CN107462904A - The high-precision GNSS terminal dynamic detection and localization car and detection method of GNSS and INS fusions - Google Patents
The high-precision GNSS terminal dynamic detection and localization car and detection method of GNSS and INS fusions Download PDFInfo
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- CN107462904A CN107462904A CN201710631404.4A CN201710631404A CN107462904A CN 107462904 A CN107462904 A CN 107462904A CN 201710631404 A CN201710631404 A CN 201710631404A CN 107462904 A CN107462904 A CN 107462904A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the high-precision GNSS terminal dynamic detection and localization car that a kind of GNSS and INS is merged, it is a collection electric power system, computer system, communication system, inertial navigation system, satellite navigation system, the functions such as satellite signal receiving repeater system are in the job platform of one, all devices are set in the car, the present invention is on the basis of space-time synchronous observation, give full play to the advantage of more constellation multifrequency GNSS redundancies observation data, it is simultaneously strong using INS independences, not by the characteristic of environmental disturbances, with build multifrequency GNSS positioning based on, the new GNSS/INS tight integrations station-keeping mode of INS enhancing auxiliary, and then merge CORS data Combined Calculation afterwards, form a set of INS enhancings GNSS dynamic consecutive tracking high accuracy calibration method.The present invention facilitates user's field operation to measure, and changes tradition with the work pattern of " quiet " inspection " dynamic ", dynamic is strong, accuracy of detection is high, not examined environmental restrictions.
Description
Technical field
The invention belongs to GLONASS (GNSS) test assessment technology field, it is related to a kind of real-time dynamic positioning
Technology, and in particular to a kind of the high-precision GNSS terminal dynamic detection and localization car and detection method of GNSS/INS fusions.
Background technology
GNSS system, GLONASS, it is autonomous, the independent global multi-mode satellite positioning navigation system in Europe
System, there is provided high accuracy, the positioning service of high reliability, navigation covering the whole world and positioning function can be carried out, sent real-time
High accuracy positioning information, system are advanced and reliable.
Relative to static scene, the instantaneity and Spatial Variation of GNSS dynamic positioning are notable, are produced inside position error
Life system is more complicated with external environment influence, and how the GNSS positioning performances under effective evaluation dynamic condition are always in the world
The difficult point and hot issue of research.During GPS system is developed, associated mechanisms have begun to GNSS dynamic aligner certification methods
Research, successively developed locus detection, double antenna detection and it is non-satellite positioning auxiliary detection the methods of, the above method leads to
The detecting field for establishing specific observing environment is crossed, on the basis of continuity point position or versus baseline length, the absolute dynamic positioning meter level of realization,
Relative dynamic positions effective assessment of Centimeter Level.Location technology using RTK as representative brings GNSS precision into a new stage（It is real
When dynamic positioning three-dimensional accuracy be better than 5 centimetres）, and the key areas such as property clearance dynamic measurement are had been widely used, but due to
Higher precision（Sub- centimetre to grade）And the missing of uninterrupted reference data, it is mainly afterwards static by field baseline field at present
The method of Baselines is evaluated, and this appraisal procedure with " quiet " inspection " dynamic " is difficult to objectively respond environmental factor（It is such as more
Footpath）, influence of the carrier movement feature to high accuracy positioning performance, to the dynamic such as RTK stationkeeping ability lack objective understanding, how
Assessing high-precision GNSS positioning performance under true dynamic condition turns into the new demand of dynamic calibration.
The content of the invention
To be positioned to solve the above problems, the invention discloses the high-precision GNSS terminal dynamic that a kind of GNSS and INS is merged
Car and detection method are detected, the homologous GNSS signal forwarding space-time synchronous of primary study, INS is broken through and aids in more constellation multifrequency GNSS's
High precision test benchmark is built, and is developed the vehicle-mounted high-precision GNSS dynamic position detecting systems under true drive test environment, is realized base
The continuity that quasi- equipment can be also held in position in high dynamic motion process under the conditions of severe observing environment, is realized to be checked
The real-time detection of device location, posture, speed.
