Design And Implementation Of Integrated Navigation Device Based On Beidou Positioning

This thesis discusses a design and implementation method of integrated navigation device based on Beidou positioning.With the requirement of increasing the localization rate of aviation equipment,the original GPS-based positioning system in the field of aviation navigation has been gradually replaced with China's Beidou satellite navigation and positioning system.Based on this,a design based on Beidou positioning and inertial navigation is designed.The integrated navigation device is of great significance for improving the localization rate of aviation navigation equipment,precise navigation and attitude control of aviation aircraft.In most of the aeronautical navigation and positioning equipment at home and abroad,GPS positioning systems are currently used^[11].As the number of Beidou positioning satellites continues to increase,the accuracy of the Beidou positioning system is also increasing.In order to improve the safety of domestic aviation aircraft and reduce the cost of navigation equipment,it is necessary to design and implement a domestically-based Beidou positioning navigation equipment.At the same time,the integrated navigation device compensates for the inaccurate measurement of the satellite navigation system in the case of star-loss,occlusion,multipath and interference;when measuring the carrier of high-speed motion,it can output 200Hz position and velocity information,greatly improving the position.Coherence with speed output.The integrated navigation device is a highly integrated product that is small and lightweight for most applications.The design principle of the device is that the Ellipse2-E-M1 inertial navigation device is used as the signal transmission and transmission medium,and the Ellipse2-E-M1 inertial navigation device senses its own posture and transmits signals through the sensor,and the multi-channel collected data is exchanged;the integrated navigation system function integrates a function internally.The inertial navigation module of the Ellipse2-M1 series and a dual antenna direction finding positioning receiver.Benefiting from the highly integrated Ellipse2-E-M1 family of products and the excellent EKF（Extended Kalman Filter）algorithm,the device can be combined with inertial sensors and satellite receivers.The combination navigation device design has two configurations to achieve.The low-distribution method integrates Ellipse2-M1 and OEM617D positioning modules,and uses auxiliary GPS technology for direction finding,positioning and precise navigation.The high matching mode is integrated in the original low-distribution mode.Based on the STM32 low-power controller,the Ellipse2-M1 and 16GB Emmc are connected.The Ellipse2-M1 data is stored in the Emmc through the STM32 serial port.The STM32 uses the load balancing algorithm to read and write data to the Emmc.The file system is in FATFS format.System requirements:Built-in dual-antenna receiver,which can realize direction finding,positioning and speed measurement separately;built-in Ellipse2-M1inertial navigation module,which can measure acceleration and angular velocity separately;can measure roll angle,pitch angle,heading angle and heave separately;Integrated navigation,outputting position,velocity,and heading information after Kalman filter processing at a frequency of up to 200 Hz.Data storage,Ellipse2-M1 inertial navigation module data can be stored in 16Gb Emmc via STM32 chip.This thesis first briefly introduces the overall requirements of the integrated navigation device.According to the analysis of equipment characteristics,the inertial navigation module is used as the calculation and transmission core to calculate the attitude information and transmit multi-channel information;the position information is accepted by the dual antenna,and the positioning is based on the OEM617D module of the Beidou positioning system;the STM32 processor plus Emmc data storage.Meet the overall requirements of aircraft precise positioning and attitude parameter feedback.The design of the integrated navigation device is based on the Beidou navigation system to improve the localization rate of the navigation device application.At the same time,the device is loaded with high-precision inertial control device,which enables the integrated navigation to provide accurate flight in the environment of star-loss and external signal interference.Control parameters.On the basis of this,other common cases are provided.The USB and CAN bus interfaces are designed under the original basic requirements,which is also of practical significance for the use of vehicles other than aerospace vehicles.Because the design requirements are low power consumption,there is no redundant positioning for designing navigation positioning,and the Emmc data storage chip of the BGA package used to prevent the vibration of the aircraft in the selection of the storage device may have a bad block condition during storage,so The device needs to perform self-test on the memory every time the power-on reset,which has a certain impact on the boot speed.