TC positioning chip and 5G conduction integrated terminal

Abstract

The utility model provides a TC positioning chip and 5G conduction integrated terminal, the chip comprises: a TC-OFDM baseband module, a CPU central processor, and an AXI3.0 bus, the TC-OFDM baseband module comprises an AD9361 digital interface, a re-sampling sub-module, a capturing sub-module, a tracking sub-module, and a decoding sub-module, the AD9361 digital interface receives digitized TC-OFDM baseband signals, and the re-sampling sub-module is used for receiving the digitized TC-OFDM baseband signals; the re-sampling sub-module performs re-sampling, the capturing sub-module performs pseudo code capturing, frequency searching and frequency traction on a re-sampled signal, code loop counting and carrier phase parameters are output to the tracking sub-module after capturing succeeds, and the tracking sub-module performs loop tracking. When the tracking loop performs stable tracking, the decoding sub-module analyzes the message of each path of positioning signal to form a protocol message and outputs the protocol message to the CPU, and the CPU performs calculation estimation and positioning calculation according to parameters calculated by the tracking loop in the tracking module and outputs the protocol message and a positioning result. The integration level is improved, and the performance of the terminal is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of communication, navigation and positioning, and in particular to a TC positioning chip and a 5G communication and navigation integrated terminal. Background Art

[0002] At present, various positioning methods continue to emerge. Traditional positioning terminal devices include the widely used positioning terminals based on the GNSS global satellite navigation system, and terminals based on ZigBee, UWB, Wi-Fi, Bluetooth, and NFC technologies. However, these terminals have their own advantages and disadvantages, mainly due to the limitations of usage scenarios. With the development of technology, a new positioning technology based on the principle of TC-OFDM (Time & Code Division-Orthogonal Frequency Division Multiplexing, TC is the abbreviation of TC-OFDM, time division code division orthogonal frequency division multiplexing) is being popularized. However, the TC positioning terminals based on the TC-OFDM principle usually have simple functions, single communication functions, low communication rates, and low integration. Utility Model Content

[0003] In view of the above-mentioned deficiencies in the prior art, the utility model provides a TC positioning chip and a 5G communication and navigation integrated terminal.

[0004] In the first aspect, the utility model provides a TC positioning chip, including: a TC-OFDM baseband module, a CPU (Central Processing Unit), and an AXI3.0 bus. The TC-OFDM baseband module includes an AD9361 digital interface, a resampling submodule, a capture submodule, a tracking submodule, and a decoding submodule. The TC positioning chip is implemented based on the AXI3.0 bus architecture. Each submodule in the TC-OFDM baseband module has an interface for CPU interaction. The CPU implements the workflow, configuration loading, data interaction, and status reporting of the chip baseband module through the AXI3.0 bus.

[0005] The digitized TC-OFDM baseband signal is received through the AD9361 digital interface, and the zero intermediate frequency baseband signal is output to the resampling submodule for resampling. The resampling submodule outputs the resampled signal to the capture submodule. The capture submodule performs pseudo code capture, frequency search, and frequency pulling on the resampled signal. After successful capture, the code loop count and carrier phase parameters are output to the tracking submodule. The tracking submodule performs loop tracking. When the tracking loop is stably tracking, the decoding submodule calculates and analyzes the parameters in the tracking loop, parses the message of each positioning signal, forms a protocol message and outputs it to the CPU. The CPU performs solution estimation and positioning solution according to the parameters calculated by the tracking loop in the tracking module, and outputs the protocol message and positioning result.

[0006] In some embodiments, the TC chip adopts an ARM dual-core M3 architecture, and the CPU is a dual-core ARM Cortex-M3 CPU processor, one ARM Cortex-M3 CPU processor core is used for positioning and solving, and the other ARM Cortex-M3 CPU processor core is used to complete chip system state control.

[0007] In some embodiments, an ARM Cortex-M3 CPU processor core module is used to normalize the protocol messages, and to package and frame the protocol messages and positioning results, and output the packaged data to the CPU module of the terminal through the TC chip serial port according to the working mode, and the CPU module of the terminal processes it.

[0008] In some embodiments, the AD9361 digital interface is a digital interface supporting the AD9361 single-ended CMOS1T1R Full Duplex DDR mode.

