CN101672650A - Orienting and locating navigation system in circumstance of electromagnetic interference - Google Patents
Orienting and locating navigation system in circumstance of electromagnetic interference Download PDFInfo
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- CN101672650A CN101672650A CN200910093397A CN200910093397A CN101672650A CN 101672650 A CN101672650 A CN 101672650A CN 200910093397 A CN200910093397 A CN 200910093397A CN 200910093397 A CN200910093397 A CN 200910093397A CN 101672650 A CN101672650 A CN 101672650A
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- dolly
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Abstract
The invention discloses an orienting and locating navigation system in circumstance of electromagnetic interference. The combined navigation system comprises an X-axis optic fiber gyroscope, a Y-axisoptic fiber gyroscope, an X-axis accelerometer, a Y-axis accelerometer, a mile meter, a DGPS receiver, an FPGA processor and a DSP processor. The orienting and locating navigation system uses the combination of an inertial navigation subsystem and an inertial navigation compensation subsystem; when the DGPS receiver can be linked to four or more satellites, the inertial navigation compensation subsystem is operated; when the DGPS receiver is linked to less than four satellites, the inertial navigation subsystem is operated. The combination effectively ensures high-accuracy and all-weather combined orienting and locating navigation function of transformer substation equipment routing inspection robots in circumstance of high-electromagnetic interference.
Description
Technical field
The present invention relates to a kind of integrated navigation system, in more detail, be meant a kind of orienting and locating navigation system that is applicable to the inspecting substation equipment robot.
Background technology
In recent years, owing to developing rapidly of computing machine, information and microelectric technique, feasible research to the mobile robot has entered a brand-new stage.
For the inspecting substation equipment robot system, navigation is its key of finishing safety patrol inspection work with the location, needs the bearing accuracy of centimetre-sized usually.The mobile robot has multiple navigate mode, as vision guided navigation, track navigation or the like, wherein the vision guided navigation price is more cheap, but corresponding mark need be installed in transformer station, and weather and sunlight are bigger to the influence of this kind navigate mode, can cause erroneous judgement or the like defective as the variation of accumulated snow on the mark and solar light irradiation angle; Lay track on the path of dolly planning that track navigation need be in transformer station, this needs bigger infrastructure to change, and travel path can't change flexibly, also has certain defective.
GPS (Navigation Satellite Timing And Ranging Global Position System, Chinese abbreviation GPS) development of technology, especially DGPS (Difference Global PositioningSystem, being differential Global Positioning System) the locator meams precision can reach centimetre-sized, be suitable for locating among a small circle, be particularly suitable for the hi-Fix of the safety patrol inspection robot of special occasions such as transformer station and power plant, but in this special working environment of transformer station, the DGPS satellite-signal is subject to high-intensity magnetic field and disturbs, thereby reduced its signal to noise ratio (S/N ratio), influence bearing accuracy, even can cause the location failure.
Summary of the invention
The purpose of this invention is to provide a kind of under high electromagnetic interference environment, orienting and locating navigation system with high precision, round-the-clock combination, this navigational system has made up DGPS technology and inertial navigation technology, when the DGPS satellite-signal is disturbed, then adopt inertial navigation, promptly the defective of DGPS is replenished and improved by inertial navigation, it is disorderly than the location under the low environment, orientation in signal to noise ratio (S/N ratio) to overcome DGPS effectively.Integrated navigation of the present invention has low, real-time, the bearing accuracy advantages of higher in short-term of cost, can improve the reliability and stability of Operation of Electric Systems, has important significance for theories and using value in actual applications.
