CN106990420A - A kind of directional reference ejector being arranged on carrier and method - Google Patents

A kind of directional reference ejector being arranged on carrier and method Download PDF

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Publication number
CN106990420A
CN106990420A CN201710312972.8A CN201710312972A CN106990420A CN 106990420 A CN106990420 A CN 106990420A CN 201710312972 A CN201710312972 A CN 201710312972A CN 106990420 A CN106990420 A CN 106990420A
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China
Prior art keywords
antenna
carrier
prism
directional
pedestal
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CN201710312972.8A
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CN106990420B (en
Inventor
谭吉福
杨必武
胡新汉
赵乃峰
赵永亮
申楠
朱江
孙中兴
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Digital Technology Ltd By Share Ltd
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Digital Technology Ltd By Share Ltd
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Priority to CN201710312972.8A priority Critical patent/CN106990420B/en
Publication of CN106990420A publication Critical patent/CN106990420A/en
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position

Abstract

The present invention relates to a kind of directional reference ejector being arranged on carrier and method, device includes pedestal, multiple antennas are arranged at intervals on the pedestal, it is rigidly connected at the base position of the antenna in the middle of connecting with the carrier, connects and be flexibly connected described in the two of two ends at the base position of antenna with the carrier;The base bottom being connected in the antenna with wherein one end is provided with prism.Directional reference draws step:Compare carrier and deform upon difference when not deformed upon with carrier between AB, AC, BC direction vector, obtain the deformation behavior of carrier;According to the deformation behavior of carrier, the normal direction to prism is modified;The absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to the revised prism of normal direction, the extraction for the directional reference that user uses is completed.The present invention uses deformation compensation technique, on the basis of Optical imaging measurement technology is not used, and completes the extraction of high-precision north orientation benchmark.

