CN106483535A - A kind of Dual-antenna receiver position and attitude precision testing platform and method of testing - Google Patents
A kind of Dual-antenna receiver position and attitude precision testing platform and method of testing Download PDFInfo
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- CN106483535A CN106483535A CN201611079301.3A CN201611079301A CN106483535A CN 106483535 A CN106483535 A CN 106483535A CN 201611079301 A CN201611079301 A CN 201611079301A CN 106483535 A CN106483535 A CN 106483535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention provides a kind of Dual-antenna receiver position and attitude precision testing platform and method of testing, and test platform includes：Support meanss, line slideway and trailer system；Support meanss are made up of lifting support, runing rest；Line slideway includes opening up U-type groove guide rail, the slide block above U-type groove guide rail and plane slide unit；Above support platform, two antennas are arranged on above slide unit U-type groove guide rails assembling；Trailer system includes buncher, drive, tooth belt, limit switch and attachment, buncher and drive are separately fixed on the guard rail steel pipe of line slideway both sides attachment, tooth belt is connected with buncher, drive, the side of tooth belt and slide unit are connected, and limit switch is arranged on the two ends of line slideway.The present invention can test the position of Dual-antenna receiver and attitude accuracy under different length of base friction speeds, solves the problems, such as that Dual-antenna receiver positioning surveys appearance precision evaluation difficult.
Description
Technical field
The present invention relates to agricultural machinery double antenna (GNSS) receiver positioning surveys the technical field of appearance, particularly to a kind of double
Aerial receiver position and attitude precision testing platform and method of testing.
Background technology
Automatic steering control of farm mechanism is a core key technology in precision agriculture technology system, is widely used in ploughing
The agricultural production process such as make, sow, applying fertilizer, spraying, harvesting.Position and attitude information are in automatic steering control of farm mechanism control
Important parameter, research positioning and survey appearance precision control significant for agricultural machines navigation.
At present, common agricultural machinery localization method has 2 kinds, and one is relative position measurement, i.e. measurement agricultural machinery and navigation baseline
Relative position measurement, typical relative position measurement method is the location measurement method based on machine vision.Another kind is absolute
Position measurement, that is, measure absolute position in geographical space for the agricultural machinery, representational is based on GLONASS
(GNSS) location measurement method.GNSS location technology because its have high precision, speed fast, easy and simple to handle, global arrange net, whole day
Wait the advantages of operation, three-dimensional coordinate positioning, precision time service, in skills such as automobile navigation, precision agriculture, geodesic survey, resource investigations
Art field obtains extensively applies.The development of technology of checking the mark with carrier phase, GNSS positioning precision improves constantly.Different GNSS
Technical applications, have different requirements to GNSS positioning precision.GNSS positioning precision becomes each related application field and industry
Focus of attention.
Traditional agricultural machinery high accuracy is surveyed appearance and is realized using inertial navigation, and its equipment is complicated, expensive, start speed
Degree is slow, maintenance difficult, also has simultaneously and leads to cumulative error in kinetic measurement because of gyroscopic drift increasing this is consistent
Life weakness.GNSS is to be precision time service and positioning service design earliest, and with to its further investigation and usage mining, it is potential
High-precision attitude measurement capability obtained extensive concern.At present, the satellite navigation system attitude measurement skill based on multiple antennas
Art has become as an important branch of its Applied research fields.Attitude measurement technology based on satellite navigation system can be perfect
The shortcoming overcoming inertial navigation, it has good stability, with low cost, high precision, real-time are good, without initial calibration and no
The advantages of accumulated time error.Attitude accuracy is to weigh the most important index surveying attitude positioning method, using the double sky of rational method test
Line receiver surveys whether appearance precision directly or indirectly can be used for agricultural machines navigation for assessment receiver (through information processing)
Or other related application fields have important directive significance.
