CN104459728B - A kind of magnetic declination calibration steps positioned based on GNSS - Google Patents
A kind of magnetic declination calibration steps positioned based on GNSS Download PDFInfo
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a kind of magnetic declination calibration steps positioned based on GNSS, including：Normal orientation angle obtaining step is at GNSS receiver, the normal orientation angle gone out between the central point in multiple directions and deviation point using the location Calculation of GNSS；Projection orientation angle obtaining step is used for the sensing data by collecting, and calculates the projection orientation angle that the X-axis of the Magnetic Sensor in multiple directions is projected in horizontal plane respectively；Magnetic declination obtaining step is used to calculate each direction respectively, and the difference between normal orientation angle and projection orientation angle, the meansigma methodss based on the difference on each direction obtain magnetic declination, carry out the calibration of Magnetic Sensor.
Description
Technical field
The present invention relates to magnetic declination calibration, more particularly to a kind of magnetic declination calibration steps applied on GNSS instruments.
Background technology
In traditional GNSS measurements, it is useless using Magnetic Sensor being modified, the calibration of Magnetic Sensor is solid using tradition
Fixed azimuth mode carrys out Technique deviation, and by GNSS location technologies, inverse goes out correct azimuth to the present invention, then senses with magnetic
The data of device output calculate one group of conversion parameter together so that with result of calculation during this group of Parameters Transformation in all directions
From true value recently, magnetic calibration so conveniently can be carried out in the wild, improve efficiency.
Existing utilization GNSS carries out the subsystem that the related patent of magnetic declination calibration is concentrated mainly on each special field
Realize, have Application No. with close patent：The Chinese invention patent of CN201410053881, which discloses one kind and is based on
The ultra-short baseline magnetic biasing angle measuring method of gyrotheodolite, describes to use on the sea island reef that area is narrow and small, effective sighting distance is not enough
The method that magnetic theodolite and gyrotheodolite mutually carry out magnetic biasing angular measurement to the method taken aim at.
But in existing calibration steps, no and GNSS high precision instruments combine, it is impossible to by GNSS and Magnetic Sensor
Use in conjunction；Simultaneously, it is impossible to position to carry out magnetic calibration by GNSS so that measurement can not conveniently, and fast, efficiency is low.
Based on above problems of the prior art, it would be highly desirable to develop a kind of new magnetic declination calibration steps.
The content of the invention
The technical problem to be solved be provide it is a kind of based on GNSS position magnetic declination calibration steps, with gram
Taking cannot be by GNSS and the use in conjunction of Magnetic Sensor present in prior art, it is impossible to position to carry out magnetic calibration by GNSS
Problem.
It is up to above-mentioned purpose, the invention provides a kind of magnetic declination calibration steps positioned based on GNSS, it is characterised in that
Methods described includes：
Normal orientation angle obtaining step：For in GNSS receiver, being gone out in multiple directions using the location Calculation of GNSS
Central point and deviation point between normal orientation angle；
Projection orientation angle obtaining step：For the sensing data by collecting, the magnetic in multiple directions is calculated respectively
The projection orientation angle that the X-axis of sensor is projected in horizontal plane；
Magnetic declination obtaining step：For calculating each described direction, the normal orientation angle and the projection side respectively
Difference between parallactic angle, the meansigma methodss based on the difference on direction each described obtain magnetic declination, carry out the magnetic sensing
The calibration of device；
Wherein, normal orientation angle obtaining step includes：Measurement of coordinates step, mathematic interpolation step and normal orientation angle
Calculation procedure；
The measurement of coordinates step：The coordinate figure of the central point and the deviation point is measured by centering rod；
The mathematic interpolation step：Based on the coordinate figure of the central point and the deviation point, calculate the central point with
Difference of the deviation point on Different Plane direction；
Normal orientation angle calculation procedure：Based on difference of the central point with the deviation point on Different Plane direction
