CN109945857B - Vehicle-mounted inertial positioning method and device for real estate field measurement - Google Patents
Vehicle-mounted inertial positioning method and device for real estate field measurement Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted inertial positioning method and a device thereof for real estate field measurement, comprising the following steps: 1) determining a starting point and a point to be measured; 2) completing the initial alignment of the static base at the initial point, resolving to obtain three attitude angles, and storing initial alignment data; 3) advancing the measuring device to the point location to be measured, acquiring position and speed information in an information effective area, completing the alignment between the advancing of the system, and storing alignment data; 4) continuing to travel to a signal failure area, completing measurement of the remaining distance by pure strapdown resolving, and storing a resolving result; 5) calculating the coordinate of the point to be measured according to the result obtained by resolving; 6) and (4) repeating the steps 1) to 5), completing the measurement of all points to be measured, finally realizing the real estate measurement, reducing the nonlinear error of the system, expanding the application range of the inertial measurement in the real estate measurement and improving the real estate measurement efficiency.
Description
Field of the invention
The invention belongs to the technical field of surveying and mapping, and particularly relates to a vehicle-mounted inertial positioning method and device for real estate field measurement.
Background
At present, technologies such as GPS-RTK and total stations are mainly adopted for real estate field measurement, but in the practical use process, GPS signals are easily shielded by buildings and structures and cannot obtain effective information, the total stations cannot perform effective measurement in places with poor visibility conditions, and a Strapdown Inertial Navigation System (SINS) is increasingly popular in the industry due to the characteristics that the SINS is strong in autonomy and does not depend on external information.
The strapdown inertial navigation system senses carrier motion information through an inertial sensor, and then calculates attitude and position change information of the system, and distance measurement and positioning are achieved. The existing real estate measuring equipment based on the GPS/SINS combination is handheld, the method of field measurement is to perform initial alignment in a good GPS signal area, then a worker carries the equipment to a point to be measured, no external equipment is used for performing real-time error compensation in the process, and the attitude and displacement information of a carrier is calculated by pure strapdown solution. However, errors of the inertial navigation system are accumulated along with time, so that short-term navigation accuracy is high, but if the distance from a point with a known position to a point to be measured is long and the navigation time is long, the errors are very large, and finally the positioning accuracy of the system is greatly reduced and even diverged; meanwhile, due to the fact that real estate measuring equipment is heavy, in some regions with severe environments, workers waste time and labor for carrying large-scale measuring equipment, and efficiency can be greatly reduced when measuring, so that errors can be effectively reduced, accuracy is improved, the workers are easy to measure, workload is reduced, and the problem which is most concerned in the field of real estate measuring at present is solved.
Disclosure of Invention
The invention provides a vehicle-mounted inertial positioning method and a device thereof for real estate field measurement, aiming at the problems in the prior art, firstly, an inertial measurement system finishes the initial alignment of a static base, after the initial alignment data is obtained, the vehicle-mounted equipment is remotely controlled to finish the alignment between advances from a known position to a point to be measured according to a GPS combined measurement device in the process of advancing, the alignment data between advances is obtained, the finish moment of the path is determined, the coordinate position of the point to be measured is obtained through pure strapdown resolving, so that the real estate measurement is finally realized, the nonlinear error of the system is reduced, the application range of the inertial measurement in the real estate measurement is expanded, and the efficiency of the real estate measurement is improved.
In order to achieve the purpose, the invention adopts the technical scheme that: a vehicle-mounted inertial positioning method for real estate field measurement comprises the following steps:
s1, determining a starting point and a point to be measured of the position of the operation area, and acquiring coordinates of the starting point and the point to be measured;
s2, completing initial alignment of the static base at the initial point by using the vehicle-mounted inertial measurement system, and calculating to obtain three initial attitude angles, wherein the initial attitude angles are a course angle, a pitch angle and a roll angle respectively;
s3, the vehicle-mounted inertial measurement system advances to the point to be measured, position information and speed information in the process of proceeding are recorded, the alignment between advancing of the vehicle-mounted inertial measurement system is completed, and the alignment data between advancing are stored;
s4, when the vehicle-mounted inertial measurement system moves to an information failure area, the remaining distance measurement is completed through pure strapdown calculation, and calculation data are stored;
s5, calculating the coordinates of the point to be measured according to the result obtained by the step S4;
and S6, repeating the steps S1 to S5 until the measurement of all points to be measured is completed.
