CN106646539A - Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle - Google Patents
Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle Download PDFInfo
- Publication number
- CN106646539A CN106646539A CN201611099525.0A CN201611099525A CN106646539A CN 106646539 A CN106646539 A CN 106646539A CN 201611099525 A CN201611099525 A CN 201611099525A CN 106646539 A CN106646539 A CN 106646539A
- Authority
- CN
- China
- Prior art keywords
- gnss receiver
- measured
- inertial navigation
- data
- receiver
- 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.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012937 correction Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 19
- 238000010998 test method Methods 0.000 claims description 7
- 230000009189 diving Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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
- G01S19/01—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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to the technical field of satellite navigation equipment accuracy test, and particularly relates to a method and a system for testing a GNSS (Global Navigation Satellite System) receiver heading angle. On the basis of an inertial navigation system, the inertial navigation system and the GNSS receiver are in communication connection, recording of navigation information is carried out based on the consistent coordinate system, the GNSS receiver is used for carrying out position correction on the inertial navigation system in a preset time period, and deviation values for the navigation information such as the heading angle and the speed value of the GNSS receiver in different time and different environment can be acquired accurately.
Description
Technical field
The present invention relates to satellite navigation accuracy test technical field, more particularly to a kind of GNSS receiver course angle
Method of testing and system.
Background technology
With the development and the progress of science and technology of society, Satellite Navigation Technique obtains development at full speed, and then satellite is led
The precision of boat also more and more higher.GNSS (Global Navigation Satellite System, GPS/
GLONASS) receiver is then very important component parts in satellite navigation system, former according to purposes, work
GNSS receiver can be divided into plurality of classes by reason, receives frequency etc..
Although GNSS receiver can be applied relatively small in aviation, land and the shallower limitations such as under water
Environment in, but because GNSS receiver normal work is required to the support of external information, allow for GNSS receiver measurement and carry
The limitation of the course angle of body causes GNSS receiver to be applied in deeper water and carries out operation than larger, that is,.
Although GPS navigation system based on GNSS receiver can be applicable to less demanding to such environmental effects at some
In industry, but because GNSS receiver can to a certain extent be subject to disturbing for extraneous electromagnetic wave or high-intensity magnetic field, require it is higher
Aviation lead the way in its can only be used as secondary navigation system；Made in different based on the navigator for being currently based on GNSS receiver
With environment and requirement, the different classification that can be divided into GNSS receiver according to purposes, operation principle, receives frequency etc., example
Such as GNSS receiver can be divided into navigational route type receiver according to purposes (to be mainly used in the navigation of motion carrier, can give in real time
Go out position and the speed of carrier.C/A code pseudo range measurements are typically adopted, single-point Real-Time Positioning is relatively low, generally 10 meters or so.
Receiver low price, is widely used), geodetic type receiver (be mainly used in Precise Geodetic Survey and precise engineering survey.It is this kind of
Instrument mainly carries out relative positioning using carrier phase observation data, and positioning precision is high.Apparatus structure is complicated, expensive.) and award
When type receiver (the main split-second precision standard provided using GNSS satellite carries out time service, is usually used in observatory, radio communication
And time synchronized in electric power networks.)
At present, industry is to test whether different classes of GNSS receiver meets corresponding standard, to GNSS receiver
When being tested during the precision of the course angle of test carrier, generally require and look for a use environment to compare mostly and by external interference
Smaller instrument is completing the contrast test of the course angle of receiver.But, according to current course angle and the correlative measurement of speed
Examination, is substantially test data between the GNSS receiver by different board types and contrasts to obtain GNSS receiver in difference
The stability of course angle and velocity amplitude under environment different periods, but the precision of its test is unable to reach current demand.
The content of the invention
For the problems referred to above, this application provides a kind of method of testing of GNSS receiver course angle, it may include：
One GNSS receiver to be measured and a connected inertial navigation unit are provided；
After by the GNSS receiver to be measured and inertial navigation unit connection, it is installed in identical carrier；
One data receiver/processing equipment is connected respectively with the GNSS receiver to be measured and inertial navigation unit communication
Connect；
The carrier carries the GNSS receiver to be measured and the inertial navigation unit and carries out test campaign, the data
Reception/processing equipment receives and processes the navigation number of the GNSS receiver to be measured and the inertial navigation unit synchronism output
According to export the navigation error data of the GNSS receiver.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the carrier is that diving apparatus and/or flight set
Standby and/or unmanned land row equipment.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the data receiver/processing equipment is with number
According to the electronic equipment for receiving/processing/export, (computer and/or panel computer, mobile phone etc. have data processing and output work
Intelligent mobile terminal equipment of energy etc.).
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the test campaign in the same direction non-is at the uniform velocity transported for non-
It is dynamic.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the carrier carries the GNSS to be measured and receives
When machine and the inertial navigation unit carry out test motion, the inertial navigation unit obtains the GNSS receiver output to be measured
Positional information carry out position correction.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the inertial navigation unit is when default
Between section carry out the position correction；
Wherein, the default time period for (0,10] s.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the navigation data includes course angle and speed
Value.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the data receiver/processing equipment is making the difference
Mode is obtaining the navigation error data.
Preferably, the method for testing of above-mentioned GNSS receiver course angle, the data receiver/processing equipment is with broken line graph
Mode the navigation error data is presented.
Present invention also provides a kind of test system of GNSS receiver course angle, it may include：
GNSS receiver to be measured, to obtain positional information and the first navigation data in real time；
Inertial navigation unit, is connected with the receiver to be measured, according to the navigation data of reference point locations information output second；
Carrier, to carry the GNSS receiver to be measured and the inertial navigation unit test campaign is carried out；
Data receiver/processing equipment, is connected respectively with the GNSS receiver to be measured and inertial navigation unit communication；
Wherein, the carrier carries the GNSS receiver to be measured and the inertial navigation unit and carries out the test motion
When, the data receiver/processing equipment is received and processes the GNSS receiver to be measured and the inertial navigation unit is synchronously defeated
First navigation data for going out and second navigation data, to export the navigation error data of the GNSS receiver.
Preferably, the test system of above-mentioned GNSS receiver course angle, the carrier carries the GNSS to be measured and receives
When machine and the inertial navigation unit carry out test motion, the inertial navigation unit obtains the GNSS receiver output to be measured
Positional information carry out position correction.
A kind of method of testing and system of GNSS receiver course angle provided herein, can be based on inertial navigation system
On the basis of, it is connected by the way that the inertial navigation system and GNSS receiver are carried out into communication, and carried out based on consistent coordinate system
The record of navigation information, while carrying out position correction to inertial navigation system using GNSS receiver in the default time period, enters
And it is inclined under different time and varying environment precisely to obtain the navigation informations such as the course angle and velocity amplitude of GNSS receiver
Difference.
Description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.However, appended accompanying drawing be merely to illustrate and
Illustrate, and be not meant to limit the scope of the invention.
Fig. 1 is the structural representation of the test system of GNSS receiver course angle in the embodiment of the present application；
Fig. 2 is the schematic flow sheet of the method for testing of GNSS receiver course angle in the embodiment of the present application.
Specific embodiment
The present invention will be combined accompanying drawing by way of embodiment and be illustrated.In the accompanying drawings, identical or correlation in each figure
Structure or function element can be represented with similar label.The size and feature of element is only as the convenient mesh for illustrating in accompanying drawing
's.They have not been defined to the scope of the present invention, and do not necessarily mean that actual size and proportionate relationship.
Inertial navigation is a kind of navigational parameter resolving system with gyro and accelerometer as Sensitive Apparatus, i.e., the system can
Navigational coordinate system is set up according to the output of gyro, and speed of the carrier in navigational coordinate system is calculated according to accelerometer output
Degree and position.Inertial navigation system calculates navigation system for a kind of, i.e., from the position of a known point according to the motion for continuously measuring
Body course angle and speed calculation go out the position of its subsequent point, thus can continuously measure the current location of movable body.Inertial navigation system
Gyroscope in system is used for forming a navigational coordinate system, makes the measurement axle of accelerometer stably in the coordinate system, and is given
Course and attitude angle；Accelerometer is used for measuring the acceleration of movable body, and through the once integration to the time speed, speed are obtained
Again displacement is obtained through the once integration to the time.
Due to inertial navigation system be it is a kind of do not rely on any external information and meanwhile also not to outside emittance from
Main formula system, so that it has preferable good concealment, and also will not be affected by outside electromagnetic interference；So inertial navigation
Equipment can be worked in temporally in aerial, earth surface or even the operating environment such as under water round-the-clock, entirely, so export have it is preferable
The navigation information including position, speed, course and attitude angle data etc. of continuity and low noise；While inertial navigation
Data updating rate is also higher, and short-term accuracy and stability are also more excellent compared to conventional satellite navigator.But, due to used
The navigation information of property navigator is produced through integration, so its position error can be caused to increase with the passing of time,
And then cause the precision of long-term navigation information poor, and needed longer initial alignment before every time using inertial navigation set
Time, while the price of its equipment is very expensive, and correct time information can not be provided.
