CN110764125A - Method and system for improving landing positioning accuracy of unmanned aerial vehicle based on power inspection - Google Patents
Method and system for improving landing positioning accuracy of unmanned aerial vehicle based on power inspection Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle positioning, and discloses a method and a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power inspection.A carrier cycle slip is detected and repaired by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
And from the resulting floating point solution
Fixing whole-cycle ambiguities using step-by-step ambiguity determinationDegree; and obtaining the optimal solution of the baseline vector by the optimal solution of the integer ambiguity, and obtaining the accurate position of the mobile base station under the condition that the position of the reference station is known. The invention provides an improved method for carrying out high-precision positioning on the unmanned aerial vehicle Beidou navigation system by adopting an RTK technology, can meet the engineering requirements of unmanned aerial vehicle routing inspection, and can provide reference for optimizing the performance of the unmanned aerial vehicle Beidou navigation positioning system.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle positioning, and particularly relates to a method and a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power inspection.
Background
Currently, the current state of the art commonly used in the industry is such that:
in 12/27/2012, the beidou navigation formally provides positioning, navigation and other services for asia-pacific regions, in 11/5/2017, beidou three in China is launched to the air, which marks that China starts to build a global navigation positioning system, and in about 2010, China will build a beidou satellite navigation system covering the whole world, so as to provide open and free high-quality services for global users. With the gradual development and improvement of Beidou navigation, the Beidou navigation satellite system is widely applied to many fields. Unmanned aerial vehicle patrols and examines as the high-efficient means of electric power system high tension transmission line, plays very important effect to high tension transmission line's maintenance. In-process such as unmanned aerial vehicle patrols and examines the aerial photograph, high-voltage tower landing charging, all require the big dipper navigation system of self carrying on can realize high accuracy, location. Especially when unmanned aerial vehicle adopts wireless charging mode at high voltage transmission line electricity tower platform, the positioning accuracy of navigation will still exert an influence to unmanned aerial vehicle's wireless charging efficiency.
Along with the wide application of unmanned aerial vehicle in electric power system high voltage transmission line patrols and examines, also higher to unmanned aerial vehicle's positioning accuracy requirement.
Because big dipper navigation system is at the precision limit of civilian field, traditional single point location precision is at the meter level or more than ten meters level, and the positioning accuracy of pseudo-range difference is the decimeter level, obviously can't reach unmanned aerial vehicle and patrol and examine high voltage transmission line's required precision. In order to meet the requirement of high-precision positioning landing of the unmanned aerial vehicle in the inspection process, an RTK technology capable of achieving centimeter-level positioning precision must be used. However, in practical application, the influence of the charging contact area on the charging efficiency is considered when the unmanned aerial vehicle is wirelessly charged, and the RTK technology needs to be improved to optimize the positioning accuracy.
In summary, the problems of the prior art are as follows:
to the requirement of precision when current positioning accuracy can't satisfy unmanned aerial vehicle and charge, inaccurate location still can influence unmanned aerial vehicle's wireless charging efficiency simultaneously.
The positioning accuracy of the existing civil Beidou navigation and positioning system is on the meter level or the ten-meter level, and when the unmanned aerial vehicle is charged wirelessly, the contact area with the induction coil influences the wireless charging efficiency.
The difficulty of solving the technical problems is as follows:
the existing civil Beidou navigation and positioning accuracy is in a meter level or even a ten meter level, and the unmanned aerial vehicle needs to realize high-efficiency wireless charging and must control the landing positioning accuracy in a centimeter level or even a millimeter level. Under the current civilian big dipper navigation positioning accuracy, obviously can't realize.
The significance of solving the technical problems is as follows:
add the RTK technique, can promote unmanned aerial vehicle descending positioning accuracy to centimetre or even millimeter level, improve wireless charging efficiency, and then improve the efficiency that unmanned aerial vehicle electric power patrolled and examined, practice thrift cost such as the manpower of patrolling and examining the system, time, expenditure.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection.
The invention is realized in such a way that a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection comprises the following steps:
detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
And from the resulting floating point solution
Fixing the integer ambiguity by using a step-by-step ambiguity determination method; and obtaining the optimal solution of the baseline vector by the optimal solution of the integer ambiguity, and obtaining the accurate position of the mobile base station under the condition that the position of the reference station is known.
Further, the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol comprises the following steps:
step one, the mobile station u and the reference station z respectively carry out single difference processing on the satellites i and j to obtain a single difference carrier phase measured value, and a double difference carrier phase measured value is constructed by the single difference measured value.
And step two, detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value.
In the actual positioning process, there is a case of jump or interruption of the whole cycle count caused by the loss of lock of the satellite signal, so correctly detecting and recovering the carrier cycle slip is one of the very important and necessary problems in the carrier phase measurement. The geometric-distance-free method has the advantages of simplicity and high efficiency, so the method is used for detecting the repair cycle slip.
Step three, solving a baseline vector R by using a least square methodnSum ambiguity float solutionAnd (4) solving a baseline vector and a ambiguity floating solution by using a least square method for the continuous available carrier phase value obtained in the step two.
Step four, based on the obtained floating point solution
The integer ambiguity is fixed using a step-by-step ambiguity determination.
Calculating to obtain an integer solution with the optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the steering is fixed in the sixth steering step; if not, turning to the third step; the integer ambiguity is obtained by carrying out adjustment calculation on the continuous available carrier phase value, and the integer ambiguity is not an integer but a real number, and the real number solution is rounded to obtain an optimal integer solution.
And step six, determining the accurate position of the mobile base station by using the known unknown of the reference station.
Further, in the first step, the method for calculating the single-difference carrier phase measurement specifically includes:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
and
respectively performing single difference processing on the satellites i and j for the mobile station u and the reference station z to obtain single difference carrier phase measurement values; 
further, in the first step, the method for constructing the double-difference carrier phase measurement value includes:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
in order to obtain a two-difference observed quantity,
further, the integer ambiguity confirming method specifically includes:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
The invention also aims to provide an information data processing terminal for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the method for improving the landing location accuracy of an unmanned aerial vehicle based on power patrol.
Another object of the present invention is to provide a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol, which implements the method for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol, and the system for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol comprises:
and the double-difference carrier phase measurement value construction module is used for respectively carrying out single-difference processing on the satellite by the mobile station and the reference station to obtain a single-difference carrier phase measurement value and constructing the double-difference carrier phase measurement value by the single-difference measurement value.
And the continuously available carrier phase measured value acquisition module is used for detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measured value.
And the base line vector and ambiguity floating solution acquisition module is used for solving the base line vector and ambiguity floating solution by using a least square method.
Integer ambiguity acquisition module for obtaining floating point solution based on the obtained integer ambiguity
The integer ambiguity is fixed using a step-by-step ambiguity determination.
The integer ambiguity confirming module is used for calculating to obtain an integer solution with the optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; and confirming the ambiguity of the whole circle and judging whether the ambiguity is fixed or not.
And the mobile base station accurate position determining module determines the accurate position of the mobile base station by using the known unknown of the reference station.
The invention also aims to provide the unmanned aerial vehicle wireless charging device for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol.
The invention also aims to provide the inspection unmanned aerial vehicle for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection.
In summary, the advantages and positive effects of the invention are:
the invention provides an improved method for carrying out high-precision positioning on the unmanned aerial vehicle Beidou navigation system by adopting an RTK technology, can meet the engineering requirements of unmanned aerial vehicle routing inspection, and can provide reference for optimizing the performance of the unmanned aerial vehicle Beidou navigation positioning system. Through a large number of unmanned aerial vehicle flight positioning experiments, the positioning accuracy of the improved RTK algorithm is compared with that of other traditional positioning algorithms, and experimental results show that the improved RTK algorithm optimizes the positioning accuracy of the Beidou navigation system. Can realize unmanned aerial vehicle's quick accurate location.
The invention passes the single difference measurement value
And a double-difference carrier phase measurement value is constructed, so that the clock error of the receiver can be effectively eliminated.