A kind of high-precision GNSS terminal dynamic detection and localization car of GNSS and INS fusion, including car body, equipment enclosure, liquid
Crystal display,
The top outer of car body is provided with the satellite signal receiving antenna for supporting the frequency of three system eight and mobile phone signal receives day
Line, the inside top of car body is provided with the liquid crystal display of ceiling type；
Equipment enclosure is the frame type structure of closing, and equipment enclosure is arranged in boot, and left and right two are divided into inside equipment enclosure
Part, wherein left part are divided into two layers of shelf, and industrial computer, power distribution panels, the display screen of the industrial computer are provided with the shelf of upper strata
Before equipment enclosure, satellite navigation reference device, inertial navigation measuring unit, vehicular power-bottle are provided with lower floor's shelf
The vehicle body bottom below shelf is fixed on vehicle-used battery jar, there is isolator between vehicular power-bottle and vehicle-used battery jar；
The right part of equipment enclosure, which is arranged to inwall, has the shielding black box of electromagnetic signal absorbability, shields the inwall of black box
Electromagnetic shielding material is pasted with, shields and the satellite-signal forwarding antenna for supporting the frequency of three system eight and mobile phone letter is provided with black box
The indoor forwarding antenna of number strengthening system, inner left wall are placed with technical grade wireless router SIM card signal receiving antenna, shield
Place satellite navigation positioning terminal to be detected in the bottom of black box；
The tip portion of equipment enclosure has larger plane space, is provided with inverter, battery charger, one point of four satellite letter
Number power splitter, satellite-signal amplifirer, mobile phone signal intesifier；
Satellite signal receiving antenna, satellite-signal amplifirer, satellite-signal power splitter, satellite-signal forwarding antenna, shielding black box
Deng composition satellite signal receiving repeater system, unified real-time satellite signal is provided for equipment to be checked and onboard combined navigation system
Source；Large Copacity vehicular power-bottle, inverter, charger, isolator etc. form onboard power system, for all mobile units of system
Power supply supply and supplement；Mobile phone signal reception antenna, mobile phone signal intesifier, mobile phone signal forwarding antenna, technical grade is wireless
Router etc. forms communication system, for whole vehicle-mounted detecting system and equipment to be checked and the data interaction at CORS centers；One
The highly reliable strapdown of the multimode multi-frequency GNSS receiver and a high accuracy of high-precision compatible BDS/GPS/GLONASS direction findings type
Inertial Measurement Unit forms integrated navigation baseline system, provides the standard data message for contrasting for equipment detection, and pass through
Access CORS systems, there is provided real-time high-precision positioning result.
Similar to prior art, the car body is the carrying platform of whole detecting system, and completes in detection process just
Often operation；The equipment enclosure is the placement platform of related hardware, using rational structure design and mounting arrangement, is ensured each hard
Good connection between part；The satellite signal receiving antenna is used for the satellite-signal of the frequency of three system of real-time reception eight, and leads to
Cross feeder line and the signal of reception is sent to satellite-signal amplifirer and power splitter；It is identical that the satellite-signal received is divided into four tunnels
Signal output, exported all the way by feeder line to satellite navigation reference device, two tunnels are exported to satellite-signal by feeder line and forwarded
Antenna, three-way and four-way are easy to post-flight data collection and analysis as space signal output port；The satellite-signal forwards day
The satellite-signal of reception is wirelessly forwarded in shielding black box by line, is received for satellite navigation positioning terminal to be detected；
The absorbable electromagnetic signal for being transmitted into shielding black box inwall of the electromagnetic shielding material, prevents multichannel caused by satellite-signal reflection
Footpath effect, adopt and attached in the method for paste and shielding black box inwall；GNSS of the satellite navigation reference device to reception
