CN108363078B - Dynamic positioning error testing device, system and method for navigation positioning system - Google Patents
Dynamic positioning error testing device, system and method for navigation positioning system Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 163
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Classifications
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
Abstract
The invention relates to a dynamic positioning error testing device, a system and a method for a navigation positioning system. The dynamic positioning error testing device, the system and the method for the navigation positioning system can realize the precision test of the dynamic navigation system with sub-millimeter precision, have lower cost compared with the method in the prior art, can be used for evaluating various positioning technologies, and can be used for testing and evaluating various absolute positioning technologies and relative positioning technologies.
Description
Technical Field
The invention relates to the field of geographic information, in particular to the field of positioning error testing of navigation positioning technology, and specifically relates to a dynamic positioning error testing device, a dynamic positioning error testing system and a dynamic positioning error testing method for a navigation positioning system.
Background
Along with the development of technology, the application range of the navigation positioning system is wider and wider, and the outside world also puts forward new requirements on the positioning error of the navigation positioning system.
Global Navigation Satellite Systems (GNSS) are a commonly used navigation positioning system that has been widely used for high-precision positioning applications, where the precision evaluation of static GNSS positioning systems can be performed by a known baseline (Lau et al, 2015, quan et al, 2016), the precision evaluation of dynamic GNSS positioning systems can be performed by a GNSS signal simulator, but the simulation and accuracy acquisition using a GNSS signal simulator is limited, i.e. expensive, and the simulated signal and the actual signal may not be consistent.
But using the real data to evaluate the positioning quality of the dynamic GNSS, a known trajectory needs to be established. In the prior art, kechip et al (2004) uses a boat to test GNSS dynamic positioning and assume that the track of the boat is a straight line, and the method faces the problems that the precision of the established reference track is not high, and the position of the dynamic test platform at a specific moment is unknown, so that the error of GNSS dynamic positioning in the track direction cannot be estimated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a dynamic positioning error testing device, a system and a method for a navigation positioning system, which have sub-millimeter precision and low cost.
In order to achieve the above object, the dynamic positioning error testing device, system and method for a navigation positioning system of the present invention has the following constitution:
the dynamic positioning error testing device for the navigation positioning system is mainly characterized by comprising a circular track device, a measuring device and a testing sensor, wherein the measuring device and the testing sensor are both arranged on the circular track device for circular motion.
Preferably, the circular track device comprises a rotating device and a driving device which are connected with each other, the measuring device and the test sensor are arranged at one end of the rotating device, and the driving device drives the rotating device to rotate around a vertical shaft.
More preferably, the driving device is connected to the rotating device through an output shaft, and the rotating device comprises a radial arm.
More preferably, the driving device comprises a motor, a motor power supply and a control device, wherein the control device is connected to the motor through the motor power supply, and the control device is connected with the motor power supply in a wired or wireless mode.
Preferably, the measuring device and the test sensor are fixed to the circular rail device by fixing means, the fixing means comprising a tripod.
Preferably, the measuring device comprises a prism, and the test sensor comprises a GNSS antenna.
The measuring system is mainly characterized by further comprising a surveying instrument, a test sensor receiver and a calculating main body, wherein the surveying instrument and the test sensor receiver are connected to the calculating main body, the test sensor receiver is connected with the test sensor in a matched mode, the surveying instrument is used for acquiring a circular track of the measuring device in circular motion, the test sensor receiver is used for receiving position information acquired by the test sensor in the circular motion, and the calculating main body is used for calculating the positioning error according to data and information acquired by the surveying instrument and the test sensor receiver.
Preferably, the surveying instrument comprises a total station and/or a laser scanner and/or a photogrammetry camera, and the calculating body comprises a data recorder, wherein the data recorder is used for recording data and information acquired by the surveying instrument and the test sensor receiver, and recording a calculation result of the calculating body.
