A GNSS positioning device and method with ultra-high update rate and high precision

Abstract

The application belongs to the technical field of satellite navigation and positioning, and relates to a GNSS positioning device and method with super-high update rate and high precision, which comprises a signal distribution module, a GNSS positioning module array and a single-chip microcomputer.The signal distribution module is used for power dividing a received GNSS satellite signal into multiple radio frequency signals after amplification.The GNSS positioning module array comprises multiple GNSS positioning modules working in parallel, and each GNSS positioning module is used for receiving one radio frequency signal and generating positioning data according to a configured positioning epoch.The single-chip microcomputer is used for configuring the update frequency and the positioning epoch of the GNSS positioning modules, and acquiring multiple positioning data output by the GNSS positioning module array, and fusing the positioning data according to time sequence to obtain a positioning result.The application solves the problem that the existing GNSS positioning device cannot obtain super-high update frequency on a conventional performance GNSS positioning chip at a low threshold by using multiple parallel GNSS positioning modules and configuring the update frequency and the positioning epoch.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation and positioning technology, and specifically discloses a GNSS positioning device and method with ultra-high update rate and high precision. Background Technology

[0002] Existing high-precision RTK GNSS positioning chips are limited by CPU computing performance and storage resource constraints, with a positioning update rate of less than 20Hz, making it difficult to achieve ultra-high update frequencies of 100Hz or higher.

[0003] Currently, increasing the update frequency typically employs the following approach: Option 1 involves integrating a high-frequency, high-performance processor, such as 800MHz or even 1GHz, during the design and development of the GNSS positioning chip. This provides ample computing power for the GNSS baseband processing algorithm and positioning algorithm, enabling the update frequency of a single chip / module to reach 100Hz.

[0004] Option two involves using a conventional clock speed processor in the system design during the GNSS positioning chip development phase, instead of a high-performance processor. However, a dedicated, high-efficiency positioning algorithm hardware acceleration unit is developed to transfer the computational load from the CPU to the dedicated hardware acceleration unit, thereby increasing the update frequency of the positioning chip / module.

[0005] Option 3 involves using a conventional performance processor, without a dedicated hardware accelerator, to integrate inertial devices into the GNSS module. GNSS uses a lower frequency for positioning, and the update frequency is increased by fusing inertial device data and interpolating extrapolation.

[0006] However, both Schemes 1 and 2 require the development of a new high-performance GNSS positioning chip, a high-performance, high-frequency processor, or a dedicated hardware accelerator. Furthermore, the development of a new chip presents high technical barriers, long development cycles, and high costs, necessitating the involvement of specialized chip development companies and the use of advanced chip manufacturing processes. Scheme 3 requires the additional use of inertial devices. However, the inertial devices must undergo initial calibration before their data can be fused to improve the GNSS update frequency. Moreover, the initialization of the inertial devices requires the host to reach a certain speed and perform specific acceleration and attitude changes. These requirements are not feasible in many application scenarios, thus limiting the applicability of Scheme 3.

[0007] Therefore, there is an urgent need for a positioning device and method that can utilize conventional GNSS positioning chips to obtain ultra-high update frequencies of 100Hz and above with low barriers to entry. Summary of the Invention

[0008] The technical problem to be solved by this invention is that existing GNSS positioning devices cannot achieve ultra-high update frequencies with low thresholds on conventional performance GNSS positioning chips.

[0009] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A GNSS positioning device with ultra-high update rate and high precision, comprising: Antenna, used to receive GNSS satellite signals; The signal distribution module is used to amplify the received GNSS satellite signals and then split them into multiple radio frequency signals. The GNSS positioning module array includes multiple GNSS positioning modules that operate in parallel. Each GNSS positioning module receives a radio frequency signal and generates positioning data according to the configured positioning epoch. The microcontroller is used to configure the update frequency and positioning epoch of the GNSS positioning module, as well as to acquire multiple positioning data output by the GNSS positioning module array, and fuse the positioning data in chronological order to obtain the positioning result.

[0010] Furthermore, the configuration of the positioning epoch of the GNSS positioning module includes: Each GNSS positioning module is numbered consecutively. The formula for calculating the positioning epoch is: , , in, This is the j-th positioning epoch of the GNSS positioning module numbered i. N is the number of GNSS positioning modules. M represents the update frequency of the GNSS positioning module; T is the calculation time for GNSS positioning module numbered i; i is the GNSS positioning module number; T is the preset offset time; P is the target update frequency.

[0011] Furthermore, the configuration of the GNSS positioning module's update frequency includes: satisfy , Where P is the target update frequency, M is the update frequency of the GNSS positioning module, and N is the number of GNSS positioning modules.

[0012] Furthermore, the signal distribution module includes: An amplifier is used to amplify received GNSS satellite signals. A multi-stage power divider is used to perform multi-stage power division processing on amplified GNSS satellite signals to obtain multiple radio frequency signals.

[0013] Furthermore, the microcontroller includes: The configuration unit is used to configure the update frequency and positioning epoch of the GNSS positioning module. The data query unit is used to query the positioning status of each GNSS positioning module in turn; The data reading unit is used to read positioning data when the positioning status of any GNSS positioning module is found to be generating new positioning data. A data caching unit is used to temporarily store the read location data; The data sorting unit is used to sort the temporarily stored location data according to the chronological order. The main control processor is used to fuse the sorted positioning data to obtain the positioning result and output the positioning result to the outside world.

[0014] Furthermore, the microcontroller is connected to each GNSS positioning module in the GNSS positioning module array via the I2C bus.

[0015] This invention also relates to an ultra-high update rate and high-precision GNSS positioning method, used in the aforementioned ultra-high update rate and high-precision GNSS positioning device, comprising: Configure the update frequency and positioning epoch of the GNSS positioning module using a microcontroller; Receive GNSS satellite signals via antenna; The received GNSS satellite signals are divided into multiple radio frequency signals through the signal distribution module; Each GNSS positioning module in the GNSS positioning module array receives one radio frequency signal and generates positioning data according to the configured positioning epoch. Multiple positioning data points output by the GNSS positioning module array are acquired by a microcontroller, and the positioning data are fused in chronological order to obtain the positioning result.

[0016] Furthermore, it also includes the configuration steps for the update frequency of the GNSS positioning module, which include: The target update frequency is equal to the product of the update frequency of the GNSS positioning module and the number of GNSS positioning modules.

[0017] Furthermore, it also includes the configuration steps for the positioning epoch of the GNSS positioning module. The configuration of the positioning epoch of the GNSS positioning module includes: Each GNSS positioning module is numbered consecutively. Based on the GNSS positioning module number and target update frequency, the calculation time of the corresponding GNSS positioning module is obtained; Based on the calculation time of the GNSS positioning module and the preset offset time, the positioning epoch of the corresponding GNSS positioning module is obtained.

[0018] Furthermore, multiple positioning data points output by the GNSS positioning module array are acquired via a microcontroller, and these data points are fused in chronological order to obtain the positioning result, including: The positioning status of each GNSS positioning module is queried in turn; When the positioning status of any GNSS positioning module is found to be generating new positioning data, the positioning data is read. Temporarily store the read location data; Sort the temporarily stored location data in chronological order; The sorted location data is then merged to obtain the location result.

[0019] The beneficial effects of this invention are: This invention employs a GNSS positioning module array composed of multiple conventional-performance GNSS positioning modules operating in parallel. Each GNSS positioning module can be flexibly configured with its update frequency and positioning epoch. The positioning epoch configuration includes the calculation time and the preset offset time, enabling each GNSS positioning module to output multiple positioning data points evenly per second. This maintains a certain time offset between each GNSS positioning module, allowing GNSS measurement and positioning to be completed at different times. The positioning data output by each GNSS positioning module is then fused in chronological order to obtain a positioning result with a higher data update rate. This achieves an ultra-high update frequency with low barriers to entry on a conventional-performance GNSS positioning chip. Attached Figure Description

[0020] Figure 1 This is a block diagram of a high-refresh-rate, high-precision GNSS positioning device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the positioning epoch of the GNSS positioning module array in an embodiment of the present invention; Figure 3 This is a flowchart of a high-precision GNSS positioning method with ultra-high update rate according to an embodiment of the present invention. Detailed Implementation

[0021] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0022] A GNSS positioning device with ultra-high update rate and high precision, such as Figure 1 As shown, it includes: The antenna is used to receive GNSS satellite signals; the antenna transmits the received GNSS satellite signals to the signal distribution module.

[0023] The signal distribution module is used to amplify the received GNSS satellite signals and then split them into multiple radio frequency signals. The GNSS positioning module array includes multiple GNSS positioning modules that operate in parallel. Each GNSS positioning module receives a radio frequency signal and generates positioning data according to the configured positioning epoch. The microcontroller is used to configure the update frequency and positioning epoch of the GNSS positioning module, as well as to acquire multiple positioning data output by the GNSS positioning module array, and fuse the positioning data in chronological order to obtain the positioning result.

[0024] First, this invention allows for the construction of ultra-high update frequency devices based solely on conventional GNSS positioning modules. It minimizes the requirements for individual GNSS positioning modules, eliminating the need for expensive high-positioning-rate GNSS modules, thus reducing costs. Furthermore, it eliminates the need for developing new chips, lowering the implementation threshold and making it easy to implement. It also eliminates the need to borrow inertial navigation devices, thus removing initialization calibration maneuver constraints. Second, the positioning data for each positioning epoch comes from the actual valid measurements of a single GNSS positioning module, resulting in no loss of GNSS satellite information. Third, it can increase the target update frequency to a level unattainable by a single GNSS positioning module. Finally, it possesses high scalability; by increasing parallelism, the positioning refresh rate can be increased to 200Hz, 500Hz, or even 1000Hz, while reducing parallelism minimizes the overall construction cost.

[0025] Furthermore, the configuration of the positioning epoch of the GNSS positioning module includes: like Figure 2 As shown, each GNSS positioning module is numbered consecutively; The formula for calculating the positioning epoch is: , , in, This refers to the j-th positioning epoch of the GNSS positioning module numbered i, in seconds. N is the number of GNSS positioning modules. M represents the update frequency of the GNSS positioning module; T is the calculation time for GNSS positioning module numbered i; i is the GNSS positioning module number; T is the preset offset time; P is the target update frequency.

[0026] By maintaining a strict time offset between each GNSS positioning module, GNSS measurement and positioning are completed at different times.

[0027] For example, the target update frequency is 100Hz, the GNSS positioning module update frequency is 10Hz, and there are 10 GNSS positioning modules. The operating sequence of each GNSS positioning module is staggered, and the 10 GNSS positioning modules are numbered sequentially from 0 to 9, with a preset offset time of 0.1s. The GNSS positioning module numbered 0 is the reference module, and its positioning epoch configuration is 0.00s, 0.10s, 0.20s, 0.30s, 0.40s, 0.50s, 0.60s, 0.70s, 0.80s, and 0.90s. The GNSS positioning module numbered 1 is the reference module, with its positioning epochs configured as 0.01s, 0.11s, 0.21s, 0.31s, 0.41s, 0.51s, 0.61s, 0.71s, 0.81s, and 0.91s; the GNSS positioning module numbered 2 is also a reference module, with its positioning epochs configured as 0.02s, 0.12s, 0.22s, 0.32s, 0.42s, 0.52s, 0.62s, 0.72s, 0.82s, and 0.92s; the positioning epochs of the remaining GNSS positioning modules are deduced from the same principle.

[0028] Furthermore, the configuration of the GNSS positioning module's update frequency includes: satisfy , Where P is the target update frequency, M is the update frequency of the GNSS positioning module, and N is the number of GNSS positioning modules.

[0029] For example, if the target update frequency is 100Hz, then 10 GNSS positioning modules should be configured, with each GNSS positioning module configured to update at a frequency of 10Hz, and meeting the following requirements: That is, the overall update frequency of the GNSS positioning module array is equal to the target update frequency.

[0030] Furthermore, the signal distribution module includes: An amplifier is used to amplify received GNSS satellite signals with low noise. A multi-stage power divider is used to perform multi-stage power division processing on amplified GNSS satellite signals to obtain multiple radio frequency signals.

[0031] For example, after the GNSS satellite signal is amplified with low noise, it is divided into 10 radio frequency signals through two power dividers. These 10 radio frequency signals are then input into the GNSS positioning module array, meaning that one radio frequency signal is input into the radio frequency input port of one GNSS positioning module, resulting in a total of 10 high-precision GNSS positioning modules.

[0032] Furthermore, the microcontroller includes: The configuration unit is used to configure the update frequency and positioning epoch of the GNSS positioning module. The data query unit is used to query the positioning status of each GNSS positioning module in turn; The data reading unit is used to read positioning data when the positioning status of any GNSS positioning module is found to be generating new positioning data. A data caching unit is used to temporarily store the read location data; The data sorting unit is used to sort the temporarily stored location data according to the chronological order. The main control processor is used to fuse the sorted positioning data to obtain the positioning result and output the positioning result to the outside world.

[0033] Furthermore, the microcontroller is connected to each GNSS positioning module in the GNSS positioning module array via the I2C bus.

[0034] This invention also relates to an ultra-high update rate and high-precision GNSS positioning method, used in the aforementioned ultra-high update rate and high-precision GNSS positioning device, such as... Figure 3 As shown, it includes the following steps: S1. Configure the update frequency and positioning epoch of the GNSS positioning module through a microcontroller; S2. Receive GNSS satellite signals via antenna; S3. The received GNSS satellite signals are divided into multiple radio frequency signals through the signal distribution module; S4. Receive one radio frequency signal from each GNSS positioning module in the GNSS positioning module array and generate positioning data according to the configured positioning epoch; S5. The microcontroller acquires multiple positioning data output from the GNSS positioning module array and fuses the positioning data in chronological order to obtain the positioning result.

[0035] Furthermore, it also includes the configuration steps for the update frequency of the GNSS positioning module, which include: The target update frequency is equal to the product of the update frequency of the GNSS positioning module and the number of GNSS positioning modules.

[0036] Furthermore, it also includes the configuration steps for the positioning epoch of the GNSS positioning module. The configuration of the positioning epoch of the GNSS positioning module includes: Each GNSS positioning module is numbered consecutively. Based on the GNSS positioning module number and target update frequency, the calculation time of the corresponding GNSS positioning module is obtained; Based on the calculation time of the GNSS positioning module and the preset offset time, the positioning epoch of the corresponding GNSS positioning module is obtained.

[0037] Furthermore, multiple positioning data points output by the GNSS positioning module array are acquired via a microcontroller, and these data points are fused in chronological order to obtain the positioning result, including: The positioning status of each GNSS positioning module is queried in turn; When the positioning status of any GNSS positioning module is found to be generating new positioning data, the positioning data is read. Temporarily store the read location data; Sort the temporarily stored location data in chronological order; The sorted location data is then merged to obtain the location result.

[0038] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A GNSS positioning device with ultra-high update rate and high precision, characterized in that, include: Antenna, used to receive GNSS satellite signals; The signal distribution module is used to amplify the received GNSS satellite signals and then split them into multiple radio frequency signals. The GNSS positioning module array includes multiple GNSS positioning modules that operate in parallel. Each GNSS positioning module is used to receive a radio frequency signal and generate positioning data according to the configured positioning epoch. The microcontroller is used to configure the update frequency and positioning epoch of the GNSS positioning module, as well as to acquire multiple positioning data output by the GNSS positioning module array, and fuse the positioning data in chronological order to obtain the positioning result.

