Measurement method and chip

Abstract

Embodiments of the present application disclose a measurement method and a chip. The chip comprises a real-time kinematic (RTK) architecture equipped with a plurality of antennas. The RTK architecture is configured to: on the basis of first global navigation satellite system (GNSS) signals received by the plurality of antennas, measure a heading angle, a pitch angle, and a roll angle of a carrier, or measure the heading angle and the pitch angle of the carrier. Hence, the chip can achieve attitude / orientation determination of the carrier.

Description

A measurement method and chip

[0001] The present application claims priority to the Chinese patent application No. 202410431696.7, filed on April 10, 2024, and entitled "A measurement method and chip", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of global satellite positioning and navigation technology, and in particular to a measurement method and chip. BACKGROUND

[0003] Global navigation satellite systems (GNSS) have the ability of large-scale all-weather high-precision positioning and timing services, and provide important services and protection for power transmission time synchronization, vehicle navigation positioning, agricultural machinery unmanned driving, personnel navigation positioning, etc. In particular, using GNSS real-time kinematic (RTK) technology to measure the attitude of a carrier has the advantages of low cost, no cumulative error, and high precision.

[0004] However, the realization of attitude / orientation determination using GNSS RTK still needs to be studied. SUMMARY

[0005] The embodiments of the present application provide a measurement method and chip, which can realize the attitude / orientation determination of a carrier.

[0006] In a first aspect, the embodiments of the present application provide a chip. The chip comprises: a real-time kinematic (RTK) architecture, the RTK architecture carrying a plurality of antennas, and the RTK architecture being configured to measure a heading angle, a pitch angle and a roll angle of a carrier, or measure a heading angle and a pitch angle of the carrier, based on first global navigation satellite system (GNSS) signals received by the plurality of antennas.

[0007] As can be seen, in the embodiments of the present application, the chip comprises the RTK architecture carrying the plurality of antennas, and the chip can realize the attitude / orientation determination of the carrier based on the first GNSS signals received by the plurality of antennas on the RTK architecture, i.e., the chip can realize the attitude / orientation determination of the carrier in the chip, and the power consumption can be reduced.

[0008] In an alternative embodiment, the RTK architecture carries three antennas. In this embodiment, the RTK architecture is configured to measure the heading angle, the pitch angle and the roll angle of the carrier based on the first GNSS signals received by the three antennas.

[0009] In an optional embodiment, if the RTK architecture is equipped with three antennas, the RTK architecture comprises three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU.

[0010] Each of the three radio frequency front ends is configured to convert the received first GNSS signal into a first digital intermediate frequency signal. Each of the three digital front ends is configured to process the received first digital intermediate frequency signal to obtain a second digital intermediate frequency signal. Each of the three GNSS basebands is configured to perform acquisition and tracking on the received second digital intermediate frequency signal to output a first digital signal. The first CPU is configured to analyze the first digital signal output by the three GNSS basebands to obtain first observation information. The second CPU is configured to construct a double-baseline single-difference model based on the first observation information to obtain a heading angle, a pitch angle and a roll angle of the carrier, the double-baseline comprising a main baseline and a secondary baseline.

[0011] In another optional embodiment, the RTK architecture is equipped with two antennas. In this mode, the RTK architecture is configured to measure a heading angle and a pitch angle of the carrier based on first GNSS signals received by the two antennas.

[0012] In an optional embodiment, if the RTK architecture is equipped with two antennas, the RTK architecture comprises two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU) and a fourth CPU.

[0013] Each of the two radio frequency front ends is configured to convert the received first GNSS signal into a third digital intermediate frequency signal. Each of the two digital front ends is configured to process the received third digital intermediate frequency signal to obtain a fourth digital intermediate frequency signal. Each of the two GNSS basebands is configured to perform acquisition and tracking on the received fourth digital intermediate frequency signal to output a second digital signal. The third CPU is configured to analyze the second digital signal output by the two GNSS basebands to obtain second observation information. The fourth CPU is configured to construct a main baseline single-difference model based on the second observation information to obtain a heading angle and a pitch angle of the carrier.

[0014] In an optional embodiment, the radio frequency front end comprises a low-noise amplifier, a surface acoustic wave filter, a down-conversion module and an analog-to-digital converter.

[0015] Optionally, the low-noise amplifier in the radio frequency front end can be located before or after the surface acoustic wave filter.

[0016] In an optional embodiment, the digital front end comprises a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module.

[0017] In an alternative embodiment, the GNSS baseband comprises a capture engine module and a tracking engine module.

[0018] In an alternative embodiment, each of the plurality of antennas supports at least one of the following frequency points: L1, L2 and L5.

[0019] In an alternative embodiment, the RTK architecture is equipped with a first clock source.

[0020] In a second aspect, the embodiments of the present application provide a measurement method, which is applied to a chip, and the method comprises: measuring a heading angle, a pitch angle and a roll angle of a carrier, or measuring a heading angle and a pitch angle of the carrier, by means of a real-time kinematic (RTK) architecture and a first global navigation satellite system (GNSS) signal. The RTK architecture is equipped with a plurality of antennas, and the first GNSS signal is received by the plurality of antennas on the RTK architecture.

[0021] It can be seen that, in the embodiments of the present application, the chip can realize the pose / orientation of the carrier by means of the RTK architecture equipped with the plurality of antennas, and the power consumption can be reduced.

[0022] In an alternative embodiment, if the RTK architecture is equipped with three antennas, the RTK architecture comprises three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU.

