CN106525035B - A kind of localization method based on automatic measurement machine people and inertial navigation system - Google Patents
A kind of localization method based on automatic measurement machine people and inertial navigation system Download PDFInfo
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- CN106525035B CN106525035B CN201611004736.1A CN201611004736A CN106525035B CN 106525035 B CN106525035 B CN 106525035B CN 201611004736 A CN201611004736 A CN 201611004736A CN 106525035 B CN106525035 B CN 106525035B
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- automatic measurement
- machine people
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- inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The present invention provides a kind of localization method based on automatic measurement machine people and inertial navigation system, install inertial navigation system and the prism for automatic measurement machine people locking additional on positioning object, and the automatic measurement machine people and inertial navigation system realize that the information of itself and control processing maincenter is transmitted by way of wireless telecommunications, the automatic measurement machine people accurately obtains the current location of positioning object by the position of measuring prism, the inertial navigation system can obtain the posture and operating status of positioning object in real time, the control processing maincenter obtains the real time position of positioning object by the synchronizing information in conjunction with the automatic measurement machine people and inertial navigation system, posture and operating status, and the next step of the automatic measurement machine people is instructed to act according to above- mentioned information.The localization method combines the accuracy of automatic measurement machine people positioning and the ability to predict of inertial navigation system, can realize prolonged fast accurate positioning in a certain range.
Description
Technical field
The present invention relates to tracing and positioning technical fields, and in particular, to one kind is led based on automatic measurement machine people and inertia
The localization method of boat system is suitable for carrying out high-precision tracing and positioning to positioning object.
Background technique
In order to reach the accuracy of manipulation, more and more positioning devices and location technology are applied to each field and industry
In, such as the positioning of GPS positioning, radio frequency and inertial navigation positioning.In above-mentioned localization method, that GPS positioning needs receive is clear,
Stable satellite-signal, it is higher for external equipment and operating environment requirements, and also the precision of GPS dynamic positioning is not high, and it is more suitable
For carrying out static immobilization in a wide range of (such as country, provinces and cities, district etc)；Radio frequency location technology is similarly limited to signal shadow
It rings, in place of positioning accuracy and accuracy Shortcomings；Inertial navigation positioning can only then play the role of anticipation and cannot achieve length
The tracing and positioning of time.
In order to realize in a certain range to the high-precision tracing and positioning of positioning object, it is necessary to take the speed of positioning into consideration
Degree, precision and accuracy.In the whole-visible area of certain distance, the measurement and positioning precision of existing automatic measurement machine people can be with
Reaching grade, this is the standard that other location technologies are unable to reach, and automatic measurement machine people is accompanied with intelligent control holder,
The function of being automatically aligned to search for target in regional area automatically may be implemented, save positioning search time；Inertial navigation skill
Art then can accurately obtain the posture and movement state information of positioning object by angular speed and acceleration of motion, to positioning object
Next step position prejudged, be conducive to automatic measurement machine people quick positioning search.
Chinese patent CN201510080853 discloses a kind of based on zone location combination inertial navigation and map path
Indoor navigation method, this method are a kind of localization method combined by zone location, inertial navigation and map path, the party
Method needs to correct the error of inertial navigation by the zone location data that have been previously set and map path, although accurate positioning
Degree is very high, but needs a large amount of previous work and hardware condition to realize that auxiliary realizes navigation, and applicability is not wide and works numerous
It is trivial.
Chinese patent 201610187759 discloses a kind of inertial navigation indoor locating system and its application method, the positioning
System mainly includes locating module, receiving module and the module that calibrates for error, although more common inertial navigation technology increases one
A calibration steps, but be substantially just comparable to two inertial navigation systems and mutually calibrate, there are no other accurately location technologies
It is calibrated, positioning accuracy is low, and as time increases, and cumulative errors will gradually amplify, and still can not get rid of inertial navigation
The drawbacks of positioning.
Summary of the invention
The purpose of the present invention is to provide a kind of quick, accurate, practical localization methods, to solve to propose in background technique
The problem of.
To achieve the above object, the positioning based on automatic measurement machine people and inertial navigation system that the present invention provides a kind of
Method installs inertial navigation system and the prism for automatic measurement machine people locking additional on positioning object, and described automatic
Robot measurement and inertial navigation system realize that the information of itself and control processing maincenter is transmitted by way of wireless telecommunications, institute
State the current location that automatic measurement machine people accurately obtains positioning object by the position of measuring prism, the inertial navigation
System can obtain the posture and operating status of positioning object in real time, and the control processing maincenter passes through in conjunction with the automatic measurement machine
The synchronizing information of device people and inertial navigation system positions real time position, posture and the operating status of object to obtain, and according to upper
State the next step movement of automatic measurement machine people described in information guiding.
The localization method includes the following steps:
1) inertial navigation system and prism are mounted on positioning object by, position initialization, and by described automatic
Robot measurement measures the position of prism, to accurately obtain the current location information A of positioning object；
2), posture confirms, when positioning object starts mobile, three shaft angles speed of the inertial navigation system to positioning object
Rate and acceleration information a are acquired, and above- mentioned information are transferred to control processing maincenter；
3), Future Positions are predicted, the control processing maincenter passes through the current location information A for combining positioning object and institute
The information a that inertial navigation system is fed back is stated, the band of position b that positioning object is likely to occur in next step can be calculated；
4) it, repositions, the control processing maincenter delimit band of position b for Optimizing Search region, and send instructions to
Automatic measurement machine people, the automatic measurement machine people are carried out measuring head steering position region b by self power device young
Fine searching, and prism is locked again, to accurately obtain the current location information B of positioning object；
5) it constantly repeats the above steps 2), 3) He 4), to realize the real-time high-precision tracing and positioning to positioning object.
Inertial navigation system described herein can be bought in market, needed for precision can according to positioning need precision
And the locating speed and scanning range of automatic measurement machine people are chosen, so that having for the inertial navigation system is suitable
Precision reduce the probability that deviates of positioning object as far as possible within the sampling interval.
Preferably, the sampling time interval of the automatic measurement machine people must not exceed the sampling of the inertial navigation system
Time interval, the time interval that the control processing maincenter is completed between exact localization operation twice must not exceed the automatic measurement
The sampling time interval of robot.
Preferably, the control processing maincenter can be installed on positioning object, can also be fixedly installed on some fixed point.
Preferably, the automatic measurement machine artificially full-automatic total station and included control and power device.Due to whole station
Instrument is positioned by laser, in orientation range, it is ensured that is had between prism and automatic measurement machine people good penetrating
Property.
Preferably, the automatic measurement machine people and inertial navigation system pass through at WIFI or GPRS realization and the control
The real-time communication of reason maincenter.
Technical solution provided by the invention has the following beneficial effects: that the localization method combines automatic measurement machine people
Discrete high-precision point detent edge and inertial navigation system positioning Path coherence and predictability, provide one
The continuous trajectory track localization method of kind dynamic, this method are not necessarily to any previous work, without any satellite positioning letter of reception
Number, it can come into operation after installation calibrating, can realize prolonged fast accurate positioning in a certain range, and entirely positioning
Operation without stopping positioning object in the process.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings discussed below is only some embodiments of the present invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing, in which:
Fig. 1 is the system structure and information flow direction schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the step flow chart of embodiment illustrated in fig. 1.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 and Fig. 2, a kind of localization method based on automatic measurement machine people and inertial navigation system, in positioning pair
As upper installation inertial navigation system and the prism locked for automatic measurement machine people, and the automatic measurement machine people and used
Property navigation system realized by way of wireless telecommunications itself and control processing maincenter information transmit, the automatic measurement machine
People accurately obtains the current location of positioning object by the position of measuring prism, and the inertial navigation system can obtain in real time
The posture and operating status of object are positioned, the control processing maincenter passes through in conjunction with the automatic measurement machine people and inertial navigation
The synchronizing information of system obtains real time position, posture and the operating status of positioning object, and described in being instructed according to above- mentioned information
The next step of automatic measurement machine people acts.
Between the sampling time that the sampling time interval of the automatic measurement machine people must not exceed the inertial navigation system
Every the time interval that the control processing maincenter is completed between exact localization operation twice must not exceed the automatic measurement machine people
Sampling time interval.
In the present embodiment, the control processing maincenter is fixed point setting.
The automatic measurement machine artificially full-automatic total station and included control and power device.Since total station is by sharp
Light is positioned, in orientation range, it is ensured that has good permeability between prism and automatic measurement machine people.
The automatic measurement machine people and inertial navigation system are realized and the control processing maincenter by WIFI or GPRS
Real-time communication.
Specific step is as follows for the localization method:
1) inertial navigation system and prism are mounted on positioning object by, position initialization, and by described automatic
Robot measurement measures the position of prism, to accurately obtain the current location information A of positioning object；
2), posture confirms, when positioning object starts mobile, three shaft angles speed of the inertial navigation system to positioning object
Rate and acceleration information a are acquired, and above- mentioned information are transferred to control processing maincenter；
3), Future Positions are predicted, the control processing maincenter passes through the current location information A for combining positioning object and institute
The information a that inertial navigation system is fed back is stated, the band of position b that positioning object is likely to occur in next step can be calculated；
4) it, repositions, the control processing maincenter delimit band of position b for Optimizing Search region, and send instructions to
Automatic measurement machine people, the automatic measurement machine people are carried out measuring head steering position region b by self power device young
Fine searching, and prism is locked again, to accurately obtain the current location information B of positioning object；
5) it constantly repeats the above steps 2), 3) He 4), to realize the real-time high-precision tracing and positioning to positioning object.
The above description is only a preferred embodiment of the present invention, is not intended to limit scope of patent protection of the invention, for
For those skilled in the art, the invention may be variously modified and varied.Within the spirit and principles in the present invention, all
Using any improvement or equivalent replacement made by description of the invention and accompanying drawing content, directly or indirectly it is used in other relevant
Technical field should all be included within the scope of the present invention.
Claims (5)
1. a kind of localization method based on automatic measurement machine people and inertial navigation system, which is characterized in that on positioning object
Install inertial navigation system and the prism for automatic measurement machine people locking additional, and the automatic measurement machine people and inertia are led
Boat system realizes that the information of itself and control processing maincenter is transmitted by way of wireless telecommunications, and the automatic measurement machine people is logical
The position of measuring prism is crossed to accurately obtain the current location of positioning object, the inertial navigation system can be positioned in real time
The posture and operating status of object, the control processing maincenter pass through in conjunction with the automatic measurement machine people and inertial navigation system
Synchronizing information obtain real time position, posture and the operating status of positioning object, and it is described automatic according to above- mentioned information guidance
The next step of robot measurement acts；
The localization method includes the following steps:
1) inertial navigation system and prism are mounted on positioning object, and pass through the automatic measurement by, position initialization
Robot measures the position of prism, to accurately obtain the current location information A of positioning object；
2), posture confirms, when positioning object and starting mobile, the inertial navigation system to the tri-axis angular rate of positioning object and
Acceleration information a is acquired, and above- mentioned information are transferred to control processing maincenter；
3), Future Positions are predicted, the control processing maincenter passes through current location information A in conjunction with positioning object and described used
Property the information a that feeds back of navigation system, the band of position b that positioning object is likely to occur in next step can be calculated；
4) it, repositions, the control processing maincenter delimit band of position b for Optimizing Search region, and send instructions to automatically
Robot measurement, the automatic measurement machine people are carefully searched measuring head steering position region b by self power device
Rope, and prism is locked again, to accurately obtain the current location information B of positioning object；
5) it constantly repeats the above steps 2), 3) He 4), to realize the real-time high-precision tracing and positioning to positioning object.
2. localization method according to claim 1, which is characterized in that the sampling time interval of the automatic measurement machine people
It must not exceed the sampling time interval of the inertial navigation system, the control processing maincenter is completed between exact localization operation twice
Time interval must not exceed the sampling time interval of the automatic measurement machine people.
3. localization method according to claim 2, which is characterized in that the control processing maincenter can be installed at positioning pair
As upper, some fixed point can also be fixedly installed on.
4. localization method according to claim 3, which is characterized in that the artificial full-automatic total station of the automatic measurement machine
And carry control and power device.
5. localization method according to claim 4, which is characterized in that the automatic measurement machine people and inertial navigation system
The real-time communication with the control processing maincenter is realized by WIFI or GPRS.
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| CN108107433B (en) * | 2017-12-05 | 2023-03-03 | 北京无线电计量测试研究所 | Method for accurately positioning millimeter wave radar system |
| CN111076720B (en) * | 2019-12-31 | 2020-11-13 | 中国科学院国家天文台 | Cabin pose dynamic measurement method and system based on distance intersection |
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| JP3541960B2 (en) * | 1993-12-24 | 2004-07-14 | 独立行政法人土木研究所 | Automatic 3D position control method for construction machinery |
| CN101608920A (en) * | 2008-06-18 | 2009-12-23 | 中国科学院国家天文台 | A kind of combined type spatial pose precisely and dynamically measuring device and method |
| CN103968828A (en) * | 2014-04-11 | 2014-08-06 | 首都师范大学 | Mobile measurement method in closed environment |
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Patent Citations (3)
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| JP3541960B2 (en) * | 1993-12-24 | 2004-07-14 | 独立行政法人土木研究所 | Automatic 3D position control method for construction machinery |
| CN101608920A (en) * | 2008-06-18 | 2009-12-23 | 中国科学院国家天文台 | A kind of combined type spatial pose precisely and dynamically measuring device and method |
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