CN108196278A - A kind of pointing method based on 2 GPS positionings - Google Patents

A kind of pointing method based on 2 GPS positionings Download PDF

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Publication number
CN108196278A
CN108196278A CN201711385320.3A CN201711385320A CN108196278A CN 108196278 A CN108196278 A CN 108196278A CN 201711385320 A CN201711385320 A CN 201711385320A CN 108196278 A CN108196278 A CN 108196278A
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module
gps
coordinate
vector
location information
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CN201711385320.3A
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CN108196278B (en
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何靖
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Beijing Institute of Remote Sensing Equipment
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Beijing Institute of Remote Sensing Equipment
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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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a kind of pointing methods based on 2 GPS positionings, by GPS positioning module (1), coordinate system modular converter (2), locating point position relationship difference block (3), coordinate rotary module (4), are directed toward module (5) realization.GPS positioning module (1) obtains the location information of current location；Coordinate system modular converter (2) is by GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system；Locating point position relationship difference block (3) calculates the difference vector of 2 positions according to location information；Difference vector is converted to station Heart vector by coordinate rotary module (4)；It is directed toward module (5) and orientation angle is calculated according to station Heart vector.Magnetic field easily is interfered by ferromagnetic object around present method solves earth magnetism pointing method, it is low to be directed toward accuracy, the problem of to the bad adaptability of environment.

