CN104977597A - Inertial navigation-based GPS measurement system - Google Patents

Inertial navigation-based GPS measurement system Download PDF

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Publication number
CN104977597A
CN104977597A CN201510418910.6A CN201510418910A CN104977597A CN 104977597 A CN104977597 A CN 104977597A CN 201510418910 A CN201510418910 A CN 201510418910A CN 104977597 A CN104977597 A CN 104977597A
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CN
China
Prior art keywords
gps
inertial navigation
module
measurement
main control
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Pending
Application number
CN201510418910.6A
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Chinese (zh)
Inventor
朱磊
赵康德
张志桂
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Shanghai Huace Navigation Technology Ltd
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Shanghai Huace Navigation Technology Ltd
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Filing date
Publication date
Application filed by Shanghai Huace Navigation Technology Ltd filed Critical Shanghai Huace Navigation Technology Ltd
Priority to CN201510418910.6A priority Critical patent/CN104977597A/en
Publication of CN104977597A publication Critical patent/CN104977597A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47Determining 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

Abstract

The invention relates to an inertial navigation-based GPS measurement system, which comprises an inertial navigation testing module, a GNSS module, a main control module, an upper computer, and a power supply module, wherein the inertial navigation testing module is used for testing a gesture of a GPS receiver in the space; the GNSS module is used for receiving satellite data; the main control module is used for calculating the current position of the GPS receiver according to the gesture of the GPS receiver in the space and the satellite data; the upper computer acquires the current position of the GPS receiver from the main control module; and the power supply module is used for providing power for the inertial navigation testing module, the GNSS module and the main control module. According to the inertial navigation-based GPS measurement system by adopting the above structure, an error between a measurement value in an inclination state and a measurement value in a horizontal centering state is within 3cm, GPS measurement requirements can be met, the inertial navigation module is applied to the GPS measurement system, the traditional GPS measurement method is subverted, GPS measurement becomes easy, and labor intensity of a measurer is reduced.

Description

Based on the GPS measuring system of inertial navigation
Technical field
The present invention relates to communication technical field, particularly relate to satellite communication, specifically refer to a kind of GPS measuring system based on inertial navigation.
Background technology
Conventional GPS measuring technique needs to keep GPS to be flatly positioned over space and carries out adopting a measurement, and GPS slightly tilts and will introduce measuring error, brings great inconvenience to the work of staff, and is unfavorable for the raising of man-machine interaction level.
Summary of the invention
The object of the invention is the shortcoming overcoming above-mentioned prior art, provide a kind of can to make under heeling condition measurement error under measured value and horizontal centring state within the specific limits, meet the GPS measuring system based on inertial navigation of GPS measurement demand.
To achieve these goals, the GPS measuring system based on inertial navigation of the present invention has following formation:
Should based on the GPS measuring system of inertial navigation, its principal feature is, described system comprises:
Inertial navigation test module, in order to detect GPS attitude in space;
GNSS module, in order to receiving satellite certificate;
Main control module, in order to calculate the current location of GPS according to GPS attitude in space and satellite data;
Host computer, with obtain from described main control module described in the current location of GPS;
Power module, powers in order to give described inertial navigation test module, GNSS module and main control module.
Further, described inertial navigation test module comprises acceleration transducer, geomagnetic sensor and gyroscope.
Further, described acceleration transducer is 3-axis acceleration sensor.
Further, described geomagnetic sensor is three axle geomagnetic sensors.
Further, described gyroscope is single axis gyroscope.
Further, described system also comprises bluetooth module, and described main control module is communicated with described host computer by described bluetooth module.
Have employed the GPS measuring system based on inertial navigation in this invention, compared with prior art, there is following beneficial effect:
Native system adopts geomagnetic sensor, gyroscope, the inertial navigation measurement module that groups of acceleration sensors becomes detects GPS attitude in space automatically, in GPS is measured in certain angle (0-15 °) tilted scope, the deviate of inclination compensates in gps measurement data by inertial navigation measurement module automatically, to make under heeling condition under measured value and horizontal centring state measurement error within 3cm, meet GPS measurement demand, inertial navigation measurement module applies to GPS measuring system, overturn traditional GPS measuring method, GPS measurement is made to become very light, reduce surveyor's labour intensity.
Accompanying drawing explanation
Fig. 1 is the structural representation of the GPS measuring system based on inertial navigation of the present invention.
Fig. 2 is the actual use schematic diagram of an embodiment of the GPS measuring system based on inertial navigation of the present invention.
Embodiment
In order to more clearly describe technology contents of the present invention, conduct further description below in conjunction with specific embodiment.
Object of the present invention solves in GPS measuring process exactly needs GPS severity centering can carry out adopting a little, use the GPS of the inertial navigation measurement module in the present invention can measure in certain angle of inclination (0-15 °), ensure that error of measured data is within 3cm simultaneously.
Refer to shown in Fig. 1 to Fig. 2, the GPS measuring system based on inertial navigation of the present invention comprises:
Inertial navigation test module, in order to detect GPS attitude in space;
GNSS module, in order to receiving satellite certificate;
Main control module, in order to calculate the current location of GPS according to GPS attitude in space and satellite data; Such as, select the processor of the M3 kernel of ST company, this power consumption of processing unit is low, and aboundresources in sheet is highly suitable for low-power consumption occasion.
Host computer, with obtain from described main control module described in the current location of GPS;
Power module, powers in order to give described inertial navigation test module, GNSS module and main control module.
In a kind of preferred embodiment, described inertial navigation test module comprises acceleration transducer, geomagnetic sensor and gyroscope.
In a kind of preferred embodiment, described acceleration transducer is 3-axis acceleration sensor.Such as, this inertial navigation measurement module selects the 3-axis acceleration sensor of ADI company, and tilt accuracy reaches 0.1 degree.General GPS placing height is 2m, and GPS tilts to reach 15 ° of acceleration transducers by (sin0.1 × 200=0.349) within slope compensation error-reduction to 0.5cm.
In a kind of preferred embodiment, described geomagnetic sensor is three axle geomagnetic sensors.Such as, this inertial navigation measurement module selects three axle geomagnetic sensors of Honeywell company, and coordinate acceleration transducer, gyroscope three algorithm fusion, final heading precision reaches 1 °.
In a kind of preferred embodiment, described gyroscope is single axis gyroscope.Such as, this inertial navigation module selects the single axis gyroscope of ADI company.
In a kind of preferred embodiment, described system also comprises bluetooth module, and described main control module is communicated with described host computer by described bluetooth module.
The core that GPS carries out inclination measurement how to confirm GPS attitude in space.Utilize 3-axis acceleration sensor to measure GPS angle of inclination in space, utilize ground thorn sensor and single axis gyroscope to measure GPS orientation in space.Be aware of angle of inclination and GPS attitude in space in orientation just confirms.Time GPS carries out inclination measurement, the satellite data that GPS is measured in spatial attitude data and GPS is carried out related operation by inertial navigation measurement module, thus draws the actual position of GPS in current point.Such surveyor, when carrying out GPS measurement, only needs GPS to keep with level in 0-15 degree, namely can measure.
Refer to shown in Fig. 2, conventional GPS point is measured and the centering rod of regulation GPS must be kept carrying out adopting a little under vertical (in Fig. 2 AC) state with surface level, measurement point position is C point, centering rod can be favoured the arbitrfary point between AB by the GPS being provided with inertial navigation measurement module, namely can measure actual C point coordinate.GPS herein can change other receiver, such as GNSS receiver etc. into.In one embodiment, GPS is installed on 2m centering rod top, and centering rod places the AC position seeing Fig. 2, software design patterns carries out form point routinely and measures, and record now point coordinate, software design patterns inertial navigation is measured, centering rod places the BC position seeing Fig. 2, records now point coordinate.
Table 1. actual measurement data
Show that the GPS of installing inertial navigation module is under the condition at 15 °, angle of inclination by table 1, planar point measuring error 2.34cm, vertical error 0.3cm.Coincidence measurement requirement.
Have employed the GPS measuring system based on inertial navigation in this invention, compared with prior art, there is following beneficial effect:
Native system adopts geomagnetic sensor, gyroscope, the inertial navigation measurement module that groups of acceleration sensors becomes detects GPS attitude in space automatically, in GPS is measured in certain angle (0-15 °) tilted scope, the deviate of inclination compensates in gps measurement data by inertial navigation measurement module automatically, to make under heeling condition under measured value and horizontal centring state measurement error within 3cm, meet GPS measurement demand, inertial navigation measurement module applies to GPS measuring system, overturn traditional GPS measuring method, GPS measurement is made to become very light, reduce surveyor's labour intensity.
In this description, the present invention is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.

Claims (6)

1. based on a GPS measuring system for inertial navigation, it is characterized in that, described system comprises:
Inertial navigation test module, in order to detect GPS attitude in space;
GNSS module, in order to receiving satellite certificate;
Main control module, in order to calculate the current location of GPS according to GPS attitude in space and satellite data;
Host computer, with obtain from described main control module described in the current location of GPS;
Power module, powers in order to give described inertial navigation test module, GNSS module and main control module.
2. the GPS measuring system based on inertial navigation according to claim 1, is characterized in that, described inertial navigation test module comprises acceleration transducer, geomagnetic sensor and gyroscope.
3. the GPS measuring system based on inertial navigation according to claim 2, is characterized in that, described acceleration transducer is 3-axis acceleration sensor.
4. the GPS measuring system based on inertial navigation according to claim 2, is characterized in that, described geomagnetic sensor is three axle geomagnetic sensors.
5. the GPS measuring system based on inertial navigation according to claim 2, is characterized in that, described gyroscope is single axis gyroscope.
6. the GPS measuring system based on inertial navigation according to claim 1, it is characterized in that, described system also comprises bluetooth module, and described main control module is communicated with described host computer by described bluetooth module.
CN201510418910.6A 2015-07-16 2015-07-16 Inertial navigation-based GPS measurement system Pending CN104977597A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510418910.6A CN104977597A (en) 2015-07-16 2015-07-16 Inertial navigation-based GPS measurement system

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CN104977597A true CN104977597A (en) 2015-10-14

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105403900A (en) * 2015-11-17 2016-03-16 广州南方卫星导航仪器有限公司 Rapid automatic measurement method
CN105954665A (en) * 2016-01-27 2016-09-21 上海华测导航技术股份有限公司 Multi-mode and multi-frequency OEM plate initialization speed test method
CN109031384A (en) * 2018-06-27 2018-12-18 杭州爱体科技有限公司 A kind of low-power consumption mobile satellite location equipment
CN110017849A (en) * 2019-04-18 2019-07-16 菲曼(北京)科技有限公司 A kind of tilt measuring method of the mapping all-in-one machine based on GNSS receiver and IMU sensor

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101806906A (en) * 2010-04-14 2010-08-18 上海华测导航技术有限公司 Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System)
US8380433B2 (en) * 2008-09-24 2013-02-19 Texas Instruments Incorporated Low-complexity tightly-coupled integration filter for sensor-assisted GNSS receiver
CN103926608A (en) * 2014-04-18 2014-07-16 广州南方卫星导航仪器有限公司 Incline compensation method of GNSS measuring device
CN104635247A (en) * 2015-03-03 2015-05-20 上海华测导航技术股份有限公司 GNSS (global navigation satellite system) automatic measuring system and GNSS automatic measuring method based on acceleration sensor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8380433B2 (en) * 2008-09-24 2013-02-19 Texas Instruments Incorporated Low-complexity tightly-coupled integration filter for sensor-assisted GNSS receiver
CN101806906A (en) * 2010-04-14 2010-08-18 上海华测导航技术有限公司 Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System)
CN103926608A (en) * 2014-04-18 2014-07-16 广州南方卫星导航仪器有限公司 Incline compensation method of GNSS measuring device
CN104635247A (en) * 2015-03-03 2015-05-20 上海华测导航技术股份有限公司 GNSS (global navigation satellite system) automatic measuring system and GNSS automatic measuring method based on acceleration sensor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105403900A (en) * 2015-11-17 2016-03-16 广州南方卫星导航仪器有限公司 Rapid automatic measurement method
CN105954665A (en) * 2016-01-27 2016-09-21 上海华测导航技术股份有限公司 Multi-mode and multi-frequency OEM plate initialization speed test method
CN105954665B (en) * 2016-01-27 2019-02-12 上海华测导航技术股份有限公司 A kind of multimode multi-frequency OEM plate initialization testing method
CN109031384A (en) * 2018-06-27 2018-12-18 杭州爱体科技有限公司 A kind of low-power consumption mobile satellite location equipment
CN110017849A (en) * 2019-04-18 2019-07-16 菲曼(北京)科技有限公司 A kind of tilt measuring method of the mapping all-in-one machine based on GNSS receiver and IMU sensor

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Application publication date: 20151014