

6. The positioning and orientation system according to claim 5, characterized in that: The control signal includes a first control signal; the slave module control circuit includes a start pin; When the master processing module detects the upgrade package applied to the slave processing module, a first control signal is sent to the slave processing module through the start pin of the slave module control circuit to make the slave processing module enter the download mode and download the upgrade package.

7. The positioning and orientation system according to claim 5, characterized in that: The control signal includes a second control signal; the slave module control circuit includes a restart pin; When the master processing module detects that the slave processing module is abnormal, a second control signal is sent to the slave processing module through the restart pin of the slave module control circuit to restart the slave processing module.

8. The positioning and orientation system according to claim 1, characterized in that: The system further comprises a power supply module; the power supply module is used to supply power to the main processing module and the slave processing module.

9. The positioning and orientation system according to claim 1, characterized in that: The system further comprises an antenna detection module, which is used to cut off the power supply of the main processing module when it is detected that the first antenna state is abnormal, and / or to cut off the power supply of the slave processing module when it is detected that the second antenna state is abnormal.

10. A vehicle, characterized in that: The vehicle comprises a positioning and orientation system as described in any one of claims 1-9.

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