[0023] In this mode, the measurement of the heading angle, the pitch angle and the roll angle of the carrier by means of the RTK architecture and the first GNSS signal comprises: converting the received first GNSS signal into a first digital intermediate frequency signal by means of each of the three radio frequency front ends; processing the received first digital intermediate frequency signal by means of each of the three digital front ends to obtain a second digital intermediate frequency signal; capturing and tracking the received second digital intermediate frequency signal by means of each of the three GNSS basebands to output a first digital signal; analyzing the first digital signals output by the two GNSS basebands by means of the first CPU to obtain first observation information; constructing a double-baseline single-difference model based on the first observation information by means of the second CPU to obtain the heading angle, the pitch angle and the roll angle of the carrier, the double baseline comprising a main baseline and a secondary baseline.

[0024] In another alternative embodiment, if the RTK architecture is equipped with two antennas, the RTK architecture comprises two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU) and a fourth CPU.

[0025] In the mode, the heading angle and the pitch angle of the carrier are measured through the RTK architecture and the first GNSS signal, including: converting the received first GNSS signal into a third digital intermediate frequency signal through each of the two radio frequency front ends; processing the received third digital intermediate frequency signal through each of the two digital front ends to obtain a fourth digital intermediate frequency signal; capturing and tracking the received fourth digital intermediate frequency signal through each of the two GNSS basebands to output a second digital signal; analyzing the second digital signal output by the two GNSS basebands through the third CPU to obtain second observation information; and constructing a main baseline single difference model based on the second observation information through the fourth CPU to obtain the heading angle and the pitch angle of the carrier.

[0026] In an optional implementation, the radio frequency front end includes a low noise amplifier, a surface acoustic wave filter, a down-conversion module, and an analog-to-digital converter.

[0027] Optionally, the low noise amplifier in the radio frequency front end can be located before the surface acoustic wave filter or after the surface acoustic wave filter.

[0028] In an optional implementation, the digital front end includes a pre-processing module, a down-conversion module, a down-sampling module, and a re-quantization module.

[0029] In an optional implementation, the GNSS baseband includes a capture engine module and a tracking engine module.

[0030] In an optional implementation, each of the plurality of antennas supports at least one of the following frequency points: L1, L2, and L5.

[0031] In an optional implementation, the RTK architecture is equipped with a first clock source.

[0032] In a third aspect, an embodiment of the present application provides a communication device, the device is applied to a chip, and the device includes:

[0033] A processing unit is configured to measure a heading angle, a pitch angle, and a roll angle of a carrier, or measure a heading angle and a pitch angle of the carrier, through a real-time dynamic (RTK) architecture and a first global navigation satellite system (GNSS) signal, wherein the RTK architecture is equipped with a plurality of antennas, and the first GNSS signal is received through the plurality of antennas on the RTK architecture.

[0034] Optionally, the communication device further includes a communication unit configured to transmit and receive signals / signaling.

[0035] In addition, in the aspect, other optional embodiments of the communication device can refer to the related content of the first aspect described above, and will not be described in detail here.

[0036] In a fourth aspect, the embodiments of the present application provide a module device, the module device comprising a communication module, a power module, a storage module and a chip, wherein:

[0037] The power module is configured to provide power for the module device.

[0038] The storage module is configured to store data and instructions.

[0039] The communication module is configured to perform internal communication of the module device, or to perform communication between the module device and an external device.

[0040] The chip is the chip of any one of the first aspect.

[0041] In a fifth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing computer readable instructions, when the computer readable instructions are run on a communication device, the communication device is enabled to have the functions of the chip of any one of the first aspect.

[0042] In a sixth aspect, the embodiments of the present application further provide a computer program product, when the computer program product is run on a processor, the method process of any one of the second aspect is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0043] FIG. 1 is a structural schematic diagram of an RTK architecture according to an embodiment of the present application;

[0044] FIG. 2 is a structural schematic diagram of another RTK architecture according to an embodiment of the present application;

[0045] FIG. 3 is a structural schematic diagram of a radio frequency front end according to an embodiment of the present application;

[0046] FIG. 4 is a structural schematic diagram of another radio frequency front end according to an embodiment of the present application;

[0047] FIG. 5 is a structural schematic diagram of another radio frequency front end according to an embodiment of the present application;

[0048] FIG. 6 is a structural schematic diagram of another radio frequency front end according to an embodiment of the present application;

[0049] FIG. 7 is a structural schematic diagram of another radio frequency front end according to an embodiment of the present application;

[0050] FIG. 8 is a structural schematic diagram of another radio frequency front end according to an embodiment of the present application;

[0051] FIG. 9 is a structural schematic diagram of a digital front end according to an embodiment of the present application;

[0052] FIG. 10 is a structural schematic diagram of a GNSS baseband module according to an embodiment of the present application;

[0053] FIG. 11 is a schematic diagram of a principle of installing a main baseline and a secondary baseline on a carrier according to an embodiment of the present application;

[0054] FIG. 12 is a schematic diagram of a structure of another RTK architecture according to an embodiment of the present application;

[0055] FIG. 13 is a schematic diagram of a principle of installing a main baseline on a carrier according to an embodiment of the present application;

[0056] FIG. 14 is a schematic diagram of a flow of a measurement method according to an embodiment of the present application;

[0057] FIG. 15 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0058] FIG. 16 is a schematic diagram of a structure of a module device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0060] In the specification of the present application, the terms "first" and "second" and the like are used to distinguish different objects, and are not used to describe a particular order. "First", "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments, unless otherwise specified, "a plurality of" means two or more.

[0061] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0062] It should be understood that in the present application, "a plurality of" means two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships. For example, "A and / or B" can mean that there are three cases: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. "When" and "if" both refer to the corresponding processing under certain objective circumstances, and are not limited to time, and do not require a judgment action when implemented, nor do they mean that there are other limitations.

[0063] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design described in the embodiments of the present application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used in the sense of "as an example". Thus, the embodiments described herein are non-limiting examples that do not exhaust all possible embodiments or designs.

