CN106990420B - Direction reference leading-out device and method arranged on carrier - Google Patents
Direction reference leading-out device and method arranged on carrier Download PDFInfo
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- CN106990420B CN106990420B CN201710312972.8A CN201710312972A CN106990420B CN 106990420 B CN106990420 B CN 106990420B CN 201710312972 A CN201710312972 A CN 201710312972A CN 106990420 B CN106990420 B CN 106990420B
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- carrier
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- direction reference
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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
Abstract
The invention relates to a direction reference leading-out device and a method arranged on a carrier, wherein the device comprises a base, a plurality of antennas are arranged on the base at intervals, the position of the base for connecting the middle antenna is rigidly connected with the carrier, and the positions of the base for connecting the two antennas at two ends are flexibly connected with the carrier; and a prism is arranged at the bottom of the base connected with the antenna at one end. The direction reference leading-out step comprises the following steps: comparing the difference between the vector directions of AB, AC and BC when the carrier is deformed and the carrier is not deformed, and obtaining the deformation characteristic of the carrier; correcting the normal direction of the prism according to the deformation characteristic of the carrier; and leading out the absolute north direction reference of the vector directions of AB, AC and BC to the prism after the normal direction correction, and finishing the leading-out of the direction reference used by the user. The invention adopts the deformation compensation technology, and completes the extraction of the high-precision north reference on the basis of not adopting the optical imaging measurement technology.
Description
Technical Field
The invention relates to a direction reference leading-out device and method arranged on a carrier, and belongs to the technical field of high-precision direction reference measurement.
Background
The existing optical direction reference extraction method is to conventionally acquire an absolute north reference under a CGCS2000(2000 national geodetic coordinate system) coordinate system, and then extract the absolute north reference into a direction used by a user by using an optical imaging measurement technology, wherein the direction reference used by the user must be a physically visible straight line. The method for acquiring the absolute north reference in the prior art includes: a gyro north-seeking method for sensing the rotation of the earth, a satellite north-seeking method for receiving a GNSS (Global navigation satellite System) navigation satellite signal, and a landmark reference method that depends on an existing geodetic survey result. Among them, the geodetic landmark reference is generally obtained by a landmark + astronomical surveying method. While the lines that are physically visible include: auto-collimated light (laser) or the outer (or inner) normal of a right angle prism (or mirror).
Specifically, as shown in fig. 1, the user uses the normal direction of the right-angle prism at the point P, the AN direction is the absolute north direction, the accurate value of ∠ NAB is obtained by measuring the AB direction, the accurate value of ∠ BAP is measured by means of optical imaging measurement, and finally the value of ∠ NAP is obtained to correct the user reference, and the absolute north reference is led out to the user direction.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a direction reference extracting apparatus and method which are provided on a carrier with high accuracy and non-optically.
In order to achieve the above object, the present invention provides a direction reference leading-out device disposed on a carrier, including a base, a plurality of antennas disposed on the base at intervals, the position of the base connecting the middle antenna is rigidly connected to the carrier, and the positions of the bases connecting the two antennas at two ends are flexibly connected to the carrier; and a prism is arranged at the bottom of the base connected with the antenna at one end.
The antennas are arranged on the base in a linear mode and are arranged at equal intervals.
Wherein, the number of the antennas is three.
Wherein, the prism is perpendicular to the base and corresponds to the antenna position.
Wherein, the base is the integral type base.
Wherein the antenna is a survey type satellite antenna.
Wherein, the base is made of metal material.
Wherein the prism is a right angle prism.
A method for leading out direction reference comprises the following steps,
arranging a base on the carrier, arranging a first antenna A, a second antenna B and a third antenna C on the base at intervals, wherein the position of the base connected with the second antenna B in the middle is rigidly connected with the carrier, and the position of the base connected with the first antenna A and the third antenna C at two ends is flexibly connected with the carrier; a prism is arranged at the bottom of the base at one end; when the carrier is not deformed, the normal direction of the prism is parallel to the AB, AC and BC vector directions; when the carrier deforms, the first antenna A, the second antenna B and the third antenna C are distributed in an arc shape;
comparing the difference between the vector directions of AB, AC and BC when the carrier is deformed and the carrier is not deformed, and obtaining the deformation characteristic of the carrier;
correcting the normal direction of the prism according to the deformation characteristic of the carrier;
and leading out the absolute north direction reference of the vector directions of AB, AC and BC to the prism after the normal direction correction, and finishing the leading-out of the direction reference used by the user.
The vector directions of AB, AC and BC and the absolute north direction bases of the vector directions of AB, AC and BC are obtained through an RTK technology.
The prism is arranged right below the first antenna A and is unchanged in position relative to the first antenna A, and the normal vector direction of the prism is parallel to the tangential direction of the first antenna A when the prism is distributed in an arc shape.
The prism is arranged right below the third antenna C and is unchanged relative to the third antenna C, and the normal direction of the prism is parallel to the tangential direction of the third antenna C when the prism is distributed in an arc shape.
When the carrier deforms, the geometric dimensions of AB and BC are equal, and the included angle between the normal line of the prism and AB is equal to the included angle between AB and AC.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention adopts the deformation compensation technology, and completes the extraction of the high-precision north reference on the basis of not adopting the optical imaging measurement technology. 2. The invention measures the azimuth reference of the three antennas based on the antenna arrays arranged at equal intervals and the carrier phase differential technology, senses the micro deformation among the three antennas by simultaneously measuring three triangular sides of the three antennas when the three antennas are deformed in an arc shape, further provides the correction amount of a certain point, and realizes the angular-second-level direction reference leading-out without depending on the optical measurement technology. 3. The base of the invention adopts a three-point contact type mounting mode, thereby ensuring the uniform release of stress when the carrier deforms.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a schematic view of a prior art north reference measurement and extraction;
FIG. 2 is a schematic illustration of the installation of the apparatus of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a side view of FIG. 2;
FIG. 5 is a diagram of a profile of an antenna of the present invention when the carrier is deformed;
fig. 6 is a schematic view of the overall structure of the device of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper, lower, left, right, inner, outer, front, rear, leading, trailing, etc. indicate orientations or positional relationships based on those shown in the drawings, and are simply for convenience of simplifying the description of the present invention, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
As shown in fig. 2, the device of the present invention is mounted on a carrier 100, and includes a base 1 disposed on the top of the carrier 100, a plurality of antennas 2 vertically disposed on the base 1, rigidly connected to the carrier 100 at the position of the base 1 of the antenna 2 in the middle, flexibly connected to the carrier 100 at the positions of the bases 1 of the antennas 2 at two ends, and a prism 3 disposed at the bottom of the base 1 connected to the antenna 2 at one end.
It should be noted that the rigid connection between the base 1 and the carrier 100 can be implemented by using any fixing member in the prior art, so as to ensure that the middle portion of the base 1 and the carrier 100 can be stably fixed. The both ends and the carrier 100 flexonics of base 1, the both ends of base 1 can follow carrier 1 and move together promptly, and when carrier 100 takes place deformation, the both ends of base 1 can adapt to the deformation displacement volume of carrier 100.
In a preferred embodiment, as shown in fig. 2 and 3, the number of the antennas 2 is preferably three, and the antennas 2 are arranged on the base 1 in a linear and equally spaced array, so that the directions of the connection vectors between the antennas 2 coincide when the carrier 100 is not deformed.
To accommodate the size requirements of different carriers 100, the antennas 2 are slidably attached to the base 1, and the spacing between the antennas 2 can be adjusted as necessary during operation.
In the above embodiment, the base 1 is made of a metal material with good stress release performance so as to better adapt to the deformation of the carrier 100, and is preferably made of spring steel.
It should be noted that, the base 1 is connected to the carrier 100 in a three-point contact type mounting manner, which can ensure uniform release of stress, so that when the carrier 100 deforms due to stress, the antenna 2 can be distributed in an arc shape under the constraint of the energy minimum principle.
As shown in fig. 4, in order to make the direction reference drawing of the prism 3 more accurate, the prism 3 is arranged such that the prism 3 is perpendicular to the bottom of the base 1 to which the antenna 2 at one end is connected, and the prism 3 is positioned directly below the antenna 2, even if the prism 3 and the antenna 2 are positioned on the same axis, to improve the direction reference drawing accuracy of the prism 3.
In the above embodiment, the antenna 2 may be a survey type satellite antenna.
In the above embodiment, the prism 3 may be a right-angle prism.
In the above embodiment, the top surface of the base 1 is a planar structure to ensure that the antennas 2 can be located on the same plane.
When the device works, firstly, the base 1 is fixed on the carrier 100, the antennas 2 positioned on the base 1 slide according to the size of the carrier 100, the antennas 2 move to the positions capable of adapting to the size of the carrier 100, the distance between the antennas 2 is further adjusted, and the accuracy of the directional reference extraction of the prism 3 is improved.
The apparatus according to the invention is illustrated below by means of a specific embodiment.
Examples
As shown in fig. 2-4, the device of the present embodiment is mounted on a carrier 100, and includes a base 1, three vertical antennas 2 are arranged on the base 1 in a linear and equally spaced array, the position of the base 1 connected to the antenna 2 in the middle is rigidly connected to the carrier 100, and the positions of the bases 1 connected to the two antennas 2 at two ends are flexibly connected to the carrier 100; a prism 3 is provided at the bottom of the base 1 connected to the antenna 2 at one end thereof.
In this embodiment, the base 1 is made of spring steel so as to better accommodate the deformation of the carrier 100.
In the present embodiment, the prism 3 is perpendicular to the bottom of the base 1 to which the antenna 2 at one end is connected, and the prism 3 is located directly below the antenna 2.
In this embodiment, the antenna 2 is a survey type satellite antenna, and the prism 3 is a rectangular prism.
In the present embodiment, the antennas 2 are slidably connected to the base 1, and the distance between the antennas 2 is adjustable.
In the present embodiment, the base 1 to which the central antenna 2 is connected is fixedly connected to the carrier 100 by fastening bolts.
In the present embodiment, the base 1 is a one-piece base.
The invention also provides a direction reference leading-out method adopting a non-optical mode, which comprises the following steps:
first, a direction reference lead-out device is provided on the carrier 100 (an embodiment of the method can be implemented on the device described above).
Specifically, a base 1 is arranged on a carrier 100, three antennas 2 are arranged on the base 1 in a linear and equally spaced array, the position of the base 1 connected with the middle antenna 2 is rigidly connected with the carrier 100, and the positions of the bases 1 connected with the two antennas 2 at two ends are flexibly connected with the carrier 100; a prism 3 is vertically arranged at the bottom of a base 1 connected with an antenna 2 at one end, and the prism 3 is taken as a direction reference to be led out;
it should be noted that in the method, three antennas 2 may be set as an antenna a, an antenna B, and an antenna C in sequence, and when the carrier 100 is not deformed, the normal direction of the prism 3 is parallel to the vector directions AB, AC, and BC; when the carrier 100 deforms, the antennas a, B and C are distributed in an arc shape (as shown in fig. 5);
the direction reference extraction method comprises the following specific steps:
acquiring absolute north references of the vector directions of AB, AC and BC;
acquiring the vector directions of AB, AC and BC when the carrier 100 is not deformed;
acquiring an initial external normal direction of the prism 3;
acquiring the vector directions of AB, AC and BC when the carrier 100 deforms;
comparing the difference between the vector directions of AB, AC and BC when the carrier 100 deforms and the vector directions of AB, AC and BC when the carrier 100 does not deform to obtain the deformation characteristic of the carrier 100;
correcting the normal direction of the prism 3 according to the deformation characteristic of the carrier 100;
and leading out the absolute north direction reference of the vector directions of AB, AC and BC to the prism 3 after the normal direction correction, and finishing the leading-out of the direction reference used by the user.
In the above steps, the absolute north direction references of the vector directions of AB, AC and BC can be obtained by a gyro north finding mode for sensing the earth rotation, a satellite north finding mode for receiving GNSS navigation satellite signals, a landmark reference mode depending on the existing geodetic survey result, or by an RTK (carrier phase difference) technique, and the vector directions of AB, AC and BC are respectively obtained by an RTK technique.
In the above step, the prism is arranged right below the antenna a and the position of the prism relative to the antenna a is unchanged, and the normal vector direction of the prism is parallel to the tangential direction at the antenna a when the prism is distributed in an arc shape.
In the above step, the prism is arranged right below the antenna C and the position of the prism relative to the antenna C is unchanged, and the normal direction of the prism is parallel to the tangential direction of the antenna C when the prism is distributed in an arc shape.
In the above step, when the carrier deforms, the geometric dimensions of AB and BC are equal, and the included angle β between the normal of the prism and AB and the included angle α between AB and AC are equal.
In the above step, the normal direction of the prism 3 is the external normal direction.
It should be noted that the carrier 100 may be a vehicle such as an automobile or a train.
The technical effects of the present invention will be described below by way of an embodiment
Examples
The direction reference leading-out device of the invention is installed on a vehicle body, three antennas 2 are arranged on a base 1 in a straight line shape at equal intervals, as shown in fig. 5, the three antennas 2 are assumed to be an antenna A, an antenna B and an antenna C in sequence, a prism 3 is arranged right below the antenna A, the external normal direction of the prism 3 is AE, when the vehicle body is not deformed, the external normal direction AE of the prism 3 is parallel to the vector directions of AB, AC and BC, wherein, the processing error is corrected by system calibration.
In this embodiment, when the vehicle body is deformed, the antennas a, B, and C are distributed in an arc shape (as shown in fig. 5), and specifically, when two-dimensional inclination and six-dimensional deformation conditions of the vehicle body are considered, qualitative or quantitative analysis is performed on eight deformations as shown in table 1. As shown in fig. 6, the coordinate system has the convention that the direction of the vehicle head is the positive direction of the x axis, the direction of the left side of the vehicle head is the y axis, and the direction of the sky is the z axis.
TABLE 1 analysis of the source of the reference extraction error due to deformation of the vehicle body
For the case of a vehicle body twisting about the z-axis, the analytical calculations are as follows:
1. acquiring absolute north bases of vector directions of AB, AC and BC by using an RTK technology;
2. utilizing three measurement type satellite antennas 2 to respectively acquire GNSS navigation satellite signals;
3. acquiring the vector directions of AB, AC and BC and the normal vector direction of the prism 3 under the two conditions of deformation and no deformation of the carrier 100 by using an RTK technology;
4. comparing the difference between the vector directions of AB, AC and BC when the carrier 100 deforms and the vector directions of AB, AC and BC when the carrier 100 does not deform to obtain the deformation characteristic of the carrier 100;
5. correcting the direction of the external normal of the prism 3 according to the deformation characteristic of the carrier 100;
6. and leading out the absolute north direction reference of the vector directions of AB, AC and BC to the prism 3 after the correction of the direction of the external normal line, and finishing the leading out of the direction reference used by the user.
Note that the autocollimation measurement and the reference correction are performed with respect to the prism 3 at the time of the user's pickup direction reference.
The fixed connection relation between the prism 3 and the A antenna is unchanged, the external normal direction AE of the prism 3 is parallel to the tangential direction of the arc at the point A, the geometrical size AB is unchanged, β is α, and the A, B, C three antennas 2 are distributed in an arc shape under the constraint of the energy minimum principle due to the deformation caused by stress.
Based on the above conditions, the external normal direction of the prism 3 measured by the user is defined as
Vector direction, the actual measurement of which is by the apparatus
Vector direction.
To be provided with
Representing vectors
Y represents the angle between AB and BC, α represents the angle between AB and AC, and β represents the angle between AB and AE.
As can be seen from fig. 5, the following equivalence relations exist:
then it is determined that,
based on the above conditions, it can be directly shown that the direction of the external normal of the prism 3 used by the user is as shown in fig. 5
Based on the above design, it can be given that under the deformation condition, the corrected user reference (i.e. the direction of the external normal of the prism 3) is:
and according to the corrected user reference, leading out absolute north direction references of the vector directions of AB, AC and BC to the prism 3, and finishing leading out the direction reference used by the user.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (14)
1. A direction reference leading-out device capable of being arranged on a carrier is characterized by comprising a base, wherein a plurality of antennas are arranged on the base at intervals, the connecting positions of the base and the middle antenna are rigidly connected with the carrier, and the connecting positions of the base and the two antennas at two ends are flexibly connected with the carrier; and a prism is arranged at the bottom of the base connected with the antenna at one end.
2. The direction reference extracting apparatus provided on the carrier as claimed in claim 1, wherein each of the antennas is provided on the base in a linear shape at equal intervals.
3. The direction reference extraction device disposed on a carrier of claim 2 wherein there are three antennas.
4. The direction reference extraction device disposed on a carrier as set forth in any one of claims 1-3, wherein the prism is perpendicular to the base and corresponds to the antenna position.
5. A direction reference extraction device disposed on a carrier according to any of claims 1 to 3 wherein the base is a one-piece base.
6. A direction reference extraction device disposed on a carrier as claimed in any one of claims 1 to 3 wherein the antenna is a survey type satellite antenna.
7. A direction reference extraction device disposed on a carrier according to any one of claims 1 to 3 wherein the base is formed from a metallic material.
8. A direction reference extraction device disposed on a carrier according to any of claims 1-3 wherein the prism is a right angle prism.
9. A direction reference extraction assembly disposed on a carrier according to any one of claims 1 to 3 wherein each of said antennas is slidably connected to said base.
10. A method for leading out direction reference comprises the following steps,
arranging a base on the carrier, arranging a first antenna A, a second antenna B and a third antenna C on the base at intervals, wherein the position of the base connected with the second antenna B in the middle is rigidly connected with the carrier, and the position of the base connected with the first antenna A and the third antenna C at two ends is flexibly connected with the carrier; a prism is arranged at the bottom of the base at one end; when the carrier is not deformed, the normal direction of the prism is parallel to the AB, AC and BC vector directions; when the carrier deforms, the first antenna A, the second antenna B and the third antenna C are distributed in an arc shape;
comparing the difference between the vector directions of AB, AC and BC when the carrier is deformed and the carrier is not deformed, and obtaining the deformation characteristic of the carrier;
correcting the normal direction of the prism according to the deformation characteristic of the carrier;
and leading out the absolute north direction reference of the vector directions of AB, AC and BC to the prism after the normal direction correction, and finishing the leading-out of the direction reference used by the user.
11. The direction reference derivation method of claim 10, wherein the vector directions of AB, AC, BC and the absolute north references of the vector directions of AB, AC, BC are obtained by RTK techniques.
12. The direction reference drawing method according to claim 10, wherein the prism is disposed directly below the first antenna a at a constant position relative to the first antenna a, and a normal vector direction of the prism is parallel to a tangential direction at the first antenna a when the prism is distributed in an arc shape.
13. The direction reference drawing method according to claim 10, wherein the prism is disposed directly below the third antenna C and at a constant position relative to the third antenna C, and a normal direction of the prism is parallel to a tangential direction at the third antenna C when the prism is distributed in an arc shape.
14. The method of claim 10, wherein the geometries AB and BC are equal, and the angle between the normal of the prism and AB is equal to the angle between AB and AC when the carrier is deformed.
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| CN201710312972.8A CN106990420B (en) | 2017-05-05 | 2017-05-05 | Direction reference leading-out device and method arranged on carrier |
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| DE102015010173B3 (en) * | 2015-08-06 | 2016-07-14 | Audi Ag | Method for measuring the angle of slip in vehicles |
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