北斗/GPS双模导航终端关键模块的设计与实现
摘要
基于卫星导航系统的导航终端既广泛应用于交通运输领域,也应用于监测与救灾活动等领域。未来五年中国导航市场年均增长率将达到99.3%,年均消费导航终端上千万台。但我国现有的导航终端95%是采用GPS技术,北斗系统仅占有不到1%的市场份额。我国政府大力支持发展北斗卫星导航事业。北斗一号导航系统已于2003年建成运行。目前,北斗二号导航系统的第九颗卫星已成功送入太空预定轨道,2020年左右将建成具有35颗卫星的北斗全球卫星导航系统。
课题源于重庆市科技攻关计划项目,本文的目的是设计以Android为操作系统的北斗/GPS双模导航终端,将终端设计为具有两种卫星接收状态,从而保证用户终端在任何时间、任何空间都能接收到卫星定位信号,既有GPS的高定位精度,又有北斗卫星的报文通信。
本论文主要工作如下:
①进行了系统软硬件开发平台的构建。根据功能要求选用了处理器为S3C6410的开发板,UT_GPS模块和HMBY/CZ4型北斗一号接收机。以源码方式构建了基于ARM11的Android操作系统,对关键驱动模块进行了修改。
②对比接收机定位信号和GPS信号格式,设计并实现北斗信号转换扩充为GPS信号格式的功能模块。
③分析Android操作系统中GPS数据从硬件上报到GIS的整个流程,设计实现对转换后的北斗定位信号与GPS信号以相同模式上报,实现GIS无差异化调用,供用户自主选择定位模式。
④在Android系统中设计实现图形化北斗通信模块,实现用户终端短报文新建、发送、接收功能及定位信息转发功能。
⑤设计实现进程、线程间通信机制,维护进程、线程的正常运行,解决了主进程对文件的读写与子线程写文件动作冲突的问题。
该终端的研制将很好的加速推动我国北斗导航的民用化。终端既可以应用于定位导航,也可应用于通信及监控。具有很高的应用价值和极大的推广价值。
Satellite-based navigation device is widely used in transportation,monitoring and rescue activities. It will rise at the average speed of 99.3% growth in the navigation market of China in the next five years. It means an average annual consumption of tens of millions. But 95% of navigation terminals are using GPS technology. While our Beidou navigation system only shares less than 1%. Our government actively develops the Beidou satellite navigation.Beidou navigation experimental system was successfully biuild up in 2003.Until now the ninth satellite of Beidou II navigation system is successfully launched. In 2020, the 35-satellites Beidou global navigation system will be completed.
This paper is to develop a BeiDou/GPS dual-mode navigation terminal using Android OS and is based on one Science and Technology research project of Chongqing.
The terminal is designed to receive two kinds of satellite signals with both the GPS high positioning accuracy and Beidou satellite packet communication, thus ensuring the user terminal can receive satellite positioning signal whenever and wherever.
This thesis’s main contents include the following:
①Build the hardware and software development platform. Using UT6410 and HMBY/CZ4 Beidou receiver,build Android system in the way of source code.
②Compare the output format of signals of Beidou receivers with GPS signals. Change the format of Beidou signal into GPS format.
③Rearch the process of GIS geting GPS signal from the hardware. Design functions to make the converted signal and Beidou GPS signal reporte to the GIS in the same mode, so the user can choose the positioning mode easily.
④Design and implement the graphic Beidou communication program on Android.
⑤Design and implementation communication mechanisms for process and threads, solving the conflict between the main process’file reading and writing with the child threads’writing action.
The rearch and development of this terminal can promote Beidou navigation technology. This terminal can be applied to positioning, navigation, communication and monitoring. It is highly valueable and great promotional.
