CN107092027A - The method and apparatus of attitude angle is calculated using signal receiver - Google Patents
The method and apparatus of attitude angle is calculated using signal receiver Download PDFInfo
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- CN107092027A CN107092027A CN201710168119.3A CN201710168119A CN107092027A CN 107092027 A CN107092027 A CN 107092027A CN 201710168119 A CN201710168119 A CN 201710168119A CN 107092027 A CN107092027 A CN 107092027A
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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
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
Abstract
The invention belongs to technical field of navigation and positioning, there is provided the method and apparatus that a kind of utilization signal receiver calculates attitude angle.This method includes：S10 sets up the posture angle model of target to be positioned using at least four signal receiver；The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, calculates the attitude angle of any time target to be positioned；S30 sets up second double difference sub-model of each signal receiver under continuous time point, the relative variation of attitude angle when calculating displacement of targets change to be positioned；S40 obtains the attitude angle of goal satisfaction preparatory condition to be positioned.The utilization signal receiver of the present invention calculates the method and apparatus of attitude angle, the attitude angle of target to be positioned can need not accurately be obtained using IMU system, will not occur the caused location-based service of situations such as system down, instrument failure or error not tolerable and the situation of severe deviations occur.
Description
Technical field
Calculate the method for attitude angle the present invention relates to field of navigation technology, more particularly to a kind of utilization signal receiver and set
It is standby.
Background technology
With scientific and technological progress, increasing equipment possesses navigation locating function, wherein, when providing location-based service, really
The spatial attitude of locking equipment is vital safety guarantee in the equipment such as automatic driving vehicle, unmanned plane.Therefore obtain
Take accurate attitude angle data very crucial.
At present in the application navigation system based on location-based service, the method for calculating attitude angle is typically all to be surveyed by inertia
Measure to calculate after combined system measurement and obtain, the IMU system is main by acceleration transducer, gyroscope, Magnetic Sensor
Combine, wherein acceleration sensing, gyroscope can effective computing device flip angle and the angle of pitch, and Magnetic Sensor is available
Carry out the yaw angle of computing device, equipment is assured that by obtaining flip angle, the angle of pitch and yaw angle these three data
Spatial attitude.But, can be because device be by many and diverse influences using IMU systematic survey with calculating during attitude angle
Cause calculation error larger.These influences include：The manufacture craft level of acceleration transducer, vibration equipment, surrounding environment pair
The electromagnetic interference of Magnetic Sensor, and the error of gyroscope are gradually accumulated over time.Therefore, using IMU system
The method calculated after unified test amount serious interference environment and it is specific under the conditions of can cause equipment can not normal work or generation
The error that can not put up with.Also it is exactly once that IMU system generation system down, instrument failure or error can not be held
The application based on location-based service is may result in when bearing and serious deviation occurs.
In view of this, it is necessary to the method and apparatus that a kind of energy accurately, stably calculates attitude angle is provided, to avoid the occurrence of
Occur to be led when system down, instrument failure or error not tolerable using IMU system in the prior art
Cause the problem of tight deviation occurs in the application based on location-based service.
The content of the invention
It is an object of the invention to provide the method and apparatus that a kind of utilization signal receiver calculates attitude angle, to solve
Occur to be led when system down, instrument failure or error not tolerable using IMU system in the prior art
The application based on location-based service is caused the technical problem of severe deviations occur.
The present invention provides a kind of method that utilization signal receiver calculates attitude angle, comprises the following steps：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, is calculated
The attitude angle of target to be positioned described in any time；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates described to be positioned
The relative variation of attitude angle when displacement of targets changes；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.
Preferably, methods described also includes before step S10：
S50 controls the conventional attitude angle of target to be positioned described in an IMU systematic survey；
If the variable quantity between the conventional attitude angle at S60 two neighboring moment exceedes predetermined threshold value, into the step
Rapid S10.
Preferably, the signal receiver is gps receiver, Wi-Fi signal receiver, Bluetooth signal receiver, RFID
Signal receiver, acoustic sensor or optical sensor.
