CN106443744B - The calibration of GNSS double antenna postures and calibration method - Google Patents
The calibration of GNSS double antenna postures and calibration method Download PDFInfo
- Publication number
- CN106443744B CN106443744B CN201610860920.XA CN201610860920A CN106443744B CN 106443744 B CN106443744 B CN 106443744B CN 201610860920 A CN201610860920 A CN 201610860920A CN 106443744 B CN106443744 B CN 106443744B
- Authority
- CN
- China
- Prior art keywords
- angle
- course
- gnss double
- dcm
- inertial navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of calibration of GNSS double antennas posture and calibration methods, including：Step 1, observation data are obtained；Step 2, the calibration of GNSS double antennas posture drift angle, this step further comprise：Yaw angle, pitch angle and the roll angle provided using inertial navigation builds DCM matrixesThe course angle and pitch angle provided using GNSS double antennas, builds DCM matrixesSeek the angle relativeness matrix between GNSS double antennas and inertial navigation；According to the difference of course angle and pitch angle between angle relativeness matrix reverse GNSS double antennas and inertial navigation, diversity sequence is obtained；The diversity sequence of required course angle and pitch angle is averaging respectively to get the calibration value of course drift angle and pitching drift angle.The present invention realizes strapdown inertial navigation system and GNSS double antennas in the state that identical platform is completed to install, and demarcates to error angle, is corrected to data, enormously simplify calibration process, reduces operation difficulty.
Description
Technical field
The invention belongs to survey and draw, Navigation, Guidance and Control technical field more particularly to a kind of mark of GNSS double antennas posture
Fixed and calibration method.
Background technology
Inertial navigation system (being hereinafter " inertial navigation ") can measure position, posture and the speed of carrier, advantage
It is that there is good short-term accuracy, is not affected by the external environment, deficiency is navigation accuracy as observation time dissipates.GNSS is defended
Star navigation has many advantages, such as that long-term accuracy stabilization, navigation error do not dissipate at any time, and disadvantage is GNSS observation signals easily by ring
It interferes and blocks in border.The two is combined into composition GNSS/INS integrated navigation systems, learns from other's strong points to offset one's weaknesses, can both ensure short-term essence
Degree and long-term accuracy, and greatly strengthen the anti-interference ability of system.
High-precision GNSS/INS positioning and orientation orientation systems, can provide high-precision three-dimensional position, speed and posture, open
Under wealthy celestial environment, dynamic is observed up to centimeter-level positioning precision, 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.Currently, in unmanned plane mapping, vehicle-mounted shifting
Dynamic mapping and survey field waterborne are all using integrated navigation system on a large scale.
In actual use, the accuracy class of inertial navigation is multifarious, has the very high laser inertial of the high precision of price, also has
The cheap lower MEMS inertial navigations of precision.The optimal performance for playing low class precision inertial navigation, to reduce integrated navigation system
Cost all there is great actual use to be worth no matter from the perspective of marketing or scientific research.
In integrated navigation system, when in linear motion, system is right on the course without observable quantity, it will leads to course
Precision is dissipated with the time, and this diverging is more fatal for inferior grade inertial navigation.Experiment shows that increasing double antenna in systems sees
It surveys, good booster action can be played.
When actually using double antenna, it is necessary to handle the problem of calibrating of double antenna well, otherwise, the error newly introduced will cause
Equipment can not play the performance of application or even damage navigation accuracy.Fig. 1 show several between double antenna and course and inertial navigation course
What relationship.
The drift angle calibration between Inertial Measurement Unit and double GNSS antenna courses mostly uses greatly optical instrument progress at this stage,
Inertial navigation course and double antenna course are demarcated respectively 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 the accurate axis for determining double antenna, by
It is limited in inertial navigation structure, it is also difficult to the course for directly measuring inertial navigation, in practice, it is difficult to measure the boat of double antenna and INS equipment rooms
To angular dependence.And it after equipment dismounting refitting, is required for demarcating equipment again, operation is complex, it is difficult to letter
Singly quickly finish calibration demand.
Invention content
The object of the present invention is to provide a kind of calibration of simple and fast accurately GNSS double antenna postures and calibration methods.