[0064] The following describes the carrier attitude angle involved in the embodiments of the present application:

[0065] The attitude angle refers to measuring the angular position of a carrier relative to a reference system. The attitude angle of a carrier is defined as three consecutive rotations of the carrier relative to the local horizontal coordinate system about the roll (forward), pitch (right), and yaw (down) axes. Right rotation along the yaw angle (down) axis conforms to the positive definition of the carrier yaw angle, right rotation along the pitch (right) axis conforms to the positive definition of the carrier pitch angle, and right rotation along the roll (forward) axis conforms to the positive definition of the carrier roll angle. The attitude angle of the carrier can be represented by ∈, θ, respectively, representing the yaw angle, pitch angle, and roll angle of the carrier. For GNSS attitude measurement, a local horizontal coordinate system is usually selected. The two most common orthogonal right-hand local horizontal coordinate systems include the east north up (ENU) coordinate system and the north east down (NED) coordinate system, whose XYZ coordinate axes point to the east north up and north east down directions, respectively. In the NED coordinate system, when the carrier is horizontally pointing to the north, the NED axes are completely coincident with the roll (forward), pitch (right), and yaw (down) axes, and the attitude angles of the carrier are all 0 degrees.

[0066] If r b represents the coordinates of a certain spatial vector in the carrier coordinate system, r n represents the coordinates of a certain spatial vector in the NED coordinate system, and matrix represents the conversion matrix from the NED coordinate system to the carrier coordinate system, then r n and r b have the following relationship:

[0067] wherein matrix can represent the product of three direction cosine matrices, each of which represents a rotation, specifically as follows:

[0068] Further, the expressions of the direction cosine matrices are as follows:

[0069] Further, the quasi-transformation matrix from the carrier coordinate system to the local horizontal coordinate system can be represented as:

[0070] Further, substituting the direction cosine into formula (6), the specific form of the transformation matrix of formula (6) is obtained as follows:

[0071] Suppose and are the primary baseline and the secondary baseline in the carrier coordinate system, wherein the primary baseline is installed on the X axis with a length of f 11 , and the secondary baseline is coplanar with the primary baseline but not parallel, and the coordinate components of the X axis and the Y axis are f 21和 f 22 , and are the vector expressions of the primary baseline and the secondary baseline in the NED coordinate system, and then there are:

[0072] Further, the coordinates of the baseline in the carrier coordinate system can be determined when the antenna is installed. Through the transformation matrix, the relationship between the baseline in the carrier coordinate system and the NED coordinate system is:

[0073] Further, formula (12) is expanded to obtain the following relationship about the heading angle and the pitch angle:

[0074] Therefore:

[0075] Further, the expression of the roll angle is obtained as follows:

[0076] Then:

[0077] It can be seen that when solving the heading angle and the pitch angle, the primary baseline components in the NED coordinate system are used, and when solving the roll angle, the position coordinates of the secondary baseline in the carrier coordinate system are also used. Therefore, if the heading angle, the pitch angle and the roll angle of the carrier are measured, the primary baseline and the secondary baseline need to be constructed; if the heading angle and the pitch angle of the carrier are measured, the primary baseline can be constructed.

[0078] Currently, GNSS RTK attitude determination is to use two GNSS receivers to build a main baseline, or to use three GNSS receivers to build a main baseline plus a secondary baseline. Each GNSS receiver receives GNSS signals through a high-precision antenna and outputs raw observations such as carrier phase. Then, the double-difference model is used to construct the observation equation, the ambiguity is solved, the float solution and the fixed solution are calculated, the baseline coordinates in the carrier coordinate system are calculated, and finally the carrier attitude is calculated using the relationship between the attitude angle and the carrier coordinates. However, in the GNSS RTK attitude determination, each GNSS receiver works independently, and has a large volume and high power consumption. In addition, the receiving clocks of each GNSS receiver are not synchronized, and two differences are needed to eliminate the clock difference of the receiver. Compared with the single-difference model, the double-difference model carrier phase observation noise variance is times that of the single-difference model.

[0079] Embodiments of the present application provide a chip, which comprises an RTK architecture, the RTK architecture carrying a plurality of antennas, and the RTK architecture being configured to measure a heading angle, a pitch angle and a roll angle of a carrier based on first GNSS signals received by the plurality of antennas, or to measure a heading angle and a pitch angle of the carrier.

[0080] Optionally, the RTK architecture is located in the chip, and the RTK architecture can be referred to as a GNSS chip-in-RTK architecture. Embodiments of the present application do not limit the naming of the RTK architecture.

[0081] Referring to FIG. 1, FIG. 1 is a structural schematic diagram of an RTK architecture. As shown in FIG. 1, the RTK architecture carries a plurality of antennas, and the RTK architecture is configured to measure a heading angle, a pitch angle and a roll angle of a carrier based on first GNSS signals received by the plurality of antennas, or to measure a heading angle and a pitch angle of the carrier.

[0082] It can be seen that, in embodiments of the present application, the chip comprises an RTK architecture carrying a plurality of antennas, and the chip can realize the attitude / orientation determination of the carrier based on the first GNSS signals received by the plurality of antennas on the RTK architecture, that is, the chip can realize the attitude / orientation determination of the carrier in the chip, and the power consumption can be reduced.

[0083] Embodiments of the present application provide a chip, which comprises an RTK architecture, the RTK architecture carrying three antennas, and the RTK architecture being configured to measure a heading angle, a pitch angle and a roll angle of a carrier based on first GNSS signals received by the three antennas.

[0084] Optionally, the RTK architecture is configured to measure a heading angle, a pitch angle and a roll angle of a carrier, and the RTK architecture can be referred to as an RTK attitude determination architecture. Optionally, the RTK architecture is located in the chip, and the RTK architecture can be referred to as a GNSS chip-in-RTK architecture. Embodiments of the present application do not limit the naming of the RTK architecture.

[0085] In an optional implementation, the RTK architecture includes three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU.

[0086] Referring to FIG. 2, FIG. 2 is a structural schematic diagram of another RTK architecture. As shown in FIG. 2, the RTK architecture includes three radio frequency front ends, three digital front ends, three GNSS basebands, a first CPU and a second CPU, and the RTK architecture is equipped with an antenna A, an antenna B and an antenna C.

[0087] Each of the three radio frequency front ends is configured to convert a received first GNSS signal into a first digital intermediate frequency signal. The first GNSS signal is a GNSS signal received by the antenna A, the antenna B and the antenna C equipped on the RTK architecture.

[0088] Optionally, FIG. 3 is a structural schematic diagram of a radio frequency front end. As shown in FIG. 3, the radio frequency front end includes a low noise amplifier (LNA), a surface acoustic wave (SAW), a down conversion (DC) module and an analog-to-digital converter (ADC). Thus, the first GNSS signal enters the LNA, the SAW, the DC module and the ADC of the radio frequency front end through the antenna, and becomes the first digital intermediate frequency signal.

[0089] Optionally, the order of the LNA and the SAW in the radio frequency front end can be exchanged. For example, FIG. 4 is a structural schematic diagram of another radio frequency front end, which includes a SAW, an LNA, a DC and an ADC. Compared with FIG. 3, the SAW in FIG. 4 is located before the LNA.

[0090] Optionally, the antenna A, the antenna B and the antenna C equipped on the RTK architecture can support at least one of the following frequency points: L1, L2 and L5.

[0091] In an optional implementation, if the antenna A, the antenna B and the antenna C equipped on the RTK architecture support one of the following frequency points: L1, L2 and L5, the structural schematic diagram of the radio frequency front end can refer to FIG. 3 or FIG. 4 described above. It can be seen that, if the antenna A, the antenna B and the antenna C equipped on the RTK architecture support one of the following frequency points: L1, L2 and L5, the radio frequency front end includes one radio frequency channel to support one frequency point.

[0092] In another alternative embodiment, if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following two frequency points: L1, L2 and L5, the structure diagram of the radio frequency front end can be seen in FIG. 5, that is, FIG. 5 is another structure diagram of the radio frequency front end. Alternatively, if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following at least two frequency points: L1, L2 and L5, the structure diagram of the radio frequency front end can be seen in FIG. 6, that is, FIG. 6 is another structure diagram of the radio frequency front end. Alternatively, the positions of the LAN and the SAW in FIG. 5 and FIG. 6 can be interchanged, that is, the position of the LAN can be after the position of the SAW.

[0093] It can be seen that if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following two frequency points: L1, L2 and L5, the radio frequency front end includes two radio frequency channels to support two frequency points.

[0094] In another alternative embodiment, if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following three frequency points: L1, L2 and L5, the structure diagram of the radio frequency front end can be seen in FIG. 7, that is, FIG. 7 is another structure diagram of the radio frequency front end. Alternatively, if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following three frequency points: L1, L2 and L5, the structure diagram of the radio frequency front end can be seen in FIG. 8, that is, FIG. 8 is another structure diagram of the radio frequency front end. Alternatively, the positions of the LAN and the SAW in FIG. 7 and FIG. 8 can be interchanged, that is, the position of the LAN can be after the position of the SAW.

[0095] It can be seen that if the antenna A, the antenna B and the antenna C carried on the RTK architecture support the following three frequency points: L1, L2 and L5, the radio frequency front end includes three radio frequency channels to support three frequency points.

[0096] In addition, each of the three digital front ends in the RTK architecture is configured to process the received first digital intermediate frequency signal to obtain a second digital intermediate frequency signal.

[0097] Optionally, Figure 9 is a schematic diagram of the structure of a digital front end (DFE). As shown in Figure 9, the DFE includes a preprocessing module, a downconversion module, a downsampling module, and a requantization module. The preprocessing module filters the first digital intermediate frequency (IF) signal output by the ADC to remove in-band and out-of-band interference signals, and then transmits the signal to the downconversion module. Furthermore, the downconversion module converts the signal output by the preprocessing module to a zero IF and transmits the signal to the downsampling module. Furthermore, the downsampling module downsamples the signal output by the downconversion module to a sampling rate that can be processed by the baseband. It should be noted that different GNSS frequencies have different bandwidths and corresponding sampling rates. The downsampling module adjusts the downsampling rate accordingly when processing signals at different GNSS frequencies. Furthermore, the requantization module quantizes the signal output by the downsampling module, converting the signal bandwidth to a signal width that can be processed by the baseband module, thereby ensuring signal performance while reducing hardware resource requirements.

[0098] In addition, each of the three GNSS basebands is used to capture and track the received second digital intermediate frequency signal and output a first digital signal.

[0099] Optionally, Figure 10 is a schematic diagram of the structure of a GNSS baseband module. As shown in Figure 10, the GNSS baseband module includes a capture engine module and a tracking engine module. The capture engine module searches for the second digital intermediate frequency signal in the frequency and pseudo code two-dimensional domain to find the correlation peak. When the correlation peak is greater than a preset threshold, the pseudo code phase value and frequency value at this time are recorded and output to the tracking module. Furthermore, the tracking module narrows the frequency and pseudo code interval within the pseudo code and frequency range based on the capture code phase and frequency values ​​provided by the capture module to perform precise capture, obtain more accurate code phase and frequency values, and output them to the tracking loop to ensure continuous and stable tracking of the second digital intermediate frequency signal and output the first digital signal.

[0100] In addition, the first CPU is used to analyze the first digital signals output by the three GNSS basebands to obtain first observation information; the second CPU is used to construct a dual-baseline single-difference model based on the first observation information to obtain the heading angle, pitch angle and roll angle of the carrier. The dual baseline includes a main baseline and a secondary baseline.

[0101] Specifically, the first CPU processes the first digital signal output by the GNSS baseband, parses the satellite navigation message, obtains the satellite signal transmission time, calculates the observation information such as the pseudorange and pseudorange rate between the satellite and the receiver (the receiver deployed in the GNSS chip), and outputs it to the second CPU through inter-CPU communication.

[0102] The second CPU constructs a double-baseline single-difference model by using the raw observation information such as carrier phase, the double baseline includes a main baseline and a sub-baseline, and solves the main baseline vector and the sub-baseline float solution and fixed solution, and further calculates the coordinates of the main baseline vector and the sub-baseline vector in the carrier coordinate system, and solves the heading angle, the pitch angle and the roll angle of the carrier by using the conversion relationship between the carrier coordinate system and the local horizontal coordinate system, so as to realize the pose determination of the carrier. It can be seen that the RTK architecture shown in FIG. 2 is to measure the heading angle, the pitch angle and the roll angle of the carrier by constructing a double-baseline single-difference model.

[0103] In summary, in the RTK architecture, each of the three radio frequency front ends is configured to convert the received first GNSS signal into a first digital intermediate frequency signal; each of the three digital front ends is configured to process the received first digital intermediate frequency signal to obtain a second digital intermediate frequency signal; each of the three GNSS basebands is configured to perform acquisition and tracking on the received second digital intermediate frequency signal to output a first digital signal; the first CPU is configured to analyze the first digital signal output by the three GNSS basebands to obtain first observation information; and the second CPU is configured to construct a double-baseline single-difference model based on the first observation information to obtain the heading angle, the pitch angle and the roll angle of the carrier, and the double baseline includes a main baseline and a sub-baseline.

[0104] Optionally, the main baseline is installed on the carrier roll axis, and the sub-baseline is coplanar with and non-parallel to the main baseline. Please refer to FIG. 11, which is a schematic diagram of the installation principle of the main baseline and the sub-baseline on the carrier. In FIG. 11, the connection line between the GNSS antenna A and the GNSS antenna B is the main baseline, which is installed on the carrier roll axis and parallel to the movement direction of the carrier; the connection line between the GNSS antenna B and the GNSS antenna C is the sub-baseline, and the connection line between the GNSS antenna A and the GNSS antenna B is perpendicular to the connection line between the GNSS antenna B and the GNSS antenna C, that is, the sub-baseline is perpendicular to the main baseline. Optionally, the sub-baseline in FIG. 11 is coplanar with and non-parallel to the main baseline.

[0105] Optionally, the RTK architecture shown in FIG. 2 further carries a first clock source, so that the RTK architecture includes three independent radio frequency front ends, digital front ends and GNSS basebands, and the three receivers in the chip use the same clock, so that the chip performs a differential calculation when processing signals, which can reduce the carrier phase observation noise variance and improve the precision.

[0106] It should be noted that the pose determination in the embodiments of the present application can also be referred to as orientation, direction finding, etc., which is not limited in the embodiments of the present application.

[0107] It can be seen that in the embodiments of the present application, the chip includes an RTK architecture carrying three antennas, and the pose determination of the carrier can be realized by the RTK architecture, that is, the pose determination of the carrier can be realized in the chip, which can reduce the power consumption.

[0108] The embodiment of the present application also provides a chip, which comprises an RTK architecture, and the RTK architecture is provided with two antennas, and the RTK architecture is used to measure a heading angle and a pitch angle of a carrier based on a second GNSS signal received by the two antennas.

[0109] Optionally, the RTK architecture is used to measure the heading angle and the pitch angle of the carrier, and the RTK architecture can be referred to as an RTK orientation architecture. Optionally, the RTK architecture is located in the chip, and the RTK architecture can be referred to as a GNSS chip in-chip RTK architecture. The naming of the RTK architecture in the embodiment of the present application is not limited.

[0110] In an optional implementation, the RTK architecture comprises two radio frequency front ends, two digital front ends, two GNSS basebands, a third CPU and a fourth CPU.

[0111] Referring to FIG. 12, FIG. 12 is a structural schematic diagram of an RTK architecture. As shown in FIG. 12, the RTK architecture comprises two radio frequency front ends, two digital front ends, two GNSS basebands, a third CPU and a fourth CPU. Each of the two radio frequency front ends is used to convert a received first GNSS signal into a third digital intermediate frequency signal; each of the two digital front ends is used to process the received third digital intermediate frequency signal to obtain a fourth digital intermediate frequency signal; each of the two GNSS basebands is used to capture and track the received fourth digital intermediate frequency signal to output a second digital signal; the third CPU is used to analyze the second digital signal output by the two GNSS basebands to obtain second observation information; and the fourth CPU is used to construct a main baseline single difference model based on the second observation information to obtain a heading angle and a pitch angle of a carrier.

[0112] In an optional implementation, the radio frequency front end comprises a LAN, a SAW, a down-conversion module and an ADC, and a structural schematic diagram thereof can be referred to FIG. 3. Optionally, the order of the LAN and the SAW included in the radio frequency front end can be exchanged, for example, a structural schematic diagram of the radio frequency front end can be referred to FIG. 4, and the order of the SAW in the radio frequency front end is located before the order of the LAN.

[0113] In an optional implementation, each of the two antennas provided by the RTK architecture supports at least one of the following frequency points: L1, L2 and L5.