[0009] In the second aspect, the utility model also provides a 5G communication and navigation integrated terminal, characterized in that it includes: a 5G module, a TC positioning module, and a CPU module, wherein the 5G module completes inter-board interactive communication with the CPU module through a USB3.0 and a GPIO interface, and the TC positioning module interacts and communicates with the CPU module through a serial port and a GPIO interface, and the TC positioning module includes the TC chip described in the first aspect;

[0010] The CPU module controls the 5G module and the TC positioning module to realize the logic control and task scheduling of various functions of the terminal;

[0011] The TC positioning module is used to perform positioning solution based on TC-OFDM, output positioning results, and communicate and interact with the CPU module;

[0012] The 5G module is used for two-way communication between the CPU module and the server. According to business needs, it supports uploading the terminal's positioning results and related sensor parameters through 5G, supports receiving commands issued by the server and terminal remote upgrade files, and realizes the 5G remote upgrade function.

[0013] In some embodiments, the TC positioning module includes an AD9361 RF transceiver chip, an AD9361 RF front-end link, a TC chip, and related circuits;

[0014] The TC positioning module receives radio frequency signals transmitted by multiple positioning base stations, and AD9361 converts the received radio frequency signals into zero intermediate frequency baseband signals and transmits them to the TC chip of the TC positioning module, so that the TC chip completes the relevant positioning solution according to the instructions of the CPU module to obtain the positioning result.

[0015] In some embodiments, the TC positioning module further includes: a three-axis inertial navigation system, a barometer,

[0016] The barometer is used to measure altitude and send the barometer pressure detection value to the TC chip;

[0017] The three-axis inertial navigation is used to measure the motion state of the terminal and send the inertial navigation data of the three-axis inertial navigation to the TC chip.

[0018] In some embodiments, the TC positioning module further includes: a Bluetooth module,

[0019] The positioning results are transmitted to the CPU module through the serial port. The CPU module packages the positioning results as needed and uploads them to the server display through the 5G module, or transmits the positioning results to the auxiliary display device through the Bluetooth module, and the positioning results of the terminal are displayed on the auxiliary display device.

[0020] In some embodiments, the 5G module supports 5G two-way communication function, supports public network and private network communication, realizes communication and guidance fusion signal system under complex working conditions, and supports N28 frequency band and 10 / 20 / 30MHz bandwidth.

[0021] In some embodiments, it further includes: a power module,

[0022] The power module adopts a wide voltage range input, the DC power supply voltage range supports 10.8V~31V, and the power supply interface has anti-reverse insertion and protection functions. The power module is divided into three routes to supply power to the 5G module, CPU module, and TC positioning module respectively. The power module is designed as a three-level voltage stabilization design and provides a maximum power output of 20W.

[0023] This utility model adopts 5G communication, and the TC positioning module adopts the self-developed TC dedicated chip as the main controller for baseband processing and TC positioning solution, realizing baseband processing, TC positioning solution and peripheral control and communication functions, and realizing the replacement of FPGA+ARM general chip by TC positioning main control chip. The integrated design improves the integration, reduces power consumption, reduces the PCB board area of ​​TC positioning module, reduces the volume, is easy to carry, reduces the cost, and improves the performance of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of a TC positioning chip provided by the utility model;

[0025] Figure 2 This is a structural schematic diagram of a 5G communication and navigation integrated terminal provided by the utility model;

[0026] Figure 3 This is a block diagram of a power module POWER_TREE provided by the utility model. DETAILED DESCRIPTION

[0027] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present invention thorough and complete and to enable those skilled in the art to fully understand the scope of the present invention.

[0028] In the absence of conflict, the features of the present invention and its embodiments may be combined with each other.

[0029] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the existence of the features, wholes, steps, operations, elements and / or components is specified, but the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology and the present invention, and will not be understood to have idealized or overly formal meanings unless explicitly defined herein.

[0032] In order to enable technicians in this field to better understand the technical solution, a TC positioning chip and a 5G communication and navigation integrated terminal provided by the utility model are described in detail below with reference to the accompanying drawings.

[0033] First, as Figure 1 As shown, the utility model provides a TC positioning chip, including: a TC-OFDM baseband module, a CPU, and an AXI3.0 bus. The TC-OFDM baseband module includes an AD9361 digital interface, a resampling submodule, a capture submodule, a tracking submodule, and a decoding submodule. The TC positioning chip is implemented based on the AXI3.0 bus architecture. Each submodule in the TC-OFDM baseband module has an interface for CPU interaction. The CPU implements the workflow, configuration loading, data interaction, and status reporting of the chip baseband module through the AXI3.0 bus.