Value, by arc tangent trigonometric function, calculates the normal orientation angle A.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, the plurality of direction is：East, west, south and the north to.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, normal orientation angle obtaining step are also included：
All directions normal orientation angle calculation procedure：Repeat the measurement of coordinates step, the mathematic interpolation
Step and normal orientation angle calculation procedure, calculate the east, west, south and north normal orientation upwards respectively
Angle A east, A west, A south, A are northern.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, projection orientation angle obtaining step, including：
Magnetic component calculation procedure：According to magnetic stepping fitting parameter and magnetic stepping translation parameterss, the magnetic sensing is calculated respectively
Device is in X, Y and the magnetic component of Z coordinate axle；
Compensation component calculation procedure：According to the angle of pitch and roll angle, compensation of the Magnetic Sensor in X, Y and Z axis is calculated
Component；
X-axis azimuthal angle calculation step：According to the magnetic component and the compensation component, the X-axis of the Magnetic Sensor is calculated
Azimuth；
Projection orientation angle calculation procedure：X-axis orientation based on the angle of pitch, the roll angle and the Magnetic Sensor
Angle, calculates projection orientation angle B of the centering rod in horizontal plane.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, projection orientation angle obtaining step are also included：
All directions projection orientation angle calculation procedure：Perform the magnetic component calculation procedure, the compensation component calculation procedure,
X-axis azimuthal angle calculation step and projection orientation angle calculation procedure, calculate the east, west, south and north projection side upwards respectively
Parallactic angle B east, B west, B south and B are northern.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, the magnetic declination obtaining step are also included：
Magnetic declination calculation procedure：It is northern with the projection orientation angle that normal orientation angle A east, A west, A south and A are calculated respectively
B east, B west, B south and the B north to difference, and calculate the meansigma methodss of the difference, obtain final magnetic declination C and put down.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, the magnetic declination calculation procedure are counted using below equation
Calculate：
C puts down=(C is eastern, and C is western, and C is southern, and C is northern)/4；
Wherein, the C east=A east-B is eastern；The C west=A west-B is western；The C south=A south-B is southern；The C north=A north-
B is northern.
The above-mentioned magnetic declination calibration steps positioned based on GNSS, normal orientation angle obtaining step adopt Gauss-Ke Lv
Lattice projection calculates the normal orientation angle.
Compared with prior art, the beneficial effects of the present invention is：
(1) present invention employs the use in conjunction of GNSS and Magnetic Sensor；
(2) position to carry out magnetic calibration by GNSS, in any place magnetic direction can be calibrated so that measurement is more
Plus it is convenient, fast, improve efficiency；
(3) need not be by other equipment, zooming out distance carries out aiming comparison, and the present invention is as a result of on machine
GNSS high-precision location techniques, anywhere, as long as ensureing that satellite reception is normal, doing in situ an inclination and offset just can be with
Calibration, it is high-precision simultaneously in guarantee, the convenience of calibration is improved, working performance is improved.
Description of the drawings
Fig. 1 is magnetic declination calibration steps schematic flow sheet of the present invention；
Fig. 2～Fig. 3 is magnetic declination calibration steps detailed process schematic diagram of the present invention；
Fig. 4 is specific embodiment of the invention coordinate axess schematic diagram；
Fig. 5 is that the specific embodiment of the invention corrects magnetic declination hint effect figure；
Geometrical concept figures of Fig. 6 A and Fig. 6 B for Gauss Kru＆4＆ger projection.
Wherein, reference：
S1～S3, S11～S14, S21～S25, S31：The administration step of various embodiments of the present invention.
Specific embodiment
The specific embodiment of the present invention is given below, detailed description is made that to the present invention with reference to diagram.
The present invention is, based on the GNSS instruments with inclination measurement, to position to calibrate Magnetic Sensor using high-precision GNSS
Azimuth so that the accurate azimuth of output, can so calculate high-precision offset.
Fig. 1 is magnetic declination calibration steps schematic flow sheet of the present invention, as shown in figure 1, one kind that the present invention is provided is based on
The magnetic declination calibration steps of GNSS positioning, method include：
Normal orientation angle obtaining step S1：For in GNSS receiver, going out multiple directions using the location Calculation of GNSS
On central point and deviation point between normal orientation angle；
Projection orientation angle obtaining step S2：For the sensing data by collecting, calculated in multiple directions respectively
The projection orientation angle that the X-axis of Magnetic Sensor is projected in horizontal plane；
Magnetic declination obtaining step S3：For calculating each direction respectively, between normal orientation angle and projection orientation angle
Difference, the meansigma methodss based on the difference on each direction obtain magnetic declination, carry out the calibration of Magnetic Sensor.
Wherein, the multiple directions in above step are：East, west, south and northern four direction.
Wherein, as shown in Fig. 2 normal orientation angle obtaining step S1, including：
Measurement of coordinates step S11：By centering rod measuring center point and the coordinate figure of deviation point；
Mathematic interpolation step S12：Based on central point and the coordinate figure of deviation point, central point is calculated from deviation point different flat
Difference on the direction of face；
Normal orientation angle calculation procedure S13：Based on central point and difference of the deviation point on Different Plane direction, by anti-
Tangent trigonometric function, calculates normal orientation angle A；
All directions normal orientation angle calculation procedure S14：Repeat measurement of coordinates step S11, mathematic interpolation
Step S12 and normal orientation angle calculation procedure S13, calculate east, west, south and north normal orientation angle upwards respectively
A east, A west, A south, A are northern.
Wherein, as shown in figure 3, projection orientation angle obtaining step S2, including：
Magnetic component calculation procedure S21：According to magnetic stepping fitting parameter and magnetic stepping translation parameterss, Magnetic Sensor is calculated respectively
In X, Y and the magnetic component of Z coordinate axle；
Compensation component calculation procedure S22：According to the angle of pitch and roll angle, compensation point of the Magnetic Sensor in X, Y and Z axis is calculated
Amount；
X-axis azimuthal angle calculation step S23：According to magnetic component and compensation component, the X-axis azimuth of Magnetic Sensor is calculated；
Projection orientation angle calculation procedure S24：Based on the X-axis azimuth of the angle of pitch, roll angle and Magnetic Sensor, centering is calculated
Projection orientation angle B of the bar in horizontal plane；
All directions projection orientation angle calculation procedure S25：Perform magnetic component calculation procedure S21, compensation component calculation procedure
S22, X-axis azimuthal angle calculation step S23 and projection orientation angle calculation procedure S24, calculate east, west, south and the north upwards respectively
Projection orientation angle B east, B west, B south and B are northern.
Wherein, as shown in figure 3, magnetic declination obtaining step S3, also includes：
Magnetic declination calculation procedure S31：Normal orientation angle A east, A west, A south and A north and projection orientation angle B east, B are calculated respectively
West, B south and the B north to difference, and meansigma methodss of calculating difference obtain final magnetic declination C and put down.
Wherein, magnetic declination calculation procedure is calculated using below equation：
C puts down=(C is eastern, and C is western, and C is southern, and C is northern)/4；
Wherein, C east=A east-B is eastern；C west=A west-B is western；C south=A south-B is southern；C north=A north-B is northern.
In a particular embodiment of the present invention, the GNSS high precision apparatus that the present invention is used, precision reach 2cm, but this
It is bright to be not limited thereto, the GNSS device of other precision can also be adopted, when position data is gathered, needs to be placed into equipment
On centering rod, then by the tip location of centering rod bottom against tested point, (whether the blister checked on bar exists to carry out horizontal centring
Centre position, if in an intermediate position, indicates that centering rod is vertical), elevation is deducted bar long by then gathered data,
It is exactly the coordinate (x, y, h) of tested point.
In a particular embodiment of the present invention, in order to improve efficiency, some local centerings are solved the problems, such as, is positioned in GNSS
Inclination measurement function is increased in equipment, has this function, without centering rod centering during measurement, only centering rod bottom need to be put
On tested point, equipment calculates accurate slope correction value according to the sensing data such as internal angle and inclination, it is possible to
Gather out high-precision coordinate data.
In a particular embodiment of the present invention, when calculating slope correction, need to use two parts data of device interior：Incline
Rake angle and magnetic north azimuth.Angle of inclination refers to the angle of equipment x-axis and y-axis with horizontal plane.Magnetic north azimuth is x-axis
Azimuth (with the angle of real north), Fig. 4 are specific embodiment of the invention coordinate axess schematic diagram, as shown in Figure 4.
In a particular embodiment of the present invention, obtain accurate magnetic north azimuth most important for slope correction,
Error needs control within 1 degree, so the present invention has done the process of two aspects to magnetic correction：Magnetic step calibration and magnetic declination
Calibration.Magnetic stepping refers to that the x-axis of sensor points to the angle variable quantity in 360 degree of rotary course, for magnetic north accurately, magnetic step
Entering must be uniform.Magnetic deviation amount refer to through magnetic stepping calculate after, the difference of the angle of the orientation angle and real north of x-axis.
Equipment output data：
Hi-Fix coordinate --- B, L, H, will be calculated as plane coordinates x, y, h through projection.
Angle of inclination --- angle of pitch Pitch, roll angle Roll.
Magnetic component ---
Gravitational acceleration component --- accX, accY, accZ.
In a particular embodiment of the present invention, the present invention is applied in the high precision GNSS receiver with slope correction function
On, using the high-precision fixed bit function of GNSS, the high-precision coordinate of two points of measuring center point and deviation point, calculate the two
Accurate azimuth A between point；Then the data that sensor is exported calculated the azimuth of x-axis using magnetic stepped parameter, then and
Slanted angle calculates azimuth B of the x-axis in the projection of horizontal plane together, it is possible to obtain magnetic declination C=A-B.In order to each
All compare on individual direction accurately, the data of present invention collection all directions four direction calculate the magnetic declination (C of four direction
East, C are southern, and C is western, and C is northern), finally calculate meansigma methodss C and put down=(C is eastern, and C is southern, and C is western, and C is northern)/4, this equipment calculated by the method
Magnetic declination.Fig. 5 is that the specific embodiment of the invention corrects magnetic declination hint effect figure, as shown in Figure 5.
The present invention calculates comprising the following steps that for magnetic declination：
Step 1：Incline eastwards, record is not added with the elements of a fix Point_E for correcting and not through the x-axis of magnetic deviation amount correction
Projection orientation angle Aangle_Sensor_E；
Step 2：South dip, record are not added with the elements of a fix Point_S for correcting and not through the x-axis of magnetic deviation amount correction
Projection orientation angle Aangle_Sensor_S；
Step 4：Westwards incline, record is not added with the elements of a fix Point_W for correcting and not through the x-axis of magnetic deviation amount correction
Projection orientation angle Aangle_Sensor_W；
Step 5：Northwards incline, record is not added with the elements of a fix Point_N for correcting and not through the x-axis of magnetic deviation amount correction
Projection orientation angle Aangle_ensor_N；
Step 6：Point_E is calculated, tetra- coordinate points of Point_S, Point_W, Point_N arrive Point_C's
Azimuth, then deduct this four direction not through magnetic biasing from correction projection orientation angle, draw on four direction
Magnetic declination, then calculate meansigma methodss.
First, in a particular embodiment of the present invention, the projection orientation angle B of bar is calculated according to sensor
In this specific embodiment, calculate projection orientation angle B the step of：
Step 1：According to magnetic stepping fitting parameter, the magnetic component of tri- coordinate axess of Magnetic Sensor X, Y, Z is calculated；
Step 2：According to magnetic stepping translation parameterss, the magnetic component of tri- coordinate axess of Magnetic Sensor X, Y, Z is calculated；
Step 3：According to the angle of pitch and roll angle, the compensation component of tri- coordinate axess of Magnetic Sensor X, Y, Z is calculated；
Step 4：According to final magnetic component and supplementary component, the azimuth of Magnetic Sensor X-axis is calculated；
Step 5：According to the azimuth of the angle of pitch, roll angle and Magnetic Sensor X-axis, calculate centering rod and project in the horizontal plane
Azimuth Angle_Sensor.
The computational methods of the parameters to adopting in above-mentioned steps are described in detail below：
If instrument is heeling condition, needs according to inclination sensor and Gravity accelerometer data, calculate magnetic
, at the azimuth of the projection of horizontal plane, calculation process is as follows for the x-axis (north pointer direction) of sensor：
Computational methods：
A, coordinate system
Geographic coordinate system (n systems NED axles)：Barycenter of the origin in the earth, N axles refer to north, and E axles refer to east, and D axles are pointed to along ground vertical line
Ground, this coordinate system are also referred to as east northeast ground coordinate system.
Body axis system (b systems xbybzbAxle)：Phase center of the zero in instrument, xbAlong the y direction of equipment, yb
The right side of sensing equipment, zbPerpendicular to xbAxle, ybAxle constitutes right hand rectangular coordinate system.Body axis system is relative to geographic coordinate system
Orientation be equipment attitude.
Note：NED (east northeast ground) coordinate system that magnetometer coordinates computed system adopts, the mounting coordinate of actual magnetometer sensor
It is that for NEU (east northeast day), therefore two number of axle of magnetometer y, z is negative according to taking before azimuthal angle calculation is carried out.
B, attitude are represented
Equipment attitude in space can with device coordinate system relative to geographic coordinate system motion representing, motion
Angle is referred to as the attitude angle of equipment.Navigation commonly uses course angle Ψ, pitching angle theta and roll angle γ (inclination angle) as equipment in learning
Attitude angle.
(1), course angle：The equipment longitudinal axis (xbAxle) angle between projection in the horizontal plane and geographic meridian, numerical value
It is starting point clockwise for just, domain of definition is 0～360 degree with geographical north orientation.The projection in the horizontal plane of the longitudinal axis of equipment with
Angle between magnetic meridian is referred to as magnetic heading angle, uses ΨMTo represent.
(2), the angle of pitch (Pitch)：Longitudinal axiss (the x of equipmentbAxle) angle and local level between, upwards for just,
It is downwards negative, domain of definition is -90～90 degree.
(3), roll angle (Roll)：Lateral shaft (the y of equipmentbAxle) angle and local level between, Right deviation is for just, left
It is negative to incline, and domain of definition is -90～90 degree.
The derivation of c, attitude matrix
From the rotation transformation relation between 3 d space coordinate system：From geographic coordinate system n n n ox y z to
AmountBody axis system ox is rotated to finallybybzbIn vectorRelation it is as follows：
Because direction cosine matrix is all orthogonal matrix, its inverse matrix is present, and equal to its transposed matrix, therefore
From oxbybzbRotate to oxnynznInverse process transformational relation it is as follows：
That is attitude matrixFor：
Three axles of the accelerometer in attitude measurement system are installed along three axles of body axis system respectively, measure acceleration respectively
Projection components on degree meter output three axle of body axis system, are designated as：
fb=(accX accY accZ)T
It is known under geographic coordinate system, the output of accelerometer should be：
F "=(0 0 1)T。
As the size of course angle does not affect the output of accelerometer, it is therefore assumed that Ψ=0, then attitude matrix is reduced to：
D, attitude angle are asked for
(1), by
Solution equation group, can obtain：
The projection orientation angle of e, equipment course angle and pole
(1), attitude angle θ, γ obtained by accelerometer (the actual output valve for directly using obliquity sensor) is substituted intoAccording toEarth's magnetic field component in the horizontal plane can be obtained：
Then the projection orientation angle of x-axis, i.e. course angle ψxFor：
2nd, in the specific embodiment of the invention, calculate normal orientation angle A
In the specific embodiment of the invention, GNSS positioning can reach the plane precision of 1-2cm, if so two
GNSS anchor points distance at 1 meter, spend for 0.02 degree -0.04 by the azimuth angle error calculated by the two points.Because GNSS is positive north
Coordinate system, so this azimuth can be calibrated as normal orientation angle.Calculation procedure is：
Step 1：By the latitude and longitude coordinates (B, L, H) of the WGS84 of two points be projected as horizontal plane coordinate and elevation (x, y,
h)；
Step 2：Calculate two plane coordinates the north to east to difference；
Step 3：Using arc tangent trigonometric function, computer azimuth angle Angle_True.
The computational methods of each technical parameter to adopting in above-mentioned steps are described in detail below：
Gauss Kru＆4＆ger projection belongs to isometric projection, and the projection does not have angular distortion.Analyze from geometrical concept, Gauss-
Ke Lvge projections are a kind of crosscutting oval axial projections.It is that one cylindroid of imagination is horizontal is enclosed within earth ellipsoid so as to certain
One parallel (referred to as axle meridian or central meridian) is tangent, center of the cylindroid central shaft by earth ellipsoid, with solution
Analysis method presses conformal projection, by the region projection in axle meridian thing both sides on ellipsoid certain Jing difference scopes to ellipsoid cylinder
On, cylindroid is cut off further along the bus for crossing limit, cylindroid is launched into into plane then, that is, the figure after being projected.
Fig. 6 A and Fig. 6 B is the geometrical concept figure of Gauss Kru＆4＆ger projection, as shown in Figure 6 A and 6 B Gauss Kru＆4＆ger projection.
The primary condition of Gauss Kru＆4＆ger projection is：
Central meridian is projected as straight line, and is the axis of symmetry of projection, equator be projected as straight line and with central authorities
Noon line is orthogonal；
No angular distortion after projection, i.e. longitude and latitude line are orthogonal, and the length of same place all directions is than constant；
No length deformation in central meridian.
If being projected as X-axis with the central meridian in Gauss Kru＆4＆ger projection, Y15 axles, two axles are projected as with equator
Intersection point be origin, then just constitute Gauss-Ke Lvge plane right-angle coordinates.
According to the above three condition of Gauss Kru＆4＆ger projection, you can derive the geodetic coordinates of Gauss Kru＆4＆ger projection
Functional relation (6-8) between (L, B) and Gaussian parabolic line (x, y).
In formula：The longitudinal and transverse coordinate of x, y --- plane right-angle coordinate；
L, B --- the Jing of earth coordinates, latitude on ellipsoid；
S --- by the meridional parts in equator to latitude B；
N --- radius of curvature in prime vertical；
Second eccentricities of η --- η 2=e ' 2cos2B, the wherein e ' for the earth.Explanation：As projective transformation can produce change
Shape, so the central meridian in projective parameter here is identical with the longitude of central point, the distortion of projection for so producing can be with
Ignore, improve azimuthal computational accuracy.
3rd, in the specific embodiment of the invention, calculate magnetic declination C
Magnetic declination should be the difference of the direct projected angle of Magnetic Sensor and real magnetic declination, but due to the side of Magnetic Sensor
It is linear relationship that parallactic angle and projection orientation angle calculate, so the present invention is without unnecessary calculating, directly with projected angle calculating, is counted
Calculation method is：
Angle_Bias=Angle_True-Angle_Sensor
The magnetic declination of four direction is calculated using above method, magnetic declination on four incline directions whether is then checked
Cause, if inconsistent, it is necessary to recalibrate, if unanimously, illustrate to calibrate successfully.
In sum, high-precision fixed bit function of the inventive method by GNSS hi-Fixs equipment itself, come to setting
Standby internal Magnetic Sensor is calibrated so that within 1 degree, calibration process did not made in 5 minutes the calibration accuracy of magnetic declination
Other external devices are used, is not also limited by environment, the working performance and homework precision of whole equipment is greatly improved.
Certainly, the present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence,
Those of ordinary skill in the art when various corresponding changes and deformation can be made according to the present invention, but these it is corresponding change and
Deformation should all belong to the protection domain of appended claims of the invention.
