CN102508277A - Precise point positioning and inertia measurement tightly-coupled navigation system and data processing method thereof - Google Patents
Precise point positioning and inertia measurement tightly-coupled navigation system and data processing method thereof Download PDFInfo
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Abstract
The invention discloses a precise point positioning and inertia measurement tightly-coupled navigation system and a data processing method thereof. The navigation system comprises an inertia measurement unit, an inertia measurement processing module, a global positioning system (GPS) receiver and a Kalman filtering calculation module. The inertia measurement unit outputs inertia measurement data of a carrier; the inertia measurement processing module receives a digital signal output by the inertia measurement unit, calculates the data of the position, the speed, the gesture and the heading of the carrier through navigation integration, and calculates a pseudo-range, a carrier wave and a carrier wave change rate relative to the inertia measurement unit; the GPS receiver is used for outputting precise point positioning information; the Kalman filtering calculation module receives the output signals of the inertia measurement processing module and the GPS receiver, calculates correction parameters through multi-state Kalman filtering and feeds the correction parameters back to the inertia measurement processing module; and the inertia measurement processing module receives the correction parameters and calculates navigation data. By the system and the method, the defect that GPS signals are weak under the condition that a satellite has a poor geometric structure or in shielded or half-shielded areas is effectively overcome.
Description
Technical field
The present invention relates to a kind of navigational system and data processing method thereof, especially a kind of Static Precise Point Positioning and tight integrated navigation system of inertia measurement and data processing method that is applicable to means of transport.
Background technology
The navigation of means of transport is divided into two types.(1) self-aid navigation:, inertial navigation, Doppler navigation and celestial navigation etc. are arranged with the navigation of the equipment on aircraft or the boats and ships; (2) anti-selfcontained navigation: be used for the navigation that matches of transit equipments such as aircraft, boats and ships, automobile and relevant ground or aerial device, radio navigation, satellite navigation are arranged.Inertial navigation can be realized independence, but its navigation accuracy reduces in time, and the satellite navigation precision does not change in time, but it needs the input of outer signals, and restriction is big.
(Global Positioning System is a kind of technology that combines satellite and Development of Communication GPS) to Global Positioning System (GPS), when utilizing Navsat to survey and range finding.Static Precise Point Positioning (Precise Point Positioning; PPP) refer to accurate satellite orbit and the satellite clock correction that the GPS observation data of utilizing global some ground tracking stations calculates, phase place that separate unit GPS receiver is gathered and pseudorange observed reading position to be resolved.Utilize precise ephemeris or the precise ephemeris afterwards of the gps satellite of this forecast to start at data as known coordinate; The accurate satellite clock correction of utilizing certain mode to obtain is simultaneously come the satellite clock correction parameter in the alternate user GPS location observation value equation; The optional position of the observation data that the user utilizes separate unit GPS double frequency dicode receiver in tens million of square kilometres and even global range can the 2-4dm level precision; Carry out the precision of real-time dynamic positioning or 2-4cm level and carry out static immobilization faster; The Static Precise Point Positioning technology is to realize the gordian technique of global accurate real-time dynamic positioning and navigation, also is the forward position research direction of aspect, GPS location.Also have significant disadvantages but Static Precise Point Positioning is applied to navigation, show that initial convergence speed is slow, integer ambiguity is separated and is difficult to quick decomposition; Aspects such as real-time limited use; And not good or cover half shaded areas in the satellite geometry structure, effect is poor, even can't locate.
((Inertial Measurement Unit, (Inertial Navigation System INS) is a kind of new airmanship that grows up from 20 beginnings of the century to inertial navigation system IMU) to the utilization Inertial Measurement Unit.Ultimate principle is the mechanics law according to the relative inertness space of newton's proposition; Utilize the acceleration of motion of the accelerometer measures carrier in the inertia measurement appearance; Utilize the angular velocity of rotation of gyroscope survey carrier; Through computing machine these inertia measurement values are handled then, obtained position, speed and the attitude of carrier.Slightly specifically, the starting condition of given carrier movement state, degree of will speed up measured value carries out the movement velocity that integration can obtain carrier to the time, the time is carried out quadratic integral can obtain its locus.Equally, the angular velocity of rotation measured value is carried out integration to the time, inertial navigation system can obtain the attitude angle of carrier in space three-dimensional.Different with the navigational system of other types; Inertial navigation system has the independent navigation ability; Need not transmit signal or receive signal, not receive environment, carrier is motor-driven and the influence of radio interference, and location navigation parameters such as carrier positions, speed and attitude can be provided continuously from carrier from the outside; Its data updating rate is fast, range is bigger, and has relative accuracy higher in the short time.But inertial navigation system is along with the prolongation of working time, and navigation error accumulates increase in time, need utilize external observation information often to revise inertial navigation system, controls the accumulation in time of its error, is difficult to satisfy user's accuracy requirement.
