Sensing data preprocessing expansion card for positioning navigation and control system

Abstract

The invention relates to the technical field of data preprocessing, and provides a sensing data preprocessing expansion card for a positioning navigation and control system, which comprises a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission, synchronization and power supply module and a computing power expansion module, first, second, third and fourth ends of the data transmission, synchronization and power supply module are respectively connected with the positioning navigation host, a first group of pins of the core processor module, the image sensor interface module and the point cloud sensor interface module; data output ends of the image sensor interface module and the point cloud sensor interface module are respectively connected with a second group of pins and a third group of pins of the core processor module; and a first end of the computing power extension module is connected with a fourth group of pins of the core processor module. According to the data preprocessing expansion card, collaborative preprocessing of multiple types of sensing data is achieved, and the adaptation difficulty of a host interface is reduced through a connection scheme of achieving data transmission, synchronization and power supply through a unified single port.

Description

Technical Field

[0001] The present application relates to the field of data preprocessing technology, and in particular to a sensor data preprocessing expansion card for positioning, navigation and control systems. Background Art

[0002] High-precision intelligent positioning and navigation systems are key components of detection equipment such as drones and unmanned boats. Their implementation relies on a variety of visual sensors (such as cameras and light detection and ranging (LiDAR)) to collect environmental data in real time and process it efficiently. However, the raw data from visual sensors has the characteristics of high resolution, high frame rate, and high bandwidth (for example, LiDAR point clouds generate tens of thousands to millions of points of data per second, and color cameras transmit several GB of raw image data per second). If processed directly by a main control platform (such as an embedded central processing unit (CPU) or graphics processing unit (GPU)), it will occupy a large amount of computing resources, causing system response delays, a surge in power consumption, and even affecting the real-time performance of the core positioning algorithm. To this end, the industry has proposed a sensor preprocessing hardware solution. This uses dedicated preprocessing boards to perform preliminary processing (such as filtering, denoising, feature extraction, etc.) on the raw data of data-intensive sensors, and then transmits the streamlined structured data to the main control platform, thereby reducing the main control load and improving system efficiency. However, existing pre-processing boards have many shortcomings in terms of architecture design, interface compatibility, and scalability. Specifically:

[0003] 1. Problems of interface singularity and fixed functions

[0004] Existing pre-processing boards are often designed for a single sensor or specific application scenario, typically only pre-processing a single, fixed sensor data set. When faced with the complex collaborative work of multiple sensors required for high-precision positioning and navigation, a single pre-processing board clearly cannot meet the actual needs. Simply stacking these single-type pre-processing boards would also fail to meet the requirements for miniaturization, lightweighting, and structural simplicity, increasing the difficulty of adaptation in both hardware and software configuration.

[0005] 2. Complex adaptation issues caused by interface heterogeneity

[0006] Even if a pre-processing board with multiple sensor interface types is used to solve the interface shortage problem, there is currently a lack of unified standards for the interface protocol and physical structure of this type of pre-processing board. For example, cameras from different manufacturers may use different interface protocols, which means that the pre-processing board needs to integrate multiple protocol conversion chips (such as MIPI to PCIe bridge chips, USB PHY chips, etc.) to achieve compatibility. The main control platform also needs to match the corresponding data interface to receive the processed visual sensor data. This type of design not only increases hardware costs, but also leads to a chaotic interface layout (such as the board needs to reserve multiple independent interface slots), and even makes "plug and play" difficult to achieve. The heterogeneity of the interface requires the pre-processing board to use an external adapter board or software layer to encapsulate data multiple times when facing the collaborative work of multiple sensors, which significantly increases system complexity and the risk of failure.

[0007] 2. Hardware complexity and computing power burden limit miniaturization and lightweighting

[0008] In order to meet the requirements of multiple interfaces and high computing power, existing pre-processing boards need to integrate multiple physical layer chips (such as PCIe Switch, USB Hub controller, etc.), resulting in complex hardware structure. Due to the differences in voltage requirements of different sensors and processing chips, the board needs to integrate multiple DC-DC power conversion modules and be equipped with independent power supply interfaces (such as 12V DC sockets). This type of design occupies PCB area (the power module can account for 20%-30% of the total area) and requires additional heat dissipation structure, which seriously restricts the miniaturization of the board size. It is difficult to directly integrate into space-constrained drones / unmanned boats, affecting the equipment's endurance and maneuverability. It cannot meet the customization requirements of miniaturization and lightweighting.

[0009] 3. Fixed computing power and functional limitations on scenario adaptability

[0010] Most boards rely on dedicated ASICs (such as Movidius MyriadX) or non-programmable FPGAs (such as Intel Cyclone V) to implement fixed acceleration functions (such as JPEG decoding or point cloud filtering). The number of computing units and memory bandwidth cannot be expanded. Boards usually do not have standard expansion interfaces, and users cannot increase the computing power of the board by inserting co-processing modules. The pre-processing algorithm of the board is usually pre-burned into ROM in the form of binary firmware. Users cannot modify the algorithm parameters or replace the processing flow according to the scene requirements. If new functions need to be supported, the entire board must be replaced, which leads to cost and time overhead. This type of rigid design makes it difficult for the pre-processing board to adapt to dynamically changing scene requirements, restricting the flexibility and reconfigurability of the system.

[0011] In general, existing preprocessing boards are often too specialized to meet the demands of collaborative multi-sensor preprocessing tasks in data-intensive environments. Multifunctional preprocessing boards often have complex interfaces and numerous protocols. To effectively integrate with the host control platform, these boards must accommodate multiple sensor interfaces and corresponding data conversion chips, and provide separate power conversion modules and independent power supply interfaces for the differentiated sensor interfaces and protocol chips. These factors hinder the reduction of circuit board area and power consumption, complicate hardware and software adaptation, and limit the lightweight and flexible design of the equipment. Summary of the Invention

[0012] The present application provides a sensor data preprocessing expansion card for positioning, navigation and control systems, which can solve the problems of single function, complex structure and poor flexibility of use of data preprocessing expansion cards.

[0013] The embodiment of the present application provides a sensor data preprocessing expansion card for positioning, navigation and control systems, which includes a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission and synchronization and power supply module, and a computing power expansion module;

[0014] The core processor module is used to preprocess the input data and transmit the preprocessed data to the positioning and navigation host. The first end of the data transmission, synchronization and power supply module is connected to the data transmission, synchronization and power supply end of the positioning and navigation host, the second end of the data transmission, synchronization and power supply module is connected to the first group of pins of the core processor module, the third end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the image sensor interface module, the fourth end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the point cloud sensor interface module, the data output end of the image sensor interface module is connected to the second group of pins of the core processor module, the data input end and synchronization output end of the image sensor interface module are connected to the data output end and synchronization input end of the image sensor, the data output end of the point cloud sensor interface module is connected to the third group of pins of the core processor module, the data input end and synchronization output end of the point cloud sensor interface module are connected to the data output end and synchronization input end of the point cloud sensor, and the first end of the computing power expansion module is connected to the fourth group of pins of the core processor module.

[0015] Optionally, the image sensor interface module includes an optimized Type-A interface and an optimized hardware trigger synchronization interface;

[0016] The first end of the optimized Type-A interface is the output end of the image sensor data transmission module, and the second end of the optimized Type-A interface is the data input end of the image sensor interface module;

[0017] The first end of the optimized hardware-triggered synchronization interface is the synchronization input end of the image sensor interface module, and the second end of the optimized hardware-triggered synchronization interface is the synchronization output end of the image sensor interface module.

[0018] Optionally, the optimized Type-A interface is a Type-A interface that is connected to a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer.

[0019] The optimized hardware-triggered synchronization interface is a hardware-triggered synchronization interface that is connected to a voltage conversion circuit and adopts signal integrity protection measures.

[0020] Optionally, the point cloud sensor interface module includes an Ethernet interface and a hardware trigger synchronization interface;

[0021] The data output end of the Ethernet interface is the data output end of the point cloud sensor interface module, and the data input end of the Ethernet interface is the data input end of the point cloud sensor interface module;

[0022] The first end of the hardware trigger synchronization interface is the synchronization input end of the point cloud sensor interface module, and the second end of the hardware trigger synchronization interface is the synchronization output end of the point cloud sensor interface module.