[0034] The digitized TC-OFDM baseband signal is received through the AD9361 digital interface, and the zero intermediate frequency baseband signal is output to the resampling submodule for pseudo code capture. The resampling submodule outputs the resampled signal to the capture submodule. The capture submodule performs pseudo code capture, frequency search, and frequency pulling on the resampled signal. After successful capture, the code loop count and carrier phase parameters are output to the tracking submodule. The tracking submodule performs loop tracking. When the tracking loop is stably tracking, the decoding submodule calculates and analyzes the parameters in the tracking loop, parses the message of each positioning signal, forms a protocol message and outputs it to the CPU. The CPU performs solution estimation and positioning according to the parameters calculated by the tracking loop in the tracking module, and outputs the protocol message and positioning result.

[0035] The protocol message includes the message information of each navigation positioning signal of each TC positioning base station. The positioning result here includes the positioning result of each navigation signal.

[0036] The TC chip provided in the utility model is a baseband chip for emergency communication terminal systems. The main functional modules of the TC chip are summarized in Table 1. The TC-OFDM baseband module of the TC chip is self-developed. The TC chip is implemented based on the AXI3.0 bus architecture. The TC chip receives and processes TC-OFDM signals to provide users with fast, real-time, high-precision positioning. The positioning information update rate is greater than 20Hz and can be dynamically configured.

[0037]

[0038] In the utility model, the TC positioning module uses a self-developed TC dedicated chip as the main controller for baseband processing and TC positioning solution, realizing baseband processing, TC positioning solution and peripheral control and communication functions, and realizing the replacement of FPGA+ARM general chip by TC positioning main control chip. The integrated design improves the integration, reduces power consumption, reduces the PCB board area of ​​TC positioning module, reduces the volume, reduces the cost, and improves the performance of the terminal.

[0039] In some embodiments, Figure 1 As shown, the TC chip adopts the ARM dual-core M3 architecture, and the CPU is a dual-core ARMCortex-M3 CPU processor, one ARMCortex-M3 CPU processor core is used for positioning and solving, and the other ARMCortex-M3 CPU processor core is used to complete the chip system state control.

[0040] In some embodiments, an ARM Cortex-M3 CPU processor core module is used to normalize the protocol messages, and to package and frame the protocol messages and positioning results, and output the packaged data to the CPU module of the terminal through the TC chip serial port according to the working mode, and the CPU module of the terminal processes it.

[0041] In the utility model, the TC chip adopts the ARM dual-core M3 architecture. In addition to integrating the basic general-purpose on-chip peripherals of the ARM processor, the functional modules such as TC positioning baseband processing and positioning solution are integrated into the chip as peripherals. A TC chip not only includes the basic functions of a general-purpose ARM chip, but also realizes the TC positioning function.

[0042] In some embodiments, the AD9361 digital interface is a digital interface supporting the AD9361 single-ended CMOS1T1R Full Duplex DDR mode.

[0043] Second, as Figure 2 As shown, the utility model also provides a 5G communication and navigation integrated terminal, characterized in that it includes: a 5G module, a TC positioning module, and a CPU module, wherein the 5G module completes inter-board interactive communication with the CPU module through a USB3.0 and a GPIO interface, and the TC positioning module interacts and communicates with the CPU module through a serial port and a GPIO interface, and the TC positioning module includes the TC chip described in the first aspect;

[0044] The CPU module controls the 5G module and the TC positioning module to realize the logic control and task scheduling of various functions of the terminal;

[0045] The TC positioning module is used to perform positioning solution based on TC-OFDM, output positioning results, and communicate and interact with the CPU module;

[0046] The 5G module is used for two-way communication between the CPU module and the server. According to business needs, it supports uploading the terminal's positioning results and related sensor parameters through 5G, supports receiving commands issued by the server and terminal remote upgrade files, and realizes the 5G remote upgrade function.

[0047] In order to improve the functions and performance of the terminal, realize 5G communication and high-precision TC positioning, reduce power consumption and volume, and improve system integration, this utility model designs a 5G communication and navigation integrated terminal. In the 5G communication and navigation integrated terminal, the 5G module is used as a separate board card using the universal 5G module MT5701 (such as Figure 2 ) as the core, the module power supply voltage supports 3.6V ~ 4.4V, and uses USB3.0 and GPIO interface to complete the board-to-board communication with the CPU module. The TC positioning module communicates with the CPU through two reserved serial ports and GPIO. The CPU module is the core controller of the entire terminal, realizing the logic control and task scheduling of various functions of the terminal.