The present invention makes full use of the course angle and pitch angle of GNSS double antennas offer, is being not used in conjunction with GNSS/INS equipment
The posture that course resolves when assisting seeks the posture difference between GNSS double antennas and inertial navigation by DCM matrixings.At this stage
In GNSS double antennas auxiliary, for the not rigorous of GNSS double antenna Data corrections, the error that roll angle is brought is not accounted for, load is worked as
There are when roll angle, the course difference between GNSS double antennas and inertial navigation changes body 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 differences；When roll angle is equal to 90 degree, the two exists
It is overlapped on course, difference is not present.So data with course difference in use, single cannot be evaluated, it is necessary in view of cross
The influence that roll angle is brought.
Technical scheme is as follows：
One, the scaling method of GNSS double antennas posture, including：
Step 1, observation data are obtained, the observation data include the posture of GNSS double antennas and inertial navigation；
Step 2, the calibration of GNSS double antennas posture drift angle, this step further comprise：
Yaw angle, pitch angle and the roll angle provided using inertial navigation builds DCM matrixes
The course angle and pitch angle provided using GNSS double antennas, it is zero to enable roll angle, builds DCM matrixes
Seek the angle relativeness matrix between GNSS double antennas and inertial navigation It indicates's
Transposed matrix；
According toThe difference of course angle and pitch angle between reverse GNSS double antennas and inertial navigation obtains diversity sequence；
The diversity sequence of required course angle and pitch angle is averaging respectively to get the mark of course drift angle and pitching drift angle
Definite value.
Further, observation data are the observation data of 10 minutes or more continuous effectives, are obtained under open sky.
Two, the calibration method of GNSS double antennas posture, including：
The calibration value of the course drift angle and pitching drift angle that are obtained using claim 1 builds DCM matrixes
Utilize DCM matrixesInertial navigation posture is transformed on the direction consistent with GNSS double antennas course；
Enable the roll angle of GNSS double antennas be conversion after inertial navigation roll angle, in conjunction with GNSS double antennas provide course angle and
Pitch angle constructs complete DCM matrixes
By DCM matrixesTransposed matrix and DCM matrixesIt is multiplied, obtains DCM matrixes
Utilize DCM matrixesThe course angle of reverse GNSS double antennas, that is, the GNSS double antenna course angles after calibrating.
The present invention is used for the calibration and calibration of inertial navigation system and GNSS double antennas course drift angle, realizes strap down inertial navigation
Navigation system in the state that identical platform is completed to install, demarcates error angle, school is carried out to data with GNSS double antennas
Just, calibration process is greatly simplified, operation difficulty is reduced.
The present invention has following features and advantageous effect：
(1) present invention greatly reduces the difficulty and cost of calibration without using optical gauges such as total powerstations.
(2) present invention is simple and quick, it is only necessary to observe 10 minutes under open celestial environment and calibration can be completed.
(3) present invention considers the influence of roll angle, improves the precision of double antenna calibration.
Description of the drawings
Geometrical relationship schematic diagrams of the Fig. 1 between GNSS double antennas course and inertial navigation course.
Specific implementation mode
Below in conjunction with the accompanying drawings, the technical solutions of the present invention will be further described.
For ease of description, hereinafter " GNSS double antennas " is abbreviated as " double antenna ".
Step 1, under open sky, the observation data of 10 minutes or more continuous effectives, i.e. nominal data are obtained.Described
Observation data include double antenna and the posture that inertial navigation provides.
Step 2, the calibration of double antenna posture drift angle.
First, the posture provided using inertial navigation, including yaw angle, pitch angle and roll angle build DCM matrixesIt utilizes
The course angle and pitch angle that double antenna provides, it is zero to enable roll angle, builds DCM matrixes
DCM matrixesForm see formula (1)：
In formula (1), θ indicates course angle,For pitch angle, φ is roll angle.
Then, by DCM matrixesTransposed matrix and DCM matrixesIt is multiplied, obtains the angle between double antenna and inertial navigation
Relativeness matrix
In formula (2),It indicatesTransposed matrix.