The method for testing the dynamic positioning error of the navigation positioning system based on the measurement system is mainly characterized by comprising the following steps:
(1) The measuring device performs circular motion, and the mapping instrument and the calculating main body acquire a test circular track when the measuring device performs circular motion;
(2) The calculating body calculates and obtains a theoretical coordinate point set of the circular track when the test sensor performs circular motion according to the obtained test circular track;
(3) The test sensor performs circular motion, acquires the position information of a circular track when the test sensor performs the circular motion, and sends the position information to the calculation main body through the test sensor receiver so that the calculation main body can acquire an actual coordinate point set of the circular motion of the test sensor;
(4) And (3) the calculation main body evaluates the positioning error of the navigation positioning system according to the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3).
Preferably, the measuring device in the step (1) and the measuring device in the calculating body acquire the circular track for testing when performing circular motion, and the method comprises the following steps:
(1.1) the surveying instrument obtaining positional information of n points on a test circular locus of the measuring device while performing circular motion, and transmitting the obtained positional information of n points to the calculation subject, which calculates a coordinate center of gravity (x) of the obtained n points based on the obtained positional information of n points 0 ，y 0 ，z 0 )；
(1.2) the calculation subject calculates the center of gravity (x) according to the coordinates of the n points 0 ，y 0 ，z 0 ) The center of gravity (x) of the n points relative to the coordinates is obtained 0 ，y 0 ，z 0 ) Coordinate point set (x) i ,y i ,z i ) And i is more than or equal to 1 and less than or equal to n, n is more than or equal to 3, and fitting a coordinate point set (x i ,y i ,z i ) A first plane in which the first plane is located;
(1.3) the computing body fitting the set of coordinate points (x) of the n points in the first plane i ,y i ,z i ) The circle in which the test is located, thereby obtaining a test circular track.
More preferably, the step (1.2) is:
the computing body calculates the object by using the measured coordinate point set (x i ,y i ,z i ) Determining two feature vectorsAnd->By->And->Determining a set of coordinate points (x i ,y i ,z i ) A first plane in which the coordinate point set (x i ,y i ,z i ) Coordinates in the first plane:
wherein x' i Is a set of coordinate points (x i ,y i ,z i ) X-axis coordinates, y 'in a first plane' i Is a set of coordinate points (x i ,y i ,z i ) And y-axis coordinates in the first plane.
More preferably, the step (1.3) is:
the calculation subject fits a set of coordinate points (x) in the obtained first plane using a least squares method based on the following formula i ,y i ,z i ) Circle in which:
wherein a and b represent the position of the center of the fitted circle on the first plane, and a is the x-axis coordinate of the center of the fitted circle on the first plane, b is the y-axis coordinate of the center of the fitted circle on the first plane, r is the radius of the fitted circle, where zi ' =xi '2+yi '2, a= -2a, b= -2b, c=a 2 +b 2 －r 2 。
More preferably, the step (2) includes:
the calculation main body obtains a theoretical coordinate point set of the circular track when the test sensor performs circular motion according to the following formula and the test circular track obtained in the step (1.3):
wherein (x) θ ,y θ ,z θ ) Is a theoretical coordinate point set of the test sensor, and θ=θ 0 +ωt，θ 0 For the initial phase angle of the test sensor during circular motion, ω is the angular velocity of the test sensor during circular motion.
More preferably, the step (4) is:
the calculation subject evaluates the positioning error of the navigation positioning system according to the following formula, the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3):
wherein E is the positioning error of the navigation positioning system, (x) t ,y t ,z t ) Representing the actual set of coordinate points of the test sensor.
The dynamic positioning error testing device, the system and the method for the navigation positioning system can realize the positioning error testing of the dynamic navigation system with sub-millimeter precision, have lower cost compared with the method in the prior art, can be used for evaluating various positioning technologies, and can be used for testing and evaluating various absolute positioning technologies and relative positioning technologies. The design of the circular motion track of the system not only improves the stability and repeatability of the test platform, but also can determine the accurate position of the sensor moving at uniform speed in circular motion at any moment when the rotating device rotates horizontally in a windless environment, thereby eliminating the error interference of positioning error assessment in the track direction; meanwhile, the measuring device can be conveniently disassembled and assembled so as to be convenient for transportation, thereby realizing dynamic testing in different environments (such as multipath environments).
Drawings
FIG. 1 is a schematic diagram of a dynamic positioning error testing apparatus for a navigation positioning system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a dynamic positioning error testing apparatus for a navigation positioning system according to another embodiment of the present invention.
Reference numerals
1 weight
2 triangle base
3 measuring devices or test sensors
4 worm gear reduction box
5 tripod
6 hollow driving shaft
7 motor
8 base
9 control device
10 retractable/removable rod
11. Bearing device
12. Test sensor receiver
13. Power supply
14. Motor power supply
15. Solid drive shaft
Detailed Description
In order to more clearly describe the technical contents of the present invention, a further description will be made below in connection with specific embodiments.
The dynamic positioning error testing device applied to the navigation positioning system is mainly characterized by comprising a circular track device, a measuring device and a testing sensor, wherein the measuring device and the testing sensor are both arranged on the circular track device for circular motion.
In a preferred embodiment, the circular track device comprises a rotating device and a driving device which are connected with each other, wherein the measuring device and the test sensor are arranged at one end of the rotating device, and the driving device drives the rotating device to rotate around a vertical shaft. In a specific embodiment, the driving device can drive the driving device to rotate around an axis perpendicular to the rotating device, so as to drive the measuring device 3 and/or the test sensor 3 arranged at one end of the rotating device to perform circular motion.
In a preferred embodiment, the drive means is connected to the rotation means by an output shaft, the rotation means comprising a radial arm. In a specific embodiment, the radial arm includes a telescopic/detachable rod, and the output shaft is disposed at a center position of the rotating device.
In a preferred embodiment, the driving means comprises a motor and control means, and the control means is connected to the motor. In a preferred embodiment, the control device is connected to the motor through a motor power supply, and the control device is connected to the motor power supply by a wire or wirelessly. In a specific embodiment, the control device controls the on-off state, the movement direction and the movement speed of the motor 7 through the motor power supply, so as to control the rotation state of the rotation device, including the rotation speed and the rotation direction (clockwise rotation or anticlockwise rotation).
In a preferred embodiment, the measuring device and the test sensor are fixed to the circular rail device by fixing means, the fixing means comprising an a-frame. In a specific embodiment, the tripod can be replaced by other fixed supports.
In a preferred embodiment, the measuring device comprises a prism and the test sensor comprises a GNSS antenna. In a specific embodiment, the measuring device further includes a target, the test sensor includes a test sensor adapted to the navigation positioning system to be tested, when the navigation positioning system is a global navigation satellite system, the matched test sensor is a GNSS antenna (i.e. a Global Navigation Satellite System (GNSS) antenna), and when the navigation positioning system is another navigation positioning system, the test sensor should be modified accordingly.
In a preferred embodiment, the measuring device and the test sensor are both removably mounted to the circular track assembly. And the relative deviation of the center of the measuring device (e.g. prism center) and the center of the test sensor (e.g. phase center of the GNSS antenna) after installation is known in a specific implementation.
In a preferred embodiment, the measuring device 3 and the test sensor 3 are fixed to one end of the rotating device by fixing means, and the fixing means comprises a tripod, and in a specific embodiment, the tripod can be replaced by other fixing bases.
In a specific embodiment, the measuring system with the dynamic positioning error testing device applied to the navigation positioning system further comprises a surveying instrument, a testing sensor receiver and a calculating main body, wherein the surveying instrument and the testing sensor receiver are connected to the calculating main body, the testing sensor receiver is connected with the testing sensor in a matched mode, the surveying instrument is used for acquiring a circular track of the measuring device in circular motion, the testing sensor receiver is used for receiving position information acquired by the testing sensor in the circular motion, and the calculating main body is used for calculating positioning errors according to data and information acquired by the surveying instrument and the testing sensor receiver.