Content of the invention
Present invention is primarily targeted at overcoming shortcoming and the deficiency of prior art, provide a kind of Dual-antenna receiver position
Attitude accuracy test platform and method of testing, can test the position of Dual-antenna receiver and appearance under different length of base friction speeds
The dynamic static accuracy of state, solves the problems, such as that Dual-antenna receiver positioning surveys appearance precision evaluation difficult.In order to achieve the above object, this
Bright employ the following technical solutions：
A kind of Dual-antenna receiver position and attitude precision testing platform of the present invention, including support meanss, line slideway and
Trailer system, described line slideway is fixed on the upper end of support meanss, and described trailer system traction is arranged on line slideway
Plane slide unit moves, and described support meanss are fixed on guard rail steel pipe；
Described support meanss include lifting support and runing rest, and described lifting support is used for the height of adjusting supporting device
Degree, described runing rest is used for the level inclination of adjusting supporting device；Described lifting support is arranged on guard rail steel pipe, described rotation
Turn support to be arranged on lifting support；
Described line slideway adopts built-in twin shaft core roller line slideway, including opening up U-type groove guide rail, located at U
Slide block above type groove guide rail and plane slide unit
Described trailer system includes buncher, drive, tooth belt, limit switch and attachment, described solid
Even buncher and drive are separately fixed on the guard rail steel pipe at line slideway two ends device, and tooth belt is electric with speed governing
Machine, drive are connected, and the side of tooth belt and plane slide unit are fixed together, and limit switch is arranged on the two of U-type groove guide rail
End.
As preferred technical scheme, described lifting support is made up of inner layer steel pipe and outer layer pipe, described inner layer steel pipe
Side has elevating screw thread, and outer layer pipe respective side is provided with impeller knob, and described impeller knob and described elevating screw thread match；
The opposite side of described outer layer pipe is provided with two and screws butterfly screw.
As preferred technical scheme, described inner layer steel pipe exceeds outer layer pipe, and the adjacent both sides upper end of whorl side has
Tapped through hole, described runing rest is the arcuate structure being socketed in inner layer steel pipe upper end, and this arcuate structure lower end has through hole, uses
The through hole of butterfly screw and inner layer steel pipe upper end is connected, and is parallel to the long waist of chord length in the middle of the upper transverse plane of described arcuate structure
Hole, is used for fixing U-type groove guide rail.
As preferred technical scheme, the two side in U-lag guide openings end is arranged with cambered surface sliding-rail groove,
It is embedded with reinforcing bar axle, the middle part of slide block is lifted with several concave surface rollers, and concave surface roller extends vertically downward in cambered surface sliding-rail groove
It is connected to the opening of U-lag guide rail and with keeping linear slide after the reinforcing bar axle interworking of both sides.
As preferred technical scheme, there is a through hole described U-lag guide rail bottom every 10cm, for by guide rails assembling
It is fixed on above support meanss.
As preferred technical scheme, three slide blocks are connected, set every 20cm above plane slide unit by described plane slide unit
There is the antenna installing hole of an installation GNSS antenna, the first screw is left in the side of plane slide unit, for being connected with tooth belt.
As preferred technical scheme, described buncher is furnished with controller, and controller panel is provided with and off switch, just
Reversion button, speed governing knob and rotating speed display table；Described controller can rotate to motor and control and speed monitoring.
A kind of method of testing of Dual-antenna receiver position and attitude precision testing platform of the present invention, including test platform peace
Debug whole data and obtain two processes of process：
(1) the mounting and adjusting process of test platform includes step：
(1-1) with metal anchor ear, support meanss are arranged on roof guard rail steel pipe, install one every L distance, screw
Metal anchor ear, support meanss are firmly installed；
(1-2) level indicator is placed on the top of support platform, adjusts runing rest, until level indicator inclination angle is shown as 0,
Screw rotary screw, so that runing rest is fastened；
(1-3) utilize the height of vernier caliper measurement support meanss upper end plane separation guard rail steel pipe, make all support platforms
Upper end plane separation guard rail steel pipe is highly consistent；
(1-4) by multistage U-type groove guide rails assembling in support platform, draw an auxiliary straight line along U-type groove guide rail, fine setting is many
Section U-type groove guide rail joining place, makes guide rail align straight line to ensure the linearity of whole section of guide rail, U-type groove guide rail is fastened on support
On the long lumbar hole of transverse plane on platform runing rest；
(1-5) plane slide unit is connected in upper end of slide block, level indicator is placed across on plane slide unit, slip plane slide unit
Inclination angle on whole section of guide rail for the eye-level instrument, such as level indicator is not 0 in certain section of guide rail top rade, then adjust support meanss nearby
Runing rest make slide unit inclination angle be 0, to correct slide unit level on whole section of guide rail；By placed longitudinally for level indicator in plane slide unit
On, inclination angle on whole section of guide rail for the slip plane slide unit eye-level instrument, such as inclination angle on certain section of guide rail for the level indicator is not 0,
The lifting support then adjusting support meanss nearby makes level indicator inclination angle for 0, contour on whole section of guide rail to correct slide unit；
(1-6) drive and buncher are arranged on the guard rail steel pipe at line slideway two ends, tooth belt and transmission
Wheel, buncher are connected, and the side of tooth belt and slide unit are fixed together；
(1-7) experimental starting motor, carries out rotating operation, gradually by low speed at a high speed, checking platform stabilization and spacing
Reliability (2) data acquisition and processing procedure include step：
(2-1) static immobilization data acquisition：Main antenna is arranged in the antenna installing hole of plane slide unit, in plane slide unit
M group location data is gathered under resting state；
(2-2) dynamic alignment data obtains：Main antenna is arranged in the antenna installing hole of plane slide unit, adjusts speed governing electricity
The speed of machine, obtains Dual-antenna receiver dynamic alignment data under friction speed, and every secondary flat slide unit moves to right-hand member from left end
For one group of experimental data, each speed level acquisition N group data；
(2-3) static attitude data acquisition：Main antenna is fixed in first antenna installing hole of plane slide unit, from antenna
It is arranged on the 2nd antenna installing hole, collection M group static state course angle, inclination angular data under plane slide unit resting state, more successively
The 3rd will be arranged on from antenna to last antenna installing hole, every kind of length of base collection M group static state course angle, inclination angle number
According to；
(2-4) dynamic attitude accuracy method of testing：Main antenna is fixed on first antenna installing hole on plane slide unit, from
Antenna is arranged on the 2nd antenna installing hole, adjusts the speed of buncher, obtains Dual-antenna receiver under friction speed and dynamically navigates
To angle, tilt angular data, it is one group of experimental data that every secondary flat slide unit moves to right-hand member from left end, each speed level acquisition N
Group data, then the 3rd will be arranged on to last antenna installing hole from antenna successively, obtain under different length of base friction speeds
The dynamic course angle of Dual-antenna receiver, inclination angular data；
(2-5) static immobilization data processing method：The WGS-84 terrestrial navigation coordinate of acquisition is switched to by gauss projection
Plane coordinate system, statistics location data is converted to x-axis direction and y-axis direction positioning extreme difference after plane coordinate system, root-mean-square error,
As the evaluation index evaluating Dual-antenna receiver Static positioning accuracy；
(2-6) dynamic alignment data processing method：The positional information of one point is gathered every Lm on guide rail, each point is adopted
Intensive P group data makees the location estimation value averagely as this point, and the location estimation value using points multiple on guide rail passes through a young waiter in a wineshop or an inn
Squares regression straight line, calculates the meansigma methodss away from this air line distance for the location data gathering under current intelligence, as dynamic
The evaluation index of positioning precision；
(2-7) static attitude data processing method：The course angle obtaining under the different length of base of statistics and inclination angular data
Extreme difference, root-mean-square error, as the evaluation index evaluating Dual-antenna receiver static survey appearance precision；
(2-8) dynamic attitude accuracy evaluation methodology：Ask for the boat of this straight line according to the slope of regression straight line in step (2-6)
To in statistics dynamic process on the basis of this course, the course angular data of acquisition and the extreme difference of this benchmark and root-mean-square error, make
For the evaluation index of dynamic course angular accuracy, because, in line slideway installation process, line slideway demarcated by use level instrument
Horizontal direction is 0 °, on the basis of 0 °, the inclination angular data of acquisition and the extreme difference of this benchmark and root-mean-square in statistics dynamic process
Error, as the evaluation index of dynamic tilt angular accuracy.
