CN108680183B - Navigation positioning accuracy evaluation method - Google Patents
Navigation positioning accuracy evaluation method Download PDFInfo
- Publication number
- CN108680183B CN108680183B CN201810270226.1A CN201810270226A CN108680183B CN 108680183 B CN108680183 B CN 108680183B CN 201810270226 A CN201810270226 A CN 201810270226A CN 108680183 B CN108680183 B CN 108680183B
- Authority
- CN
- China
- Prior art keywords
- point
- positioning accuracy
- rtk
- navigation device
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention provides a navigation positioning accuracy evaluation method, which comprises the following steps: the first step is as follows: installing a combined navigation device utilizing a single-axis gyroscope, an inclinometer and a speedometer on a robot carrier, and marking a reference point; erecting an RTK base station, and installing an RTK rover on a robot carrier, wherein the reference point of the RTK rover is ensured to be coincident with the reference point of the robot carrier; the second step is that: starting the robot carrier, and recording the position coordinate calculated by the combined navigation device and the position coordinate output by the RTK rover station while walking; the third step: and calculating the two sets of coordinate information by adopting a relative positioning precision algorithm and an absolute positioning precision algorithm to obtain a relative positioning precision value and an absolute positioning precision. The method has the advantages of simple steps, capability of obtaining accurate relative positioning accuracy values and absolute positioning accuracy values, and capability of effectively evaluating the positioning accuracy of the integrated navigation device.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a navigation positioning accuracy evaluation method.
Background
There are many accuracy evaluation methods for navigation positioning in the prior art, but these methods are not applicable to the patent application "combined navigation device and method using single-axis gyroscope, inclinometer and odometer" (application No. 201610564309.2), and the details are as follows:
for example, in the dynamic positioning accuracy test of the GPS-RTK, the RTK rover station is placed on a large disc at a fixed position, the disc rotates around a circular point, the track of the RTK positioning is a circle, and the track is compared with the circle with the RTK distance circular point as the radius, so that the RTK positioning accuracy can be obtained. This method is not applicable to the combined navigation device and method using single axis gyroscopes, inclinometers, and odometers.
Therefore, it is of great interest to develop a new evaluation method that is suitable for the above-mentioned patent application.
Disclosure of Invention
The invention aims to provide a novel method for evaluating navigation positioning accuracy, which has the following specific technical scheme:
a navigation positioning accuracy evaluation method comprises the following steps:
the first step is as follows: installing a combined navigation device utilizing a single-axis gyroscope, an inclinometer and a speedometer on a robot carrier, and marking a reference point; erect RTK reference station, install the RTK rover on the robot carrier, wherein: ensuring that the RTK rover reference point coincides with the robot carrier reference point;
the second step is that: starting the robot carrier, and recording the position coordinate calculated by the combined navigation device and the position coordinate output by the RTK rover station while walking;
the third step: and calculating the position coordinate information calculated by the integrated navigation device and the position coordinate information output by the RTK rover station by adopting a relative positioning precision algorithm and an absolute positioning precision algorithm to obtain a relative positioning precision value and an absolute positioning precision value.
Preferably, in the above technical solution, the sampling rate of the RTK rover station is 0.5 seconds to 5 seconds.
Preferably, in the above technical solution, the integrated navigation device calculates the position at fixed distance intervals.
Preferably, in the above technical solution, the relative positioning accuracy algorithm in the third step includes the following steps:
step A1, sequentially extracting a plane coordinate point set PRTK { P ] collected by the RTK rover1，P2，…，PnAdjacent two points PkAnd Pk+1The spacing therebetween is obtained by expression 1);
wherein: skIs two adjacent points PkAnd Pk+1A distance between xkIs a point PkAbscissa of position, xk+1Is a point Pk+1Abscissa of position, ykIs a point PkOrdinate, y, of positionk+1Is a point Pk+1The ordinate of the position; n is the number of plane coordinate points acquired by the RTK rover station, and is a natural number which is more than or equal to 3;
the total distance moved by the robot carrier is obtained by expression 2):
S＝S1+S2+…+Sn-12)；
wherein: s is the total distance of the movement of the robot carrier; sn-1Is a point PnPosition and point Pn-1The spacing between locations;
step A2, extracting the coordinates Coornav (X) of the final position output by the integrated navigation devicenav，Ynav) And the final position coordinate CoorrRTK (X) of the RTK outputRTK，YRTK) (ii) a Calculating the distance error between the two by expression 3):
wherein: serrorA distance error between the last position coordinate output for the combined navigation device and the last position coordinate output for the RTK rover station;
step A3, obtaining a relative positioning accuracy value through an expression 4):
wherein: sigmaRelative to each otherThe relative positioning accuracy.
