阅读说明：本技术 基于北斗三代双频双天线时频同步定向装置、方法及共享单车 (Beidou third-generation-based double-frequency double-antenna time-frequency synchronous orientation device and method and shared bicycle ) 是由 贾小波 邹世合 贾鹏 王连备 戚敏 王二龙 李家坤 李应飞 董德柱 陶秉魁 于 2021-04-15 设计创作，主要内容包括：本发明涉及共享单车维护设备领域,特别涉及一种基于北斗三代双频双天线时频同步定向装置、方法及共享单车,其中,装置包括电路板,及设于电路板上的定位模块,所述定位模块包含用于接收北斗卫星信号进行位置坐标标定的定向天线、与定向天线连接用于捕获跟踪定向天线位置坐标的定位芯片,及与定位芯片连接用于位置坐标转换的单片机；所述定向天线包含放置于不同位置的至少两个卫星定向天线,每个卫星定向天线均连接有一个定位芯片,其中,定位芯片之间设置用于同步定位的相同时频基准。本实用新方法及共享单车方案中采用双天线双模组且采用时频同步基准进行定向,降低卫星测向在共享电单车场景下应用成本,提升定向稳定度,保障市民出行安全。(The invention relates to the field of shared bicycle maintenance equipment, in particular to a Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation device, a method and a shared bicycle, wherein the device comprises a circuit board and a positioning module arranged on the circuit board, the positioning module comprises a directional antenna for receiving Beidou satellite signals to calibrate position coordinates, a positioning chip connected with the directional antenna and used for capturing and tracking the position coordinates of the directional antenna, and a single chip connected with the positioning chip and used for converting the position coordinates; the directional antenna comprises at least two satellite directional antennas placed at different positions, each satellite directional antenna is connected with a positioning chip, and the same time-frequency reference for synchronous positioning is arranged between the positioning chips. The utility model discloses adopt two modules of dual antenna and adopt time frequency synchronization benchmark to orient in this new method and the sharing bicycle scheme, reduce the satellite direction finding and use the cost under the sharing electric bicycle scene, promote directional stability, guarantee citizen's trip safety.)

1. A Beidou three-generation double-frequency double-antenna time-frequency synchronous orientation device comprises a circuit board and a positioning module arranged on the circuit board, and is characterized in that the positioning module comprises a directional antenna used for receiving Beidou satellite signals to calibrate position coordinates, a positioning chip connected with the directional antenna and used for capturing and tracking the position coordinates of the directional antenna, and a single chip connected with the positioning chip and used for converting the position coordinates; the directional antenna comprises at least two satellite directional antennas placed at different positions, each satellite directional antenna is connected with a positioning chip, and the same time-frequency reference for synchronous positioning is arranged between the positioning chips.

2. The Beidou three-generation dual-frequency dual-antenna based time-frequency synchronization orientation device according to claim 1, characterized in that a communication module used for communication between the single chip microcomputer and external equipment is further arranged on the circuit board.

3. The Beidou third generation dual-frequency dual-antenna time-frequency synchronization orientation device based on claim 2, wherein the communication module is an NB-IoT or 4G cat1 wireless network communication module.

4. The Beidou three-generation dual-frequency dual-antenna based time-frequency synchronization orientation device according to claim 1, wherein the positioning chip is an integrated chip integrating a radio frequency transceiver and a baseband processor.

5. A Beidou third-generation double-frequency double-antenna time-frequency synchronization orientation method is characterized by being realized based on the device of any one of claims 1-4, and the realization process comprises the following contents:

the satellite directional antenna receives B1I and B2A satellite signals broadcast by a Beidou satellite, and transmits signals which take B1I and B2A as central frequency points and are filtered and amplified by corresponding bandwidths to the positioning chip through a radio frequency cable;

the positioning chip respectively utilizes satellite signals transmitted by corresponding satellite directional antennas, acquires, tracks and processes the carrier ring and the code ring by adopting signals with the same clock frequency, samples observed quantities of the carrier ring and the code ring by adopting signals with the same time scale, and acquires position coordinates of different antennas under a space rectangular coordinate system;

the singlechip converts the coordinate system of different antenna position coordinates to acquire the directional data under the unified coordinate system.

6. The Beidou three-generation dual-frequency dual-antenna based time-frequency synchronization orientation method according to claim 5, characterized in that a local carrier and a pseudo-random code of each positioning chip are generated by using the same local clock frequency; and frequency division is carried out at the local clock frequency to obtain a time mark signal, and the time mark signal is utilized to obtain carrier ring and code ring observed quantities.

7. The Beidou third-generation double-frequency double-antenna time-frequency synchronization orientation method according to claim 5 or 6, characterized in that the satellite orientation antennas are respectively arranged at different positions on the shared bicycle body, the single chip microcomputer is connected with the shared bicycle management platform, and whether the storage integrity of the vehicle is standard or not is judged by utilizing the electronic fence of the shared bicycle management platform and orientation data of the single chip microcomputer.

8. A shared bicycle is realized based on the device of any one of claims 1 to 4, and is characterized in that a double-satellite directional antenna is used for carrying out position calibration and time-frequency synchronous orientation is realized through a double-positioning chip.

9. The shared bicycle of claim 8, wherein two satellite directional antennas are respectively disposed at the head and tail positions of the shared bicycle for calibrating the head and tail coordinate positions by receiving satellite signals broadcast by the Beidou satellite.

10. The shared bicycle according to claim 8, wherein the single chip microcomputer is connected with the shared bicycle management platform through the communication module, and the shared bicycle management platform is provided with an electronic fence for judging whether the shared bicycle is stored normally or not.

Technical Field

The invention relates to the field of shared bicycle maintenance equipment, in particular to a Beidou third-generation dual-frequency dual-antenna time-frequency synchronization orientation device and method and a shared bicycle.

Background

At present, China develops shared economy vigorously, shared electric bicycles can meet 3-8 kilometers of public travel, the shared electric bicycles have the characteristics of convenience and low carbon, the annual release amount is continuously increased, and the appearance of a city are seriously influenced due to the fact that the shared bicycles and the shared electric bicycles are randomly stopped and released. Therefore, a method for positioning an electronic fence based on a satellite is provided in the industry to standardize parking behaviors, vehicles parked in the electronic fence still have inconsistent parking angles, and the problem of irregular placement is caused, and devices based on satellite single-antenna orientation, inertial navigation devices, geomagnetic sensors or satellite double-antenna RTK direction finding and the like are also provided in the industry to solve the problem, but the devices or the methods are often high in cost and are interfered by the environment, particularly serious in transient electromagnetic interference, and further application and implementation of the devices or the methods on a shared single vehicle are influenced.

Disclosure of Invention

Therefore, the Beidou third-generation double-frequency double-antenna time-frequency synchronization orientation device and method and the shared bicycle are simple in structure, scientific and reasonable in design and capable of improving the traveling safety of citizens.

According to the design scheme provided by the invention, the Beidou third-generation double-frequency double-antenna time-frequency synchronization orientation device comprises a circuit board and a positioning module arranged on the circuit board, wherein the positioning module comprises a directional antenna for receiving Beidou satellite signals to calibrate position coordinates, a positioning chip connected with the directional antenna and used for capturing and tracking the position coordinates of the directional antenna, and a single chip connected with the positioning chip and used for converting the position coordinates; the directional antenna comprises at least two satellite directional antennas placed at different positions, each satellite directional antenna is connected with a positioning chip, and the same time-frequency reference for synchronous positioning is arranged between the positioning chips.

As the Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation device, further, a communication module used for communication between the single chip microcomputer and external equipment is arranged on the circuit board.

As the Beidou third-generation double-frequency double-antenna time-frequency synchronization orientation device, the communication module is an NB-IoT or 4G cat1 wireless network communication module.

As the time-frequency synchronous orientation device based on the Beidou third-generation double-frequency double-antenna, the positioning chip adopts an integrated chip integrating a radio frequency transceiver and a baseband processor.

Further, the invention also provides a Beidou third generation double-frequency double-antenna based time-frequency synchronization orientation method, which is realized based on the device, and the realization process comprises the following contents:

the satellite directional antenna receives B1I and B2A satellite signals broadcast by a Beidou satellite, and transmits signals which take B1I and B2A as central frequency points and are filtered and amplified by corresponding bandwidths to the positioning chip through a radio frequency cable;

the positioning chip respectively utilizes satellite signals transmitted by corresponding satellite directional antennas, acquires, tracks and processes the carrier ring and the code ring by adopting signals with the same clock frequency, samples observed quantities of the carrier ring and the code ring by adopting signals with the same time scale, and acquires position coordinates of different antennas under a space rectangular coordinate system;

the singlechip converts the coordinate system of different antenna position coordinates to acquire the directional data under the unified coordinate system.

As the time-frequency synchronous orientation method based on the Beidou third-generation double-frequency double-antenna, further, the local carrier and the pseudo-random code of each positioning chip are generated by using the same local clock frequency; and frequency division is carried out at the local clock frequency to obtain a time mark signal, and the time mark signal is utilized to obtain carrier ring and code ring observed quantities.

The Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation method is based on, furthermore, the satellite orientation antennas are respectively arranged at different positions on the shared bicycle body, the single chip microcomputer is connected with the shared bicycle management platform, and whether the whole vehicle storage is standard or not is judged by utilizing the electronic fence of the shared bicycle management platform and orientation data of the single chip microcomputer.

Furthermore, the invention also provides a shared bicycle, which is realized based on the device, and the position calibration is carried out by utilizing the double-satellite directional antenna, and the time-frequency synchronous orientation is realized by utilizing the double-positioning chip.

As the shared bicycle, the two satellite directional antennas are respectively arranged at the head and tail positions of the shared bicycle and used for calibrating the coordinate positions of the head and the tail by receiving satellite signals broadcast by the Beidou satellite.

As the shared bicycle, the single chip microcomputer is further connected with a shared bicycle management platform through the communication module, wherein the shared bicycle management platform is provided with an electronic fence for judging whether the shared bicycle is stored regularly.

The invention has the beneficial effects that:

the invention has simple structure and novel and reasonable design, adopts double antennae and double modules and adopts a time-frequency synchronous reference for orientation, reduces the application cost of satellite direction finding in a shared electric bicycle scene, improves the orientation stability of products, promotes the standard parking of vehicles, promotes the traveling safety of citizens, ensures the appearance and appearance of cities, and has better application prospect.

Description of the drawings:

FIG. 1 is a schematic diagram of an embodiment of a Beidou third generation dual-frequency dual-antenna based time-frequency synchronization orientation device;

fig. 2 is a schematic diagram of the coordinate system conversion principle in the embodiment.

The specific implementation mode is as follows:

the present invention will be described in further detail below with reference to the accompanying drawings and technical solutions, and embodiments of the present invention will be described in detail by way of preferred examples, but the embodiments of the present invention are not limited thereto.

The embodiment of the invention provides a Beidou third-generation dual-frequency dual-antenna time-frequency synchronization orientation device, which comprises a circuit board and a positioning module arranged on the circuit board, wherein the positioning module comprises a directional antenna used for receiving Beidou satellite signals to calibrate position coordinates, a positioning chip connected with the directional antenna and used for capturing and tracking the position coordinates of the directional antenna, and a single chip connected with the positioning chip and used for converting the position coordinates; the directional antenna comprises at least two satellite directional antennas placed at different positions, each satellite directional antenna is connected with a positioning chip, and the same time-frequency reference for synchronous positioning is arranged between the positioning chips. The double-antenna double-module is adopted, and the time-frequency synchronous reference is adopted for orientation, so that the application cost of satellite direction finding in an actual scene is reduced, the orientation stability is improved, and the standard parking of vehicles is improved.

As the Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation device, further, a communication module used for communication between the single chip microcomputer and external equipment is arranged on the circuit board. Further, the communication module is an NB-IoT or 4G cat1 wireless network communication module. The data interaction with an external platform or equipment is facilitated, and the application range of the product is widened.

As the Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation device in the embodiment of the invention, furthermore, the positioning chip adopts an integrated chip integrating a radio frequency transceiver and a baseband processor, so that the device has the advantages of small volume, high integration level and convenience in installation and maintenance.

Furthermore, the embodiment of the invention also provides a shared bicycle, which is realized based on the device, and the position calibration is carried out by utilizing the double-satellite directional antenna, and the time-frequency synchronous orientation is realized by utilizing the double-positioning chip. The double-antenna double-module is adopted, the time-frequency synchronous reference is adopted for orientation, the application cost of satellite direction finding in a shared electric bicycle scene is reduced, and the orientation stability of a product is improved.

As the shared bicycle in the embodiment of the invention, further, the two satellite directional antennas are respectively arranged at the head and tail positions of the shared bicycle and used for calibrating the coordinate positions of the head and the tail by receiving satellite signals broadcast by the Beidou satellite.

Referring to fig. 1, the rear satellite directional antenna is installed at the rear of a shared electric bicycle, and can receive B1I and B2A satellite signals broadcast by a Beidou satellite, and transmit signals, which are filtered and amplified by corresponding bandwidths and take B1I and B2A as central frequency points, to the rear positioning module through a radio frequency cable, and the antenna is mainly used for calibrating the coordinate position of the rear of the bicycle. The head satellite directional antenna is arranged at the head of the shared electric bicycle, can receive B1I and B2A satellite signals broadcast by a Beidou satellite, transmits the signals which take B1I and B2A as central frequency points and are filtered and amplified by corresponding bandwidths to the tail positioning module by a radio frequency cable, and is mainly used for calibrating the coordinate position of the head.

The vehicle tail satellite positioning module receives a satellite signal transmitted by a vehicle tail satellite directional antenna, the satellite signal is subjected to down-conversion, filtering and amplification processing and then is used as a reference for capturing and tracking processing of a local carrier and a pseudo-random code, the local carrier and the pseudo-random code are generated by adopting a local clock frequency signal which is the same as that of the vehicle head satellite positioning module, frequency division is carried out by using the local clock frequency to obtain a time mark signal, the time mark signal is used for obtaining observed quantities such as pseudo range and carrier Doppler of a carrier ring and a code ring, and the time mark signal is also used for satellite resolving, namely at the rising edge time of each time mark, one-time positioning resolving can be carried out on the antenna of the vehicle tail. Similarly, the head satellite positioning module receives a satellite signal transmitted by the head satellite directional antenna, and the satellite signal is subjected to down-conversion, filtering and amplification processing and then used as a reference for capturing and tracking a local carrier and a pseudo-random code, the local carrier and the pseudo-random code are generated by using a local clock frequency signal the same as that of the tail satellite positioning module, and frequency division is performed by using the local clock frequency to obtain a time scale signal, the time scale signal is used for obtaining observed quantities such as pseudo range and carrier doppler for a carrier ring and a code ring, and the time scale signal is also used for satellite resolving, namely at the rising edge time of each time scale, the tail antenna can be once positioned and resolved.

The baseband parts of the headstock satellite positioning module and the tailstock positioning module adopt the same clock frequency signal, so that the noise caused by the local clock frequency signal is more consistent, and the difference of local clock differences of 2 positioning modules is reduced; in addition, when transient interference occurs in the surrounding environment of the antenna, the carrier-to-noise ratio of the satellite signal is deteriorated, in this case, the carrier-to-noise ratio of the satellite signal is different at different positioning moments, and the positioning calculation deviations are different.

The coordinates of the vehicle tail satellite antenna and the vehicle head satellite antenna can be obtained through the resolving of the vehicle tail positioning module and the vehicle head positioning module, the connection line of the two points can be a vector under a space rectangular coordinate system with the earth mass center as the origin, the direction of the vector indicates the vehicle attitude in the coordinate system, in order to calculate the specific pitch angle and course angle of the vehicle, the coordinates of the vehicle head antenna are required to be transformed to a station center coordinate system with the vehicle tail antenna coordinate as the station center, the schematic coordinate diagram is shown in the attached figure 2, and the calculating steps are as follows:

step 1: obtaining the difference value of 3 axes under the space direct coordinate system:

step 2: obtaining a 3-axis deviation centered at (X2, Y2, Z2):

where S is a coordinate transformation matrix

And step 3: calculating pitch angle and course angle

As the shared bicycle in the embodiment of the invention, the single chip microcomputer is further connected with a shared bicycle management platform through the communication module, wherein the shared bicycle management platform is provided with an electronic fence for judging whether the shared bicycle is stored regularly. The communication module is mainly used for uploading a directional result obtained by calculation of the directional module to the shared electric bicycle management platform through a wireless network, the platform judges whether the bicycle is integrally arranged according to the direction of the electronic fence and the direction of the bicycle, and the communication module can be of an NB-IoT communication system or a 4G CAT1 communication system.

Further, based on the above device, an embodiment of the present invention further provides a time-frequency synchronization orientation method based on the third generation of the beidou dual-band dual-antenna, including the following contents:

the satellite directional antenna receives B1I and B2A satellite signals broadcast by a Beidou satellite, and transmits signals which take B1I and B2A as central frequency points and are filtered and amplified by corresponding bandwidths to the positioning chip through a radio frequency cable;

the positioning chip respectively utilizes satellite signals transmitted by corresponding satellite directional antennas, acquires, tracks and processes the carrier ring and the code ring by adopting signals with the same clock frequency, samples observed quantities of the carrier ring and the code ring by adopting signals with the same time scale, and acquires position coordinates of different antennas under a space rectangular coordinate system;

the singlechip converts the coordinate system of different antenna position coordinates to acquire the directional data under the unified coordinate system.

As the Beidou third-generation double-frequency double-antenna time-frequency synchronous orientation method in the embodiment of the invention, further, the satellite orientation antennas are respectively arranged at different positions on the shared bicycle body, the single chip microcomputer is connected with the shared bicycle management platform, and the electronic fence of the shared bicycle management platform and orientation data of the single chip microcomputer are utilized to judge whether the whole storage of the bicycle is standard or not.

The term "and/or" herein means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention, and the scope of the present invention is defined by the appended claims. The foregoing description of specific exemplary embodiments of the invention is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.