CN203744984U - Beidou (Beidou Navigation Satellite System), GPS (Global Position System) and SINS (Strapdown Inertial Navigation System) integrated navigation system - Google Patents
Beidou (Beidou Navigation Satellite System), GPS (Global Position System) and SINS (Strapdown Inertial Navigation System) integrated navigation system Download PDFInfo
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- CN203744984U CN203744984U CN201420128830.8U CN201420128830U CN203744984U CN 203744984 U CN203744984 U CN 203744984U CN 201420128830 U CN201420128830 U CN 201420128830U CN 203744984 U CN203744984 U CN 203744984U
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Abstract
The utility model discloses a Beidou (Beidou Navigation Satellite System), GPS (Global Position System) and SINS (Strapdown Inertial Navigation System) integrated navigation system. The integrated navigation system comprises an FPGA ( Field Programmable Gate Array) chip, a DSP (Digital Signal Processor) chip, a crystal oscillator circuit module, a reset circuit module, a data memory module, a Beidou and GPS receiving processing module, an SINS module, a keystroke input circuit module, a clock circuit module, a display circuit module, a working state indicator light and a voice playing circuit module, wherein the Beidou and GPS receiving processing module comprises a BeiDou GPS dual-mode antenna, a first amplifying circuit module, a band-pass filter module, an intermediate frequency filter module and a first A/D converter module, and a local oscillator is connected with the input terminal of the intermediate frequency filter module; the SINS module comprises a triaxial gyroscope, a triaxial accelerometer, a second amplifying circuit module, a third amplifying circuit module, a multiway select switch and a second A/D converter module. The integrated navigation system has the advantages that the integration level is high, the power consumption is low, the working stability and the reliability are high, and the maintenance is convenient and simple.
Description
Technical field
The utility model belongs to technical field of navigation and positioning, specifically relates to a kind of Big Dipper, GPS, SINS integrated navigation system.
Background technology
The world today upper one co-exists in four large GPS (Global Position System), comprising the GPS of the U.S., and Muscovite GLONASS, the Galileo of European Union and Chinese Beidou satellite navigation system.Come into effect along with " three-step-march " of Beidou satellite navigation system disposed, this emerging technology of Beidou satellite navigation is more and more subject to the favor of all trades and professions.
Present stage China's important events of being much related to national security still adopt GPS as main navigation means and time service means.Although promising to undertake, the U.S. will forever unremittingly provide civil navigation signal and silent approvement to exempt from patent royalties, what but we should regain consciousness recognizes, satellite navigation, as the great infrastructure of country of the army and the people's double attribute, all has great and wide influence power to national Major Strategic interests such as infrastructure, economic security, national defense and military and international statuses.Once be in an emergency or vital interests conflict, national defense and military or socio-economic security all will be subject to elbow processed and even coerce, and this will be heavy on the impact of national interests.When the time comes, to adopt GPS be main time service field will even paralyse because cannot obtain the confusion of working of unified time as: electric system, financial instrument system, mobile communication system.Communications and transportation, personnel etc. may can not rush towards urgent place the very first time because obtaining location-based service accurately.Large quantities of armies assemble deployment and also there will be problem, and precision guided weapon will lose bright eyes.If such thing occurs, and will be huge on the impact of China.What country and relevant department were very clear-headed has recognized this problem, clear and definite proposition autonomous construction Beidou satellite navigation system, and the input of lasting for years.Predictable arriving, in several years of future, the industry that is related to national security will be popularized Big Dipper navigation application at first, ensure the safety of national product life and stablize.Through after the scale Demonstration Application of each professional industry, will spread to gradually mass consumption class market, finally become the GPS (Global Position System) of running neck and neck with GPS, create the considerable output value.
Big Dipper navigation terminal is compared with GLONASS with GPS, Galileo, and advantage is short message service and navigation combination, has increased communication function; Round-the-clock quick location, few communication blind district, precision and GPS are suitable.The service providing to the whole world is all free, and in the time that the service such as passive location navigation and time service is provided, number of users does not limit, and with GPS compatibility, autonomous system, high strength encrypting design, safety, reliable, stable, is applicable to key sector's application.But dipper system is large to the dependence of ground control centre, once its ground central control system is impaired, system just can not work on; User that it must comprises transmitter, and therefore it is not very desirable in portable and battery flying power.