In a preferred embodiment, the surveying instrument comprises a total station and/or a photogrammetry camera and/or a laser scanner, and the computing body comprises a data recorder. When the surveying instrument is a total station, the measuring device is a prism, and when the surveying instrument is a photogrammetry camera and/or a laser scanner, the measuring device 3 is a target, and when the photogrammetry camera is used, corresponding parameters are obtained through a photogrammetry method. The data recorder is used for recording data and information acquired by the surveying instrument and the test sensor receiver 12, and recording the calculation result of the calculation main body.
The method for testing the dynamic positioning error of the navigation positioning system based on the measurement system is mainly characterized by comprising the following steps:
(1) The measuring device performs circular motion, and the mapping instrument and the calculating main body acquire a test circular track when the measuring device performs circular motion;
(2) The calculating body calculates and obtains a theoretical coordinate point set of the circular track when the test sensor performs circular motion according to the obtained test circular track;
(3) The test sensor performs circular motion, acquires the position information of a circular track when the test sensor performs the circular motion, and sends the position information to the calculation main body through the test sensor receiver so that the calculation main body can acquire an actual coordinate point set of the circular motion of the test sensor;
(4) And (3) the calculation main body evaluates the positioning error of the navigation positioning system according to the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3).
In a preferred embodiment, the measuring apparatus and the calculating body in the step (1) acquire the test circular track when the measuring apparatus performs the circular motion, and the method includes the following steps:
(1.1) the surveying instrument obtaining positional information of n points on a test circular locus of the measuring device while performing circular motion, and transmitting the obtained positional information of n points to the calculation subject, which calculates a coordinate center of gravity (x) of the obtained n points based on the obtained positional information of n points 0 ，y 0 ，z 0 )；
(1.2) the calculation subject calculates the center of gravity (x) according to the coordinates of the n points 0 ，y 0 ，z 0 ) The center of gravity (x) of the n points relative to the coordinates is obtained 0 ，y 0 ，z 0 ) Coordinate point set (x) i ,y i ,z i ) And i is more than or equal to 1 and less than or equal to n, n is more than or equal to 3, and fitting a coordinate point set (x i ,y i ,z i ) A first plane in which the first plane is located;
(1.3) the computing body fitting the set of coordinate points (x) of the n points in the first plane i ,y i ,z i ) The circle in which the test is located, thereby obtaining a test circular track.
In a more preferred embodiment, the step (1.2) is:
the computing body calculates the object by using the measured coordinate point set (x i ,y i ,z i ) Determining two feature vectorsAnd->By->And->Determining a first plane in which the coordinate point set (xi, yi, zi) is located, thereby obtaining coordinates of the coordinate point set (xi, yi, zi) in the first plane:
wherein x' i Is a set of coordinate points (x i ,y i ,z i ) X-axis coordinates, y 'in a first plane' i Is a set of coordinate points (x i ,y i ,z i ) And y-axis coordinates in the first plane.
In a more preferred embodiment, the step (1.3) is:
the calculation subject fits a set of coordinate points (x) in the obtained first plane using a least squares method based on the following formula i ,y i ,z i ) Circle in which:
wherein a and b represent the positions of the centers of the fitted circles on the first plane,and a is the x-axis coordinate of the center of the fitting circle on the first plane, b is the y-axis coordinate of the center of the fitting circle on the first plane, r is the radius of the fitting circle, where zi ' =xi '2+yi '2, a= -2a, b= -2b, c=a 2 +b 2 －r 2 。
In a more preferred embodiment, the step (2) includes:
the calculation main body obtains a theoretical coordinate point set of the circular track when the test sensor performs circular motion according to the following formula and the test circular track obtained in the step (1.3):
wherein (x) θ ,y θ ,z θ ) Is a theoretical coordinate point set of the test sensor, and θ=θ 0 +ωt，θ 0 For the initial phase angle of the test sensor during circular motion, ω is the angular velocity of the test sensor during circular motion.
In a more preferred embodiment, the step (4) is:
the calculation subject evaluates the positioning error of the navigation positioning system according to the following formula, the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3):
wherein E is the positioning error of the navigation positioning system, (x) t ,y t ,z t ) Representing the actual set of coordinate points of the test sensor.
In one embodiment, the computing body further obtains a normal vector of the first plane by PCA Principal Component Analysis (PCA) or Singular Value Decomposition (SVD)To verify the level of the rotating deviceWhether or not to use. In a specific embodiment, said feature vector +.>And->Is also obtained by analysis of principal component analysis (or Singular Value Decomposition (SVD)) of PCA, and feature vector +_ can be obtained by principal component analysis (or Singular Value Decomposition (SVD)) of PCA together>And->Normal vector->
In one embodiment, the device of the present invention is useful for evaluating positioning error tests for various navigational positioning techniques, including various absolute positioning techniques (e.g., global satellite navigation system (GNSS) positioning, ultra-wideband positioning) and relative positioning techniques (e.g., inertial measurement unit). A horizontal rotation device can be used to make the test sensor at one end of the rotation device do circular motion. The circular track of the measuring device can be accurately measured through surveying instruments such as a total station and the like, and the stability and the repeatability of the testing platform are improved through the circular track.
When the rotating device horizontally rotates in a windless environment, the accurate position of the test sensor moving at a uniform speed and in a circular motion can be determined at any moment, so that the error interference of positioning error assessment in the track direction is eliminated; meanwhile, the whole device can be conveniently disassembled and assembled so as to be convenient for transportation, thereby realizing dynamic testing in different environments (such as multipath environments).
In an embodiment, when the rotating device is a radial arm, the test sensor 3 (in this embodiment, the test sensor 3 may be a GNSS antenna) and the prism (or target) at one end (e.g., the end) of the radial arm move along a circular path at a uniform speed. When a prism (measuring device 3) is arranged on the triangular base 2, a total station (surveying instrument) can be used for measuring a circular track formed when the prism rotates along with the radial arm; when the GNSS antenna is installed on the triangular base 2, high-precision dynamic positioning test can be performed. A triangle base 2 and GNSS antenna may also be mounted in the centre of rotation of the radial arm for testing the dynamic GNSS positioning of ultra short baselines.
Referring to fig. 1, the dynamic positioning error testing device includes a weight 1 for adjusting deformation of a radial arm, a triangle base 2, a telescopic (or detachable) rod, a weight 1 for adjusting balance, a motor power supply 14, a worm gear reduction box 4, a tripod 5, a motor 7, a base 8, a hollow driving shaft 6 (i.e. corresponding to an output shaft), a bearing device 11, a testing sensor receiver 12 (a GNSS receiver or other sensor data recorder), a control device 9 (in the embodiment, a motor switch and a rotational speed controller), and a power supply 13. The tripod 5 is a base of the whole device, a platform base 8 is arranged on the tripod, a motor power supply 14 and a variable-speed motor 7 are arranged on the platform base 8, the motor 7 is connected with a worm gear and a reduction gearbox, the worm is a hollow driving shaft 6, a radial arm is connected to the worm, the radial arm is a telescopic radial arm (shown as two telescopic/detachable rod pieces 10), and triangular bases 2 can be arranged at two ends of the radial arm and the top of the hollow driving shaft 6 for installing a prism or a GNSS antenna.
Another embodiment is to use a solid drive shaft 15 as the output shaft, see fig. 2, where the cabinet of the data logger in which the test sensor receiver 12 or the computing body is placed is instead mounted above the arm, but in this solution the center of gravity of the device is higher, the stability of the arm is worse when rotating, and it may be necessary to replace the tripod 5 with a more stable base. In a specific embodiment, the cabinet of the data logger in which the test sensor receiver 12 or the computing body is placed may be instead mounted under the arm, in which case the stability of the arm upon rotation is ensured.