Data flow and INS data flows carry out tight integration positioning calculation and obtain the information such as the real-time position of car body, speed, posture；And will
To location information encoded, then CORS centers are uploaded to by 4G networks；The satellite navigation positioning terminal pair to be detected
The GNSS data stream received also uploads to CORS centers also by obtaining corresponding positional information after relevant treatment；Institute
2/3/4G signals can be received by stating outdoor mobile phone signal reception antenna, and mobile phone signal intesifier is sent signal to by feeder line；Institute
State mobile phone signal intesifier and amplification is realized to the 2/3/4G signals that receive, ensure the strong of 2/3/4G signals in detection process
Degree and stability；2/3/4G signals can be transmitted in the indoor mobile phone signal forwarding antenna, ensure there is stable 2/ in shielding black box
3/4G signals, realize that satellite navigation positioning terminal to be checked is stable with the external world and normally communicates；The inverter turns direct current
It is changed into alternating current, uses for vehicle-mounted relevant device, be connected by cable with vehicular power-bottle；Double storage battery isolator intelligent managements
Vehicular power-bottle and vehicle-used battery jar, ensure that this automobile battery and installation storage battery well normally work；The power distribution panels are completed vehicle-mounted
The power switch control and corresponding interface input and output of each functional part；Electricity of the vehicular power-bottle as onboard system
Storage device, powered for vehicle-mounted relevant device；The battery charger completes the charging to vehicular power-bottle；The embedded work
Control machine is the data processing centre of whole system, is provided with monitor and detection software systems, receives CORS center processing data, has
The function of being shown etc. including data acquisition, data analysis, data.
The Dynamic High-accuracy towards actual measurement environment based on the present invention program detects car, using an antenna multi-receiver, profit
Satellite-signal outside car is transferred to by satellite-signal amplifirer and satellite-signal power splitter with satellite signal receiving repeater system
The forwarding antenna of in-car shielding black box, all equipment to be checked receive the satellite-signal that forwarding antenna receives, while reference device
It is joined directly together with satellite-signal power splitter, ensure that the homogeneity of signal source.The positioning calculation knot of reference device and equipment to be checked
Fruit is the coordinate position of top antenna, right using this identical characteristic of each distribution interface signal of satellite-signal power splitter
Most direct judgment basis is provided in the reliability that positioning result resolves.Using retransmission unit and shielding black box, set all
Standby signal propagation errors influence unification, reduce influence of the other factors for performance judgment outside receiver error influences.
In addition, reference device uses touches multifrequency GNSS satellite navigation equipment and IMU Inertial Measurement Units more, BDS/GPS/ can be gathered
The real-time GNSS data streams of GLONASS and INS data flows, after GNSS data and INS data are uploaded to industrial computer by benchmark station equipment,
Resolved after storing laggard behaviour.Multimode multi-frequency data and inertial guidance data merge resolving, positioning result and fortune in a manner of tight integration
The reliability of row track is guaranteed.Meanwhile benchmark station equipment accesses CORS centers, the synchronization of data simultaneously with equipment to be checked
Property is also guaranteed.Real-time results of benchmark station equipment and result joint is used as standard afterwards, ensure that equipment to be checked, benchmark
The indexs such as equipment positioning precision have comparativity.Moreover, vehicle-mounted software systems obtain the location information of reference device and real in real time
When show, ensure that detection work real-time and dynamic.
Preferably, the rear wall of the equipment enclosure is engraved structure.
Preferably, the satellite signal receiving antenna supports the frequency of three system eight.
Preferably, the bottom support feet of the equipment enclosure is provided with shock-damping structure.