[0048] This utility model adopts 5G communication, and the TC positioning module adopts the self-developed TC dedicated chip as the main controller for baseband processing and TC positioning solution, realizing baseband processing, TC positioning solution and peripheral control and communication functions, and realizing the replacement of TC positioning main control chip for FPGA+ARM general chip. It also has the remote upgrade function that supports 5G and the local maintenance and upgrade function based on Ethernet. The terminal modularization and integrated design is adopted to improve the integration, reduce power consumption, reduce the PCB board area of ​​TC positioning module, reduce the volume, facilitate carrying, reduce costs, and improve the performance of the terminal.

[0049] In some embodiments, the TC positioning module includes an AD9361 RF transceiver chip, an AD9361 RF front-end link, a TC chip, and related circuits;

[0050] The TC positioning module receives radio frequency signals transmitted by multiple positioning base stations, and AD9361 converts the received radio frequency signals into zero intermediate frequency baseband signals and transmits them to the TC chip of the TC positioning module, so that the TC chip completes the relevant positioning solution according to the instructions of the CPU module to obtain the positioning result.

[0051] In some embodiments, the TC positioning module further includes: a three-axis inertial navigation system, a barometer,

[0052] The barometer is used to measure altitude and send the barometer pressure detection value to the TC chip;

[0053] The three-axis inertial navigation is used to measure the motion state of the terminal and send the inertial navigation data of the three-axis inertial navigation to the TC chip.

[0054] Preferably, the TC chip integrates the air pressure detection value of the barometer and the inertial navigation data of the three-axis inertial navigation to achieve high-precision fusion positioning and obtain a fusion positioning result.

[0055] In the present invention, the above-mentioned fusion positioning steps achieve a horizontal accuracy of 1 meter and a vertical accuracy better than 1 meter in line of sight, and support a dynamic range of 0 to 120 km / h (about 33 m / s). The TC positioning module integrates a barometer and a three-axis inertial navigation to achieve multi-source fusion high-precision positioning based on TC-OFDM positioning.

[0056] In some embodiments, the TC positioning module further includes: a Bluetooth module,

[0057] The positioning results are transmitted to the CPU module through the serial port. The CPU module packages the positioning results as needed and uploads them to the server display through the 5G module, or transmits the positioning results to the auxiliary display device through the Bluetooth module, and the positioning results of the terminal are displayed on the auxiliary display device.

[0058] Preferably, the fused positioning results are transmitted to the CPU module through the serial port, and the CPU module packages the fused positioning results as needed and uploads them to the server display terminal through the 5G module for display, or transmits the fused positioning results to the auxiliary display device through the Bluetooth module, and displays the fused positioning results of the terminal through the auxiliary display device (such as a mobile phone pre-installed with a map APP).

[0059] The 5G communication and navigation integrated terminal provided by the utility model supports the server-side positioning result display function, and at the same time realizes the auxiliary display function of the positioning result through Bluetooth communication. Each function can be freely selected according to needs, which solves the problem of auxiliary display of terminal positioning results.

[0060] In some embodiments, the 5G module supports 5G two-way communication function, supports public network and private network communication, realizes communication and guidance fusion signal system under complex working conditions, and supports N28 frequency band and 10 / 20 / 30MHz bandwidth.

[0061] The 5G communication and navigation integrated terminal provided by the utility model solves the 5G two-way communication function of the terminal and the server map positioning platform, supports standard 5G communication functions, supports public network and private network communications, and realizes a communication and navigation fusion signal system under complex working conditions.

[0062] In some embodiments, it further includes: a power module,

[0063] The power module adopts a wide voltage range input, the DC power supply voltage range supports 10.8V ~ 31V, the power supply interface has anti-reverse insertion and protection functions, the power module is divided into three ways to supply power to the 5G module, CPU module, and TC positioning module respectively. The power module is designed as a three-level voltage stabilization design, providing a maximum power output of 20W. The power module POWER_TREE block diagram is as follows Figure 3 shown.

[0064] In some embodiments, the CPU module includes a main control CPU, flash and DDR memory, and various peripheral interfaces;

[0065] The CPU module is used for interactive communication and control with the 5G module and TC positioning module; responsible for the control of interactive communication functions with the server and auxiliary display device: the CPU module controls the operation of each peripheral according to the working mode configuration, communicates with the server or auxiliary display device (such as a mobile phone) as needed through the 5G module or Bluetooth module, receives commands or data, and packages and uploads the positioning results or fused positioning results;

[0066] Through the CPU peripheral interface and other devices interacting, the functions of UART (Universal Asynchronous Receiver / Transmitter, a kind of serial communication interface, also known as UART serial port or UART interface) communication, Ethernet local system maintenance and upgrade, USB communication, external display display and audio input and output are realized.

