The sensor subsystem consists of GNSS Beidou receiver, rain gauge, pore water pressure gauge, fixed inclinometer, water weir gauge, soil moisture sensor, earth pressure gauge, crack gauge, soil moisture gauge, laser ranging sensor, meteorological sensor, high-definition camera and other sensor fusion systems, which are responsible for the collection of raw data.

GNSS provides real-time high-precision location information. In addition to matching with high-precision maps, it also gives time synchronization of various devices and trigger synchronization of events, so that all devices on autonomous vehicle can do a certain thing at a certain time.

Gnss+ins fusion in occluded environment should achieve stable and reliable high output in occluded environment; Only when the positioning and stable output under high dynamic conditions can high-speed driving become possible; The stability of high-frequency positioning output is very helpful for high-speed cornering.

• Ceramic sheet: the quality of ceramic powder and sintering process directly affect its performance.

• Silver layer: the silver layer on the surface of the ceramic antenna can affect the resonant frequency of the antenna.

• Feed point: the ceramic antenna collects the resonance signal through the feed point and sends it to the back end.

• Amplification circuit: the shape and area of the PCB carrying the ceramic antenna.

RTK (Real Time Kinematic) is the full name of real-time dynamic differential positioning technology. RTK measurement system is a combined system composed of GPS measurement technology and data transmission technology.

High precision GPS measurement must adopt carrier phase observation. RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observation. It can provide the three-dimensional positioning results of the survey station in the specified coordinate system in real time and quickly, and reach the centimeter level accuracy. Compared with the post dynamic relative positioning method, RTK has the same positioning mode. It only needs to add a set of data link between the reference station and the mobile station to achieve real-time calculation and real-time output of coordinates of each point.

3D choke antenna is composed of four concentric choke rings including the central base and the periphery. The height of the choke ring gradually decreases from the inside to the outside, and the overall shape is pyramid. Multi band coverage is achieved by using multilayer patch stacking. Each patch in the multi-layer patch structure can realize the corresponding frequency points. The target frequency band can be radiated by adjusting the patch size, and the multi band coverage can be achieved by controlling the stacking order of the patches and the position of the feed points, which can meet the requirements of high-precision and multi system compatibility of the current measuring equipment.

M5 is an extremely lightweight, full-featured, intelligent GNSS receiver system equipped with an intergrated new-generation full-frequency antenna and advanced multi-channel RTK engine, built-in radio and 32GB internal storage, allowing users to attain accurate and reliable solutions.

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