Description

A kind of directional reference ejector being arranged on carrier and method
Technical field
The present invention relates to a kind of directional reference ejector being arranged on carrier and method, belong to high-precision directional reference Field of measuring technique.
Background technology
Existing optical direction benchmark outbound course is (the 2000 national geodetic coordinates of acquisition CGCS2000 by conventional methods System) absolute north orientation benchmark under coordinate system, the absolute north orientation benchmark is then drawn out to by user using Optical imaging measurement technology On the direction used, and the directional reference that user uses must be the visible straight line of physics.Wherein, obtain absolute in the prior art The mode of north orientation benchmark includes:Perceive the gyroscope north searching mode of earth rotation, receive GNSS (Global Navigation Satellite System, GPS) satellite of navigation satellite signal seeks northern formula and relies on existing the earth The terrestrial reference benchmark mode of Measurement results.Wherein, the terrestrial reference benchmark of geodesic survey is obtained generally by the method for terrestrial reference+astronomical surveing .And the visible straight line of physics includes:Outer (or interior) method of autocollimatic direct light (laser) or right-angle prism (or level crossing) Line.
Specifically, as shown in figure 1, user uses the normal direction of the right-angle prism of a P position, AN directions are absolute North orientation, by measuring AB direction, that is, obtains ∠ NAB exact value, and measures by way of Optical imaging measurement ∠ BAP Exact value, can finally try to achieve ∠ NAP numerical value to carry out user's benchmark amendment, and absolute north orientation benchmark is drawn out to On the direction that user uses.The method precision that above-mentioned benchmark is drawn is very high, can reach several rads of precision, but be due to light Propagate unstable in media as well, it is larger by such environmental effects, when such as there is temperature change, dust storm or sleet mist environment, can The precision for influenceing benchmark to draw.On the other hand, it is larger using the cost height of optical direction reference measurement, measurement apparatus size, no It is easy to use.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of high-precision and non-optical direction being arranged on carrier Benchmark ejector and method.
To achieve the above object, the present invention provides a kind of directional reference ejector being arranged on carrier, including pedestal, Multiple antennas are arranged at intervals on the pedestal, connect rigid with the carrier at the base position of the middle antenna Connection, connects and is flexibly connected described in the two of two ends at the base position of antenna with the carrier;In the institute with wherein one end The base bottom for stating antenna connection is provided with prism.
Wherein, each linear type of the antenna and equally spaced it is arranged on the pedestal.
Wherein, the antenna is three.
Wherein, the prism is vertical with the pedestal and corresponding with the aerial position.
Wherein, the pedestal is integral type pedestal.
Wherein, the antenna is measurement type satellite antenna.
Wherein, the pedestal is made of metal material.
Wherein, the prism is right-angle prism.
A kind of directional reference outbound course, including,
Pedestal is set on carrier, first antenna A, the second antenna B and third antenna C, connection are arranged at intervals on pedestal It is rigidly connected at the second antenna B of centre base position with carrier, connects two ends first antenna A and third antenna C pedestal position Place is put to be flexibly connected with carrier;The base bottom of one end sets prism wherein;Wherein, when carrier is not deformed upon, prism Normal direction is parallel with AB, AC, BC direction vector;When carrier is deformed upon, first antenna A, the second antenna B and third antenna C Curved distribution;
Compare carrier and deform upon difference when not deformed upon with carrier between AB, AC, BC direction vector, obtain and carry The deformation behavior of body;
According to the deformation behavior of carrier, the normal direction to prism is modified;
The absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to the revised prism of normal direction, user is completed The extraction of the directional reference used.
Wherein, by RTK technical limit spacings AB, AC, BC direction vector, and AB, AC, BC direction vector absolute north To benchmark.
Wherein, prism is arranged on first antenna A underface and, the normal of prism constant with first antenna A relative positions Tangential direction when direction vector is with curved distribution at first antenna A is parallel.
Wherein, prism is arranged on third antenna C underface and, the normal of prism constant with third antenna C relative positions Tangential direction when direction is with curved distribution at third antenna C is parallel.
Wherein, when carrier is deformed upon, AB is equal with BC physical dimension, the normal of prism and AB angle and AB with AC angle is equal.
The present invention is due to using above technical scheme, and it has advantages below:1st, the present invention uses deformation compensation technique, Do not use on the basis of Optical imaging measurement technology, complete the extraction of high-precision north orientation benchmark.2nd, the present invention is based on equidistant The aerial array and carrier phase difference technology of arrangement measure the azimuth reference of triantennary, utilize the triantennary in curved deformation Atria side measure simultaneously, perceive triantennary between miniature deformation, and then provide some point correction, independent of Under conditions of optical measuring technique, realize that the directional reference of rad level is drawn.3rd, pedestal of the invention is due to using three point contact The mounting means of formula, it is ensured that the uniform release of stress in carrier deformation.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to limited in any way.Except foregoing description Schematical aspect, embodiment and feature outside, by reference to accompanying drawing and the following detailed description, the present invention is further Aspect, embodiment and feature would is that what is be readily apparent that.
Brief description of the drawings
In the accompanying drawings, unless specified otherwise herein, otherwise represent same or analogous through multiple accompanying drawing identical references Part or element.What these accompanying drawings were not necessarily to scale.It should be understood that these accompanying drawings depict only according to the present invention Some disclosed embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is existing north orientation reference measurement and draws schematic diagram;
Fig. 2 is the scheme of installation of apparatus of the present invention;
Fig. 3 is Fig. 2 top view;
Fig. 4 is Fig. 2 side view;
Distribution maps of the Fig. 5 for antenna of the invention in carrier deformation;
Fig. 6 is the overall structure diagram of apparatus of the present invention.
Embodiment
Hereinafter, some exemplary embodiments are simply just described.As one skilled in the art will recognize that Like that, without departing from the spirit or scope of the present invention, described embodiment can be changed by various different modes. Therefore, accompanying drawing and description are considered essentially illustrative rather than restrictive.
In the description of the invention, unless otherwise indicated, " multiple " are meant that two or more;Term " upper, Under, left and right, inside and outside, front end, rear end, head, afterbody " etc. instruction orientation or position relationship be based on orientation shown in the drawings Or position relationship, the description that simplifies of the description present invention is for only for ease of, rather than indicate or imply signified device or element There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected:Can To be mechanical connection or electrical connection or can mutually communicate;Can be joined directly together, can also be by between intermediary Connect connected, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill of this area For personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to Simplify disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only merely illustrative, and And purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter, This repetition is for purposes of simplicity and clarity, between discussed various embodiments itself are not indicated and/or are set Relation.In addition, the invention provides various specific techniques and material example, but those of ordinary skill in the art can be with Recognize the application of other techniques and/or the use of other materials.
As shown in Fig. 2 apparatus of the present invention are arranged on carrier 100, including are arranged on the pedestal 1 at the top of carrier 100, in base Multiple antennas 2 are vertically arranged with seat 1, are rigidly connected at the position of pedestal 1 of middle antenna 2 with carrier 100, positioned at two ends Antenna 2 the position of pedestal 1 at be flexibly connected with carrier 100, wherein one end antenna 2 connect the bottom of pedestal 1 be provided with Prism 3.
It should be noted that pedestal 1 can be entered with being rigidly connected for carrier 100 using any fixture of the prior art Row connection, it is ensured that the middle part of pedestal 1 can consolidate fixed with carrier 100.The two ends of pedestal 1 are flexibly connected with carrier 100, I.e. the two ends of pedestal 1 can follow carrier 1 together to move, when carrier 100 is deformed upon, and the two ends of pedestal 1 can adapt to carry The deformation displacement amount of body 100.
In a preferred embodiment, as shown in Figure 2 and Figure 3, antenna 2 is preferably three, and each antenna 2 is linear Type and equally spaced array is arranged on pedestal 1, makes each antenna 2 when carrier 100 is not deformed upon, the company between each antenna 2 Line vector direction is overlapped.
In order to adapt to the size requirement of different carriers 100, each antenna 2 is slidably attached on pedestal 1, operationally may be used As needed, the spacing between each antenna 2 is adjusted.
In the above-described embodiments, pedestal 1 is using the good metal material of stress releasing property, in order to preferably adapt to carrier 100 deformation, it is therefore preferable to spring steel.
It should be noted that pedestal 1 is connected using three-point contact type mounting means with carrier 100, it is ensured that stress Uniform release, when the stress is caused 100 deformation of carrier, under maximum energy criterion constraint, antenna 2 curved can be distributed.
As shown in figure 4, in order that prism 3 directional reference draw it is more accurate, arrangement prism 3 when, make prism 3 with wherein The bottom for the pedestal 1 that the antenna 2 of one end is connected is vertical, and prism 3 is located at the underface of the antenna 2, even if prism 3 and antenna 2 On same axis, precision is drawn with the directional reference for improving prism 3.
In the above-described embodiments, antenna 2 can use measurement type satellite antenna.
In the above-described embodiments, prism 3 can use right-angle prism.
In the above-described embodiments, the top surface of pedestal 1 is planar structure, to ensure that each antenna 2 can be in the same plane.
Pedestal 1 operationally, is fixed on carrier 100 by apparatus of the present invention first, and position is slided according to the size of carrier 100 In each antenna 2 on pedestal 1, each antenna 2 is moved to the position that can adapt to the size of carrier 100, and further adjust each Spacing between antenna 2, improves the degree of accuracy that the directional reference of prism 3 is drawn.
Illustrate apparatus of the present invention below by a specific embodiment.
Embodiment
As in Figure 2-4, the present embodiment device is arranged on carrier 100, including pedestal 1, on pedestal 1 linear type and Equally spaced array is disposed with the position of pedestal 1 of the antenna 2 in the middle of three vertical antennas 2, connection to be connected with the rigidity of carrier 100 Connect, be flexibly connected at the position of pedestal 1 for two antennas 2 for connecting two ends with carrier 100;It is connected in the antenna 2 with wherein one end The bottom of pedestal 1 is provided with prism 3.
In the present embodiment, pedestal 1 uses spring steel, in order to preferably adapt to the deformation of carrier 100.
In the present embodiment, the bottom for the pedestal 1 that prism 3 is connected with the antenna 2 of wherein one end is vertical, and prism 3 is located at The underface of the antenna 2.
In the present embodiment, antenna 2 is measurement type satellite antenna, and prism 3 is right-angle prism.
In the present embodiment, each antenna 2 is slidably connected on pedestal 1, and the spacing between each antenna 2 is adjustable.
In the present embodiment, fixed and connected by fastening bolt and carrier 100 at the position of pedestal 1 of the antenna 2 in the middle of connecting Connect.
In the present embodiment, pedestal 1 is integral type pedestal.
Present invention also offers a kind of directional reference outbound course of use non-optical manner:
(a kind of embodiment of this method can institute above for setting direction benchmark ejector first on carrier 100 Realized on the device stated).
Specifically, pedestal 1 is set on carrier 100, the linear type and equally spaced array is disposed with three on pedestal 1 It is rigidly connected at antenna 2, the position of pedestal 1 for connecting middle antenna 2 with carrier 100, connects the pedestal 1 of two antennas 2 at two ends It is flexibly connected at position with carrier 100;The bottom of pedestal 1 being connected in the antenna 2 with wherein one end is vertically installed with prism 3, rib The mode that mirror 3 is drawn as directional reference;
It should be noted that this method can set three antennas 2 sequentially as antenna A, antenna B, antenna C, do not sent out in carrier 100 During raw deformation, the normal direction of prism 3 is parallel with AB, AC, BC direction vector;When carrier 100 is deformed upon, antenna A, antenna The curved distributions (as shown in Figure 5) of B and antenna C;
Directional reference is drawn and concretely comprised the following steps:
Obtain the absolute north orientation benchmark of AB, AC, BC direction vector;
Obtain the direction vector of AB, AC, BC when carrier 100 is not deformed upon;
Obtain the initial exterior normal direction of prism 3;
Obtain the direction vector of AB, AC, BC when carrier 100 is deformed upon;
AB, AC, BC when the direction vector and carrier 100 for comparing AB, AC, BC when carrier 100 is deformed upon are not deformed upon Direction vector between difference, obtain carrier 100 deformation behavior;
According to the deformation behavior of carrier 100, the normal direction to prism 3 is modified;
The absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to the revised prism 3 of normal direction, completes to use The extraction for the directional reference that family is used.
, can be by perceiving the gyroscope north searching mode of earth rotation, receiving defending for GNSS navigation satellite signals in above-mentioned steps Star seeks northern formula, the terrestrial reference benchmark mode for relying on existing geodesy achievement or by RTK (carrier phase difference) technical limit spacing The absolute north orientation benchmark of AB, AC, BC direction vector, AB, AC, BC direction vector are obtained by RTK technologies respectively.
In above-mentioned steps, prism is arranged on antenna A underface and constant with antenna A relative positions, the normal arrow of prism Tangential direction when measuring direction with curved distribution at antenna A is parallel.
In above-mentioned steps, prism is arranged on antenna C underface and constant with antenna C relative positions, the normal side of prism Tangential direction during to curved distribution at antenna C is parallel.
In above-mentioned steps, when carrier is deformed upon, AB is equal with BC physical dimension, the normal of prism and AB angle β and AB is equal with AC angle α.
In above-mentioned steps, the normal direction of prism 3 is exterior normal direction.
It should be noted that carrier 100 can be the delivery vehicles such as automobile or train.
Illustrate the technique effect of the present invention below by a specific embodiment
Embodiment
The directional reference ejector of the present invention is arranged on car body, and three antennas 2 are in yi word pattern and equally spaced arrange On pedestal 1, as shown in fig. 5, it is assumed that three antennas 2 are sequentially antenna A, antenna B, antenna C, prism 3 is being arranged on antenna A just Lower section, the exterior normal direction of prism 3 is AE, when car body is not deformed upon, exterior normal direction AE and AB, AC, BC of prism 3 Direction vector is parallel, wherein, processing technology error is modified by system calibrating.
In the present embodiment, car body antenna A, antenna B and the curved distributions (as shown in Figure 5) of antenna C in deformation, specifically , when the two dimension for considering car body is tilted with sextuple deformation condition, eight deformation are carried out with qualitative or quantitative analysis such as table 1 It is shown.Wherein, as shown in fig. 6, the agreement of coordinate system is, headstock direction be x-axis positive direction, headstock left direction be y-axis, day to For z-axis.
The benchmark that the car body deformation band of table 1 comes draws Analysis of error source
Situation about being distorted for car body around z-axis, carries out analysis and is calculated as follows:
1st, using RTK technical limit spacings AB, AC, BC direction vector absolute north orientation benchmark;
2nd, GNSS navigation satellite signals are obtained respectively using three measurement type satellite antennas 2;
3rd, deformed upon in carrier 100 using RTK technical limit spacings and do not deform upon AB, AC, BC's in the case of two kinds The normal vector direction of direction vector and prism 3;
4th, the AB when direction vector and carrier 100 for comparing AB, AC, BC when carrier 100 is deformed upon are not deformed upon, AC, Difference between BC direction vector, obtains the deformation behavior of carrier 100;
5th, according to the deformation behavior of carrier 100, the exterior normal direction of prism 3 is modified;
6th, the absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to the prism 3 after exterior normal adjustment in direction, it is complete The extraction of the directional reference used into user.
It should be noted that carrying out self-collimation measurement and benchmark amendment to prism 3 when user picks up directional reference.
Prism 3 and A antennas connect firmly that relation is constant, and the exterior normal direction AE of prism 3 now is with arc in the tangent line side of A points To parallel;AB=AC physical dimension is constant, β=α;The deformation as caused by stress, under maximum energy criterion constraint, A, B, C Three antennas 2 can curved distribution.
Based on conditions above, the exterior normal direction of prism 3 for defining user's measurement isDirection vector, equipment is actually measured BeDirection vector.
WithRepresent vectorDirection, γ represents AB's and BC Angle, α represents AB and AC angle, and β represents AB and AE angle.
As shown in Figure 5, there is following relation of equal quantity:
So,
Based on above-mentioned condition, it can directly give, the exterior normal direction of prism 3 that user uses is in Fig. 5
Based on above-mentioned design, it can be given under deformation condition, revised user's benchmark (i.e. the exterior normal direction of prism 3) It is:
According to revised user's benchmark, the absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to prism 3, it is complete Drawn into the directional reference that user uses.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, its various change or replacement can be readily occurred in, These should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim Shield scope is defined.

Claims (13)

1. a kind of directional reference ejector that may be disposed on carrier, it is characterised in that including pedestal, on the pedestal between It is rigidly connected at the base position of the antenna in the middle of multiple antennas are set, connecting with the carrier, connects two ends Two described in antenna the base position at the carrier be flexibly connected;The institute being connected in the antenna with wherein one end State base bottom and be provided with prism.
2. the as claimed in claim 1 directional reference ejector being arranged on carrier, it is characterised in that each antenna is in Linear pattern and equally spaced it is arranged on the pedestal.
3. the directional reference ejector as claimed in claim 2 being arranged on carrier, it is characterised in that the antenna is three It is individual.
4. the directional reference ejector being arranged on carrier as described in claim any one of 1-3, it is characterised in that described Prism is vertical with the pedestal and corresponding with the aerial position.
5. the directional reference ejector being arranged on carrier as described in claim any one of 1-3, it is characterised in that described Pedestal is integral type pedestal.
6. the directional reference ejector being arranged on carrier as described in claim any one of 1-3, it is characterised in that described Antenna is measurement type satellite antenna.
7. the directional reference ejector being arranged on carrier as described in claim any one of 1-3, it is characterised in that described Pedestal is made of metal material.
8. the directional reference ejector being arranged on carrier as described in claim any one of 1-3, it is characterised in that described Prism is right-angle prism.
9. a kind of directional reference outbound course, including,
Pedestal is set on carrier, is arranged at intervals on pedestal in the middle of first antenna A, the second antenna B and third antenna C, connection It is rigidly connected at second antenna B base position with carrier, at the base position for connecting two ends first antenna A and third antenna C It is flexibly connected with carrier;The base bottom of one end sets prism wherein;Wherein, when carrier is not deformed upon, the normal of prism Direction is parallel with AB, AC, BC direction vector;When carrier is deformed upon, first antenna A, the second antenna B and third antenna C are in arc Shape is distributed;
Compare carrier and deform upon difference when not deformed upon with carrier between AB, AC, BC direction vector, obtain carrier Deformation behavior;
According to the deformation behavior of carrier, the normal direction to prism is modified;
The absolute north orientation benchmark of AB, AC, BC direction vector is drawn out to the revised prism of normal direction, user is completed and uses Directional reference extraction.
10. directional reference outbound course as claimed in claim 9, it is characterised in that pass through RTK technical limit spacings AB, AC, BC vector Direction, and AB, AC, BC direction vector absolute north orientation benchmark.
11. directional reference outbound course as claimed in claim 9, it is characterised in that prism be arranged on first antenna A underface and It is constant with first antenna A relative positions, the tangent line side when normal vector direction of prism is with curved distribution at first antenna A To parallel.
12. directional reference outbound course as claimed in claim 9, it is characterised in that prism be arranged on third antenna C underface and Constant with third antenna C relative positions, the tangential direction when normal direction of prism is with curved distribution at third antenna C is put down OK.
13. directional reference outbound course as claimed in claim 9, it is characterised in that when carrier is deformed upon, AB and BC geometry Equal sized, the normal of prism is equal with AC angle with AB angle and AB.
CN201710312972.8A 2017-05-05 2017-05-05 Direction reference leading-out device and method arranged on carrier Active CN106990420B (en)

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