A kind of detection method of the high-precision GNSS terminal dynamic detection and localization car of GNSS/INS fusions, including following step
Suddenly：
1) initial data of satellite navigation system and inertial navigation system is obtained in real time；
2) initial data progress real time parsing is obtained into GGA information, and obtained after signing in CORS by in-vehicle communication system
Take corresponding differential correcting information；
3) real-time GNSS/INS is carried out in the device interior of satellite navigation system using above-mentioned differential correcting information and initial data
Tight integration RTK is resolved, and realizes dynamic high accuracy calibrating benchmark in real time；
4) the homologous synchronous forwarding of signal of repeater system is received based on above-mentioned calibrating benchmark and Vehicular satellite signal, can be black to shielding
Satellite navigation positioning terminal to be checked in case is detected in real time.
Preferably, in the present invention, in step 2), the differential correcting data are obtained by NRTIP agreements, according to
NTRIP CASTSER addresses, port, mount point, username and password obtain in real time from CORS central servers.
Preferably, in the present invention, in step 3), the method for described GNSS/INS combinations uses tight integration mode.
Preferably, in the present invention, in step 4), described Real-time and Dynamic Detection method is using homologous simultaneous observation and builds
The deviations of the mode, in real time equipment and reference device more to be checked of vertical high-precision calibrating benchmark.
The beneficial effects of the invention are as follows：
The successful development of the high-precision GNSS terminal dynamic detection and localization car of GNSS/INS fusions establishes GNSS/INS dynamic
Positioning high accuracy calibrating benchmark, provides data for Dynamic High-accuracy detection service and ensures；It is fixed to realize high-precision GNSS dynamic
Position accuracy assessment, accuracy guarantee is provided for Dynamic High-accuracy detection service；Propose a kind of height towards true drive test environment
Precision GNSS dynamic position finding and detection methods, ensure that the limitation of the no longer examined environment of Dynamic High-accuracy detection service.Its is follow-up
Popularization and application, the design and research and development of China's Beidou navigation location equipment will have been effectively facilitated, existed for Beidou satellite navigation system
The Demonstration Application of the emerging industry such as the traditional industries such as territory, mapping and intelligent transportation provides the foundation guarantee, also can further push away
The engineering application of dynamic China's Beidou satellite navigation system；In addition, the GNSS that what is more important is established in metering meaning is moved
State positioning performance examines and determine specification, further promotes the development of instrument of surveying and mapping detection industry.
Brief description of the drawings
Fig. 1 is the detecting system structure chart of the present invention；
Fig. 2 is the Cleaning Principle flow chart of the present invention；
Fig. 3 is the vehicle body backsight structural representation of the present invention；
Fig. 4 is the vehicle body overlooking the structure diagram of the present invention.
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated, it should be understood that following embodiments are only
For illustrating the present invention rather than limitation the scope of the present invention.
The present invention, as detection car, is provided with the top outer of car body 1 using SUV urban off-road vehicle and supports three systems
The satellite signal receiving antenna 9 and mobile phone signal reception antenna 18 of eight frequencies, in the inside top of car body（Skylight position）Set
There is the liquid crystal display 5 of ceiling type；Equipment includes in the mobile unit rack 12：Vehicle-mounted industrial computer 6, satellite navigation benchmark are set
Standby 10, inertial navigation measuring unit 8, satellite navigation positioning terminal 15 to be detected, the external equipment of mobile unit rack 12 include：Satellite
Signal amplifirer 17, satellite-signal power splitter 3, mobile phone signal intesifier 14, technical grade wireless router, vehicular power-bottle 11, car
With the equipment such as storage battery, inverter 7, charger 4, mobile phone signal forwarding antenna 18, satellite-signal forwarding antenna 9, equipment enclosure 12
Size is：It is long（1.2 rice）* it is wide（0.6 meter）* it is high（0.8 meter）, quality is 50 kilograms, and equipment enclosure 12 uses fixed and outward appearance
Closed installation.
Vehicle-mounted industrial computer 6 of the present invention possesses good anti seismic efficiency using the mobile unit of specialty.Whole fuselage is complete
Portion is fixed on the left side first layer shelf of mobile unit rack 12, and the master control switch of industrial computer is drawn out to distribution face with indicator lamp
Plate, convenient operation and observation.
Satellite signal receiving repeater system of the present invention includes satellite signal receiving antenna 2, satellite-signal amplifirer
17th, one point of four satellite-signal power splitter 3 and satellite-signal forwarding antenna 18 form, and satellite signal receiving antenna 2 is when in use
The top of car body 1 is placed on, satellite-signal amplifirer 17 and power splitter 3 are arranged on the top planes of equipment enclosure 12, and satellite-signal turns
Hair antenna 18 is fixed on the shielding inner tip of black box 13.Satellite signal receiving repeater system simultaneously on the basis of equipment, equipment to be checked
Identical signal source is provided, while control signal is strong and weak, meets the test needs under different condition, ensures antenna phase center position
In same position, to ensure that the indexs such as equipment to be checked, reference device positioning precision have comparativity, the He of satellite-signal amplifirer 17
The cooperation of satellite-signal power splitter 3 completes the amplification and distribution to receiving satellite-signal, so as to ensure reference device and treat
Inspection equipment can receive high quality and identical satellite-signal.
Onboard combined navigation baseline system of the present invention is measured by satellite navigation reference receiver 10 and inertial navigation
Unit 8 forms, and is each attached on the left side second layer shelf of mobile unit rack 12, and the output of onboard combined navigation baseline system is high-precision
The dynamic alignment data of degree can in real time access CORS systems without affected by environment as the detection benchmark of Devices to test, system
System, and real-time high-precision positioning result and afterwards normal data are provided, in the continuous situation Dynamic post-treatment precision of GNSS signal
Up to Centimeter Level even grade, vehicle-mounted GNSS/INS combination benchmark are mutual by GNSS satellite airmanship and INS technologies
Supplement, both can guarantee that and has obtained high-precision positional information incessantly using INS data in the case of GNSS system is insecure
And attitude information, also can guarantee that in the case where INS systematic errors become big, INS systems are modified using GNSS data come
High-precision positional information and attitude information are continued to output, meets strict demand of the user to data reliability and continuation.
Mobile phone signal strengthening system of the present invention is by outdoor mobile phone signal reception antenna 16, mobile phone signal intesifier 14
Formed with indoor mobile phone signal forwarding antenna 18, mobile phone signal reception antenna 16 is placed on car body top, mobile phone letter when in use
Number booster 14 is arranged on the top planes of equipment enclosure 12, and mobile phone signal forwarding antenna 18 is fixed on shielding black box inner tip,
Mobile unit needs the data interaction by 4G real-time performances and CORS centers, in order to which 4G cell phone signal is incorporated into shielding black box
In 13, enhancing and the relaying of signal are realized by the covering device.
Shielding black box 13 of the present invention is arranged on the right side casing of equipment enclosure 12, and inwall uses EMI series electromagnetic screens
Material is covered, has and is acted on well from ten megahertzs to the attenuation by absorption of Gigahertz interfering noise, it can eliminate shielding black box
The roundtrip of interior electromagnetic wave, interference of the clutter to equipment of itself is reduced, be a kind of main method for eliminating electromagnetic interference pollution；
Meanwhile EMI materials have can bending, absorber powder containing structure and easily cut into required for it is variously-shaped the characteristics of, so as to
Ensure the electromagnetic wave absorption at the comprehensive no dead angle of electromagnetic shielding black box energy, nothing interferes between ensureing equipment to be checked.