When the rotating device is a radial arm, the measuring device is a prism, and the test sensor is a GNSS antenna, the method comprises the following steps:
(1) A prism is installed on a triangle base 2 at the tail end of the rotating arm, and weights 1 are adjusted at the other tail end so that two sides are balanced. If only the radial error of the test sensor on the rotation track is evaluated, the radial arm does not have to be adjusted to be horizontal; if it is planned to evaluate the radial and tangential errors of the test sensor on the rotation trajectory simultaneously, the radial arm must be adjusted to be horizontal at least two different rotation angles;
(2) Measuring n points on a test circular track formed by the prism during circular motion using a total station (n must be greater than 3, and the greater n, the higher the redundancy);
(3) Acquiring the coordinate barycenter (x 0 ,y 0 ,z 0 ) And calculates n points relative to the center of gravity (x 0 ,y 0 ,z 0 ) Coordinate point set (x) i ,y i ,z i ) Wherein i is more than or equal to 1 and less than or equal to n, and n is more than or equal to 3;
(4) Fitting a set of coordinate points (x i ,y i ,z i ) A first plane in which the first plane lies. The method comprises the following steps: three feature vectors are determined using Principal Component Analysis (PCA) methods: wherein the first two feature vectorsAnd->Can be used to establish a best fit plane; the third feature vector is the normal vector to the plane being fitted and can be used to verify if the radial arm is horizontal (if the radial arm is tilted too much, the sensor may be moving circumferentially at variable speeds instead of at constant speeds, thus affecting orbit estimation errors). Wherein all sets of coordinate points (x i ,y i ,z i ) The coordinates in the first plane are:
(5) The calculation subject fits coordinate points on the first plane by using a least square method based on the following formula
Set (x) i ,y i ,z i ) Circle in which:
wherein a and b represent the position of the center of the fitted circle on the first plane, and a is the x-axis coordinate of the center of the fitted circle on the first plane, b is the y-axis coordinate of the center of the fitted circle on the first plane, r is the radius of the fitted circle, where zi ' =xi '2+yi '2, a= -2a, b= -2b, c=a 2 +b 2 －r 2 。
Wherein M is zz 、M xx 、M xz For moment, for example:
M zz ＝∑x z ' 2 ；
M zz ＝∑x i 'z i '；
algebraic fitting methods may be used to solve for the fitted circle, such as based on the following constraint matrix:
the constraint matrix is proposed by Al-Sharadqah and Chernov (2009), although other constraint matrices may be used herein.
And introducing Lagrangian multipliers to find minima of the following functions:
F(A,η)＝A T MA-η(A T NA-1)；
the derivative of A is obtained:
MA-ηNA＝0
thus (2)
det(MA-ηNA)＝0
The above equation can be solved iteratively by newton's method starting from η=0, i.e. fitting the three parameters a, b, and r of the circle on the first two-dimensional plane, but other solutions can be used to obtain the three parameters here.
(6) The prism is disassembled, the test sensor is arranged on the triangle base 2, and if the weight difference between the prism and the test sensor (such as a GNSS choke antenna) is large, the weight 1 is adjusted at the two ends of the rotating arm so that the micro deformation of the two ends is the same before and after refitting.
(7) The control device enables the radial arm to start rotating, and the test sensor starts recording data;
(8) The coordinates of the test sensors on the fitting circle at time t in three-dimensional space are calculated using the following formula:
wherein (x) 0 ,y 0 ,z 0 ) In the step (3) of calculating,and->Calculated in (4), and θ=θ 0 +ωt，θ 0 For the initial phase angle of the test sensor, ω is the angular velocity of the test sensor during circular motion.
