CN106443744A - GNSS double antenna attitude standardization and calibration methods - Google Patents
GNSS double antenna attitude standardization and calibration methods Download PDFInfo
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- CN106443744A CN106443744A CN201610860920.XA CN201610860920A CN106443744A CN 106443744 A CN106443744 A CN 106443744A CN 201610860920 A CN201610860920 A CN 201610860920A CN 106443744 A CN106443744 A CN 106443744A
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention discloses GNSS double antenna attitude standardization and calibration methods. The GNSS double antenna attitude standardization method comprises a step 1 of obtaining observation data; and a step 2 of performing standardization of a GNSS double antenna attitude deflection angle, wherein the step 2 further comprises steps of using a yaw angle, a pitch angle and a roll angle provided by inertial navigation to establish a DCM matrix C<n>[imu]; using a course angle and a pitch angel provided by GNSS double antennas to establish a DCM matrix C<n>[ant]; calculating an angle relative relation matrix between the GNSS double antennas and the inertial navigation; performing reverse determination of differences in course angle and pitch angle between the GNSS double antennas and the inertial navigation according to the angle relative relation matrix to obtain difference sequences; and averaging the difference sequences in terms of the course angle and the pitch angle to obtain standardization values of a course deflection angle and a pitch deflection angle. The invention achieves standardization of error angles and correction of data in a state that a strapdown inertial navigation system and a GNSS double antenna are installed on the same platform, so that the standardization process is greatly simplified, and the operation difficulty is lowered.
Description
Technical field
The invention belongs to mapping, more particularly to Navigation, Guidance and Control technical field, a kind of mark of GNSS double antenna attitude
Fixed and calibration steps.
Background technology
Inertial navigation system (being hereinafter " inertial navigation ") can measure position, attitude and the speed of carrier, its advantage
It is, with good short-term accuracy, not to be affected by the external environment, deficiency is navigation accuracy with observation time diverging.GNSS is defended
The advantages of star navigates stable with long-term accuracy, navigation error is not dissipated with the time, shortcoming is GNSS observation signal easily by ring
Border is disturbed and is blocked.The two is combined composition GNSS/INS integrated navigation system, is learnt from other's strong points to offset one's weaknesses, both can ensure that short-term essence
Degree and long-term accuracy, greatly strengthen the capacity of resisting disturbance of system again.
High-precision GNSS/INS positioning and orientation orientation system, it is provided that high-precision three-dimensional position, speed and attitude, is opening
Under wealthy celestial environment, dynamic observation is up to centimeter-level positioning precision, and combined high precision inertial navigation equipment, even if GNSS signal losing lock one
Minute, under post processing pattern, still positional precision can be controlled within 1dm.At present, in unmanned plane mapping, vehicle-mounted shifting
Dynamic mapping and survey field waterborne, all on a large scale using integrated navigation system.
In actually used, the accuracy class of inertial navigation varies, the laser inertial for having the high precision of price very high, also has
The relatively low MEMS inertial navigation of low price precision.The optimal performance of low class precision inertial navigation is played, so as to reduce integrated navigation system
Cost, no matter from from the perspective of marketing or scientific research, all has great actually used value.
In integrated navigation system, when in linear motion, system is right on the course without observable quantity, it will cause course
Precision dissipates over time, and this diverging is more fatal for inferior grade inertial navigation.Experiment shows, increases double antenna sight in systems
Survey, good assosting effect can be played.
During actually used double antenna, it is necessary to handle the problem of calibrating of double antenna well, otherwise, the new error for introducing will cause
Equipment cannot play the performance of application and even damage navigation accuracy.Fig. 1 show several between double antenna and course and inertial navigation course
What relation.
Drift angle between Inertial Measurement Unit and double GNSS antenna courses is demarcated and is carried out using optical instrument mostly at this stage,
Respectively inertial navigation course and double antenna course is demarcated using optical instrument, and inertial navigation course and double days are obtained by heading crossing angle
Drift angle between line course.However, GNSS antenna phase center is located at instrument internal, it is difficult to accurately determine the axis of double antenna, by
Limit in inertial navigation structure, it is also difficult to the course of direct measurement inertial navigation, in practice, it is difficult to measure the boat of double antenna and INS equipment room
To angular dependence.And after equipment dismounting refitting, be required for demarcating equipment again, operate complex, it is difficult to letter
Demarcation demand is singly quickly finished.
Content of the invention
It is an object of the invention to provide a kind of simple and fast accurately demarcation of GNSS double antenna attitude and calibration steps.