[0023] Optionally, the data transmission, synchronization and power supply module is an optimized Type-C interface;

[0024] The first end of the optimized Type-C interface is the first end of the data transmission, synchronization and power supply module, and the second end of the optimized Type-C interface is the second end, the third end and the fourth end of the data transmission, synchronization and power supply module.

[0025] The optional, optimized Type-C interface is an interface that accesses a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer, and supports power supply, data transmission, and hardware-triggered synchronization signal transmission.

[0026] Optionally, when the computing power of the sensor data preprocessing expansion card needs to be increased, the second end of the computing power expansion module is connected to the acceleration card.

[0027] The above solution of the present application has the following beneficial effects:

[0028] In an embodiment of the present application, the sensor data preprocessing expansion card includes a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission and synchronization and power supply module, and a computing power expansion module; the core processor module is used to preprocess the input data and transmit the preprocessed data to the positioning navigation host, the first end of the data transmission and synchronization and power supply module is connected to the data transmission synchronization and power supply end of the positioning navigation host, the second end of the data transmission and synchronization and power supply module is connected to the first group of pins of the core processor module, the third end of the data transmission and synchronization and power supply module is connected to the synchronization input end of the image sensor interface module, the fourth end of the data transmission and synchronization and power supply module is connected to the synchronization input end of the point cloud sensor interface module, the data output end of the image sensor interface module is connected to the second group of pins of the core processor module, the data input end and synchronization output end of the image sensor interface module are connected to the data output end and synchronization input end of the image sensor, the data output end of the point cloud sensor interface module is connected to the third group of pins of the core processor module, the data input end and synchronization output end of the point cloud sensor interface module are connected to the data output end and synchronization input end of the point cloud sensor, and the first end of the computing power expansion module is connected to the fourth group of pins of the core processor module. The integration of power supply, hardware trigger synchronization, and data transmission to the positioning and navigation host into a single module reduces the structural redundancy of expansion cards. Furthermore, all different types of sensor data are fed into the positioning and navigation host through a unified Type-C interface for in-depth processing, simplifying interface adaptation and facilitating plug-and-play. The use of independent modules to transmit data from different visual sensors meets the practical needs of high-precision positioning and navigation for the coordinated positioning and control of multiple visual sensor data types, avoiding the unbalanced functionality and the negative impact of crosstalk on positioning accuracy caused by the coordinated operation of multiple devices.

[0029] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 This is a schematic diagram of the structure of the sensor data preprocessing expansion card for positioning, navigation and control systems provided in this application. DETAILED DESCRIPTION

[0032] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0033] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0034] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0035] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0036] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0037] In response to the problems of single function, complex structure and poor flexibility of use of data preprocessing expansion cards, the present application provides a sensor data preprocessing expansion card for positioning, navigation and control systems, including a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission and synchronization and power supply module, and a computing power expansion module; the core processor module is used to preprocess the input data and transmit the preprocessed data to the positioning and navigation host, the first end of the data transmission and synchronization and power supply module is connected to the data transmission and synchronization and power supply end of the positioning and navigation host, the second end of the data transmission and synchronization and power supply module is connected to the first group of pins of the core processor module, and the first end of the data transmission and synchronization and power supply module is connected to the first group of pins of the core processor module. The third terminal is connected to the synchronization input of the image sensor interface module. The fourth terminal of the data transmission, synchronization, and power supply module is connected to the synchronization input of the point cloud sensor interface module. The data output of the image sensor interface module is connected to the second set of pins of the core processor module. The data input and synchronization output of the image sensor interface module are connected to the data output and synchronization input of the image sensor. The data output of the point cloud sensor interface module is connected to the third set of pins of the core processor module. The data input and synchronization output of the point cloud sensor interface module are connected to the data output and synchronization input of the point cloud sensor. The first terminal of the computing power expansion module is connected to the fourth set of pins of the core processor module. Integrating power supply, synchronization, and data transmission to the positioning and navigation host into a single module reduces expansion card redundancy and enables the use of a single Type-C interface to simultaneously support power supply, data transmission, and hardware-triggered synchronization. Furthermore, all different types of sensor data are fed into the positioning and navigation host for in-depth processing via a unified Type-C interface, simplifying interface adaptation and facilitating plug-and-play user experience. Using independent modules to transmit different sensor data can meet the actual needs of high-precision positioning and navigation for the coordinated positioning and control of multiple types of sensor data, avoiding the adverse effects of single functions and crosstalk on positioning accuracy caused by multiple devices working together.

