摘要
全球导航卫星系统(GNSS,Global Navigation Satellite System)与航位推算定位系统(DRPS,Dead Reckoning Positioning System)是陆地导航系统中的两种典型定位技术。本文采用GNSS中的全球定位系统(GPS,Globe Position System)和DRPS中的微型惯性导航系统(MINS,Micro Inertial Navigation System)研制完成基于DSP的GPS/MINS组合陆地导航系统硬件平台。
GPS功能模块由专用集成芯片(ASIC,Application Specific Integrated Circuit)射频前端变频器和数字通道相关器构成GPS芯片组;MINS功能模块由集成微电子机械系统(iMEMS,integrated Micro Electro Mechanical Systems)技术的多轴运动惯性传感器构成三维微型捷联式惯性导航系统(MSINS,Micro Strapdown Inertial NavigationSystem);采用单片高速浮点型数字信号处理器(DSP,Digital Signal Processor)作为GPS/MINS组合导航数掘的处理平台;运用一片现场可编程逻辑门阵列(FPAG,FieldProgrammable Gate Array)设计的异步通用串行发送器(UART,Universal AsynchronousReceiver/Transmitter)将标准导航数据传输到带有RS232接口的外围应用设备上。从而实现全天候、无地界组合陆地导航。
论文采用一般与具体的叙述方式,以五大集成模块及其外围辅助电路设计为主要内容;以完成各模块间接口连接进而实现整个系统硬件平台设计为根本目的,并在此基础上给出了GPS跟踪环路算法和MINS捷联导航算法。实践表明整个系统具备连续、可靠定位;具有成本低、体积小;适合中、高档陆地车载导航以及近地面空中导航。
Global Navigation Satellite System (GNSS) and Dead Reckoning Positioning System (DRPS) are the two typical positioning technology of the land navigation. In this paper, Global Positioning System (GPS) in the GNSS and Micro Inertial Navigation System (MINS) in the DRPS are applied to develop the hardware platform of GPS/MINS Integrated Land Navigation System Based on DSP.
GPS functional modules from a GPS chip set of Application Specific Integrated Circuit (ASIC) is made up of radio-frequency converter of front-end and digital channels correlator; MINS functional modules from more Axis inertial sensors of integrated Micro Electro Mechanical Systems (iMEMS) technology constitute a three-dimensional micro strapdown inertial navigation system (MSINS); Adopting a single highly floating-point Digital Signal Processor (DSP) act as processing platform of GPS/MINS integrated navigation data; Using a field programmable gate array (FPAG) design a Universal Serial asynchronous transmitter (UART) which transfer standard navigation data to the external application equipment with RS232 interfaces. To achieve all-weather, no land boundaries of integrated navigation.
Papers used in general and specific narrative approach, to complete the five modules and design of externally integrated circuit for the main content; to implement the connection between each module interface then design of the entire system hardware platform as the fundamental purpose and on this basis given the GPS tracking loop algorithm and the MINS strapdown navigation algorithm. Practice shows that the entire system with continuous, reliable position; its low cost, small size, suitable for medium to high-end land-based vehicle navigation and air navigation near the ground.
引文
[1]秦永元.惯性导航.科学出版社,2006
[2]刘俊,石云波,李杰.微惯性技术.电子工业出版社,2005,1 1
[3]张天光,王秀萍,王丽霞等译.捷联惯性导航技术(第二版).国防工业出版社,2007,12
[4]方勇.数字信号与处理--原理与实践.清华大学出版社,2006,03
[5]田日才.扩频通信.清华大学出版社,2007
[6]曾一凡,李晖.扩频通信原理.机械工业出版社,2005
[7]张卫钢主编.通信原理与通信技术.西安电子科技大学出版社,2003
[8]除伟.通信电子技术.西安电子科技大学出版社,2003
[9]魏洪兴主编.嵌入式系统设计师教程.清华大学出版社,2006
[10]安平主编.贴片元器件应用手册.人民邮电出版社,2006
[11]曾兴雯主编.高频电子线路.高等教育出版社,2004
[12]王卫东等编.高频电子线路.电子工业革命出版社,2004
[13]王新稳,李萍,李延平.微波技术与天线.电子工业出版社,2006
[14]傅文斌主编.微波技术与天线.机械工业出版社,2007
[15]黄智伟.GPS接收机电路设计.电子工业出版社,2005,06
[16]王友功译.数字滤波器与信号处理.科学出版社,2003
[17]胡华春,石玉.数字锁相环路原理与应用.上海科学出版社,1990,10
[18]何希才译.锁相环(PLL)设计与应用.科学出版社,2006,05
[19]黄智伟.射频电路设计.电子工业出版社,2005,12
[20]彭启琮,张诗雅,常冉等译.TI DSP集成化开发环境(CCS)使用手册.清华大学出版社,2005,12
[21]江思敏.PCB和电磁兼容设计.机械工业出版社,2006,03
[22]江思敏,刘畅.TMS320C6000 DSP应用开发教程.机械工业出版社,2005
[23]李方慧主编.TMS320C6000系列DSPs原理与应用.电子工业出版社,2003
[24]雷勇主编.DSP系统设计与实践.电子工业出版社,2004
[25]田黎育,朱梦宇等译.TMS320C6000系列DSP编程工具与指南.清华大学出版社,2006
[26]尹勇,欧光军,等译.DSP集成化开发环境CCS使用指南.北京航空航天大学出版社,2003
[27]王彦主编.基于FPGA的工程设计与应用.西安电子科技大学出版社,2007,06
[28]石英,李新新,姜宇柏.ISE应用与开发技巧.机械工业出版社,2007
[29]袁文波,张皓,唐振中.FPGA应用开发从实践到提高.中国电力出版社,2007
[30]黄志强等编著.Xilinx可编程逻辑器件的应用与设计.机械工业出版社,2007
[31]西里提,张雅绮等译.Verilog HDL高级数字设计.电子工业出版社,2005
[32]五钿,卓兴旺.基于Verilog HDL数字系统应用设计.国防工业出版社,2006
[33]冼进主编.Verilog HDL数字控制系统设计实例.中国水利水电出版社,2007
[34]林灶生,刘绍汉.Verilog HDL芯片设计.北京航空航天大学出版社,2006
[35]王诚,钟信潮等编著.FPGA/CPLD设计工具.人民邮电出版社,2004
[36]王金明.数字系统设计与Verilog HDL.电子工业出版社,2005
[37]简弘伦.精通Verilog HDL.电子工业出版社,2005
[38]张欣.扩频通信数字基带信号处理算法及其VLSI实现.科学出版社,2004
[39]姜宇柏,黄志强.通信收发信机的Verilog实现与仿真.机械出版社,2007
[40]刘波.精通Verilog HDL语言编程.电子工业出版社,2007,5
[41]谭述森.卫星导航定位工程.国防工业出版社,2007
[42]王惠南.GPS导航原理与应用.科学出版社,2003
[43]李洪涛主编.GPS应用程序设计.科学出版社,1999
[44]刘基余.GPS卫星导航定位原理与应用.科学出版社,2003
[45]熊志昂,李红瑞,赖顺香.GPS技术与工程应用.国防工业出版社,2005
[46]张勤,李家权等著.GPS测量原理及应用.科学出版社,2005
[47]李明峰,冯宝红,刘三枝.GPS定位技术及其实现.国防工业出版社,2006
[48]张守信主编.GPS技术与应用.国防工业出版社,2004
[49]邱致和,王万一译.GPS原理与应用.电子工业出版社,2002,08
[50]寇艳红译.GPS原理与应用(第二版).电子工业出版社,2007,07
[51]陈军,潘高峰等译.GPS软件接收机基础.电子工业出版社,2005,01
[52]李天文.GPS原理与应用.科学出版社,2003,09
[53]王秉钧,王少毅等著.通信原理及其应用.科学出版社,2005,12
[54]周玉坤,徐宏等译.电路设计技术与技巧.电子工业出版社,2006,05
[55]神龙工作室编.Protel DXP2004实用培训教程.人民邮电出版社,2005
[56]张睿,赵艳华等编.精通Protel DXP2004电路设计.电子工业出版社,2006
[57]龙马工作室编.Protel 2004完全自学手册.人民邮电出版社,2005
[58]赵景波等编.Protel 2004电路设计应用范例.清华大学出版社,2006
[59]康兵主编.Protel 2004应用与实例.国防工业出版社,2005
[60]罗兴宇.基于DSP技术的高动态GPS接收机的研制.硕士学位论文,2002,03
[61]董军.一种GPS接收机数字通道相关器的设计.中电科技集团20所,2004
[62]徐业清,朱樟明等编.GPS接收机相关器的电路设计.西安电子科技大学微电 子研究所,2006,09
[63]李秋菊.通用异步接收发送器的设计.硕士学位论文,2007,04
[64]高洪民.GPS接收机射频前端电路原理与设计.电子技术应用,2007,03
[65]Zarlink Semiconductor.GP2015 GPS Receiver RF Front End.M anual,2002,02
[66]Zarlink Semiconductor.GP2021 GPS 12-Channel Correlator.M anual,2005,05
[67]Zarlink Semiconductor.GP402 GPS Baseband Processor.M anual,2005,05
[68]Zarlink Semiconductor.GP2000 GPS Receiver Hardware Design.Manual,2005
[69]Texas Instruments.TMS320C6713B Floating-Point Digital Signal Processors.Reference Guide,2005,05
[70]Texas Instruments.TMS320C6000 DSP External Memory Interface.Reference Guide,2006,02
[71]Texas Instruments.TMS320C6000 DSP 32-Bit Time.Reference Guide.Reference Guide,2005,01
[72]Texas Instruments.TMS320C6000 DSP Software-Programmable Phase-Locked Loop(PLL)Controller.Reference Guide,2006,11
[73]Texas Instruments.TMS320C6000 DSP Multichannel Buffered Serial Port.Reference Guide,2006,12
[74]Texas Instruments.TMS320C6000 DSP Multichannel Audio Serial Port.Referenc e Guide,2006,04
[75]Texas Instruments.TMS320C6000 DSP Interrupt Selector.Reference Guide,2004
[76]Texas Instruments.TMS320C67x/C67x+DSP CPU and Instruction Set.Reference Guide,2006,11
[77]Texas Instruments.TMS320C6000 DSP Host Port Interface.Reference Guide,2006,01
[78]Texas Instruments.TMS320C6000 DSP General-Purpose Input/Output(GPIO).Reference Guide,2004,03
[79]Texas Instruments.TMS320C6000 DSP Enhanced Direct Memory Access(EDMA)Controller.Reference Guide,2004,03
[80]Texas Instruments.TMS320C6000 DSP Inter-Integrated Circuit(I2C)Module.Reference Guide,2004,03
[81]Xilinx,Inc.Spartan-3 Generation FPGA.User Guide,2007,04
[82]Xilinx,Inc.Spartan-3 Generation Configuration.User Guid e,2007,04
[83]Xilinx,Inc.Spartan-3 Generation FPGA Device Package.Use r Guide,2007,04
[84]Silicon Storage Technology,Inc.2 Mbit / 4 Mbit / 8 Mbit(x16)Multi-Purpose Flash.Data Sheet,2007,04
[85]Texas Instruments.1A Low-Dropout Regulator with Reverse Current Protection TPS737xx family.Reference Guide,2004,03
[86] Texas Instruments. 3.0V To 5.5V Multichannel RS-232 Line Driver/Receiver MAX3232. Reference Guide, 2004, 03
[87] Texas Instruments. TMS320C6x Peripheral Support Librar. Reference Guide, 2004
[88] JamesBao-Yen Tsui . Fundamentals of Global Positioning System Receivers. Reference Guide, 2005
[89] John Geen, David Krakauer. New iMEMS(?) Angular-Rate-Sensing Gyroscope. ADI,2003
[90] Curtis D.Evans. The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data. Captain.USAF,1994, 02
[91] Mandapat, Rommel E. Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation. FLORIDA UNIV GAINESVILLE CENTER,2001, 12
[92] Dennis M.Akos, Per Enge. Direct RF Sampling Research Final Report. Ttanford University,2002, 03