The present invention makes full use of the course angle of GNSS double antenna offer and the angle of pitch, is not using in conjunction with GNSS/INS equipment
The attitude for resolving during the auxiliary of course, by DCM matrixing, asks for the attitude difference between GNSS double antenna and inertial navigation.At this stage
In GNSS double antenna auxiliary, for the not rigorous of GNSS double antenna Data correction, the error that roll angle brings do not accounted for, works as load
When body has roll angle, the course difference between GNSS double antenna and inertial navigation changes with carrier movement.Such as, carrier levels are placed
When, the course difference of the two is inertial navigation axis and GNSS double antenna axis angle difference；When roll angle be equal to 90 degree when, the two
Overlap on course, do not have differences.So, in data use, it is impossible to which single is evaluated with course difference, it is necessary in view of horizontal stroke
The impact that roll angle brings.
Technical scheme is as follows：
First, the scaling method of GNSS double antenna attitude, including：
Step 1, obtains observation data, and described observation data include the attitude of GNSS double antenna and inertial navigation；
Step 2, the demarcation of GNSS double antenna attitude drift angle, this step is further included：
Yaw angle, the angle of pitch and the roll angle for being provided using inertial navigation builds DCM matrix
The course angle for being provided using GNSS double antenna and the angle of pitch, it is zero to make roll angle, builds DCM matrix
Seek the angle relativeness matrix between GNSS double antenna and inertial navigation Represent's
Transposed matrix；
According toThe difference of course angle and the angle of pitch between reverse GNSS double antenna and inertial navigation, obtains diversity sequence；
The diversity sequence of required course angle and the angle of pitch is averaging respectively, obtains final product the mark of course drift angle and pitching drift angle
Definite value.
Further, observation data are the observation data of more than 10 minutes continuous effective, obtain under open sky.
2nd, the calibration steps of GNSS double antenna attitude, including：
The course drift angle for being obtained using claim 1 and the calibration value of pitching drift angle build DCM matrix
Using DCM matrixInertial navigation attitude is transformed on the direction consistent with GNSS double antenna course；
The roll angle for making GNSS double antenna be conversion after inertial navigation roll angle, in conjunction with GNSS double antenna provide course angle and
The angle of pitch, constructs complete DCM matrix
By DCM matrixTransposed matrix and DCM matrixIt is multiplied, obtains DCM matrix
Using DCM matrixThe course angle of reverse GNSS double antenna, that is, the GNSS double antenna course angle after calibrating.
The present invention is used for demarcation and the calibration of inertial navigation system and GNSS double antenna course drift angle, it is achieved that strap down inertial navigation
Navigation system is demarcated to error angle, carries out school to data with GNSS double antenna in the state of identical platform completes to install
Just, calibration process is greatly simplified, reduces operation easier.
The present invention has following features and beneficial effect：
(1) present invention greatly reduces difficulty and the cost of demarcation without using optical gauges such as total powerstations.
(2) present invention is simple and quick, it is only necessary to observes 10 minutes under open celestial environment and can complete to demarcate.
(3) present invention considers the impact of roll angle, improves the precision of double antenna calibration.
Description of the drawings
Fig. 1 is the geometrical relationship schematic diagram between GNSS double antenna course and inertial navigation course.
Specific embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in further detail.
For ease of description, hereinafter " GNSS double antenna " is all abbreviated as " double antenna ".
Step 1, under open sky, obtains observation data, the i.e. nominal data of more than 10 minutes continuous effective.Described
Observation data include the attitude that double antenna and inertial navigation are provided.
Step 2, the demarcation of double antenna attitude drift angle.
First, the attitude for being provided using inertial navigation, including yaw angle, the angle of pitch and roll angle, builds DCM matrixUtilize
Course angle and the angle of pitch that double antenna is provided, it is zero to make roll angle, builds DCM matrix
DCM matrixForm see formula (1)：
In formula (1), θ represents course angle,For the angle of pitch, φ is roll angle.
Then, by DCM matrixTransposed matrix and DCM matrixIt is multiplied, obtains the angle between double antenna and inertial navigation
Relativeness matrix
In formula (2),RepresentTransposed matrix.
Then, according to angle relativeness matrixThe difference of course angle and the angle of pitch between reverse double antenna and inertial navigation,
See formula (3)：
In formula (3), θ,φ represents the difference of course angle, the angle of pitch, roll angle ,-π ＜ θ≤π,
- π ＜ φ≤π；C11、C22、C31、C32、C33For angle relativeness matrixMiddle element.
Finally, the diversity sequence of required course angle and the angle of pitch is averaging, i.e. the mark of course drift angle and pitching drift angle
Definite value.