Preferably, when the signal receiver is gps receiver, the signal projector is satellite, and step S20 enters one
Step comprises the following steps：
S21 calculates the true pseudorange between the gps receiver and the satellite and the observed quantity of carrier phase；
The difference model that S22 is set up between each gps receiver according to the observed quantity of the carrier phase；
S23 sets up double difference of each gps receiver respectively between the satellite of predetermined quantity according to the difference model
Sub-model；
S24 sets up the posture angle model of target to be positioned described in any time；
S25 calculates the attitude angle of the target to be positioned at any time.
Preferably, step S30 further comprises：
S31 is set up between each gps receiver the of the t1 moment according to the difference model between each gps receiver
One difference model and the second difference model at the t2 moment；
S32 sets up double difference sub-model of each gps receiver between the t2 moment and the t1 moment；
S33 sets up attitude angle relative variation model of each gps receiver from the t1 moment to the t2 moment；
S34 is according to the attitude angle relative quantity variation model, when calculating the attitude angle from the t1 moment to the t2
The relative changing value at quarter.
Preferably, step S40 obtains the goal satisfaction preparatory condition to be positioned using scalability Kalman filtering
Attitude angle, specifically includes following steps：
S41 according to the relative changing value, based on the attitude angle relative variation model and each gps receiver respectively with
Double difference sub-model between the satellite of predetermined quantity sets up linear equation；
S42 simplifies the double difference sub-model of each gps receiver respectively between the satellite of predetermined quantity, generates simplification side
Journey；
S43 predicts subsequent time based on the attitude angle relative variation model and the reduced equation at current time
New reduced equation, by the gain weight of scalability Kalman filtering, obtains the relative changing value of subsequent time and corresponding
Quaternary number；
The quaternary number is carried out Eulerian angles conversion by S44, obtains the attitude angle of the target to be positioned.
The present invention also provides the equipment that a kind of utilization signal receiver calculates attitude angle, and the equipment includes：
Attitude angle model building module, the posture for setting up target to be positioned using signal receiver described at least four
Angle model；
Attitude angle computing module, for setting up first between each signal receiver and predetermined quantity signal projector
Double difference sub-model, calculates the attitude angle of target to be positioned described in any time；
Attitude angle relative variation computing module, for setting up each signal receiver second under continuous time point
Double difference sub-model, the relative variation of attitude angle when calculating the displacement of targets change to be positioned；
Attitude angle acquisition module, the attitude angle for obtaining the goal satisfaction preparatory condition to be positioned.
Preferably, the attitude angle computing module is specifically included：
First computing unit, for calculating true pseudorange and carrier wave phase between the gps receiver and the satellite
The observed quantity of position；
Difference model sets up unit, the difference set up for the observed quantity according to the carrier phase between each gps receiver
Sub-model；
Double difference sub-model sets up unit, for according to the difference model, set up each gps receiver respectively with predetermined quantity
The satellite between double difference sub-model；
Posture angle model sets up unit, the posture angle model for setting up target to be positioned described in any time；
Second computing unit, for calculating the attitude angle of the target to be positioned at any time.
Preferably, the attitude angle relative variation computing module is specifically included：
Each moment difference model sets up unit, for according to the difference model between each gps receiver, setting up each
The first difference model at the t1 moment and the second difference model at the t2 moment between gps receiver；
Double difference sub-model sets up unit between moment, for setting up each gps receiver at the t2 moment and the t1 moment
Between double difference sub-model；
Attitude angle relative variation model sets up unit, for setting up each gps receiver from the t1 moment to the t2
The attitude angle relative variation model at moment；
Relative changing value's computing unit, for according to the attitude angle relative quantity variation model, calculate the attitude angle from
Relative changing value of the t1 moment to the t2 moment.
The present invention also provides the equipment that a kind of utilization signal receiver calculates attitude angle, and the equipment includes：Processor, deposit
Reservoir and at least four signal receiver；The signal receiver is used to receive the signal for positioning a target to be positioned；Institute
State the computer program that memory storage can be performed；The processor call computer program in the memory to perform with
Lower step：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, is calculated
The attitude angle of target to be positioned described in any time；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates described to be positioned
The relative variation of attitude angle when displacement of targets changes；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.
The utilization signal receiver of the present invention calculates the method and apparatus of attitude angle, without using IMU system
The attitude angle of target to be positioned can be accurately obtained, will not occur situations such as system down, instrument failure or error not tolerable
There is the situation of severe deviations in caused location-based service.Meanwhile, the present invention, which has, is completely independent of hardware sensor with regard to energy
The exact posture angle of target to be positioned is obtained to carry out the advantage of navigator fix service.