[0038] The sensor data preprocessing expansion card for positioning, navigation and control systems provided by this application is exemplarily described below with reference to a specific example.

[0039] like Figure 1 As shown, the sensor data preprocessing expansion card includes a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission and synchronization and power supply module, and a computing power expansion module.

[0040] The sensor data pre-processing expansion card is actually a circuit board card used for pre-processing visual sensor data.

[0041] The core processor module is used to preprocess the input data and transmit the preprocessed data to the positioning and navigation host. The first end of the data transmission, synchronization and power supply module is connected to the data transmission, synchronization and power supply end of the positioning and navigation host, the second end of the data transmission, synchronization and power supply module is connected to the first group of pins of the core processor module, the third end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the image sensor interface module, the fourth end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the point cloud sensor interface module, the data output end of the image sensor interface module is connected to the second group of pins of the core processor module, the data input end and synchronization output end of the image sensor interface module are connected to the data output end and synchronization input end of the image sensor, the data output end of the point cloud sensor interface module is connected to the third group of pins of the core processor module, the data input end and synchronization output end of the point cloud sensor interface module are connected to the data output end and synchronization input end of the point cloud sensor, and the first end of the computing power expansion module is connected to the fourth group of pins of the core processor module.

[0042] The above-mentioned positioning and navigation host is a device that provides high-precision positioning and navigation functions, such as drones, unmanned boat navigation equipment, etc.

[0043] The image sensor interface module includes an optimized Type-A interface and an optimized hardware trigger synchronization interface.

[0044] The first end of the optimized Type-A interface is the output end of the image sensor data transmission module, and the data input end of the optimized Type-A interface is the data input end of the image sensor interface module.

[0045] The first end of the optimized hardware trigger synchronization interface is the synchronization input end of the image sensor interface module, and the second end of the optimized hardware trigger synchronization interface is the synchronization output end of the image sensor interface module.

[0046] An optimized Type-A interface incorporates a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer. (Typically, the voltage conversion circuit is integrated into the VBUS line of the Type-A interface.)

[0047] An optimized hardware-triggered synchronization interface is one that incorporates a voltage conversion circuit and employs signal integrity measures (such as impedance matching and ground-enclosed wiring). (The voltage conversion circuit is typically connected to the power input of the hardware-triggered synchronization interface.)

[0048] The point cloud sensor interface module includes an Ethernet interface and a hardware trigger synchronization interface.

[0049] The data output end of the Ethernet interface is the data output end of the point cloud sensor interface module, and the data input end of the Ethernet interface is the data input end of the point cloud sensor interface module.

[0050] The first end of the hardware trigger synchronization interface is the synchronization input end of the point cloud sensor interface module, and the second end of the hardware trigger synchronization interface is the synchronization output end of the point cloud sensor interface module.

[0051] The data transmission, synchronization and power supply module are optimized for the Type-C interface.

[0052] The first end of the optimized Type-C interface is the first end of the data transmission, synchronization and power supply module, and the second end of the optimized Type-C interface is the second end, the third end and the fourth end of the data transmission, synchronization and power supply module.

[0053] By connecting the SBU signal pin at the second end of the optimized Type-C interface to the synchronization input end of the image sensor module and the point cloud sensor module, the optimized Type-C interface transmits the hardware trigger synchronization signal from the positioning and navigation host to the image sensor and the point cloud sensor; by connecting the other signal pins at the second end of the optimized Type-C interface to the core processor module, the optimized Type-C interface supplies power to the sensor data preprocessing expansion card and receives data sent by the core processor module; by connecting the first end of the optimized Type-C interface to the positioning and navigation host, the optimized Type-C interface converts the power supply and current transmission from the positioning and navigation host, transmits the hardware trigger synchronization signal, and sends the data from the core processor module to the positioning and navigation host, thereby realizing the use of only one Type-C interface to simultaneously support power supply, data transmission and hardware trigger synchronization.