Preferably, in the above technical solution, the absolute positioning accuracy algorithm in the third step includes the following steps:
step B1: planar coordinate point set PRTK { P) collected from RTK rover1，P2，…，PnM points are selected to form a set PRTK' { P }1，P2，…，Pm}, wherein: m is a natural number not less than 3 and not more than n;
step B2: randomly extracting a point P in a set PRTKk' extracting distance P from the combined navigation device output coordinate set Cnavk' nearest Point CkThe distance difference between two points is calculated by expression 5):
wherein:
is a point Pk' and Point CkThe difference in the distance between them,
is point CkThe abscissa of the (c) axis of the (c),
is a point PkThe abscissa of the' axis is,
is point CkThe ordinate of (a) is,
is a point PkThe ordinate of `;
step B3: repeating the step B2, and calculating the distance difference S of the closest point in the coordinate set Cnav corresponding to the midpoint of all the plane coordinate point sets PRTK1、S2、…、Sm；
Step B4: calculating an absolute positioning accuracy value by expression 6):
wherein: sigmaAbsoluteAbsolute positioning accuracy; skThe distance difference between a point in the plane coordinate point set PRTK' and the nearest point in the coordinate set Cnav is shown, and k is a natural number which is greater than or equal to 1 and less than or equal to m.
The method of the invention has the following effects:
1. the invention provides a novel method for evaluating navigation positioning accuracy, which is applicable to a patent application of 'a combined navigation device and method using a single-axis gyroscope, an inclinometer and a mileometer'. The patent application 'the combined navigation device and method using the single-axis gyroscope, the inclinometer and the odometer' is a device and method suitable for underground space navigation and positioning, which is developed by the applicant of the invention, and has strong practicability.
2. According to the invention, through the combination of the combined navigation device and the RTK, the relative positioning accuracy value and the absolute positioning accuracy value for evaluating the navigation positioning accuracy are obtained through the calculation of the coordinate position output by the combined navigation device and the coordinate position output by the RTK rover station, and the feasibility of navigation positioning can be intuitively reflected.
3. The evaluation method has simple steps and is easy to realize; the invention adopts a unique relative positioning accuracy algorithm and an absolute positioning accuracy algorithm, and can accurately obtain a relative positioning accuracy value and absolute positioning accuracy.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a diagram comparing the trajectories of the navigation positioning and the RTK positioning in embodiment 1.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
a navigation positioning accuracy evaluation method specifically comprises the following steps:
the first step is as follows: a combined navigation device utilizing a single-axis gyroscope, an inclinometer and an odometer (the patent application ' combined navigation device and method utilizing the single-axis gyroscope, the inclinometer and the odometer ', application number is 201610564309.2 ') is installed on a robot carrier, and a reference point is marked; erect RTK reference station, install the RTK rover on the robot carrier, wherein: ensuring that the RTK rover reference point coincides with the robot carrier reference point; the sampling rate of the RTK rover is 0.5 seconds to 5 seconds (here 0.5 seconds);
the second step is that: starting the robot carrier, and recording the position coordinates calculated by the combined navigation device and the position coordinates output by the RTK rover while walking (a track map is shown in detail in figure 1); the integrated navigation device calculates positions at fixed distance intervals;
the third step: calculating the position coordinate information calculated by the integrated navigation device and the position coordinate information output by the RTK rover station by adopting a relative positioning precision algorithm and an absolute positioning precision algorithm to obtain a relative positioning precision value and an absolute positioning precision, wherein the details are as follows:
the relative positioning accuracy algorithm specifically comprises the following steps:
step A1, sequentially extracting a plane coordinate point set PRTK { P ] collected by the RTK rover1，P2，…，PnAdjacent two points PkAnd Pk+1The spacing therebetween is obtained by expression 1);
wherein: skIs two adjacent points PkAnd Pk+1A distance between xkIs a point PkAbscissa of position, xk+1Is a point Pk+1Abscissa of position, ykIs a point PkOrdinate, y, of positionk+1Is a point Pk+1The ordinate of the position; n is the number of plane coordinate points acquired by the RTK rover station, and is a natural number which is more than or equal to 3;
the total distance moved by the robot carrier is obtained by expression 2):
S＝S1+S2+…+Sn-12)；
wherein: s is the total distance of the movement of the robot carrier; sn-1Is a point PnPosition and point Pn-1The spacing between locations;
step A2, extracting the coordinates Coornav (X) of the final position output by the integrated navigation devicenav，Ynav) And the final position coordinates CoorrRTK (X) output by the RTK rover stationRTK，YRTK) (ii) a Calculating two by expression 3)Distance error between the two:
wherein: serrorA distance error between the last position coordinate output for the combined navigation device and the last position coordinate output for the RTK rover station;
step A3, obtaining a relative positioning accuracy value through an expression 4):
wherein: sigmaRelative to each otherThe relative positioning accuracy.
In this embodiment: by calculation, the total travel distance S recorded by the RTK rover is 158.97m, Coornav (3114175.0650, 394222.6290), coortk (3114176.8066, 394222.7728), Serror1.75, and finally obtaining the relative positioning accuracy sigmaRelative to each other＝0.011。
The absolute positioning accuracy algorithm specifically comprises the following steps:
step B1: planar coordinate point set PRTK { P) collected from RTK rover1，P2，…，PnM points are selected to form a set PRTK' { P }1，P2，…，Pm}, wherein: m is a natural number not less than 3 and not more than n;
step B2: randomly extracting a point P in a set PRTKk' extracting distance P from the combined navigation device output coordinate set Cnavk' nearest Point CkThe distance difference between two points is calculated by expression 5):
wherein:
is a point Pk' and Point CkDistance difference between，
Is point CkThe abscissa of the (c) axis of the (c),
is a point PkThe abscissa of the' axis is,
is point CkThe ordinate of (a) is,
is a point PkThe ordinate of `;
step B3: repeating the step B2, and calculating the distance difference S of the closest point in the coordinate set Cnav corresponding to the midpoint of all the plane coordinate point sets PRTK1、S2、…、Sm；
Step B4: calculating an absolute positioning accuracy value by expression 6):
wherein: sigmaAbsoluteAbsolute positioning accuracy; skThe distance difference between a point in the plane coordinate point set PRTK' and the nearest point in the coordinate set Cnav is shown, and k is a natural number which is greater than or equal to 1 and less than or equal to m.
In this embodiment: selecting 12 points from an RTK rover coordinate point set, and correspondingly selecting the nearest navigation positioning coordinate, wherein the details are shown in a table 1:
TABLE 1 statistical table of position coordinates, RTK rover output position coordinates and range differences calculated by the integrated navigation device
Finally obtaining absolute positioning accuracy sigmaAbsolute＝0.299m。
By applying the technical scheme of the embodiment, the robot carrier runs for 158.97m, and the absolute positioning accuracy of the position coordinate obtained by the method of the patent application 'the combined navigation device and method using the single-axis gyroscope, the inclinometer and the odometer' is 0.299m and the relative positioning accuracy is 1.1%.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A navigation positioning accuracy assessment method is characterized in that: the method comprises the following steps:
the first step is as follows: installing a combined navigation device utilizing a single-axis gyroscope, an inclinometer and a speedometer on a robot carrier, and marking a reference point; erect RTK reference station, install the RTK rover on the robot carrier, wherein: ensuring that the RTK rover reference point coincides with the robot carrier reference point;
the second step is that: starting the robot carrier, and recording the position coordinate calculated by the combined navigation device and the position coordinate output by the RTK rover station while walking;
the third step: calculating the position coordinate information calculated by the integrated navigation device and the position coordinate information output by the RTK rover station by adopting a relative positioning precision algorithm and an absolute positioning precision algorithm to obtain a relative positioning precision value and an absolute positioning precision value;
the relative positioning accuracy algorithm in the third step specifically comprises the following steps:
step A1, sequentially extracting a plane coordinate point set PRTK { P ] collected by the RTK rover1，P2，…，PnAdjacent two points PkAnd Pk+1The spacing therebetween is obtained by expression 1);
wherein: skIs adjacent toTwo points PkAnd Pk+1A distance between xkIs a point PkAbscissa of position, xk+1Is a point Pk+1Abscissa of position, ykIs a point PkOrdinate, y, of positionk+1Is a point Pk+1The ordinate of the position; n is the number of plane coordinate points acquired by the RTK rover station, and is a natural number which is more than or equal to 3;
the total distance moved by the robot carrier is obtained by expression 2):
S＝S1+S2+…+Sn-12)；
wherein: s is the total distance of the movement of the robot carrier; sn-1Is a point PnPosition and point Pn-1The spacing between locations;
step A2, extracting the last position coordinate Coornav (X) output by the combined navigation devicenav，Ynav) And the final position coordinates CoorrRTK (X) output by the RTK rover stationRTK，YRTK) (ii) a Calculating the distance error between the two by expression 3):
wherein: serrorA distance error between the last position coordinate output for the combined navigation device and the last position coordinate output for the RTK rover station;
step A3, obtaining a relative positioning accuracy value through an expression 4):
wherein: sigmaRelative to each otherThe relative positioning accuracy.
2. The method for evaluating navigational positioning accuracy according to claim 1, wherein: the sampling rate of the RTK rover station is 0.5 seconds to 5 seconds.
3. The method for evaluating navigational positioning accuracy according to claim 1, wherein: the integrated navigation device calculates positions at fixed distance intervals.
4. The method for evaluating navigational positioning accuracy according to claim 1, wherein: the absolute positioning accuracy algorithm in the third step specifically comprises the following steps:
step B1: planar coordinate point set PRTK { P) collected from RTK rover1，P2，…，PnM points are selected to form a set PRTK' { P }1，P2，…，Pm}, wherein: m is a natural number not less than 3 and not more than n;
step B2: randomly extracting a point P in a set PRTKk' extracting distance P from the combined navigation device output coordinate set Cnavk' nearest Point CkThe distance difference between two points is calculated by expression 5):
wherein:
is a point Pk' and Point CkThe difference in the distance between them,
is point CkThe abscissa of the (c) axis of the (c),
is a point PkThe abscissa of the' axis is,
is point CkThe ordinate of (a) is,
is a point PkThe ordinate of `;
step B3: repeating the step B2, and calculating the distance difference S of the closest point in the coordinate set Cnav corresponding to the midpoint of all the plane coordinate point sets PRTK1、S2、…、Sm；
Step B4: calculating an absolute positioning accuracy value by expression 6):
wherein: sigmaAbsoluteAbsolute positioning accuracy; skThe distance difference between a point in the plane coordinate point set PRTK' and the nearest point in the coordinate set Cnav is shown, and k is a natural number which is greater than or equal to 1 and less than or equal to m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810270226.1A CN108680183B (en) | 2018-03-29 | 2018-03-29 | Navigation positioning accuracy evaluation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810270226.1A CN108680183B (en) | 2018-03-29 | 2018-03-29 | Navigation positioning accuracy evaluation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108680183A CN108680183A (en) | 2018-10-19 |
| CN108680183B true CN108680183B (en) | 2020-06-09 |
Family
ID=63799596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810270226.1A Active CN108680183B (en) | 2018-03-29 | 2018-03-29 | Navigation positioning accuracy evaluation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108680183B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110631598A (en) * | 2019-08-06 | 2019-12-31 | 北京百度网讯科技有限公司 | Method, device and equipment for evaluating vehicle positioning accuracy and computer readable storage medium |
| CN110673172A (en) * | 2019-09-17 | 2020-01-10 | 闽江学院 | Method and terminal for testing static relative positioning accuracy of receiver |
| CN110673171A (en) * | 2019-09-17 | 2020-01-10 | 闽江学院 | Method and terminal for testing positioning performance comparison of navigation receiver |
| CN110926406B (en) * | 2019-12-17 | 2021-11-09 | 中国有色金属长沙勘察设计研究院有限公司 | Initial orientation method for hole-exploring robot |
| CN111412929A (en) * | 2020-04-26 | 2020-07-14 | 东风汽车集团有限公司 | Combined inertial navigation positioning performance evaluation method based on high-precision map |
| CN112484753B (en) * | 2020-12-04 | 2023-09-26 | 瑞驰博方（北京）科技有限公司 | Dynamic positioning accuracy evaluation system, method, device, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012015527A1 (en) * | 2010-07-30 | 2012-02-02 | Navcom Technology, Inc. | System and method for moving-base rtk measurements |
| CN103743414A (en) * | 2014-01-02 | 2014-04-23 | 东南大学 | Initial alignment method of speedometer-assisted strapdown inertial navigation system during running |
| CN105953797A (en) * | 2016-07-16 | 2016-09-21 | 中国有色金属长沙勘察设计研究院有限公司 | Combined navigation device based on single-axis gyroscope, inclinometer and milemeter and method |
| CN106842266A (en) * | 2017-01-19 | 2017-06-13 | 湖南北云科技有限公司 | A kind of instant reference station localization method and system |
| CN106895852A (en) * | 2017-02-14 | 2017-06-27 | 中国地质大学（武汉） | A kind of positioning precision appraisal procedure and device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120086598A1 (en) * | 2010-10-08 | 2012-04-12 | Canadian Space Agency | Apparatus and methods for driftless attitude determination and reliable localization of vehicles |
-
2018
- 2018-03-29 CN CN201810270226.1A patent/CN108680183B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012015527A1 (en) * | 2010-07-30 | 2012-02-02 | Navcom Technology, Inc. | System and method for moving-base rtk measurements |
| CN103743414A (en) * | 2014-01-02 | 2014-04-23 | 东南大学 | Initial alignment method of speedometer-assisted strapdown inertial navigation system during running |
| CN105953797A (en) * | 2016-07-16 | 2016-09-21 | 中国有色金属长沙勘察设计研究院有限公司 | Combined navigation device based on single-axis gyroscope, inclinometer and milemeter and method |
| CN106842266A (en) * | 2017-01-19 | 2017-06-13 | 湖南北云科技有限公司 | A kind of instant reference station localization method and system |
| CN106895852A (en) * | 2017-02-14 | 2017-06-27 | 中国地质大学（武汉） | A kind of positioning precision appraisal procedure and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108680183A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108680183B (en) | Navigation positioning accuracy evaluation method | |
| CN101907714B (en) | GPS aided positioning system and method based on multi-sensor data fusion | |
| Link et al. | Footpath: Accurate map-based indoor navigation using smartphones | |
| EP3019827B1 (en) | Indoor location-finding using magnetic field anomalies | |
| CN106595652B (en) | Alignment methods between the backtracking formula of vehicle kinematics constraint auxiliary is advanced | |
| CN106979778B (en) | Positioning method, positioning device and mobile terminal | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| CN109186597B (en) | Positioning method of indoor wheeled robot based on double MEMS-IMU | |
| CN105044668A (en) | Wifi fingerprint database construction method based on multi-sensor device | |
| CN103379619A (en) | Method and system for positioning | |
| CN103968827A (en) | Wearable human body gait detection self-localization method | |
| Chen et al. | Positioning accuracy of a pipeline surveying system based on MEMS IMU and odometer: Case study | |
| CN108253976A (en) | It is a kind of fully by the three stage Online Map matching algorithms in vehicle course | |
| CN106168485A (en) | Walking track data projectional technique and device | |
| Zhou et al. | Kinematic measurement of the railway track centerline position by GNSS/INS/odometer integration | |
| CN104613966B (en) | A kind of cadastration off-line data processing method | |
| CN115615430B (en) | Positioning data correction method and system based on strapdown inertial navigation | |
| CN112504265B (en) | Geomagnetic reference library construction method for indoor vehicle geomagnetic matching positioning | |
| Attia et al. | Map aided pedestrian dead reckoning using buildings information for indoor navigation applications | |
| Cruz et al. | MagLand: Magnetic landmarks for road vehicle localization | |
| Zhou et al. | Onboard train localization based on railway track irregularity matching | |
| Idrizi | Necessity for geometric corrections of distances in web and mobile maps | |
| Bevermeier et al. | Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter | |
| Chen et al. | Experimental study on the potential of vehicle’s attitude response to railway track irregularity in precise train localization | |
| CN103592465A (en) | Triaxial micromachine accelerometer static correction method based on particle swarm optimization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No. 101, building 1, kangyuanyuan, No. 579, Zhenhua Road, Yuhua District, Changsha City, Hunan Province Applicant after: CHINESE NONFERROUS METAL SURVEY AND DESIGN INSTITUTE OF CHANGSHA Co.,Ltd. Address before: 410011 No. 81 Shaoshan North Road, Furong district, Hunan, Changsha Applicant before: CHINESE NONFERROUS METAL SURVEY AND DESIGN INSTITUTE OF CHANGSHA Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |