CN104808233A - Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system - Google Patents

Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system Download PDF

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Publication number
CN104808233A
CN104808233A CN201510217378.1A CN201510217378A CN104808233A CN 104808233 A CN104808233 A CN 104808233A CN 201510217378 A CN201510217378 A CN 201510217378A CN 104808233 A CN104808233 A CN 104808233A
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China
Prior art keywords
course
rnss
information
course information
gyro
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CN201510217378.1A
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Chinese (zh)
Inventor
张鼎
李新
张庆文
刘晓文
武志东
胡太强
曹乐平
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Big Dipper Navtech Co Ltd
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Big Dipper Navtech Co Ltd
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Priority to CN201510217378.1A priority Critical patent/CN104808233A/en
Publication of CN104808233A publication Critical patent/CN104808233A/en
Pending legal-status Critical Current

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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention provides a Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system. On the basis of utilizing course information of the original Beidou RNSS, course information determined by an auxiliary module is added. When the Beidou RNSS can work normally, in other words, when the course information of the Beidou RNSS can be acquired, the final course information is obtained by computation by combining the course information. Therefore, the results are more accurate than those of a mode only adopting the Beidou RNSS to acquire the course information. Besides, even if the Beidou RNSS satellite is in a loss-of-lock state, the course information can be acquired by making use of the auxiliary module to continue measuring course of measured equipment.

Description

A kind of high precision heading measure method, Apparatus and system based on Big Dipper RNSS
Technical field
The present invention relates to location and navigation technology field, specifically a kind of high precision heading measure method, Apparatus and system based on Big Dipper RNSS.
Background technology
The existing heading measure equipment based on Big Dipper RNSS (Radio Navigation Satellite System) comprises major and minor two antennas, as shown in Figure 1, the current location of two antennas is determined by the locating information receiving Beidou satellite navigation system, and then determine the course information being subject to measurement equipment, wherein course information is course angle H rNSS.Can draw from figure, as long as obtain the positional information of main antenna and slave antenna accurately, just can determine the course angle between the straight line at two location point places and direct north, can course information be drawn.
Owing to determining current course only by the position of major and minor antenna, therefore measuring accuracy is very large by antenna location precision.In addition, during distant between main antenna and slave antenna, also higher according to the course information accuracy that this mode obtains, and during close together between two antennas, its course information obtained associates very large with the degree of accuracy of the positional information of each antenna, any one position has deviation all to have a huge impact the course angle obtained a little.Therefore, such scheme of the prior art is difficult to the heading measure realizing high precision Short baseline.And when Big Dipper RNSS satellite losing lock, equipment cannot provide correct course information.
Summary of the invention
For this reason, technical matters to be solved by this invention is that the heading measure equipment based on Big Dipper RNSS of the prior art cannot realize the heading measure of high precision, Short baseline, and when Big Dipper RNSS satellite losing lock, cannot provide correct course information.
For solving the problems of the technologies described above, the invention provides following technical scheme:
Based on a high precision heading measure method of Big Dipper RNSS, comprise the steps:
Obtain the second course information H that supplementary module sends gyro;
Judge whether the current location getting major and minor antenna;
If do not get, then by described second course information H gyroas final heading information H z;
If get, then obtain the first course information H according to the current location of described major and minor antenna rNSS;
According to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
Preferably, the above-mentioned high precision heading measure method based on Big Dipper RNSS, described according to described first course information H rNSSwith described second course information H gyroobtain final heading information H zin, obtain final heading information H in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset.
The present invention also provides a kind of high precision Course Measuring Unit based on Big Dipper RNSS, comprising:
Data capture unit, for obtaining the second course information H that supplementary module sends gyro;
Judging unit, for judging whether the current location getting major and minor antenna;
Data analysis unit, during for judging to get the current location of major and minor antenna at described judging unit, the current location according to described major and minor antenna obtains the first course information H rNSS;
Course information determining unit, during for judging not get the current location of major and minor antenna at described judging unit, by described second course information H gyroas final heading information H z; When described judging unit judges to get the current location of major and minor antenna, according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
Preferably, the above-mentioned high precision Course Measuring Unit based on Big Dipper RNSS, described course information determining unit, when described judging unit judges to get the current location of major and minor antenna, obtains final heading information H in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset.
The present invention also provides a kind of High Accuracy Course Measure System based on Big Dipper RNSS, comprises above-mentioned Course Measuring Unit, and major and minor antenna, supplementary module, main control module, data transmission module; Wherein:
Described Course Measuring Unit, is connected with described supplementary module communication, receives the second course information H that described supplementary module sends gyro;
Described Course Measuring Unit, is connected with described major and minor antenna communication, receives the current location of the major and minor antenna that described major and minor antenna sends; When not receiving the current location of major and minor antenna, then by described second course information H gyroas final heading information H z; When receiving the current location of described major and minor antenna, the current location according to described major and minor antenna obtains the first course information H rNSS; And according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z;
Described main control module, is connected with described Course Measuring Unit communication, receives the final heading information H that described Course Measuring Unit sends z, and by described data transmission module by described final heading information H zbe sent to the equipment needing to determine course.
Preferably, the above-mentioned High Accuracy Course Measure System based on Big Dipper RNSS, described supplementary module comprises high accuracy gyroscope instrument and A/D converting unit, wherein:
Described high accuracy gyroscope instrument obtains course information;
Described A/D converting unit, is converted to the second course information H of digital signal form by the course information that described high accuracy gyroscope instrument obtains gyro, and send it to described Course Measuring Unit.
Preferably, the above-mentioned High Accuracy Course Measure System based on Big Dipper RNSS, also comprise display module, described display module is connected with described main control module, for display system duty under the control of described main control module, described working state of system comprises Power supply state and the directed state of RNSS.
Preferably, the above-mentioned High Accuracy Course Measure System based on Big Dipper RNSS, the maximum dominant frequency of described main control module is at least 100MHz, and has at least four road universal asynchronous receiving-transmitting transmitters.
Technique scheme of the present invention has the following advantages compared to existing technology:
(1) high precision heading measure method, Apparatus and system based on Big Dipper RNSS of the present invention, on the basis of course information utilizing former Big Dipper RNSS, add the course information that supplementary module is determined.When Big Dipper RNSS can normally work, when namely can obtain the course information of RNSS, two course information associative operations are utilized to obtain final course information.Therefore, relative to only adopting Big Dipper RNSS to obtain course information, the result that this programme obtains is more accurate.And, even if Big Dipper RNSS satellite is in out-of-lock condition, supplementary module also can be utilized to obtain course information, continue the object to carrying out heading measure by measurement equipment.
(2) high precision heading measure method, Apparatus and system based on Big Dipper RNSS of the present invention, utilize high accuracy gyroscope instrument to obtain course information as supplementary module, and it is high and can not be subject to the advantage of influence of magnetic field that it has precision.
(3) high precision heading measure method, Apparatus and system based on Big Dipper RNSS of the present invention, the maximum dominant frequency of main control module of employing is at least 100MHz, fully can meet the requirement that system protocol is resolved and each module is monitored in real time.And there are at least four road universal asynchronous receiving-transmitting transmitters, can ensure that system can carry out data transmission with other equipment.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is the method schematic diagram of prior art Big Dipper RNSS system determination course information;
Fig. 2 is the process flow diagram of the high precision heading measure method based on Big Dipper RNSS described in one embodiment of the invention;
Fig. 3 is the theory diagram of the high precision Course Measuring Unit based on Big Dipper RNSS described in one embodiment of the invention;
Fig. 4 is the High Accuracy Course Measure System theory diagram based on Big Dipper RNSS described in one embodiment of the invention.
Embodiment
embodiment 1
The present embodiment provides a kind of high precision heading measure method based on Big Dipper RNSS, as shown in Figure 2, comprises the steps:
S1: obtain the second course information H that supplementary module sends gyro.
S2: judge whether the current location getting major and minor antenna, if do not get, enter step S3, if get, enter step S4.
S3: if do not get, then using described second course information as final heading information H z.
S4: if get, then obtain the first course information H according to the current location of described major and minor antenna rNSS.This process is identical with obtain manner of the prior art, does not describe in detail at this.
S5: according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
In step s 5, the compute mode that can select has a variety of, the most simply can directly adopt two measurement results to average, or is that two results arrange weight, and weighting is averaged.Also, after can carrying out Multi simulation running experiment, obtain two curved line relations between measurement result and actual result, obtain the funtcional relationship etc. of three.In the present embodiment, final heading information H can be obtained in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset, can need to set according to precision.
The such scheme that the present embodiment provides, on the basis of course information utilizing former Big Dipper RNSS, adds the course information that supplementary module is determined.When Big Dipper RNSS can normally work, when namely can obtain the course information of RNSS, two course information associative operations are utilized to obtain final course information.Therefore, relative to only adopting Big Dipper RNSS to obtain course information, the result that this programme obtains is more accurate.And, even if Big Dipper RNSS satellite is in out-of-lock condition, supplementary module also can be utilized to obtain course information, continue the object to carrying out heading measure by measurement equipment.
embodiment 2
The present embodiment provides a kind of high precision Course Measuring Unit based on Big Dipper RNSS, as shown in Figure 3, comprising:
Data capture unit 101, for obtaining the second course information H that supplementary module sends gyro.
Judging unit 102, for judging whether the current location getting major and minor antenna.
Data analysis unit 103, during for judging to get the current location of major and minor antenna at described judging unit 102, the current location according to described major and minor antenna obtains the first course information H rNSS.This process is identical with obtain manner of the prior art, does not describe in detail at this.
Course information determining unit 104, for when described judging unit 102 judges the current location not getting major and minor antenna, by described second course information H gyroas final heading information H z.When described judging unit 102 judges to get the current location of major and minor antenna, according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
Described course information determining unit 104, when described judging unit 102 judges to get the current location of major and minor antenna, the mode obtaining final heading information according to the first course information and the second course information is a lot, two measurement results the most simply can be directly adopted to average, or be that two results arrange weight, weighting is averaged.Also, after can carrying out Multi simulation running experiment, obtain two curved line relations between measurement result and actual result, obtain the funtcional relationship etc. of three.In the present embodiment, obtain final heading information H in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset, can need to set according to precision.
The such scheme that the present embodiment provides, can realize high precision Short baseline heading measure object.And, when Big Dipper RNSS satellite is in out-of-lock condition, supplementary module also can be utilized to obtain course information, continue the object to carrying out heading measure by measurement equipment.
embodiment 3
The present embodiment provides a kind of High Accuracy Course Measure System based on Big Dipper RNSS, as shown in Figure 4, comprises the Course Measuring Unit 1 described in embodiment 2, and main antenna 2, slave antenna 3, supplementary module 4, main control module 5, data transmission module 6; Also comprise power module 7 and display module 8, wherein power module 7 is divided into AC-DC power module and DC-DC power module, AC220V AC power can be converted into 5V and 3.3V two kinds of direct supplys, power respectively to modules.Described power module 7 is also integrated with current foldback circuit, EMI filter circuit, current rectifying and wave filtering circuit, 2500V isolation voltage transducer, output short-circuit, overload, over-heat inside protection circuit, for system provides pure safe direct supply.
Described Course Measuring Unit 1, is connected with the communication of described supplementary module 4, receives the second course information H that described supplementary module 4 sends gyro.
Described Course Measuring Unit 1, is connected with described main antenna 2 and slave antenna 3 communication, receives the current location of the major and minor antenna that described major and minor antenna sends; When not receiving the current location of major and minor antenna, then by described second course information H gyroas final heading information H z; When receiving the current location of major and minor antenna, the current location according to described major and minor antenna obtains the first course information H rNSS; And according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
Described main control module 5, is connected with the communication of described Course Measuring Unit 1, receives the final heading information H that described Course Measuring Unit 1 sends z, and by described data transmission module 6 by described final heading information H zbe sent to the equipment needing to determine course.Described data transmission module 6 adopts American TI Company technical grade chip, can support that a road RS422 exports.1PPS pps pulse per second signal can through interface conversion, outputting standard RS422 signal.
As shown in the figure, described supplementary module 4 comprises high accuracy gyroscope instrument 41 and A/D converting unit 42, wherein:
Described high accuracy gyroscope instrument 41 obtains course information.Described A/D converting unit 42, is converted to the second course information H of digital signal form by the course information that described high accuracy gyroscope instrument 41 obtains gyro, and send it to described Course Measuring Unit 1.Utilize high accuracy gyroscope instrument to obtain course information as supplementary module, it is high and can not be subject to the advantage of influence of magnetic field that it has precision.
Preferably, described Course Measure System also comprises display module 8, described display module 8 is connected with described main control module 5, for display system duty under the control of described main control module 5, described working state of system comprises Power supply state and the directed state of RNSS, RNSS is directed, and state refers to that main control module obtains the state of correct directed information, and display module 8 can utilize light emitting diode to realize.
Further preferably, the maximum dominant frequency of described main control module 5 is at least 100MHz, and has at least four road universal asynchronous receiving-transmitting transmitters.32 ARM kernel LPC1768 can be adopted.Main control module 5 receives the final heading information sent by Course Measuring Unit 1, it is shown according to sending to other equipment by data transmission module 6 after relevant communication protocol process and controlling display module 8 pairs of equipment current operating state.
When Course Measuring Unit 1 receives Big Dipper RNSS satellite-signal, Course Measuring Unit 1 obtains the locating information of major and minor antenna and obtains the first course information H by resolving rNSS, high accuracy gyroscope instrument will record course information and export the second course information H after the conversion of A/D modular converter gyro, Course Measuring Unit 1 piece is by H rNSSand H gyrocombine the final heading information H after calculating improvement zand by final heading information H zsend to main control module 5; When Big Dipper RNSS satellite losing lock, the second course information H that high accuracy gyroscope instrument directly records by Course Measuring Unit 1 gyrosend to main control module.
The present embodiment is on the basis of existing technology, in former Big Dipper RNSS navigator fix information handling system, add high accuracy gyroscope instrument carry out auxiliary direction finding, combine the course information after calculating improvement by the course information calculated by Big Dipper RNSS locating information with by the course information that high accuracy gyroscope instrument records, thus reach the heading measure object of high precision Short baseline; When Big Dipper RNSS satellite losing lock, also heading measure can be proceeded by high accuracy gyroscope instrument.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.

Claims (8)

1., based on a high precision heading measure method of Big Dipper RNSS, it is characterized in that, comprise the steps:
Obtain the second course information H that supplementary module sends gyro;
Judge whether the current location getting major and minor antenna;
If do not get, then by described second course information H gyroas final heading information H z;
If get, then obtain the first course information H according to the current location of described major and minor antenna rNSS;
According to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
2. the high precision heading measure method based on Big Dipper RNSS according to claim 1, described according to described first course information H rNSSwith described second course information H gyroobtain final heading information H zin, obtain final heading information H in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset.
3., based on a high precision Course Measuring Unit of Big Dipper RNSS, it is characterized in that, comprising:
Data capture unit, for obtaining the second course information H that supplementary module sends gyro;
Judging unit, for judging whether the current location getting major and minor antenna;
Data analysis unit, during for judging to get the current location of major and minor antenna at described judging unit, the current location according to described major and minor antenna obtains the first course information H rNSS;
Course information determining unit, during for judging not get the current location of major and minor antenna at described judging unit, by described second course information H gyroas final heading information H z; When described judging unit judges to get the current location of major and minor antenna, according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z.
4. the high precision Course Measuring Unit based on Big Dipper RNSS according to claim 3, it is characterized in that, described course information determining unit, when described judging unit judges to get the current location of major and minor antenna, obtains final heading information H in the following manner z:
If | H rNSS-H gyro| > H th, then by H rNSSas final heading information H z; Otherwise H z=(H rNSS+ H gyro)/2, wherein H thfor the threshold value preset.
5. based on a High Accuracy Course Measure System of Big Dipper RNSS, it is characterized in that, comprise Course Measuring Unit according to claim 4, and major and minor antenna, supplementary module, main control module, data transmission module; Wherein:
Described Course Measuring Unit, is connected with described supplementary module communication, receives the second course information H that described supplementary module sends gyro;
Described Course Measuring Unit, is connected with described major and minor antenna communication, receives the current location of the major and minor antenna that described major and minor antenna sends; When not receiving the current location of major and minor antenna, then by described second course information H gyroas final heading information H z; When receiving the current location of described major and minor antenna, the current location according to described major and minor antenna obtains the first course information H rNSS; And according to described first course information H rNSSwith described second course information H gyroobtain final heading information H z;
Described main control module, is connected with described Course Measuring Unit communication, receives the final heading information H that described Course Measuring Unit sends z, and by described data transmission module by described final heading information H zbe sent to the equipment needing to determine course.
6. the High Accuracy Course Measure System based on Big Dipper RNSS according to claim 5, is characterized in that, described supplementary module comprises high accuracy gyroscope instrument and A/D converting unit, wherein:
Described high accuracy gyroscope instrument obtains course information;
Described A/D converting unit, is converted to the second course information H of digital signal form by the course information that described high accuracy gyroscope instrument obtains gyro, and send it to described Course Measuring Unit.
7. the High Accuracy Course Measure System based on Big Dipper RNSS according to claim 6, it is characterized in that, also comprise display module, described display module is connected with described main control module, for display system duty under the control of described main control module, described working state of system comprises Power supply state and the directed state of RNSS.
8. the High Accuracy Course Measure System based on Big Dipper RNSS according to claim 6, is characterized in that:
The maximum dominant frequency of described main control module is at least 100MHz, and has at least four road universal asynchronous receiving-transmitting transmitters.
CN201510217378.1A 2015-04-30 2015-04-30 Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system Pending CN104808233A (en)

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CN203037260U (en) * 2012-12-31 2013-07-03 广州中海达定位技术有限公司 Positioning attitude determination device
CN104502887A (en) * 2014-12-25 2015-04-08 湖南航天电子科技有限公司 Satellite orientation-based azimuth calibration method and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113175924A (en) * 2020-01-24 2021-07-27 安波福技术有限公司 Vehicle heading information based on single satellite detection
CN113175924B (en) * 2020-01-24 2024-10-11 安波福技术股份公司 Single satellite detection based vehicle heading information

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