2. The GNSS positioning device with ultra-high update rate and high precision according to claim 1, characterized in that, The configuration of the positioning epoch of the GNSS positioning module includes: Each GNSS positioning module is numbered consecutively. The formula for calculating the positioning epoch is: ， ， in, This is the j-th positioning epoch of the GNSS positioning module numbered i. N is the number of GNSS positioning modules. M represents the update frequency of the GNSS positioning module; T is the calculation time for GNSS positioning module numbered i; i is the number of the GNSS positioning module; T is the preset offset time; P is the target update frequency.

3. The GNSS positioning device with ultra-high update rate and high precision according to claim 1, characterized in that, The configuration of the GNSS positioning module's update frequency includes: satisfy , Where P is the target update frequency, M is the update frequency of the GNSS positioning module, and N is the number of GNSS positioning modules.

4. The GNSS positioning device with ultra-high update rate and high precision according to claim 1, characterized in that, The signal distribution module includes: An amplifier is used to amplify received GNSS satellite signals. A multi-stage power divider is used to perform multi-stage power division processing on amplified GNSS satellite signals to obtain multiple radio frequency signals.

5. A GNSS positioning device with ultra-high update rate and high precision according to claim 1, characterized in that, The microcontroller includes: The configuration unit is used to configure the update frequency and positioning epoch of the GNSS positioning module. The data query unit is used to query the positioning status of each GNSS positioning module in turn; The data reading unit is used to read positioning data when the positioning status of any GNSS positioning module is found to be generating new positioning data. A data caching unit is used to temporarily store the read location data; The data sorting unit is used to sort the temporarily stored location data according to the chronological order. The main control processor is used to fuse the sorted positioning data to obtain the positioning result and output the positioning result to the outside world.

6. The GNSS positioning device with ultra-high update rate and high precision according to claim 1, characterized in that: The microcontroller is connected to each GNSS positioning module in the GNSS positioning module array via the I2C bus.

7. A GNSS positioning method with ultra-high update rate and high precision, characterized in that, A high-precision GNSS positioning device with ultra-high update rate for any one of claims 1-6, comprising: Configure the update frequency and positioning epoch of the GNSS positioning module using a microcontroller; Receive GNSS satellite signals via antenna; The received GNSS satellite signals are divided into multiple radio frequency signals through the signal distribution module; Each GNSS positioning module in the GNSS positioning module array receives one radio frequency signal and generates positioning data according to the configured positioning epoch. Multiple positioning data points output by the GNSS positioning module array are acquired by a microcontroller, and the positioning data are fused in chronological order to obtain the positioning result.

8. The GNSS positioning method with ultra-high update rate and high precision according to claim 7, characterized in that, It also includes a step for configuring the update frequency of the GNSS positioning module, wherein the configuration of the update frequency of the GNSS positioning module includes: The target update frequency is equal to the product of the update frequency of the GNSS positioning module and the number of GNSS positioning modules.

9. A high-precision GNSS positioning method with ultra-high update rate according to claim 8, characterized in that, It also includes the configuration steps for the positioning epoch of the GNSS positioning module, wherein the configuration of the positioning epoch of the GNSS positioning module includes: Each GNSS positioning module is numbered consecutively. Based on the GNSS positioning module number and target update frequency, the calculation time of the corresponding GNSS positioning module is obtained; Based on the calculation time of the GNSS positioning module and the preset offset time, the positioning epoch of the corresponding GNSS positioning module is obtained.

10. A high-precision GNSS positioning method with ultra-high update rate according to claim 7, characterized in that, The process involves acquiring multiple positioning data points output by the GNSS positioning module array via a microcontroller, fusing these data points in chronological order to obtain the positioning result, including: The positioning status of each GNSS positioning module is queried in turn; When the positioning status of any GNSS positioning module is found to be generating new positioning data, the positioning data is read. Temporarily store the read location data; Sort the temporarily stored location data in chronological order; The sorted location data is then merged to obtain the location result.

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