Claims (8)
1. it is a kind of based on GNSS position magnetic declination calibration steps, it is characterised in that methods described includes：
Normal orientation angle obtaining step：For in GNSS receiver, in being gone out in multiple directions using the location Calculation of GNSS
Normal orientation angle between heart point and deviation point；
Projection orientation angle obtaining step：For the sensing data by collecting, the magnetic sensing in multiple directions is calculated respectively
The projection orientation angle that the X-axis of device is projected in horizontal plane；
Magnetic declination obtaining step：For calculating each described direction, the normal orientation angle and the projection orientation angle respectively
Between difference, based on the difference on direction each described meansigma methodss obtain magnetic declination, carry out the Magnetic Sensor
Calibration；
Wherein, normal orientation angle obtaining step includes：Measurement of coordinates step, mathematic interpolation step and normal orientation angle calculate
Step；
The measurement of coordinates step：The coordinate figure of the central point and the deviation point is measured by centering rod；
The mathematic interpolation step：Based on the coordinate figure of the central point and the deviation point, calculate the central point with it is described
Difference of the deviation point on Different Plane direction；
Normal orientation angle calculation procedure：Based on difference of the central point with the deviation point on Different Plane direction,
By arc tangent trigonometric function, the normal orientation angle A is calculated.
2. the magnetic declination calibration steps for being positioned based on GNSS according to claim 1, it is characterised in that the plurality of direction
For：East, west, south and the north to.
3. the magnetic declination calibration steps for being positioned based on GNSS according to claim 2, it is characterised in that the normal orientation angle
Obtaining step, also includes：
All directions normal orientation angle calculation procedure：Repeat the measurement of coordinates step, the mathematic interpolation step and described
Normal orientation angle calculation procedure, calculate respectively the east, west, south and the north upwards normal orientation angle A east, A west, A south, A it is northern.
4. the magnetic declination calibration steps for being positioned based on GNSS according to claim 2, it is characterised in that the projection orientation angle
Obtaining step, including：
Magnetic component calculation procedure：According to magnetic stepping fitting parameter and magnetic stepping translation parameterss, the Magnetic Sensor is calculated respectively and is existed
The magnetic component of X, Y and Z coordinate axle；
Compensation component calculation procedure：According to the angle of pitch and roll angle, compensation component of the Magnetic Sensor in X, Y and Z axis is calculated；
X-axis azimuthal angle calculation step：According to the magnetic component and the compensation component, the X-axis orientation of the Magnetic Sensor is calculated
Angle；
Projection orientation angle calculation procedure：Based on the X-axis azimuth of the angle of pitch, the roll angle and the Magnetic Sensor, count
Calculate projection orientation angle B of the centering rod in horizontal plane.
5. the magnetic declination calibration steps for being positioned based on GNSS according to claim 4, it is characterised in that the projection orientation angle
Obtaining step, also includes：
All directions projection orientation angle calculation procedure：Perform the magnetic component calculation procedure, the compensation component calculation procedure, X-axis
Azimuthal angle calculation step and projection orientation angle calculation procedure, calculate the east, west, south and north projection orientation angle upwards respectively
B east, B west, B south and B are northern.
6. the magnetic declination calibration steps for being positioned based on GNSS according to claim 2, it is characterised in that the magnetic declination is obtained
Step, also includes：
Magnetic declination calculation procedure：Calculate respectively normal orientation angle A east, A west, A south and A north with
Projection orientation angle B east, B west, B south and the B north to difference, and calculate the meansigma methodss of the difference, obtain final
Magnetic declination C put down.
7. the magnetic declination calibration steps for being positioned based on GNSS according to claim 6, it is characterised in that the magnetic declination is calculated
Step is calculated using below equation：
C puts down=(C is eastern, and C is western, and C is southern, and C is northern)/4；
Wherein, the C east=A east-B is eastern；The C west=A west-B is western；The C south=A south-B is southern；The C north=A north-B is northern.
8. the magnetic declination calibration steps for being positioned based on GNSS according to claim 3, it is characterised in that the normal orientation angle
Obtaining step calculates the normal orientation angle using Gauss Kru＆4＆ger projection.
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