Step 3, the calibration of double antenna course data.
How one step of this step most critical, supplement roll angle to double antenna, to build complete DCM matrix, from
And eliminate the transformed error that roll angle disappearance is brought.
First, the attitude difference for being obtained using step 2 builds DCM matrixDCM matrixI.e. transition matrix, utilizes
Transition matrixInertial navigation attitude is transformed on the direction consistent with double antenna course.Here, attitude difference be course drift angle and
The calibration value of pitching drift angle.
Then, the roll angle for making double antenna be conversion after inertial navigation roll angle, in conjunction with double antenna provide course angle and bow
The elevation angle, constructs complete DCM matrix
Then, by transition matrixTransposed matrix and DCM matrixBe multiplied, will double antenna course angle be transformed into
On the consistent direction of inertial navigation：
Finally, convolution (3), utilizeThe course angle of double antenna is asked for, so as to the double antenna course after being calibrated
Angle, now course there is no systematical difference with inertial navigation.
Claims (3)
- The scaling method of 1.GNSS double antenna attitude, is characterized in that, including：Step 1, obtains observation data, and described observation data include the attitude of GNSS double antenna and inertial navigation；Step 2, the demarcation of GNSS double antenna attitude drift angle, this step is further included：Yaw angle, the angle of pitch and the roll angle for being provided using inertial navigation builds DCM matrixThe course angle for being provided using GNSS double antenna and the angle of pitch, it is zero to make roll angle, builds DCM matrixSeek the angle relativeness matrix between GNSS double antenna and inertial navigation RepresentTransposition Matrix；According toThe difference of course angle and the angle of pitch between reverse GNSS double antenna and inertial navigation, obtains diversity sequence；The diversity sequence of required course angle and the angle of pitch is averaging respectively, obtains final product the demarcation of course drift angle and pitching drift angle Value.
- 2. GNSS double antenna attitude scaling method as claimed in claim 1, is characterized in that：Described observation data are the observation data of more than 10 minutes continuous effective, obtain under open sky.
- The calibration steps of 3.GNSS double antenna attitude, is characterized in that, including：The course drift angle for being obtained using claim 1 and the calibration value of pitching drift angle build DCM matrixUsing DCM matrixInertial navigation attitude is transformed on the direction consistent with GNSS double antenna course；The roll angle for making GNSS double antenna be conversion after inertial navigation roll angle, in conjunction with GNSS double antenna provide course angle and pitching Angle, constructs complete DCM matrixBy DCM matrixTransposed matrix and DCM matrixIt is multiplied, obtains DCM matrixUsing DCM MatrixThe course angle of reverse GNSS double antenna, that is, the GNSS double antenna course angle after calibrating.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677295A (en) * | 2017-11-22 | 2018-02-09 | 马玉华 | A kind of aircraft inertia Navigation system error calibration system and method |
| CN107907900A (en) * | 2017-11-07 | 2018-04-13 | 长光卫星技术有限公司 | A kind of multi-sensor combined navigation system and method for GNSS double antennas auxiliary |
| CN108051835A (en) * | 2018-01-12 | 2018-05-18 | 武汉桓参工程科技有限公司 | A kind of inclination measuring device and measurement and setting out method based on double antenna |
| CN109490932A (en) * | 2018-12-26 | 2019-03-19 | 上海司南卫星导航技术股份有限公司 | Judge method, OEM board, receiver and the storage medium of RTK orientation result reliability |
| CN109556604A (en) * | 2018-11-20 | 2019-04-02 | 东南大学 | A kind of positioning and orienting device rotating the short baseline double antenna of MIMU/GNSS |
| WO2019115098A1 (en) * | 2017-12-15 | 2019-06-20 | Continental Teves Ag & Co. Ohg | Method and device for detecting correction information for an antenna of a vehicle |
| CN110106755A (en) * | 2019-04-04 | 2019-08-09 | 武汉大学 | Utilize the uneven pliable detection method of the high-speed railway rail of attitude reconstruction rail geometric shape |
| WO2019192830A1 (en) * | 2018-04-06 | 2019-10-10 | Continental Teves Ag & Co. Ohg | Method for determining the position of a vehicle |
