CN103217693A - Vehicle navigation and remote service terminal, system and method based on beidou satellite system - Google Patents
Vehicle navigation and remote service terminal, system and method based on beidou satellite system Download PDFInfo
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Abstract
The invention discloses a vehicle navigation and remote service terminal, a vehicle navigation and remote service system and a vehicle navigation and remote service method based on a beidou satellite system. The terminal comprises a beidou navigation receiver for supplying navigation data through a radio frequency front end and a beidou baseband chip, a processor module for processing the navigation data supplied by the beidou navigation receiver, resolving a geographical position of a receiver antenna and obtaining a satellite positioning result, a power module which is connected to the processor module through a corresponding interface, is used for supplying power to the modules, and an interface module comprising a plurality of interfaces for supplying the connection between the modules and the processor module. By the invention, a positioning function of a vehicle is realized by the beidou satellite system; engineering mechanical vehicles can be remotely diagnosed and overhauled; and real remote service is realized.
Description
Technical field
The present invention is about a kind of automobile navigation terminal, system and method, particularly relates to a kind of automobile navigation and remote service terminal, system and method based on the big-dipper satellite system.
Background technology
Since on October 25th, 2012, the 16th Big Dipper Navsat of China succeeds in sending up lift-off, and Beidou satellite navigation system is the GPS (GPS) continue the U.S. and the satellite navigation system of the 3rd maturation after Muscovite GLONASS (GLONASS) system.It is regional active three-dimensional satnav and the communication system (CNSS) that China develops voluntarily.Now, Beidou satellite navigation system can satisfy industries such as traffic scheduling, engineering mapping, astronomical meteorology and information communication fully.
Current, comparatively burning hot for the research of the Big Dipper two generations system's navigating instrument.Present navigating instrument in general, all being based on DSP or FPGA is the GPS navigation instrument of hardware platform, these navigating instruments are realized comparatively complicated, be difficult for realizing, and cost is higher, simultaneously, the channel of this GPS navigation instrument is controlled by U.S. official easily, and security is relatively poor.
Summary of the invention
For overcoming the deficiency that above-mentioned prior art exists, the present invention's purpose is to provide a kind of automobile navigation and remote service terminal, system and method based on the big-dipper satellite system, by utilizing the base hardware platform of arm processor as navigating instrument, the special-purpose Big Dipper baseband chip of employing receives Big Dipper satellite signal and handles, and added necessary peripheral circuit, not only realized the positioning function of vehicle, and can carry out long-range diagnosis and maintenance to engineering machinery vehicle, realized real remote service.
For reaching above-mentioned and other purpose, the present invention proposes a kind of automobile navigation and remote service terminal based on the big-dipper satellite system, comprises at least:
Big Dipper navigation neceiver utilizes radio-frequency front-end and Big Dipper baseband chip that navigation data is provided;
Processor module is handled the navigation data that this Big Dipper navigation neceiver provides, and parses the geographic position of receiver antenna, obtains the satnav result;
Power module is connected in this processor module by the corresponding interface, is used for providing power supply and interface module to each module, comprises multiple interfaces, so that being connected between each module and this processor module to be provided.
Further, this processor module is an arm processor, the two dimension that is used for satellite-signal is caught, the tracking of carrier phase and code phase, and calculate pseudorange, last navigation calculation partly adopts certain algorithm to eliminate model error, find the solution the pseudorange equation, parse the geographic position of receiver antenna, realize satnav.
Further, this automobile navigation and remote service terminal also comprise the AD modular converter, receiving the measured simulating signal of polytype sensor, and these analog signal conversion are become digital signal, and the corresponding interface by this interface module sends this processor module to and calculates.
Further, those polytype sensors are used for pressure detection data, hardware temperatures to hydraulic press and detect data, oil circuit and detect data and node voltage and detect data and gather.
Further, this automobile navigation and remote service terminal also comprise the input and output display module, this input and output display module links to each other with this processor module by the corresponding interface of interface module, shown with result, and the reception user indicates to this processor module by the operation of this input and output display module input this processor module.