Onboard power system of the present invention is mainly by vehicular power-bottle 11, inverter 7, charger 4, isolator group
Into vehicular power-bottle 11 is directly anchored to the left bottom of equipment enclosure 12 and is connected with vehicle body bottom side, inverter 7 and charger
4 are arranged on the top planes of equipment enclosure 12, according to the total power consumption of mobile unit, with reference to the power output of electric generator of vehicle, selection
The larger working power of power, the uninterrupted position mobile unit power supply of working power in the case where ensureing normal vehicle operation situation, added with
Isolate mu balanced circuit, ensure that dash current is not influenceed when by vehicle launch for voltage, the electric current of working power, enhancing is vehicle-mounted
The stability of system；Vehicle is equipped with the battery of a Large Copacity, can be to the power supply of armamentarium long period.In addition, system
With external out-put supply socket, the power supply of short time can be provided for the equipment beyond system, it is ensured that detection is operated in various feelings
Deploy under condition.Moreover, system has Special vehicle-mounted external input power interface, directly it can be electrically connected with city, with civil power bar
It can be easily operated under part using civil power, but also can be that vehicular power-bottle is charged.When vehicle travels, vehicle power generation
Machine can be that storage battery is charged, and avoid the awkward situation that system charge is not easy to feed（Vehicle-used battery jar is the storage battery of automobile in itself,
, there is isolator the vehicle body bottom being fixed on below shelf between vehicular power-bottle and vehicle-used battery jar）.
The vehicle-mounted monitoring of the high-precision GNSS terminal dynamic detection and localization car of the GNSS/INS fusions of the present invention shows software
It is the nerve center of whole system, monitoring display software systems are mainly set by data communication module, data processing module, computer
Standby three parts form.Data communication module is mainly responsible for immediate data transmission and car between computer equipment and reference device
Carry the data interaction at equipment and CORS centers etc..Data processing module shows the core of software systems as vehicle-mounted monitoring,
Mainly responsible data acquisition, data processing, data analysis, data are shown, the function such as data storage.Computer equipment is whole car
Carry the carrier of monitoring display software systems, including vehicle-mounted industrial computer, car-mounted display equipment etc..Computer equipment is used for data processing
Installation, operation and the real-time storage in reference device data of software and related vehicle-mounted configuration software.Data communication module with
Interaction between data processing module also depends on computer equipment.
The real time differential correction data of the present invention are obtained in real time by NTRIP agreements to CORS central servers.NTRIP is assisted
View is changed based on http protocol, by the certification of the RTCM committees, as a kind of the special of GNSS satellite differential data transmission
Use agreement.NTRIP agreements mainly have three parts composition：Ntrip client, Ntrip server and Ntrip caster.
Ntrip client and Ntrip server are HTTP client, and Ntrip caster are HTTP service end.Ntrip
Caster is responsible for receiving Ntrip server and Ntrip client request and handles response.The present invention uses NTRIP
Client pattern acquiring differential correcting data, the defeated of ntrip connections is set by the data packet capturing software strsvr under rtklib
Enter pattern and parameter such as Caster Ip, port, mount point etc.；Then connection request is sent to Ntrip caster；Judge connection
Whether succeed, as after asking successfully, if Ntrip caster have data output, communication is normal, sends differential correcting data.
The high accuracy positioning of the present invention is calculated using tight integration RTK positioning ripe inside Vehicular satellite navigation system devices
Method.High-precision GNSS and IMU are subjected to close coupling resolving, by being complementary to one another for GNSS satellite airmanship and INS technologies, both
It can guarantee that obtaining high-precision positional information and posture incessantly using INS data in the case of GPS system is insecure believes
Breath, it also can guarantee that in the case where INS systematic errors become big, INS systems be modified to continue to output using GNSS data
High-precision positional information and attitude information, while the differential correcting data obtained using NTRIP agreements carry out real-time RTK solutions
Calculate, meet strict demand of the user to data reliability and continuation.
The present invention can reach a centimetre class precision, meet high-precision real-time detection demand by above-mentioned algorithm, in real time positioning.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, in addition to
Formed technical scheme is combined by above technical characteristic.