Brief description of the drawings
Fig. 1 shows that the utilization signal receiver of embodiment of the present invention one calculates the flow signal of the method for attitude angle
Figure.
Fig. 2 shows schematic diagram when posture angle model is set up using several gps receivers.
Fig. 3 shows the detailed process schematic diagram of step S20 in Fig. 1.
Fig. 4 shows the schematic diagram that Difference Calculation model is set up between gps receiver.
Fig. 5 shows the detailed process schematic diagram of step S30 in Fig. 1.
Fig. 6 shows the schematic diagram for calculating attitude angle.
Fig. 7 is the structural representation that the utilization signal receiver of embodiment of the present invention two calculates the equipment of attitude angle.
Fig. 8 is the concrete structure schematic diagram of attitude angle computing module in Fig. 7.
Fig. 9 is the concrete structure schematic diagram of attitude angle relative variation computing module in Fig. 7.
Figure 10 is the structural representation that the utilization signal receiver of embodiment of the present invention two calculates the equipment of attitude angle.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in mode and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Embodiment limitation.
Embodiment one
Fig. 1 to Fig. 6 is referred to, embodiment of the present invention one provides the side that a kind of utilization signal receiver calculates attitude angle
Method, this method is used for positioning the position of target to be positioned such as mobile device, and is carried when being moved for target to be positioned such as mobile device
For navigation Service, mobile device here can be aircraft, road transport, waterborne and underwater vehicle.It is specific next
Say, aircraft can be unmanned vehicle, road transport can be automobile especially pilotless automobile；It is waterborne with water
The vehicles can be the instruments such as ship or submarine.Here signal receiver can be received with gps receiver, Wi-Fi signal
Device, Bluetooth signal receiver, RFID signal receiver, acoustic sensor or optical sensor.Preferentially selected in following examples
Gps receiver is selected, certain other signal receivers are similar, for example Wi-Fi signal receiver can be for spatial dimension not
Target movement to be positioned is positioned when big, the Wi-Fi signal transmitter of predetermined quantity is set, by being pressed to target to be positioned
Attitude angle can be obtained according to similar calculating, specific application scenarios are indoor unmanned vehicle positioning and navigation.Further, above-mentioned appearance
Navigation attitude angle is also named at state angle, is mainly included：The angle of several positioning targets to be positioned such as flip angle, yaw angle and the angle of pitch.
The method for calculating attitude angle using signal receiver is mainly included the following steps that：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；As illustrated in fig. 2, it is assumed that
As shown in FIG., it is reference coordinate axle, 4 GPS receivers to take northeastward to 4 gps receiver corresponding relations in target to be positioned
The position of device is respectively ρ1, ρ2, ρ3, ρ4, the distance of gps receiver 4 to gps receiver 1, gps receiver 2 is respectively d1 and d2,
Therefore the baseline matrix B of mobile device can be calculated0=[ρ41 ρ42 ρ43], in above-mentioned baseline matrix B 0：
In the coordinate system that northeastward is reference coordinate axle, the flexion-extension of mobile device attitude angle when any time is set
Angle, flip angle, yaw angle are respectivelyθ, φ, then its spin matrix is A
Then any time position of mobile equipment matrix B=A ' Bo
Because axle-angle representation of quaternary number can represent any rotation of three dimensions, therefore calculate for convenience
Represent that spin matrix is A (q) using quaternary number, then
Wherein, w=cos (α/2), x=sin (α/2) cos (βx), y=sin (α/2) cos (βy), z=sin (α/2) cos
(βz)
α above is the angle rotated around rotary shaft, cos (βx),cos(βy),cos(βz) for rotary shaft in x, y, z directions
Component, represent rotary shaft direction direction, thus can determine that rotary shaft.
Then represent that position coordinates is B (q)=A (q) ' B during equipment any time with quaternary numbero
And any time basic lineal vector is ρij(q)=A (q) ' ρij(q0)。
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, is calculated
The attitude angle of target to be positioned described in any time；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates described to be positioned
The relative variation of attitude angle when displacement of targets changes；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.Here preparatory condition can be with positioning precision
It is actually needed to set, it is, of course, preferable to be accurate positioning, the optimum attitude angle that draws through correlation computations (refers to and retouch hereinafter
State).