[0067] Among them, the CPU module uses Rockchip RK3568, DDR memory 2G, and Flash storage space 16G.

[0068] In some embodiments, Figure 2 As shown, it also includes: external interface,

[0069] The external interfaces of the 5G module include: 2 5G antenna interfaces, 1 USIM (Universal Subscriber Identity Module) card interface, and 2 USB3.0 interfaces;

[0070] The external interfaces of the CPU module include: 1 UART interface, 2 Ethernet interfaces (1 reserved, 1 for local maintenance and upgrade), 2 USB interfaces, 1 display interface, and 1 keyboard interface;

[0071] The external interfaces of the TC positioning module include: 1 positioning antenna interface (the antenna supports frequency bands of 1785MHz~1805MHz and 758MHz~803MHz, bandwidth ≥20M, antenna gain 5dBi, standing wave ratio ≤2.0, and antenna polarization is right-hand circular polarization), 1 Bluetooth antenna interface (built-in Bluetooth antenna), and 2 Jtag (Joint Test Action Group, an international standard test protocol) interfaces.

[0072] In some embodiments, the external interface also includes: a power supply interface; indicator lights: a power light, a running light, and a warning light.

[0073] The 5G communication and navigation integrated terminal provided by the utility model has status indication functions such as power supply and operating status.

[0074] also, Figure 2 middle:

[0075] SMP: refers to a type of RF antenna interface, called SMP interface;

[0076] 2T2R: refers to supporting 2-way reception and 2-way transmission, and each antenna supports 1 transmission and 1 reception;

[0077] USB*2: refers to 2 USB ports;

[0078] ETH*2: refers to 2 Ethernet interfaces;

[0079] TX / RX: refers to transmission and reception;

[0080] MT5701: refers to the model of 5G module;

[0081] USB3.0: refers to the USB interface that supports the 3.0 protocol;

[0082] GPIO*10: refers to 10 I / O interfaces, that is, 10 input and output interfaces;

[0083] RK3568: refers to the CPU model;

[0084] 1.2V core: refers to the voltage supplied to the chip core is 1.2V;

[0085] 1.2V core / 3.3 / 1.8V points to the TC positioning module to supply 1.2V, 3.3V, and 1.8V voltages respectively.

[0086] The utility model provides a 5G communication and navigation integrated terminal, which uses a self-developed TC dedicated positioning chip as the main controller of the TC positioning module, integrates a barometer and an inertial navigation to achieve multi-source fusion high-precision positioning, and realizes Bluetooth communication through a Bluetooth module, thereby solving the functions of local display, server-side display and auxiliary display of positioning results. At the same time, the terminal has a 5G remote upgrade function, an Ethernet-based local maintenance and upgrade function, and a power supply and status indication function, thereby realizing a modular and integrated design of the 5G communication and navigation integrated terminal, reducing power consumption, reducing volume, reducing costs, and improving terminal performance.

[0087] In a preferred embodiment, the shell of the 5G communication and navigation integrated terminal provided by the utility model is made of acrylic and aluminum alloy, which is compatible with the functions of strength, heat dissipation, and light transmission, and the barometer is designed to be waterproof and breathable. Anti-collision pads are added around the shell to prevent damage from falling; the dustproof and waterproof design meets the vibration requirements of GJB150.16A-2009 personnel-carried equipment and IPX-5 waterproof requirements. The size of the whole machine is 120mm*60mm*25mm, and the weight is not more than 400g.

[0088] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only as generally illustrative, and not for limiting purposes. In some embodiments, it will be apparent to those skilled in the art that, unless otherwise expressly stated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone, or may be used in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present invention as set forth in the appended claims.

Claims

1. A TC positioning chip, characterized in that: include: TC-OFDM time-division code-division orthogonal frequency-division multiplexing baseband module, CPU central processing unit, AXI3.0 bus, the TC-OFDM baseband module includes AD9361 digital interface, resampling submodule, capture submodule, tracking submodule, decoding submodule, the TC positioning chip is implemented based on the AXI3.0 bus architecture, each submodule in the TC-OFDM baseband module has an interface for CPU interaction, and the CPU implements the workflow, configuration loading, data interaction and status reporting of the chip baseband module through the AXI3.0 bus; The digitized TC-OFDM baseband signal is received through the AD9361 digital interface, and the zero intermediate frequency baseband signal is output to the resampling submodule for resampling. The resampling submodule outputs the resampled signal to the capture submodule. The capture submodule performs pseudo code capture, frequency search, and frequency pulling on the resampled signal. After successful capture, the code loop count and carrier phase parameters are output to the tracking submodule. The tracking submodule performs loop tracking. When the tracking loop is stably tracking, the decoding submodule calculates and analyzes the parameters in the tracking loop, parses the message of each positioning signal, forms a protocol message and outputs it to the CPU. The CPU performs solution estimation and positioning solution according to the parameters calculated by the tracking loop in the tracking module, and outputs the protocol message and positioning result.

2. The TC positioning chip according to claim 1, characterized in that: The TC chip adopts the ARM dual-core M3 architecture, and the CPU is a dual-core ARM Cortex-M3 CPU processor, one ARM Cortex-M3 CPU processor core is used for positioning and solving, and the other ARM Cortex-M3 CPU processor core is used to complete the chip system state control.

3. The TC positioning chip according to claim 2, characterized in that: An ARM Cortex-M3 CPU processor core module is used to normalize the protocol messages, package the protocol messages and positioning results, and output the packaged data to the CPU module of the terminal through the TC chip serial port according to the working mode, and the CPU module of the terminal processes it.

4. The TC positioning chip according to claim 1, characterized in that: The AD9361 digital interface is a digital interface that supports the AD9361 single-ended CMOS1T1R FullDuplex DDR mode.

5. A 5G communication and navigation integrated terminal, characterized in that: It includes: a 5G module, a TC positioning module, and a CPU module. The 5G module completes inter-board interactive communication with the CPU module through USB3.0 and GPIO interface, and the TC positioning module communicates with the CPU module through a serial port and GPIO interface. The TC positioning module includes the TC chip according to any one of claims 1 to 4; The CPU module controls the 5G module and the TC positioning module to realize the logic control and task scheduling of various functions of the terminal; The TC positioning module is used to perform positioning solution based on TC-OFDM, output positioning results, and communicate and interact with the CPU module; The 5G module is used for two-way communication between the CPU module and the server. According to business needs, it supports uploading the terminal's positioning results and related sensor parameters through 5G, supports receiving commands issued by the server and terminal remote upgrade files, and realizes the 5G remote upgrade function.

6. The 5G communication and navigation integrated terminal according to claim 5, characterized in that: The TC positioning module includes an AD9361 RF transceiver chip, an AD9361 RF front-end link, a TC chip and related circuits; The TC positioning module receives radio frequency signals transmitted by multiple positioning base stations, and AD9361 converts the received radio frequency signals into zero intermediate frequency baseband signals and transmits them to the TC chip of the TC positioning module, so that the TC chip completes the relevant positioning solution according to the instructions of the CPU module to obtain the positioning result.

7. The 5G communication and navigation integrated terminal according to claim 6, characterized in that: The TC positioning module also includes: a three-axis inertial navigation system, a barometer, The barometer is used to measure altitude and send the barometer pressure detection value to the TC chip; The three-axis inertial navigation is used to measure the motion state of the terminal and send the inertial navigation data of the three-axis inertial navigation to the TC chip.

8. The 5G communication and navigation integrated terminal according to claim 6, characterized in that: The TC positioning module also includes: a Bluetooth module, The positioning results are transmitted to the CPU module through the serial port. The CPU module packages the positioning results as needed and uploads them to the server display through the 5G module, or transmits the positioning results to the auxiliary display device through the Bluetooth module, and the positioning results of the terminal are displayed on the auxiliary display device.

9. The 5G communication and navigation integrated terminal according to claim 5, characterized in that: The 5G module supports 5G two-way communication function, supports public network and private network communication, realizes communication and guidance fusion signal system under complex working conditions, and supports N28 frequency band and 10 / 20 / 30MHz bandwidth.

10. The 5G communication and navigation integrated terminal according to claim 5, characterized in that: Also includes: Power modules, The power module adopts a wide voltage range input, the DC power supply voltage range supports 10.8V~31V, and the power supply interface has anti-reverse insertion and protection functions. The power module is divided into three routes to supply power to the 5G module, CPU module, and TC positioning module respectively. The power module is designed as a three-level voltage stabilization design and provides a maximum power output of 20W.

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