CN107621647A - A kind of alignment system and method for overcoming aeronautical satellite valley effect - Google Patents
A kind of alignment system and method for overcoming aeronautical satellite valley effect Download PDFInfo
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- CN107621647A CN107621647A CN201710877139.8A CN201710877139A CN107621647A CN 107621647 A CN107621647 A CN 107621647A CN 201710877139 A CN201710877139 A CN 201710877139A CN 107621647 A CN107621647 A CN 107621647A
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Abstract
The present invention provides a kind of alignment system and method for overcoming aeronautical satellite valley effect, GNSS module and laser cooperative target are equipped on unmanned plane, and unmanned plane during flying is controlled to be hovered to correct position, recycle total powerstation to determine point to be located to the distance of each hovering point of unmanned plane, the coordinate of point to be located is obtained eventually through least square method.Each part of the present invention is clear, the division of labor is clear and definite, it is relatively simple to implement, and can effectively solve the orientation problem in aeronautical satellite valley effect region, quickly reliably obtain the coordinate of point to be located, have wide market application foreground.
Description
Technical field
The invention belongs to measure and navigation field, more particularly to a kind of alignment system for overcoming aeronautical satellite valley effect and
Method.
Background technology
Global navigation satellite system, including GPS, GLONASS, Big Dipper etc., have round-the-clock, round-the-clock, precision it is high,
The characteristics of fast is positioned, is currently to measure the important means with navigator fix.If any receiver can be at least in synchronization
The signal of four satellites is captured, the position of receiver can be calculated.This requirement is spacious on high, the area of broad view
It is easily met, can be received simultaneously because satellite system already allows for any point on the earth to be caused when designing constellation
To the signal of at least four satellites.But in actual measurement, there is very multipoint satellite-signal seriously to be blocked, such as city high rise building
Road, rural area in crack close to room between vacant lot, on the river dam in high mountain gorge etc., at this moment due to obstacle
The barrier of thing so that the receiver on ground can only often receive the signal of one or two satellite, and this phenomenon is referred to as aeronautical satellite gorge
Paddy effect.Such a effect causes prior art that satellite positioning method can not be utilized to determine the position of receiver, and these foregoing areas
Domain is often again that measurement worker is concerned about, thus needs a kind of localization method that can effectively overcome aeronautical satellite valley effect badly.
The content of the invention
To solve the above problems, the present invention provides a kind of alignment system and method for overcoming aeronautical satellite valley effect, adopt
With following technical scheme：
(1) present invention provides a kind of alignment system for overcoming aeronautical satellite valley effect, including such as lower part：
Unmanned plane, specified location is arrived for flying；
Unmanned aerial vehicle (UAV) control device, for controlling the flight of unmanned plane；
GNSS module, including antenna and receiving circuit, for receiving navigation satellite signal in void spaces；
Total powerstation, for determining point to be located to the distance of unmanned plane；
Laser cooperative target, for coordinating total powerstation mensuration distance；
Solving unit, for receiving the data of total powerstation and unmanned plane, and calculate fixed point coordinate；
Communication link, for the data of unmanned plane, total powerstation to be sent into solving unit；
GNSS module and the laser cooperative target is equipped on unmanned plane, and the geometric center of GNSS antenna is closed with laser
Make relativeness between the geometric center of target to determine, the coordinate of such GNSS measure can accurately reduction to cooperative target
Geometric center.
Preferably, the laser cooperative target is 360 degree of prisms, so ensures to connect in any angle total powerstation
Receive stronger reflected signal.
Preferably, the laser cooperative target is reflector plate, and cost more slim and graceful than prism its weight is more
It is cheap.
Preferably, the GNSS module is positioned using difference modes, including RTD and RTK.Difference can improve
Using pseudorange code as observation, precision can be to dm levels for GNSS positioning precisions, wherein RTD；, can and RTK is using carrier phase as observation
Up to cm levels.
(2) present invention also provides a kind of localization method for overcoming aeronautical satellite valley effect, comprises the steps of successively：
Step 1, total powerstation, centering leveling are set up on point to be located；
Step 2, let unmanned plane fly away in point to be located overhead, open GNSS module；
Step 3, hovered using unmanned aerial vehicle (UAV) control device control unmanned plane during flying to hovering point, and will GNSS module around here
Positioning result be sent to solving unit, the selection of the hovering point should meet：Condition one, the flying height of unmanned plane should ensure that
GNSS module can obtain reliable positioning result, including observe enough satellites and away from various signal interferences, generally should
No less than 4 satellites, and away from multipath and electromagnetic interference, can be positioned so as to GNSS module and accurately and reliably be sat
Mark；Condition two, laser cooperative target should be within the visual range of total powerstation, so that total powerstation can determine distance；
Step 4, total powerstation is sighted to the laser cooperative target on unmanned plane, determines distance, and will be sent out apart from observation
It is sent to solving unit；
Step 5, the position of unmanned plane is converted, reaches next hovering point, repeats abovementioned steps 3 to step 4；
Step 6, when unmanned plane hovering point is no less than 3, the coordinate of point to be located is iterated to calculate as the following formula：
Ψ=Ψ0+(ATA)-1ATL
Wherein, Ψ represents the three-dimensional coordinate vector of point to be located,Xp、Yp、ZpThe first of point to be located is represented respectively
Coordinate axial coordinate, the second coordinate axial coordinate, three axes coordinate, Ψ0The three-dimensional coordinate initial value vector of point to be located is represented,Xp0、Yp0、Zp0Represent that the first coordinate axial coordinate initial value, the second coordinate axial coordinate of point to be located are initial respectively
Value, three axes coordinate initial value；
A represents coefficient matrix,N represents hovering point quantity, li、mi、tiRepresent point to be located extremely respectively
The direction cosines of first, second, third reference axis of i-th (i=1,2 ..., n) individual hovering point line,
Xi、Yi、ZiThe first coordinate axial coordinate, the second reference axis of the geometric center of laser cooperative target in i-th of hovering point are represented respectively
Coordinate, three axes coordinate,Represent laser cooperative target in point to be located to i-th of hovering point apart from calculated value,L is constant matrices,SiRepresent total powerstation to i-th
Laser cooperative target apart from observation in individual hovering point；
Above-mentioned various middle subscript T representing matrix transposition, the representing matrix of subscript -1 are inverted；
The iteration refers to the last Ψ solved as Ψ next time0New repetitive operation is carried out, as Ψ and Ψ0
Each component difference when being respectively less than a certain threshold value, stop iteration.Here threshold value can be adjusted according to the required precision of positioning,
For example, it is 0.1mm that can take threshold value, the location requirement of the overwhelming majority can be met.
The above practice principle of least square.
Preferably, in step 3, each hovering point of unmanned plane should keep 30 degree each other to the line of point to be located
Space angle above.So that having good graphic structure during equation solution, ill-condition matrix is avoided.
Compared with prior art, advantages of the present invention and advantageous effects are：The system is by by GNSS, unmanned plane
Efficient combination is carried out with total powerstation so that the fixed point coordinate in aeronautical satellite valley effect region can be by quickly and efficiently true
It is fixed.
Brief description of the drawings
Accompanying drawing 1 is that a kind of alignment system for overcoming aeronautical satellite valley effect constructed according to the invention forms schematic diagram.
Accompanying drawing 2 is a kind of flow chart of localization method for overcoming aeronautical satellite valley effect constructed according to the invention.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
The present invention a preferred embodiment as shown in figure 1, point to be located 22 between multiple skyscrapers 51~54
Ground on, 13 liang of gps satellite 12 and gps satellite can only be received due to blocking for skyscraper 51~54, at point to be located 22
The signal of satellite, the coordinate of point to be located 22 now can not be accurately determined according to a conventional method.Therefore, present embodiments provide by complete
Stand instrument 21, unmanned plane 31, unmanned aerial vehicle (UAV) control device 32, solving unit 41 form system.Unmanned plane 31 is six rotor types, so as to energy
Reliably hovered.The antenna part of GNSS module and reflector plate, wherein GNSS module is further equipped with unmanned plane 31
Positioned at the top of unmanned plane 31, in order to receive satellite-signal, and the receiving circuit of GNSS module is located at the inside of unmanned plane 31；
And GNSS module is positioned using network RTK methods, precision is up to cm levels.Reflector plate is located at the bottom of unmanned plane 31, is easy to whole station
Instrument 21 is from ground aiming.Those skilled in the art realize the control to unmanned plane 31 by unmanned aerial vehicle (UAV) control device 32.Total powerstation 21
The top of point to be located 22 is set up in using the conventional centering flatening method in this area, thus the coordinate of point to be located 22 can be by total powerstation 21
Coordinate reduction obtain.Solving unit 41 is served as by the software of notebook and its loading, between total powerstation 21, unmanned plane 31
Passing through communication link -- wireless Internet is attached.Solving unit 41 can be placed near total powerstation 21 by technical staff, also may be used
With in any position be easy to network and carry out data processing.
