CN106840088A - A kind of onboard combined navigation roadbed subsidence method for fast measuring - Google Patents
A kind of onboard combined navigation roadbed subsidence method for fast measuring Download PDFInfo
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- CN106840088A CN106840088A CN201710108055.8A CN201710108055A CN106840088A CN 106840088 A CN106840088 A CN 106840088A CN 201710108055 A CN201710108055 A CN 201710108055A CN 106840088 A CN106840088 A CN 106840088A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The present invention provides a kind of onboard combined navigation roadbed subsidence method for fast measuring, and using automobile as carrier platform, it is comprised the following steps：Using gps system aided inertial navigation system moving alignment；Gps system is stopped, and starts automobile and was opened from road surface to be measured；During start, the real-time three-dimensional coordinate of automobile is obtained using inertial navigation system；The real-time absolute altitude of automobile is measured using barometertic altimeter, the vertical coordinate in the real-time three-dimensional coordinate of automobile is modified；The real-time speed of automobile and mileage information are obtained from vehicle-mounted OBD system, the pitch error angle with reference to inertial navigation system on automobile is modified to the systematic survey angle of pitch.The present invention improves measuring speed, relative to shorten time of measuring, can reduce influence of the inertial navigation system error with time integral.
Description
Technical field
The invention belongs to inertia combined navigation field, and in particular to a kind of quick side of measurement of onboard combined navigation roadbed subsidence
Method.
Background technology
With the fast development of national economy and science and technology, across river bridge spanning the sea, city cloverleaf Junction, city rail
The infrastructure construction that traffic (subway, subway), highway, high-speed railway etc. concern the people's livelihood is maked rapid progress.The thing followed
It is infrastructure to be detected and conserved the various accidents for occurring not in time, causes the huge of national and people's lives and properties
Loss.How infrastructure " health " detection is effectively carried out, it is ensured that these concern the infrastructure of national economy in " health "
In the range of the problem of operation turned into the emphasis of current research.
In order to it is timely, accurately grasp infrastructure " health " situation, prevention disaster accident generation.In recent years, it is domestic
The general principle of outer basis " civil engineering structure deformation can the change of inverting structurally internal stress ", using measuring instrument to being detected
The point position laid on object is observed, and obtains deformation values, and stress, strain, deformation to structure are come according to deformation Value Data
And health status makes rational assessment.Conventional ground measurement is main using theodolite, rangefinder, spirit level, total powerstation etc., surveys
The main feature of amount applies to different distortion measurement required precisions, different monitoring of environmental and deformable body；Equipment is simple, essence
Spend reliability, can be detected with multiple spot；Absolute deformation data can be provided.It is mainly accurate but these methods there is also some shortcomings
The standby working time is long, and field process amount is big, layouts and is limited by orographic condition, it is impossible to provide continuity point position information.
With the progress and the continuous improvement to distortion measurement requirement of science and technology, distortion measurement technology is also continuous
Development.The swift and violent hair of the appearance of more advanced data acquisition equipment, computer, radio, space technology and geoscience etc.
Exhibition, has promoted the continuous renewal of distortion measurement technology.The distortion measurement data acquisition new technology for continuing to bring out and they itself
To continue to develop and improve be the enormous motivation that promotes distortion measurement technological progress, such as close-range photogrammetry, GPS, three-dimensional laser
The characteristics of above-mentioned measuring methods such as scanner is certainty of measurement higher, sustainable monitoring, but high cost, field process amount mostly
Greatly, it is generally discrete point measurement in measurement process, final data is processed needs curve matching, it is impossible to provide structure comprehensive deformation
Information, judged result of the influence to structure " health " situation.