[0054] An optimized Type-C interface includes a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer. (The voltage conversion circuit is typically connected to the VBUS or CC line of the Type-C interface.)

[0055] The SBU signal pin of the optimized Type-C interface is connected to the third and fourth ends of the data transmission, synchronization and power supply module and the synchronization signal of the first end, and the other signal pins of the optimized Type-C interface are connected to the second end and other signals of the first end of the data transmission, synchronization and power supply module.

[0056] When the computing power of the sensor data preprocessing expansion card needs to be increased, the second end of the computing power expansion module is connected to the accelerator card.

[0057] It should be noted that the core processor module receives image sensor and point cloud sensor data and pre-processes the received data. The image sensor interface module transmits image sensor data to the core processor module, and the point cloud sensor interface module transmits point cloud sensor data to the core processor module. The data transmission, synchronization, and power supply module provides power to the sensor data pre-processing expansion card and sends hardware trigger synchronization signals. It also transmits the pre-processed data from the core processor module to the positioning and navigation host, which then performs positioning and navigation based on the received data. The optimized Type-A interface's protection circuit provides overvoltage, overcurrent, and electrostatic protection. The handshake circuit manages the supply current. The voltage conversion circuit converts the input voltage to the optimized Type-A interface's operating voltage. The optimized Type-C interface's protection circuit provides overvoltage, overcurrent, and electrostatic protection. The Type-C handshake circuit negotiates the Type-C interface's power supply and custom synchronization signal transmission functions. The voltage conversion circuit converts the Type-C supply voltage to the operating voltage required by the vision sensor pre-processing expansion card. The computing power expansion module expands the computing power of the sensor data pre-processing expansion card, and the accelerator card adds additional computing power.

[0058] For example, the core processor model is Rockchip RK3588, and its quad-channel LPDDR4 memory interface connects two Samsung K4U6E3S4AB-MGCL particles (single capacity 2GB, two make up 4GB capacity) through a point-to-point topology to provide high-speed running memory for the CPU. The PCB adopts a fly-by routing structure and adds termination resistors to suppress signal reflections. The system's main memory uses a Samsung KLM8G1GETF-B041 eMMC 5.1 chip (8GB capacity, 400MB / s read and write speed in HS400 mode), which is directly connected to the 8-bit data bus through the built-in eMMC controller of RK3588. When routing, the CMD / DATA lines are configured with an equal length error of less than 50mil, and a 10μF MLCC capacitor (ESR < 2mΩ) is connected in parallel to the power pin to ensure power integrity.

[0059] The optimized Type-A interface features a SY6280AAC chip for protection. This chip monitors the USB port voltage in real time via an internal comparator. When the voltage exceeds 5.5V, it triggers overvoltage protection, shutting off the MOSFET path. Its integrated TVS diode array and PolySwitch resettable fuse provide three-level ESD protection, absorbing 15kV of contact discharge electrostatic energy to prevent surge damage caused by hot-plugging sensors. The handshake circuit uses a TPS2546 chip, which adjusts the current limit via an external resistor (RILIM) on the ILIM pin, supporting a maximum continuous current of 2.5A. The protection array, an AZ1045-04F chip, protects sensitive electronic components from ESD and overvoltage damage. It can withstand ESDs of ±15kV (air) and ±10kV (contact).

[0060] The Ethernet interface model is HR911130A. The HR911130A connector's built-in Bob-Smith circuit (75Ω resistor in series with a 1000pF capacitor to ground) and common-mode choke (100MHz impedance ≥ 100Ω) jointly suppress common-mode noise, increasing the common-mode rejection ratio of differential signals (MDI / MDI-) to over 60dB. The RTL8211F PHY chip uses adaptive equalization technology to dynamically adjust the receiver gain based on cable length, compensating for high-frequency attenuation and ensuring a bit error rate of less than 10 at 1000Mbps. -12 . One end of the HR911130A connector is connected to the point cloud sensor connector, and the other end is connected to the RGMII interface provided by the GMAC controller of the RK3588 chip through four pairs of differential lines. Two pairs of AZ1045-04F chips are placed near the network port connector to provide ESD protection for the four pairs of differential lines to ensure the signal integrity of the high-speed differential lines. The network port needs to provide a 3.3V power supply, which will be obtained by reducing the 5V voltage obtained from the Type-C interface to 3.3V through the TPS564201DDCR step-down chip. Clock synchronization is achieved by the hardware timestamp unit of the GMAC controller of RK3588, and the network delay jitter is compensated by the IEEE 1588v2 protocol, so that the time synchronization error of multiple point cloud sensors is less than 1μs.