Traditional navigation tightly coupled system; Be that GPS two differences location and Inertial Measurement Unit is combined; Need two or many GPS receivers participations; A GPS receiver is as the base station, and other GPS receiver is placed on the motion carrier as rover station and Inertial Measurement Unit together, and data composition two difference observed readings and Inertial Measurement Unit that rover station receives the base station carry out the tight coupling navigation.The navigation accuracy of the two difference of GPS station-keeping modes is high, but owing to need many GPS receivers to participate in, cost is higher, and requires rover station and the base station distance can not be too far away, and base station signal produces disruption sometimes in transmission course.
The advantage of Static Precise Point Positioning is not accumulation in time of error, but bearing accuracy is not high; Inertia measurement has higher measuring accuracy at short notice, but error along with time integral, precision also can decline to a great extent.Given this; If can effectively both be combined; Accomplish to have complementary advantages, form Static Precise Point Positioning and the tight integrated navigation system of inertia measurement, both can improve the initial convergence speed of Static Precise Point Positioning; Can limit the inertia measurement error again, and solve the continuous Kinematic Positioning problem when gps signal interrupts.At present, the guider that also both is not made up.
Summary of the invention
Technical matters: the objective of the invention is to overcome the deficiency in the prior art Static Precise Point Positioning and the tight integrated navigation system of inertia measurement and the data processing method that provide that a kind of method is simple, speed is fast, can effectively improve navigation accuracy.
Technical scheme: the tight integrated navigation system of a kind of Static Precise Point Positioning and inertia measurement; Comprise Inertial Measurement Unit, inertia measurement processing module, GPS receiver, Kalman filtering computing module and power module; Wherein: the output terminal of Inertial Measurement Unit links to each other with the inertia measurement processing module; Inertia measurement processing module and GPS receiver be Connection Card Kalman Filtering computing module respectively; The Kalman filtering computing module receives the output signal of inertia measurement processing module and GPS receiver simultaneously, calculates through the multimode Kalman filtering, revises inertia measurement processing module and GPS receiver parameters; The parameter of revising is fed back to inertia measurement processing module and GPS receiver, obtain the integrated navigation data behind the corrected parameter of inertia measurement processing module receiving card Kalman Filtering computing module feedback.
Said GPS receiver is a dual-frequency receiver; Described Kalman filtering computing module comprises linear kalman filter, non-linear Kalman filtering device, extended Kalman filter, adaptive Kalman filter and the anti-difference Kalman filter that is combined into one side by side.
The data processing method of Static Precise Point Positioning of the present invention and the tight integrated navigation system of inertia measurement:
A. tight integrated navigation system is fixed on the motion carrier; Be transferred to the inertia measurement processing module after three axis angular rates and the three axial ratio power values of motion carrier in advancing through the Inertial Measurement Unit measurement; Carry out position, speed and the attitude that the layout of inertia measurement mechanics obtains motion carrier through the inertia measurement processing module, calculate pseudorange, carrier wave, carrier wave change rate forecast value with respect to Inertial Measurement Unit according to these value predictions;
B. the inertia measurement processing module will be transferred to the GPS module after receiving through the Kalman filtering computing module with respect to pseudorange, carrier wave, the carrier wave change rate forecast value of Inertial Measurement Unit; GPS module Static Precise Point Positioning integer ambiguity restrains fast; Detect correcting errors of Static Precise Point Positioning actual measured value simultaneously, the unusual Doppler shift that get rid of the wrong pseudorange of multipath influence, causes by reflection wave signal and by losing lock or lose the fault carrier phase measurement value that week brings;
C. the receiving antenna signal through the GPS receiver obtains real-time accurate track and clock correction data, by the Static Precise Point Positioning pattern, comprises that frequency conversion, amplification, filtering, computing obtain the actual measured value of pseudorange, carrier wave, carrier wave rate of change;
The prediction and calculation value of the pseudorange with respect to Inertial Measurement Unit that d. will receive through the Kalman filtering computing module, carrier wave, carrier wave rate of change and actual measured value are subtracted each other the observed reading of back as Kalman filter; Be recorded in the Kalman filter; Calculate the location to the inertia measurement processing module, the error vector that constant speed result proofreaies and correct; Adopt the indirect Estimation method of feedback compensation; In inertial navigation system inertia measurement processing module, proofread and correct integrated navigation system state error estimation feedback the integrated navigation data after obtaining proofreading and correct to system state.