It is high that GPS (GPS) has precision, the features such as wide coverage, through development for many years, be widely used in military and civilian navigation field, but GPS is a kind of radio navigation system, its dynamic property and antijamming capability are poor, particularly in armament systems, the residing environment of carrier be a kind of high dynamically and the environment of high interference, conventional GPS receives navigator and is easy to be interfered, cause exporting continuous, high-precision navigator fix information.
SINS(strapdown inertial navigation system) be a kind of autonomous navigation system, position, speed and the attitude information of carrier can be provided in real time, its precision is very high at short notice, does not allow to be subject to external environmental interference.But the shortcoming of SINS is exactly error to be accumulated along with the increase of time, need to constantly proofread and correct by extraneous observation information.
In sum, Big Dipper navigation terminal, GPS navigation and SINS navigation are used separately, all have defect and deficiency separately, in some special application scenarios, for example, under the stronger space of high dynamic, strong jamming, closure, can not meet well user demand.
Utility model content
Technical problem to be solved in the utility model is, for above-mentioned deficiency of the prior art, to provide a kind of Big Dipper, GPS, SINS integrated navigation system, and its integrated level is high, volume is little, low in energy consumption, and job stability and reliability are high, easy to maintenance, simple, practical new strong, easy to utilize.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of Big Dipper, GPS, SINS integrated navigation system, it is characterized in that: the dsp chip that comprises fpga chip and join with fpga chip, and the crystal oscillating circuit module of joining with dsp chip, reset circuit module and data-carrier store module, the input end of described fpga chip is connected to the Big Dipper and GPS receiving processing module and SINS module, the described Big Dipper and GPS receiving processing module comprise the Big Dipper GPS dual-mode antenna of joining successively, the first amplifying circuit module, bandpass filter module, if filter block and the first A/D converter module, the input end of described if filter block is connected to local oscillator, described SINS module comprises three-axis gyroscope, 3-axis acceleration instrument, the second amplifying circuit module of joining with three-axis gyroscope and the 3rd amplifying circuit module of joining with 3-axis acceleration instrument, and multidiameter option switch and the second A/D converter module of joining with multidiameter option switch, described the second amplifying circuit module and the 3rd amplifying circuit module are all joined with multidiameter option switch, and described second output terminal of A/D converter module and the input end of fpga chip join, the input end of described dsp chip is connected to button inputting circuits module and clock circuit module, the output terminal of described dsp chip is connected to display circuit module, working station indicator and voice playing circuit module, and described voice playing circuit module is made up of the D/A change-over circuit module, audio-frequency module, power amplification circuit module and the loudspeaker that join successively.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described fpga chip is Cyclone V Series FPGA chip 5CEFA9F23I7N.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described dsp chip is chip TMS320C6748BZCE3.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described data-carrier store module is mainly made up of FLASH data-carrier store chip EPCS128N.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described the first amplifying circuit module comprises chip UPC8231, inductance L 1, L2 and L3, capacitor C 1, C2, C3, C4 and C5, and resistance R 1 and R2, one end of one end of described inductance L 1 and capacitor C 1 joins and is the signal input part ANT of described the first amplifying circuit module, one end of the other end of described inductance L 1 and capacitor C 2 all joins with the output terminal VCC_3.3V of 3.3V power supply, the other end ground connection of described capacitor C 2, one end of one end of the other end of described capacitor C 1 and capacitor C 3 and inductance L 2 joins, the other end ground connection of described capacitor C 3, the pin 1 of the other end of described inductance L 2 and described chip UPC8231 joins, the pin 2 of described chip UPC8231 and the equal ground connection of pin 5, the pin 3 of described chip UPC8231 and one end of capacitor C 4 all join with the output terminal VCC_1.8V of 1.8V power supply, the pin 4 of described chip UPC8231 and one end of resistance R 1 and one end of inductance L 3 joins and be the signal output part of described the first amplifying circuit module, the pin 6 of described chip UPC8231 and the other end of resistance R 1, the other end of inductance L 3, one end of one end of capacitor C 5 and resistance R 2 joins, the other end ground connection of described capacitor C 5, the output terminal VCC_3.3V of the other end of described resistance R 2 and 3.3V power supply joins.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described bandpass filter module comprises the first chip B4300, the second chip B4300, inductance L 4, capacitor C 6, C7 and C8, and resistance R 4 and R5, one end of described inductance L 4 is the signal input part of described bandpass filter module, the other end of described inductance L 4 joins by capacitor C 6 and one end of resistance R 3, one end of one end of the other end of described resistance R 3 and resistance R 4 and resistance R 5 joins, the other end of described resistance R 4 joins by the pin 1 of capacitor C 7 and the first chip B4300, the pin 2 of described the first chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the first chip B4300 is the gps signal output terminal RF_GPS of described bandpass filter module, the other end of described resistance R 5 joins by the pin 1 of capacitor C 8 and the second chip B4300, the pin 2 of described the second chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the second chip B4300 is the Big Dipper signal output part RF_BD of described bandpass filter module.
Above-mentioned a kind of Big Dipper, GPS, SINS integrated navigation system, is characterized in that: described display circuit module is LCM320240ZK LCD MODULE.
The utility model compared with prior art has the following advantages:
1, integrated level of the present utility model is high, and volume is little, low in energy consumption.
2, complete function of the present utility model can carry out tracking and the scanning of GPS and big-dipper satellite simultaneously, and has adopted liquid crystal display and two kinds of positioning result modes of communication of voice broadcast, has facilitated use.
3, the tracking sensitivity of the Big Dipper in the utility model and have-165dBm of GPS receiving processing module, the exemplary operation electric current of 12mA, the positioning precision of 3m, highly sensitive, low in energy consumption, positioning precision is high.
4, job stability of the present utility model and reliability are high, easy to maintenance, simple.
5, the utility model is different from existing GPS/SINS integrated navigation and location system, can make full use of the Big Dipper transit satellite that China develops voluntarily navigates, and can give full play to Big Dipper navigation terminal, GPS navigation and SINS navigation three advantage separately, performance will be better than the performance of each autonomous system greatly, be applicable to being applied to hand-held, vehicle-mounted monitoring, vehicle mounted guidance, marine navigation, item tracking, the fields such as time service, of the present utility model promoting the use of, can meet the special industry that state key industry is especially related to national security and break away from gradually the application demand taking GPS as primary location and time service means, practical new strong, easy to utilize.
In sum, the utility model integrated level is high, and volume is little, low in energy consumption, and job stability and reliability are high, easy to maintenance, simple, practical new strong, easy to utilize.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Fig. 2 is the circuit theory diagrams of the utility model the first amplifying circuit module and bandpass filter module.
Description of reference numerals:
1-fpga chip; 2-dsp chip;
3-crystal oscillating circuit module; 4-reset circuit module;
5-data-carrier store module; 6-Big Dipper and GPS receiving processing module;
6-1-Big Dipper GPS dual-mode antenna; 6-2-the first amplifying circuit module;
6-3-bandpass filter module; 6-4-if filter block;
6-5-the first A/D converter module; 6-6-local oscillator;
7-SINS module; 7-1-three-axis gyroscope;
7-2-3-axis acceleration instrument; 7-3-the second amplifying circuit module;
7-4-three amplifying circuit module; 7-5-multidiameter option switch;
7-6-the second A/D converter module; 8-button inputting circuits module;
9-clock circuit module; 10-display circuit module;
11-working station indicator; 12-voice playing circuit module;
12-1-D/A change-over circuit module; 12-2-audio-frequency module;
12-3-power amplification circuit module; 12-4-loudspeaker.
Embodiment
As shown in Figure 1, the dsp chip 2 that the utility model comprises fpga chip 1 and joins with fpga chip 1, and the crystal oscillating circuit module 3 of joining with dsp chip 2, reset circuit module 4 and data-carrier store module 5, the input end of described fpga chip 1 is connected to the Big Dipper and GPS receiving processing module 6 and SINS module 7, the described Big Dipper and GPS receiving processing module 6 comprise the Big Dipper GPS dual-mode antenna 6-1 joining successively, the first amplifying circuit module 6-2, bandpass filter module 6-3, if filter block 6-4 and the first A/D converter module 6-5, the input end of described if filter block 6-4 is connected to local oscillator 6-6, described SINS module 7 comprises three-axis gyroscope 7-1,3-axis acceleration instrument 7-2, the second amplifying circuit module 7-3 joining with three-axis gyroscope 7-1 and the 3rd amplifying circuit module 7-4 joining with 3-axis acceleration instrument 7-2, and multidiameter option switch 7-5 and the second A/D converter module 7-6 of joining with multidiameter option switch 7-5, described the second amplifying circuit module 7-3 and the 3rd amplifying circuit module 7-4 all join with multidiameter option switch 7-5, and described the second output terminal of A/D converter module 7-6 and the input end of fpga chip 1 join, the input end of described dsp chip 2 is connected to button inputting circuits module 8 and clock circuit module 9, the output terminal of described dsp chip 2 is connected to display circuit module 10, working station indicator 11 and voice playing circuit module 12, and described voice playing circuit module 12 is made up of the D/A change-over circuit module 12-1, audio-frequency module 12-2, power amplification circuit module 12-3 and the loudspeaker 12-4 that join successively.
In the present embodiment, described fpga chip 1 is Cyclone V Series FPGA chip 5CEFA9F23I7N.Described dsp chip 2 is chip TMS320C6748BZCE3.Described data-carrier store module 5 is mainly made up of FLASH data-carrier store chip EPCS128N.Owing to being provided with data-carrier store module 5, therefore making the utlity model has data and preserve and playback function.
As shown in Figure 2, in the present embodiment, described the first amplifying circuit module 6-2 comprises chip UPC8231, inductance L 1, L2 and L3, capacitor C 1, C2, C3, C4 and C5, and resistance R 1 and R2, one end of one end of described inductance L 1 and capacitor C 1 joins and is the signal input part ANT of described the first amplifying circuit module 6-2, one end of the other end of described inductance L 1 and capacitor C 2 all joins with the output terminal VCC_3.3V of 3.3V power supply, the other end ground connection of described capacitor C 2, one end of one end of the other end of described capacitor C 1 and capacitor C 3 and inductance L 2 joins, the other end ground connection of described capacitor C 3, the pin 1 of the other end of described inductance L 2 and described chip UPC8231 joins, the pin 2 of described chip UPC8231 and the equal ground connection of pin 5, the pin 3 of described chip UPC8231 and one end of capacitor C 4 all join with the output terminal VCC_1.8V of 1.8V power supply, the pin 4 of described chip UPC8231 and one end of resistance R 1 and one end of inductance L 3 joins and be the signal output part of described the first amplifying circuit module 6-2, the pin 6 of described chip UPC8231 and the other end of resistance R 1, the other end of inductance L 3, one end of one end of capacitor C 5 and resistance R 2 joins, the other end ground connection of described capacitor C 5, the output terminal VCC_3.3V of the other end of described resistance R 2 and 3.3V power supply joins.
As shown in Figure 2, in the present embodiment, described bandpass filter module 6-3 comprises the first chip B4300, the second chip B4300, inductance L 4, capacitor C 6, C7 and C8, and resistance R 4 and R5, one end of described inductance L 4 is the signal input part of described bandpass filter module 6-3, the other end of described inductance L 4 joins by capacitor C 6 and one end of resistance R 3, one end of one end of the other end of described resistance R 3 and resistance R 4 and resistance R 5 joins, the other end of described resistance R 4 joins by the pin 1 of capacitor C 7 and the first chip B4300, the pin 2 of described the first chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the first chip B4300 is the gps signal output terminal RF_GPS of described bandpass filter module 6-3, the other end of described resistance R 5 joins by the pin 1 of capacitor C 8 and the second chip B4300, the pin 2 of described the second chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the second chip B4300 is the Big Dipper signal output part RF_BD of described bandpass filter module 6-3.
In the present embodiment, described display circuit module 10 is LCM320240ZK LCD MODULE.
The course of work of the present utility model is: Big Dipper GPS dual-mode antenna 6-1 receiving satellite signal and through first amplifying circuit module 6-2 amplify after, send into bandpass filter module 6-3, the interference sections in the satellite-signal of reception is carried out filtering by bandpass filter module 6-3, tolerance frequency is that the gps signal of 1575.42MHz and Big Dipper signal that frequency is 1561.098MHz pass through, so that carry out the processing of rear class, the oscillator signal that filtered signal and local oscillator 6-6 provide carries out mixing, obtain intermediate-freuqncy signal and the intermediate-freuqncy signal obtaining be transferred to if filter block 6-4 carrying out intermediate frequency filtering, the frequency of gps signal after intermediate frequency filtering is 4.031MHz, the frequency of Big Dipper signal after intermediate frequency filtering is 3.996MHz, exporting to the first A/D converter module 6-5 carries out exporting to fpga chip 1 after A/D conversion, simultaneously, three-axis gyroscope 7-1 the rotary angle signal of carrier is sampled and by the signal sampling via second amplifying circuit module 7-3 amplify after, exporting to the second A/D converter module 7-6 through multidiameter option switch 7-5 again carries out exporting to fpga chip 1 after A/D conversion, 3-axis acceleration instrument 7-2 the acceleration signal of carrier is sampled and by the signal sampling via the 3rd amplifying circuit module 7-4 amplify after, exporting to the second A/D converter module 7-6 through multidiameter option switch 7-5 again carries out exporting to fpga chip 1 after A/D conversion, gps signal and the Big Dipper signal of fpga chip 1 to the first A/D converter module 6-5 output, and the rotary angle signal of the carrier of the second A/D converter module 7-6 output and acceleration signal sample with buffer memory after export to dsp chip 2, display circuit module 10 is to GPS positioning signal, Big Dipper positioning signal and SINS positioning signal show in real time, simultaneously, voice playing circuit module 12 voice broadcast GPS positioning signals, Big Dipper positioning signal and SINS positioning signal, working station indicator 11 is lighted, the state of working to this integrated navigation system is indicated.
The above; it is only preferred embodiment of the present utility model; not the utility model is imposed any restrictions; every any simple modification of above embodiment being done according to the utility model technical spirit, change and equivalent structure change, and all still belong in the protection domain of technical solutions of the utility model.
Claims (7)
1. a Big Dipper, GPS, SINS integrated navigation system, it is characterized in that: the dsp chip (2) that comprises fpga chip (1) and join with fpga chip (1), and the crystal oscillating circuit module (3) of joining with dsp chip (2), reset circuit module (4) and data-carrier store module (5), the input end of described fpga chip (1) is connected to the Big Dipper and GPS receiving processing module (6) and SINS module (7), the described Big Dipper and GPS receiving processing module (6) comprise the Big Dipper GPS dual-mode antenna (6-1) of joining successively, the first amplifying circuit module (6-2), bandpass filter module (6-3), if filter block (6-4) and the first A/D converter module (6-5), the input end of described if filter block (6-4) is connected to local oscillator (6-6), described SINS module (7) comprises three-axis gyroscope (7-1), 3-axis acceleration instrument (7-2), the second amplifying circuit module (7-3) of joining with three-axis gyroscope (7-1) and the 3rd amplifying circuit module (7-4) of joining with 3-axis acceleration instrument (7-2), and multidiameter option switch (7-5) and the second A/D converter module (7-6) of joining with multidiameter option switch (7-5), described the second amplifying circuit module (7-3) and the 3rd amplifying circuit module (7-4) are all joined with multidiameter option switch (7-5), the input end of the output terminal of described the second A/D converter module (7-6) and fpga chip (1) joins, the input end of described dsp chip (2) is connected to button inputting circuits module (8) and clock circuit module (9), the output terminal of described dsp chip (2) is connected to display circuit module (10), working station indicator (11) and voice playing circuit module (12), and described voice playing circuit module (12) is made up of the D/A change-over circuit module (12-1) of joining successively, audio-frequency module (12-2), power amplification circuit module (12-3) and loudspeaker (12-4).
2. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described fpga chip (1) is Cyclone V Series FPGA chip 5CEFA9F23I7N.
3. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described dsp chip (2) is chip TMS320C6748BZCE3.
4. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described data-carrier store module (5) is mainly made up of FLASH data-carrier store chip EPCS128N.
5. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described the first amplifying circuit module (6-2) comprises chip UPC8231, inductance L 1, L2 and L3, capacitor C 1, C2, C3, C4 and C5, and resistance R 1 and R2, one end of one end of described inductance L 1 and capacitor C 1 joins and is the signal input part ANT of described the first amplifying circuit module (6-2), one end of the other end of described inductance L 1 and capacitor C 2 all joins with the output terminal VCC_3.3V of 3.3V power supply, the other end ground connection of described capacitor C 2, one end of one end of the other end of described capacitor C 1 and capacitor C 3 and inductance L 2 joins, the other end ground connection of described capacitor C 3, the pin 1 of the other end of described inductance L 2 and described chip UPC8231 joins, the pin 2 of described chip UPC8231 and the equal ground connection of pin 5, the pin 3 of described chip UPC8231 and one end of capacitor C 4 all join with the output terminal VCC_1.8V of 1.8V power supply, the pin 4 of described chip UPC8231 and one end of resistance R 1 and one end of inductance L 3 joins and be the signal output part of described the first amplifying circuit module (6-2), the pin 6 of described chip UPC8231 and the other end of resistance R 1, the other end of inductance L 3, one end of one end of capacitor C 5 and resistance R 2 joins, the other end ground connection of described capacitor C 5, the output terminal VCC_3.3V of the other end of described resistance R 2 and 3.3V power supply joins.
6. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described bandpass filter module (6-3) comprises the first chip B4300 the second chip B4300, inductance L 4, capacitor C 6, C7 and C8, and resistance R 4 and R5, one end of described inductance L 4 is the signal input part of described bandpass filter module (6-3), the other end of described inductance L 4 joins by capacitor C 6 and one end of resistance R 3, one end of one end of the other end of described resistance R 3 and resistance R 4 and resistance R 5 joins, the other end of described resistance R 4 joins by the pin 1 of capacitor C 7 and the first chip B4300, the pin 2 of described the first chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the first chip B4300 is the gps signal output terminal RF_GPS of described bandpass filter module (6-3), the other end of described resistance R 5 joins by the pin 1 of capacitor C 8 and the second chip B4300, the pin 2 of described the second chip B4300, pin 3 and the equal ground connection of pin 5, the pin 4 of described the second chip B4300 is the Big Dipper signal output part RF_BD of described bandpass filter module (6-3).
7. according to a kind of Big Dipper claimed in claim 1, GPS, SINS integrated navigation system, it is characterized in that: described display circuit module (10) is LCM320240ZK LCD MODULE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420128830.8U CN203744984U (en) | 2014-03-21 | 2014-03-21 | Beidou (Beidou Navigation Satellite System), GPS (Global Position System) and SINS (Strapdown Inertial Navigation System) integrated navigation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420128830.8U CN203744984U (en) | 2014-03-21 | 2014-03-21 | Beidou (Beidou Navigation Satellite System), GPS (Global Position System) and SINS (Strapdown Inertial Navigation System) integrated navigation system |
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| CN203744984U true CN203744984U (en) | 2014-07-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444842A (en) * | 2016-11-30 | 2017-02-22 | 浙江大学 | Novel flight positioning control system for four-axis aircraft |
| CN106530103A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Aviation plant protection operation real-time supervision system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530103A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Aviation plant protection operation real-time supervision system |
| CN106444842A (en) * | 2016-11-30 | 2017-02-22 | 浙江大学 | Novel flight positioning control system for four-axis aircraft |
| CN106444842B (en) * | 2016-11-30 | 2019-06-11 | 浙江大学 | A kind of flight positioning control system of novel four-axle aircraft |
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