In a variant embodiment, the utilization signal receiver of embodiment of the present invention one calculates the method for attitude angle also
It can be used in combination with IMU system, the IMU system is main by acceleration transducer, gyroscope, magnetic
Sensor combinations are formed, wherein acceleration sensing, gyroscope can effective computing device flip angle and the angle of pitch, and magnetic is sensed
Device can be used to the yaw angle of computing device, is assured that by obtaining flip angle, the angle of pitch and yaw angle these three data
The spatial attitude of equipment.Methods described also includes before step S10：
S50 controls the conventional attitude angle of target to be positioned described in an IMU systematic survey；
If the variable quantity between the conventional attitude angle at S60 two neighboring moment exceedes predetermined threshold value, into the step
Rapid S10.Specifically, after conventional attitude angle is measured, judging the difference of the conventional attitude angle angle of adjacent moment twice expires
Sufficient formula once：
Δ|Pt12,Rt12,Yt12|>δ
Wherein, Pt12, Rt12, Yt12IMU system is represented respectively in t1, angle of pitch difference that the t2 moment calculates,
Flip angle difference, yaw angle difference；Δ | | represent the average value of absolute difference sum；δ is the pre- of conventional attitude angle variable quantity
If threshold value, i.e., the maximum constant value for the permission that conventional attitude angle changes in the adjacent moment of collection, can value be 2 °.
When the variable quantity between the conventional attitude angle at two neighboring moment exceedes predetermined threshold value, that is, think inertia measurement group
Utilization signal receiver proposed by the present invention can not need to be switched to and calculate attitude angle in tolerance by closing system down or error
Method, open at least four gps receiver carry out difference measurement, obtain mobile device attitude angle.
The method that the utilization signal receiver of the present invention calculates attitude angle, is occurring system using IMU system
When failure, instrument failure or error not tolerable, automatically switch and the mode of attitude angle is calculated using signal receiver, keep away
Exempt from mobile device such as unmanned vehicle, pilotless automobile etc. and traffic accidents occur in movement.
Fig. 3 and Fig. 4 are referred to, when the signal receiver is gps receiver, the signal projector is satellite, step
Rapid S20 further comprises the steps：
S21 calculates the true pseudorange between the gps receiver and the satellite and the observed quantity of carrier phase；
Specifically, from the pseudo range measurement method of gps receiver,
Wherein,Represent the true pseudorange of gps receiver i and signal projector (satellite S) and the geometry that measures away from
From；ti, tsGps receiver i, satellite S clock jitter are represented respectively；A represents to reflect caused range error in atmosphere,
MiThe error caused by multipath effect,For star station observation noise, c is the light velocity.
Similar with pseudo range measurement, the observed quantity of carrier phase is represented by
WhereinRepresent the measurement pseudorange between gps receiver i and satellite s；For initial integral cycle unknown, it has whole
All characteristics；For phase deviation, the fractional part less than one week is represented；λ carrier wavelengths；A represents that refraction is caused in atmosphere
Range error, MiThe error caused by multipath effect,For satellite station observation noise.
The difference model that S22 is set up between each gps receiver according to the observed quantity of the carrier phase；Specifically, it is right
Carrier phase observed quantity between gps receiver j and satellite s is represented by
Therefore,, can much GPS receivers for same satellite s in the case where many gps receivers i, j are observed simultaneously
Difference model is as follows between device：
Wherein,Represent gps receiver i and gps receiver j to the difference of satellite s pseudorange, Δ tij=ti-tj
The difference of gps receiver clock correction is represented,The difference of the initial integral cycle unknown of phase is represented,Represent
The difference of gps receiver phase deviation.
According to the spatial relation in such as Fig. 2 between gps receiver i, j, it can obtain
Wherein ρijGps receiver i to gps receiver j line vector is represented,Represent gps receiver to satellite s direction
On unit vector.So difference model can be written as between many gps receivers
S23 sets up double difference of each gps receiver respectively between the satellite of predetermined quantity according to the difference model
Sub-model；Specifically, it can be seen from second step, for gps receiver i, the difference model between j and satellite k is represented by：
Therefore, many gps receivers i, j are while the double difference model for observing multi-satellite s, k is：
The satellite of i.e. many gps receivers and predetermined quantity sets up double difference sub-model between any two can eliminate each GPS receiver
Clock jitter between device, but include multiple collector, the difference of the initial integral cycle unknown of intersatellite phase of predetermined quantity.