As an improvement of the present invention, in the step S2, the static base initial alignment method uses unit position alignment, and obtains three initial attitude angles by establishing a linear state equation and a linear observation equation, and using standard kalman filtering.
As another improvement of the present invention, in step S3, a nonlinear state equation of the vehicle-mounted inertial measurement system is established, a linear observation equation is established, filtering is performed by using a nonlinear filtering method, before a signal fails, three attitude angles of the carrier during the alignment process between the advancing directions are obtained by resolving, and the alignment data between the advancing directions at the ending time is stored.
As another improvement of the present invention, the step S3 further includes:
s31, deriving a nonlinear attitude error equation which is,
wherein, C ω Is Euler angle differential equation coefficient matrix;
is C ω The inverse matrix of (d);
a transformation matrix from a theoretical navigation coordinate system n system to a calculated navigation coordinate system n' system;
n is the rotational angular velocity relative to the inertial space;
is composed of
The calculation error of (2);
as measurement error of gyroscope；
A transformation matrix from a carrier coordinate system b to an n' system;
s32, deriving a nonlinear speed error equation, wherein the speed error equation is as follows:
wherein the content of the first and second substances,
is the specific force output by the accelerometer; δ f b Is the measurement error of the accelerometer;
the rotational angular velocity of the earth;
n is a rotational angular velocity relative to the earth;
is composed of
The calculation error of (2);
is composed of
The calculation error of (2);
is the speed; delta v n Is the speed error;
s33, deriving a position error equation, wherein the position error equation is as follows:
wherein L is latitude; δ L is the latitude error; λ is longitude; delta V N Is the north velocity error; v E East speed; delta V E Is east speed error; r is M Is the radius of curvature of the earth's meridian; r is N The curvature radius of the earth fourth prime circle is;
s34, deriving a linear observation equation as follows:
wherein δ λ is a longitude error; h is an observation matrix; x is a state variable matrix; v is an observation noise array;
s35, moving the vehicle-mounted inertial measurement system to a point to be measured, and recording position information and speed information in the process of moving;
s36, obtaining three attitude angles and relative displacement after alignment of the vehicle-mounted inertial measurement system during traveling through nonlinear filtering, wherein the relative displacement comprises a position latitude coordinate L of the alignment ending moment during traveling 0 And position longitude λ 0 And the three attitude angles are respectively a course angle, a pitch angle and a roll angle.
As another improvement of the present invention, in step S4, the vehicle-mounted inertial measurement system travels from an initial point to a point to be measured, the travel alignment result obtained in step S3 is used as initial information of pure inertial measurement, after the signal fails, the IMU performs pure strapdown calculation, and the vehicle-mounted inertial measurement system stops when the center of the vehicle-mounted inertial measurement system contacts with the point to be measured, so as to obtain the relative displacement and three attitude angles in the pure inertial calculation process, and store data.
As still another improvement of the present invention, the step S4 further includes:
s41, according to the result of the alignment between the traveling in the step S3, calculating an initial attitude matrix of pure strapdown solution, wherein the matrix is as follows:
wherein H is a course angle; p is a pitch angle; r is a transverse rolling angle;
s42, calculating the position information when the pure inertia measurement is finished, wherein the position updating formula is as follows:
wherein L is 0 Is the initial latitude; lambda [ alpha ] 0 Is the initial longitude;
east speed;
is the north velocity; t is time;
s43, measuring the east distance S from the center of the vehicle-mounted inertia measurement system to the horizontal plane of the point to be measured when the vehicle-mounted inertia measurement system reaches the point to be measured 2 And north distance S 1 ：
S 1 ＝x·cos H cos P
S 2 ＝x·cos H cos R
Wherein x is the vertical distance from the center of the vehicle-mounted inertial measurement system to the point to be measured.