[0061] The optimized Type-C interface's voltage conversion circuit introduces 5V input from the main control platform into the system, providing stable power for the sensor data pre-processing expansion card. The Type-C handshake circuit utilizes the TPS65983B chip to implement the Type-C interface's power, synchronization, and data transmission negotiation functions. It automatically identifies data transmission direction, negotiates supply voltage and current, and triggers custom hardware-based synchronization signal transmission in alternate mode (Alternate Mode) to complete interface initialization. The ESD protection unit utilizes three sets of TVS diodes, capable of withstanding ±15kV ESD shocks, preventing circuit damage. The optimized Type-C interface utilizes a 24-pin, full-function Type-C connector (TYPE-C 24P QT), supporting reversible insertion and high-speed signal transmission. Precision metal contacts ensure reliable plugging and unplugging, as well as signal transmission. The SBU signal line transmits pulse-per-second synchronization signals, and impedance matching and ground-enclosed wiring ensure signal integrity. Together, these components implement four major functions: power supply, data transmission, hardware-triggered synchronization signal transmission, and circuit protection. This enables the interface to provide stable 5V / 3A power, support hardware-triggered synchronization signal transmission including pulse-per-second synchronization signals, and data transmission in USB 3.0 high-speed mode, leaving room for subsequent upgrades.

[0062] The electrostatic protection unit uses three AZ1045-04F TVS diodes to form a low-impedance discharge path between 5V / GND, reducing the electrostatic surge current from 15kV to a safe level.

[0063] The computing power expansion module uses the AS0BC21-S30BM-7H M.2 interface connector manufactured by Foxconn. The architecture of this interface connector primarily includes a PCIe 3.0x4 expansion slot interface, a PI6C557 clock chip, a power supply module, and corresponding matching resistors and filter capacitors. The PCIe 3.0x4 expansion slot interface uses the AS0BC21-S30BM-7H, a 22mm×80mm surface-mount M.2 standard interface, for connecting additional accelerator cards. The PI6C557 clock chip utilizes phase-locked loop technology to multiply the 24MHz external crystal input to 100MHz and generate the REFCLK± signals through three low-noise differential buffers. The clock traces utilize serpentine equal-length routing (length matching error <5mil) and incorporate 50Ω termination resistors to ensure clock skew of the PCIe interface is less than 10ps, meeting the PCIe 3.0 jitter tolerance. The TPS564201 chip uses current-mode step-down conversion, adjusting the switching frequency through an internal compensation network to convert a 5V input into a 3.3V / 2A output. A 10μF ceramic capacitor is connected in parallel to the input stage to filter out high-frequency noise, and a π-type filter is configured at the output stage to reduce the output voltage ripple to less than 30mV, meeting the power supply requirements of the PCIE interface. The 8 pairs of differential lines (TX± / RX±) of PCIE are routed using stripline wiring (impedance controlled at 100Ω±10%) and are shielded by ground holes. Through electromagnetic simulation optimization, crosstalk is suppressed to below -40dB, ensuring a bit error rate of less than 10 at a rate of 32Gbps. -12 .

[0064] In addition, if Figure 1 As shown in the figure, in addition to the above modules, the core processor module is also connected to the cache memory (DDR, Double Data Rate), embedded Multi Media Card (EMMC, embedded Multi Media Card), and Universal Asynchronous Receiver-Transmitter (UART). DDR is used to provide large-capacity data storage and access, EMMC is used for flash memory, and UART is used to implement the debugging interface.