For above-mentioned problems, the application it is creative propose a kind of test system of GNSS receiver course angle,
May include that the GNSS receiver to be measured 2 to obtain positional information and the first navigation data in real time and above-mentioned receiver to be measured connect
Connect and can receive according to the inertial navigation unit 3 of the navigation data of reference point locations information output second, to carry GNSS to be measured
Machine and inertial navigation unit carry out testing the carrier 1 of motion and communicating with GNSS receiver to be measured and inertial navigation unit respectively connecting
Data receiver/processing equipment 4 for connecing etc., and can carry GNSS receiver to be measured 2 and inertial navigation unit 3 in above-mentioned carrier 1
When carrying out test motion, inertial navigation unit 3 can in real time or interval preset time period obtains the position that GNSS receiver 2 to be measured is exported
Confidence breath carries out position correction, and data receiver/processing equipment 4 then can be received respectively and processed GNSS receiver to be measured 2 and be used to
Property the synchronism output of guider 3 the first navigation data and the second navigation data, with export GNSS receiver to be measured 2 navigation miss
Difference data.
In addition, it is shown in Figure 2, above-mentioned system can be based on, present invention also provides a kind of GNSS receiver course angle
Method of testing, including：
Step S1 a, it is possible to provide GNSS receiver to be measured and a connected inertial navigation unit.
Step S2, by GNSS to be measured and inertial navigation unit connection after, be installed on identical carrier (such as diving apparatus and/or
Flight equipment and/or unmanned land row equipment etc.) on.
Step S3, by the one data receiver/processing equipment electronic equipment of data receiver/process/output (have) respectively with
GNSS receiver to be measured and inertial navigation unit communication connection.
Step S4, carrier carries GNSS receiver to be measured and inertial navigation unit carries out test campaign (as non-non- even in the same direction
Speed motion), inertial navigation unit can in real time or interval preset time period (as (and 0,10] s) obtain what GNSS receiver to be measured was exported
Positional information carries out position correction, and data receiver/processing equipment receives and process the GNSS receiver to be measured and the inertia
Navigation data (first navigation data and inertial navigation unit output including GNSS receiver output of guider synchronism output
The second navigation data, and navigation data pointed in first navigation data, the second navigation data and the present embodiment
Including data such as course angle and velocity amplitudes), and the side will make the difference between above-mentioned the first navigation data and the second navigation data
Formula calculates and exports the navigation error data (can be a broken line graph) of GNSS receiver.
Test system and method in the application, the equipment that can be directed to such as navigation orientation positioning (is provided with GNSS receptions
Machine) by using precision measure is carried out, especially for the product with high-precision location information and course angle information, by profit
The navigation data exported with inertia system accurately obtains the accuracy that GNSS receiver exports navigation data as benchmark,
It is attached by serial ports also between inertia system and GNSS receiver simultaneously, is received with real-time or interval preset time period
And the positional information sent according to GNSS receiver to inertia system carrying out position correction, to overcome the inertial navigation system can only
The high-precision course angle of short-term stability and the technical problem of velocity information are provided, so as to the test system tool after improving can be caused
Have it is steady in a long-term more preferably and the higher real-time course angle of precision and velocity information.
In addition, during inertial navigation system and the course angle and velocity information of receiver output are to being compared to difference, and
Need not pay close attention to whether inertial navigation system can provide temporal information, it is only necessary to ensure the GPHDT numbers that GNSS receiver is exported
According to frequency it is synchronous with the holding of the output frequency of inertial navigation system.Meanwhile, in order to further lift the precision of test,
Before contrast test is proceeded by, the coordinate that with the coordinate system of GNSS receiver be consistent of inertial navigation system can be set up
System, in order to the contrast operation carried out between two course angles of pinpoint accuracy.