As a further improvement of the present invention, the coordinates of the point to be measured are:
L＝L 1 +S 1
λ＝λ 1 +S 2 。
in order to achieve the purpose, the invention also adopts the technical scheme that: the utility model provides a towards on-vehicle inertial positioning device of real estate field survey, includes dolly and measuring part, measuring part is located directly over the dolly, measuring part includes inertial measurement system and GPS combination measuring device, GPS combination measuring device is located directly over inertial measurement system:
the GPS combined measuring device is used for measuring position coordinate information and sending a GPS signal to determine the travel path ending time of the vehicle-mounted inertial positioning device;
the inertial measurement system is used for acquiring attitude angles and alignment data, and acquiring position coordinates of points to be measured after processing the data;
the inertial measurement system completes initial alignment of the static base, after initial alignment data is obtained, the vehicle-mounted inertial positioning device completes alignment between advances in the advancing path according to the GPS combined measurement device, obtains alignment data between advances and determines the ending time of the advancing path, and the coordinate position of the point to be measured is obtained through pure strapdown calculation.
As an improvement of the invention, the inertial measurement system adopts standard Kalman filtering during initial alignment of the static base and linear filtering during alignment between advances.
Compared with the prior art, the invention has the beneficial effects that:
(1) the remote control four-wheel trolley is combined with the inertia measurement system, so that the measurement of all points to be measured is avoided when a worker carries the measurement equipment, and the workload of the measurement worker is reduced; meanwhile, in areas with complex measurement environments, measurement personnel cannot be relied on to hold the measurement equipment for measurement, and the vehicle-mounted inertial measurement system can obviously improve the measurement efficiency.
(2) The invention introduces the alignment technology between the advancing of the vehicle-mounted inertial measurement system, and in the process of advancing from a point with a known position to a point to be measured, if pure inertial measurement is adopted, IMU errors can be obviously accumulated in a long time to cause the positioning accuracy to be reduced.
(3) The invention provides a nonlinear filtering technology for alignment between advancing of a vehicle-mounted inertial measurement system. The inertial measurement system is essentially a non-linear system, and the conventional method is linearization processing and adopts a linear filtering method.
(4) The invention combines the dynamic enhancement of the vehicle-mounted system, increases the misalignment angle, introduces nonlinear filtering and obviously improves the filtering precision of the vehicle-mounted inertial measurement system.
Drawings
FIG. 1 is a flow chart of the steps of the vehicle-mounted inertial positioning method for real estate field measurements of the present invention;
FIG. 2 is a flow chart of the steps of the present invention for on-board inertial measurement system alignment between travels;
fig. 3 is a flowchart of the step of pure strapdown resolving and obtaining the coordinates of the point to be measured in step S4 in the vehicle-mounted inertial positioning method of the invention.
Detailed Description
The invention will be described in more detail below with reference to the drawings and examples.
Example 1
The utility model provides a towards on-vehicle inertial positioning device of real estate field survey, includes remote control four-wheel dolly and measuring part, measuring part is located directly over the dolly, measuring part includes inertial measurement system and GPS combination measuring device, GPS combination measuring device is located directly over inertial measurement system:
determining a certain point to be measured in an operation area, selecting an area without shielding and with good GPS signals near the point to be measured, remotely controlling a vehicle-mounted inertial positioning device to the area, acquiring a geographic coordinate by a GPS combined measuring device mounted on a vehicle, using the coordinate as an initial position, completing initial alignment of a static base by an inertial measuring system, obtaining initial alignment data, remotely moving the vehicle-mounted inertial positioning device from the initial position to the point to be measured by a remote control movement function of the trolley, implementing the alignment between travels on a good GPS signal road section in the traveling process, determining the finish time of the traveling path by the vehicle-mounted inertial positioning device according to the GPS combined measuring device in the traveling path, resolving three attitude angles in the alignment process of the vehicle-mounted inertial positioning device during the traveling before the GPS signal fails, storing the GPS information and the three attitude angle data at the finish time, and using the alignment result before the GPS signal fails as the initial information of pure inertial measurement, the remote control vehicle-mounted inertial positioning device advances to the point to be measured, the IMU carries out pure strapdown resolving, the vehicle is stopped when the center of the front edge of the trolley is in contact with the point to be measured, relative displacement and three attitude angles in the pure inertial resolving process are obtained, data are stored, and the steps are repeated to calculate the coordinate of the point to be measured until the real estate measurement is completed.
The invention introduces the alignment technology between the advancing of the vehicle-mounted inertial measurement system, and in the process of advancing from a point with a known position to a point to be measured, if pure inertial measurement is adopted, IMU errors can be obviously accumulated in a long time to cause the positioning accuracy to be reduced.
Example 2
The positioning equipment of the embodiment comprises a four-wheel remote control trolley, an inertia measurement system and a GPS combined measurement device, wherein the core component is an inertia sensor and consists of a three-axis optical fiber gyroscope and a three-axis quartz flexible accelerometer, a data acquisition module selects a PC/104 industrial personal computer, data output by the inertia sensor is acquired and stored in a memory card, and a handset controls the PC/104 industrial personal computer to start or stop data acquisition and storage operations through Bluetooth.
A vehicle-mounted inertial positioning method oriented to real estate field measurement, as shown in fig. 1, includes the following steps:
s1, determining a starting point and a point to be measured of the position of the operation area, and acquiring coordinates of the starting point and the point to be measured;
determining a certain point to be measured in an operation area, selecting an area which is free from shielding and has good GPS signals near the point to be measured, remotely controlling the vehicle-mounted measuring system to stop in the area, and acquiring a geographical coordinate by using a GPS-RTK installed on a vehicle, wherein the coordinate is used as a position starting point.
S2, completing initial alignment of a static base at a starting point by using a vehicle-mounted inertial measurement system, wherein the static base initial alignment method adopts unit position alignment, and three initial attitude angles are obtained through establishing a linear state equation and a linear observation equation and settling by adopting standard Kalman filtering, wherein the initial attitude angles are a course angle, a pitch angle and a roll angle respectively;
s3, enabling the vehicle-mounted inertial measurement system to advance to a point to be measured, providing position and speed information by a GPS-RTK when a GPS signal is effective, completing alignment between advancing of the vehicle-mounted inertial measurement system, establishing a nonlinear state equation of the vehicle-mounted inertial measurement system, establishing a linear observation equation, filtering by adopting a nonlinear filtering method, resolving to obtain three attitude angles of a carrier advancing alignment process before the signal fails, and storing advancing alignment data at the end moment; as shown in fig. 2, the steps further include:
s31, deriving a nonlinear attitude error equation:
the alignment process between the advancing of the vehicle-mounted inertia measurement system is strong in dynamic property, the misalignment angle is used as a large misalignment angle to be processed, and the transformation matrix from an n system to an n' system is obtained as follows:
wherein phi is N Is the north misalignment angle phi E Is the east misalignment angle phi U Is the angle of the vertical misalignment.