课题源于重庆市科技攻关计划项目,本文的目的是设计以Android为操作系统的北斗/GPS双模导航终端,将终端设计为具有两种卫星接收状态,从而保证用户终端在任何时间、任何空间都能接收到卫星定位信号,既有GPS的高定位精度,又有北斗卫星的报文通信。
本论文主要工作如下:
①进行了系统软硬件开发平台的构建。根据功能要求选用了处理器为S3C6410的开发板,UT_GPS模块和HMBY/CZ4型北斗一号接收机。以源码方式构建了基于ARM11的Android操作系统,对关键驱动模块进行了修改。
②对比接收机定位信号和GPS信号格式,设计并实现北斗信号转换扩充为GPS信号格式的功能模块。
③分析Android操作系统中GPS数据从硬件上报到GIS的整个流程,设计实现对转换后的北斗定位信号与GPS信号以相同模式上报,实现GIS无差异化调用,供用户自主选择定位模式。
④在Android系统中设计实现图形化北斗通信模块,实现用户终端短报文新建、发送、接收功能及定位信息转发功能。
⑤设计实现进程、线程间通信机制,维护进程、线程的正常运行,解决了主进程对文件的读写与子线程写文件动作冲突的问题。
该终端的研制将很好的加速推动我国北斗导航的民用化。终端既可以应用于定位导航,也可应用于通信及监控。具有很高的应用价值和极大的推广价值。
Satellite-based navigation device is widely used in transportation,monitoring and rescue activities. It will rise at the average speed of 99.3% growth in the navigation market of China in the next five years. It means an average annual consumption of tens of millions. But 95% of navigation terminals are using GPS technology. While our Beidou navigation system only shares less than 1%. Our government actively develops the Beidou satellite navigation.Beidou navigation experimental system was successfully biuild up in 2003.Until now the ninth satellite of Beidou II navigation system is successfully launched. In 2020, the 35-satellites Beidou global navigation system will be completed.
This paper is to develop a BeiDou/GPS dual-mode navigation terminal using Android OS and is based on one Science and Technology research project of Chongqing.
The terminal is designed to receive two kinds of satellite signals with both the GPS high positioning accuracy and Beidou satellite packet communication, thus ensuring the user terminal can receive satellite positioning signal whenever and wherever.
This thesis’s main contents include the following:
①Build the hardware and software development platform. Using UT6410 and HMBY/CZ4 Beidou receiver,build Android system in the way of source code.
②Compare the output format of signals of Beidou receivers with GPS signals. Change the format of Beidou signal into GPS format.
③Rearch the process of GIS geting GPS signal from the hardware. Design functions to make the converted signal and Beidou GPS signal reporte to the GIS in the same mode, so the user can choose the positioning mode easily.
④Design and implement the graphic Beidou communication program on Android.
⑤Design and implementation communication mechanisms for process and threads, solving the conflict between the main process’file reading and writing with the child threads’writing action.
The rearch and development of this terminal can promote Beidou navigation technology. This terminal can be applied to positioning, navigation, communication and monitoring. It is highly valueable and great promotional.
引文
[1]钱成越,薛原.基于北斗导航系统的移动导航定位终端设计[J].现代计算机2010.06:165-167.
[2]秦智.北斗全球导航系统标准国际化的思考.民航局空中交通管理局, 2010.11(119):43-46.
[3]苏丽华,赵可萍,崔胡.基于嵌入式ARM-Linux的GPS智能终端设计[J].现代电子技术,2009(12):25-27.
[4]王春刚,张江水,胡立成.基于北斗的车载嵌入式终端的开发与实现[J].国防交通工程与技术,2007,2:34-37.
[5]方兆宝,夏哲仁,赵培海.北斗三星无源导航定位技术研究[J].海洋测绘,2007,27(2):15-17.
[6]刘雅娟.北斗三星无源定位技术[J].无线电工程,2006,36(2):36-39.
[7]张烁,徐爱功,孙贵博.基于移动GIS的GPS定位导航系统的设计与实现[J].计算机系统应用,2010,19(11):32-36.
[8] S3C6410用户手册[Z].
[9]靳岩,姚尚朗.GoogleAndroid开发入门与实战[M].北京:人民邮电出版社, 2009-07.
[10]杨丰盛.Android技术内幕:系统卷.北京:机械工业出版社, 2010-6
[11]韦东山.嵌入式Linux应用开发完全手册[M].北京:人民邮电出版社, 240-241
[12]杨丰盛.Android应用开发揭秘. [M].北京:机械工业出版社, 2010-1.
[13]杜春雷.ARM体系结构与编程. [M].北京:清华大学出版社,2003.
[14]易炯,张雷,王建宇.基于卫星定位的位置服务分析及其应用研究[J].世界科技研究与发展,2008,30(6):328-330.
[15] IT168 , hanchao3c , Android的IPC机制Binder的各个部分[EB/OL].[2009.4.2〕,http://subject.it168.com/article/articleview.aspx?id=270388&type=cms.
[16] Openmoko, Android on Freerunner[EB/OL]. [2009.12.9], http://wiki.openmoko.org/wiki/Andriod_on_freerunner
[17]周明,Android平台移植与底层开发[EB/OL]. [2010.2.26],http://www.farsight.com.cn.
[18] Jeef jiang ,一起来做mini244o的Android的根文件系统[EB/OL]. [2009.9.1〕,http://www.arm9home.net/read.php?tid-2899-fpage-2.html.