S24 sets up the posture angle model of target to be positioned described in any time；In a particular embodiment, connect according to many GPS
The posture angle model that device is set up is received, the double difference model that the satellite of many gps receivers and predetermined quantity is set up between any two can be represented
For
Wherein qnFor the quaternary number of initial estimation；δ θ rotating vectors, its corresponding quaternary number is δ q；Represent vector fork
Multiply.
S25 calculates the attitude angle of the target to be positioned at any time.Specifically, by multiple satellites to sk (s=
12,13,23 ...) and different gps receivers set up many inter-satellite double differences of multiple many gps receivers to ij (ij=41,42,43)
Equation, then optimal rotating vector δ θ are estimated by least square method, then the quaternary number δ q corresponding to rotating vector δ θ can be calculated,
Then the quaternary number in earth reference frame isWhereinCalculated for product between quaternary number.
The conversion formula of Eulerian angles is counted to by quaternary again
Above-mentioned conversion formula can obtain the attitude angle of mobile device at any time.
Fig. 5 is referred to, step S30 further comprises：
S31 is set up between each gps receiver the of the t1 moment according to the difference model between each gps receiver
One difference model and the second difference model at the t2 moment；Specifically, according to difference model between many gps receivers, set up
Difference model between many gps receivers when t1 moment and t2 moment：
Wherein,Represent the vector between t1 moment gps receiver i to gps receiver j, Δ tij(t1) represent
The difference of t1 moment gps receivers i, j clock correction,Represent unknown in the initial complete cycle of t1 moment gps receiver i, j phases
The difference of number,The difference in t1 moment gps receiver i, j phase deviations is represented, λ, c represents carrier wavelength and the light velocity respectively.
Similarly, the difference model between the gps receiver i, j at t2 moment is：
S32 sets up double difference sub-model of each gps receiver between the t2 moment and the t1 moment；Specifically,
In the case of adjusting generation in no week,Therefore at t1 moment and t2 moment between many gps receivers
Difference model subtract each other can much gps receiver different time points double difference sub-model it is as follows:
Wherein,Represent the vector between t1, t2 moment gps receiver i to gps receiver j, Δ tij
(t12) represent in t1, the difference of t2 moment gps receivers i, j clock correction,Represent in t1, t2 moment gps receivers i, j
Between phase deviation difference, λ, c represents carrier wavelength and the light velocity respectively.
S33 sets up attitude angle relative variation model of each gps receiver from the t1 moment to the t2 moment；Specifically
For, the posture angle model set up according to many gps receivers, then double difference sub-model can table during many gps receiver different time points
It is shown as：
Wherein q1For in t1 position turn quaternary number；Rotating vector, its corresponding quaternary when δ θ are t1 moment to the t2 moment
Number is δ q；Represent vectorial multiplication cross.
S34 is according to the attitude angle relative quantity variation model, when calculating the attitude angle from the t1 moment to the t2
The relative changing value at quarter.Specifically, by multiple satellite s (s=1,2,3 ...) and different gps receivers to ij (ij=41,
42,43) double-difference equation when setting up multiple many gps receiver different time points, then by least square method estimate it is optimal rotate to
δ θ are measured, then can calculate the quaternary number δ q corresponding to rotating vector δ θ.
And the quaternary number at the t2 moment isWhereinFor product calculation between quaternary number, then counted to by quaternary
The conversion formula of Eulerian angles：
The initial attitude angle of mobile device can be calculated.
In a specific embodiment, step S40 obtains the target to be positioned using scalability Kalman filtering and expired
The attitude angle of sufficient preparatory condition, specifically includes following steps：
S41 according to the relative changing value, based on the attitude angle relative variation model and each gps receiver respectively with
Double difference sub-model between the satellite of predetermined quantity sets up linear equation；Specifically, will using the rotating vector of estimation
State shifting formwork type is write as linear general expression equation
δθk+1=F δ θk+wk,
Wherein k, k+1 are continuous time point,wkFor the signal to noise ratio of gps signal, Kalman's filter can be seen as
The process noise of wave system system；δ θ are the rotating vector of estimation.
