CN107037469A - Based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter - Google Patents
Based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter Download PDFInfo
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- CN107037469A CN107037469A CN201710231862.9A CN201710231862A CN107037469A CN 107037469 A CN107037469 A CN 107037469A CN 201710231862 A CN201710231862 A CN 201710231862A CN 107037469 A CN107037469 A CN 107037469A
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The present invention proposes one kind and is based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, including：IMU inertia measuring modules, INS processing modules, GNSS receiver, combined inertial nevigation Kalman filtering computing module and power module, combined inertial nevigation Kalman filtering computing module according to navigational state parameter and navigation metrical information, almanac data and satellite health status can be used, computing module calculates coordinate of the antenna in inertial navigation coordinate system according to following formula.The present invention realizes the coordinate in inertial navigation coordinate system in line computation each antenna, because each installation relation can be calibrated independently, and need not use special optical device, improve efficiency and saved calibration cost in the dynamic fine alignment of double antenna combined inertial nevigation.
Description
Technical field
It is more particularly to a kind of based on the self-alignment double antenna combination of installation parameter the present invention relates to technical field of satellite navigation
Inertial nevigation apparatus.
Background technology
In device is led in high-precision GNSS/INS combinations, it is required to repair INS drift by GNSS measurement data
Just.But GNSS is measured and INS measures the data of not same point.Wherein, GNSS measurement results are the position of GNSS antenna, speed
The observation informations such as degree, baseline angle between two antennas, INS measurement results be its IMU navigation center position and speed with
The information such as INS navigational coordinate system postures.In order to preferably realize GNSS to INS amendment, it is necessary to accurate calibration GNSS antenna with
Installation relation between IMU navigational coordinate systems.Secondly the course of double antenna measurement is the course between GNSS antenna baseline, and
Course being axially directed to, it is necessary to misalignment angle demarcated between two axial directions etc. for IMU of INS measurements.
In many GNSS/INS combined navigation devices so far, a part needs regardless of installation relation, another part
Configured by other metering systems and by order into system, such as measured using meter ruler or demarcate GNSS using optical mode
The installation relation of antenna phase center (GNSS anchor points) and IMU navigation center (INS anchor points), reuse order input to
In GNSS/INS integrated navigation systems.
GNSS antenna is installed on carrier and during MU, it is position relationship to be generally not easy direct measurement between them.Due to
IMU needs to be arranged close to carrier inside centroid position.GNSS antenna is generally mounted to upper table outside carrier due to searching star needs
Face.Using chi or optical device be difficult the direct accurate precision obtained between the two up to the installation relation of 1cm ranks, it is necessary to
By designing, fine structure converts installation relation, or by IMU navigation center and accurate axially through structural member
Reproduction, adds equipment use requirement and difficulty.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is a kind of based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter it is an object of the invention to propose,
In the dynamic fine alignment of double antenna combined inertial nevigation, the coordinate in inertial navigation coordinate system in line computation each antenna is realized, due to each
Installation relation can be calibrated independently, and need not use special optical device, improved efficiency and saved calibration cost.
To achieve these goals, embodiments of the invention provide a kind of based on the self-alignment double antenna combination of installation parameter
Inertial nevigation apparatus, including：IMU inertia measuring modules, INS processing modules, GNSS receiver, combined inertial nevigation Kalman filtering calculate mould
Block and power module, wherein,
The power module is used to power to the IMU inertia measuring modules, INS processing modules, GNSS receiver；
The IMU inertia measuring modules include：
Three axis optical fibre gyro, the angular velocity of satellite motion for measuring carrier；
Three axis accelerometer, the linear acceleration for measuring carrier；
Temperature sensor, for measuring internal temperature, trip temperature is entered to the three axis optical fibre gyro and three axis accelerometer
Compensation；
Drive circuit, the three axis optical fibre gyro, three axis accelerometer, the output end of temperature sensor are driven with described respectively
The input of dynamic circuit is connected, and the drive circuit is used to the angular velocity of satellite motion and linear acceleration of carrier being filtered place
Reason；
A/D modular converters, the input of the A/D modular converters is connected with the output end of the drive circuit, for inciting somebody to action
The angular velocity of satellite motion and linear acceleration of filtered carrier carry out analog-digital conversion, and by the digital quantity of generation send to
The INS processing modules；
The INS processing modules are for original operation angular speed of the reception from the IMU inertia measuring modules and linearly
Acceleration signal, and by integral and calculating of navigating, obtains the navigational state parameter information of the carrier, and to combined inertial nevigation karr
Graceful filtering computing module provides navigational state parameter information；
The GNSS receiver includes：GNSS double antenna direction finding modules and GNSS receiving modules, wherein, the double days of the GNSS
Line direction finding module uses double antenna GNSS boards, and the GNSS receiving modules are received from the GNSS double antennas direction finding module
Aerial signal, and generate navigation metrical information, almanac data and satellite health status can be used, and then send to the combined inertial nevigation
Kalman filtering computing module；
The combined inertial nevigation Kalman filtering computing module is according to the navigational state parameter and navigation metrical information, available
Almanac data and satellite health status, computing module calculate coordinate lb of the antenna in inertial navigation coordinate system according to following formula, in real time meter
The installation relation between GNSS receiver and INS processing modules is calculated, and is automatically write wherein as inner parameter,
Vb is default inertia estimating speed, and VG is the navigation metrical information medium velocity that GNSS receiver is generated, and lb is day
Coordinate of the line in inertial navigation coordinate system,It is the spin matrix that carrier coordinate system is consolidated between ECEF coordinate systems to ground heart,For
The angular velocity of satellite motion for the carrier that three-axis gyroscope measurement is obtained,For rotational-angular velocity of the earth.
Further, the drive circuit includes：Low pass filter and signal pre-processing circuit, wherein, the signal is located in advance
The input of reason circuit is connected with the output end of the low pass filter, the output end of the signal pre-processing circuit and the A/
The input of D modular converters is connected,
The low pass filter is used to be filtered processing to the angular velocity of satellite motion and linear acceleration of carrier, to filter out it
In noise；
The signal pre-processing module is used to filtered angular velocity of satellite motion and linear acceleration transforming to the A/D turns
In the working range for changing the mold block, and then export to the A/D modular converters.
Further, the navigational state parameter information of the INS processing modules generation includes：The position of the carrier, speed,
Posture and course data.
Further, the GNSS receiving modules are used for the signal from GNSS double antenna direction finding modules, carry out frequency conversion, put
Greatly, filtering process, to realize the tracking to GPS and BD2 signals, locking and measure, and gives Kalman filter module to described
1Hz navigation metrical information is provided, almanac data and satellite health status can be used.
Further, the navigation metrical information includes：Positional information, pseudorange, pseudorange rates measured value, wherein, the position
Information includes latitude, longitude, height, speed, date, time, ephemeris.
Further, the GNSS receiving modules also provide for system clock and total system time synchronized, while receiving poor
Sub-signal and filtering feedback measurement amendment.
Further, the combined inertial nevigation Kalman filtering computing module uses close coupling integrated navigation technology, including：According to
Position, velocity information in the navigational state parameter information and it is described use almanac data, calculating is obtained and INS processing modules
Corresponding pseudorange, pseudorange rates, then pseudorange, the difference of pseudorange rates that it is obtained with the GNSS receiver measurement are calculated, it is poor with this
Value is carried out after state error estimation, to inertial navigation system by the way of feedback compensation as observed quantity by Kalman filter
Position, strap-down matrix in mechanization carry out feedback compensation, combined inertial nevigation outgoing position, speed and attitude data.
Further, present invention additionally comprises:Long-distance monitorng device, the long-distance monitorng device and the combined inertial nevigation Kalman
Filtering computing module is communicated, the output data system for showing simultaneously control combination inertial navigation, completion user command control input,
The output of Navigation Control parameter, the output of navigation working status parameter, System self-test, system initialization, working state of system are monitored, appointed
Business distribution.
It is according to embodiments of the present invention based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, double antenna combination is used
When leading dynamic fine alignment, the coordinate in inertial navigation coordinate system in line computation each antenna is realized.In the dynamic fine alignment of combined inertial nevigation
During pass through GNSS and INS real-time measuring datas and calculate installation relation between the two in real time, it is and automatic as inner parameter
Write-in.The precision and calibrating procedure for the double antenna combined inertial nevigation that the present invention is greatly improved, because each installation relation can be calibrated independently,
And special optical device need not be used, so that substantially increasing efficiency has saved calibration cost.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the GNSS/INS close coupling unit information handling principle figures according to the embodiment of the present invention；
Fig. 2 is the double antenna inertial navigation set structured flowchart according to the embodiment of the present invention；
Fig. 3 is the internal junction based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter according to the embodiment of the present invention
Composition；
Fig. 4 is according to the base arrangement of the embodiment of the present invention and optical fibre gyro and accelerometer installation diagram；
Fig. 5 is the schematic diagram that navigational computer and two pieces of GNSS boards are installed on the basis of Fig. 4.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
It is proposed by the present invention to be based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, it is adaptable to which that single antenna is double
The navigation position attitude measurement apparatus field such as antenna GNSS and INS combined navigation devices is from host computer and configures antenna and IMU
Between installation parameter GNSS/INS integrated navigation systems.
As shown in figure 1, the embodiment of the present invention based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, including：
IMU inertia measuring modules 1, INS processing modules 3, GNSS receiver 2, combined inertial nevigation Kalman filtering computing module 4 and power supply mould
Block 5.
Specifically, power module 5 is used to power to IMU inertia measuring modules 1, INS processing modules 3, GNSS receiver 2.
IMU inertia measuring modules 1 include：Three axis optical fibre gyro 11, three axis accelerometer 12, temperature sensor 13, driving
Circuit 14 and A/D modular converters 15.Specifically, three axis optical fibre gyro 11 is used for the angular velocity of satellite motion for measuring carrier.Three axles accelerate
Degree meter 12 is used for the linear acceleration for measuring carrier.Temperature sensor 13 is used to measure internal temperature, to three axis optical fibre gyro 11
Temperature-compensating is carried out with three axis accelerometer 12, temperature drift is eliminated.
Three axis optical fibre gyro 11, three axis accelerometer 12, temperature sensor 13 output end respectively with drive circuit 14
Input is connected, and drive circuit 14 is used to the angular velocity of satellite motion and linear acceleration of carrier being filtered processing.Specifically, drive
Dynamic circuit 14 includes：Low pass filter and signal pre-processing circuit.The input of signal pre-processing circuit and low pass filter
Output end is connected, and the output end of signal pre-processing circuit is connected with the input of A/D modular converters 15.
Low pass filter is filtered processing to the angular velocity of satellite motion and linear acceleration of carrier, to filter out therein make an uproar
Sound.Signal pre-processing module transforms to filtered angular velocity of satellite motion and linear acceleration the work model of A/D modular converters 15
In enclosing, and then export to A/D modular converters 15.
The input of A/D modulus of conversion modules is connected with the output end of drive circuit 14, by the motion angle of filtered carrier
Speed and linear acceleration carry out analog-digital conversion to be converted into digital quantity, and the digital quantity of generation is sent to INS processing
Module 3, to provide the initial data of Inertial Measurement Unit to carry out navigation integral and calculating.
INS processing modules 3 receive original operation angular speed and linear acceleration signal from IMU inertia measuring modules 1,
And by integral and calculating of navigating, obtain the navigational state parameter information of carrier, and to combined inertial nevigation Kalman filtering computing module 4
Navigational state parameter information is provided, for carrying out Kalman filtering information fusion with the data that GNSS receiver 2 is provided.
In one embodiment of the invention, the navigational state parameter information that INS processing modules 3 are generated includes：Carrier
Position, speed, posture and course data.
It is preferred that, the microprocessor computing circuit plate that INS processing modules 3 can be constituted using DSP.
GNSS receiver 2 includes：GNSS double antenna direction findings module 21 and GNSS receiving modules 22, wherein, GNSS double antennas
Direction finding module 21 uses double antenna GNSS boards, and its carrier phase observed quantity is measured respectively using two antennas.GNSS receives mould
Block 22 receives the aerial signal from GNSS double antenna direction findings module 21, and generate navigation metrical information, can with almanac data and
Satellite health status, and then send to combined inertial nevigation Kalman filtering computing module 4.
Specifically, 22 pairs of signals from GNSS double antenna direction findings module 21 of GNSS receiving modules, carry out frequency conversion, amplification,
A series of processing such as filtering, to realize the tracking to GPS and BD2 signals, locking and measurement, and to giving Kalman filter module
1Hz navigation metrical information is provided, almanac data and satellite health status can be used.
In one embodiment of the invention, navigation metrical information includes：Positional information, pseudorange, pseudorange rates measured value, its
In, positional information includes latitude, longitude, height, speed, date, time, ephemeris.
In addition, GNSS receiving modules 22 also provide for system clock and total system time synchronized, while receiving difference letter
Number and filtering feedback measurement amendment.
Combined inertial nevigation Kalman filtering computing module 4 uses close coupling integrated navigation technology, including：Joined according to navigational state
Position, velocity information and available almanac data in number information, calculating are obtained and the corresponding pseudorange of INS processing modules 3, pseudorange
Rate, then pseudorange, the difference of pseudorange rates that it is obtained with GNSS receiver measurement are calculated, using this difference as observed quantity, pass through
Kalman filter carry out state error estimation after, by the way of feedback compensation to the position in inertial navigation system mechanization,
Strap-down matrix carries out feedback compensation, combined inertial nevigation outgoing position, speed and attitude data.
Close coupling integrated navigation technology is illustrated below.Tight integration is the deeper combination of combined level, and it is led
It is that GNSS receiver and inertial navigation system are mutually aided in want feature.
With reference to Fig. 2, tight integration mode is received according to optical fibre gyro INS position, velocity information and the GNSS for resolving output
The ephemeris information that machine is provided, first calculates and obtains pseudorange corresponding with optical fibre gyro INS, pseudorange rates, then calculates itself and GNSS receptions
Pseudorange that machine measurement is obtained, the difference of pseudorange rates, using this difference as the observed quantity of combined system, pass through Kalman filter pair
Optical fibre gyro INS speed, position, the clocking error of posture and receiver carry out optimal estimation, then to optical fibre gyro INS and
GNSS is corrected.
Because combining structure is the coupling in pseudorange, pseudorange rates rank, its junction filter configuration can eliminate by
Unmodeled dynamiocs caused by GNSS receiver 2Kalman wave filters, so as to reach the purpose for substantially improving navigation accuracy.Tight
In integrated mode, because the external observation amount utilized is the raw informations such as pseudorange, the pseudorange rates on GNSS receiver each passage,
So when visible star number is less than 4 caused by decaying for the masking of GNSS satellite in short-term, interruption or satellite-signal, combined system is still
Navigation output can so be provided, it is to avoid inertial navigation works independently the too fast situation of the accumulation of error for resolving strapdown, it is ensured that
The continuous navigation ability of optical fibre gyro INS/GNSS tight integration systems.
Compared with pine combination, the major advantage of tight integration is due to, only with a junction filter, directly to utilize GNSS
Original observed quantity (pseudorange, pseudorange rates) measurement relevant issues are not present, system does not need complete GNSS data to aid in optical fiber
Gyro INS, when GNSS satellite number is less than 4, system remains to short-term normal work, but precision can be than using during multi-satellite
Decline.Compared with pine combination, the fusion complexity and Project Realization difficulty of tight integration system are low, and the requirement to system hardware is not
Height, therefore with higher cost advantage, it is easy to it is engineered.
The basic model of tight integration is pseudorange, pseudorange rates combination, the position that the almanac data and INS provided with GNSS is provided
And speed, calculate the pseudorange and pseudorange rates corresponding to inertial navigation position and speed.INS pseudorange and pseudorange rates and GNSS are measured
Pseudorange and pseudorange rates combine the measurement equation calculated as Kalman filtering；State error is being carried out with Kalman filtering
After estimation, feedback compensation is carried out to the position in inertial navigation system mechanization, strap-down matrix by the way of feedback compensation.So as to
Three-dimensional position, speed and attitude information than pure GNSS navigation or pure-inertial guidance higher precision can be provided.Fig. 2 is tight for simplification
Couple GNSS/INS unit information handling principle figures.The pattern of this combination remains inertial navigation and GNSS system is respective solely
There is provided the remaining of navigation information for vertical property.It can just enter essentially without its internal structure is changed for both subsystems
Row combination, and because both can provide position and the velocity information of geographic coordinate system where carrier, therefore utilize two kinds of equipment
The difference of these information is as the measured value of junction filter, and simply, filtering amount of calculation is reduced measurement equation.
The present invention is passed through by the way that the IMU of double antenna GNSS boards and optical fibre gyro is integrated in initial alignment
Algorithm calculates coordinate of the double antenna in IMU coordinate systems and with inserting inertial navigation.
Combined inertial nevigation Kalman filtering computing module 4 according to navigational state parameter and navigation metrical information, ephemeris number can be used
According to and satellite health status, computing module calculates coordinate lb of the antenna in inertial navigation coordinate system according to following formula, wherein,
Vb is default inertia estimating speed, and VG is the navigation metrical information medium velocity that GNSS receiver 2 is generated, and lb is day
Coordinate of the line in inertial navigation coordinate system,It is the spin matrix that carrier coordinate system is consolidated between ECEF coordinate systems to ground heart,For
The angular velocity of satellite motion for the carrier that three-axis gyroscope measurement is obtained,For rotational-angular velocity of the earth.
In initial alignment, you can extract as above each value (Vb, VG,) and parse lb, when convergence precision reaches cm
During rank, you can with imbedding system, arm of force compensation is participated in.That is, GNSS and INS are passed through during the dynamic fine alignment of combined inertial nevigation
Real-time measuring data calculates installation relation between the two in real time, and is automatically write as inner parameter.
Except above-mentioned by addition to GNSS double antennas board and IMU module amalgamation modes, following manner can also be used：Use two pieces
GNSS boards, send the data such as position and speed to core calculation module, core calculation module calculate course and with IMU groups
Close, equally run arm of force algorithm for estimating in alignment, on-line proving is carried out to installation relation with automatically configuring.
To sum up, combined inertial nevigation Kalman filter module receives the navigational state information and GNSS that INS processing modules 3 are provided
Navigation metrical information that receiver 2 is provided, almanac data and satellite health status can be used, may then pass through Kalman filtering meter
Calculate, feedback states tracking correction parameter, while being corrected to INS systems and GNSS system.
In addition, the embodiment of the present invention based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, it is in addition to long-range
Supervising device.Long-distance monitorng device is communicated with combined inertial nevigation Kalman filtering computing module 4, for showing simultaneously control combination
The output data system of inertial navigation, completion user command control input, Navigation Control parameter are exported, navigation working status parameter is exported,
The operations such as System self-test, system initialization, working state of system monitoring, task distribution.
Fig. 3 is the internal junction based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter according to the embodiment of the present invention
Composition.Wherein, 101 represent that the bottom plate of equipment, 102 represent that three axis optical fibre gyro 11 and three axis accelerometer 12,103 represent INS
Processing module 3,104 represents that main GNSS antenna plate, 105 represent to represent equipment bay from GNSS antenna plate, 106.Fig. 4 is bottom plate knot
Structure and optical fibre gyro and accelerometer installation diagram.Fig. 5 is installs showing for navigational computer and two pieces of GNSS boards on the basis of Fig. 4
It is intended to.
It is according to embodiments of the present invention based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, double antenna combination is used
When leading dynamic fine alignment, the coordinate in inertial navigation coordinate system in line computation each antenna is realized.In the dynamic fine alignment of combined inertial nevigation
During pass through GNSS and INS real-time measuring datas and calculate installation relation between the two in real time, it is and automatic as inner parameter
Write-in.The precision and calibrating procedure for the double antenna combined inertial nevigation that the present invention is greatly improved, because each installation relation can be calibrated independently,
And special optical device need not be used, so that substantially increasing efficiency has saved calibration cost.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
By appended claims and its equivalent limit.
Claims (8)
1. one kind is based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter, it is characterised in that including：IMU inertia measurements
Module, INS processing modules, GNSS receiver, combined inertial nevigation Kalman filtering computing module and power module, wherein,
The power module is used to power to the IMU inertia measuring modules, INS processing modules, GNSS receiver；
The IMU inertia measuring modules include：
Three axis optical fibre gyro, the angular velocity of satellite motion for measuring carrier；
Three axis accelerometer, the linear acceleration for measuring carrier；
Temperature sensor, for measuring internal temperature, temperature-compensating is carried out to the three axis optical fibre gyro and three axis accelerometer；
Drive circuit, the three axis optical fibre gyro, three axis accelerometer, the output end of temperature sensor drive electricity with described respectively
The input on road is connected, and the drive circuit is used to the angular velocity of satellite motion and linear acceleration of carrier being filtered processing；
A/D modular converters, the input of the A/D modular converters is connected with the output end of the drive circuit, for that will filter
The angular velocity of satellite motion and linear acceleration of carrier afterwards carry out analog-digital conversion, and the digital quantity of generation is sent to described
INS processing modules；
The INS processing modules are used to receive original operation angular speed and linear acceleration from the IMU inertia measuring modules
Signal is spent, and by integral and calculating of navigating, obtains the navigational state parameter information of the carrier, and filter to combined inertial nevigation Kalman
Ripple computing module provides navigational state parameter information；
The GNSS receiver includes：GNSS double antenna direction finding modules and GNSS receiving modules, wherein, the GNSS double antennas are surveyed
Double antenna GNSS boards are used to module, the GNSS receiving modules receive the antenna from the GNSS double antennas direction finding module
Signal, and generate navigation metrical information, almanac data and satellite health status can be used, and then send to the combined inertial nevigation karr
Graceful filtering computing module；
The combined inertial nevigation Kalman filtering computing module according to the navigational state parameter and navigation metrical information, ephemeris can be used
Data and satellite health status, computing module calculate coordinate lb of the antenna in inertial navigation coordinate system according to following formula, calculate in real time
Installation relation between GNSS receiver and INS processing modules, and automatically write as inner parameter,
Wherein,
Vb is default inertia estimating speed, and VG is the navigation metrical information medium velocity that GNSS receiver is generated, and lb is that antenna exists
Coordinate in inertial navigation coordinate system,It is the spin matrix that carrier coordinate system is consolidated between ECEF coordinate systems to ground heart,For three axles
The angular velocity of satellite motion for the carrier that gyroscope measurement is obtained,For rotational-angular velocity of the earth.
2. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 1, it is characterised in that described
Drive circuit includes：Low pass filter and signal pre-processing circuit, wherein, the input of the signal pre-processing circuit with it is described
The output end of low pass filter is connected, the output end of the signal pre-processing circuit and the input phase of the A/D modular converters
Even,
The low pass filter is used to be filtered processing to the angular velocity of satellite motion and linear acceleration of carrier, therein to filter out
Noise；
The signal pre-processing module is used to filtered angular velocity of satellite motion and linear acceleration transforming to the A/D moduluss of conversion
In the working range of block, and then export to the A/D modular converters.
3. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 1, it is characterised in that described
The navigational state parameter information of INS processing modules generation includes：Position, speed, posture and the course data of the carrier.
4. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 1, it is characterised in that described
GNSS receiving modules are used to, to the signal from GNSS double antenna direction finding modules, carry out frequency conversion, amplification, filtering process, to realize
Tracking, locking and measurement to GPS and BD2 signals, and believe to the navigation measurement for providing 1Hz to Kalman filter module
Cease, almanac data and satellite health status can be used.
5. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 4, it is characterised in that described
Navigation metrical information includes：Positional information, pseudorange, pseudorange rates measured value, wherein, the positional information includes latitude, longitude, height
Degree, speed, date, time, ephemeris.
6. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 1, it is characterised in that described
GNSS receiving modules also provide for system clock and total system time synchronized, while receiving differential signal and filtering feedback measurement
Amendment.
7. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 3, it is characterised in that described
Combined inertial nevigation Kalman filtering computing module uses close coupling integrated navigation technology, including：Believed according to the navigational state parameter
Position, velocity information in breath and it is described use almanac data, calculating obtains pseudorange corresponding with INS processing modules, pseudorange rates,
Pseudorange, the difference of pseudorange rates that it is obtained with the GNSS receiver measurement are calculated again, using this difference as observed quantity, are passed through
Kalman filter carry out state error estimation after, by the way of feedback compensation to the position in inertial navigation system mechanization,
Strap-down matrix carries out feedback compensation, combined inertial nevigation outgoing position, speed and attitude data.
8. the self-alignment double antenna combined inertial nevigation apparatus of installation parameter is based on as claimed in claim 7, it is characterised in that also wrapped
Include:Long-distance monitorng device, the long-distance monitorng device is communicated with the combined inertial nevigation Kalman filtering computing module, is used for
The output data system of simultaneously control combination inertial navigation is shown, user command control input, the output of Navigation Control parameter, navigation work is completed
State parameter output, System self-test, system initialization, working state of system monitoring, task distribution.
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Cited By (18)
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| CN107525503A (en) * | 2017-08-23 | 2017-12-29 | 王伟 | Adaptive cascade kalman filter method based on double antenna GPS and MIMU combination |
| CN107656533A (en) * | 2017-11-15 | 2018-02-02 | 航宇救生装备有限公司 | A kind of air-drop load bed posture adjustment control method based on double antenna direction finding |
| CN107907900A (en) * | 2017-11-07 | 2018-04-13 | 长光卫星技术有限公司 | A kind of multi-sensor combined navigation system and method for GNSS double antennas auxiliary |
| CN109341684A (en) * | 2018-11-29 | 2019-02-15 | 北京七维航测科技股份有限公司 | Combined inertial nevigation equipment |
| CN109556604A (en) * | 2018-11-20 | 2019-04-02 | 东南大学 | A kind of positioning and orienting device rotating the short baseline double antenna of MIMU/GNSS |
| CN110133695A (en) * | 2019-04-18 | 2019-08-16 | 同济大学 | A kind of double antenna GNSS location delay time dynamic estimation system and method |
| CN110220534A (en) * | 2019-05-24 | 2019-09-10 | 湖北航天技术研究院总体设计所 | A kind of online calibration method applied to group used on bullet |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| WO2020124624A1 (en) * | 2018-12-20 | 2020-06-25 | 东莞市普灵思智能电子有限公司 | Autonomous driving sensing method and system employing close coupling |
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| WO2021027621A1 (en) * | 2019-08-14 | 2021-02-18 | Oppo广东移动通信有限公司 | Navigation method, apparatus device, electronic device, and storage medium |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN112684478A (en) * | 2020-12-21 | 2021-04-20 | 广东博智林机器人有限公司 | Parameter calibration method and device based on double antennas, storage medium and electronic equipment |
| CN112788743A (en) * | 2019-11-11 | 2021-05-11 | 北京京邦达贸易有限公司 | Positioning method and device based on ultra-wideband technology |
| CN113253320A (en) * | 2021-05-21 | 2021-08-13 | 中国联合网络通信集团有限公司 | Shipborne pose measurement system and method |
| CN113342062A (en) * | 2021-06-10 | 2021-09-03 | 电子科技大学 | Solar tracking system based on double GNSS antennas |
| CN113532477A (en) * | 2021-07-15 | 2021-10-22 | 青岛迈金智能科技有限公司 | Riding stopwatch equipment and automatic calibration method for initial posture of riding stopwatch |
| CN113900126A (en) * | 2021-12-07 | 2022-01-07 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525503A (en) * | 2017-08-23 | 2017-12-29 | 王伟 | Adaptive cascade kalman filter method based on double antenna GPS and MIMU combination |
| CN107525503B (en) * | 2017-08-23 | 2020-09-11 | 王伟 | Adaptive cascade Kalman filtering method based on combination of dual-antenna GPS and MIMU |
| CN107907900A (en) * | 2017-11-07 | 2018-04-13 | 长光卫星技术有限公司 | A kind of multi-sensor combined navigation system and method for GNSS double antennas auxiliary |
| CN107656533A (en) * | 2017-11-15 | 2018-02-02 | 航宇救生装备有限公司 | A kind of air-drop load bed posture adjustment control method based on double antenna direction finding |
| CN109556604A (en) * | 2018-11-20 | 2019-04-02 | 东南大学 | A kind of positioning and orienting device rotating the short baseline double antenna of MIMU/GNSS |
| CN109341684A (en) * | 2018-11-29 | 2019-02-15 | 北京七维航测科技股份有限公司 | Combined inertial nevigation equipment |
| WO2020124624A1 (en) * | 2018-12-20 | 2020-06-25 | 东莞市普灵思智能电子有限公司 | Autonomous driving sensing method and system employing close coupling |
| CN110133695A (en) * | 2019-04-18 | 2019-08-16 | 同济大学 | A kind of double antenna GNSS location delay time dynamic estimation system and method |
| CN110220534A (en) * | 2019-05-24 | 2019-09-10 | 湖北航天技术研究院总体设计所 | A kind of online calibration method applied to group used on bullet |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| WO2021027621A1 (en) * | 2019-08-14 | 2021-02-18 | Oppo广东移动通信有限公司 | Navigation method, apparatus device, electronic device, and storage medium |
| CN112788743A (en) * | 2019-11-11 | 2021-05-11 | 北京京邦达贸易有限公司 | Positioning method and device based on ultra-wideband technology |
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| CN112684478A (en) * | 2020-12-21 | 2021-04-20 | 广东博智林机器人有限公司 | Parameter calibration method and device based on double antennas, storage medium and electronic equipment |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN112649023B (en) * | 2021-01-08 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN113253320A (en) * | 2021-05-21 | 2021-08-13 | 中国联合网络通信集团有限公司 | Shipborne pose measurement system and method |
| CN113342062A (en) * | 2021-06-10 | 2021-09-03 | 电子科技大学 | Solar tracking system based on double GNSS antennas |
| CN113342062B (en) * | 2021-06-10 | 2022-03-25 | 电子科技大学 | Solar tracking system based on double GNSS antennas |
| CN113532477A (en) * | 2021-07-15 | 2021-10-22 | 青岛迈金智能科技有限公司 | Riding stopwatch equipment and automatic calibration method for initial posture of riding stopwatch |
| CN113900126A (en) * | 2021-12-07 | 2022-01-07 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
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