Integrated navigation: product description and interface description of zhonghaida inav2

Product introduction

iNAV2 The vehicle integrated positioning module is a high-precision integrated real-time positioning and navigation module newly launched by China Haida .

The integrated positioning module is used for vehicle positioning and navigation , It is mainly used for passenger cars with automatic driving or intelligent driving function 、 Unmanned vehicle . The combined positioning module acts as the positioning sensor in the auto drive system , Provide centimeter level positioning and orientation data and attitude data for vehicles . Combine with high-precision map to realize automatic driving or intelligent assisted driving .

The combined positioning module supports positioning and orientation , Built in inertial sensor supports attitude output . And vehicle wheel speed and other information fusion , In none GNSS In the case of signal, a certain high-precision positioning time can be maintained .

The object looks like this ：

Interface description

The above figure shows the front view of the vehicle mounted combined positioning module , In the figure 18pin The interface of is the peripheral serial port wiring entry , Be marked with “GNSS Lord ” and “GNSS from ” Of FAKRA The connectors are the main antenna and auxiliary antenna interfaces of the motherboard .

Technical parameters

Main technical indicators

Electrical and physical characteristics

The appearance and installation dimensions of the combined module are shown in the figure below ：

I/O Pin description

18Pin The front view of the double row male head is shown below ：

Vehicle mounted combined positioning module I/0 Pin description ：

Data interface

The vehicle mounted integrated positioning module provides RS232 Standard data interface 、RS422 Standard data interface 、CAN The specific description of the interface is as follows

RS232 Interface

RS232 Interface specification ：

The combination module provides two RS232 Interface . Namely COM-RTK and COM-DEBUG, Two RS232 Interface character Up to standard EIA-RS232 level , Input voltage range -15V DC ~ +15V DC. The baud rate that can be set is 230400/115200/19200/9600.COM-RTK The interface is used to locate the data output 、 Command input and firmware upgrade , The default baud rate is 230400.COM-DEBUG Used to output program print information , The default baud rate is 115200.

RS422 Interface

RS422 Interface specification ：

RS422 The interface supports full duplex mode , The baud rate that can be set is 115200（ Default ）/38400/19200/9600. RS422 The interface is used to receive differential data , At the same time output 1Hz Of GGA The data is used to report the heartbeat to the differential data server .

CAN Interface

CAN Interface specification ：

The combined positioning module provides two standards CAN Interface , The baud rate can reach 5Mbps.CAN-HPP For transportation Enter vehicle data such as wheel speed and gear data ,CAN-RTK Used to output positioning data or MEMS Sensor data , Also used On CAN Configuration management parameters of upper computer 、 Calibration management parameters and firmware upgrade function .

PPS Second pulse

The on-board integrated positioning module provides an output 1 second / Sub pulse function pin PPS. The system is not locked in front of the star PPS The second pulse signal is only for reference , Output standard after star locking 1Hz Pulse signal , The default pulse width is 1ms High level .PPS The accuracy of second pulse is 20ns RMS. The signal level VOL<0.4V,VOH>2.8V . This signal can be used for data time synchronization .

Pin PPS explain ：

The signal output is shown in the figure below ：