To can determine that the coordinate of point to be located 22, the correct position that control unmanned plane 31 flies to higher than skyscraper 51~54 enters
Row hovering, these positions are referred to as hovering point, such as tetra- positions of P1, P2, P3, P4 in Fig. 1, points of being hovered in certain practical application
Amount can be more, and total principle is to be no less than 3；These positions are not only due to highly higher and avoid skyscraper for defending
Star signal blocks, and and can and the total powerstation intervisibility on ground.Preferably, P1, P2, P3, P4 and total powerstation 21
Line, its mutual space angle should be greater than 30 °, so as to ensure that good space geometry structure, avoid to ill square
The situation that battle array is inverted.Exemplified by A, the signal (real work of totally five satellites of satellite 11~15 can be received without barrier
In may have more satellites), so as to successfully according to existing satellite positioning method (the present embodiment be network RTK methods) determination
Go out the coordinate of unmanned plane 31 in this place, in the present embodiment, coordinate system is taken as the earth's core body-fixed coordinate system, and specially WGS-84 spaces are straight
Angular coordinate.To improve reliability, hovering duration should meet to obtain the fixed solution no less than 60 epoch, carry out if necessary repeatedly just
Beginningization, using its average as (X1,Y1,Z1) be sent to solving unit 41 (or all observed results are sent to solving unit, by
Solving unit excluding gross error simultaneously calculates average)；During hovering, total powerstation sights the reflector plate on unmanned plane, determines total powerstation
To the distance of P1 points, to improve reliability, multiple values can be determined, and take average as S1Computing unit 41 is sent to (or by institute
There is observed result to be sent to solving unit, by solving unit excluding gross error and calculate average).Similarly, determine respectively each outstanding
Rest point Pi (i=2,3,4) coordinate (Xi,Yi,Zi), and total powerstation is to the distance S of each hovering pointi。
Now, hovering point meets the requirement no less than 3, therefore can list equation up to 4：
Ψ=Ψ0+(ATA)-1ATL
Wherein, Ψ represents the three-dimensional coordinate vector of point to be located 22,Xp、Yp、ZpPoint to be located 22 is represented respectively
First coordinate axial coordinate, the second coordinate axial coordinate, three axes coordinate, Ψ0Represent the three-dimensional coordinate initial value arrow of point to be located
Amount,Xp0、Yp0、Zp0Respectively at the beginning of the first coordinate axial coordinate initial value of expression point to be located, the second coordinate axial coordinate
Initial value, three axes coordinate initial value, it can use when generally calculating firstA represents coefficient matrix,li、mi、tiRepresent point to be located to first, the of the individual hovering point Pi lines of i-th (i=1,2,3,4) respectively
2nd, the direction cosines of three axes,Xi、Yi、ZiLaser cooperative target in i-th of hovering point is represented respectively
The first coordinate axial coordinate, the second coordinate axial coordinate, the three axes coordinate of target geometric center,Represent point to be located to i-th
In individual hovering point laser cooperative target apart from calculated value,L is normal
Matrix number,SiRepresent total powerstation in i-th of hovering point laser cooperative target apart from observation；It is above-mentioned each
Subscript T representing matrix transposition in formula, the representing matrix of subscript -1 are inverted.It will be obtained after once calculateAs
New Ψ0It is iterated in substitution formula, until Ψ0Ψ is taken if being respectively less than a certain threshold value (such as 0.0001m) with Ψ each component difference
Final coordinate as point to be located.
In practical application, hovering point can be set more, further to improve the precision of result and reliability.
Specific embodiment described herein is only to spirit explanation for example of the invention, is not meant to send out this
It is bright to be limited to lifted example.Those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement are substituted using similar mode, but without departing from the spiritual of the present invention or surmount appended right
Scope defined in claim.
Claims (6)
1. a kind of alignment system for overcoming aeronautical satellite valley effect, including such as lower part：
Unmanned plane, specified location is arrived for flying；
Unmanned aerial vehicle (UAV) control device, for controlling the flight of unmanned plane；
GNSS module, including antenna and receiving circuit, for receiving navigation satellite signal in void spaces；
Total powerstation, for determining point to be located to the distance of unmanned plane；
Laser cooperative target, for coordinating total powerstation mensuration distance；
Solving unit, for receiving the data of total powerstation and unmanned plane, and calculate fixed point coordinate；
Communication link, for the data of unmanned plane, total powerstation to be sent into solving unit；
GNSS module and the laser cooperative target is equipped on unmanned plane, and the geometric center of GNSS antenna and laser cooperative target
Relativeness determines between target geometric center.
2. a kind of alignment system for overcoming aeronautical satellite valley effect according to claim 1, it is characterised in that described to swash
Light cooperative target is 360 degree of prisms.
3. a kind of alignment system for overcoming aeronautical satellite valley effect according to claim 1, it is characterised in that described to swash
Light cooperative target is reflector plate.