[19] Nieolas Gramlieh. Android Programming with Tutorials from the anddev.org-Comrnunity [EB/OL]. http://www.anddev.org.
[20] J.F.DIMarzio.Android A Programmer’s Guide[M].McGraw-Hill Osborne Media,2008.07.
[21]“北斗一号”地面应用系统总体技术方案.总参测绘局“北斗一号”工程筹建办公室.国防科工委测通所.1997.9.
[22]李明峰,冯宝红,刘三枝.GPS定位技术及其应用[M].北京:国防工业出版社.2006.2.
[23]“北斗一号”出入站信号格式(3.0版).中国人民解放军卫星定位总站.2000.
[24]向为.“北斗一号”卫星导航定位系统中的零值问题研究. [D].国防科技大学硕士学位论文.2004.
[25] David Woodhouse. JEFS: The journaling Flash File System [J].Ottawa Linux Symposium, Red Hat Inc, 2001.
[26] Wear Leveling in Single Level Cell NAND Flash Memories [Z]. ST Microelectronics Application Note (AN1822), 2006.
[27] Axis Communications.JFFS.URL:http://developer.axis.com/software/jffs/,2004
[28] DaRLin.C.F.A new failure detection approach and its application to GPS autonomous integrity monitoring. IEEE Transaction on Aero space Electronic Systems.1995,31(l):499一506..
[29] PatriekBradyAnatomy&PhysiologyofanAndroid[EB/OL].2008[2009-03-24], http://sites.google.eoln/site/io/anatomy-physiology-of-an-android.
[30] Open Handset Alliance. Android Platform DeveloPer’s Guide | Android Open Source [EB/OL]. 2008[2009-03-17],http://pdk.android.com/online-pdk/guide/index.html.
[31] Greg Kroah-Hartman. Android and the Linux kernel community[EB/OL].2010-02-02, http://www.kroah.com/log/linux/android-kernel-problems.html
[32] Gasolin.IntroAndroid[EB/OL].2008[2010一02一01],http://code.google.com/p/androidbmi /wiki/IntroAndroid.
[33] Jollen.Android移植概观[EB/OL].2009「2009-03-10], http://www.jollen.org/blog/2009/05/android-Porting-introduction.html
[34] Embedded Linux Community.Android on OMAP[EB/OL]. 2008,httP://embedded linux.movial.fi/Android_on_OMAP
[35] Gergely.Google Android runs on Sharp Zaurus SL-C76o[EB/OL]. 2007,http://euedg e.eom/blog/2007/12/06/google-android-runs-on-sllarp-zaurus-sl-c760/
[36] Android HAL分析报告[EB/OL].2010, http://hi.baidu.com/aokikyon/blog/item/a66e0f87 d8f55326e75ee32b.html.
[37] Chris Haseman.Android Essential[M].Apress’s firstPress.2008:20-80.
[38]方林,张翼飞,刘佳佳.基于“北斗”卫星导航系统的长报文通信协议[J].海洋技术.2008.3,Vol.27(1).
[39]北斗应用解决方案[M].http://www.chinatopcom.com/tianhong/plan/fa.aspx?PlanID=23.
[40]单李旺.Android操作平台的研究与应用.天津:南开大学〔0].2009.
[41]刘宇航.手机之外Android系统别有一番新天地[EB/OL].LUPA开源社区,2009-11-24.
[42]陈憬,陈平华,李文亮.Android内核分析[J」.现代计算机(专业版),2009,(11)
[2]秦智.北斗全球导航系统标准国际化的思考.民航局空中交通管理局, 2010.11(119):43-46.
[3]苏丽华,赵可萍,崔胡.基于嵌入式ARM-Linux的GPS智能终端设计[J].现代电子技术,2009(12):25-27.
[4]王春刚,张江水,胡立成.基于北斗的车载嵌入式终端的开发与实现[J].国防交通工程与技术,2007,2:34-37.
[5]方兆宝,夏哲仁,赵培海.北斗三星无源导航定位技术研究[J].海洋测绘,2007,27(2):15-17.
[6]刘雅娟.北斗三星无源定位技术[J].无线电工程,2006,36(2):36-39.
[7]张烁,徐爱功,孙贵博.基于移动GIS的GPS定位导航系统的设计与实现[J].计算机系统应用,2010,19(11):32-36.
[8] S3C6410用户手册[Z].
[9]靳岩,姚尚朗.GoogleAndroid开发入门与实战[M].北京:人民邮电出版社, 2009-07.
[10]杨丰盛.Android技术内幕:系统卷.北京:机械工业出版社, 2010-6
[11]韦东山.嵌入式Linux应用开发完全手册[M].北京:人民邮电出版社, 240-241
[12]杨丰盛.Android应用开发揭秘. [M].北京:机械工业出版社, 2010-1.
[13]杜春雷.ARM体系结构与编程. [M].北京:清华大学出版社,2003.
[14]易炯,张雷,王建宇.基于卫星定位的位置服务分析及其应用研究[J].世界科技研究与发展,2008,30(6):328-330.
[15] IT168 , hanchao3c , Android的IPC机制Binder的各个部分[EB/OL].[2009.4.2〕,http://subject.it168.com/article/articleview.aspx?id=270388&type=cms.
[16] Openmoko, Android on Freerunner[EB/OL]. [2009.12.9], http://wiki.openmoko.org/wiki/Andriod_on_freerunner
[17]周明,Android平台移植与底层开发[EB/OL]. [2010.2.26],http://www.farsight.com.cn.
[18] Jeef jiang ,一起来做mini244o的Android的根文件系统[EB/OL]. [2009.9.1〕,http://www.arm9home.net/read.php?tid-2899-fpage-2.html.
[19] Nieolas Gramlieh. Android Programming with Tutorials from the anddev.org-Comrnunity [EB/OL]. http://www.anddev.org.
[20] J.F.DIMarzio.Android A Programmer’s Guide[M].McGraw-Hill Osborne Media,2008.07.
[21]“北斗一号”地面应用系统总体技术方案.总参测绘局“北斗一号”工程筹建办公室.国防科工委测通所.1997.9.
[22]李明峰,冯宝红,刘三枝.GPS定位技术及其应用[M].北京:国防工业出版社.2006.2.
[23]“北斗一号”出入站信号格式(3.0版).中国人民解放军卫星定位总站.2000.
[24]向为.“北斗一号”卫星导航定位系统中的零值问题研究. [D].国防科技大学硕士学位论文.2004.
[25] David Woodhouse. JEFS: The journaling Flash File System [J].Ottawa Linux Symposium, Red Hat Inc, 2001.
[26] Wear Leveling in Single Level Cell NAND Flash Memories [Z]. ST Microelectronics Application Note (AN1822), 2006.
[27] Axis Communications.JFFS.URL:http://developer.axis.com/software/jffs/,2004
[28] DaRLin.C.F.A new failure detection approach and its application to GPS autonomous integrity monitoring. IEEE Transaction on Aero space Electronic Systems.1995,31(l):499一506..
[29] PatriekBradyAnatomy&PhysiologyofanAndroid[EB/OL].2008[2009-03-24], http://sites.google.eoln/site/io/anatomy-physiology-of-an-android.
[30] Open Handset Alliance. Android Platform DeveloPer’s Guide | Android Open Source [EB/OL]. 2008[2009-03-17],http://pdk.android.com/online-pdk/guide/index.html.
[31] Greg Kroah-Hartman. Android and the Linux kernel community[EB/OL].2010-02-02, http://www.kroah.com/log/linux/android-kernel-problems.html
[32] Gasolin.IntroAndroid[EB/OL].2008[2010一02一01],http://code.google.com/p/androidbmi /wiki/IntroAndroid.
[33] Jollen.Android移植概观[EB/OL].2009「2009-03-10], http://www.jollen.org/blog/2009/05/android-Porting-introduction.html
[34] Embedded Linux Community.Android on OMAP[EB/OL]. 2008,httP://embedded linux.movial.fi/Android_on_OMAP
[35] Gergely.Google Android runs on Sharp Zaurus SL-C76o[EB/OL]. 2007,http://euedg e.eom/blog/2007/12/06/google-android-runs-on-sllarp-zaurus-sl-c760/
[36] Android HAL分析报告[EB/OL].2010, http://hi.baidu.com/aokikyon/blog/item/a66e0f87 d8f55326e75ee32b.html.
[37] Chris Haseman.Android Essential[M].Apress’s firstPress.2008:20-80.
[38]方林,张翼飞,刘佳佳.基于“北斗”卫星导航系统的长报文通信协议[J].海洋技术.2008.3,Vol.27(1).
[39]北斗应用解决方案[M].http://www.chinatopcom.com/tianhong/plan/fa.aspx?PlanID=23.
[40]单李旺.Android操作平台的研究与应用.天津:南开大学〔0].2009.
[41]刘宇航.手机之外Android系统别有一番新天地[EB/OL].LUPA开源社区,2009-11-24.
[42]陈憬,陈平华,李文亮.Android内核分析[J」.现代计算机(专业版),2009,(11)