Beneficial effect: owing to adopt technique scheme; Static Precise Point Positioning and inertia measurement are closely combined, utilize the Static Precise Point Positioning navigator fix accurately not have the characteristics that the precision in short-term of characteristics and inertia measurement of drift, all weather operations in 24 hours is high, real-time attitude of carrier two-forty and navigational parameter can be provided, utilize modern microelectric technique, through the Kalman filtering calculation combination; Realized the high precision navigation feature; Both can improve the initial convergence speed of Static Precise Point Positioning, can limit the inertia measurement accumulation of error again, when satellite is less than 4; Still can use the useful information of satellite-signal, and solve the continuous Kinematic Positioning problem when gps signal interrupts.Remedy not high and two inferior positions of the inertia measurement accumulation of error of Static Precise Point Positioning precision; The auxiliary Static Precise Point Positioning blur level of inertia measurement restrains fast; The drift of Static Precise Point Positioning restriction inertia measurement; Also navigator fix can be realized covering half shaded areas, and navigation accuracy can be on the basis of quick real-time, improved effectively.Utilize indirect method to carry out the state estimation error through the Kalman filtering computing module; Possesses anti-difference effect simultaneously; The difference of the pseudorange that provides the pseudorange of GPS, carrier wave, carrier wave rate of change and corresponding Inertial Measurement Unit, carrier wave, carrier wave rate of change forms error signal (promptly remaining) through subtracting each other, measure remaining after Kalman filtering, just obtain again to Inertial Measurement Unit locate, constant speed result's correcting value.Location, constant speed result and gps satellite ephemeris according to Inertial Measurement Unit; Combined system can dope pseudorange, carrier wave, carrier wave rate of change of gps signal etc. more exactly; Measuring predicted value accurately is used for assisting the Static Precise Point Positioning integer ambiguity to restrain fast; Detect correcting errors of Static Precise Point Positioning actual measured value effectively, get rid of those unusual Doppler shifts that cause such as the wrong pseudoranges that suffer the multipath influence, by reflection wave signal and by losing lock or lose the fault carrier phase measurement value that week brings.
Its advantage: tight integrated navigation system of Static Precise Point Positioning and inertia measurement and data processing method are used the hardware of low-cost, low precision, are combined into high accuracy measurement system, all can extensively promote the use of at military project, civil area; The GPS module is the double frequency receiver module in tight integrated navigation system of Static Precise Point Positioning and inertia measurement and the data processing method; Can receive gps satellite signal; Can receive GPS (Global Navigation Satellite System again; GLONASS) satellite-signal improves system accuracy, the reliability of enhanced system.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is flow chart of data processing figure of the present invention.
Fig. 3 is the data flowchart of inertia measurement processing module of the present invention.