4. any one according to claims 1 to 3 overcomes the alignment system of aeronautical satellite valley effect, its feature exists
In the GNSS module is positioned using difference modes, including RTD and RTK.
5. a kind of localization method for overcoming aeronautical satellite valley effect, it is characterised in that comprise the steps of successively：
Step 1, total powerstation, centering leveling are set up on point to be located；
Step 2, let unmanned plane fly away in point to be located overhead, open GNSS module；
Step 3, hovered using unmanned aerial vehicle (UAV) control device control unmanned plane during flying to hovering point, and GNSS module around here is determined
Position result is sent to solving unit, and the selection of the hovering point should meet：Condition one, the flying height of unmanned plane should ensure that GNSS
Module can obtain reliable positioning result, including observe enough satellites and remote various signal interferences；Condition two, laser
Cooperative target should be within the visual range of total powerstation；
Step 4, total powerstation is sighted to the laser cooperative target on unmanned plane, determines distance, and will be sent to apart from observation
Solving unit；
Step 5, the position of unmanned plane is converted, reaches next hovering point, repeats abovementioned steps 3 to step 4；
Step 6, when unmanned plane hovering point is no less than 3, the coordinate of point to be located is iterated to calculate as the following formula：
Ψ=Ψ0+(ATA)-1ATL
Wherein, Ψ represents the three-dimensional coordinate vector of point to be located,Xp、Yp、ZpThe first coordinate of point to be located is represented respectively
Axial coordinate, the second coordinate axial coordinate, three axes coordinate, Ψ0The three-dimensional coordinate initial value vector of point to be located is represented,Xp0、Yp0、Zp0Represent that the first coordinate axial coordinate initial value, the second coordinate axial coordinate of point to be located are initial respectively
Value, three axes coordinate initial value；A represents coefficient matrix,N represents hovering point quantity, li、mi、ti
Respectively represent point to be located to first, second, third reference axis of i-th (i=1,2 ..., n) individual hovering point line direction cosines,Xi、Yi、ZiThe first reference axis of the geometric center of laser cooperative target in i-th of hovering point is represented respectively
Coordinate, the second coordinate axial coordinate, three axes coordinate,Represent laser cooperative target in point to be located to i-th of hovering point
Apart from calculated value,L is constant matrices,SiRepresent
Total powerstation in i-th of hovering point laser cooperative target apart from observation；
The iteration refers to the last Ψ solved as Ψ next time0New repetitive operation is carried out, as Ψ and Ψ0It is each
When component difference is respectively less than a certain threshold value, stop iteration.
A kind of 6. localization method for overcoming aeronautical satellite valley effect as claimed in claim 5, it is characterised in that in step 3,
Each hovering point of unmanned plane should keep more than 30 degree of space angle each other to the line of point to be located.
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| CN110488230A (en) * | 2019-08-23 | 2019-11-22 | 成都航天科工微电子系统研究院有限公司 | A kind of double more base forword-looking imaging method and apparatus |
| CN111190205A (en) * | 2020-03-18 | 2020-05-22 | 南通四建集团有限公司 | Beidou/GNSS high-precision rapid positioning equipment and method for construction process |
| CN111337961A (en) * | 2020-05-21 | 2020-06-26 | 深圳市西博泰科电子有限公司 | Method, device, equipment and medium for improving positioning accuracy of vehicle in city |
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| CN115021800A (en) * | 2022-07-19 | 2022-09-06 | 国家无线电监测中心福建监测站 | Method and device for searching Ka frequency band satellite terminal by using unmanned aerial vehicle and electronic equipment |
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| CN114740511A (en) * | 2022-06-13 | 2022-07-12 | 广州地铁设计研究院股份有限公司 | Unmanned aerial vehicle positioning method and unmanned aerial vehicle positioning system based on measuring robot |
| CN115021800B (en) * | 2022-07-19 | 2023-03-31 | 国家无线电监测中心福建监测站 | Method and device for searching Ka frequency band satellite terminal by using unmanned aerial vehicle and electronic equipment |
| CN115021800A (en) * | 2022-07-19 | 2022-09-06 | 国家无线电监测中心福建监测站 | Method and device for searching Ka frequency band satellite terminal by using unmanned aerial vehicle and electronic equipment |
| CN115166680B (en) * | 2022-09-07 | 2022-11-29 | 中国科学院空天信息创新研究院 | Geometric positioning method, device, equipment and medium for ground feature points |
| CN115166680A (en) * | 2022-09-07 | 2022-10-11 | 中国科学院空天信息创新研究院 | Geometric positioning method, device, equipment and medium for ground feature points |
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