Description

A kind of pointing method based on 2 GPS positionings
Technical field
The present invention relates to a kind of pointing method, particularly a kind of pointing method based on 2 GPS positionings.
Background technology
Current direction is realized by earth magnetism, and according to the distribution character of earth magnetism, direction can be realized using simple equipment. The benefit that earth magnetism is directed toward is convenient and efficient, equipment is simple, at low cost, and there are problems to be susceptible to ferromagnetic object interference around Magnetic field, direction accuracy is low, to the bad adaptability of environment.
Invention content
Present invention aims at a kind of pointing method based on 2 GPS positionings is provided, solves earth magnetism pointing method appearance It is vulnerable to the magnetic field of ferromagnetic object interference around, it is low to be directed toward accuracy, the problem of to the bad adaptability of environment.
A kind of pointing method based on 2 GPS positionings, the specific steps are：
The first step builds pointing system
Pointing system, including：GPS positioning module, coordinate system modular converter, locating point position relationship difference block, coordinate Rotary module and direction module；
The function of GPS positioning module is：Obtain the location information of current location；
The function of coordinate system modular converter is：By GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system；
The function of locating point position relationship difference block is：The difference vector of 2 positions is calculated according to location information；
The function of coordinate rotary module is：Difference vector is converted into station Heart vector；
Be directed toward module function be：Orientation angle is calculated according to station Heart vector；
GPS positioning module is run in GPS positioning chip；
The coordinate system modular converter, locating point position relationship difference block, coordinate rotary module and direction module are in master It is run in movement piece；
Second step GPS positioning module obtains the location information of current location
GPS positioning module according to the location information P (φ, λ, h) of aeronautical satellite information acquisition current location, anchor point one Location information P1(φ1,λ1,h1), the location information P of anchor point two2(φ2,λ2,h2)；
Wherein φ represents the earth dimension, and λ represents geodetic longitude, h geodetic altitudes；
Third walks coordinate system modular converter by GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system
GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system, are obtained P by coordinate system modular converter1(x1,y1,z1)、P2(x2, y2,z2)
X=(N+h) cos φ cos λ
Y=(N+h) cos φ sin λ
Z=[N (1-e2)+h]·sinφ
Wherein N is the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches circle radius of curvature of datum ellipsoid body, and e is eccentricity of ellipsoid；
4th step locating point position relationship difference block calculates the difference vector of 2 positions according to location information
Locating point position relationship difference block according to location information calculate 2 positions difference vector Δ P (Δ x, Δ y, Δz)
Difference vector is converted to station Heart vector by the 5th step coordinate rotary module
Coordinate rotary module is converted to difference vector with P1Station Heart vector P for origin*
6th step is directed toward module and calculates orientation angle according to station Heart vector
Module is directed toward according to station Heart vector P*Calculate direction angle alpha
Using due north as 0 °, north orientation clockwise turns to just, rotates to be counterclockwise negative.
So far the pointing method based on 2 GPS positionings is realized.
This method takes full advantage of the characteristics of mobile communication electronic equipment rapid development, and GPS has extensive hardware supported, Positioning accuracy height, fireballing advantage solve earth magnetism pointing method and are easily interfered magnetic field by ferromagnetic object around, be directed toward Accuracy is low, the problem of to the bad adaptability of environment.By testing on foot, on-road emission test, it is believed that accurate, response that this method is directed toward Speed is fast, has commonly used value.
Description of the drawings
A kind of system structure diagrams of the pointing method based on 2 GPS positionings of Fig. 1.
2. coordinate system modular converter of 1.GPS locating modules, 3. locating point position relationship difference block, 4. coordinate rotating mould Block 5. is directed toward module
Specific embodiment
A kind of pointing method based on 2 GPS positionings, the specific steps are：
The first step builds pointing system
Pointing system, including：GPS positioning module 1, locating point position relationship difference block 3, is sat coordinate system modular converter 2 It marks rotary module 4 and is directed toward module 5；
The function of GPS positioning module 1 is：Obtain the location information of current location；
The function of coordinate system modular converter 2 is：By GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system；
The function of locating point position relationship difference block 3 is：The difference vector of 2 positions is calculated according to location information；
The function of coordinate rotary module 4 is：Difference vector is converted into station Heart vector；
Be directed toward module 5 function be：Orientation angle is calculated according to station Heart vector；
GPS positioning module 1 is run in GPS positioning chip；
The coordinate system modular converter 2, locating point position relationship difference block 3, coordinate rotary module 4 and direction module 5 It is run in host chip；
Second step GPS positioning module 1 obtains the location information of current location
GPS positioning module 1 is according to the location information P (φ, λ, h) of aeronautical satellite information acquisition current location, anchor point one Location information P1(φ1,λ1,h1), the location information P of anchor point two2(φ2,λ2,h2)；
Wherein φ represents the earth dimension, and λ represents geodetic longitude, h geodetic altitudes；
Third walks coordinate system modular converter 2 by GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system
GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system, are obtained P by coordinate system modular converter 21(x1,y1,z1)、P2(x2, y2,z2)
X=(N+h) cos φ cos λ
Y=(N+h) cos φ sin λ
Z=[N (1-e2)+h]·sinφ
Wherein N is the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches circle radius of curvature of datum ellipsoid body, and e is eccentricity of ellipsoid；
4th step locating point position relationship difference block 3 calculates the difference vector of 2 positions according to location information
Locating point position relationship difference block 3 according to location information calculate 2 positions difference vector Δ P (Δ x, Δ y, Δz)
Difference vector is converted to station Heart vector by the 5th step coordinate rotary module 4
Coordinate rotary module 4 is converted to difference vector with P1Station Heart vector P for origin*
6th step is directed toward module 5 and calculates orientation angle direction module 5 according to station Heart vector P according to station Heart vector*Calculating side To angle [alpha]
Using due north as 0 °, north orientation clockwise turns to just, rotates to be counterclockwise negative.So far it realizes and is determined based on two point GPS The pointing method of position.

Claims (6)