Then, according to angle relativeness matrixThe difference of course angle and pitch angle between reverse double antenna and inertial navigation,
See formula (3)：
In formula (3), θ,φ expressions course angle, the difference of pitch angle, 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 pitch angle 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 gives double antenna supplement roll angle, to build complete DCM matrixes, from
And it eliminates roll angle and lacks the transformed error brought.
First, DCM matrixes are built using the posture difference that step 2 is obtainedDCM matrixesThat is transition matrix utilizes
Transition matrixInertial navigation posture is transformed on the direction consistent with double antenna course.Here, posture difference, that is, course drift angle and
The calibration value of pitching drift angle.
Then, it is the roll angle of inertial navigation after conversion to enable the roll angle of double antenna, in conjunction with the course angle that double antenna provides and is bowed
The elevation angle constructs complete DCM matrixes
Then, by transition matrixTransposed matrix and DCM matrixesBe multiplied, i.e., by double antenna course angle be transformed into
On the consistent direction of inertial navigation：
Finally, convolution (3) utilizeThe course angle for seeking double antenna, to the double antenna course after being calibrated
Angle, there is no systematical differences with inertial navigation in course at this time.
Claims (3)
- The scaling method of 1.GNSS double antenna postures, characterized in that including：Step 1, observation data are obtained, the observation data include the posture of GNSS double antennas and inertial navigation；Step 2, the calibration of GNSS double antennas posture drift angle, this step further comprise：Yaw angle, pitch angle and the roll angle provided using inertial navigation builds DCM matrixesThe course angle and pitch angle provided using GNSS double antennas, it is zero to enable roll angle, builds DCM matrixesSeek the angle relativeness matrix between GNSS double antennas and inertial navigation It indicatesTransposition Matrix；According toThe difference of course angle and pitch angle between reverse GNSS double antennas and inertial navigation obtains diversity sequence；The diversity sequence of required course angle and pitch angle is averaging respectively to get the calibration of course drift angle and pitching drift angle Value.
- 2. the scaling method of GNSS double antennas posture as described in claim 1, it is characterized in that：The observation data are the observation data of 10 minutes or more continuous effectives, are obtained under open sky.
- The calibration method of 3.GNSS double antenna postures, characterized in that including：The calibration value of the course drift angle and pitching drift angle that are obtained using claim 1 builds DCM matrixesUtilize DCM matrixesInertial navigation posture is transformed on the direction consistent with GNSS double antennas course；It is the roll angle of inertial navigation after conversion, the course angle provided in conjunction with GNSS double antennas and pitching to enable the roll angle of GNSS double antennas Angle constructs complete DCM matrixesBy DCM matrixesTransposed matrix and DCM matrixesIt is multiplied, obtains DCM matrixesUtilize DCM MatrixThe course angle of reverse GNSS double antennas, that is, the GNSS double antenna course angles after calibrating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860920.XA CN106443744B (en) | 2016-09-28 | 2016-09-28 | The calibration of GNSS double antenna postures and calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860920.XA CN106443744B (en) | 2016-09-28 | 2016-09-28 | The calibration of GNSS double antenna postures and calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106443744A CN106443744A (en) | 2017-02-22 |
| CN106443744B true CN106443744B (en) | 2018-07-27 |
Family
ID=58170806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610860920.XA Active CN106443744B (en) | 2016-09-28 | 2016-09-28 | The calibration of GNSS double antenna postures and calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106443744B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107677295B (en) * | 2017-11-22 | 2023-09-26 | 马玉华 | Error calibration system and method for inertial navigation system of aircraft |
| DE102017222912A1 (en) * | 2017-12-15 | 2019-06-19 | Continental Teves Ag & Co. Ohg | Method and device for determining 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 |
| DE102018205205A1 (en) * | 2018-04-06 | 2019-10-10 | Continental Teves Ag & Co. Ohg | 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 |
| 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 |
| CN110106755B (en) * | 2019-04-04 | 2020-11-03 | 武汉大学 | Method for detecting irregularity of high-speed rail by reconstructing rail geometric form through attitude |
| 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 |
| 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 |
| 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 |
| 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 |
| CN113900126B (en) * | 2021-12-07 | 2022-03-25 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
| CN114370872B (en) * | 2022-01-14 | 2024-04-09 | 苏州挚途科技有限公司 | Vehicle attitude determination method and vehicle |
| 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 |
| CN117928569A (en) * | 2024-03-25 | 2024-04-26 | 华芯拓远(天津)科技有限公司 | Real-time calculation method and storage medium based on vehicle-mounted integrated navigation installation angle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566477A (en) * | 2009-06-03 | 2009-10-28 | 哈尔滨工程大学 | Quick measurement method of initial attitude of ship local strap-down inertial navigation system |
| CN101694389A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Rapid measurement method of initial attitude of gyro free strap down inertial navigation system |
| CN103389092A (en) * | 2013-08-13 | 2013-11-13 | 湖南航天机电设备与特种材料研究所 | Mooring airship attitude measurement device and method |
-
2016
- 2016-09-28 CN CN201610860920.XA patent/CN106443744B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566477A (en) * | 2009-06-03 | 2009-10-28 | 哈尔滨工程大学 | Quick measurement method of initial attitude of ship local strap-down inertial navigation system |
| CN101694389A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Rapid measurement method of initial attitude of gyro free strap down inertial navigation system |
| CN103389092A (en) * | 2013-08-13 | 2013-11-13 | 湖南航天机电设备与特种材料研究所 | Mooring airship attitude measurement device and method |
Non-Patent Citations (3)
| Title |
|---|
| INS/GPS Integration System with DCM Based Orientation Measurement;Ho Quoc Phuong Nguyen et al.;《ICIC 2009, LNCS 5754》;20091231;856-869 * |
| 一种GPS测姿系统的设计及精度分析;刘新明 等;《中国惯性技术学报》;20130228;第21卷(第1期);76-79 * |
| 空间应用的GPS/INS自主导航系统;Robert L.Bunn;《控制工程》;20001231(第6期);41,48-56 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106443744A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106443744B (en) | The calibration of GNSS double antenna postures and calibration method | |
| CN109556632B (en) | INS/GNSS/polarization/geomagnetic integrated navigation alignment method based on Kalman filtering | |
| CN104457754B (en) | SINS/LBL (strapdown inertial navigation systems/long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method | |
| Li et al. | Magnetic sensors for navigation applications: an overview | |
| CN1928567B (en) | Velocity detection, position detection and navigation system | |
| CN109556631B (en) | INS/GNSS/polarization/geomagnetic combined navigation system alignment method based on least squares | |
| CN103900565B (en) | A kind of inertial navigation system attitude acquisition method based on differential GPS | |
| CN103389092B (en) | A kind of kite balloon airship attitude measuring and measuring method | |
| TR201801964A2 (en) | ||
| WO2014186636A1 (en) | Automatic compass calibration system and corresponding method | |
| CN110672131B (en) | UKF (unscented Kalman Filter) alignment method for inertial/polarized light integrated navigation system under large misalignment angle | |
| JP6470314B2 (en) | Attitude angle calculation device, attitude angle calculation method, and attitude angle calculation program | |
| CN104049269B (en) | A kind of target navigation mapping method based on laser ranging and MEMS/GPS integrated navigation system | |
| CN110672130B (en) | EKF (extended Kalman filter) alignment method of inertial/polarized light integrated navigation system under large misalignment angle | |
| CN103017755A (en) | Measuring method for underwater navigation attitudes | |
| CN103954303B (en) | A kind of for magnetometric guidance system course angle dynamic calculation and bearing calibration | |
| Wang et al. | Analysis and verification of rotation modulation effects on inertial navigation system based on MEMS sensors | |
| CN105300404A (en) | Calibration method for ship-referenced inertial navigation system | |
| CN104776847B (en) | A kind of method that gyroscopic drift is estimated suitable for underwater navigation system single-point | |
| CN105910623B (en) | The method for carrying out the correction of course using magnetometer assisted GNSS/MINS tight integration systems | |
| CN108151765B (en) | Positioning and attitude measuring method for online real-time estimation and compensation of magnetometer error | |
| Zhang et al. | A multi-position calibration algorithm for inertial measurement units | |
| Wang et al. | Land vehicle navigation using odometry/INS/vision integrated system | |
| CN110887472A (en) | Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method | |
| CN112747770B (en) | Speed measurement-based initial alignment method in carrier maneuvering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |