CN108828636A - A kind of tractor dynamic combined GNSS goes jump point positioning device - Google Patents
A kind of tractor dynamic combined GNSS goes jump point positioning device Download PDFInfo
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- CN108828636A CN108828636A CN201810840305.1A CN201810840305A CN108828636A CN 108828636 A CN108828636 A CN 108828636A CN 201810840305 A CN201810840305 A CN 201810840305A CN 108828636 A CN108828636 A CN 108828636A
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- 230000009977 dual effect Effects 0.000 claims abstract description 14
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
Classifications
-
- 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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of tractor dynamic combined GNSS to go jump point positioning device, including dual system integrated positioning module, remove jump point locating module and GNSS locating module, equipment is at work, positioning calculation is carried out to the satellite data of the GPS positioning system and BDS positioning system detected simultaneously using with dual system integrated positioning module, in order to solve the common positioning jump point phenomenon of single system GNSS station-keeping mode, technical solution of the present invention is provided with and removes jump point locating module, and jump point locating module is gone to be implanted into jump point location algorithm, tractor dynamic combined GNSS goes jump point positioning device, compared to traditional single system GNSS locating scheme, not only dynamic locating accuracy increases, and solves the location data jump point phenomenon as caused by error.
Description
Technical field
The present invention relates to field of locating technology, specially a kind of tractor dynamic combined GNSS goes jump point positioning device.
Background technique
Using the information technology of modernization, mechanism of agricultural information management system is established, for reinforcing Agricultural Machinery Information macro adjustments and controls
With microcosmic guidance, further promote mechanization of agriculture, information-based development, there is highly important theory significance and practical meaning
Justice, mechanism of agricultural information management system include the agricultural machinery working system based on satellite positioning tech and the agricultural machinery based on Internet technology
Information service platform.The agricultural machinery working system integration GNSS receiver, sensor and GPRS module etc. are realized to agricultural information
Quick Acquisition, and be uploaded to agricultural information service platform.Agricultural information service platform real-time monitoring agricultural machinery working, dynamic kernel
Agricultural machinery working quality is looked into, and for statistical analysis to agricultural machinery working data, GNSS receiver is collected in agricultural machinery working system
The height of location data quality is directly related to the operational effect of entire management system, and technical solution dynamic locating accuracy is low, even
You have showing for positioning jump point, therefore a good GNSS receiver equipment is to establish the mechanism of agricultural information management system of high quality
Important guarantee.
Summary of the invention
The purpose of the present invention is to provide a kind of tractor dynamic combined GNSS to go jump point positioning device, above-mentioned to solve
The problem of being proposed in background technique.
To achieve the above object, the present invention provides the following technical solutions a kind of technical solution：A kind of tractor dynamic combined
GNSS goes jump point positioning device, including dual system integrated positioning module, removes jump point locating module, GNSS locating module, and equipment exists
When work, using with dual system integrated positioning module, while defending to the GPS positioning system and BDS positioning system detected
Sing data carries out positioning calculation, in order to solve the common positioning jump point phenomenon of single system GNSS station-keeping mode, the technology of the present invention side
Case is provided with and removes jump point locating module, and jump point locating module is gone to be implanted into jump point location algorithm, i.e., when receiving device receives
Before and after GNSS location data twice between time for being separated by be it is fixed, since GNSS location data has this parameter of speed, institute
In the case where assuming that tractor speed is constant, the preceding primary speed for receiving data is multiplied by the interval time for receiving data twice
Obtained distance is equal to the difference of this GNSS locating point position data received twice.Since tractor speed is in practice
Speed change, and GNSS location data precision also has error, so we can set a threshold values to judge that GNSS positions number
According to whether having jump point, if the difference of front and back received GNSS locating point position data twice is greater than this threshold values, that is considered as this
The secondary GNSS location data received is invalid, is the positioning jump point caused by error, and obtain GPS by satellite antenna
The data of positioning system satellite coordinate and BDS positioning system satellite coordinate, acquisition are handled by dual system from locating module is closed
To the location data of tractor, it is assumed that it is t, tractor that front and back receives GNSS location data time interval twice when equipment works
Speed is v, then threshold values x=10*t*v.Assuming that the GNSS location data received twice is respectively g1 (x1, y1), g2 (x2,
Y2), then front and back twice under the position location GNSS distance y=radical sign { (x1-x2) square-(y1-y2) square }, if y is greater than x,
Then think that the GNSS location data specifically received is jump point, so that judgement is invalid.
Preferably, the dual system integrated positioning module dynamic locating accuracy is 2.5m.
Preferably, the threshold values is ten times for receiving the distance that data time interval is obtained multiplied by speed.
Compared with prior art, the beneficial effects of the invention are as follows：Tractor dynamic combined GNSS goes jump point positioning to set
Standby, compared to traditional single system GNSS locating scheme, not only dynamic locating accuracy increases, and solve due to
Location data jump point phenomenon caused by error, easy to use and accurate positioning improve existing positioning skill to a certain extent
Art positions the case where there are jump points, is made that contribution for field of locating technology.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
In figure：1, dual system integrated positioning module, 2, go to jump point locating module, 3, GNSS locating module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of tractor dynamic combined GNSS goes jump point positioning to set
It is standby, including dual system integrated positioning module 1, remove jump point locating module 2 and GNSS locating module 3, equipment at work, uses
The satellite data of the GPS positioning system and BDS positioning system detected is carried out simultaneously with dual system integrated positioning module 1
Positioning calculation, in order to solve the common positioning jump point phenomenon of single system GNSS station-keeping mode, technical solution of the present invention is provided with and goes
Jump point locating module 2, and jump point locating module 2 is gone to be implanted into jump point location algorithm, i.e., when receiving device receives GNSS positioning
Before and after data twice between time for being separated by be it is fixed, since 3 location data of GNSS locating module has this parameter of speed,
It is assumed that in the case that tractor speed is constant, when the preceding primary speed for receiving data is multiplied by the interval for receiving data twice
Between obtained distance be equal to this GNSS locating point position data received twice difference.Due to tractor speed in practice
It is speed change, and 3 location data precision of GNSS locating module also has error, so we can set a threshold values to sentence
Whether disconnected 3 location data of GNSS locating module has jump point, if the positioning point of front and back received GNSS locating module 3 twice
The difference for setting data is greater than this threshold values, and it is caused by error that the GNSS location data that is considered as specifically receiving is invalid
Positioning jump point, and pass through satellite antenna and obtain GPS positioning system co-ordinates of satellite and BDS positioning system satellite coordinate, obtain
Data by dual system from close locating module 1 processing obtain the location data of tractor, it is assumed that equipment work when front and back twice
Reception GNSS location data time interval is t, and tractor speed is v, then threshold values x=10*t*v, it is assumed that is received twice
GNSS location data is respectively g1 (x1, y1), g2 (x2, y2), then front and back is twice under the position location GNSS distance y=radical sign
{ (x1-x2) square-(y1-y2) square }, if y is greater than x, then it is assumed that the GNSS location data specifically received is jump point, from
And judge that in vain, tractor dynamic combined GNSS goes jump point positioning device, compared to traditional positioning side single system GNSS
Case, not only dynamic locating accuracy increases, but also solves the location data jump point phenomenon as caused by error, uses
Convenient and accurate positioning improves existing location technology to a certain extent and positions the case where there are jump points, is location technology
Field is made that contribution
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or carries out to part of technical characteristic
Equivalent replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (3)
1. a kind of tractor dynamic combined GNSS goes jump point positioning device, including dual system integrated positioning module (1), go jump point fixed
Position module (2) and GNSS locating module (3), it is characterised in that：Equipment at work, using with dual system integrated positioning module
(1) positioning calculation is carried out to the satellite data of the GPS positioning system and BDS positioning system detected simultaneously, in order to solve monosystem
The common positioning jump point phenomenon of system GNSS station-keeping mode, technical solution of the present invention is provided with and goes to jump point locating module (2), and goes to jump
Point location module (2) is implanted into jump point location algorithm, i.e., when receiving device receive GNSS location data before and after twice between phase
Every time be it is fixed, since GNSS locating module (3) location data has this parameter of speed, it is assumed that tractor speed
In the case where constant, the preceding primary speed for receiving data is equal to this multiplied by the interval time obtained distance for receiving data twice
The difference of the GNSS locating point position data received twice.Since tractor speed is speed change in practice, and GNSS is positioned
Module (3) location data precision also has error, so we can set a threshold values to judge that GNSS locating module (3) position
Whether data have jump point, if front and back twice the locating point position data of received GNSS locating module (3) difference be greater than this
Threshold values, the GNSS location data that is considered as specifically receiving is invalid, is the positioning jump point caused by error, and by defending
Star antenna obtains GPS positioning system co-ordinates of satellite and BDS positioning system satellite coordinate, and the data of acquisition are fixed from closing by dual system
Position module (1) handles and obtains the location data of tractor, it is assumed that front and back receives the GNSS location data time twice when equipment works
Between be divided into t, tractor speed is v, then threshold values x=10*t*v, it is assumed that the GNSS location data received twice is respectively g1
(x1, y1), g2 (x2, y2), then { (x1-x2) square-(y1-y2) is flat twice under the position location GNSS distance y=radical sign for front and back
Side }, if y is greater than x, then it is assumed that the GNSS location data specifically received is jump point, so that judgement is invalid.
2. a kind of tractor dynamic combined GNSS according to claim 1 goes jump point positioning device, it is characterised in that：It is described
Dual system integrated positioning module (1) dynamic locating accuracy is 2.5m.
3. a kind of tractor dynamic combined GNSS according to claim 1 goes jump point positioning device, it is characterised in that：It is described
Threshold values is ten times for receiving the distance that data time interval is obtained multiplied by speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840305.1A CN108828636A (en) | 2018-07-27 | 2018-07-27 | A kind of tractor dynamic combined GNSS goes jump point positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840305.1A CN108828636A (en) | 2018-07-27 | 2018-07-27 | A kind of tractor dynamic combined GNSS goes jump point positioning device |
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| CN108828636A true CN108828636A (en) | 2018-11-16 |
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| CN201810840305.1A Pending CN108828636A (en) | 2018-07-27 | 2018-07-27 | A kind of tractor dynamic combined GNSS goes jump point positioning device |
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|---|---|---|---|---|
| CN101101328A (en) * | 2006-07-04 | 2008-01-09 | 英华达(上海)电子有限公司 | Method for rectifying GPS framing signal offset of GPS terminal apparatus |
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| CN102749631A (en) * | 2012-07-26 | 2012-10-24 | 海华电子企业(中国)有限公司 | Method for reducing positioning drift of Big Dipper satellite navigating and positioning device |
| CN103116165A (en) * | 2013-01-23 | 2013-05-22 | 深圳市华宝电子科技有限公司 | Method of restraining satellite positioning drift and navigation unit |
| CN105319565A (en) * | 2015-10-27 | 2016-02-10 | 厦门雅迅网络股份有限公司 | Method and device of filtering positioning drift data for vehicle GPS equipment |
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Patent Citations (8)
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| CN101101328A (en) * | 2006-07-04 | 2008-01-09 | 英华达(上海)电子有限公司 | Method for rectifying GPS framing signal offset of GPS terminal apparatus |
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Application publication date: 20181116 |