Embodiment
Below in conjunction with accompanying drawing one embodiment of the present of invention are done further to describe:
As shown in Figure 1, the tight integrated navigation system of Static Precise Point Positioning of the present invention and inertia measurement mainly is made up of Inertial Measurement Unit 1, inertia measurement processing module 2, GPS receiver 3, Kalman filtering filtering computing module 4 and power module.Wherein: Inertial Measurement Unit 1 is mainly by miniature processing machine electric system (Micro-Electro-Mechanical System; MEMS) sensor is formed, and Inertial Measurement Unit 1 comprises MEMS gyroscope 11, mems accelerometer 12, temperature sensor 13, wave filter 14, synchronization of modules 15 and A/D modular converter 16; The output terminal of MEMS gyro 11, mems accelerometer 12, temperature sensor 13 is parallel on the wave filter 14, and wave filter 14 connects synchronization of modules 15, and synchronization of modules 15 connects A/D modular converter 16.Described MEMS gyro 11 is a silicon micro-gyroscope, is used to provide three axis angular rate measured values; Described mems accelerometer 12 is a silicon micro accerometer, is used to provide three axial ratio power measured values; Described temperature sensor 13 is used for the measuring system internal temperature; Described wave filter 14 is a BPF.; Wave filter 14 is eliminated low frequency and high frequency noise according to the frequency separation of useful signal; Described synchronization of modules 15 is used for the observation information and the synchronization of GPS observation information of inertia measurement, and the conversion of signals that described A/D modular converter 16 is used for Inertial Measurement Unit 1 is a numerical information.Described inertia measurement processing module 2 comprises a microprocessor computing circuit plate; Be used to receive original three axis angular rates and the linear acceleration signal that Inertial Measurement Unit 1 provides; Through the navigation integral operation; Obtain carrier positions, speed, attitude and course data; Calculate pseudorange with respect to inertial navigation position and speed, carrier wave, carrier wave rate of change etc. according to these values, and the navigational state parameter information is provided, be used for carrying out the Kalman filtering information fusion with pseudorange, carrier wave, the carrier wave rate of change of GPS receiver 3 to Kalman filtering computing module 4.Described GPS receiver 3 is a dual-frequency receiver, and it comprises one or more antennas, radio-frequency front-end processing module 31, a baseband digital signal processing module 32 and a location navigation computing module 33.Gps antenna is the first device that GPS receiver 3 is handled satellite-signal, and the electromagnetic wave signal that it launches the gps satellite of receiving is transformed into voltage or current signal, for picked-up of receiver radio frequency front end and processing.Satellite navigation signals is provided for radio-frequency front-end processing module 31 and carries out the conversion of simulating signal to digital signal.Radio-frequency front-end processing module 31 also comprises amplifier, wave filter and other elements.Digitized gps signal is handled through baseband digital signal processing module 32, and each passage is exported the navigation message that demodulation is come out on measured value such as pseudorange, Doppler shift and the carrier phase of its tracking satellite signal and the signal respectively.Baseband digital signal processing module 32 can also provide the covariance matrix of observation noise.Through the processing of follow-up location navigation calculation function module, receiver finally obtains the GPS positioning result to information such as ephemeris parameter in satellite measurement and the navigation message again, perhaps exports navigation information again.
The data processing method of Static Precise Point Positioning of the present invention and the tight integrated navigation system of inertia measurement; As shown in Figure 2; Tight integrated navigation system is fixed on the motion carrier; Three axis angular rates and the three axial ratio power values (
) of measuring the middle motion carrier of advancing through Inertial Measurement Unit 1 are transferred to inertia measurement processing module 2 afterwards; Carry out the layout of inertia measurement mechanics, navigation integral and calculating through inertia measurement processing module 2; Obtain carrier positions, speed, attitude (
), pass through pseudorange, carrier wave, the carrier wave change rate forecast value (
) of Static Precise Point Positioning observed reading prediction and calculation with respect to Inertial Measurement Unit 1 according to these values; Inertia measurement processing module 2 is carried out the layout of inertia measurement mechanics, the navigation integral and calculating is as shown in Figure 3; By accelerometer the specific force measured value in the carrier coordinate system
is provided; Gyroscope provides the measured value
of angular velocity in the carrier coordinate system; After the attitude valuation of given navigation initial time carrier; According to the measured value
with respect to the carrier angular velocity of inertial coordinates system, Attitude Calculation obtains direction cosine matrix
.Through specific force measured value premultiplication direction cosine matrix
, obtain specific force value
in the navigation coordinate system.
that utilization obtains; On the basis of the initial valuation of speed and position; Local gravity vector
that comprehensive gravity calculates and Ge Shi control information obtain position and the speed and the new De Geshi correction of carrier through navigation calculating; Positional information calculates new local gravity vector
through gravity, and utilization can be extracted attitude, the course information of carrier.The carrier positions that obtains, speed, attitude, local gravity vector and Ge Shi control information are as the initial value that calculates next time, until obtaining final carrier positions, speed and attitude constantly.Inertia measurement processing module 2 will be transferred to GPS module 3 after will receiving through Kalman filtering computing module 4 with respect to the predicted value of the pseudorange of Inertial Measurement Unit 1, carrier wave, carrier wave rate of change; GPS module Static Precise Point Positioning integer ambiguity restrains fast; Detect correcting errors of Static Precise Point Positioning actual measured value simultaneously, the unusual Doppler shift that get rid of the wrong pseudorange of multipath influence, causes by reflection wave signal and by losing lock or lose the fault carrier phase measurement value that week brings; Receiving antenna signal through GPS receiver 3 obtains satellite-signal and real-time accurate track and clock correction data; By the Static Precise Point Positioning pattern, comprise that frequency conversion, amplification, filtering, computing obtain the actual measured value of pseudorange, carrier wave, carrier wave rate of change (
); The prediction and calculation value of the pseudorange with respect to Inertial Measurement Unit 1 that will receive through Kalman filtering computing module 4, carrier wave, carrier wave rate of change and actual measured value are subtracted each other the observed reading of back as Kalman filter; Be recorded in the Kalman filter; Calculate the location to inertia measurement processing module 2, the error vector that constant speed result proofreaies and correct; Composition error vector sum carrier positions, speed, attitude (
) adopt the indirect Estimation method of feedback compensation; Estimate that close-loop feedback is in inertial navigation system inertia measurement processing module 2 to the integrated navigation system state error; System state is proofreaied and correct the integrated navigation data after obtaining proofreading and correct.