Claims (8)
- The high-precision GNSS terminal dynamic detection and localization car of 1.GNSS and INS fusions, it is characterised in that：Including car body, equipment machine Cabinet, liquid crystal display；The top outer of car body is provided with satellite signal receiving antenna and mobile phone signal reception antenna, in the inside top of car body It is provided with the liquid crystal display of ceiling type；Equipment enclosure is the frame type structure of closing, and equipment enclosure is arranged in boot, and left and right two are divided into inside equipment enclosure Part, wherein left part are multilayer rack structure, are provided with shelf：Industrial computer is arranged on most last layer, the industry control For the display screen of machine before the equipment enclosure, satellite navigation reference device and inertial navigation measuring unit and technical grade are wireless Router is arranged on one layer of centre, and vehicular power-bottle and vehicle-used battery jar are fixed on the vehicle body bottom below shelf, vehicular power-bottle There are double storage battery isolators between vehicle-used battery jar；The right part of equipment enclosure, which is arranged to inwall, has the shielding black box of electromagnetic signal absorbability, shields the inwall of black box Electromagnetic shielding material is pasted with, the satellite-signal forwarding antenna and mobile phone for supporting the frequency of three system eight are provided with the top of shielding black box Satellite navigation positioning terminal to be detected is placed in the indoor forwarding antenna of signal enhancement system, the bottom for shielding black box；The top of equipment enclosure is provided with inverter, battery charger, one point of four satellite-signal power splitter, satellite-signal power amplifier Device, mobile phone signal intesifier；Wherein satellite signal receiving antenna, one point four of satellite-signal power splitter, satellite-signal amplifirer, satellite-signal forwarding day Line, shielding black box form satellite-signal and receive repeater system；Vehicular power-bottle, inverter, battery charger, double storage battery isolators and Power distribution panels form onboard power system；Day is forwarded in mobile phone signal reception antenna, mobile phone signal intesifier and mobile phone signal room Line, technical grade wireless router form mobile phone signal strengthening system；Satellite navigation reference device and inertial navigation measuring unit structure Into integrated navigation baseline system.
- 2. the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 1 and INS fusions, its feature exist In：The left side of the equipment enclosure and top rear wall are engraved structure.
- 3. the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 1 and INS fusions, its feature exist In：The satellite signal receiving antenna supports the frequency of three system eight.
- 4. the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 4 and INS fusions, its feature exist In：The bottom support feet of the equipment enclosure is provided with shock-damping structure.
- A kind of 5. detection method of the high-precision GNSS terminal dynamic detection and localization car of GNSS and INS fusions, it is characterised in that：Bag Include following steps：1) initial data of satellite navigation system and inertial navigation system is obtained in real time；2) initial data progress real time parsing is obtained into GGA information, and obtained after signing in CORS by in-vehicle communication system Take corresponding differential correcting information；3) real-time GNSS/INS is carried out in the device interior of satellite navigation system using above-mentioned differential correcting information and initial data Tight integration RTK is resolved, and realizes dynamic high accuracy calibrating benchmark in real time；4) the homologous synchronous forwarding of signal of repeater system is received based on above-mentioned calibrating benchmark and Vehicular satellite signal, can be black to shielding Equipment to be checked in case is detected in real time.
- 6. the detection side of the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 5 and INS fusions Method, it is characterised in that：In step 2), the differential correcting information is obtained by NRTIP agreements, according to NTRIP CASTSER Location, port, mount point, username and password obtain in real time from CORS central servers.
- 7. the detection side of the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 5 and INS fusions Method, it is characterised in that：In step 3), the method for described GNSS/INS combinations uses tight integration mode.