The theoretical attitude matrix differential equation is:
wherein
Is the projection of b on b relative to n;
is an antisymmetric array. The actual attitude matrix differential equation is:
the attitude error equation obtained by theoretical derivation is:
wherein, the first and the second end of the pipe are connected with each other,
is C ω Inverse matrix of
S32, deriving a nonlinear velocity error equation:
the projection of the angular velocity of rotation of the earth on a geographic coordinate system (n system) is as follows:
the projection of the rotation angular velocity of the geographic coordinate system n relative to the terrestrial coordinate system e on the n system is as follows:
the velocity error equation is derived theoretically as:
s33, deriving the position error equation as:
s34, deriving a linear observation equation as:
wherein the content of the first and second substances,
s35, obtaining three attitude angles after alignment of the vehicle-mounted inertial measurement system during advancing through nonlinear filtering, wherein the three attitude angles are respectively a course angle (H), a pitch angle (P) and a roll angle (R), and the coordinate of the moment when the alignment of the vehicle-mounted inertial measurement system is finished during advancing is L 0 、λ 0 。
S4, when the vehicle-mounted inertial measurement system moves to an information failure area, the remaining distance measurement is completed through pure strapdown calculation, and calculation data are stored;
the remote control vehicle-mounted inertial measurement system advances from a starting point to a point to be measured, an alignment result between advancing is used as initial information of pure inertial measurement, after a GPS signal fails, the trolley continues to be controlled to advance to the point to be measured, the IMU carries out pure strapdown resolving, and the trolley stops when the front edge center of the trolley contacts the point to be measured, so that relative displacement and three attitude angles in the pure inertial resolving process are obtained, and data are stored.
As shown in fig. 3, the specific process of calculating and obtaining the coordinates of the point to be measured by pure strapdown is as follows:
s41, calculating the initial attitude matrix of pure strapdown calculation according to the alignment result between the advances
S42, calculating the position of the pure inertia measurement end
The location update formula is:
s43, when the measuring device reaches the point to be measured, the east distance and the north distance from the center of the device to the horizontal plane of the point to be measured are calculated
S 1 ＝x·cos H cos P
S 2 ＝x·cos H cos R
S5, calculating the coordinates of the point to be measured according to the result obtained by the calculation in the step S4, wherein the coordinates of the point to be measured are as follows:
L＝L 1 +S 1
λ＝λ 1 +S 2 。
and S6, repeating the steps S1 to S5 until the measurement of all points to be measured is completed, and realizing the measurement and the positioning of real estate.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited by the foregoing examples, which are provided to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A vehicle-mounted inertial positioning method for real estate field measurement is characterized by comprising the following steps:
s1, determining a starting point and a point to be measured of the position of the operation area, and acquiring coordinates of the starting point and the point to be measured;
s2, completing initial alignment of the static base at the initial point by using the vehicle-mounted inertial measurement system, and calculating to obtain three initial attitude angles, wherein the initial attitude angles are a course angle, a pitch angle and a roll angle respectively;
s3, the vehicle-mounted inertial measurement system advances to the point to be measured, the position information and the speed information in the process of proceeding are recorded, the alignment between advancing of the vehicle-mounted inertial measurement system is completed, the alignment data between advancing is stored, the step S3 further comprises:
s31, deriving a nonlinear attitude error equation which is,
wherein, C ω Is Euler angle differential equation coefficient matrix;
is C ω The inverse matrix of (d);
a transformation matrix from a theoretical navigation coordinate system n system to a calculated navigation coordinate system n' system;
n is the rotational angular velocity relative to the inertial space;
is composed of
The calculation error of (2);
is the measurement error of the gyroscope;
a transformation matrix from a vector coordinate system b to an n' system;
s32, deriving a nonlinear speed error equation, wherein the speed error equation is as follows:
wherein the content of the first and second substances,
is the specific force output by the accelerometer; δ f b Is the measurement error of the accelerometer;
the rotational angular velocity of the earth;
n is a rotational angular velocity relative to the earth;
is composed of
The calculation error of (2);
is composed of
The calculation error of (2);
is the speed; delta v n Is the speed error;
s33, deriving a position error equation, wherein the position error equation is as follows:
wherein L is latitude; δ L is the latitude error; λ is longitude; delta V N Is the north velocity error; v E East speed; delta V E East-direction velocity error; r M Is the radius of curvature of the meridian of the earth; r N The curvature radius of the earth fourth prime circle is;
s34, deriving a linear observation equation as follows:
wherein δ λ is a longitude error; h is an observation matrix; x is a state variable matrix; v is an observation noise array;
s35, moving the vehicle-mounted inertial measurement system to a point to be measured, and recording position information and speed information in the process of moving;
s36, obtaining three attitude angles and relative displacement after alignment of the vehicle-mounted inertial measurement system during traveling through nonlinear filtering, wherein the relative displacement comprises a position latitude coordinate L of the alignment ending moment during traveling 0 And a position longitude λ 0 The three attitude angles are respectively a course angle, a pitch angle and a roll angle;
s4, when the vehicle-mounted inertial measurement system moves to an information failure area, the remaining distance measurement is completed through pure strapdown calculation, and calculation data are stored;
s5, calculating the coordinates of the point to be measured according to the result obtained by the step S4;
and S6, repeating the steps S1 to S5 until the measurement of all points to be measured is completed.
2. The vehicle-mounted inertial positioning method oriented to real estate field measurement according to claim 1, wherein the static base initial alignment method in step S2 adopts unit position alignment, and three initial attitude angles are obtained through establishment of a linear state equation and a linear observation equation and settlement by adopting standard kalman filtering.
3. The vehicle-mounted inertial positioning method oriented to real estate field measurement according to claim 1, wherein in step S3, a nonlinear state equation of a vehicle-mounted inertial measurement system is established, a linear observation equation is established, filtering is performed by a nonlinear filtering method, three attitude angles of a carrier traveling alignment process are obtained by resolving before signal failure, and traveling alignment data at the end time are saved.
4. The vehicle-mounted inertial positioning method oriented to real estate field measurement as claimed in claim 1, wherein in step S4 the vehicle-mounted inertial measurement system travels from an initial point to a point to be measured, the travel alignment result obtained in step S3 is used as initial information of pure inertial measurement, after signal failure, the IMU performs pure strapdown solution, the vehicle-mounted inertial measurement system stops when the center of the system is in contact with the point to be measured, and relative displacement and three attitude angles of the pure inertial solution process are obtained, and data are saved.
5. The vehicle-mounted inertial positioning method for real estate field survey according to claim 4, wherein said step S5 further comprises:
s41, calculating an initial attitude matrix of pure strapdown calculation according to the result of the alignment between the advances in the step S3, wherein the matrix is as follows:
wherein H is a course angle; p is a pitch angle; r is a transverse rolling angle;
s42, calculating the position information when the pure inertia measurement is finished, wherein the position updating formula is as follows:
wherein L is 0 The initial latitude is taken; lambda [ alpha ] 0 Is the initial longitude;
east speed;
is the north velocity; t is time;
s43, measuring the east distance S from the center of the vehicle-mounted inertia measurement system to the horizontal plane of the point to be measured when the vehicle-mounted inertia measurement system reaches the point to be measured 2 And north distance S 1 ：
S 1 ＝x·cosHcosP
S 2 ＝x·cosHcosR
Wherein x is the vertical distance from the center of the vehicle-mounted inertial measurement system to the point to be measured.
6. The vehicle-mounted inertial positioning method facing real estate field measurement according to claim 5, wherein the coordinates of the point to be measured in step S5 are as follows:
L＝L 1 +S 1
λ＝λ 1 +S 2 。
7. an on-board inertial positioning device for real estate field measurements using the positioning method of claim 1 comprising a cart and a measurement component, said measurement component being located directly above the cart, wherein said measurement component comprises an inertial measurement system and a GPS combination measurement device, said GPS combination measurement device being located directly above the inertial measurement system:
the GPS combined measuring device is used for measuring position coordinate information and sending a GPS signal to determine the travel path ending time of the vehicle-mounted inertial positioning device;
the inertial measurement system is used for acquiring attitude angles and alignment data, and acquiring position coordinates of points to be measured after processing the data;
the inertial measurement system completes initial alignment of the static base, after initial alignment data is obtained, the vehicle-mounted inertial positioning device completes alignment between travels in the path according to the GPS combined measurement device, obtains alignment data between travels and determines the end time of the path, and the coordinate position of the point to be measured is obtained through pure strapdown calculation.
8. A real estate-oriented on-board inertial positioning device, as recited in claim 7, wherein: the inertial measurement system adopts standard Kalman filtering during initial alignment of the static base, and adopts linear filtering during alignment.
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