CN108957496A - The anti-GNSS failure positioning and directing receiver of UAV and its application method - Google Patents
The anti-GNSS failure positioning and directing receiver of UAV and its application method Download PDFInfo
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- CN108957496A CN108957496A CN201810351007.6A CN201810351007A CN108957496A CN 108957496 A CN108957496 A CN 108957496A CN 201810351007 A CN201810351007 A CN 201810351007A CN 108957496 A CN108957496 A CN 108957496A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
Abstract
The invention discloses the anti-GNSS failure positioning and directing receiver of UAV and its application methods, the receiver includes GNSS receiver, inertial navigation unit, differential link module, navigation data solving unit, utilize merging for posture inertial navigation operation result of measurement technology and GNSS navigator fix technology, simple GNSS navigator fix technology is solved by satellite signal quality, atmospheric ionized layer, signal transmission medium, the differential signal quality of earth station's broadcast, Observable satellitosis, public number of satellite, airborne end antenna visual environment etc. influences, cause airborne end GNSS receiver that can not capture satellite-signal, satellite-signal is caused to lose, geographical coordinate position can not be resolved, losing a little occurs in positioning result, jump point etc. is abnormal, the problem of being unable to satisfy navigator fix of the unmanned plane in operation process.Have the advantages that good dynamic characteristics, optimization GNSS location mutation under normal circumstances in GNSS signal；Have the advantages that good continuity, high reliablity and 3 d pose output are refreshed in position under GNSS failure conditions.
Description
Technical field
The present invention relates to GNSS (Global Navigation Satellite System), UAV (UAV, Unmanne d
Aerial Vehicle), the technology neck of inertial navigation (INS, Inertial Navigation System) and integrated navigation
Domain more particularly to the anti-GNSS failure positioning and directing receiver of UAV and its application method.
Background technique
GNSS navigation system, which has, carries out real-time measurement and round-the-clock, global continuous precision to attitude of carrier, speed
Threedimensional locating ability.Currently, extensive use has been obtained in GNSS navigation system, very in fields such as aircraft, battlebus, naval vessels
Extremely in some military fields, also using GNSS navigator fix as main navigation locating method.But civilian unmanned plane instantly
Prime navaid mode mainly rely on GNSS to navigate, due to GNSS navigation depend on Observable satellite state, there are various
Uncontrollable factor, for example plant protection drone operating environment windbreak blocks, the electromagnetic interference of high voltage transmission line, high-power base station
Emit the frequency range crosstalk of control tower, Observable satellitosis, atmospheric ionized layer active degree etc., influences airborne end GNSS navigation
The normal work of equipment.So simple GNSS as airborne end positioning and directing navigation equipment there are GNSS fail at any time can
Can, once GNSS failure will lead to lose position navigation information, cause unmanned plane during flying process can not carry out timely posture
Adjustment, location updating, height change, can not then continue navigation task, corresponding active control power be lost in succession, to cause
Unmanned plane loses perhaps aircraft bombing and causes different degrees of economic loss or jeopardize the injury of ground staff.
For the research of the positioning and directing airmanship of unmanned plane, one is elaborated in 103353601 A of Chinese patent CN
Unmanned plane referenced navigation system and method for the kind based on GNSS real-time difference technology, mentioning major technique in problem is real time differential
(RTK) airmanship application and application method, realize the navigation locating function of unmanned plane, and there is no practically point out the technology
Orientating function.Although the precision of GNSS positioning can be improved in RTK technical application to unmanned plane, the technology is used at present
Method can have certain risk, than GNSS Problem of Failure as mentioned in this article, can not provide continuously reliably to unmanned plane
Location information is managed, does not propose that orientating function can be provided to airborne end there are also the technology in text.
" agricultural plant protection unmanned plane high-accuracy position system research and the design " one in high-precision unmanned plane positioning system
Text is mentioned, and the high accuracy positioning of unmanned plane is realized using GNSS/GPRS, which is GNSS+GPRS (General Packet
Radio Service, general packet radio service) technology fusion, improve positioning accuracy to UAV system.But it is directed to
In some remote mountain areas, if network signal covering is bad, the LBS (mobile base station positioning) of GPRS will be unable to meet and provide
To the blending algorithm.It is equivalent to the method and has lacked auxiliary positioning function, can not be completed accurate navigator fix.
The method for referring to solve unmanned plane GNSS failure in 106352872 A of Chinese patent CN, when satellite-signal is lost
When mistake, the planning and navigation in path are carried out to unmanned plane using each attitude transducer, in the case of realizing satellite losing lock, is completed certainly
Main flight.But do not mentioned in this patent and carry out merging for MEMS posture and GNSS technology, it carries out solving satellite information loss
Method.There is short time loss or jump in positioning result, and the signal that GNSS receiver needs to receive at least 4 satellites could be real
Now position, once satellite-signal is blocked, such as unmanned plane pass through shelter-forest, fly to high building nearby etc., will lead to GNSS reception
The satellite-signal that machine receives reduces even losing lock, is unable to complete positioning.
It should be mentioned that a kind of anti-GNSS failure fixed-wing unmanned plane orientation in 201410197198 A of another patent CN
Method, text in mention viewpoint be anti-GNSS failure fixed-wing unmanned plane, main object be fixed-wing unmanned plane, function is anti-
GNSS failure and orientation.The method mentioned in text is the data application strap-down navigation algorithm using inertia device, gives fixed-wing
Unmanned plane calculates course posture.The anti-GNSS failure orientation method is that inertance element passes through Kalman filter after GNSS fails
The course information that wave device information fusion algorithm is calculated.This patent towards fixed-wing unmanned plane, it is only one-side
Using.And after GNSS failure, it is very fast that the pure inertial navigation used can have a diversity over time, and systematic error increases,
Posture information precision aspect will appear jump and uncontrollability.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide the anti-GNSS failure positioning and directings of UAV to receive
Machine and its application method, it is intended to solve the prior art and lose position navigation information in GNSS failure, cause unmanned plane during flying mistake
Journey can not carry out timely pose adjustment, location updating, height change, can not then continue navigation task, unmanned plane is caused to lose
Lose the problem of perhaps aircraft bombing brings different degrees of economic loss or jeopardizes the injury of ground staff.
The purpose of the present invention is implemented with the following technical solutions:
A kind of anti-GNSS failure positioning and directing receiver of UAV, including GNSS receiver, inertial navigation unit, differential link
Module, navigation data solving unit；Wherein,
Navigation data solving unit is connect with GNSS receiver, inertial navigation unit, differential link module respectively；
Differential link module receives Observable satellite information, base station parameter, the antenna parameter, phase sight at terrestrial reference station
Measurement, satellite ephemeris information, send GNSS receiver for difference text；
GNSS receiver receives satellite-signal, carries out real-time carrier phase Difference Solution with difference text and calculates, to GNSS number
According to being modified, and navigation data solving unit is sent by revised GNSS data；And in the lock for completing satellite-signal
After fixed, output second pulse signal to navigation data solving unit；
Inertial navigation unit obtains the inertial guidance data of unmanned plane and is sent to navigation data solving unit；
Navigation data solving unit carries out time synchronization and data to GNSS data and inertial guidance data using second pulse signal
Fusion resolves, and provides the high-precision navigator fix directional data after fusion resolves in real time to unmanned aerial vehicle control system, described high-precision
Spending navigator fix directional data includes the positioning of unmanned plane, orientation, navigation attitude information；And
It after GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, exports the navigation attitude letter of unmanned plane
Breath；
After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, is kept
The smooth transition of the navigation attitude information of unmanned plane.
On the basis of the above embodiments, it is preferred that differential link module includes radio station module and/or network module；
Radio station module receives the difference text at terrestrial reference station, and the difference text received is transparent to GNSS and is received
Device；The transmission mode of radio station module is short baseline transmission；Alternatively,
Network module gets difference text by network, and difference text is transparent to GNSS receiver；And by nobody
The current location posture information of machine passes back in server, carries out the condition managing of unmanned plane；The transmission mode of network module is
Data traffic transmission, short baseline transmission or Long baselines transmission based on GPRS.
On the basis of above-mentioned any embodiment, it is preferred that GNSS receiver uses 3 star, 7 frequency dual antenna receiver.
On the basis of above-mentioned any embodiment, it is preferred that inertial navigation unit includes 3 axis accelerometers, 3 axis magnetic force
Meter, 3 axis gyroscopes；
3 axis accelerometers obtain the gravity acceleration value of 3 orthogonal directions；
3 axis magnetometers obtain the magnetic biasing angle value of 3 orthogonal directions；
3 axis gyroscopes obtain the angle bias of the instantaneous variation of 3 orthogonal directions；
Inertial guidance data includes the gravity acceleration value of 3 orthogonal directions, the magnetic biasing angle value of 3 orthogonal directions, 3 orthogonal sides
To instantaneous variation angle bias.
On the basis of above-mentioned any embodiment, it is preferred that navigation data solving unit also realizes external user data
Distribution and request of data, to realize the data interaction between unmanned plane user.
A kind of application method of the anti-GNSS failure positioning and directing receiver of UAV, comprising:
Differentiation step, differential link module receive the Observable satellite information at terrestrial reference station, base station parameter, antenna ginseng
Number, phase observations amount, satellite ephemeris information, send GNSS receiver for difference text；
GNSS step, GNSS receiver receive satellite-signal, carry out real-time carrier phase Difference Solution with difference text and calculate,
GNSS data is modified, and sends navigation data solving unit for revised GNSS data；And complete satellite
After the locking of signal, output second pulse signal to navigation data solving unit；
Inertia step, inertial navigation unit obtain the inertial guidance data of unmanned plane and are sent to navigation data solving unit；
Step is exported, navigation data solving unit is same to GNSS data and inertial guidance data progress time using second pulse signal
Step and data fusion resolve, and provide the high-precision navigator fix directional data after fusion resolves in real time to unmanned aerial vehicle control system,
The high-precision navigator fix directional data includes the positioning of unmanned plane, orientation, navigation attitude information；And
It after GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, exports the navigation attitude letter of unmanned plane
Breath；
After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, is kept
The smooth transition of the navigation attitude information of unmanned plane.
On the basis of above-mentioned any embodiment, it is preferred that the navigation data solving unit utilizes second pulse signal pair
The step of GNSS data and inertial guidance data carry out time synchronization, specifically:
Navigation data solving unit carries out zero setting using frequency counting of the second pulse signal to inertial navigation unit and will be used to
The time of property navigation elements observation is set to the whole second；Time utilization whole time second of non-whole moment second inertial navigation unit observation
It is calculated in addition frequency counting multiplies the sampling interval
Compared with prior art, the beneficial effects of the present invention are:
The invention discloses the anti-GNSS failure positioning and directing receiver of UAV and its application methods, utilize posture inertial navigation
Operation result of measurement technology is merged with GNSS navigator fix technology, solves simple GNSS navigator fix technology by satellite-signal matter
Differential signal quality, the Observable satellitosis, public satellite number that amount, atmospheric ionized layer, signal transmission medium, earth station broadcast
Amount, airborne end antenna visual environment etc. influence, and cause airborne end GNSS receiver that can not capture satellite-signal, GNSS is caused to connect
Receipts machine satellite-signal is lost, and geographical coordinate position can not be resolved, and positioning result occurs losing the exception such as point, jump point, Wu Faman
The problem of navigator fix of the sufficient unmanned plane in operation process.
INS and GNSS combines the defect for largely reducing separate payment, and raising is the precision of navigation equipment
And real-time effectiveness.The position and speed that the INS errors gradually increased with the time can be determined by GNSS is believed
Breath is weakened, and the error of inertial navigation unit can also be estimated by the position and speed information that GNSS is determined.
The dropout problem of GNSS can be led using the short cycle high-precision that inertial navigation system provides under high data update rate
Information of navigating solves.
The present invention is an independent system, does not need the measurement of external signal, under the transmission of higher data and rate,
It is capable of providing short-term high-precision location information, speed and posture information.
The present invention be able to maintain that GNSS in short-term losing lock when navigator fix continuity, GNSS jump point is detected and is picked
It removes, improves reliability.GNSS under normal circumstances, PPS (PPS, the pulse per second (PPS) letter that INS and GNSS data pass through receiver board
Number abbreviation) carry out time synchronization information, complete inertial navigation unit data and calculate fusion, guarantee time information of whole second each time
Matching, reaches timely updating for location information.In the case where GNSS failure, the inertial navigation unit that makes an immediate response calculates data,
Continue GNSS failure PPS time data to be calculated, improves the update of navigator fix orientation when without GNSS signal.Inertial navigation skill
What art measured is the physical quantity of carrier, does not need external observation value as input, is complete autonomous navigator fix technology, works as GNSS
Losing lock when exporting without navigator fix result, can maintain the continuity of navigator fix by inertial navigation location technology, because
Inertial navigation is the position that carrier is calculated by the integral of angular velocity and acceleration, reaction be carrier real motion shape
State, so the case where there is no positioning result jumps, therefore can come according to the positioning result of inertial navigation to GNSS jump point
It is detected and is rejected.
The present invention can alleviate the mutation of position, speed, orientation when GNSS satellite signal restores.When satellite-signal restores it
Afterwards, there can be certain location information jump since the initial satellite signal captured from failure state to stable state process resolves information
Become, height catastrophe, the attitude signal exported by inertial navigation device and GNSS coordinate position are fitted calculating.Gradually
GNSS coordinate point and opposite height value are smoothed to, is unlikely to cause unmanned plane after GNSS signal recovery, because of height value
Mutation, cause unmanned plane moment be lifted or decline.And the recovery of geographical coordinate, cause unmanned plane moment to complete front and back left
Right movement.It is unlikely to cause the posture instant movement of unmanned plane and damage.
Benefit brought by the present invention includes:
1, the present invention is based on PPS second pulse signals to realize GNSS+INS time synchronization, is exported by GNSS receiver
PPS pulse per second (PPS), based on the sample rate of inertial navigation unit realize high frequency output (>=100Hz), navigator fix result
Real-time is better than 10 milliseconds, while also greatly improving the dynamic tracking capabilities to carrier, and existing GNSS navigator fix
Technology is because the performance of receiver tracking loop circuit limits, according to fixed frequency output navigator fix as a result, real-time is generally higher than
20 milliseconds, and because output frequency is low, it is poor to the dynamic tracking capabilities of carrier.
2, after the present invention realizes time synchronization using GPS+INS, the update of the high-speed of inertial navigation data.Work as GNSS
After failure, GNSS receiver no data output, inertial guidance data can carry out the reckoning of data according to upper one whole second data, and output is high
The unmanned plane position of precision, course, speed, height navigation data information maintain unmanned normal operation condition.When GNSS satellite is believed
After number restoring, the smooth of data is realized by MCU internal data processing unit, avoids being supplied to Unmanned Aerial Vehicle Data mutation, makes
At destructive disaster.
Compared with prior art, the present invention has good dynamic characteristics, optimization GNSS in GNSS signal under normal circumstances
The advantages of position is mutated；Refresh good continuity, high reliablity and 3 d pose output with position under GNSS failure conditions
Advantage.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows a kind of structural representation of the anti-GNSS failure positioning and directing receiver of UAV provided in an embodiment of the present invention
Figure；
Fig. 2 shows a kind of application methods of the anti-GNSS failure positioning and directing receiver of UAV provided in an embodiment of the present invention
Flow diagram.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As shown in Figure 1, the embodiment of the invention provides a kind of anti-GNSS failure positioning and directing receiver of UAV, including GNSS
Receiver, inertial navigation unit, differential link module, navigation data solving unit；Wherein,
Navigation data solving unit is connect with GNSS receiver, inertial navigation unit, differential link module respectively；
Differential link module receives Observable satellite information, base station parameter, the antenna parameter, phase sight at terrestrial reference station
Measurement, satellite ephemeris information, send GNSS receiver for difference text；
GNSS receiver receives satellite-signal, carries out real-time carrier phase Difference Solution with difference text and calculates, to GNSS number
According to being modified, and navigation data solving unit is sent by revised GNSS data；And in the lock for completing satellite-signal
After fixed, output second pulse signal to navigation data solving unit；
Inertial navigation unit obtains the inertial guidance data of unmanned plane and is sent to navigation data solving unit；
Navigation data solving unit carries out time synchronization and data to GNSS data and inertial guidance data using second pulse signal
Fusion resolves, and provides the high-precision navigator fix directional data after fusion resolves in real time to unmanned aerial vehicle control system, described high-precision
Spending navigator fix directional data includes the positioning of unmanned plane, orientation, navigation attitude information；And
It after GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, exports the navigation attitude letter of unmanned plane
Breath；
After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, is kept
The smooth transition of the navigation attitude information of unmanned plane.
The embodiment of the present invention to the navigation attitude information of unmanned plane without limitation, it is preferred that its may include unmanned plane position,
Course, speed, height.
The embodiment of the present invention is merged using posture inertial navigation operation result of measurement technology and GNSS navigator fix technology, solution
The difference that simple GNSS navigator fix technology is broadcasted by satellite signal quality, atmospheric ionized layer, signal transmission medium, earth station
Signal quality, Observable satellitosis, public number of satellite, airborne end antenna visual environment etc. influence, and lead to airborne end GNSS
Receiver can not capture satellite-signal, cause GNSS receiver satellite-signal to lose, can not resolve geographical coordinate position, position
As a result there is the problem of losing the exception such as point, jump point, being unable to satisfy navigator fix of the unmanned plane in operation process.In GNSS
Signal has the advantages that good dynamic characteristics, optimization GNSS location mutation under normal circumstances；There is position under GNSS failure conditions
It sets and refreshes the advantages of good continuity, high reliablity and 3 d pose export.
Preferably, differential link module may include radio station module and/or network module.Radio station module and network module are
It works independently, can be used 2 and select 1 working method, can be carried out the transmission of difference text.Radio station module receives terrestrial reference station
Difference text, the difference text received is transparent to GNSS receiver；The transmission mode of radio station module can be short baseline
Transmission, the range of transmission can be within 3~7Km.Network module gets difference text by network, by difference text transparent transmission
To GNSS receiver；And pass back to the current location posture information of unmanned plane in server, carry out the state pipe of unmanned plane
Reason；The transmission mode of network module is data traffic transmission, short baseline transmission or Long baselines transmission based on GPRS.Network mould
The transmission mode of block is a Backup Data link, and network base station transmission mode is fixed against the transmission of GPRS data flow, utilizes net
The transmission of network data, logs in dedicated CORS server or thousand services of seeking, and gets CORS by network, thousand seeks, server etc.
Difference text can achieve the covering transmission of large area, be convenient for networking, hardware and software platform management, and optimization sets up answering for mobile base station
Miscellaneous process.
Preferably, GNSS receiver can use 3 star, 7 frequency dual antenna receiver.The advantage of doing so is that can utilize
The double antenna effect of GNSS receiver, completes the orientating function of unmanned plane.It is traditional course with existing oriented approach difference
Information mostlys come from the navigation attitude information of magnetometer calculating, and the magnetometer is in strong magnetic (rich in iron ore area) environment and electromagnetic interference
Under (hv transmission line) environment, earth's magnetic field is easy to happen change, and the course information of magnetometer output is easy dry by such environment
It disturbs, course information is caused to will appear destructive disaster.Course calculating is carried out using the double antenna of GNSS receiver, do not will cause
Above problem, as long as antenna can receive satellite-signal, GNSS receiver can complete relevant course and resolve, not by ground
The influence of magnetic.
GNSS receiver mainly provides real-time positioning and directing information for unmanned plane.It is mainly used for receiving satellite-signal, leads to
The corresponding instruction of setting is crossed, navigation data is made requests, to realize the positioning and directing function of unmanned plane.Satellite is completed in receiver
After the locking of signal, what receiver can be autonomous exports second pulse signal by PPS pin, which is extremely pass of the invention
Signal of interest is the most important thing for completing the key point and time synchronization of GPS+INS data fusion.
Preferably, inertial navigation unit may include 3 axis accelerometers, 3 axis magnetometers, 3 axis gyroscopes；3 axle accelerations
Meter obtains the gravity acceleration value of 3 orthogonal directions；3 axis magnetometers obtain the magnetic biasing angle value of 3 orthogonal directions；3 axis gyroscopes
Obtain the angle bias of the instantaneous variation of 3 orthogonal directions；Inertial guidance data include the gravity acceleration value of 3 orthogonal directions, 3 just
Hand over the angle bias of the magnetic biasing angle value in direction, the instantaneous variation of 3 orthogonal directions.
Inertial navigation unit mainly provides inertial navigation posture information to unmanned plane in real time, realizes GPS+INS data fusion
Basis.Mainly be made of 3 axis accelerometers, 3 axis magnetometers, 3 axis gyroscopes, wherein accelerometer be mainly to provide 3 it is orthogonal
The gravity acceleration value in direction；Magnetometer is mainly to provide the magnetic declination of 3 orthogonal directions；Gyroscope is mainly being to provide 3 just
Hand over the angle bias of the instantaneous variation in direction.By reading the numerical value of these three attitude transducers, deadline synchronizing information is being led
The fusion calculation that navigation data is completed inside boat data calculation unit MCU, externally exports the navigation attitude information of unmanned plane needs.
Preferably, navigation data solving unit can also realize the distribution and request of data of external user data, to reality
Data interaction between existing unmanned plane user.
Navigation data solving unit is entire Data processing of receiver core, realizes inertial navigation using navigation data solving unit
Data carry out merging for data with GNSS data.Navigation data solving unit receives the PPS signal of GNSS receiver, and it is fixed to pass to
When device, trigger timer, realize inertial navigation calculate data and GNSS output data carry out time synchronization.Navigation data resolves single
The distribution and request of data of external user data are served as in member processing simultaneously, and the interaction of data is carried out convenient for unmanned plane user.
In above-mentioned specific embodiment one, the anti-GNSS failure positioning and directing receiver of UAV is provided, is corresponded
, the application also provides the UAV application method of anti-GNSS failure positioning and directing receiver.Since embodiment of the method is substantially similar to
System embodiment, so describing fairly simple, related place illustrates referring to the part of system embodiment.Described below
Embodiment of the method is only schematical.
Specific embodiment two
As shown in Fig. 2, the embodiment of the invention provides a kind of application sides of the anti-GNSS failure positioning and directing receiver of UAV
Method, comprising:
Differentiation step S101, differential link module receive the Observable satellite information at terrestrial reference station, base station parameter, day
Difference text is sent GNSS receiver by line parameter, phase observations amount, satellite ephemeris information；
GNSS step S102, GNSS receiver receive satellite-signal, carry out real-time carrier phase difference with difference text
It resolves, GNSS data is modified, and send navigation data solving unit for revised GNSS data；And it completes
After the locking of satellite-signal, output second pulse signal to navigation data solving unit；
Inertia step S103, inertial navigation unit, which obtains the inertial guidance data of unmanned plane and is sent to navigation data, resolves list
Member；
Step S104 is exported, when navigation data solving unit carries out GNSS data and inertial guidance data using second pulse signal
Between synchronous and data fusion resolve, the high-precision navigator fix after fusion resolves is provided in real time to unmanned aerial vehicle control system and orients number
According to the high-precision navigator fix directional data includes the positioning of unmanned plane, orientation, navigation attitude information；And
It after GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, exports the navigation attitude letter of unmanned plane
Breath；
After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, is kept
The smooth transition of the navigation attitude information of unmanned plane.
The embodiment of the present invention is merged using posture inertial navigation operation result of measurement technology and GNSS navigator fix technology, solution
The difference that simple GNSS navigator fix technology is broadcasted by satellite signal quality, atmospheric ionized layer, signal transmission medium, earth station
Signal quality, Observable satellitosis, public number of satellite, airborne end antenna visual environment etc. influence, and lead to airborne end GNSS
Receiver can not capture satellite-signal, cause GNSS receiver satellite-signal to lose, can not resolve geographical coordinate position, position
As a result there is the problem of losing the exception such as point, jump point, being unable to satisfy navigator fix of the unmanned plane in operation process.In GNSS
Signal has the advantages that good dynamic characteristics, optimization GNSS location mutation under normal circumstances；There is position under GNSS failure conditions
It sets and refreshes the advantages of good continuity, high reliablity and 3 d pose export.
Preferably, the navigation data solving unit carries out the time to GNSS data and inertial guidance data using second pulse signal
Synchronous step, can be with specifically: navigation data solving unit is using second pulse signal to the frequency counting of inertial navigation unit
It carries out zero setting and the time of inertial navigation unit observation is set to the whole second；Non- whole moment second inertial navigation unit observation when
Between multiply the sampling interval plus frequency counting using whole time second and calculated.
The operative scenario for carrying out time synchronization to inertial guidance data and GNSS data may is that inertial navigation unit passes through inside
Clock crystal oscillator control sampling and output, so the observation data of inertial navigation unit only have frequency counting, i.e., it is opposite to start to work
The incremental time at moment is relative time；GNSS is one-to-one with UTC time, is exhausted using GPS system time
To the time；So inertial navigation and GNSS observation data time be it is inconsistent, data fusion can not be carried out, need to the two carry out
Time synchronization, the present invention is based on the PPS signals of GNSS receiver output to synchronize to inertial guidance data, and PPS signal corresponds to
Whole moment second of GPS system, precision were 20 nanoseconds, fully met the required precision of time synchronization, utilized PPS second pulse signal pair
The frequency counting of inertial navigation unit carries out zero setting and the time of inertial navigation unit observation is set to whole second, non-whole moment second
The time utilization of inertial navigation unit observation whole time second multiplies the sampling interval plus frequency counting and is calculated, to realize used
The time synchronization and data fusion of derivative evidence and GNSS data.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progressive and novelty are illustrated, the practical progress having
Property, oneself meets the function that Patent Law is emphasized and promotes and use important document, and more than the present invention explanation and attached drawing are only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device, wait the approximations, thunder such as levy
With, i.e., all according to equivalent replacement made by present patent application range or modification etc., the patent application that should all belong to of the invention is protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiments, and it is attributed to right and wants
The range asked comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that can as described above
Various other corresponding changes and deformation are made in technical solution and design, and all these change and deformation is all answered
Within this is belonged to the protection scope of the claims of the invention.
Claims (7)
- The positioning and directing receiver 1. a kind of anti-GNSS of UAV fails, which is characterized in that including GNSS receiver, inertial navigation unit, Differential link module, navigation data solving unit；Wherein,Navigation data solving unit is connect with GNSS receiver, inertial navigation unit, differential link module respectively；Observable satellite information, base station parameter, the antenna parameter, phase observations at differential link module reception terrestrial reference station Amount, satellite ephemeris information, send GNSS receiver for difference text；GNSS receiver receives satellite-signal, carries out real-time carrier phase Difference Solution with difference text and calculates, to GNSS data into Row amendment, and navigation data solving unit is sent by revised GNSS data；And after the locking for completing satellite-signal, Second pulse signal is exported to navigation data solving unit；Inertial navigation unit obtains the inertial guidance data of unmanned plane and is sent to navigation data solving unit；Navigation data solving unit carries out time synchronization and data fusion to GNSS data and inertial guidance data using second pulse signal It resolves, the high-precision navigator fix directional data after fusion resolves is provided in real time to unmanned aerial vehicle control system, the high-precision is led Positioning and directing data of navigating include the positioning of unmanned plane, orientation, navigation attitude information；AndAfter GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, export the navigation attitude information of unmanned plane；After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, keeps nobody The smooth transition of the navigation attitude information of machine.
- The positioning and directing receiver 2. the anti-GNSS of UAV according to claim 1 fails, which is characterized in that differential link module Including radio station module and/or network module；Radio station module receives the difference text at terrestrial reference station, and the difference text received is transparent to GNSS receiver；Electricity The transmission mode of platform module is short baseline transmission；Alternatively,Network module gets difference text by network, and difference text is transparent to GNSS receiver；And by unmanned plane Current location posture information passes back in server, carries out the condition managing of unmanned plane；The transmission mode of network module be based on Data traffic transmission, short baseline transmission or the Long baselines transmission of GPRS.
- The positioning and directing receiver 3. the anti-GNSS of UAV according to claim 1 or 2 fails, which is characterized in that GNSS receiver Using 3 star, 7 frequency dual antenna receiver.
- The positioning and directing receiver 4. the anti-GNSS of UAV according to claim 1 or 2 fails, which is characterized in that inertial navigation list Member includes 3 axis accelerometers, 3 axis magnetometers, 3 axis gyroscopes；3 axis accelerometers obtain the gravity acceleration value of 3 orthogonal directions；3 axis magnetometers obtain the magnetic biasing angle value of 3 orthogonal directions；3 axis gyroscopes obtain the angle bias of the instantaneous variation of 3 orthogonal directions；Inertial guidance data includes the gravity acceleration value of 3 orthogonal directions, the magnetic biasing angle value of 3 orthogonal directions, 3 orthogonal directions The angle bias of instantaneous variation.
- The positioning and directing receiver 5. the anti-GNSS of UAV according to claim 1 or 2 fails, which is characterized in that navigation data solution Distribution and request of data that unit also realizes external user data are calculated, to realize the data interaction between unmanned plane user.
- 6. a kind of application method of the anti-GNSS failure positioning and directing receiver of UAV characterized by comprisingDifferentiation step, differential link module receive the Observable satellite information at terrestrial reference station, base station parameter, antenna parameter, Difference text is sent GNSS receiver by phase observations amount, satellite ephemeris information；GNSS step, GNSS receiver receive satellite-signal, carry out real-time carrier phase Difference Solution with difference text and calculate, right GNSS data is modified, and sends navigation data solving unit for revised GNSS data；And complete satellite letter Number locking after, output second pulse signal is to navigation data solving unit；Inertia step, inertial navigation unit obtain the inertial guidance data of unmanned plane and are sent to navigation data solving unit；Export step, navigation data solving unit using second pulse signal to GNSS data and inertial guidance data carry out time synchronization with Data fusion resolves, and provides the high-precision navigator fix directional data after fusion resolves in real time to unmanned aerial vehicle control system, described High-precision navigator fix directional data includes the positioning of unmanned plane, orientation, navigation attitude information；AndAfter GNSS receiver failure, is calculated according to the inertial guidance data of upper one whole second, export the navigation attitude information of unmanned plane；After GNSS receiver recovery, calculating is fitted by the inertial guidance data and GNSS data at current time, keeps nobody The smooth transition of the navigation attitude information of machine.
- 7. the application method of the anti-GNSS failure positioning and directing receiver of UAV according to claim 6, which is characterized in that institute The step of navigation data solving unit carries out time synchronization to GNSS data and inertial guidance data using second pulse signal is stated, specifically Are as follows:Navigation data solving unit carries out zero setting using frequency counting of the second pulse signal to inertial navigation unit and leads inertia The time of boat unit observation is set to the whole second；Time utilization whole time second of non-whole moment second inertial navigation unit observation adds Frequency counting multiplies the sampling interval and is calculated.
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