[0114] If each of the two antennas of the RTK architecture supports one of the following frequency points: L1, L2 and L5, the radio frequency front end includes one radio frequency channel, and the structural schematic diagram can be seen from FIG. 3 or FIG. 4. If each of the two antennas of the RTK architecture supports two of the following frequency points: L1, L2 and L5, the radio frequency front end includes two radio frequency channels, and the structural schematic diagram can be seen from FIG. 5 or FIG. 6. If each of the two antennas of the RTK architecture supports three of the following frequency points: L1, L2 and L5, the radio frequency front end includes three radio frequency channels, and the structural schematic diagram can be seen from FIG. 7 or FIG. 8.

[0115] In an optional embodiment, the digital front end includes a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module. The structural schematic diagram of the digital front end can be seen from FIG. 9, and will not be described here.

[0116] In an optional embodiment, the GNSS baseband includes an acquisition engine module and a tracking engine module, and the structural schematic diagram can be seen from FIG. 10, and will not be described here.

[0117] In an optional embodiment, the RTK architecture further carries a first clock source, so that the RTK architecture includes two independent radio frequency front ends, digital front ends and GNSS basebands, and uses a common clock in the chip. The clock difference of the two receivers in the chip is consistent, so that the chip performs a differential calculation when processing signals, which can reduce the noise variance of the carrier phase observation and improve the precision.

[0118] As can be seen, the RTK architecture in the embodiments of the present application obtains the heading angle and the pitch angle of the carrier by constructing a main baseline single-difference model.

[0119] Optionally, the dual antennas on the main baseline are installed on the carrier roll axis. Please refer to FIG. 13, which is a schematic diagram of the installation principle of a main baseline on a carrier. In FIG. 13, the direction of the line connecting the GNSS antenna A and the GNSS antenna B is parallel to the direction of the carrier movement.

[0120] The embodiments of the present application also provide a measurement method. Please refer to FIG. 14, which is a flowchart of the measurement method.

[0121] As described in FIG. 14, the measurement method includes but is not limited to the following steps:

[0122] S1401. The chip measures the heading angle, the pitch angle and the roll angle of the carrier, or measures the heading angle and the pitch angle of the carrier through the RTK architecture and the first GNSS signal.

[0123] The RTK architecture carries multiple antennas, and the first GNSS signal is received through the multiple antennas on the RTK architecture.

[0124] In an optional embodiment, if the RTK architecture is equipped with three antennas, the RTK architecture includes three radio frequency front ends, three digital front ends, three GNSS basebands, a first CPU and a second CPU. In this mode, the chip measures the heading angle, pitch angle and roll angle of the carrier through the RTK architecture and the first GNSS signal, including: converting the received first GNSS signal into a first digital intermediate frequency signal through each of the three radio frequency front ends; processing the received first digital intermediate frequency signal through each of the three digital front ends to obtain a second digital intermediate frequency signal; capturing and tracking the received second digital intermediate frequency signal through each of the three GNSS basebands, and outputting a first digital signal; analyzing the first digital signal output by the three GNSS basebands through the first CPU to obtain first observation information; and constructing a double baseline single difference model based on the first observation information through the second CPU to obtain the heading angle, pitch angle and roll angle of the carrier, the double baseline including a main baseline and a secondary baseline.

[0125] In another optional embodiment, if the RTK architecture is equipped with two antennas, the RTK architecture includes two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU) and a fourth CPU. In this mode, the chip measures the heading angle and pitch angle of the carrier through the RTK architecture and the first GNSS signal, including: converting the received first GNSS signal into a third digital intermediate frequency signal through each of the two radio frequency front ends; processing the received third digital intermediate frequency signal through each of the two digital front ends to obtain a fourth digital intermediate frequency signal; capturing and tracking the received fourth digital intermediate frequency signal through each of the two GNSS basebands, and outputting a second digital signal; analyzing the second digital signal output by the two GNSS basebands through the third CPU to obtain second observation information; and constructing a main baseline single difference model based on the second observation information through the fourth CPU to obtain the heading angle and pitch angle of the carrier.

[0126] In an optional embodiment, the radio frequency front end includes a low noise amplifier, a surface acoustic wave filter, a down-conversion module and an analog-to-digital converter.

[0127] In an optional embodiment, each antenna of the plurality of antennas supports at least one of the following frequency points: L1, L2 and L5. If each antenna of the three antennas supports one of the following frequency points: L1, L2 and L5, the structural schematic diagram of the radio frequency front end can be seen in FIG. 3 or FIG. 4 described above. If each antenna of the three antennas supports two of the following frequency points: L1, L2 and L5, the structural schematic diagram of the radio frequency front end can be seen in FIG. 5 or FIG. 6 described above. If each antenna of the three antennas supports three of the following frequency points: L1, L2 and L5, the structural schematic diagram of the radio frequency front end can be seen in FIG. 7 or FIG. 8 described above.

[0128] In an optional implementation, the digital front end includes a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module. The structural diagram of the digital front end can be seen from FIG. 9, which will not be repeated here.

[0129] In an optional implementation, the GNSS baseband includes an acquisition engine module and a tracking engine module. The structural diagram of the GNSS baseband can be seen from FIG. 10, which will not be repeated here.

[0130] In an optional implementation, the RTK architecture further carries a first clock source. In this way, the RTK architecture including multiple independent radio frequency front ends, digital front ends and GNSS basebands in the chip uses a common clock in the chip, the clock differences of multiple receivers in the chip are consistent, and then the chip performs a differential calculation when processing signals, which can reduce the noise variance of carrier phase observations and improve the precision.

[0131] Optionally, the chip in the embodiments of the present application can also be a device, which is not limited in the embodiments of the present application.

[0132] As can be seen, in the embodiments of the present application, the chip can realize the pose / orientation of the carrier through the RTK architecture in the chip, that is, the pose / orientation in the chip can be realized, and the power consumption can be reduced.