S42 simplifies the double difference sub-model of each gps receiver respectively between the satellite of predetermined quantity, generates simplification side
Journey；Specifically, measurement model is write as general expression
y-y0=H δ θk+1+vt
In above formula：
K represents satellite and sampling subscript number, vtFor gps signal signal to noise ratio, the measurement of Kalman filtering system can be seen as
Noise.
S43 predicts subsequent time based on the attitude angle relative variation model and the reduced equation at current time
New reduced equation, by the gain weight of scalability Kalman filtering, obtains the relative changing value of subsequent time and corresponding
Quaternary number；Specifically, utilization state transfer linear model and the measurement model at k moment calculate the forecast model at k+1 moment, will
The measurement model and the forecast model at k+1 moment at k+1 moment are calculated by the gain weight of autgmentability Kalman filtering, can be obtained
The rotating vector optimal estimation δ θ of subsequent time (k+1 moment)k+1With corresponding quaternary number δ qk+1, then the quaternary number at k+1 moment is most
Excellent estimate is
The quaternary number is carried out Eulerian angles conversion by S44, obtains the attitude angle of the target to be positioned.Specifically describe such as
Under：The conversion formula of Eulerian angles is counted to by quaternary, you can obtain the optimal pose estimation of mobile device.Wherein, quaternary number
To the conversion formula of Eulerian angles：
By above-mentioned formula, the attitude angle of mobile device can be calculated.
Embodiment two
Fig. 6, Fig. 7 and Fig. 8 are referred to, embodiment of the present invention two also provides a kind of on the basis of above-mentioned embodiment one
The equipment that attitude angle is calculated using signal receiver, the equipment is included：
Attitude angle model building module 10, the appearance for setting up target to be positioned using signal receiver described at least four
State angle model；
Attitude angle computing module 20, for setting up between each signal receiver and predetermined quantity signal projector
A pair of difference model, calculates the attitude angle of target to be positioned described in any time；
Attitude angle relative variation computing module 30, for setting up each signal receiver under continuous time point
Two double difference sub-models, the relative variation of attitude angle when calculating the displacement of targets change to be positioned；
Attitude angle acquisition module 40, the attitude angle for obtaining the goal satisfaction preparatory condition to be positioned.
The equipment of the utilization signal receiver calculating attitude angle of the present invention, which has, is completely independent of hardware sensor with regard to energy
The exact posture angle of target to be positioned is obtained to carry out the advantage of navigator fix service.
In a specific embodiment, the equipment also includes：
Conventional attitude angle module, the routine for controlling target to be positioned described in an IMU systematic survey
Attitude angle；
Handover module, for when the variable quantity between the conventional attitude angle at two neighboring moment exceedes predetermined threshold value, closing
Close IMU system and enabling signal receiver operation.
The equipment that the utilization signal receiver of the present invention calculates attitude angle, is occurring system using IMU system
When failure, instrument failure or error not tolerable, the mode that attitude angle is calculated using signal receiver is automatically switched to,
Mobile device such as unmanned vehicle, pilotless automobile etc. is avoided traffic accidents occur in movement.
As shown in figure 8, in a specific embodiment, the attitude angle computing module 20 is specifically included：
First computing unit 21, for calculating true pseudorange and carrier wave between the gps receiver and the satellite
The observed quantity of phase；
Difference model sets up unit 22, is set up for the observed quantity according to the carrier phase between each gps receiver
Difference model；
Double difference sub-model sets up unit 23, for according to the difference model, set up each gps receiver respectively with predetermined number
Double difference sub-model between the satellite of amount；
Posture angle model sets up unit 24, the posture angle model for setting up target to be positioned described in any time；
Second computing unit 25, for calculating the attitude angle of the target to be positioned at any time.