| CN111221013A (en) * | 2019-11-29 | 2020-06-02 | 中国兵器装备集团自动化研究所 | Variable baseline double-antenna directional system and use method thereof |
| CN112147656A (en) * | 2020-09-09 | 2020-12-29 | 无锡卡尔曼导航技术有限公司 | GNSS double-antenna course installation angle offset estimation method |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN113900126A (en) * | 2021-12-07 | 2022-01-07 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
| CN114001705A (en) * | 2021-11-02 | 2022-02-01 | 成都国卫通信技术有限公司 | Method for automatically calibrating mounting errors of satellite-communication antenna and carrier |
| CN114370872A (en) * | 2022-01-14 | 2022-04-19 | 苏州挚途科技有限公司 | Vehicle attitude determination method and vehicle |
| CN116381633A (en) * | 2023-06-05 | 2023-07-04 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
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| CN107677295A (en) * | 2017-11-22 | 2018-02-09 | 马玉华 | A kind of aircraft inertia Navigation system error calibration system and method |
| CN107677295B (en) * | 2017-11-22 | 2023-09-26 | 马玉华 | Error calibration system and method for inertial navigation system of aircraft |
| CN111801596A (en) * | 2017-12-15 | 2020-10-20 | 大陆-特韦斯股份有限公司 | Method and device for determining a correction information for a vehicle antenna |
| WO2019115098A1 (en) * | 2017-12-15 | 2019-06-20 | Continental Teves Ag & Co. Ohg | Method and device for detecting correction information for an antenna of a vehicle |
| US11327182B2 (en) | 2017-12-15 | 2022-05-10 | Continental Teves Ag & Co Ohg | Method and device for detecting correction information for an antenna of a vehicle |
| CN108051835B (en) * | 2018-01-12 | 2024-02-09 | 武汉桓参工程科技有限公司 | Inclination measuring device based on double antennas and measuring and lofting method |
| CN108051835A (en) * | 2018-01-12 | 2018-05-18 | 武汉桓参工程科技有限公司 | A kind of inclination measuring device and measurement and setting out method based on double antenna |
| WO2019192830A1 (en) * | 2018-04-06 | 2019-10-10 | Continental Teves Ag & Co. Ohg | Method for determining the position of a vehicle |
| CN111989594A (en) * | 2018-04-06 | 2020-11-24 | 大陆-特韦斯股份有限公司 | Method for determining the position of a vehicle |
| CN109556604A (en) * | 2018-11-20 | 2019-04-02 | 东南大学 | A kind of positioning and orienting device rotating the short baseline double antenna of MIMU/GNSS |
| CN109490932A (en) * | 2018-12-26 | 2019-03-19 | 上海司南卫星导航技术股份有限公司 | Judge method, OEM board, receiver and the storage medium of RTK orientation result reliability |
| CN109490932B (en) * | 2018-12-26 | 2022-08-23 | 上海司南卫星导航技术股份有限公司 | Method for judging reliability of RTK (real time kinematic) orientation result, OEM (original equipment manufacturer) board card, receiver and storage medium |
| CN110106755A (en) * | 2019-04-04 | 2019-08-09 | 武汉大学 | Utilize the uneven pliable detection method of the high-speed railway rail of attitude reconstruction rail geometric shape |
| CN111221013B (en) * | 2019-11-29 | 2023-06-09 | 中国兵器装备集团自动化研究所 | Variable baseline dual-antenna orientation system and application method thereof |
| CN111221013A (en) * | 2019-11-29 | 2020-06-02 | 中国兵器装备集团自动化研究所 | Variable baseline double-antenna directional system and use method thereof |
| CN112147656B (en) * | 2020-09-09 | 2021-05-04 | 无锡卡尔曼导航技术有限公司 | GNSS double-antenna course installation angle offset estimation method |
| CN112147656A (en) * | 2020-09-09 | 2020-12-29 | 无锡卡尔曼导航技术有限公司 | GNSS double-antenna course installation angle offset estimation method |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN112649023B (en) * | 2021-01-08 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN114001705A (en) * | 2021-11-02 | 2022-02-01 | 成都国卫通信技术有限公司 | Method for automatically calibrating mounting errors of satellite-communication antenna and carrier |
| CN114001705B (en) * | 2021-11-02 | 2024-03-12 | 成都国卫通信技术有限公司 | Method for automatically calibrating mounting errors of toilet antenna and carrier |
| CN113900126A (en) * | 2021-12-07 | 2022-01-07 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
| CN114370872A (en) * | 2022-01-14 | 2022-04-19 | 苏州挚途科技有限公司 | Vehicle attitude determination method and vehicle |
| CN114370872B (en) * | 2022-01-14 | 2024-04-09 | 苏州挚途科技有限公司 | Vehicle attitude determination method and vehicle |
| CN116381633A (en) * | 2023-06-05 | 2023-07-04 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
| CN116381633B (en) * | 2023-06-05 | 2023-08-15 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
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