Claims (4)
1. Static Precise Point Positioning and the tight integrated navigation system of inertia measurement; It is characterized in that: it comprises Inertial Measurement Unit (1), inertia measurement processing module (2), GPS receiver (3), Kalman filtering computing module (4) and power module; Wherein: the output terminal of Inertial Measurement Unit (1) links to each other with inertia measurement processing module (2); Inertia measurement processing module (2) and GPS receiver (3) difference Connection Card Kalman Filtering computing module (4); Kalman filtering computing module (4) receives the output signal of inertia measurement processing module (2) and GPS receiver (3) simultaneously; Calculate through the multimode Kalman filtering; Revise inertia measurement processing module (2) and GPS receiver (3) parameter, the parameter of revising is fed back to inertia measurement processing module (2) and GPS receiver (3), obtain the integrated navigation data behind the corrected parameter of inertia measurement processing module (2) receiving card Kalman Filtering computing module (4) feedback.
2. Static Precise Point Positioning according to claim 1 and the tight integrated navigation system of inertia measurement is characterized in that: said GPS receiver (3) is a dual-frequency receiver.
3. Static Precise Point Positioning according to claim 1 and the tight integrated navigation system of inertia measurement is characterized in that: described Kalman filtering computing module (4) comprises linear kalman filter, non-linear Kalman filtering device, extended Kalman filter, adaptive Kalman filter and the anti-difference Kalman filter that is combined into one side by side.
4. the data processing method of Static Precise Point Positioning according to claim 1 and the tight integrated navigation system of inertia measurement is characterized in that comprising the steps:
A. tight integrated navigation system is fixed on the motion carrier; Three axis angular rates and the three axial ratio power values of measuring the middle motion carrier of advancing through Inertial Measurement Unit (1) are transferred to inertia measurement processing module (2) afterwards; Carry out position, speed and the attitude that the layout of inertia measurement mechanics obtains motion carrier through inertia measurement processing module (2), calculate the predicted value of pseudorange with respect to Inertial Measurement Unit (1), carrier wave, carrier wave rate of change according to these value predictions;
B. inertia measurement processing module (2) will be transferred to GPS module (3) after will receiving through Kalman filtering computing module (4) with respect to the predicted value of the pseudorange of Inertial Measurement Unit (1), carrier wave, carrier wave rate of change; GPS module Static Precise Point Positioning integer ambiguity restrains fast; Detect correcting errors of Static Precise Point Positioning actual measured value simultaneously, the unusual Doppler shift that get rid of the wrong pseudorange of multipath influence, causes by reflection wave signal and by losing lock or lose the fault carrier phase measurement value that week brings;
C. the receiving antenna signal through GPS receiver (3) obtains real-time accurate track and clock correction data, by the Static Precise Point Positioning pattern, comprises that frequency conversion, amplification, filtering, computing obtain the actual measured value of pseudorange, carrier wave, carrier wave rate of change;
The prediction and calculation value of the pseudorange with respect to Inertial Measurement Unit (1) that d. will receive through Kalman filtering computing module (4), carrier wave, carrier wave rate of change and actual measured value are subtracted each other the observed reading of back as Kalman filter; Be recorded in the Kalman filter; Calculate the location to inertia measurement processing module (2), the error vector that constant speed result proofreaies and correct; Adopt the indirect Estimation method of feedback compensation; In inertia measurement processing module (2), proofread and correct integrated navigation system state error estimation feedback the integrated navigation data after obtaining proofreading and correct to system state.
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