As shown in figure 9, in a specific embodiment, the attitude angle relative variation computing module 30 is specifically included：
Each moment difference model sets up unit 31, for according to the difference model between each gps receiver, setting up each
The first difference model at the t1 moment and the second difference model at the t2 moment between gps receiver；
Double difference sub-model sets up unit 32 between moment, for setting up each gps receiver when the t2 moment is with the t1
Double difference sub-model between quarter；
Attitude angle relative variation model sets up unit 33, for setting up each gps receiver from the t1 moment to described
The attitude angle relative variation model at t2 moment；
Relative changing value's computing unit 34, for according to the attitude angle relative quantity variation model, calculating the attitude angle
From the t1 moment to the relative changing value at the t2 moment.
By obtaining attitude angle from the t1 moment to the relative changing value at the t2 moment, to predict the appearance of subsequent time
Get ready at state angle.
Embodiment three
Figure 10 is referred to, the present invention also provides the equipment that a kind of utilization signal receiver calculates attitude angle, the equipment bag
Include：Processor 100, memory 200 and at least four signal receiver 310,320,330 and 340；Above-mentioned at least four signal connects
Receiving device 310,320,330 and 340 is used to receive the signal for positioning a target to be positioned；The memory 200 is stored
The computer program that can be performed；The processor 100 calls the computer program in the memory 200 to perform following walk
Suddenly：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, is calculated
The attitude angle of target to be positioned described in any time；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates described to be positioned
The relative variation of attitude angle when displacement of targets changes；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.
The equipment of the utilization signal receiver calculating attitude angle of the present invention, which has, is completely independent of hardware sensor with regard to energy
The exact posture angle of target to be positioned is obtained to carry out the advantage of navigator fix service.
In addition, the computer program that above-mentioned processor may call upon memory storage is performed below before step S10
Step：
S50 controls the conventional attitude angle of target to be positioned described in an IMU systematic survey；
If the variable quantity between the conventional attitude angle at S60 two neighboring moment exceedes predetermined threshold value, into the step
Rapid S10.
The equipment that the utilization signal receiver of the present invention calculates attitude angle, is occurring system using IMU system
When failure, instrument failure or error not tolerable, automatically switch and the mode of attitude angle is calculated using signal receiver, keep away
Exempt from mobile device such as unmanned vehicle, pilotless automobile etc. and traffic accidents occur in movement.
The preferred embodiment of the present invention is these are only, is not intended to limit the invention, for the technology of this area
For personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of method that utilization signal receiver calculates attitude angle, it is characterised in that comprise the following steps：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, calculates any
The attitude angle of target to be positioned described in moment；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates the target to be positioned
The relative variation of attitude angle during change in displacement；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.
2. the method that utilization signal receiver according to claim 1 calculates attitude angle, it is characterised in that methods described exists
Also include before step S10：
The conventional attitude angle that S50 passes through target to be positioned described in an IMU systematic survey；
If the variable quantity between the conventional attitude angle at S60 two neighboring moment exceedes predetermined threshold value, into the step
S10。
3. the method that utilization signal receiver according to claim 1 or 2 calculates attitude angle, it is characterised in that the letter
Number receiver is gps receiver, Wi-Fi signal receiver, Bluetooth signal receiver, RFID signal receiver, acoustic sensor
Or optical sensor.
4. the method that utilization signal receiver according to claim 3 calculates attitude angle, it is characterised in that when the signal
When receiver is gps receiver, the signal projector is satellite, and step S20 further comprises the steps：
S21 calculates the true pseudorange between the gps receiver and the satellite and the observed quantity of carrier phase；
The difference model that S22 is set up between each gps receiver according to the observed quantity of the carrier phase；
S23 sets up Double deference mould of each gps receiver respectively between the satellite of predetermined quantity according to the difference model
Type；
S24 sets up the posture angle model of target to be positioned described in any time；
S25 calculates the attitude angle of the target to be positioned at any time.
5. the method that utilization signal receiver according to claim 4 calculates attitude angle, it is characterised in that step S30 enters
One step includes：
S31 sets up first poor at the t1 moment between each gps receiver according to the difference model between each gps receiver
Sub-model and the second difference model at the t2 moment；
S32 sets up double difference sub-model of each gps receiver between the t2 moment and the t1 moment；
S33 sets up attitude angle relative variation model of each gps receiver from the t1 moment to the t2 moment；
S34 calculates the attitude angle from the t1 moment to the t2 moment according to the attitude angle relative quantity variation model
Relative changing value.