The present invention is the orienting and locating navigation system under a kind of electromagnetic interference environment, and this integrated navigation system is made up of X-axis optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, odometer, DGPS receiver, FPGA processor and dsp processor;
Plane angle angular speed ω when the output of X-axis optical fibre gyro is used for moving of car;
Y-axis optical fibre gyro output is used for the north orientation angle θ of dolly when static;
Angle of inclination beta when X-axis accelerometer and Y-axis accelerometer acting in conjunction output dolly are static;
Distance L in the odometer output moving of car process under the sampling time;
Geographical location information p (D under the environment of DGPS receiver output dolly place
x, D
y);
Dsp processor to each information processing flow process that receives is:
101 steps: each parts of System self-test are in just often, carry out 102 steps;
102 steps: utilize rotational-angular velocity of the earth north component relation
Obtain north orientation angle θ; Wherein, ω
eBe rotational-angular velocity of the earth,
For patrolling and examining terrestrial latitude in the environment in the dolly place.
103 steps: when the DGPS receiver can be linked to satellite more than four and four, utilize first posture position relation
Obtain positional information p (D
x, D
y);
D
xBe the lateral coordinates under the geographic coordinate system;
D
yBe the along slope coordinate under the geographic coordinate system;
D
GxLateral coordinates for the dolly position of DGPS receiver output;
D
GyAlong slope coordinate for the dolly position of DGPS receiver output;
D
Gx1Previous lateral coordinates for the dolly position of DGPS receiver output;
D
Gx2Back lateral coordinates for the dolly position of DGPS receiver output;
D
Gx1-D
Gx2Poor for the lateral coordinates in the unit interval;
D
Gy1Previous along slope coordinate for the dolly position of DGPS receiver output;
D
Gy2Back along slope coordinate for the dolly position of DGPS receiver output;
D
Gy1-D
Gy2Poor for the along slope coordinate in the unit interval;
104 steps: when the DGPS receiver chain is received satellite and is less than four, utilize second posture position relation
Obtain positional information p (D
x, D
y);
D
xBe the lateral coordinates under the geographic coordinate system;
D
yBe the along slope coordinate under the geographic coordinate system;
D
X0Last lateral coordinates for the dolly position of DGPS receiver output;
D
Y0Last along slope coordinate for the dolly position of DGPS receiver output;
θ
0Last north orientation angle for the dolly position of DGPS receiver output.
X-axis optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, FPGA processor and dsp processor form the inertial navigation subsystem in the orienting and locating navigation system under the described electromagnetic interference environment.
Odometer, DGPS receiver form inertial navigation compensation subsystem in the orienting and locating navigation system under the described electromagnetic interference environment.
Orienting and locating navigation system advantage under the electromagnetic interference environment of the present invention is:
1. adopt the combination of inertial navigation subsystem and inertial navigation compensation subsystem, when the DGPS receiver can be linked to satellite more than four and four, the operation inertial navigation compensated subsystem; And when the DGPS receiver chain is received satellite and is less than four, operation inertial navigation subsystem.Combination of the present invention has guaranteed high precision, the round-the-clock combination directed location navigation function of inspecting substation equipment robot under high electromagnetic interference environment effectively.
2.DSP processor concerns the position and the attitude that can obtain exactly under the inspecting substation equipment robot place environment to the multiline message utilization posture position that receives.For the robot navigation system provides fast accurate navigation information.
3. integrated navigation system movement-less part of the present invention, volume is little, the life-span is long, be easy to improve the precision in the whole working hour of transformer station's robot car.Little, the compact conformation of loss can make full use of the space, and that the raising system gets is stable, the once charging working time of life-span and dolly.
4. cost is low, technology simple, be easy to batch process.The present invention adopts succinct strapdown inertial navitation system (SINS) to realize location, the orientating function of navigation, and can utilize original odometer and DGPS on the dolly, is easy to integratedly, makes cost be reduced widely.
Description of drawings
Fig. 1 is the structured flowchart of the orienting and locating navigation system under the electromagnetic interference environment of the present invention.
Fig. 2 is the navigation switching flow figure that DSP of the present invention carries out.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Orienting and locating navigation system under the electromagnetic interference environment of the present invention, be that traditional inspecting substation equipment robotic vision navigates in order to change, track navigates and the defective of GPS navigation existence, and a kind of of design can not be higher than the high precision under the 1000kV electric pressure substation, the directed location navigation of round-the-clock combination.Integrated navigation system of the present invention is incorporated into the inertial technology theory in the navigational system of the mobile robot of transformer station dolly.Because DGPS is subjected to the influence of electromagnetic interference (EMI) bigger, and transformer station is the environment of a strong electromagnetic, so some zone in transformer station, especially power equipment compact district, the error of DGPS is dispersed very big, so on the basis of using DGPS, navigation information in the zone of DGPS cisco unity malfunction is switched, take over the navigation feature of DGPS by the inertial navigation unit, make the high precision navigation feature at the short time inner machine people dolly that the DGPS error is dispersed still can be met, make hi-Fix in the whole working time of robot car, effective covering of directed navigation.
In the present invention, the inspecting substation equipment robot is movably, and moving-member is a lorry.
Referring to shown in Figure 1, orienting and locating navigation system under a kind of electromagnetic interference environment of the present invention, this integrated navigation system is made up of X-axis optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, odometer, DGPS receiver, FPGA processor and dsp processor.
Wherein, X-axis optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, FPGA processor and dsp processor form the inertial navigation subsystem.Wherein optical fibre gyro is adopted the FOG98HI gyro that prompt sharp company produces, and per hour zero drift is 0.05 degree; The quartz flexible accelerometer (JSD-I/A) that accelerometer adopts the bright instrument plant in Langfang, Hebei to produce, value is less than 2mg partially; The matured product ACEX_EP1K100 chip of FPGA processor adopting altera corp has a plurality of interfaces of I/O flexibly; Dsp processor adopts the TMS320VC33 chip, and this is the chip of a maturation, has abundant order set and programmed control flexibly, can carry out the computing of floating number.
Wherein, odometer, DGPS receiver form inertial navigation compensation subsystem.The GPS receiver adopts the Leica GPS 1200 of Switzerland come card company, and its bearing accuracy can reach centimetre-sized; The Encoder HEDL 9140 that odometer adopts maxon company to produce, dolly wheel whenever turn around and export 500 pulse signals.
In the present invention, the information that receives of FPGA processor includes:
Plane angle angular speed ω when the X-axis optical fibre gyro is exported the moving of car that is used for the course maintenance;
Y-axis optical fibre gyro output is used for dolly and seeks Beijiao degree θ, i.e. north orientation angle when static; The north finding precision of Y-axis optical fibre gyro is 0.5 degree;
Angle of inclination beta when X-axis accelerometer and Y-axis accelerometer acting in conjunction output dolly are static;
Distance L in the odometer output moving of car process under the sampling time;
Geographical location information p (D under the environment of DGPS receiver output dolly place
x, D
y).
ω, θ, β, L and the p (D of FPGA processor to receiving
x, D
y) be integrated into data chainning information f={ ω, θ, β, L, p (D
x, D
y) be transferred to dsp processor.In the present invention, the high performance external memory interface that utilizes the FPGA processor to have has conveniently been realized signal processing algorithm, has improved the signal integrity memory interface, has improved Wiring body architecture and the standard of I/O support flexibly.
Referring to shown in Figure 2, the inspecting substation equipment robot is after start and the power supply of each parts, and dsp processor to each information processing flow process that receives is:
101 steps: each parts of System self-test are in just often, carry out 102 steps;
102 steps: utilize rotational-angular velocity of the earth north component relation
Obtain north orientation angle θ; Wherein, ω
eBe rotational-angular velocity of the earth,
For patrolling and examining terrestrial latitude in the environment in the dolly place.
In the present invention, the north orientation angle θ that utilizes the rotational-angular velocity of the earth north component to concern to obtain the current present position of dolly determines the attitude information of current location dolly, for next step walking of dolly is prepared.
103 steps: when the DGPS receiver can be linked to satellite more than four and four, utilize first posture position relation
Obtain positional information p (D
x, D
y),
D
xBe the lateral coordinates under the geographic coordinate system,
D
yBe the along slope coordinate under the geographic coordinate system,
D
GxBe the lateral coordinates of the dolly position of DGPS receiver output,
D
GyBe the along slope coordinate of the dolly position of DGPS receiver output,
D
Gx1Be the previous lateral coordinates of the dolly position of DGPS receiver output,
D
Gx2Be a back lateral coordinates of the dolly position of DGPS receiver output,
D
Gx1-D
Gx2Poor for the lateral coordinates in the unit interval,
D
Gy1Be the previous along slope coordinate of the dolly position of DGPS receiver output,
D
Gy2Be a back along slope coordinate of the dolly position of DGPS receiver output,
D
Gy1-D
Gy2Poor for the along slope coordinate in the unit interval,
104 steps: when the DGPS receiver chain is received satellite and is less than four, utilize second posture position relation
Obtain positional information p (D
x, D
y),
D
xBe the lateral coordinates under the geographic coordinate system,
D
yBe the along slope coordinate under the geographic coordinate system,
D
X0Be last lateral coordinates of the dolly position of DGPS receiver output,
D
Y0Be last along slope coordinate of the dolly position of DGPS receiver output,
θ
0Last north orientation angle for the dolly position of DGPS receiver output.
The present invention has designed a kind of under strong electromagnetic interference environment, still can realize the integrated navigation system of high precision, round-the-clock, positioning and directing function, this navigational system to the adaptive faculty of environment make its have other homogeneous system the specific environmental adaptability that can't possess.The integrated navigation system of the present invention's design is applicable to the navigation of the autokinetic movement object under the strong electromagnetic interference environments such as transformer station, power plant.
Claims (6)
1, the orienting and locating navigation system under a kind of electromagnetic interference environment, it is characterized in that: this integrated navigation system is by X-axis
Optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, odometer, DGPS receiver, FPGA processor and dsp processor are formed;
Plane angle angular speed ω when the output of X-axis optical fibre gyro is used for moving of car;
Y-axis optical fibre gyro output is used for the north orientation angle θ of dolly when static;
Angle of inclination beta when X-axis accelerometer and Y-axis accelerometer acting in conjunction output dolly are static;
Distance L in the odometer output moving of car process under the sampling time;
Geographical location information p (D under the environment of DGPS receiver output dolly place
x, D
y);
Dsp processor to each information processing flow process that receives is:
101 steps: each parts of System self-test are in just often, carry out 102 steps;
102 steps: utilize rotational-angular velocity of the earth north component relation
Obtain north orientation angle θ; Wherein, ω
eBe rotational-angular velocity of the earth,
For patrolling and examining terrestrial latitude in the environment in the dolly place.
103 steps: when the DGPS receiver can be linked to satellite more than four and four, utilize first posture position relation
Obtain positional information p (D
x, D
y);
D
xBe the lateral coordinates under the geographic coordinate system;
D
yBe the along slope coordinate under the geographic coordinate system;
D
GxLateral coordinates for the dolly position of DGPS receiver output;
D
GyAlong slope coordinate for the dolly position of DGPS receiver output;
D
Gx1Previous lateral coordinates for the dolly position of DGPS receiver output;
D
Gx2Back lateral coordinates for the dolly position of DGPS receiver output;
D
Gx1-D
Gx2Poor for the lateral coordinates in the unit interval;
D
Gy1Previous along slope coordinate for the dolly position of DGPS receiver output;
D
Gy2Back along slope coordinate for the dolly position of DGPS receiver output;
D
Gy1-D
Gy2Poor for the along slope coordinate in the unit interval;
104 steps: when the DGPS receiver chain is received satellite and is less than four, utilize second posture position relation
Obtain positional information p (D
x, D
y);
D
xBe the lateral coordinates under the geographic coordinate system;
D
yBe the along slope coordinate under the geographic coordinate system;
D
X0Last lateral coordinates for the dolly position of DGPS receiver output;
D
Y0Last along slope coordinate for the dolly position of DGPS receiver output;
θ
0Last north orientation angle for the dolly position of DGPS receiver output.
2, the orienting and locating navigation system under the electromagnetic interference environment according to claim 1 is characterized in that: X-axis optical fibre gyro, Y-axis optical fibre gyro, X-axis accelerometer, Y-axis accelerometer, FPGA processor and dsp processor form the inertial navigation subsystem.
3, the orienting and locating navigation system under the electromagnetic interference environment according to claim 1 is characterized in that: the north finding precision of Y-axis optical fibre gyro is 0.5 degree.
4, the orienting and locating navigation system under the electromagnetic interference environment according to claim 1 is characterized in that: odometer, DGPS receiver form inertial navigation compensation subsystem.
5, the orienting and locating navigation system under the electromagnetic interference environment according to claim 1 is characterized in that: odometer is used to write down wheel on the dolly 500 pulse signals of output that whenever turn around.
6, the orienting and locating navigation system under the electromagnetic interference environment according to claim 1, it is characterized in that: the GPS receiver provides the bearing accuracy of dolly centimetre-sized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910093397A CN101672650A (en) | 2009-09-29 | 2009-09-29 | Orienting and locating navigation system in circumstance of electromagnetic interference |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910093397A CN101672650A (en) | 2009-09-29 | 2009-09-29 | Orienting and locating navigation system in circumstance of electromagnetic interference |
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|---|---|
| CN101672650A true CN101672650A (en) | 2010-03-17 |
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ID=42019979
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121828A (en) * | 2010-12-21 | 2011-07-13 | 浙江大学 | Method for estimating body posture angle of humanoid robot in real time |
| CN105242586A (en) * | 2014-07-09 | 2016-01-13 | 北京自动化控制设备研究所 | Dual-axis rotating modulation control circuit |
| CN108088443A (en) * | 2016-11-23 | 2018-05-29 | 北京自动化控制设备研究所 | A kind of positioning and directing device rate compensation method |
| CN108415056A (en) * | 2018-01-23 | 2018-08-17 | 南京邮电大学 | A kind of integrated navigation system based on OMAP-L138 processors |
| CN110940420A (en) * | 2019-11-14 | 2020-03-31 | 国网山西省电力公司大同供电公司 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
-
2009
- 2009-09-29 CN CN200910093397A patent/CN101672650A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121828A (en) * | 2010-12-21 | 2011-07-13 | 浙江大学 | Method for estimating body posture angle of humanoid robot in real time |
| CN102121828B (en) * | 2010-12-21 | 2012-12-19 | 浙江大学 | Method for estimating body posture angle of humanoid robot in real time |
| CN105242586A (en) * | 2014-07-09 | 2016-01-13 | 北京自动化控制设备研究所 | Dual-axis rotating modulation control circuit |
| CN108088443A (en) * | 2016-11-23 | 2018-05-29 | 北京自动化控制设备研究所 | A kind of positioning and directing device rate compensation method |
| CN108088443B (en) * | 2016-11-23 | 2021-06-08 | 北京自动化控制设备研究所 | Speed compensation method for positioning and orienting equipment |
| CN108415056A (en) * | 2018-01-23 | 2018-08-17 | 南京邮电大学 | A kind of integrated navigation system based on OMAP-L138 processors |
| CN110940420A (en) * | 2019-11-14 | 2020-03-31 | 国网山西省电力公司大同供电公司 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
| CN110940420B (en) * | 2019-11-14 | 2021-06-22 | 国网山西省电力公司大同供电公司 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
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Inventor after: Wei Peng Inventor after: Zhang Zhiqiang Inventor after: Zhang Chunxi Inventor after: Li Bingqiang Inventor after: Du Qiang Inventor before: Wei Peng Inventor before: Zhang Zhiqiang Inventor before: Zhang Chunxi |
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Free format text: CORRECT: INVENTOR; FROM: WEI PENG ZHANG ZHIQIANG ZHANG CHUNXI TO: WEI PENG ZHANG ZHIQIANG ZHANG CHUNXI LI BINGQIANG DU QIANG |
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Open date: 20100317 |