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.

Key words: Xenomai, Linux, SoCFPGA, satellite navigation, receiver