- 8. the detection side of the high-precision GNSS terminal dynamic detection and localization car of GNSS according to claim 5 and INS fusions Method, it is characterised in that：In step 4), described Real-time and Dynamic Detection method is using homologous simultaneous observation and establishes high-precision inspection Determine the mode of benchmark, in real time the deviations of equipment and reference device more to be checked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710631404.4A CN107462904A (en) | 2017-07-28 | 2017-07-28 | The high-precision GNSS terminal dynamic detection and localization car and detection method of GNSS and INS fusions |
Applications Claiming Priority (1)
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| CN108037521A (en) * | 2018-01-29 | 2018-05-15 | 东南大学 | A kind of BDS/GPS wide lane ambiguity single epoch fixing means based on the constraint of Big Dipper super-wide-lane |
| CN108333606A (en) * | 2018-01-02 | 2018-07-27 | 杭州普玄物联科技有限公司 | Localization method and system |
| CN108398700A (en) * | 2018-01-19 | 2018-08-14 | 重庆九洲星熠导航设备有限公司 | A kind of high-accuracy position system and method based on Big Dipper short message |
| CN108802770A (en) * | 2018-06-01 | 2018-11-13 | 东南大学 | High-precision dynamic positioning verification reference for INS enhanced GNSS |
| CN109188485A (en) * | 2018-08-07 | 2019-01-11 | 千寻位置网络有限公司 | High precision reference device and method are tested in walking under no satellite-signal environment |
| CN109597105A (en) * | 2018-12-13 | 2019-04-09 | 东南大学 | A kind of GPS/GLONASS tight integration localization method for taking deviation between carrier system into account |
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| CN108333606A (en) * | 2018-01-02 | 2018-07-27 | 杭州普玄物联科技有限公司 | Localization method and system |
| CN108398700A (en) * | 2018-01-19 | 2018-08-14 | 重庆九洲星熠导航设备有限公司 | A kind of high-accuracy position system and method based on Big Dipper short message |
| CN108037521A (en) * | 2018-01-29 | 2018-05-15 | 东南大学 | A kind of BDS/GPS wide lane ambiguity single epoch fixing means based on the constraint of Big Dipper super-wide-lane |
| CN108802770B (en) * | 2018-06-01 | 2022-05-13 | 东南大学 | High-precision dynamic positioning verification reference for INS enhanced GNSS |
| CN108802770A (en) * | 2018-06-01 | 2018-11-13 | 东南大学 | High-precision dynamic positioning verification reference for INS enhanced GNSS |
| CN109188485A (en) * | 2018-08-07 | 2019-01-11 | 千寻位置网络有限公司 | High precision reference device and method are tested in walking under no satellite-signal environment |
| WO2020105829A1 (en) * | 2018-11-20 | 2020-05-28 | 한국해양과학기술원 | Asynchronous indoor navigation system and method using gnss |
| CN109597105A (en) * | 2018-12-13 | 2019-04-09 | 东南大学 | A kind of GPS/GLONASS tight integration localization method for taking deviation between carrier system into account |
| CN109597105B (en) * | 2018-12-13 | 2022-12-27 | 东南大学 | GPS/GLONASS tightly-combined positioning method considering deviation between carrier systems |
| CN109683185A (en) * | 2019-02-01 | 2019-04-26 | 广东海洋大学 | Navigation trolley based on RTK |
| CN110225126A (en) * | 2019-06-14 | 2019-09-10 | 山东海格尔信息技术股份有限公司 | A kind of RTK differential corrections Transmission system of GNSS |
| CN111045037A (en) * | 2019-10-14 | 2020-04-21 | 广东星舆科技有限公司 | Method and device for testing high-precision positioning capability of intelligent terminal |
| CN110568461A (en) * | 2019-10-28 | 2019-12-13 | 江苏北斗卫星导航检测中心有限公司 | system and method for testing performance of satellite positioning product |
| CN110887508A (en) * | 2019-11-30 | 2020-03-17 | 航天科技控股集团股份有限公司 | Dynamic positioning function detection method for vehicle-mounted navigation product |
| CN111538061B (en) * | 2020-05-14 | 2021-02-23 | 湖南国天电子科技有限公司 | Device and method for positioning by using Beidou navigation |
| CN111538061A (en) * | 2020-05-14 | 2020-08-14 | 湖南国天电子科技有限公司 | Device and method for positioning by using Beidou navigation |
| CN111736191A (en) * | 2020-05-29 | 2020-10-02 | 广州南方卫星导航仪器有限公司 | Automatic selection method, equipment and medium for optimal mounting point of CORS server |
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