CN100494905C - Angle testing and correcting method of GPS/INS combined locating navigation system - Google Patents

Angle testing and correcting method of GPS/INS combined locating navigation system Download PDF

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Publication number
CN100494905C
CN100494905C CNB2007100197749A CN200710019774A CN100494905C CN 100494905 C CN100494905 C CN 100494905C CN B2007100197749 A CNB2007100197749 A CN B2007100197749A CN 200710019774 A CN200710019774 A CN 200710019774A CN 100494905 C CN100494905 C CN 100494905C
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China
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gps
signal
rotational angle
ins
module
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CNB2007100197749A
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Chinese (zh)
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CN101017098A (en
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秦春达
姜加伟
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江苏华科导航科技有限公司
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Abstract

This invention relates to one angle test correction method of GPS/INS combination position guide system, which comprises the following steps: using GPS receiver for correction in rotation angle signals generated by top device in INS module; when there is GPS signals, CPU unit tests the angle for rotation signal from GPS module through error correction to reduce rotation angle test error to solve the technique problem of INS system rotation angle error with time problem.

Description

The angular detection bearing calibration of GPS/INS combined positioning and navigating system

Technical field

The present invention relates to the angular detection bearing calibration of a kind of GPS/INS combined positioning and navigating system.

Background technology

Mainstream technology is GPS (Global Position System NAVSTAR) system on the vehicle mounted guidance market.Gps system is distributed in the wireless signal compute location information of 24 satellite transmissions of sky by reception, have advantages such as global, round-the-clock, high precision, real-time positioning, but because the rectilinear propagation characteristic of wireless signal, its dynamic property and antijamming capability are relatively poor, when the GPS receiver is near tunnel, tree shade or high building, satellite-signal is blocked, and influence is the location accurately, even can't locate.

INS (Inertial Navigation System inertial positioning navigational system) system has the independent navigation ability, can independently provide locating navigation informations such as attitude of carrier, speed and position, and anti-external interference ability is strong.Along with the development of inertial gyroscope technology in the INS system, the INS system applies in gps system, has promptly been produced GPS/INS combined positioning and navigating system, this system can position navigation by the INS system when the GPS location navigation is influenced.Constantly increase but the location navigation error of INS system continues in time, i.e. the accumulation of error, drift greatly.

The INS system comprises gyroscope and rate sensor.Angular velocity in gyroscope survey mobile vehicle (is example with the automobile) traveling process is with the corner in the measuring vehicle traveling process; The speed of rate sensor measured automobiles, thereby the location navigation of realization INS system.

But there is error in the INS system when location navigation, mainly comprises rate error and angular velocity error.Angular error is produced by above-mentioned gyroscope, and existing gyroscope mostly is micromechanics type gyroscope, and because of the technical matters that its mechanical property caused is: measurement of angle is along with the continuity of time, and its measuring error can constantly increase.Therefore, how reducing the angular error that gyroscope causes, guarantee the location navigation precision of GPS/INS combined positioning and navigating system, is the technical barrier that will solve at present.

Summary of the invention

Technical matters to be solved by this invention provides a kind of angular detection bearing calibration of the angle measurement error of INS system with the GPS/INS combined positioning and navigating system of raising location navigation precision that be used to proofread and correct.

For solving the problems of the technologies described above, the angular detection bearing calibration of GPS/INS combined positioning and navigating of the present invention system comprises the steps:

Gps antenna in A, the gps receiver receives gps signal, sends into the radio-frequency (RF) signal input end of GPS module through radio frequency amplifier, and the GPS module draws the longitude and latitude signal of each point on the carrier mobile alignment; Gyro unit in the INS module generates the rotational angle signal on mobile alignment, and this rotational angle signal is delivered to the rotational angle signal input part of GPS module;

B, GPS module judge according to described longitude and latitude signal whether the carrier mobile alignment is in non-line of collimation state;

C, the mobile alignment that records described carrier when the GPS module enter non-line of collimation state constantly at T1, and when T2 enters the line of collimation state constantly, the GPS module according to from gyro unit in the INS module respectively T1 constantly and the described rotational angle signal that generates constantly of T2 draw carrier at the rotational angle θ 1 of T1 to T2 in the moment; The GPS module according to T1 to T2 constantly on the described carrier mobile alignment longitude and latitude calculated signals of each point go out the rotational angle θ 2 of this carrier;

D, GPS module draw the detection error △ θ=θ 2-θ 1 at described T1 to T2 rotational angle of GPS/INS combined positioning and navigating system in the moment;

E, repeat above-mentioned steps A to D at least 5 times, and obtain the △ θ of corresponding number, each △ θ is carried out difference calculate, and the value of being compensated α;

F, gps receiver receive the longitude and latitude signal when being disturbed, the GPS module is according to the described offset α of rotational angle signal combination that generates from gyro unit in the INS module, draws through the mobile angular signal of error correction and delivers to the navigator fix signal input part of CPU element.

Among the above-mentioned steps B, the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when the GPS module judges that then the carrier mobile alignment is in the line of collimation state during less than 15 °; Otherwise, when the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when the GPS module is not less than 15 °, judge that then the carrier mobile alignment is in non-line of collimation state.

Among the above-mentioned steps E, when each △ θ is carried out difference calculating, ask each △ θ sum earlier, the back promptly draws described offset α divided by its sum.

In the technique scheme, the GPS module regularly repeats above-mentioned steps A, B, C, D, E and F and draws offset α, and original offset α is replaced in the back in storer.

The present invention has positive effect: the angular detection bearing calibration of (1) GPS/INS combined positioning and navigating of the present invention system utilizes gps receiver that the rotational angle signal of the gyro unit generation of INS module (being the INS system) is proofreaied and correct, to be blocked at satellite-signal, when gps receiver reception longitude and latitude signal is disturbed, the GPS module will be delivered to CPU element through the mobile angular signal of error correction, detect error with the rotational angle that reduces GPS/INS combined positioning and navigating system, thereby the rotational angle error that has solved the INS system continues continuous increase in time, it is the accumulation of error, the big technical matters of drifting about has finally improved the location navigation precision of GPS/INS combined positioning and navigating system.(2) steps A that repeats in the angular detection bearing calibration of GPS/INS combined positioning and navigating of the present invention system is many more to the number of times of D, the offset α that each △ θ carries out difference calculating back gained is just accurate more, and the calibrated rotational angle value θ that CPU element finally obtains is also accurate more.(3) among the present invention, the longitude and latitude signal that the GPS module records according to gps receiver draws the rotational angle of carrier mobile alignment, and be that benchmark judges that the carrier mobile alignment is to be in the line of collimation state with 15 °, still be in non-line of collimation state, effectively prevented because of the skew of carrier mobile alignment generation low-angle, and produced false judgment.(4) among the present invention, adopt difference to calculate and be suitable for drawing offset α more accurately.(5) among the present invention, GPS module regularly (as 1 time) repeats the angular detection bearing calibration of step GPS/INS combined positioning and navigating of the present invention system and draws offset α, and original offset α is replaced in the back in storer.Because when reality was used, the gyro unit in the INS module often existed machine error, use error of a specified duration more just big more, regularly the rotational angle signal is carried out error correction and adopt corresponding compensation value α, can in time reduce error.

Description of drawings

Fig. 1 is the circuit theory diagrams of GPS/INS combined positioning and navigating of the present invention system.

Fig. 2 is the flow chart of the angular detection bearing calibration of GPS/INS combined positioning and navigating of the present invention system.

Fig. 3 is the flow chart of the testing and correcting method for speed rate of GPS/INS combined positioning and navigating of the present invention system.

Embodiment

(embodiment 1)

See Fig. 1, the GPS/INS combined positioning and navigating system of present embodiment is applicable to the carrier that automobile, steamer etc. can move along straight line, and it comprises: CPU element 1, INS module 2, the gps receiver 3 and the touch-screen that are used to receive the longitude and latitude signal are controlled unit 4.

Gps receiver 3 comprises: the radio frequency amplifier 32 that GPS module 31 links to each other with radio-frequency (RF) signal input end with GPS module 31; The signal input part of radio frequency amplifier 32 links to each other with gps antenna.

INS module 2 comprises: the rate detecting unit 21 and the gyro unit 22 that is used to generate mobile angular signal that are used for the generating rate pulse signal; The angle signal input end of the angle signal output termination GPS module 31 of gyro unit 22; The rate pulse signal input end of the rate pulse signal output termination GPS module 31 of rate detecting unit 21; The two-way electrical connection of navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1.The demonstration that the demonstration of CPU element 1 control communication ends and touch-screen are controlled unit 4 controls that communication ends is two-way to be electrically connected.

The principle of work of the location navigation of the GPS/INS combined positioning and navigating system of present embodiment is as follows:

After system opened, the navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1 carried out protocol handshake; Then, gps receiver 3 is started working, and the latitude and longitude information at the carrier place that records is sent into CPU element 1, CPU element 1 according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.

After carrier began to move, the gyro unit 22 in the INS module 2 constantly detected the rotational angle of carrier on mobile alignment, and the rotational angle signal that records is delivered to the rotational angle signal input part of GPS module 31; Simultaneously, described rate detecting unit 21 produces corresponding rate pulse signal according to rate travel and described rate pulse signal is sent into the rate pulse signal input end of the GPS module 31 in the gps receiver 3.

If do not store pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then according to described longitude and latitude signal pairing displacement value of single speed pulse and mobile angular signal are carried out error correction by gps receiver 3, draw through the pairing displacement value of single speed pulse of error correction and be used for mobile angular signal is carried out the offset α of error correction, and store; Then, will draw mobile angular signal from the described offset α of rotational angle signal combination of 22 generations of gyro unit in the INS module 2 through error correction.

If stored pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then GPS module 31 is at first carried out error correction with the described offset α of described rotational angle signal combination, and draws the mobile angular signal through error correction.(for example, if the angle value of the mobile angular signal correspondence that gps receiver 3 receives is θ 3, then the angle value through the mobile angular signal correspondence of error correction is θ 3+ α.In other embodiments, also can be according to θ 3The size of value, the α of increase corresponding proportion.)

Then, the location navigation signal output part of gps receiver 3 is with described longitude and latitude signal, rate pulse signal, through the pairing displacement value of single speed pulse of error correction with deliver to the location navigation signal input part of CPU element 1 through the mobile angular signal of error correction.

Only when receiving the longitude and latitude signals at gps receiver 3 and disturbed, CPU element 1 is according to described rate pulse signal, through the pairing displacement value of single speed pulse of error correction with control unit 4 through the mobile angular signal of error correction by touch-screen and position navigation.

When gps receiver 3 can normally receive the longitude and latitude signal, CPU element 1 only according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.

See Fig. 3, the step of the testing and correcting method for speed rate of above-mentioned GPS/INS combined positioning and navigating system is:

A, gps antenna receive gps signal, send into GPS module 31 through radio frequency amplifier 32, and GPS module 31 obtains the longitude and latitude signal of current location;

Rate detecting unit 21 in b, the INS module 2 is according to rate travel generating rate pulse signal and send into the rate pulse signal input end of GPS module 31;

C, GPS module 31 judge according to the longitude and latitude signal of each point on the mobile alignment whether this mobile alignment is line of collimation, and described line of collimation is a corner less than 15 ° curve; The spacing of described each point can be made as 0.5m (among other embodiment, can be made as 0.1m, 0.2m or 1m, the spacing of described each point is more little, and is just accurate more according to the mobile alignment that each point drew).

D, when GPS module 31 records described mobile alignment and is line of collimation, GPS module 31 to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module 2, and is delivered to the pairing displacement value of single speed pulse after the error correction location navigation signal input part of CPU element 1 according to described longitude and latitude signal.In this step, the step that the pairing displacement value of single speed pulse is carried out error correction comprises: GPS module 31 is designated as mobile starting point to current longitude and latitude signal post, begin to move from this starting point, until recording the air line distance of 1 a between the described starting point is that preset value 1km is (among other embodiment, can be 1.5km, 2km, even more, the preset value of air line distance is high more, and it is just accurate more to draw the pairing distance value of single speed pulse.) time, GPS module 31 is labeled as terminal point to described some a; During above-mentioned, GPS module 31 is noted the speed pulse sum that INS module 2 is extremely produced between the described terminal point in described starting point; GPS module 31 goes out the length of the mobile alignment between described starting point and the terminal point according to the longitude and latitude calculated signals of each point on the mobile alignment between described starting point and the terminal point, being divided by with described speed pulse sum then promptly draws the pairing distance value of single speed pulse, promptly finishes the error correction to the pairing distance value of single speed pulse.

Totally 5 times (in other embodiments to repeat above-mentioned steps a-d, can be 7,10 or 15 times, even it is more, number of times is many more, the pairing displacement value of single speed pulse that obtains after second order error is proofreaied and correct is just accurate more), and adopt the difference algorithm that the pairing distance value of single speed pulse is carried out the second order error correction, and obtain the pairing displacement value of single speed pulse after second order error is proofreaied and correct.

Described difference filtering algorithm is: speed umber of pulse n and the pairing distance value s of single speed pulse 0The length that draws described line of collimation that multiplies each other is that actual travel is apart from s=n*s 0, and s 0Is fixed value for one to fixed system.Repeat above-mentioned steps a-d totally 5 times, get 5 sections actual travel distances and be respectively s 1, s 2, s 3, s 4And s 5, s then 01=(s 2-s 1)/(n 2-n 1), s 02=(s 3-s 1)/(n 3-n 1), s 03=(s 4-s 1)/(n 4-n 1), s 04=(s 5-s 1)/(n 5-n 1), s 05=(s 3-s 2)/(n 3-n 2), s 06=(s 4-s 2)/(n 4-n 2), s 07=(s 5-s 2)/(n 5-n 2), s 08=(s 4-s 3)/(n 4-n 3), s 09=(s 5-s 3)/(n 5-n 3), s 010=(s 5-s 4)/(n 5-n 4); Ask above-mentioned s 01To s 010Average, the pairing displacement value of the single speed pulse s after promptly obtaining second order error and proofreading and correct 0

See Fig. 2, the GPS/INS combined positioning and navigating system of present embodiment detects and method of its error calibration the rotational angle signal that gyro unit 22 generates, and comprises the steps:

Gps antenna in A, the gps receiver 3 receives gps signal, sends into the radio-frequency (RF) signal input end of GPS module 31 through radio frequency amplifier 32, and GPS module 31 draws the longitude and latitude signal of each point on the carrier mobile alignment; Gyro unit 22 in the INS module 2 generates the rotational angle signal on mobile alignment, and this signal is delivered to the rotational angle signal input part of GPS module 31;

B, GPS module 31 judge according to described longitude and latitude signal whether the carrier mobile alignment is in non-line of collimation state; Wherein, the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module 31 judges that then the carrier mobile alignment is in the line of collimation state during less than 15 °; Otherwise, when the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module 31 is not less than 15 °, judge that then the carrier mobile alignment is in non-line of collimation state.

C, the mobile alignment that records described carrier when GPS module 31 enter non-line of collimation state constantly at T1, and when T2 enters the line of collimation state constantly, GPS module 31 according to from gyro unit 22 in the INS module 2 respectively T1 constantly and the described rotational angle signal that generates constantly of T2 draw carrier at the rotational angle θ 1 of T1 to T2 in the moment; GPS module 31 according to T1 to T2 constantly on the described carrier mobile alignment longitude and latitude calculated signals of each point go out the rotational angle θ 2 of this carrier;

D, GPS module 31 draw the detection error △ θ=θ 2-θ 1 at described T1 to T2 rotational angle of GPS/INS combined positioning and navigating system in the moment;

E, repeat above-mentioned steps A to D at least 5 times, and obtain the △ θ of corresponding number, each △ θ is carried out difference calculate, and the value of being compensated α; Wherein, when each △ θ is carried out difference calculating, ask each △ θ sum earlier, the back promptly draws described offset α divided by its sum.

F, gps receiver 3 receives the longitude and latitude signals when being disturbed, GPS module 31 is according to the described offset α of rotational angle signal combination that generates from gyro unit in the INS module 2 22, draws through the mobile angular signal of error correction and delivers to the navigator fix signal input part of CPU element 1.

GPS module 31 regularly the pairing displacement value of single speed pulse is carried out error correction and existing displacement value is replaced in storage.Simultaneously, also regularly (as 1 time) carries out error correction to mobile angular signal, draws offset α, and existing offset is replaced in storage.

Claims (4)

1, the angular detection bearing calibration of a kind of GPS/INS combined positioning and navigating system comprises the steps:
Gps antenna in A, the gps receiver (3) receives gps signal, sends into the radio-frequency (RF) signal input end of GPS module (31) through radio frequency amplifier (32), and GPS module (31) draws the longitude and latitude signal of each point on the carrier mobile alignment; Gyro unit (22) in the INS module (2) generates the rotational angle signal on mobile alignment, and this rotational angle signal is delivered to the rotational angle signal input part of GPS module (31);
B, GPS module (31) judge according to described longitude and latitude signal whether the carrier mobile alignment is in non-line of collimation state;
C, the mobile alignment that records described carrier when GPS module (31) enter non-line of collimation state constantly at T1, and when T2 enters the line of collimation state constantly, GPS module (31) according to from gyro unit (22) in the INS module (2) respectively T1 constantly and the described rotational angle signal that generates constantly of T2 draw carrier at the rotational angle θ 1 of T1 to T2 in the moment; GPS module (31) according to T1 to T2 constantly on the described carrier mobile alignment longitude and latitude calculated signals of each point go out the rotational angle θ 2 of this carrier;
D, GPS module (31) draw the detection error △ θ=θ 2-θ 1 at described T1 to T2 rotational angle of GPS/INS combined positioning and navigating system in the moment;
E, repeat above-mentioned steps A to D at least 5 times, and obtain the △ θ of corresponding number, each △ θ is carried out difference calculate, and the value of being compensated α;
F, gps receiver (3) receive the longitude and latitude signal when being disturbed, GPS module (31) is according to the described offset α of rotational angle signal combination that generates from gyro unit (22) in the INS module (2), draws through the mobile angular signal of error correction and delivers to the navigator fix signal input part of CPU element (1).
2, the angular detection bearing calibration of GPS/INS combined positioning and navigating according to claim 1 system, it is characterized in that: among the above-mentioned steps B, the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) judges that then the carrier mobile alignment is in the line of collimation state during less than 15 °; Otherwise, when the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) is not less than 15 °, judge that then the carrier mobile alignment is in non-line of collimation state.
3, the angular detection bearing calibration of GPS/INS combined positioning and navigating according to claim 1 and 2 system, it is characterized in that: among the above-mentioned steps E, when each △ θ is carried out difference calculating, ask each △ θ sum earlier, the back promptly draws described offset α divided by its sum.
4, the angular detection bearing calibration of GPS/INS combined positioning and navigating according to claim 3 system, it is characterized in that: GPS module (31) regularly repeats above-mentioned steps A, B, C, D, E and F and draws offset α, and original offset α is replaced in the back in storer.
CNB2007100197749A 2007-02-09 2007-02-09 Angle testing and correcting method of GPS/INS combined locating navigation system CN100494905C (en)

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