[0133] Referring to FIG. 15, FIG. 15 is a structural diagram of a communication device 1500 provided by the embodiments of the present application, which can be used in a chip.

[0134] In an implementation, the communication device 1500 can include:

[0135] The processing unit 1501 is configured to measure the heading angle, the pitch angle and the roll angle of the carrier, or measure the heading angle and the pitch angle of the carrier through a real-time kinematic (RTK) architecture and a first global navigation satellite system (GNSS) signal, wherein the RTK architecture carries multiple antennas, and the first GNSS signal is received through the multiple antennas on the RTK architecture.

[0136] In an alternative embodiment, if the RTK architecture is equipped with three antennas, the RTK architecture comprises three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU; the processing unit 1501 measures the heading angle, the pitch angle and the roll angle of the carrier through the RTK architecture and the first GNSS signal, comprising: converting the received first GNSS signal into a first digital intermediate frequency signal through each of the three radio frequency front ends; processing the received first digital intermediate frequency signal through each of the three digital front ends to obtain a second digital intermediate frequency signal; capturing and tracking the received second digital intermediate frequency signal through each of the three GNSS basebands to output a first digital signal; analyzing the first digital signal output by the three GNSS basebands through the first CPU to obtain first observation information; constructing a double baseline single difference model based on the first observation information through the second CPU to obtain the heading angle, the pitch angle and the roll angle of the carrier, wherein the double baseline comprises a main baseline and a secondary baseline.

[0137] In another alternative embodiment, the RTK architecture is equipped with two antennas, and the RTK architecture comprises two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU) and a fourth CPU; the processing unit 1501 measures the heading angle and the pitch angle of the carrier through the RTK architecture and the first GNSS signal, comprising: converting the received first GNSS signal into a third digital intermediate frequency signal through each of the two radio frequency front ends; processing the received third digital intermediate frequency signal through each of the two digital front ends to obtain a fourth digital intermediate frequency signal; capturing and tracking the received fourth digital intermediate frequency signal through each of the two GNSS basebands to output a second digital signal; analyzing the second digital signal output by the two GNSS basebands through the third CPU to obtain second observation information; constructing a main baseline single difference model based on the second observation information through the fourth CPU to obtain the heading angle and the pitch angle of the carrier.

[0138] In an alternative embodiment, the radio frequency front end comprises a low noise amplifier, a surface acoustic wave filter, a down-conversion module and an analog-to-digital converter.

[0139] In an alternative embodiment, the digital front end comprises a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module.

[0140] In an alternative embodiment, the GNSS baseband comprises a capture engine module and a tracking engine module.

[0141] In an alternative implementation, each of the plurality of antennas supports at least one of the following frequency points: L1, L2 and L5.

[0142] In an alternative implementation, the RTK architecture is equipped with a first clock source.

[0143] The embodiments of the present application and the above chip embodiments are based on the same concept and bring the same technical effects. For specific principles, refer to the description of the chip embodiments, which will not be repeated here.

[0144] As shown in FIG. 16, FIG. 16 is a structural schematic diagram of a module device provided by an embodiment of the present application. The module device 1600 can be the chip in the above chip embodiments. The module device 1600 includes a communication module 1601, a power module 1602, a storage module 1603 and a chip 1604.

[0145] The power module 1602 is configured to provide power for the module device. The storage module 1603 is configured to store data and instructions. The communication module 1601 is configured to perform internal communication of the module device or to perform communication between the module device and an external device. The chip 1604 is the chip in the above chip embodiments.

[0146] The implementation of the module device can refer to the related content of the above chip embodiments, which will not be repeated here.

[0147] The embodiments of the present application and the above chip embodiments are based on the same concept and bring the same technical effects. For specific principles, refer to the description of the chip embodiments, which will not be repeated here.

[0148] The embodiments of the present application also provide a computer readable storage medium, which stores computer readable instructions. When the computer readable instructions run on a communication device, the communication device has the functions of the above chip.

[0149] The embodiments of the present application also provide a computer program product. When the computer program product runs on a processor, the method flow of the above method embodiments is implemented.

[0150] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are not necessarily required to implement the application and some of the actions can be performed in other sequences, or even at the same time. Additionally, it should be noted that described embodiments are to be considered as illustrative only and not restrictive in character, as some of the actions and modules involved are not required for the application.

[0151] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are not necessarily required to implement the application and some of the actions can be performed in other sequences, or even at the same time. Additionally, it should be noted that described embodiments are to be considered as illustrative only and not restrictive in character, as some of the actions and modules involved are not required for the application.

[0152] The descriptions of the various embodiments provided by the application can be mutually referred to, and the descriptions of the various embodiments each have a focus. The parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments. For the convenience and brevity of description, for example, the capabilities of the various devices and the operations performed by the devices provided by the embodiments of the application can be referred to the relevant descriptions of the method embodiments of the application, and the method embodiments and the device embodiments can be referred to, combined, or cited to each other.

[0153] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chip, characterized in that: The chip includes: Real-time kinematic (RTK) architecture, which uses multiple antennas. The RTK architecture is used to measure the heading angle, pitch angle and roll angle of the carrier based on the first global navigation satellite system GNSS signal received by the multiple antennas, or to measure the heading angle and pitch angle of the carrier.

2. The chip according to claim 1, characterized in that The RTK architecture is equipped with three antennas, and is used to measure the heading angle, pitch angle, and roll angle of the carrier based on first GNSS signals received by the three antennas.

3. The chip according to claim 2, characterized in that The RTK architecture includes three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU; Each of the three RF front ends is configured to convert the received first GNSS signal into a first digital intermediate frequency signal; Each of the three digital front ends is configured to process the received first digital intermediate frequency signal to obtain a second digital intermediate frequency signal; Each of the three GNSS basebands is configured to capture and track the received second digital intermediate frequency signal and output a first digital signal; The first CPU is configured to parse the first digital signals output by the three GNSS basebands to obtain first observation information; The second CPU is used to construct a dual-baseline single-difference model based on the first observation information to obtain the heading angle, pitch angle and roll angle of the carrier, where the dual baseline includes a main baseline and a secondary baseline.

4. The chip according to claim 1, characterized in that The RTK architecture is equipped with two antennas, and is used to measure a heading angle and a pitch angle of a carrier based on first GNSS signals received by the two antennas.

5. The chip according to claim 4, characterized in that The RTK architecture includes two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU) and a fourth CPU; Each of the two RF front ends is configured to convert the received first GNSS signal into a third digital intermediate frequency signal; Each of the two digital front ends is configured to process the received third digital intermediate frequency signal to obtain a fourth digital intermediate frequency signal; Each of the two GNSS basebands is configured to capture and track the received fourth digital intermediate frequency signal and output a second digital signal; The third CPU is configured to analyze the second digital signals output by the two GNSS basebands to obtain second observation information; The fourth CPU is used to construct a main baseline single-difference model based on the second observation information to obtain the heading angle and pitch angle of the carrier.

6. The chip according to claim 3 or 5, characterized in that: The radio frequency front end includes a low noise amplifier, a surface acoustic wave filter, a down-conversion module and an analog-to-digital converter.

7. The chip according to claim 3, or claim 5, or claim 6, characterized in that: The digital front end includes a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module.

8. The chip according to claim 3 or any one of claims 5 to 7, characterized in that: The GNSS baseband includes an acquisition engine module and a tracking engine module.

9. The chip according to any one of claims 1 to 8, characterized in that: Each of the multiple antennas supports at least one of the following frequency points: L1, L2, and L5.

10. The chip according to any one of claims 1 to 9, characterized in that: The RTK architecture is equipped with a first clock source.

11. A measurement method, characterized in that: The method comprises: Measure the heading, pitch and roll angles of the carrier, or measure the heading and pitch angles of the carrier through the real-time kinematic RTK architecture and the first global navigation satellite system GNSS signal; The RTK architecture is equipped with multiple antennas, and the first GNSS signal is received through the multiple antennas on the RTK architecture.

12. The method according to claim 11, characterized in that The RTK architecture is equipped with three antennas and includes three radio frequency front ends, three digital front ends, three GNSS basebands, a first central processing unit (CPU) and a second CPU; The method of measuring the heading angle, pitch angle, and roll angle of the carrier using the RTK architecture and the first GNSS signal includes: converting the received first GNSS signal into a first digital intermediate frequency signal through each of the three RF front ends; Processing the received first digital intermediate frequency signal through each of the three digital front ends to obtain a second digital intermediate frequency signal; capturing and tracking the received second digital intermediate frequency signal through each of the three GNSS basebands, and outputting a first digital signal; parsing, by the first CPU, the first digital signals output by the three GNSS basebands to obtain first observation information; A dual-baseline single-difference model is constructed based on the first observation information through the second CPU to obtain the heading angle, pitch angle and roll angle of the carrier, where the dual baseline includes a main baseline and a secondary baseline.

13. The method according to claim 11, characterized in that The RTK architecture is equipped with two antennas and includes two radio frequency front ends, two digital front ends, two GNSS basebands, a third central processing unit (CPU), and a fourth CPU. The method of measuring the heading angle and pitch angle of the carrier using the RTK architecture and the first GNSS signal includes: converting the received first GNSS signal into a third digital intermediate frequency signal through each of the two RF front ends; Processing the received third digital intermediate frequency signal through each of the two digital front ends to obtain a fourth digital intermediate frequency signal; capturing and tracking the received fourth digital intermediate frequency signal through each of the two GNSS basebands, and outputting a second digital signal; parsing, by the third CPU, the second digital signals output by the two GNSS basebands to obtain second observation information; A main baseline single-difference model is constructed based on the second observation information by the fourth CPU to obtain the heading angle and pitch angle of the carrier.

14. The method according to claim 12 or 13, characterized in that The radio frequency front end includes a low noise amplifier, a surface acoustic wave filter, a down-conversion module and an analog-to-digital converter.

15. The method according to any one of claims 12 to 14, characterized in that The digital front end includes a pre-processing module, a down-conversion module, a down-sampling module and a re-quantization module.

16. The method according to any one of claims 12 to 15, characterized in that The GNSS baseband includes an acquisition engine module and a tracking engine module.

17. The method according to any one of claims 11 to 16, characterized in that Each of the multiple antennas supports at least one of the following frequency points: L1, L2, and L5.

18. The method according to any one of claims 11 to 17, characterized in that The RTK architecture is equipped with a first clock source.

19. A communication device, characterized in that: The device comprises: a processing unit, configured to measure a heading angle, a pitch angle, and a roll angle of the carrier, or measure a heading angle and a pitch angle of the carrier, using a real-time kinematic (RTK) architecture and a first global navigation satellite system (GNSS) signal; The RTK architecture is equipped with multiple antennas, and the first GNSS signal is received through the multiple antennas on the RTK architecture.

20. A module device, characterized in that: The module device includes a communication module, a power module, a storage module and a chip, wherein: The power supply module is used to provide electrical energy to the module device; The storage module is used to store data and instructions; The communication module is used for internal communication of the module device, or for communication between the module device and an external device; The chip is the chip according to any one of claims 1 to 10.

21. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-readable instructions. When the computer-readable instructions are executed on a communication device, the communication device is enabled to have the functions of the chip according to any one of claims 1 to 10.

Images