Current Some Domestic is proposed with principle of inertia survey engineering deformation techniques, mainly using one-dimensional, bidimensional gyro
Instrument Measurement of Dam, science of bridge building structural deformation, three-dimensional gyroscope inertial navigation technique apply to the fields such as space flight, military affairs mostly, civilian
Technology development is less, partly appears in petroleum pipeline structure measurement and rail measurement etc..Sent out in patent of invention CN103644888A
Understand a kind of inertial reference measurement method for detecting bridge deformation, the method is based on inertial navigation basic theories, with GPS
Measurement beginning and end positional information builds coordinates computed system, planning survey track, is used in selection portion on default measurement track
Point reference point position carries out error correction and improves certainty of measurement.The method is measured with lorry as carrier with carrying out mode,
Measuring speed is slow, easily causes ins error accumulation in time, influences certainty of measurement；The method is initially right using quiet pedestal
Standard, the completion alignment time is more long, and is easily caused Initial Alignment Error by external interference；Because no guide rail causes instrument to exist
Easily deviate desired guiding trajectory in dynamic measurement process, though increase reference point in way being modified, the standard of measurement cannot be ensured all the time
True property.Need to increase reference point in way, reference point is measured to error correction with high precision instrument, though survey can be improved
Accuracy of measurement, but operation is relatively complicated, and field process amount is larger, and needing multi-person synergy to coordinate could complete to measure work, in engineering fortune
There is larger limitation with aspect.
The content of the invention
The technical problem to be solved in the present invention is：A kind of onboard combined navigation roadbed subsidence method for fast measuring is provided, is carried
Measuring speed high, it is relative to shorten time of measuring, influence of the inertial navigation system error with time integral can be reduced.
The present invention is for the solution technical scheme taken of above-mentioned technical problem：A kind of onboard combined navigation roadbed subsidence is fast
Fast measuring method, it is characterised in that：Using automobile as carrier platform, it is comprised the following steps：
S1, initialization：Using gps system aided inertial navigation system moving alignment；
S2, measurement：
Gps system is stopped, and starts automobile and was opened from road surface to be measured；
During start, the real-time three-dimensional coordinate of automobile is obtained using inertial navigation system；Measured using pressure altitude
The amount real-time absolute altitude of automobile, is modified to the vertical coordinate in the real-time three-dimensional coordinate of automobile；Obtained from vehicle-mounted OBD system
The real-time speed of automobile and mileage information are obtained, the pitch error angle with reference to inertial navigation system on automobile is bowed to systematic survey
The elevation angle is modified.
As stated above, described S1 is specially：
Known start position, start position is with reference point known to 2 coordinates of planning in advance together as zero-velocity curve point；
Under start position inactive state, after after inertial navigation system preheating, system was carried out for the first time automobile by N1 seconds
Zero-velocity curve, while differential GPS measure systematic survey initial point position information；
Start automobile, being travelled to the parking of the first reference point from starting point with certain speed carries out second zero-velocity curve in N2 seconds,
Gps system measures the first reference point information simultaneously；
Automobile continues to be travelled to the parking of the second reference point with speed as before carries out third time zero-velocity curve in N3 seconds,
Gps system measures the second reference point information simultaneously.
As stated above, the upper carrier coordinate system that constitutes is b systems before selection car body is right, and the origin of coordinates of b systems is in car body
Center of gravity, be y-axis positive direction with the tailstock to headstock direction, x-axis is positive for vehicle body right side is vertical with y, z and x-axis, the y-axis composition right side
Hand rectangular coordinate system；If mileage coordinate system is designated as m systems, and b systems and m systems coordinate overlapping of axles of the same name, inertial navigation coordinate system selects
Northeast day geographic coordinate system i.e. n systems are selected, the coordinate conversion matrix for being tied to n systems by b systems, m is
If the real-time three-dimensional coordinate of automobile that inertial navigation system is obtained is the coordinate under carrier coordinate system, by coordinate square
The coordinate of gained is the coordinate under navigational coordinate system after battle array conversion；Odometer exports the mileage increment under m systems, by OBD interfaces
It is read out, by obtaining the mileage increment size under navigational coordinate system after coordinates matrix conversion；Because b systems overlap with m systems, therefore
The coordinate conversion matrix for being used is identical；
Described S2 is specially It is tiDisplacement increment of the moment automobile under navigational coordinate system,It is tiMoment carrier coordinate system to navigational coordinate system posture changing matrix,It is tiMoment, automobile was in carrier coordinate system
Under displacement increment；
WhereinWithRepresent respectivelyAll directions displacement increment under the geographic coordinate system of northeast day,
Xi-1、Yi-1、Zi-1It is automobile in ti-1Coordinate under moment northeast day geographic coordinate system, Xi、Yi、ZiIt is automobile in tiMoment northeast
Coordinate under its geographic coordinate system.
As stated above, described certain speed is 30-50km/h.
