Beidou/GPS Navigation Receiver Based on Xenomai RTOS in Linux Operating System

Qiu Wen-tian; Everett Xiao Wang; Wang Jia-ran; Li Chuan-mai; Wang Jin; Li Xue-yi

doi:10.12052/gdutxb.170120

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Beidou/GPS Navigation Receiver Based on Xenomai RTOS in Linux Operating System

更新时间：2026-05-27

- Beidou/GPS Navigation Receiver Based on Xenomai RTOS in Linux Operating System
- Vol. 35, Issue 1, Pages: 50-55(2018)
- 作者机构：
  
  广东工业大学　信息工程学院,广州,510006
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.170120
  CLC： TN967.1
- Online First：09 January 2018，
  
  Published：2018
- 稿件说明：
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邱文添, 王峰, 王家燃, 利传迈, 汪进, 李学易. 基于Xenomai实时Linux的北斗/GPS导航接收机[J]. 广东工业大学学报, 2018, 35(1): 50-55.

Qiu Wen-tian, Everett Xiao Wang, Wang Jia-ran, et al. Beidou/GPS Navigation Receiver Based on Xenomai RTOS in Linux Operating System[J]. 2018, 35(1): 50-55.
邱文添, 王峰, 王家燃, 利传迈, 汪进, 李学易. 基于Xenomai实时Linux的北斗/GPS导航接收机[J]. 广东工业大学学报, 2018, 35(1): 50-55. DOI： 10.12052/gdutxb.170120.

Qiu Wen-tian, Everett Xiao Wang, Wang Jia-ran, et al. Beidou/GPS Navigation Receiver Based on Xenomai RTOS in Linux Operating System[J]. 2018, 35(1): 50-55. DOI： 10.12052/gdutxb.170120.

摘要

设计了一种基于Xenomai实时Linux的北斗/GPS导航接收机. 该接收机主体采用SoCFPGA进行实现

其中HPS上的基于Xenomai的Linux实时操作系统负责系统初始化、任务调度、射频前端驱动、捕获和跟踪环路的控制、位同步和帧同步处理以及定位解算等

而数据采集、卫星信号捕获和跟踪等部分由FPGA实现. 经测试

该接收机中的实时操作系统的任务响应延迟小于15 μs

实时性能够满足北斗/GPS导航接收机对实时性的要求

且接收机的CEP测试结果达到2.290 4 m

能达到定位需求. 此外该接收机能够支持输出差分定位的原始数据及扩展组合导航.

Abstract

A Beidou/GPS navigation receiver based on Xenomai RTOS in Linux operating system is designed. The main part of this receiver consists of SoCFPGA. The Xenomai real-time Linux system using HPS in the main part is responsible for system initialization

task scheduling

RF front-end driver

loop capturing and tracking control

bit synchronization and frame synchronization and positioning calculation

and the FPGA is used to collect data

capture and track satellite signal. After a series of tests

the task response delay of the real-time Linux system based on Xenomai is less than 15 microseconds

which can meet the real-time requirement of Beidou/GPS navigation receiver

and the test value of CEP of this receiver reaches 2.290 4 meters

which can also meet positioning requirement. In addition

the receiver can support output differential positioning of raw data and extended integrated navigation.

关键词

Keywords

references

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