In actual test process, can be before carrier carry out test campaign, can first by inertial navigation system and to be measured
The related accessory of GNSS receiver and configuration (can carry out adaptive operation, in order to illustrate simplicity using existing technology herein
It is not tired again to state)；Then, inertial navigation system and GNSS receiver to be measured can be installed on carrier, and after assembling is finished,
Consistent coordinate system and coordinate system are set up, and starting point can be confirmed (as inertia system by GNSS receiver to be measured
Datum mark) geographic coordinate information；Afterwards, when carrier starts to be travelled with friction speed different directions, can be by using computer
Record and preserve the information such as the course angle and velocity information of inertial navigation system and GNSS receiver synchronism output to be measured, and
During carrier movement, inertial navigation system can often excessively the regular hour obtains positional information to carry out from GNSS receiver to be measured
Position correction；Finally, after being completed, the data that computer is preserved the mode such as can make the difference and be done by Microsoft Excel
Difference is calculated, and difference is made into the forms such as broken line graph is presented, in order to convenient and swift and accurately learn to be measured
Deviation of the navigation informations such as course angle, the velocity amplitude of GNSS receiver under different time varying environment.
It should be noted that the GNSS in embodiments herein, based on inertial navigation system (i.e. inertial navigation unit)
The method of testing and system of receiver course angle, can be directed to course angle and velocity amplitude of the GNSS receiver of navigation type etc. carries out essence
True measurement, and inertial navigation system can be caused during test to be consistent with the coordinate system of GNSS receiver to be measured,
In order to the analyzing and processing of follow-up data, while the carrier for carrying GNSS receiver to be measured and inertial navigation system in carrier is carried out
During test motion, inertial navigation system can pass through the position letter in real time or acquired in the scheduled time from GNSS receiver to be measured of interval
Cease to carry out location update operations to inertial navigation system, to lift the accuracy of inertial navigation system long-time navigation information.
Due to carrying out accuracy detection to GNSS receiver by using inertial navigation system in the embodiment of the present application, while
Positional information can be in real time transferred to inertial navigation system again by realizing high-precision position correction in real time for GNSS receiver
To lift the accuracy of inertial navigation system long-time navigation information, can not only so cause testing precision higher, moreover it is possible to
Effectively solve that short-term stability can only be done the problems such as testing, so as to lift course angle, the precision of velocity test；In addition, respectively
The accuracy test of course angle and speed is carried out in varying environment different periods, may also be advantageous for realizing the optimal of GNSS receiver
Use environment and period, more accurate data message can be provided when client uses.
Technical scheme is described above in association with specific embodiment, but it should be appreciated by those skilled in the art,
The above is merely illustrative of, and protection scope of the present invention is limited by appended claims.Those skilled in the art exist
Without prejudice to know-why and flesh and blood of the invention on the premise of, numerous variations or change can be carried out to embodiment, these
Change and change all should fall into protection scope of the present invention.
Claims (10)
1. a kind of method of testing of GNSS receiver course angle, it is characterised in that include：
One GNSS receiver to be measured and a connected inertial navigation unit are provided；
After by the GNSS to be measured and inertial navigation unit connection, it is installed in identical carrier；
One data receiver/processing equipment is connected respectively with the GNSS receiver to be measured and inertial navigation unit communication；
The carrier carries the GNSS receiver to be measured and the inertial navigation unit and carries out test campaign, and the data connect
Receipts/processing equipment receives and processes the navigation data of the GNSS receiver to be measured and the inertial navigation unit synchronism output,
To export the navigation error data of the GNSS receiver.
2. the method for testing of GNSS receiver course angle as claimed in claim 1, it is characterised in that the carrier sets for diving
Standby and/or flight equipment and/or unmanned land row equipment.
3. the method for testing of GNSS receiver course angle as claimed in claim 1, it is characterised in that the test campaign is non-
Non-uniform movement in the same direction.
4. the method for testing of GNSS receiver course angle as claimed in claim 1, it is characterised in that the carrier carries described
When GNSS receiver to be measured and the inertial navigation unit carry out test motion, the inertial navigation unit obtains described to be measured
The positional information of GNSS receiver output carries out position correction.
5. the method for testing of GNSS receiver course angle as claimed in claim 4, it is characterised in that the inertial navigation unit
The position correction is carried out every the default time period；
Wherein, the default time period for (0,10] s.
6. the method for testing of GNSS receiver course angle as claimed in claim 1, it is characterised in that the navigation data includes
Course angle and velocity amplitude.
7. the method for testing of GNSS receiver course angle as claimed in claim 1, it is characterised in that the data receiver/place
Reason equipment obtains the navigation error data in the way of making the difference.
8. the method for testing of the GNSS receiver course angle as described in any one in claim 1～7, it is characterised in that institute
State data receiver/processing equipment and the navigation error data is presented in the way of broken line graph.
9. a kind of test system of GNSS receiver course angle, it is characterised in that include：
GNSS receiver to be measured, to obtain positional information and the first navigation data in real time；
Inertial navigation unit, is connected with the receiver to be measured, according to the navigation data of reference point locations information output second；
Carrier, to carry the GNSS receiver to be measured and the inertial navigation unit test campaign is carried out；
Data receiver/processing equipment, is connected respectively with the GNSS receiver to be measured and inertial navigation unit communication；
Wherein, when the carrier carrying GNSS receiver to be measured and the inertial navigation unit carry out the test motion,
Data receiver/the processing equipment receives and processes the GNSS receiver to be measured and the inertial navigation unit synchronism output
First navigation data and second navigation data, to export the navigation error data of the GNSS receiver.
10. the test system of GNSS receiver course angle as claimed in claim 9, it is characterised in that the carrier carries institute
Stating GNSS receiver to be measured and the inertial navigation unit carries out testing when moving, and the inertial navigation unit obtains described to be measured
The positional information of GNSS receiver output carries out position correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611099525.0A CN106646539A (en) | 2016-12-02 | 2016-12-02 | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611099525.0A CN106646539A (en) | 2016-12-02 | 2016-12-02 | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106646539A true CN106646539A (en) | 2017-05-10 |
Family
ID=58819484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611099525.0A Pending CN106646539A (en) | 2016-12-02 | 2016-12-02 | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106646539A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107167822A (en) * | 2017-07-13 | 2017-09-15 | 北京理工大学 | A kind of method for simulating four-axle aircraft satellite navigation positioning |
| CN108363078A (en) * | 2018-01-17 | 2018-08-03 | 全明 | Dynamic positioning error test device, system and method for navigation positioning system |
| CN109083123A (en) * | 2018-08-16 | 2018-12-25 | 山东四维卓识信息技术有限公司 | A kind of roller compaction construction method based on unmanned control system |
| CN110146106A (en) * | 2018-11-29 | 2019-08-20 | 腾讯科技（深圳）有限公司 | Inertial navigation set scaling method, device, electronic equipment and storage medium |
| CN110514223A (en) * | 2019-08-22 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of vehicle-mounted inertial guidance data acquisition system |
| CN111216708A (en) * | 2020-01-13 | 2020-06-02 | 上海华测导航技术股份有限公司 | Vehicle navigation guidance system and vehicle |
| US20200191978A1 (en) * | 2018-12-18 | 2020-06-18 | Continental Teves Ag & Co. Ohg | Method and device for determining navigation information |
| CN113063421A (en) * | 2021-03-19 | 2021-07-02 | 深圳市商汤科技有限公司 | Navigation method and related device, mobile terminal and computer readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008040658A1 (en) * | 2006-10-06 | 2008-04-10 | Thales | Method and device for mojnitoringthe integrity of information provided by a hybrid ins/gnss system |
| US20110068975A1 (en) * | 2009-09-21 | 2011-03-24 | Zietz John M | Gnss ultra-short baseline heading determination system and method |
| CN102508277A (en) * | 2011-10-27 | 2012-06-20 | 中国矿业大学 | Precise point positioning and inertia measurement tightly-coupled navigation system and data processing method thereof |
| CN103293535A (en) * | 2013-05-24 | 2013-09-11 | 北京东方计量测试研究所 | Real-time testing system of satellite navigation receiver |
| CN103675844A (en) * | 2013-11-18 | 2014-03-26 | 航天恒星科技有限公司 | Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation |
| CN206281978U (en) * | 2016-12-02 | 2017-06-27 | 上海华测导航技术股份有限公司 | A kind of test system of GNSS receiver course angle |
-
2016
- 2016-12-02 CN CN201611099525.0A patent/CN106646539A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008040658A1 (en) * | 2006-10-06 | 2008-04-10 | Thales | Method and device for mojnitoringthe integrity of information provided by a hybrid ins/gnss system |
| US20110068975A1 (en) * | 2009-09-21 | 2011-03-24 | Zietz John M | Gnss ultra-short baseline heading determination system and method |
| CN102508277A (en) * | 2011-10-27 | 2012-06-20 | 中国矿业大学 | Precise point positioning and inertia measurement tightly-coupled navigation system and data processing method thereof |
| CN103293535A (en) * | 2013-05-24 | 2013-09-11 | 北京东方计量测试研究所 | Real-time testing system of satellite navigation receiver |
| CN103675844A (en) * | 2013-11-18 | 2014-03-26 | 航天恒星科技有限公司 | Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation |
| CN206281978U (en) * | 2016-12-02 | 2017-06-27 | 上海华测导航技术股份有限公司 | A kind of test system of GNSS receiver course angle |
Non-Patent Citations (1)
| Title |
|---|
| 王田;张书锋;张明志;彭明;陈强;张于;: "RNSS/INS深耦合高动态导航接收机测试方法研究" * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107167822B (en) * | 2017-07-13 | 2019-12-10 | 北京理工大学 | method for simulating satellite navigation positioning of four-axis aircraft |
| CN107167822A (en) * | 2017-07-13 | 2017-09-15 | 北京理工大学 | A kind of method for simulating four-axle aircraft satellite navigation positioning |
| CN108363078B (en) * | 2018-01-17 | 2024-04-05 | 国图测绘科技(浙江)有限公司 | Dynamic positioning error testing device, system and method for navigation positioning system |
| CN108363078A (en) * | 2018-01-17 | 2018-08-03 | 全明 | Dynamic positioning error test device, system and method for navigation positioning system |
| CN109083123A (en) * | 2018-08-16 | 2018-12-25 | 山东四维卓识信息技术有限公司 | A kind of roller compaction construction method based on unmanned control system |
| CN110146106A (en) * | 2018-11-29 | 2019-08-20 | 腾讯科技（深圳）有限公司 | Inertial navigation set scaling method, device, electronic equipment and storage medium |
| US20200191978A1 (en) * | 2018-12-18 | 2020-06-18 | Continental Teves Ag & Co. Ohg | Method and device for determining navigation information |
| US10928522B2 (en) * | 2018-12-18 | 2021-02-23 | Continental Teves Ag & Co. Ohg | Method and device for determining navigation information |
| CN110514223A (en) * | 2019-08-22 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of vehicle-mounted inertial guidance data acquisition system |
| CN111216708A (en) * | 2020-01-13 | 2020-06-02 | 上海华测导航技术股份有限公司 | Vehicle navigation guidance system and vehicle |
| CN111216708B (en) * | 2020-01-13 | 2022-02-11 | 上海华测导航技术股份有限公司 | Vehicle navigation guidance system and vehicle |
| US11572078B2 (en) | 2020-01-13 | 2023-02-07 | Shanghai Huace Navigation Technology Ltd | Vehicle navigation guidance system and vehicle |
| CN113063421A (en) * | 2021-03-19 | 2021-07-02 | 深圳市商汤科技有限公司 | Navigation method and related device, mobile terminal and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106646539A (en) | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| CN104121905B (en) | Course angle obtaining method based on inertial sensor | |
| CN105607093B (en) | A kind of integrated navigation system and the method for obtaining navigation coordinate | |
| CN106643792B (en) | Inertial Measurement Unit and geomagnetic sensor integral calibrating device and scaling method | |
| US11035915B2 (en) | Method and system for magnetic fingerprinting | |
| CN108036784A (en) | A kind of indoor orientation method, navigation methods and systems | |
| CN107525524B (en) | Inertial navigation system time delay determination method based on three-axis synchronous turntable | |
| WO2014134710A1 (en) | Method and apparatus for fast magnetometer calibration | |
| CN104180804A (en) | Single reference node underwater vehicle integrated navigation method based on underwater information network | |
| CN102901977A (en) | Method for determining initial attitude angle of aircraft | |
| CN112689235A (en) | Positioning method and device based on Bluetooth signals | |
| CN110779496B (en) | Three-dimensional map construction system, method, device and storage medium | |
| CN206281978U (en) | A kind of test system of GNSS receiver course angle | |
| Long et al. | Single UWB anchor aided PDR heading and step length correcting indoor localization system | |
| CN110763238A (en) | High-precision indoor three-dimensional positioning method based on UWB (ultra wide band), optical flow and inertial navigation | |
| US20160109556A1 (en) | Mitigating effects of multipath during position computation | |
| CN115979256A (en) | Multi-source collaborative pose determination method, device and system based on artificial beacon | |
| CN113884096A (en) | Indoor navigation system and method | |
| CN101696880A (en) | Dynamic real-time precise level measurement method of moving carrier | |
| CN101655554B (en) | System for tracking object movement locus | |
| Mousa et al. | Unmanned Aerial Vehicle Positioning using 5G New Radio Technology in Urban Environment | |
| CN101650432A (en) | System for tracking three-dimensional movement locus of object on a basis of network computing | |
| CN104166149A (en) | Indoor signal acquisition method and device based on MEMS sensor | |
| JPWO2005017552A1 (en) | Information processing apparatus and GPS positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |
|
| RJ01 | Rejection of invention patent application after publication |