6. the method that utilization signal receiver according to claim 4 calculates attitude angle, it is characterised in that step S40 profits
The attitude angle of the goal satisfaction preparatory condition to be positioned is obtained with scalability Kalman filtering, following steps are specifically included：
S41 is according to the relative changing value, based on the attitude angle relative variation model and each gps receiver respectively with making a reservation for
Double difference sub-model between the satellite of quantity sets up linear equation；
S42 simplifies the double difference sub-model of each gps receiver respectively between the satellite of predetermined quantity, generates reduced equation；
S43 predicts the new letter of subsequent time based on the attitude angle relative variation model and the reduced equation at current time
Change equation, by the gain weight of scalability Kalman filtering, obtain the relative changing value of subsequent time and corresponding quaternary
Number；
The quaternary number is carried out Eulerian angles conversion by S44, obtains the attitude angle of the target to be positioned.
7. the equipment that a kind of utilization signal receiver calculates attitude angle, it is characterised in that the equipment includes：
Attitude angle model building module, the posture angle mould for setting up target to be positioned using signal receiver described at least four
Type；
Attitude angle computing module, for setting up the first double difference between each signal receiver and predetermined quantity signal projector
Sub-model, calculates the attitude angle of target to be positioned described in any time；
Attitude angle relative variation computing module, for setting up second double difference of each signal receiver under continuous time point
Sub-model, the relative variation of attitude angle when calculating the displacement of targets change to be positioned；
Attitude angle acquisition module, the attitude angle for obtaining the goal satisfaction preparatory condition to be positioned.
8. the equipment that utilization signal receiver according to claim 7 calculates attitude angle, it is characterised in that the attitude angle
Computing module is specifically included：
First computing unit, for calculating true pseudorange between the gps receiver and the satellite and carrier phase
Observed quantity；
Difference model sets up unit, the differential mode set up for the observed quantity according to the carrier phase between each gps receiver
Type；
Double difference sub-model sets up unit, for according to the difference model, setting up institute of each gps receiver respectively with predetermined quantity
State the double difference sub-model between satellite；
Posture angle model sets up unit, the posture angle model for setting up target to be positioned described in any time；
Second computing unit, for calculating the attitude angle of the target to be positioned at any time.
9. the equipment that utilization signal receiver according to claim 8 calculates attitude angle, it is characterised in that the attitude angle
Relative variation computing module is specifically included：
Each moment difference model sets up unit, for according to the difference model between each gps receiver, setting up each GPS and connecing
Receive the first difference model at the t1 moment and the second difference model at the t2 moment between device；
Double difference sub-model sets up unit between moment, for setting up each gps receiver between the t2 moment and the t1 moment
Double difference sub-model；
Attitude angle relative variation model sets up unit, for setting up each gps receiver from the t1 moment to the t2 moment
Attitude angle relative variation model；
Relative changing value's computing unit, for according to the attitude angle relative quantity variation model, calculating the attitude angle from described
Relative changing value of the t1 moment to the t2 moment.
10. the equipment that a kind of utilization signal receiver calculates attitude angle, it is characterised in that the equipment includes：Processor, storage
Device and at least four signal receiver；The signal receiver is used to receive the signal for positioning a target to be positioned；It is described
The computer program that memory storage can be performed；It is following that the processor calls the computer program in the memory to perform
Step：
S10 sets up the posture angle model of target to be positioned using signal receiver described at least four；
The first double difference sub-model that S20 is set up between each signal receiver and predetermined quantity signal projector, calculates any
The attitude angle of target to be positioned described in moment；
S30 sets up second double difference sub-model of each signal receiver under continuous time point, calculates the target to be positioned
The relative variation of attitude angle during change in displacement；
S40 obtains the attitude angle of the goal satisfaction preparatory condition to be positioned.
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| CN201710168119.3A CN107092027B (en) | 2017-03-20 | 2017-03-20 | The method and apparatus of attitude angle is calculated using signal receiver |
| CN201910452081.1A CN110187377B (en) | 2017-03-20 | 2017-03-20 | Method and device for navigation and positioning of mobile device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110187377A (en) | 2019-08-30 |
| CN110187377B (en) | 2023-04-25 |
| CN107092027B (en) | 2019-08-13 |
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