Further, this Big Dipper navigation neceiver comprises:
Radio-frequency front-end is used to receive the radiofrequency signal of satellite, and this radiofrequency signal is down-converted to intermediate-freuqncy signal;
A/D converter, this intermediate-freuqncy signal of sampling, and simulating signal is quantified as digital signal; And
Big Dipper baseband chip is with Big Dipper module, so that navigation and navigation data to be provided.
Further, this processor module is by CAN bus control module and and the mutual data communication of field engineering motor vehicles and machines equipment.
Further, this interface module comprises LCD interface, USB interface, SD-CARD interface, FLASH interface, CAN bus interface, test interface and Ethernet interface.
For reaching above-mentioned and other purpose, the present invention also provides a kind of automobile navigation and long distance service system based on the big-dipper satellite system, comprises at least:
Automobile navigation and remote service terminal utilize Big Dipper baseband chip to obtain navigation data, navigation data are handled obtaining the satnav result through arm processor; And remote monitoring center, be connected by the wireless data communication interface with this automobile navigation and remote service terminal, carry out the location of data communication and shift position, so that this automobile navigation and remote service terminal are carried out remote monitoring.
For reaching above-mentioned and other purpose, the present invention also provides a kind of automobile navigation and remote service method based on the big-dipper satellite system, comprises the steps:
Receive the radiofrequency signal of big-dipper satellite, and radiofrequency signal is down-converted to intermediate-freuqncy signal;
The sampling intermediate-freuqncy signal is quantified as digital signal to simulating signal; And
Digital signal after quantizing is handled calculating, obtain the satnav result of vehicle.
Compared with prior art, the present invention a kind of automobile navigation and remote service terminal based on the big-dipper satellite system, system and method has adopted the multimode blocking, the combined type optimal design, built-in high performance chips, interface between each module adopts standard interface, make full use of system platform, mobile communication network etc., with automobile travel recorder, satnav, satellite navigation, oil circuit detects, temperature detection, functions such as hydraulic pressure detection and voltage detecting are integrated in one, by the wireless data communication interface, the location of data communication and shift position can be carried out with monitoring center system, engineering site can be satisfied multiple demands such as the remote monitoring of special engineered car and remote detection.Simultaneously, the present invention is with on the embedded vehicular platform that applies to Big Dipper engineering machine vehicle of ARM, can accomplish quick location, non-stop run, be easy to carry, navigation feature and in time detect with feedback etc., characteristics such as that total system can be accomplished fully is real-time, safe, response speed is fast and power consumption is little.
Description of drawings
Fig. 1 is a kind of based on the automobile navigation of big-dipper satellite system and the configuration diagram of remote service terminal for the present invention;
Fig. 2 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the configuration diagram of the preferred embodiment of remote service terminal;
Fig. 3 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the structural drawing of the preferred embodiment of remote service terminal;
Fig. 4 is the structural representation of Big Dipper navigation neceiver in the preferred embodiment of the present invention;
Fig. 5 is the structural representation of power module in the preferred embodiment of the present invention;
Fig. 6 is the structural representation of SPI interface in the preferred embodiment of the present invention;
Fig. 7 is the bus structure synoptic diagram of CAN in the present invention's the preferred embodiment;
Fig. 8 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the software function structural drawing of the preferred embodiment of remote service terminal;
Fig. 9 is a kind of based on the automobile navigation of big-dipper satellite system and the system architecture diagram of long distance service system for the present invention;
Figure 10 is the flow chart of steps of a kind of automobile navigation and remote service method based on the big-dipper satellite system of the present invention.
Embodiment
Below by specific instantiation and accompanying drawings embodiments of the present invention, those skilled in the art can understand other advantage of the present invention and effect easily by the content that this instructions disclosed.The present invention also can be implemented or be used by other different instantiation, and the every details in this instructions also can be based on different viewpoints and application, carries out various modifications and change under the spirit of the present invention not deviating from.
Fig. 1 is a kind of based on the automobile navigation of big-dipper satellite system and the configuration diagram of remote service terminal for the present invention.As shown in Figure 1, the present invention a kind of automobile navigation and remote service terminal based on the big-dipper satellite system comprise: Big Dipper navigation neceiver 10, processor module 11, AD modular converter 12, power module 13 and interface module 14 at least.