[0065] It's worth noting that power supply, synchronization signal transmission, and data transmission to the positioning and navigation host are all integrated into a single module, reducing the structural redundancy of expansion cards. Furthermore, all different types of sensor data are fed into the positioning and navigation host through a unified Type-C interface for in-depth processing, simplifying interface adaptation and facilitating plug-and-play user experience. Transmitting data from different sensors using independent modules meets the practical needs of high-precision positioning and navigation for the coordinated positioning and control of multiple sensor data types, avoiding the unbalanced functionality and the negative impact of crosstalk on positioning accuracy caused by multiple devices working together.

[0066] In addition, the design of the pluggable accelerator card of the computing power expansion module can flexibly support different preprocessing programs, while improving the computing power of the sensor data preprocessing expansion card and improving the flexibility of the sensor data preprocessing expansion card.

[0067] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A sensor data preprocessing expansion card for positioning, navigation and control systems, characterized in that: The sensor data preprocessing expansion card includes a core processor module, an image sensor interface module, a point cloud sensor interface module, a data transmission and synchronization and power supply module, and a computing power expansion module; The core processor module is used to preprocess the input data and transmit the preprocessed data to the positioning and navigation host. The first end of the data transmission, synchronization and power supply module is connected to the data transmission, synchronization and power supply end of the positioning and navigation host, the second end of the data transmission, synchronization and power supply module is connected to the first group of pins of the core processor module, the third end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the image sensor interface module, the fourth end of the data transmission, synchronization and power supply module is connected to the synchronization input end of the point cloud sensor interface module, the data output end of the image sensor interface module is connected to the second group of pins of the core processor module, the data input end and synchronization output end of the image sensor interface module are connected to the data output end and synchronization input end of the image sensor, the data output end of the point cloud sensor interface module is connected to the third group of pins of the core processor module, the data input end and synchronization output end of the point cloud sensor interface module are connected to the data output end and synchronization input end of the point cloud sensor, and the first end of the computing power expansion module is connected to the fourth group of pins of the core processor module.

2. The sensor data preprocessing expansion card according to claim 1, characterized in that: The image sensor interface module includes an optimized Type-A interface and an optimized hardware trigger synchronization interface; The first end of the optimized Type-A interface is the output end of the image sensor data transmission module, and the second end of the optimized Type-A interface is the data input end of the image sensor interface module; The first end of the optimized hardware-triggered synchronization interface is the synchronization input end of the image sensor interface module, and the second end of the optimized hardware-triggered synchronization interface is the synchronization output end of the image sensor interface module.

3. The sensor data preprocessing expansion card according to claim 2, characterized in that: The optimized Type-A interface is a Type-A interface that is connected to a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer; The optimized hardware-triggered synchronization interface is a hardware-triggered synchronization interface that is connected to a voltage conversion circuit and adopts signal integrity protection measures.

4. The sensor data preprocessing expansion card according to claim 1, characterized in that: The point cloud sensor interface module includes an Ethernet interface and a hardware trigger synchronization interface; The data output end of the Ethernet interface is the data output end of the point cloud sensor interface module, and the data input end of the Ethernet interface is the data input end of the point cloud sensor interface module; The first end of the hardware trigger synchronization interface is the synchronization input end of the point cloud sensor interface module, and the second end of the hardware trigger synchronization interface is the synchronization output end of the point cloud sensor interface module.

5. The sensor data preprocessing expansion card according to claim 1, characterized in that: The data transmission, synchronization and power supply module is an optimized Type-C interface; The first end of the optimized Type-C interface is the first end of the data transmission, synchronization and power supply module, and the second end of the optimized Type-C interface is the second end, the third end and the fourth end of the data transmission, synchronization and power supply module.

6. The sensor data preprocessing expansion card according to claim 5, characterized in that: The optimized Type-C interface is a Type-C interface that is connected to a voltage conversion circuit, a protection circuit at the physical layer, and a handshake circuit at the protocol layer, and supports power supply, data transmission, and hardware-triggered synchronization signal transmission.

7. The sensor data preprocessing expansion card according to claim 1, characterized in that: When the computing power of the sensor data preprocessing expansion card needs to be increased, the second end of the computing power expansion module is connected to the acceleration card.

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