The Design And Implementation Of A Rotating Multi-mode GNSS Dual-antenna Tight Combination Information Processing Platform

The combined navigation method of rotating multi-mode GNSS dual-antenna tight combination can solve the limitation of single navigation system,and the combined navigation can effectively improve the navigation accuracy.By rotating modulation,the heading angle can be obtained without solving the ambiguity of the whole circle,and the navigation calculation method of tight combination can satisfy that the combined navigation can be carried out even when there are less than 4 satellites being tracked.In this paper,based on the tight combination of GNSS satellite navigation and MIMU,the research and design of a rotating multi-mode GNSS dual-antenna tight combination information processing platform is carried out.The main research results are as follows:For the overall structure design of the rotating multi-mode GNSS dual-antenna tight combination information processing platform,FGPA+DSP is used as the core of the information processing platform,and STM32 is the overall frame design of the data storage core.Designed to collect the satellite data and inertial system data required for the tight combination of GNSS and MIMU with FPGA as the core,and realized the core function module design of the FPGA part:through the timing module,the inertial system without time stamp is timed,and the satellite data is used.The decoding module decodes the pseudorange messages of the dual antennas,extracts the pseudorange,carrier phase and Doppler frequency data information to provide the required data for the tight combination,and realizes the data required by the tight combination through the peripheral interface.Acquisition and storage,and completed the design of data interaction interface with DSP,which is convenient for DSP to extract and use data required for tight combination calculation.Designed to use DSP as the core to realize the tight combination of GNSS and MIMU to output the navigation solution results,and extract the data related to the tight combination of FPGA in the shared memory through the DSP,and obtain the observations required for the tight combination calculation.Carry out the tight integrated navigation algorithm,and get the final solution result through the Kalman filter.The design of an external storage device with STM32 as the core is designed to realize the function of real-time storage of the output results of the compact information processing platform.Through the experiment of each component,the completion of each core function part is verified.Through the experiment,it can be verified that the information processing platform can collect and store the data required for the tight combination of the dual antenna satellite board card output in real time,and it can be stable.Transmitted to the DSP part,data can be input and output to meet the design requirements of the information processing platform in this article.