The invention solves the ambiguity from the widest lane to the narrowest lane step by utilizing a step-by-step ambiguity determination method according to the combined measurement values of different wavelengths, is irrelevant to the motion state of a user receiver and is not easy to be influenced by ionosphere delay and troposphere delay, the algorithm complexity is greatly simplified compared with a geometric correlation algorithm, the resolving efficiency is obviously improved, and even the RTK positioning accuracy can be improved from centimeter level to millimeter level, so that the positioning landing performance of the unmanned aerial vehicle is optimized.
Compared with the prior art, the invention has the advantages that:
the comparison of the accuracy of the single-point positioning and the pseudo-range differential positioning is shown in the table 2 of the invention
TABLE 2 comparison of positioning accuracy test data
As can be seen from table 2, in the single-point positioning mode, the positioning error in the horizontal direction is about 4.5m, and the positioning error in the vertical direction is about 5.3 m; in a pseudo-range differential positioning mode, the positioning error in the horizontal direction is about 0.6m, and the positioning error in the vertical direction is about 1.8 m; in the RTK mode, the horizontal positioning error is 0.0087m, and the vertical positioning error is 0.0189 m. Compared with the traditional two positioning modes, the carrier phase differential mode has great improvement on the positioning accuracy and reaches centimeter level or even millimeter level.
Drawings
Fig. 1 is a flowchart of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a differential technique provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram of a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by the embodiment of the invention.
In the figure: 1. a double difference carrier phase measurement value construction module; 2. a continuously available carrier phase measurement value acquisition module; 3. a baseline vector and ambiguity floating solution acquisition module; 4. a whole-cycle ambiguity acquisition module; 5. a whole-cycle ambiguity confirming module; 6. and a mobile base station accurate position determination module.
Fig. 5 is a diagram illustrating a result of a positioning error experiment in the RTK technique in the horizontal direction according to an embodiment of the present invention.
Fig. 6 is a diagram illustrating experimental results of positioning errors in the vertical RTK technique according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical scheme and the technical effect of the invention are explained in detail in the following with the accompanying drawings.
The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol provided by the embodiment of the invention comprises the following steps:
using a geometry-free distance combination method to carrier wavesDetecting and repairing cycle slip to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
And from the resulting floating point solution
Fixing the integer ambiguity by using a step-by-step ambiguity determination method; and obtaining the optimal solution of the baseline vector by the optimal solution of the integer ambiguity, and obtaining the accurate position of the mobile base station under the condition that the position of the reference station is known.
As shown in fig. 1-2, the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on power inspection provided by the embodiment of the invention comprises the following steps:
s101, the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j to obtain single difference carrier phase measurement values, and double difference carrier phase measurement values are constructed through the single difference measurement values.
And S102, detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously usable carrier phase measurement value.
S103, obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
S104, based on the obtained floating point solutionThe integer ambiguity is fixed using a step-by-step ambiguity determination.
S105, calculating to obtain an integer solution with optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the step is fixed at the turning step S106; if not, the process goes to step S103.
And S106, determining the accurate position of the mobile base station by using the known unknown of the reference station.
In step S101, the method for calculating a single difference carrier phase measurement value provided in the embodiment of the present invention specifically includes:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
and
respectively performing single difference processing on the satellites i and j for the mobile station u and the reference station z to obtain single difference carrier phase measurement values;
in step S101, the method for constructing a double-difference carrier phase measurement value provided in the embodiment of the present invention includes:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
in order to obtain a two-difference observed quantity,
the integer ambiguity confirming method provided by the embodiment of the invention specifically comprises the following steps:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
The present invention will be further described with reference to the following specific examples.
Example 1:
1. patrol and examine unmanned aerial vehicle wireless charging platform
At unmanned aerial vehicle carry out the electric power system power transmission line and patrol and examine the in-process, because the restriction of unmanned aerial vehicle continuation of the journey mileage, patrol and examine certain distance at unmanned aerial vehicle after, unmanned aerial vehicle need charge. The invention adopts a charging platform arranged on a high-voltage power transmission tower to wirelessly charge an unmanned aerial vehicle landed on the platform.
1.1 Wireless charging device of unmanned aerial vehicle
The wireless charging platform of unmanned aerial vehicle is arranged in on the high voltage transmission tower, connects high voltage tower and charging platform through the power transmission line, charges for unmanned aerial vehicle. The charging platform device end mainly comprises a Beidou positioning module, a gravity sensing module, a transmitting coil, a central controller, a storage battery and the like; the unmanned aerial vehicle end mainly comprises a receiving coil, a battery pack, a Beidou positioning module and the like. The Beidou positioning module realizes accurate positioning of the unmanned aerial vehicle landing platform, and the transmitting coil arranged in the platform and the receiving coil loaded on the unmanned aerial vehicle carry out energy transfer.
1.2 influence of positioning accuracy on charging efficiency
Because unmanned aerial vehicle carries out the in-process that wireless charging, the area of contact between the receiving coil that unmanned aerial vehicle end carried on and the transmitting coil of platform is big more, and wireless charging efficiency will be higher, and consequently positioning accuracy when unmanned aerial vehicle descends will directly influence wireless charging efficiency. The key lies in improving big dipper positioning system's precision.
2 Beidou system positioning error
2.1 propagation path error
The propagation path errors mainly include troposphere delay errors, ionosphere delay errors and multipath effects. For troposphere delay errors, a troposphere model is introduced to compensate and reduce the errors; for ionospheric errors, a differential technique should be used to mitigate ionospheric delay errors. Multipath effect is regarded as an important factor causing positioning deviation, and due to two time-varying factors, namely the complexity of the surrounding environment of an observation station and the reflection coefficient of a reflection source, a model for reducing the error of the multipath effect is difficult to establish. Multipath effects are particularly significant in static fast positioning and real-time dynamic positioning.
2.2 spatial error and user part error
The spatial error is mainly divided into a satellite clock error and a satellite ephemeris error. For the user part, positioning bias is mainly due to receiver noise and long baseline unmodeled. In the process of high-precision relative positioning, a long base line requires to establish a more perfect observation model, otherwise, the generated error is easily absorbed by position parameters, the positioning deviation is further enlarged, and the longer the base line is, the larger the deviation is.
TABLE 1 Effect of various error sources on measured values
3 RTK technical principle
3.1 differential principle of operation
Due to the existence of various errors in satellite navigation positioning signals, the single-point positioning precision obviously cannot meet the high-precision positioning requirement of the unmanned aerial vehicle inspection operation. Therefore, it is usually necessary to adopt a differential technique to improve the positioning accuracy, and the technical principle is shown in fig. 3.
The reference station and the mobile station simultaneously observe satellite positioning signals, and under the condition of a certain baseline distance, the two stations observe the same satellite, and errors contained in received signals are basically the same. At the moment, the difference calculation is carried out, common error parts between the reference station and the mobile station, including ionosphere delay, troposphere delay, satellite clock error and ephemeris error, can be effectively counteracted, and the positioning accuracy of the receiver is improved.
3.2 Carrier phase Difference (RTK) technique
The differential techniques can be divided into three types: position differential, pseudorange differential and carrier phase differential.
Pseudo-range difference is the most widely applied difference technology at present, and the positioning accuracy of the pseudo-range difference mode can reach the decimeter level, but the positioning accuracy is reduced along with the increase of the distance between a reference station and a mobile station. Obviously, the pseudo-range difference can not meet the requirement of high-precision positioning of unmanned aerial vehicle routing inspection.
The RTK technology is that the carrier phase measured value received by the reference station is sent to the mobile station receiver, differential operation is carried out on the carrier phase measured value and the carrier phase measured value of the mobile station receiver, and finally the baseline vector and the initial integer ambiguity are obtained through solving, and high-precision positioning is completed. The carrier phase observation equation is as follows:
ф＝λ-1[r+c(δtu-δts)-I+T]+N+εф(1)
wherein: phi is the carrier phase measurement value, lambda is the carrier wavelength, r is the geometric distance between the receiver and the satellite, c is the vacuum velocity of light, delta tuTo be the receiver clock error, δ tsFor satellite clock error, I is ionospheric delay, T is tropospheric delay, N is integer ambiguity, εфThe noise is measured for the carrier phase and mainly comprises receiver noise and multipath effect errors.
4 carrier phase difference shunting process
4.1 Carrier phase differential model
The RTK processing process comprises four processing processes of carrier cycle slip detection and restoration, integer ambiguity floating solution solving, integer ambiguity determination, integer ambiguity accuracy inspection and the like. For a mobile receiving station, it is critical to solve for the whole-cycle ambiguity accurately and quickly to achieve accurate positioning. To eliminate the effects of tropospheric delay and ionospheric delay, under short baseline conditions, the mobile station u and the reference station z may be homodyned to satellites i and j, respectively, as follows:
in the formula:
andand performing single difference processing on the satellites i and j respectively for the mobile station u and the reference station z to obtain single difference carrier phase measurement values.
From single difference measurements
And a double-difference carrier phase measurement value is constructed, so that the clock error of the receiver can be effectively eliminated. The double difference observation equation is as follows:
in the formula:
in order to obtain a two-difference observed quantity, 
firstly, a non-geometric distance combination method is used for detecting and repairing carrier cycle slip, and the carrier phase measurement value is ensured to be continuously available. And then combining an inter-station inter-satellite double-difference observation equation, neglecting integer constraint of integer ambiguity, and obtaining a baseline vector R _ N and an ambiguity floating point solution N ^ by using a least square method. And the integer ambiguity is fixed by using a step-by-step ambiguity determination method according to the obtained floating point solution N ^ to realize the integer ambiguity fixing. From the optimal solution of the integer ambiguity, the optimal solution of the baseline vector can be obtained. The precise location of the mobile base station can be obtained with the known location of the reference station.
4.2 improved method for optimizing real-time positioning accuracy
The step-by-step ambiguity determination method is easier to solve for the whole ambiguity based on the wide lane measurement value compared with the narrow lane, and the whole ambiguity can be obtained from the widest lane to the narrowest lane step by step according to the combined measurement values of different wavelengths. Since this method is a geometry independent algorithm, it is well suited for RTK techniques. The algorithm is irrelevant to the motion state of a user receiver, the ionosphere delay and the troposphere delay are not easily influenced, the algorithm complexity is greatly simplified compared with a geometric correlation algorithm, the resolving efficiency is obviously improved, the RTK positioning accuracy can be improved from the centimeter level to the millimeter level, and the positioning landing performance of the unmanned aerial vehicle is optimized.
5 the invention is further described below in connection with experimental analysis of drones.
5.1 Experimental platform
In order to verify the RTK positioning accuracy after the Beidou system is optimized, an unmanned aerial vehicle experiment platform is built. And carrying out unmanned aerial vehicle flight test, and analyzing the positioning precision in single-point, pseudo-range difference and RTK modes. In flight test, a wide and accessible test field is selected. The mobile station receiver antenna is installed on the drone with the reference station receiver antenna fixed at a known precise coordinate fix.
The unmanned aerial vehicle carrying the mobile station receiver flies according to a planned specified track, the average speed is about 50km/h, the unmanned aerial vehicle is positioned by three modes of single-point positioning, pseudo-range differential positioning and RTK positioning respectively, and positioning data about half an hour is recorded.
5.2 analysis of the results
The horizontal and vertical positioning accuracy (2 σ) errors in the three modes are shown in the following table:
TABLE 2 comparison of positioning accuracy test data
| Group of | Single point | Pseudo-range difference | RTK |
| Level (m) | 4.487 | 0.593 | 0.0087 |
| Vertical (m) | 5.256 | 1.8310 | 0.0189 |
As can be seen from table 2, in the single-point positioning mode, the positioning error in the horizontal direction is about 4.5m, and the positioning error in the vertical direction is about 5.3 m; in a pseudo-range differential positioning mode, the positioning error in the horizontal direction is about 0.6m, and the positioning error in the vertical direction is about 1.8 m; in the RTK mode, the horizontal positioning error is 0.0087m, and the vertical positioning error is 0.0189 m. Compared with the traditional two positioning modes, the carrier phase differential mode has great improvement on the positioning accuracy and reaches centimeter level or even millimeter level.
The invention is further described below in conjunction with a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection.
As shown in fig. 4, the system for improving the landing positioning accuracy of the unmanned aerial vehicle based on power inspection comprises:
the double-difference carrier phase measurement value construction module 1 is used for respectively performing single-difference processing on a satellite by a mobile station and a reference station to obtain a single-difference carrier phase measurement value, and constructing the double-difference carrier phase measurement value by the single-difference measurement value;
and the continuously available carrier phase measured value acquisition module 2 is used for detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measured value.
And the base line vector and ambiguity floating solution acquisition module 3 is used for solving a base line vector and ambiguity floating solution by using a least square method.
An integer ambiguity obtaining module 4 for obtaining a floating point solution based on the obtained integer ambiguity
The integer ambiguity is fixed using a step-by-step ambiguity determination.
The integer ambiguity confirming module 5 is used for calculating to obtain an integer solution with optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; and confirming the ambiguity of the whole circle and judging whether the ambiguity is fixed or not.
And the mobile base station accurate position determining module 6 determines the accurate position of the mobile base station by using the known unknown of the reference station.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection, which is characterized in that, the method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection includes:
detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;
then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
And from the resulting floating point solution
Fixing the integer ambiguity by using a step-by-step ambiguity determination method;
and calculating an optimal solution according to the obtained integer ambiguity, acquiring the optimal solution of the baseline vector according to the obtained integer ambiguity optimal solution, and acquiring the accurate position of the mobile base station under the condition that the position of the reference station is known.
2. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 1, wherein the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection comprises the following steps:
step one, performing single difference processing on satellites i and j respectively by a mobile station u and a reference station z to obtain a single difference carrier phase measured value, and constructing a double difference carrier phase measured value by the single difference measured value;
step two, detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;
step three, solving a baseline vector R by using a least square methodnSum ambiguity float solution
Step four, based on the obtained floating point solution
Fixing the integer ambiguity by using a step-by-step ambiguity determination method;
calculating to obtain an integer solution with the optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the steering is fixed in the sixth steering step; if not, turning to the third step;
and step six, determining the accurate position of the mobile base station by using the known unknown of the reference station.
3. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the calculation method of the single-difference carrier phase measurement specifically comprises the following steps:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
and
respectively performing single difference processing on the satellites i and j for the mobile station u and the reference station z to obtain single difference carrier phase measurement values;
δtuz＝δtu-δtz；
4. the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the double-difference carrier phase measurement value construction method comprises the following steps:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
in order to obtain a two-difference observed quantity,
5. the method for improving unmanned aerial vehicle landing positioning accuracy based on power inspection according to claim 2, wherein the integer ambiguity confirming method specifically comprises:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
6. An information data processing terminal for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.
7. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method for improving the accuracy of drone landing location based on power routing inspection according to any one of claims 1 to 5.
8. The system for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection, which is used for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5, is characterized by comprising the following steps:
the double-difference carrier phase measurement value construction module is used for respectively carrying out single-difference processing on the satellite by the mobile station and the reference station to obtain a single-difference carrier phase measurement value and constructing the double-difference carrier phase measurement value by the single-difference measurement value;
the continuous available carrier phase measurement value acquisition module is used for detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuous available carrier phase measurement value;
the base line vector and ambiguity floating solution acquisition module is used for solving a base line vector and ambiguity floating solution by using a least square method;
integer ambiguity acquisition module for obtaining floating point solution based on the obtained integer ambiguity
Fixing the integer ambiguity by using a step-by-step ambiguity determination method;
the integer ambiguity confirming module is used for calculating to obtain an integer solution with the optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not;
and the mobile base station accurate position determining module determines the accurate position of the mobile base station by using the known unknown of the reference station.
9. An unmanned aerial vehicle wireless charging device for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.
10. An inspection unmanned aerial vehicle for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to any one of claims 1-5.
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