(9) The positioning error of the sensor at time t is calculated using the following formula:
wherein (x) t ,y t ,z t ) Representing the measurement data of the sensor at time t.
The raw observation data obtained using the above inventive device are as follows:
| total station measuring point | x i (m) | y i (m) | z i (m) |
| 1 | 1.3041 | 1.4018 | -0.0016 |
| 2 | -0.6828 | 1.8763 | 0.0043 |
| 3 | -1.8333 | 0.8707 | 0.0061 |
| 4 | -1.9447 | -0.5442 | 0.0056 |
| 5 | -0.9362 | -1.7315 | 0.0007 |
| 6 | 0.5739 | -1.8205 | -0.0047 |
| 7 | 1.7430 | -0.6906 | -0.0064 |
| 8 | 1.7762 | 0.6377 | -0.0043 |
Through the above table, the obtained circular track parameters are calculated:
a＝0.0712；b＝0.0329；r＝1.9524；
evaluating the precision of the fitting track:
the root mean square error in the x, y and z directions is 0.2mm,0.1mm and 0.4mm, and the three-dimensional root mean square error is 0.5mm.
The dynamic positioning error testing device, the system and the method for the navigation positioning system can realize the positioning error testing of the dynamic navigation system with sub-millimeter precision, have lower cost compared with the method in the prior art, can be used for evaluating various positioning technologies, and can be used for testing and evaluating various absolute positioning technologies and relative positioning technologies. The design of the circular motion track of the system not only improves the stability and repeatability of the test platform, but also can determine the accurate position of the sensor moving at uniform speed in circular motion at any moment when the rotating device rotates horizontally in a windless environment, thereby eliminating the error interference of positioning error assessment in the track direction; at the same time the measuring device 3 can be easily disassembled and assembled for transport, so that dynamic testing in different environments, such as multi-path environments, is achieved.
In this specification, the invention has been described with reference to specific embodiments thereof. It will be apparent, however, that various modifications and changes may be made without departing from the spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (11)
1. A method for performing dynamic positioning error test of a navigation positioning system by a measuring system with a dynamic positioning error testing device for the navigation positioning system, which is characterized in that the dynamic error testing device comprises a circular track device, a measuring device and a testing sensor, wherein the measuring device and the testing sensor are both arranged on the circular track device for performing circular motion;
the test system further comprises a surveying instrument, a test sensor receiver and a calculation main body, wherein the surveying instrument and the test sensor receiver are connected to the calculation main body, the test sensor receiver is connected with the test sensor in a matching way, the surveying instrument is used for acquiring a circular track of the measuring device in circular motion, the test sensor receiver is used for receiving position information acquired by the test sensor in the circular motion, and the calculation main body is used for calculating positioning errors according to data and information acquired by the surveying instrument and the test sensor receiver;
the method comprises the following steps:
(1) The measuring device performs circular motion, and the mapping instrument and the calculating main body acquire a test circular track when the measuring device performs circular motion;
(2) The calculating body calculates and obtains a theoretical coordinate point set of the circumferential track when the test sensor performs the circumferential motion according to the obtained test circular track;
(3) The test sensor performs circular motion, acquires position information of a circular track when the test sensor performs the circular motion, and sends the position information to the calculation main body through the test sensor receiver so that the calculation main body can acquire an actual coordinate point set of the circular motion of the test sensor;
(4) The calculation main body evaluates the positioning error of the navigation positioning system according to the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3);
the measuring instrument and the calculating body in the step (1) acquire a test circular track when the measuring device performs circular motion, and the method comprises the following steps:
(1.1) the surveying instrument obtaining positional information of n points on the test circular locus of the measuring device while performing the circular motion, and transmitting the obtained positional information of n points to the calculation subject, which calculates a coordinate center of gravity (x) of the obtained n points based on the obtained positional information of n points 0 ，y 0 ，z 0 )；
(1.2) the calculation subject calculates the center of gravity (x) according to the coordinates of the n points 0 ，y 0 ，z 0 ) The center of gravity (x) of the n points relative to the coordinates is obtained 0 ，y 0 ，z 0 ) Coordinate point set (x) i ,y i ,z i ) And i is more than or equal to 1 and less than or equal to n, n is more than or equal to 3, and fitting a coordinate point set (x i ,y i ,z i ) A first plane in which the first plane is located;
(1.3) the computing body fitting the set of coordinate points (x) of the n points in the first plane i ,y i ,z i ) The circle in which the test is located, thereby obtaining a test circular track.