1. a kind of pointing method based on 2 GPS positionings, it is characterised in that the specific steps are：
The first step builds pointing system
Pointing system, including：GPS positioning module (1), coordinate system modular converter (2), locating point position relationship difference block (3), Coordinate rotary module (4) and direction module (5)；
The GPS positioning module (1) runs in GPS positioning chip；Coordinate system modular converter (2), locating point position relationship are poor Sub-module (3), coordinate rotary module (4) and direction module (5) are run in host chip；
Second step GPS positioning module (1) obtains the location information of current location；
Third walks coordinate system modular converter (2) by GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system；
4th step locating point position relationship difference block (3) calculates the difference vector of 2 positions according to location information；
Difference vector is converted to station Heart vector by the 5th step coordinate rotary module (4)；
6th step is directed toward module (5) and calculates orientation angle according to station Heart vector；
So far the pointing method based on 2 GPS positionings is realized.
2. the pointing method according to claim 1 based on 2 GPS positionings, which is characterized in that in second step, GPS Locating module (1) is according to the location information P (φ, λ, h) of aeronautical satellite information acquisition current location, the location information of anchor point one P1(φ1,λ1,h1), the location information P of anchor point two2(φ2,λ2,h2)；
Wherein φ represents the earth dimension, and λ represents geodetic longitude, h geodetic altitudes.
3. the pointing method according to claim 2 based on 2 GPS positionings, which is characterized in that in the third step, coordinate Be modular converter (2) by GPS Geodetic Coordinate Transformations to the earth's core body-fixed coordinate system, obtain P1(x1,y1,z1)、P2(x2,y2,z2)
X=(N+h) cos φ cos λ
Y=(N+h) cos φ sin λ
Z=[N (1-e2)+h]·sinφ
Wherein N is the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches circle radius of curvature of datum ellipsoid body, and e is eccentricity of ellipsoid.
4. the pointing method according to claim 3 based on 2 GPS positionings, which is characterized in that in the 4th step, positioning Put position relationship difference block (3) is according to the detailed process of the difference vector of 2 positions of location information calculating：
According to formula
The difference vector for obtaining 2 positions represents：Δ P (Δ x, Δ y, Δ z).
5. the pointing method according to claim 4 based on 2 GPS positionings, which is characterized in that the coordinate in the 5th step Rotary module (4) by difference vector be converted to station Heart vector detailed process be：
Coordinate rotary module (4) is converted to difference vector with P1Station Heart vector P for origin*
6. the pointing method according to claim 5 based on 2 GPS positionings, which is characterized in that in the 6th step, be directed toward Module (5) is according to station Heart vector P*Calculate direction angle alpha
Using due north as 0 °, north orientation clockwise turns to just, rotates to be counterclockwise negative.
CN201711385320.3A 2017-12-20 2017-12-20 Pointing method based on two-point GPS positioning Active CN108196278B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113608233A (en) * 2021-06-30 2021-11-05 湖南宏动光电有限公司 Virtual sight implementation method and system based on coordinate transformation

Citations (5)

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Publication number Priority date Publication date Assignee Title
US5293318A (en) * 1991-07-10 1994-03-08 Pioneer Electronic Corporation Navigation system
CN2901337Y (en) * 2006-05-25 2007-05-16 中国兵器工业第二○六研究所 General GPS positioning and orienting instrument
CN104459750A (en) * 2014-12-11 2015-03-25 山东大学 GPS/INS-based dynamic pointing method
CN105180943A (en) * 2015-09-17 2015-12-23 南京中大东博信息科技有限公司 Ship positioning system and ship positioning method
CN107064923A (en) * 2016-01-15 2017-08-18 松下知识产权经营株式会社 Alignment sensor and direction presumption method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5293318A (en) * 1991-07-10 1994-03-08 Pioneer Electronic Corporation Navigation system
CN2901337Y (en) * 2006-05-25 2007-05-16 中国兵器工业第二○六研究所 General GPS positioning and orienting instrument
CN104459750A (en) * 2014-12-11 2015-03-25 山东大学 GPS/INS-based dynamic pointing method
CN105180943A (en) * 2015-09-17 2015-12-23 南京中大东博信息科技有限公司 Ship positioning system and ship positioning method
CN107064923A (en) * 2016-01-15 2017-08-18 松下知识产权经营株式会社 Alignment sensor and direction presumption method

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丁怡文: "GPS测姿系统仿真实验研究", 《电子科学》 *
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113608233A (en) * 2021-06-30 2021-11-05 湖南宏动光电有限公司 Virtual sight implementation method and system based on coordinate transformation

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