Wherein Big Dipper navigation neceiver 10 comprises radio-frequency front-end 101, A/D converter 102 and Big Dipper baseband chip 103.Radio-frequency front-end 101 is used to receive the radiofrequency signal of satellite, and is preferable, and after radiofrequency signal was amplified by a kind of superpower signal sensitivity, outstanding prime amplifier, radio-frequency front-end 101 down-converted to intermediate-freuqncy signal with signal; A/D converter 102 is supported multifrequency point, multiple upgrading sampling intermediate-freuqncy signal, is used for simulating signal is quantified as digital signal; Big Dipper baseband chip 103 is connected with Big Dipper module (not shown), so that navigation and navigation data to be provided.
Processor module 11 is used to handle the navigation data that Big Dipper baseband chip 103 provides, in preferred embodiment of the present invention, processor module 11 is an arm processor, its major function is: the two dimension of satellite-signal is caught, the tracking of carrier phase and code phase, and calculate pseudorange, last navigation calculation partly adopts certain algorithm to eliminate model error, finds the solution the pseudorange equation, parse the geographic position of satellite receiver antenna, thereby realize satnav; AD modular converter 12 is used for receiving the measured simulating signal of polytype sensor, and these analog signal conversion are become digital signal, the corresponding interface (as the SPI mouth) by interface module 14 sends processor module 11 to and calculates, main pressure detection data for hydraulic press, hardware temperatures detects data, oil circuit detects data and node voltage detection data etc. and changes and calculate, A/D conversion figure place is the fine degree behind 12 pairs of inputs of AD modular converter analog signal digital, in the present invention, the A/D converter that adopts is AD7927, it is the A/D conversion chip of 12 successive approximations of 8 passages, can realize the figure place expansion by it, its precision is higher relatively; Power module 13 is connected in processor module 11 by the corresponding interface, and being used for provides power supply to each module; Interface module 14 comprises multiple interfaces, so that being connected between each module and the processor module 11 to be provided, comprises SPI interface, power interface, a plurality of UART interface and other interface that links to each other with peripheral hardware of AD modular converter 12 and processor module.
Preferable, the present invention's automobile navigation and remote service terminal based on the big-dipper satellite system also can comprise an input and output display module 15, input and output display module 15 links to each other with processor module 11 by the corresponding interface of interface module 14, shown with result, and the reception user indicates to processor module 11 by the operation of input and output display module 15 inputs processor module 11.In preferred embodiment of the present invention, the input and output display module can be a touch-screen, and its LCD interface by interface module 14 links to each other with processor module 11.
Fig. 2 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the configuration diagram of the preferred embodiment of remote service terminal.As shown in Figure 2, AD modular converter 12 receives 5 kinds of simulating signals that sensor is measured by 5 sensor interfaces that receive simulated data, and become digital signal to send into the ARM computing machine these analog signal conversion to handle by the SPI interface, these 5 kinds of sensors are gathered the pressure detection data of hydraulic press respectively, hardware temperatures detects data, oil circuit detects data and node voltage detects data etc., Big Dipper navigation neceiver is sent to the ARM computing machine with the navigation data that receives by the UART interface and handles, result's (as positioning result) after the ARM computing machine will be handled gives the user by the LCD interface by screen displaying, and reception user's input operation, power module is connected with the ARM computing machine by power interface, think the each several part supply power, communication facilities is connected with the ARM computing machine by the UART interface.
Fig. 3 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the structural drawing of the preferred embodiment of remote service terminal.In preferred embodiment of the present invention, the present invention's automobile navigation and remote service terminal based on the big-dipper satellite system comprise: arm processor, internal memory RAM, the CAN bus, Big Dipper baseband chip, the arm processor crystal oscillator, arm processor resets and some interfaces, wherein arm processor is a main circuit system, be used for deal with data, internal memory RAM is connected with arm processor, with storage data, the CAN bus, be connected with data bus, for control module intercoms mutually with peripheral hardware, Big Dipper baseband chip receives the radiofrequency signal of satellite by radio-frequency front-end, so that navigation and navigation data to be provided, the arm processor crystal oscillator is connected with processor module, be used for sending time clock, arm processor resets, be connected with processor module, be used for processor is resetted, interface comprises the TFT-LCD interface, USB interface, the SD-CARD interface, the FLASH interface, the CAN bus interface, test interface and Ethernet interface etc., such as, the TFT-LCD interface can be used for being connected with touch-screen, USB interface can be used for carrying out data communication, and the SD-CARD interface can be used for carrying out exchanges data.
Fig. 4 is the structural representation of Big Dipper navigation neceiver in the preferred embodiment of the present invention.As shown in Figure 4, Big Dipper navigation neceiver is mainly applied to as processor, with arm processor by radio-frequency front-end, A/D converter, baseband signal ARM and handles and navigation calculation is partly formed.Radio-frequency front-end receives the radiofrequency signal of satellite, after amplifying by prime amplifier, signal is down-converted to intermediate-freuqncy signal; A/D converter is supported multifrequency point, multiple upgrading sampling intermediate-freuqncy signal, and simulating signal is quantified as digital signal; From baseband chip to the signal processing major function be: the two dimension of satellite-signal is caught, the tracking of carrier phase and code phase, and calculates pseudorange; Last navigation calculation partly adopts certain algorithm to eliminate model error, finds the solution the pseudorange equation, parses the geographic position of satellite receiver antenna, thereby realizes satnav.
Please continue with reference to Fig. 2, in preferred embodiment of the present invention, the A/D change-over circuit is used for receiving the measured simulating signal of polytype sensor, and these analog signal conversion are become digital signal, gives arm processor by the SPI oral instructions and calculates.It is mainly changed and calculates for pressure detection data, hardware temperatures detection data, oil circuit detection data and the node voltage detection data etc. of hydraulic press.A/D conversion figure place is the fine degree of A/D converter after to the input analog signal digital.A/D converter of the present invention is AD7927, and it is the A/D conversion chip of 12 successive approximations of 8 passages, can realize the figure place expansion by it, and its precision is higher relatively.
Fig. 5 is the structural representation of power module in the preferred embodiment of the present invention.As shown in Figure 5, the present invention one has 3 types level :+5V ,+3.3V ,+1.2V.Owing to be car-mounted terminal, engineering truck can provide the voltage of 12V fully.Consider the requirement of electric current again, adopt the DC-DC module to realize voltage transitions and the distribution of 12V to 5V.Select the LM7805DC module to realize the voltage transitions of 12V to 5V, and carry out voltage distribution, select the B0503DC module to realize the voltage transitions of 5V to 3.3V again, and carry out voltage distribution, at last by using the LM3965DC module to realize the voltage transitions of 3.3V to 1.2V.Wherein+voltage of 5V offers chips such as the Big Dipper two generations module and communication module.+ 3.3V voltage offers storer and the exterior I/O mouth of MAX3232 chip, S3C2440A.+ 1.2V voltage offers the kernel powered operation of S3C2440A, and the power consumption of whole hardware is little, and good energy-conserving effect meets the target and the theory of national sustainable development.
Fig. 6 is the structural representation of SPI interface in the preferred embodiment of the present invention.The SPI interface is the interface between AD modular converter 12 and the processor module 11, and it generally uses 4 lines: serial time clock line (SCLK), main frame input/slave output data line MISO, main frame output/slave input data line MOSI and the effective slave selection wire/CS of low level.S3C2440A provides two peripheral serial ports, and one of them is used for various analog quantitys that receiving sensor the collects digital signal after through the AD conversion, and another is as standby peripherals message exchange mouth.
Fig. 7 is the bus structure synoptic diagram of CAN in the present invention's the preferred embodiment.In preferred embodiment of the present invention, use the CAN bus structure.It supports distributed control and the serial communication network of controlling in real time effectively.Its superiority is: 1, each data between nodes real-time communication of network is strong; 2, shortened the construction cycle; 3, be the fieldbus of international standard, realized the standardization of serial ports.Compare with general communication bus, the data communication of CAN bus has outstanding reliability, real-time and dirigibility.Because its good performance and unique design, the CAN bus more and more is subject to people's attention.Its application on vehicular field is the most widely, has also obtained extensive utilization certainly on the complex engineering motor vehicles and machines.In the present invention, used three CAN bus structure altogether, be divided at a high speed, three types of middling speed and low speed.In the information exchange of three kinds of buses, because their host-host protocol difference has used gateway to carry out information exchange.
Fig. 8 for the present invention a kind of based on the big-dipper satellite system automobile navigation and the software function structural drawing of the preferred embodiment of remote service terminal.With the software function branch, the present invention's automobile navigation and remote service terminal based on the big-dipper satellite system comprise application program and operating system, application program comprises main control module, map-matching module, electric map module, locating module, path planning module, communication module, operating system comprises driver, hardware platform, Installed System Memory and graphical interfaces, in preferred embodiment of the present invention, the present invention is based on ARM platform and the exploitation of Android operating system and uses based on the automobile navigation of big-dipper satellite system and remote service terminal.Under embedded Android operating system, the present invention can realize higher runnability with less hardware resource, reduces cost significantly and the real-time problem, has solved the problem that multi-task parallel is handled in the system, the stability of safeguards system, reliability have improved the travelling speed of system.
Fig. 9 is a kind of based on the automobile navigation of big-dipper satellite system and the system architecture diagram of long distance service system for the present invention.As shown in Figure 9, the present invention's Vehicular navigation system based on the big-dipper satellite system, comprise automobile navigation and remote service terminal 21 and remote monitoring center 22, wherein automobile navigation and remote service terminal 21 utilize Big Dipper baseband chip to obtain navigation data, through arm processor navigation data is handled acquisition satnav result, remote monitoring center 22 is connected by the wireless data communication interface with automobile navigation and remote service terminal 21, carries out the location of data communication and shift position.The present invention's Vehicular navigation system adopts Surveillance center that automobile navigation and remote service terminal are carried out remote assistance and monitoring, can satisfy engineering site to multiple demands such as the remote monitoring of special engineered car and remote detection.
Figure 10 is the flow chart of steps of a kind of automobile navigation and remote service method based on the big-dipper satellite system of the present invention.As shown in figure 10, the present invention a kind of automobile navigation and remote service method based on the big-dipper satellite system comprise the steps:
In sum, the present invention a kind of automobile navigation and remote service terminal based on the big-dipper satellite system, system and method has adopted the multimode blocking, the combined type optimal design, built-in high performance chips, interface between each module adopts standard interface, make full use of system platform, mobile communication network etc., with the engineering machinery vehicle Tachographs, satnav, satellite navigation, oil circuit detects, temperature detection, functions such as hydraulic pressure detection and voltage detecting are integrated in one, by the wireless data communication interface, the location of data communication and shift position can be carried out with monitoring center system, engineering site can be satisfied multiple demands such as the remote monitoring of special engineered car and remote detection.Simultaneously, the present invention is with on the embedded vehicular platform that applies to Big Dipper engineering machine vehicle of ARM, can accomplish quick location, non-stop run, be easy to carry, navigation feature and in time detect with feedback etc., characteristics such as that total system can be accomplished fully is real-time, safe, response speed is fast and power consumption is little.The vehicle mounted guidance and the long distance service system of the mechanical engineering car of current design, adopt the hardware platform of the S3C2440A processor of ARM9 series, and utilize Big Dipper chip to receive Big Dipper satellite signal and handle, add some special peripheral circuits, just can serve at the scene for special engineered car effectively.
The foregoing description is illustrative principle of the present invention and effect thereof only, but not is used to limit the present invention.Any those skilled in the art all can be under spirit of the present invention and category, and the foregoing description is modified and changed.Therefore, the scope of the present invention should be listed as claims.
Claims (10)
1. automobile navigation and remote service terminal based on a big-dipper satellite system comprise at least:
Big Dipper navigation neceiver utilizes radio-frequency front-end and Big Dipper baseband chip that navigation data is provided;
Processor module is handled the navigation data that this Big Dipper navigation neceiver provides, and parses the geographic position of receiver antenna, obtains the satnav result;
Power module is connected in this processor module by the corresponding interface, be used for to each module provide power supply and
Interface module comprises multiple interfaces, so that being connected between each module and this processor module to be provided.
2. a kind of automobile navigation and remote service terminal as claimed in claim 1 based on the big-dipper satellite system, it is characterized in that: this processor module is an arm processor, the two dimension that is used for satellite-signal is caught, the tracking of carrier phase and code phase, and calculate pseudorange, last navigation calculation partly adopts certain algorithm to eliminate model error, find the solution the pseudorange equation, parse the geographic position of receiver antenna, realize satnav.
3. a kind of automobile navigation and remote service terminal as claimed in claim 2 based on the big-dipper satellite system, it is characterized in that: this terminal also comprises the AD modular converter, to receive the measured simulating signal of polytype sensor, and these analog signal conversion are become digital signal, and the corresponding interface by this interface module sends this processor module to and calculates.
4. a kind of automobile navigation and remote service terminal based on the big-dipper satellite system as claimed in claim 3 is characterized in that: pressure detection data, hardware temperatures detection data, oil circuit detection data and node voltage detection data that those polytype sensors are used for hydraulic press are gathered.
5. a kind of automobile navigation and remote service terminal as claimed in claim 3 based on the big-dipper satellite system, it is characterized in that: this automobile navigation terminal also comprises the input and output display module, this input and output display module links to each other with this processor module by the corresponding interface of interface module, shown with result, and the reception user indicates to this processor module by the operation of this input and output display module input this processor module.
6. a kind of automobile navigation and remote service terminal based on the big-dipper satellite system as claimed in claim 1 is characterized in that this Big Dipper navigation neceiver comprises:
Radio-frequency front-end is used to receive the radiofrequency signal of satellite, and this radiofrequency signal is down-converted to intermediate-freuqncy signal;
A/D converter, this intermediate-freuqncy signal of sampling, and simulating signal is quantified as digital signal; And
Big Dipper baseband chip and Big Dipper module are to provide navigation and navigation data.
7. a kind of automobile navigation and remote service terminal based on the big-dipper satellite system as claimed in claim 1 is characterized in that: this processor module reaches by the CAN bus control module and intercoms mutually with engineering machinery vehicle equipment.
8. a kind of automobile navigation and remote service terminal based on the big-dipper satellite system as claimed in claim 1, it is characterized in that: this interface module comprises LCD interface, USB interface, SD-CARD interface, FLASH interface, CAN bus interface, test interface and Ethernet interface.
9. automobile navigation and long distance service system based on a big-dipper satellite system comprise at least:
Automobile navigation and remote service terminal utilize Big Dipper baseband chip to obtain navigation data, navigation data are handled obtaining the satnav result through arm processor;
And remote monitoring center, be connected by Big Dipper wireless data communication interface with this automobile navigation and remote service terminal, carry out the location of data communication and shift position, so that this automobile navigation and remote service terminal are carried out remote assistance and monitoring.
10. automobile navigation and remote service method based on a big-dipper satellite system comprise the steps:
Receive the radiofrequency signal of big-dipper satellite, and radiofrequency signal is down-converted to intermediate-freuqncy signal;
The sampling intermediate-freuqncy signal is quantified as digital signal to simulating signal; And
Digital signal after quantizing is handled calculating, obtain the satnav result of vehicle.
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| CN103698772A (en) * | 2013-11-27 | 2014-04-02 | 健富塑胶五金制品（东莞）有限公司 | GPS signal receiving system |
| CN103884410A (en) * | 2014-03-19 | 2014-06-25 | 北京科技大学 | Engineering vehicle load measuring device and method |
| CN104080052A (en) * | 2014-07-14 | 2014-10-01 | 四川华立德科技有限公司 | Beidou mobile phone |
| CN104298717A (en) * | 2014-09-23 | 2015-01-21 | 南京大学 | Intelligent service system based on information elements |
| CN104375155A (en) * | 2014-11-18 | 2015-02-25 | 无锡悟莘科技有限公司 | Locating system using high-gain array antenna |
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| CN110109405A (en) * | 2018-12-10 | 2019-08-09 | 天津七六四通信导航技术有限公司 | A kind of control system and implementation method of Tacan navigation equipment |
| CN111505680A (en) * | 2020-04-21 | 2020-08-07 | 中国人民解放军陆军勤务学院 | Logistics support vehicle monitoring and commanding system |
| CN114034305A (en) * | 2021-11-22 | 2022-02-11 | 清博（昆山）智能科技有限公司 | Automatic navigation control system based on Beidou system |
| CN114283667A (en) * | 2021-11-16 | 2022-04-05 | 中国人民解放军战略支援部队航天工程大学士官学校 | Maintenance teaching device of satellite navigation receiver |
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