2. The method of claim 1, wherein the circular orbit device comprises a rotating device and a driving device which are connected with each other, the measuring device and the test sensor are both installed at one end of the rotating device, and the driving device drives the rotating device to rotate around a vertical axis.
3. The method of claim 2, wherein the driving device is connected to the rotating device via an output shaft, and the rotating device comprises a radial arm.
4. The method of claim 2, wherein the driving device comprises a motor, a motor power supply and a control device, the control device is connected to the motor through the motor power supply, and the control device is connected with the motor power supply in a wired or wireless manner.
5. The method of claim 1, wherein the measuring device and the test sensor are mounted to the circular orbit device by a fixture, the fixture comprising a tripod.
6. The method of claim 1, wherein the measuring device comprises a prism and the test sensor comprises a GNSS antenna.
7. The method of claim 1, wherein the surveying instrument comprises a total station and/or a laser scanner and/or a photogrammetry camera, and the computing body comprises a data recorder, wherein the data recorder is configured to record data and information acquired by both the surveying instrument and the test sensor receiver, and record the result of the computation by the computing body.
8. The method for performing a dynamic positioning error test of a navigation positioning system according to claim 1, wherein said step (1.2) is:
the computing body calculates the object by using the measured coordinate point set (x i ,y i ,z i ) Determining two feature vectorsAnd->By->And->Determining a set of coordinate points (x i ,y i ,z i ) A first plane in which the coordinate point set (x i ,y i ,z i ) Coordinates in the first plane:
wherein x' i Is a set of coordinate points (x i ,y i ,z i ) In the first placeAn x-axis coordinate, y 'in a plane' i Is a set of coordinate points (x i ,y i ,z i ) And y-axis coordinates in the first plane.
9. The method for performing dynamic positioning error test of a navigation positioning system according to claim 8, wherein said step (1.3) is:
the calculation subject fits a set of coordinate points (x) in the obtained first plane using a least squares method based on the following formula i ,y i ,z i ) Circle in which:
wherein a and b represent the position of the center of the fitted circle on the first plane, a is the x-axis coordinate of the center of the fitted circle on the first plane, b is the y-axis coordinate of the center of the fitted circle on the first plane, r is the radius of the fitted circle, wherein z' i ＝x' i 2 +y' i 2 ，A＝-2a，B＝-2b，C＝a 2 +b 2 -r 2 。
10. The method of performing a dynamic positioning error test of a navigational positioning system by a measurement system having a dynamic positioning error testing device for a navigational positioning system according to claim 9, wherein said step (2) includes:
the calculation main body obtains a theoretical coordinate point set of the circular track when the test sensor performs circular motion according to the following formula and the test circular track obtained in the step (1.3):
wherein (x) θ ,y θ, z θ ) Is a theoretical coordinate point set of the test sensor, and θ=θ 0 +ωt，θ 0 For the initial phase angle of the test sensor during circular motion, ω is the angular velocity of the test sensor during circular motion.
11. The method for dynamic positioning error testing of a navigation positioning system according to claim 10, wherein said step (4) is:
the calculation subject evaluates the positioning error of the navigation positioning system according to the following formula, the theoretical coordinate point set obtained in the step (2) and the actual coordinate point set obtained in the step (3):
wherein E is the positioning error of the navigation positioning system, (x) t ,y t ,z t ) Representing the actual set of coordinate points of the test sensor.
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