As preferred technical scheme, L is 1m.
As preferred technical scheme, M is 1500 groups, and N is 3 groups, and P is 1200 groups.
The present invention compared with prior art, has the advantage that and beneficial effect：
1st, Dual-antenna receiver position and attitude precision testing platform of the present invention can be conveniently installed at roof, it is to avoid GNSS believes
Number block the impact that receiver positioning and directing precision is produced.
2nd, Dual-antenna receiver position and attitude precision testing platform of the present invention can pass through lifting support and the rotation of support meanss
Turn height, levelness and the linearity that support easily adjusts line slideway, can easily be fastened by butterfly nut.
3rd, Dual-antenna receiver position and attitude accuracy test device of the present invention passes through slide gauge, level indicator and bracing wire correction
Linearity on whole section of guide rail for the plane slide unit and levelness, have ensured linearity and the levelness of guide rail.
4th, the motor in trailer system of the present invention can pass through control panel stepless speed regulation, and has velocity feedback table.Convenient survey
Under examination friction speed, the positioning of Dual-antenna receiver surveys appearance precision.
5th, in the present invention, plane slide unit there is an antenna installing hole every 20cm, double antenna is arranged on different positioning
Kong Shang, can test Dual-antenna receiver positioning under the different lengths of base and survey appearance precision.
6th, in the present invention, gear belt transmission avoids transmission slip, has ensured accurate test speed.
7th, in the present invention, limit switch ensures that slide unit moves on U-type groove guide rail, it is to avoid slide unit derails.
8th, in the present invention, using the method for the meansigma methodss recurrence reference line of multiple spot position on guide rail, from statistical significance
Upper searching reference line, solves the problems, such as that dynamic positioning is surveyed benchmark in appearance performance evaluation and found hardly possible.
Brief description
Fig. 1 is Dual-antenna receiver position and attitude precision testing platform overall structure diagram；
Fig. 2 is support meanss front view；
Fig. 3 is that support meanss side attempts；
Fig. 4 is runing rest top view；
Fig. 5 is line slideway cross-sectional view；
Fig. 6 is trailer system top view；
Fig. 7 is electric machine controller panel schematic diagram.
Drawing reference numeral explanation：1st, support meanss；1-1, lifting support；1-1-1, thumb wheel knob；1-1-2, the first butterfly spiral shell
Silk；1-1-3, elevating screw thread；1-2, runing rest；1-2-1, the second butterfly screw；1-2-2, long lumbar hole；
2nd, line slideway；2-1, U-type groove guide rail；2-1-1, first through hole；2-1-2, reinforcing bar axle；2-2, slide block；2-2-1、
Concave surface roller；2-3, plane slide unit；2-3-1, antenna installing hole；2-3-2, the first screw；2-4 second screw；
3rd, trailer system；3-1, motor；3-2, drive；3-3, tooth belt；3-4, limit switch；3-5, connected dress
Put..
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment
As shown in figure 1, being Dual-antenna receiver position and attitude precision testing platform overall structure diagram, fill including supporting
Put 1, line slideway 2 and trailer system 3, described line slideway is fixed on the upper end of support meanss, and described trailer system traction sets
The plane slide unit put on line slideway moves, and described support meanss are fixed on guard rail steel pipe.
As shown in Figure 2,3, be respectively support meanss front view and side view, including lifting support 1-1 and runing rest
1-2, described lifting support is used for the height of adjusting supporting device, and the level that described runing rest is used for adjusting supporting device is inclined
Angle；Described lifting support is arranged on guard rail steel pipe, and described runing rest is arranged on lifting support.In the present embodiment, institute
State lifting support to be made up of internal layer rectangular steel tube and outer layer rectangular steel tube.The side of inner layer steel pipe has elevating screw thread 1-1-3, outward
Layer steel pipe respective side is provided with thumb wheel knob 1-1-1, and the opposite side of outer layer pipe is provided with two and screws butterfly screw 1-1-2.Interior
Layer steel pipe exceeds outer layer pipe, and invert bridge type runing rest 1-2 is socketed in the upper end of inner layer steel pipe, by butterfly screw 1-2-1
Elastic rotation or fastening.
Fig. 4 is the top view of runing rest, and on runing rest, transverse plane has long lumbar hole that is fixing and adjusting U-type groove guide rail
1-2-2.
It is line slideway cross-sectional view as shown in Figure 5, line slideway adopts built-in twin shaft core roller line slideway,
Including opening up U-type groove guide rail 2-1, the slide block 2-2 above U-type groove guide rail and plane slide unit 2-3.U-shaped guide rail
Arch groove is arranged with the two side in opening, reinforcing bar axle 2-1-2 is inlaid in arch groove, if the middle part of slide block is lifted with
A dry concave surface roller 2-2-1, concave surface roller extend downward with the reinforcing bar axle 2-1-2 interworking of both sides after keep linear slide even
Connect.There is a first through hole 2-1-1 U-shaped guide rail 1 bottom every 10cm, for U-type groove guide rails assembling is fixed on support meanss
On the long lumbar hole 1-2-2 of runing rest.Plane slide unit 2-3 passes through two slide block 2-2 on the second screw 2-4 and U-type groove guide rail
Can move on guide rail with slide block after being connected, install every the antenna that 20cm is provided with an installation GNSS antenna above plane slide unit
Hole 2-3-1.The first screw 2-3-2 is left in the side of plane slide unit, for being connected with tooth belt 3-3.
If Fig. 6 is trailer system top view, including buncher 3-1, drive 3-2, tooth belt 3-3, limit switch
3-4 and attachment 3-5.Buncher 3-1 and drive 3-2 is separately fixed at line slideway 2 two ends by attachment
On guard rail steel pipe, tooth belt 3-3 is connected with buncher 3-1, drive 3-2, the side of tooth belt and plane slide unit 2-3
It is fixed together by nut 3-6.Limit switch 3-4 is arranged on the two ends of U-type groove guide rail.
As shown in fig. 7, speed-regulating motor controller panel is provided with and off switch, rotating button, speed governing knob and rotating speed
Display table.Speed-regulating motor controller can carry out to motor rotating control and speed monitoring.
Test platform is such mounting and adjusting：
(1) with metal anchor ear, support meanss are arranged on roof guard rail steel pipe, install one every 1m, screw metal and embrace
Hoop, support meanss are firmly installed.
(2) level indicator is placed on the top of support platform, adjusts runing rest, until level indicator inclination angle is shown as 0, rotation
Tight butterfly screw, makes runing rest fasten.
(3) utilize the height of vernier caliper measurement support meanss upper end plane separation guard rail steel pipe, make in all support meanss
Transverse plane is highly consistent away from guard rail steel pipe.
(4) draw straight line above head and the tail support platform, adjust the lifting support screw on intermediate supports platform, make institute
There is support platform alignment straight line contour, screw lifting support screw, make all lifting support fastenings.(5) by multistage U-type groove guide rail
It is arranged in support platform, draws an auxiliary straight line along U-type groove guide rail, finely tune multistage U-type groove guide rail joining place, so that guide rail is alignd
Straight line is to ensure the linearity of whole section of guide rail.U-type groove guide rail is fastened on the long lumbar hole of transverse plane on support platform runing rest
On.
(6) plane slide unit is connected in upper end of slide block, and level indicator is placed across on plane slide unit, and slip plane slide unit is seen
Examine inclination angle on whole section of guide rail for the level indicator, such as level indicator is not 0 in certain section of guide rail top rade, then support meanss near adjustment
It is 0 that runing rest makes slide unit inclination angle, to correct slide unit level on whole section of guide rail；By placed longitudinally for level indicator in plane slide unit
On, inclination angle on whole section of guide rail for the slip plane slide unit eye-level instrument, such as inclination angle on certain section of guide rail for the level indicator is not 0,
The lifting support then adjusting support meanss nearby makes level indicator inclination angle for 0, contour on whole section of guide rail to correct slide unit.
(7) drive and buncher are arranged on the guard rail steel pipe at line slideway two ends, tooth belt and drive,
Buncher is connected, and the side of tooth belt and slide unit are fixed together.
(8) experimental starting buncher, carries out rotating operation.Gradually by low speed at a high speed, check platform stabilization and limit
Position reliability.
Test data is such acquisition and process：
(1) static immobilization data acquisition：Main antenna is arranged in the antenna installing hole of plane slide unit, quiet in plane slide unit
Only gather about 1500 groups of location datas under state.
(2) dynamic alignment data obtains：Main antenna is arranged in the antenna installing hole of plane slide unit, adjusts buncher
Speed, obtain friction speed under Dual-antenna receiver dynamic alignment data.Every secondary flat slide unit moves to right-hand member from left end and is
One group of experimental data, 3 groups of data of each speed level acquisition.
(3) static attitude data acquisition：Main antenna is fixed in first antenna installing hole of plane slide unit, from antenna
It is arranged on the 2nd antenna installing hole, gather about 1500 groups of static course angles under plane slide unit resting state, tilt angular data.
The 3rd will be arranged on from antenna to last antenna installing hole successively again, every kind of length of base gathers about 1500 groups of static courses
Angle, inclination angular data.
(4) dynamic attitude accuracy method of testing：Main antenna is fixed on first antenna installing hole on plane slide unit, from sky
Line is arranged on the 2nd antenna installing hole, adjusts the speed of buncher, obtains the dynamic course of Dual-antenna receiver under friction speed
Angle, inclination angular data.It is one group of experimental data that every secondary flat slide unit moves to right-hand member from left end, 3 groups of each speed level acquisition
Data.The 3rd will be arranged on to last antenna installing hole from antenna successively again, obtain different lower pair of length of base friction speeds
The dynamic course angle of aerial receiver, inclination angular data.
(5) static immobilization data processing method：The WGS-84 terrestrial navigation coordinate of acquisition is switched to put down by gauss projection
Areal coordinate system, statistics location data is converted to x-axis direction and y-axis direction positioning extreme difference after plane coordinate system, root-mean-square error.Make
For evaluating the evaluation index of Dual-antenna receiver Static positioning accuracy.
(6) dynamic alignment data processing method：The positional information of one point is gathered every 1m on guide rail.Each point collection
About 1200 groups of data make the location estimation value averagely as this point.Location estimation value using points multiple on guide rail passes through a young waiter in a wineshop or an inn
Squares regression straight line.Calculate the meansigma methodss away from this air line distance for the location data gathering under current intelligence, as dynamic
The evaluation index of positioning precision.
(7) static attitude data processing method：The course angle obtaining under the different length of base of statistics and inclination angular data pole
Difference, root-mean-square error.As the evaluation index evaluating Dual-antenna receiver static survey appearance precision.
(8) dynamic attitude accuracy evaluation methodology：Ask for the course of this straight line according to the slope of regression straight line in step (6),
The course angular data obtaining in statistics dynamic process on the basis of this course and the extreme difference of this benchmark and root-mean-square error.As dynamic
The evaluation index of state course angular accuracy.Because, in line slideway installation process, line slideway level demarcated by use level instrument
Direction is 0 °.On the basis of 0 °, the inclination angular data of acquisition and the extreme difference of this benchmark and root-mean-square error in statistics dynamic process.
Evaluation index as dynamic tilt angular accuracy.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not subject to above-described embodiment
Limit, other any spirit without departing from the present invention and the change made under principle, modification, replacement, combine, simplify,
All should be equivalent substitute mode, be included within protection scope of the present invention.
Claims (10)
1. a kind of Dual-antenna receiver position and attitude precision testing platform it is characterised in that include support meanss, line slideway and
Trailer system, described line slideway is fixed on the upper end of support meanss, and described trailer system traction is arranged on line slideway
Plane slide unit moves, and described support meanss are fixed on guard rail steel pipe；
Described support meanss include lifting support and runing rest, and described lifting support is used for the height of adjusting supporting device, institute
State runing rest for the level inclination of adjusting supporting device；On described lifting support setting guard rail steel pipe, described runing rest
It is arranged on lifting support；
Described line slideway adopts built-in twin shaft core roller line slideway, including opening up U-type groove guide rail, located at U-type groove
Slide block above guide rail and plane slide unit；
Described trailer system includes buncher, drive, tooth belt, limit switch and attachment, described connected dress
Put and buncher and drive are separately fixed on the guard rail steel pipe at line slideway two ends, tooth belt and buncher, biography
Driving wheel is connected, and the side of tooth belt and plane slide unit are fixed together, and limit switch is arranged on the two ends of U-type groove guide rail.
2. Dual-antenna receiver position and attitude precision testing platform according to claim 1 is it is characterised in that described lifting
Support is made up of inner layer steel pipe and outer layer pipe, and described inner layer steel pipe side has elevating screw thread, and outer layer pipe respective side is provided with
Impeller knob, described impeller knob and described elevating screw thread match；The opposite side of described outer layer pipe is provided with two and screws
Butterfly screw.
3. Dual-antenna receiver position and attitude precision testing platform according to claim 2 is it is characterised in that described internal layer
Steel pipe exceeds outer layer pipe, and the adjacent both sides upper end of whorl side has tapped through hole, and described runing rest is to be socketed in internal layer steel
The arcuate structure of pipe upper end, this arcuate structure lower end has through hole, is connected with the through hole of butterfly screw and inner layer steel pipe upper end, institute
State the long lumbar hole being parallel to chord length in the middle of the upper transverse plane of arcuate structure, be used for fixing U-type groove guide rail.
4. Dual-antenna receiver position and attitude precision testing platform according to claim 3 is it is characterised in that in U-lag
Cambered surface sliding-rail groove is arranged with the two side in guide openings end, is embedded with reinforcing bar axle in cambered surface sliding-rail groove, in slide block
Portion is lifted with several concave surface rollers, concave surface roller extend to vertically downward between the opening of U-lag guide rail and with both sides
Linear slide is kept to connect after reinforcing bar axle interworking.
5. Dual-antenna receiver position and attitude precision testing platform according to claim 3 is it is characterised in that described U-shaped
There is a through hole groove guide rail bottom every 10cm, for being fixed on guide rails assembling above support meanss.
6. Dual-antenna receiver position and attitude precision testing platform according to claim 1 is it is characterised in that described plane
Three slide blocks are connected by slide unit, are provided with the antenna installing hole of an installation GNSS antenna, plane above plane slide unit every 20cm
The first screw is left in the side of slide unit, for being connected with tooth belt.
7. Dual-antenna receiver position and attitude precision testing platform according to claim 1 is it is characterised in that described speed governing
Motor is furnished with controller, and controller panel is provided with and off switch, rotating button, speed governing knob and rotating speed display table；Described
Controller can rotate to motor and control and speed monitoring.
8. the test side of Dual-antenna receiver position and attitude precision testing platform described in a kind of any one based on claim 1-7
Method processes two processes it is characterised in that including test platform mounting and adjusting data and obtaining：
(1) the mounting and adjusting process of test platform includes step：
(1-1) with metal anchor ear, support meanss are arranged on roof guard rail steel pipe, install one every L distance, screw metal
Anchor ear, support meanss are firmly installed；
(1-2) level indicator is placed on the top of support meanss, adjusts runing rest, until level indicator inclination angle is shown as 0, screw
Butterfly screw, makes runing rest fasten；
(1-3) utilize the height of vernier caliper measurement support meanss upper end plane separation guard rail steel pipe, make all support meanss upper ends
Plane separation guard rail steel pipe is highly consistent；
(1-4) by multistage U-type groove guide rails assembling in support platform, draw an auxiliary straight line along U-type groove guide rail, finely tune multistage U
Type groove guide rail joining place, makes guide rail align straight line to ensure the linearity of whole section of guide rail, U-type groove guide rail is fastened on support platform
On the long lumbar hole of transverse plane on runing rest；
(1-5) plane slide unit is connected in upper end of slide block, and level indicator is placed across on plane slide unit, and slip plane slide unit is observed
Inclination angle on whole section of guide rail for the level indicator, such as level indicator is not 0 in certain section of guide rail top rade, then adjust the rotation of support meanss nearby
Turn support to make slide unit inclination angle is 0, to correct slide unit level on whole section of guide rail；By on placed longitudinally for the level indicator slide unit in plane,
Inclination angle on whole section of guide rail for the slip plane slide unit eye-level instrument, such as inclination angle on certain section of guide rail for the level indicator is not 0, then adjust
It is 0 that the lifting support of whole support meanss nearby makes level indicator inclination angle, contour on whole section of guide rail to correct slide unit；
(1-6) drive and buncher are arranged on the guard rail steel pipe at line slideway two ends, tooth belt and drive, tune
Speed motor is connected, and the side of tooth belt and slide unit are fixed together；
(1-7) experimental starting buncher, carries out rotating operation, gradually by low speed at a high speed, checking platform stabilization and spacing
Reliability；
(2) data acquisition and processing procedure include step：
(2-1) static immobilization data acquisition：Main antenna is arranged in the antenna installing hole of plane slide unit, static in plane slide unit
M group location data is gathered under state；
(2-2) dynamic alignment data obtains：Main antenna is arranged in the antenna installing hole of plane slide unit, adjusts buncher
Speed, obtains Dual-antenna receiver dynamic alignment data under friction speed, and it is one that every secondary flat slide unit moves to right-hand member from left end
Group experimental data, each speed level acquisition N group data；
(2-3) static attitude data acquisition：Main antenna is fixed in first antenna installing hole of plane slide unit, installs from antenna
In the 2nd antenna installing hole, collection M group static state course angle, inclination angular data under plane slide unit resting state, more successively will be from
Antenna is arranged on the 3rd to last antenna installing hole, every kind of length of base collection M group static state course angle, inclination angular data；
(2-4) dynamic attitude accuracy method of testing：Main antenna is fixed on first antenna installing hole on plane slide unit, from antenna
It is arranged on the 2nd antenna installing hole, adjusts the speed of buncher, obtain the dynamic course of Dual-antenna receiver under friction speed
Angle, inclination angular data, it is one group of experimental data that every secondary flat slide unit moves to right-hand member from left end, each speed level acquisition N group
Data, then the 3rd will be arranged on to last antenna installing hole from antenna successively, obtain different lower pair of length of base friction speeds
The dynamic course angle of aerial receiver, inclination angular data；
(2-5) static immobilization data processing method：The WGS-84 terrestrial navigation coordinate of acquisition is switched to plane by gauss projection
Coordinate system, statistics location data is converted to x-axis direction and y-axis direction positioning extreme difference after plane coordinate system, root-mean-square error, as
Evaluate the evaluation index of Dual-antenna receiver Static positioning accuracy；
(2-6) dynamic alignment data processing method：The positional information of one point is gathered every Lm on guide rail, each point collection is about
P group data makees the location estimation value averagely as this point, and the location estimation value using points multiple on guide rail passes through method of least square
Return straight line, calculate the meansigma methodss away from this air line distance for the location data gathering under current intelligence, position as dynamic
The evaluation index of precision；
(2-7) static attitude data processing method：The course angle obtaining under the different length of base of statistics and inclination angular data extreme difference,
Root-mean-square error, as the evaluation index evaluating Dual-antenna receiver static survey appearance precision；
(2-8) dynamic attitude accuracy evaluation methodology：Ask for the course of this straight line according to the slope of regression straight line in step (2-6),
The course angular data obtaining in statistics dynamic process on the basis of this course and the extreme difference of this benchmark and root-mean-square error, as dynamic
The evaluation index of state course angular accuracy；Because, in line slideway installation process, line slideway level demarcated by use level instrument
Direction is 0 °, on the basis of 0 °, the inclination angular data of acquisition and the extreme difference of this benchmark and root-mean-square error in statistics dynamic process,
Evaluation index as dynamic tilt angular accuracy.
9. according to claim 8 Dual-antenna receiver position and attitude precision testing platform method of testing it is characterised in that
L is 1m.
10. the method for testing of Dual-antenna receiver position and attitude precision testing platform according to claim 8, its feature exists
In M is 1500 groups, and N is 3 groups, and P is 1200 groups.
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