Measuring system for realizing described onboard combined navigation roadbed subsidence method for fast measuring, it is characterised in that：
It includes display panel control, gps system, barometertic altimeter, inertial navigation system and data Sampling Interface, described gps system, gas
Pressure altimeter, inertial navigation system are connected by data sampling interface with described display panel control respectively, described data sampling
Interface also includes the OBD interfaces for being connected with vehicle-mounted OBD system.
Beneficial effects of the present invention are：Inertial navigation system initialization speed is fast, in the case of vehicle body has certain rocking not
Influence alignment precision so that measuring system has stronger antijamming capability；Information needed is read from vehicle-mounted OBD system and is used to
Property navigation system carry out data fusion and reach navigation purpose, other auxiliary equipments are not added in addition, it is cost-effective；Led for inertia
The boat system measurement of higher degree easily dissipates feature, and it is suppressed with barometertic altimeter damping effect, improves the system measurement of higher degree
Precision, reaches pavement engineering measurement request；Therefore the present invention improves measuring speed, relative to shorten time of measuring, can drop
Low inertial navigation system error with time integral influence.
Brief description of the drawings
Fig. 1 is the schematic diagram of one embodiment of the invention.
Fig. 2 is measurement effect figure in one embodiment of the invention practical application.
Fig. 3 be one embodiment of the invention practical application in measure elevation map.
Fig. 4 is measurement elevation variation diagram in one embodiment practical application of invention.
In figure：1 three axis optical fibre gyro instrument；2 three accelerometers；3 differential type GPS measuring systems；4 vehicle-mounted OBD systems；5
Barometertic altimeter；6th, 7 and 8 part filter processor；9 main filter processors；10 displays；11 and 12 Navigation system errors are compensated
Module；13 and 14 error compensations and revision module；15 quaternary numbers resolve module；16 specific force coordinate transferrings；17OBD data are read
Modulus block；18 strap-down inertial navigation systems.
Specific embodiment
With reference to instantiation and accompanying drawing, the invention will be further described.
The present invention provides a kind of onboard combined navigation roadbed subsidence method for fast measuring, using automobile as carrier platform, it
Comprise the following steps：
S1, initialization：Using gps system aided inertial navigation system moving alignment.
Known start position, reference point known to 2 coordinates of planning is used as zero-velocity curve point in advance；Start automobile, wait to be used to
Property navigation system preheating after, with certain speed from starting point travel to the first reference point parking carry out within N1 seconds zero-velocity curve, while GPS
Systematic survey the first reference point information；Automobile continues to be travelled to the parking of the second reference point with speed as before to be carried out for N2 seconds
Second zero-velocity curve, while gps system measures the second reference point information.
In the present embodiment, in start position, after inertial navigation system carries out of short duration preheating, the zero-speed that system carries out 30 seconds is repaiied
Just, while gps system measurement start position information, then (preferably 30km/h, speed here can not with 30-50km/h for automobile
Too slow or too fast, be too slow or too fast likely to cause error and measure inaccurate) speed, travel about 2 minutes reach first join
Examination point parking carries out zero-velocity curve in 10 seconds, while gps system measures the first reference point information；Automobile continues (excellent with 30-50km/h
Select 30km/h) speed travel to the second reference point parking carry out second zero-velocity curve within 10 seconds, while gps system measurement second
Reference point information.To display panel control, inertial navigation system completes initialization alignment to all data summarizations, and system enters navigational state.
S2, measurement：
Gps system is stopped, and starts automobile and was opened from road surface to be measured；In the present embodiment, the travel speed of automobile is
50km/h。
During start, the real-time three-dimensional coordinate of automobile is obtained using inertial navigation system；Measured using pressure altitude
The amount real-time absolute altitude of automobile, is modified to the vertical coordinate in the real-time three-dimensional coordinate of automobile；Obtained from vehicle-mounted OBD system
The real-time speed of automobile and mileage information are obtained, the pitch error angle with reference to inertial navigation system on automobile is bowed to systematic survey
The elevation angle is modified.
The upper carrier coordinate system that constitutes is b systems before selection car body is right, the origin of coordinates of b systems car body center of gravity, with car
Tail is y-axis positive direction to headstock direction, and x-axis is positive for vehicle body right side is vertical with y, z and x-axis, y-axis composition right hand rectangular co-ordinate
System；If mileage coordinate system is designated as m systems, and b systems and m systems coordinate overlapping of axles of the same name, inertial navigation coordinate system selects the northeast world
Reason coordinate system is n systems, and the coordinate conversion matrix for being tied to n systems by b systems, m is
If the real-time three-dimensional coordinate of automobile that inertial navigation system is obtained is the coordinate under carrier coordinate system, by coordinate square
The coordinate of gained is the coordinate under navigational coordinate system after battle array conversion；Odometer exports the mileage increment under m systems, by OBD interfaces
It is read out, by obtaining the mileage increment size under navigational coordinate system after coordinates matrix conversion；Because b systems overlap with m systems, therefore
The coordinate conversion matrix for being used is identical；
Described S2 is specially It is tiDisplacement increment of the moment automobile under navigational coordinate system,It is tiMoment carrier coordinate system to navigational coordinate system posture changing matrix,It is tiMoment, automobile was in carrier coordinate system
Under displacement increment；
WhereinWithRepresent respectivelyAll directions displacement increment under the geographic coordinate system of northeast day,
Xi-1、Yi-1、Zi-1It is automobile in ti-1Coordinate under moment northeast day geographic coordinate system, Xi、Yi、ZiIt is automobile in tiMoment northeast
Coordinate under its geographic coordinate system.
Because altitude channel output vertical error value is approximately
δΔhD=Δ Sj·δαθ (1)
δΔhDIt is elevation carrection deviation,To carry the mileage number of car traveling, δ αθSINS is being carried
Pitching fix error angle on car,It is the elevation carrection deviation amount of changing with time, vDIt is to carry car travel speed.By formula
Understand that the rate of change of inertial reference calculation height error is relevant with the travel speed for carrying car, the speed height error change for then carrying car more high
It is faster.Assuming that δ αθIt is single order markoff process, correlation time is τθ, noise is wθ, obtain：
If the measurement of barometertic altimeter is output as hH, inertial navigation system measurement height value is hD, system noise vHIt is Gauss
White noise, then have observational equation：
hD-hH=δ hD+vH (4)
One group of Kalman filter equation is constituted by formula (2), (4), pitch error angle δ α can be in real time obtainedθAnd height error
δhD, systematic survey angle of pitch and height value are modified with it, improve measurement surface subsidence precision.
Measuring system for realizing described onboard combined navigation roadbed subsidence method for fast measuring, as shown in figure 1, it
Including display panel control, (display panel control is by part filter processor 6,7 and 8；Main filter processor 9；Display 10；Error compensation with
Revision module 13 and 14；The modules such as OBD data read modules 17 constitute), gps system, barometertic altimeter 5, inertial navigation system
With data Sampling Interface, described gps system, barometertic altimeter 5, inertial navigation system is respectively by data sampling interface and institute
The display panel control connection stated, described data sampling interface also includes the OBD interfaces for being connected with vehicle-mounted OBD system 4.This reality
Apply in example using differential type GPS measuring systems 3 and Methods of Strapdown Inertial Navigation System 18.Methods of Strapdown Inertial Navigation System 18 includes three axles for carrying
1, three accelerometers 2 of fibre optic gyroscope, Navigation system error compensating module 11 and 12, quaternary number resolve module 15 and specific force is sat
Mark modular converter 16.
The present invention carries Methods of Strapdown Inertial Navigation System and other equipment, automobile highest traveling speed using automobile as continental rise platform
Degree, for road to be measured more long, can very well solve the contradiction of measuring speed and certainty of measurement in 50KM/h；In strapdown
Inertial navigation system initial phase, directly applies to the car body position information of gps system measurement output inertial navigation alignment and resolves,
Make car body that initialization coarse alignment stage can be skipped in motion process and quickly complete inertial navigation system initialization fine alignment, it is convenient and swift
Initialization alignment, the time required to shortening alignment, can accomplish with walking with survey；Initialization alignment and measurement process are anti-extraneous dry
Disturb ability strong, especially can effectively reduce vehicle body in initialization alignment stage rocks the Initial Alignment Error that causes；In order to
Precision of the system to subsidence monitoring is further improved, proposes to use barometertic altimeter auxiliary measuring method, with pressure altitude
The damping effect suppression system elevation diverging of meter, improves precision of the system in the measurement of higher degree.Vehicle is directly read by OBD interfaces
The required parameter such as speed, mileage, builds strap-down inertial navigation system and combines navigation model with OBD output datas.Total system
With federal Kalman's combined filter technology, the vehicle-mounted characteristic of continental rise is taken into full account, build local and senior filter system model.
Fig. 2 to Fig. 4 is measurement effect figure in one embodiment of the invention practical application, and wherein road surface is being not affected by the weight such as car body
The structure of itself is had before thing extruding, after road surface is subject to the weights such as car body to extrude, self structure can deform, for a long time
Crimp and level of ground water decline etc. in the presence of natural conditions, road surface can settle.Fig. 2 is shown actual answering
To the structure chart obtained by measurement twice before and after certain road section surface loading heavy vehicle in, detection is can be very good with measuring system
Go out road surface structural deformation conditions, it is possible to quantitatively calculate deformation quantity.Fig. 3 is shown road surface before being extruded by heavy vehicle
The measurement situation of elevation afterwards, Fig. 4 is road surface elevation situation of change before and after quantitative calculating gained extruding.
Methods of Strapdown Inertial Navigation System uses three axis optical fibre gyro instrument and three accelerometers, can complete space multistory measurement,
So that the measuring method can adapt to various pavement structures.Gps system is only used in system initialization alignment stage, and system enters
Gps system can be closed after measuring phases.The reason for present invention is provided without strap-down inertial navigation system with GPS integrated navigations be
Prevent gps signal receive failure after system cannot normal work, especially in tunnel, city high rise building group and other gps signals hold
Easily disturbed place.
The present invention devises one kind and completes the survey of roadbed subsidence engineering with optical fiber sensing technology and inertia combined navigation technology
The method of amount, the method is capable of the principle of indirect reaction pavement structure deformation according to land body movement, vehicle-mounted flat using continental rise
Platform carries SINS and resolves road surface geometry deformation with integrated navigation, in order to improve measuring system in elevation channel
Certainty of measurement, with barometertic altimeter damping effect suppression system elevation dissipate.Zero-speed is repaiied at tested road surface default two
Positive reference point, aids in inertial navigation moving base rapid alignment and the zero-velocity curve method to make test vehicle in motion process with GPS
Complete initialization alignment work.Used as its extension, the present invention can also apply in the measurement of Longspan Bridge deformation.
Above example is merely to illustrate design philosophy of the invention and feature, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this that protection scope of the present invention is not limited to above-described embodiment.So, it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (5)
1. a kind of onboard combined navigation roadbed subsidence method for fast measuring, it is characterised in that：Using automobile as carrier platform, it is wrapped
Include following steps：
S1, initialization：Using gps system aided inertial navigation system moving alignment；
S2, measurement：
Gps system is stopped, and starts automobile and was opened from road surface to be measured；
During start, the real-time three-dimensional coordinate of automobile is obtained using inertial navigation system；Vapour is measured using barometertic altimeter
The real-time absolute altitude of car, is modified to the vertical coordinate in the real-time three-dimensional coordinate of automobile；Vapour is obtained from vehicle-mounted OBD system
The real-time speed of car and mileage information, the pitch error angle with reference to inertial navigation system on automobile, to the systematic survey angle of pitch
It is modified.
2. onboard combined navigation roadbed subsidence method for fast measuring according to claim 1, it is characterised in that：Described S1
Specially：
Known start position, starting point is with reference point known to 2 coordinates of planning in advance together as zero-velocity curve point；
Under start position inactive state, after after inertial navigation system preheating, system carried out first time zero-speed to automobile by N1 seconds
Amendment, while differential GPS measure systematic survey initial point position information；
Start automobile, being travelled to the parking of the first reference point from starting point with certain speed carries out second zero-velocity curve in N2 seconds, while
Gps system measures the first reference point information；
Automobile continues to be travelled to the parking of the second reference point with speed as before carries out third time zero-velocity curve in N3 seconds, while
Gps system measures the second reference point information.
3. onboard combined navigation roadbed subsidence method for fast measuring according to claim 1, it is characterised in that：Selection automobile
The upper carrier coordinate system that constitutes is b systems before car body is right, the origin of coordinates of b systems car body center of gravity, with the tailstock to headstock direction as y-axis
Positive direction, x-axis is positive for vehicle body right side is vertical with y, z and x-axis, y-axis composition right hand rectangular coordinate system；If mileage coordinate system is designated as
M systems, and b systems and m systems coordinate overlapping of axles of the same name, day geographic coordinate system in inertial navigation coordinate system selection northeast is n systems, by b systems,
The coordinate conversion matrix that m is tied to n systems is
If the real-time three-dimensional coordinate of automobile that inertial navigation system is obtained is the coordinate under carrier coordinate system, become by coordinates matrix
The coordinate of gained is the coordinate under navigational coordinate system after changing；Odometer exports the mileage increment under m systems, is carried out by OBD interfaces
Read, by obtaining the mileage increment size under navigational coordinate system after coordinates matrix conversion；Because b systems overlap with m systems, therefore made
Coordinate conversion matrix is identical；
Described S2 is specially It is tiDisplacement increment of the moment automobile under navigational coordinate system,
It is tiMoment carrier coordinate system to navigational coordinate system posture changing matrix,It is tiMoment automobile is under carrier coordinate system
Displacement increment；
WhereinWithRepresent respectivelyAll directions displacement increment under the geographic coordinate system of northeast day, Xi-1、
Yi-1、Zi-1It is automobile in ti-1Coordinate under moment northeast day geographic coordinate system, Xi、Yi、ZiIt is automobile in tiThe moment northeast world
Coordinate under reason coordinate system.
4. onboard combined navigation roadbed subsidence method for fast measuring according to claim 2, it is characterised in that：Described one
Constant speed degree is 30-50km/h.
5. it is used to realize the measuring system of the onboard combined navigation roadbed subsidence method for fast measuring described in claim 1, it is special
Levy and be：It includes display panel control, gps system, barometertic altimeter, inertial navigation system and data Sampling Interface, described GPS
System, barometertic altimeter, inertial navigation system are connected by data sampling interface with described display panel control respectively, described number
Also include the OBD interfaces for being connected with vehicle-mounted OBD system according to Sampling Interface.
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Cited By (8)
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| CN107339986A (en) * | 2017-07-04 | 2017-11-10 | 郑州大学 | A kind of localization method, apparatus and system |
| CN108051839A (en) * | 2017-10-27 | 2018-05-18 | 成都天合世纪科技有限责任公司 | A kind of method of vehicle-mounted 3 D locating device and three-dimensional localization |
| CN108399789A (en) * | 2018-03-28 | 2018-08-14 | 成都天合世纪科技有限责任公司 | A kind of intelligent parking management system and method |
| CN108490163A (en) * | 2018-05-25 | 2018-09-04 | 四川长虹网络科技有限责任公司 | Road defect detection equipment, detection vehicle, detecting system and detection method |
| CN109489623A (en) * | 2018-11-24 | 2019-03-19 | 上海勘察设计研究院(集团)有限公司 | A method of using three-dimensional laser scanner measurement bridge approach differential settlement |
| CN111380513A (en) * | 2018-12-28 | 2020-07-07 | 中国航空工业集团公司西安飞行自动控制研究所 | Orbit coordinate measuring method based on inertia technology |
| CN116659493A (en) * | 2023-07-31 | 2023-08-29 | 天津七六四通信导航技术有限公司 | Vehicle-mounted autonomous positioning and orientation method |
| CN117109527A (en) * | 2023-09-04 | 2023-11-24 | 中国公路工程咨询集团有限公司 | Satellite positioning and remote sensing fusion positioning method and pavement settlement monitoring method |
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| CN109489623A (en) * | 2018-11-24 | 2019-03-19 | 上海勘察设计研究院(集团)有限公司 | A method of using three-dimensional laser scanner measurement bridge approach differential settlement |
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| CN117109527A (en) * | 2023-09-04 | 2023-11-24 | 中国公路工程咨询集团有限公司 | Satellite positioning and remote sensing fusion positioning method and pavement settlement monitoring method |
| CN117109527B (en) * | 2023-09-04 | 2024-03-22 | 中国公路工程咨询集团有限公司 | Satellite positioning and remote sensing fusion positioning method and pavement settlement monitoring method |
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