CN111880208A - GNSS four-antenna-based body attitude and heading coordinate system establishing method and device - Google Patents

GNSS four-antenna-based body attitude and heading coordinate system establishing method and device Download PDF

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Publication number
CN111880208A
CN111880208A CN202010670440.3A CN202010670440A CN111880208A CN 111880208 A CN111880208 A CN 111880208A CN 202010670440 A CN202010670440 A CN 202010670440A CN 111880208 A CN111880208 A CN 111880208A
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China
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gnss
antenna
attitude
antennas
angle error
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王祥峰
刘巍巍
杨东森
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Beijing Hualongtong Technology Co ltd
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Beijing Hualongtong Technology Co ltd
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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
    • G01S19/53—Determining attitude
    • 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
    • G01S19/42—Determining position

Abstract

The application discloses a method and a device for establishing an organism attitude and heading coordinate system based on GNSS four antennas, wherein the method comprises the following steps: determining installation information of each GNSS antenna in a GNSS antenna array on a machine body, wherein the GNSS antenna array comprises four GNSS antennas; and installing the four GNSS antennas on the machine body main body according to the installation information, and constructing a machine body navigation attitude coordinate system according to the four GNSS antennas after installation. The method and the device solve the technical problem that the equivalent coordinate system of the machine body cannot be accurately constructed in the prior art.

Description

GNSS four-antenna-based body attitude and heading coordinate system establishing method and device
Technical Field
The application relates to the technical field of body navigation attitude measurement, in particular to a method and a device for establishing a body navigation attitude coordinate system based on a GNSS four-antenna.
Background
With the rapid development of Global Navigation Satellite System (GNSS) technology, the perfect layout of the BeiDou Navigation Satellite System (BDS) and the continuous improvement of System positioning accuracy, the needs of military and civil industries for position services are becoming stronger, the GNSS is applied more and more in space flight and aviation, Navigation and road Navigation, and the use of GNSS for attitude measurement of moving carriers is one of the important application directions of the Satellite Navigation technology. The attitude measurement of the moving carrier mainly determines the attitude of the carrier, wherein the attitude of the carrier includes the angular deviation of the carrier from the north direction and the local horizontal plane, and is usually represented by three-dimensional attitude angles, namely a heading angle, a pitch angle and a roll angle, which reflect the angular position of the moving carrier relative to a local horizontal coordinate system and are important state information of the moving carrier. Therefore, accurate measurement of the attitude information of the moving carrier has an important influence on high-precision navigation positioning.
At present, a common method for measuring attitude information of a moving carrier is to measure a course and an attitude of the moving carrier by using a GNSS, and an equivalent coordinate system of an organism is constructed on the basis of measuring the attitude information of the moving carrier by using the GNSS. The traditional GNSS double-antenna attitude measurement scheme can only provide a course angle and a pitch angle in the direction based on the antenna baseline, and cannot provide a roll angle of a carrier, so that an equivalent coordinate system of a machine body cannot be established. When the number of installed GNSS antennas is too large, the real-time performance of attitude measurement is affected while the attitude calculation time is increased due to the increase of the data amount to be processed, and the implementation is difficult in engineering application due to the limitation of the structure and volume of the carrier. Therefore, in the prior art, when the GNSS is used for measuring the attitude of the body, the equivalent coordinate system of the body cannot be accurately constructed.
Disclosure of Invention
The technical problem that this application was solved is: aiming at the problem that the equivalent coordinate system of the machine body cannot be accurately constructed in the prior art. According to the scheme provided by the embodiment of the application, the four GNSS antennas are arranged on the machine body, and the machine body navigation attitude coordinate system can be constructed according to the four GNSS antennas, so that the problem that the machine body navigation attitude coordinate system cannot be accurately constructed in the prior art is solved.
In a first aspect, an embodiment of the present application provides a method for establishing an airframe attitude and heading reference frame based on a GNSS four-antenna, where the method includes:
determining installation information of each GNSS antenna in a GNSS antenna array on a machine body, wherein the GNSS antenna array comprises four GNSS antennas;
and installing the four GNSS antennas on the machine body main body according to the installation information, and constructing a machine body navigation attitude coordinate system according to the four GNSS antennas after installation.
In the solution provided in the embodiment of the present application, the installation information of each GNSS antenna in a GNSS antenna array on a body main body is determined, wherein the GNSS antenna array includes four GNSS antennas; and installing the four GNSS antennas on the machine body main body according to the installation information, and constructing a machine body navigation attitude coordinate system according to the four GNSS antennas after installation. Therefore, in the scheme provided by the embodiment of the application, the four GNSS antennas are installed on the machine body, and the machine body navigation attitude coordinate system can be established according to the four GNSS antennas, so that the problem that the machine body navigation attitude coordinate system cannot be accurately established in the prior art is solved.
Optionally, determining the installation information of each GNSS antenna in the array of GNSS antennas on the body main body includes:
determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy;
and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
Optionally, the installation information includes: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, the four GNSS antennas include antenna M1, antenna S1, antenna M2, and antenna S2;
the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, if the attitude and heading angle error includes a heading angle error, a pitch angle error and a roll angle error, the preset attitude and heading angle error constraint condition includes: the course angle error and the pitch angle error are both smaller than 0.132 degrees, and the roll angle error is smaller than 0.312 degrees.
Optionally, determining a length of a base line between two GNSS antennas that are arranged in the four GNSS antennas in an opposite manner according to a preset measurement error and a preset attitude and heading angle error constraint condition, includes:
the measurement error, the attitude and heading angle error and the length of the base line have the following relations:
φ＝arcsin(dx/L)
wherein phi represents the attitude and heading angle error; l represents the length of a base line in the GNSS antenna array; dx represents the measurement error.
Optionally, the baseline length comprises: the length of a base line between the antenna M1 and the antenna S1 is 8.105M, and the length of a base line between the antenna M2 and the antenna S2 is 3.332M.
In a second aspect, an embodiment of the present application provides an apparatus for establishing an attitude and heading coordinate system of an engine body based on a GNSS four-antenna, where the apparatus includes:
the device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for determining the installation information of each GNSS antenna in a GNSS antenna array on a machine body, and the GNSS antenna array comprises four GNSS antennas;
and the construction unit is used for installing the four GNSS antennas on the body main body according to the installation information and constructing a body attitude and heading coordinate system according to the four GNSS antennas after installation.
Optionally, the determining unit is specifically configured to:
determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy;
and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
Optionally, the installation information includes: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, the four GNSS antennas include antenna M1, antenna S1, antenna M2, and antenna S2;
the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, if the attitude and heading angle error includes a heading angle error, a pitch angle error and a roll angle error, the preset attitude and heading angle error constraint condition includes: the course angle error and the pitch angle error are both smaller than 0.132 degrees, and the roll angle error is smaller than 0.312 degrees.
Optionally, the determining unit is specifically configured to:
the measurement error, the attitude and heading angle error and the length of the base line have the following relations:
φ＝arcsin(dx/L)
wherein phi represents the attitude and heading angle error; l represents the length of a base line in the GNSS antenna array; dx represents the measurement error.
Optionally, the baseline length comprises: the length of a base line between the antenna M1 and the antenna S1 is 8.105M, and the length of a base line between the antenna M2 and the antenna S2 is 3.332M.
Drawings
Fig. 1 is a schematic view of an attitude angle of an airframe provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for establishing a body attitude coordinate system based on a GNSS four-antenna according to an embodiment of the present disclosure;
FIG. 3 is a diagram of a heading and attitude measurement error distribution diagram in a course-east scenario according to an embodiment of the present disclosure;
fig. 4 is a navigation attitude measurement error distribution diagram in a course-south scene according to an embodiment of the present disclosure;
FIG. 5 is a diagram of a heading-west attitude measurement error distribution provided in an embodiment of the present application;
FIG. 6 is a diagram of a heading and heading measurement error distribution in a north-heading scenario according to an embodiment of the present disclosure;
fig. 7 is a flight test verification attitude measurement error distribution diagram according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an apparatus for establishing a GNSS four-antenna based attitude and heading coordinate system of an airframe according to an embodiment of the present application.
Detailed Description
In the solutions provided in the embodiments of the present application, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The terms appearing in the embodiments of the present application are explained below.
The heading and attitude of the machine body refers to the angular relationship between the machine body coordinate system and each axis of the local geographic coordinate system, and the angular relationship comprises a yaw angle, a pitch angle and a roll angle.
Referring to fig. 1, a coordinate system xyz represents a geographical coordinate system, an angle of rotation of the body with respect to the X axis is defined as a pitch angle, counterclockwise rotation around the positive direction of the X axis is positive, and clockwise rotation is negative; the angle of the body rotating relative to the Y axis is defined as a rolling angle, the body rotates anticlockwise to be positive around the positive direction of the Y axis, and the body rotates clockwise to be negative; the angle of the body rotating relative to the Z axis is defined as a yaw angle, and clockwise rotation is positive and anticlockwise rotation is negative around the Z axis.
The method for establishing the body attitude coordinate system based on the GNSS four-antenna provided in the embodiment of the present application is further described in detail below with reference to the drawings in the specification, and a specific implementation manner of the method may include the following steps (a method flow is shown in fig. 2):
step 201, determining installation information of each GNSS antenna in a GNSS antenna array on a body main body, wherein the GNSS antenna array includes four GNSS antennas.
In the solution provided in the embodiment of the present application, in order to construct the attitude and heading reference frame of the body, the GNSS antenna array needs to be installed on the body, and therefore, installation information of the GNSS antenna array on the body of the body needs to be determined before the GNSS antenna array is installed. Specifically, there are various ways to determine the installation information of the GNSS antenna array on the body main body, and a preferred way is described as an example below.
In one possible implementation, determining the installation information of each GNSS antenna in the array of GNSS antennas on the body of the body includes: determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy; and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
In the scheme provided by the embodiment of the application, the configuration stability, the base length and the equivalent coordinate system deviation of the GNSS antenna array have important influence on the accuracy of the body attitude measurement. Therefore, before constructing the attitude and heading coordinate system of the body and measuring the attitude and heading of the body according to the attitude and heading coordinate system of the body, the GNSS antenna array needs to be designed. In the solution provided in the embodiment of the present application, the content of designing the GNSS antenna array mainly includes an installation position of each GNSS antenna, a base length between any two GNSS antennas that are arranged oppositely, and the like.
For the convenience of understanding, the GNSS antenna array design process is described below in terms of both the installation position of each GNSS antenna and the base length between any two GNSS antennas arranged oppositely.
First, the installation position design of each GNSS antenna
In one possible implementation, the installation information includes: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
In one possible implementation, the four GNSS antennas include antenna M1, antenna S1, antenna M2, and antenna S2;
the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Second, design of base length between any two GNSS antennas arranged oppositely
In the solution provided in the embodiment of the present application, in the process of designing the length of the base line between any two GNSS antennas that are arranged oppositely, the length of the base line is related to a measurement error and a measured attitude and heading angle error when the GNSS antenna array is used to measure the attitude and heading angle of the body.
In a possible implementation manner, determining a baseline length between two opposite GNSS antennas of the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition includes:
the measurement error, the attitude and heading angle error and the length of the base line have the following relations:
φ＝arcsin(dx/L)
wherein phi represents the attitude and heading angle error; l represents the length of a base line in the GNSS antenna array; dx represents the measurement error.
Specifically, according to the relationship among the measurement error, the attitude heading angle error and the base length, the attitude heading angle error is in direct proportion to the measurement error and in inverse proportion to the base length, that is, the attitude heading angle error is smaller as the base length is longer under the condition of a certain measurement error. Therefore, a scheme with low attitude angle error is considered in the process of designing the length of the base line.
Further, in a possible implementation scheme, if the heading and attitude angle error includes a heading angle error, a pitch angle error, and a roll angle error, the preset heading and attitude angle error constraint condition includes: the course angle error and the pitch angle error are both smaller than 0.132 degrees, and the roll angle error is smaller than 0.312 degrees.
Further, in one possible approach, the baseline length comprises: the length of a base line between the antenna M1 and the antenna S1 is 8.105M, and the length of a base line between the antenna M2 and the antenna S2 is 3.332M.
For example, referring to fig. 2, an embodiment of the present application provides a schematic diagram of a GNSS four-antenna based attitude and heading coordinate system of an airframe. In fig. 2, oyx represents a coordinate system of a fuselage, 4 GNSS antennas are defined as M1, S1, M2 and S2, the four GNSS antennas are sequentially installed at the top of the tail, the top of the nose, the top of the left wing and the top of the right wing, the length of a base line constructed from M1 to S1 is defined as a, and the length of a base line constructed from M2 to S2 is defined as b. In the machine body shown in FIG. 2, the antenna M1 is arranged at the position of the No. 26-27 frame of the center shaft of the machine back, the antenna S1 is arranged at the position of the No. 5-6 frame of the center shaft of the machine back, and the antenna M2 is arranged between the left center wing, the No. 9-10 partition board at the rear edge and the No. 0-1 rib; the antenna S2 is arranged between the partition board 9-10 on the rear edge and the rib 0-1 on the right central wing, wherein a is 8.105m, and b is 3.332 m.
Further, after the lengths of the baseline a and the baseline b in the GNSS antenna array are determined, the attitude and heading angle errors measured by the GNSS antenna array at different lengths are respectively determined. The following describes two cases of the base line a and the base line b.
In case 1, if the GNSS measurement error is selected to be 0.015m, and the baseline length a is 8.105m,
course angle and pitch angle measurement errors are: phi 1 is 0.11 degree
In case 2, if the GNSS measurement error is selected to be 0.015m, and the base length b is 3.332m,
the roll angle measurement error is: Φ 2 is 0.26 °
Further, after the GNSS antenna array is designed according to the above method, the maximum attitude angle error caused by the installation of the computer body antenna array is required to be calculated, and the specific calculation process is as follows:
assuming that an included angle α between the base line a and the Y axis of the machine body, and an included angle β between the base line b and the X axis of the machine body, that is, errors of a course angle and a pitch angle caused by the installation of the antenna array are: when the base line length a is 8.105m and the error between the base line and the axial direction is less than or equal to 3mm, the error alpha is as follows: not more than 0.022 degrees; the roll angle measurement error is: when the base line length a is 8.105m and the error between the base line and the axial direction is less than or equal to 3mm, the error beta is as follows: less than or equal to 0.052 degrees.
Step 202, the four GNSS antennas are installed on the body main body according to the installation information, and after installation, a body attitude and heading coordinate system is established according to the four GNSS antennas.
Specifically, in the scheme provided by the embodiment of the present application, after the body attitude heading reference frame is constructed, the body attitude heading reference frame can be used for measuring the body attitude heading according to the body attitude heading reference frame. In order to determine the accuracy of the measurement of the attitude and heading reference, the test and verification of the machine body are required, and specifically, the test and verification includes two test scenes, namely a ground static test and a flight test. The test results in each test scenario are described below.
First, ground test
Specifically, the ground test comprises four reference directions of course-east, course-south, course-west and course-north, and the test evaluation is carried out in four groups, and the result is as follows:
1) course-east
Referring to fig. 3, a chart showing a distribution of measurement errors of the heading and attitude in the course-east scene provided by the embodiment of the present application is shown, root mean square error calculation is performed on the data of the distribution chart to obtain a statistical value of measurement accuracy, see table 1, a statistical table showing the measurement accuracy of the heading and attitude in the course-east scene
TABLE 1
Figure BDA0002582086910000081
2) Heading-south
Referring to fig. 4, a chart showing a distribution of measurement errors of the heading and heading postures in the south-heading scene provided by the embodiment of the present application is shown, root mean square error calculation is performed on the data of the distribution chart to obtain a statistical value of measurement accuracy, referring to table 2, a statistical table showing measurement accuracy of the heading and heading postures in the south-heading scene is shown
TABLE 2
Figure BDA0002582086910000091
3) Course-west
Referring to fig. 5, a chart showing a distribution of measurement errors of the heading and heading attitude in the west scene provided in the embodiment of the present application is shown, root mean square error calculation is performed on the distribution chart data to obtain a statistical value of measurement accuracy, see table 3, a statistical table showing measurement accuracy of the heading and heading attitude in the west scene
TABLE 3
Figure BDA0002582086910000092
4) Heading-north
Referring to fig. 6, a chart showing a distribution of measurement errors of the heading and heading attitude in the north-heading scenario according to the embodiment of the present application is shown, root mean square error calculation is performed on the distribution chart data to obtain a statistical value of measurement accuracy, referring to table 4, a statistical table showing measurement accuracy of the heading and heading attitude in the north-heading scenario is shown
TABLE 4
Figure BDA0002582086910000093
Figure BDA0002582086910000101
(II) flight test
Referring to fig. 7, a distribution diagram of flight test verification flight attitude measurement errors provided in the embodiment of the present application is shown, root mean square error calculation is performed on the distribution diagram data to obtain a measurement accuracy statistic, and referring to table 5, a measurement accuracy statistic table of flight test verification flight attitude measurement errors is shown
TABLE 5
Figure BDA0002582086910000102
In the solution provided in the embodiment of the present application, the installation information of each GNSS antenna in a GNSS antenna array on a body main body is determined, wherein the GNSS antenna array includes four GNSS antennas; and installing the four GNSS antennas on the machine body main body according to the installation information, and constructing a machine body navigation attitude coordinate system according to the four GNSS antennas after installation. Therefore, in the scheme provided by the embodiment of the application, the four GNSS antennas are installed on the machine body, and the machine body navigation attitude coordinate system can be established according to the four GNSS antennas, so that the problem that the machine body navigation attitude coordinate system cannot be accurately established in the prior art is solved.
Based on the same inventive concept as the method shown in fig. 2, an embodiment of the present application provides an apparatus for establishing an attitude and heading coordinate system of an engine based on a GNSS four-antenna, and referring to fig. 8, the apparatus includes:
a determining unit 801, configured to determine installation information of each GNSS antenna in a GNSS antenna array on a body main body, where the GNSS antenna array includes four GNSS antennas;
a building unit 802, configured to install the four GNSS antennas on the body main body according to the installation information, and build a body attitude and heading coordinate system according to the four GNSS antennas after installation.
Optionally, the determining unit 801 is specifically configured to:
determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy;
and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
Optionally, the installation information includes: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, the four GNSS antennas include antenna M1, antenna S1, antenna M2, and antenna S2;
the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
Optionally, if the attitude and heading angle error includes a heading angle error, a pitch angle error and a roll angle error, the preset attitude and heading angle error constraint condition includes: the course angle error and the pitch angle error are both smaller than 0.132 degrees, and the roll angle error is smaller than 0.312 degrees.
Optionally, the determining unit 801 is specifically configured to:
the measurement error, the attitude and heading angle error and the length of the base line have the following relations:
φ＝arcsin(dx/L)
wherein phi represents the attitude and heading angle error; l represents the length of a base line in the GNSS antenna array; dx represents the measurement error.
Optionally, the baseline length comprises: the length of a base line between the antenna M1 and the antenna S1 is 8.105M, and the length of a base line between the antenna M2 and the antenna S2 is 3.332M.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A method for establishing an organism navigation attitude coordinate system based on GNSS four antennas is characterized by comprising the following steps:
determining installation information of each GNSS antenna in a GNSS antenna array on a machine body, wherein the GNSS antenna array comprises four GNSS antennas;
and installing the four GNSS antennas on the machine body main body according to the installation information, and constructing a machine body navigation attitude coordinate system according to the four GNSS antennas after installation.
2. The method of claim 1, wherein determining mounting information for each GNSS antenna in an array of GNSS antennas on a body comprises:
determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy;
and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
3. The method of claim 2, wherein the installation information comprises: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
4. The method of claim 3, wherein the four GNSS antennas comprise antenna M1, antenna S1, antenna M2, and antenna S2;
the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
5. The method according to any one of claims 2-4, wherein if the attitude heading angle error comprises a heading angle error, a pitch angle error and a roll angle error, the preset attitude heading angle error constraints comprise: the course angle error and the pitch angle error are both smaller than 0.132 degrees, and the roll angle error is smaller than 0.312 degrees.
6. The method as claimed in claim 5, wherein determining a baseline length between two opposite GNSS antennas of the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition comprises:
the measurement error, the attitude and heading angle error and the length of the base line have the following relations:
φ＝arcsin(dx/L)
wherein phi represents the attitude and heading angle error; l represents the length of a base line in the GNSS antenna array; dx represents the measurement error.
7. The method of claim 6, wherein the baseline length comprises: the length of a base line between the antenna M1 and the antenna S1 is 8.105M, and the length of a base line between the antenna M2 and the antenna S2 is 3.332M.
8. An organism boat appearance coordinate system establishment device based on GNSS four antennas which is characterized by comprising:
the device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for determining the installation information of each GNSS antenna in a GNSS antenna array on a machine body, and the GNSS antenna array comprises four GNSS antennas;
and the construction unit is used for installing the four GNSS antennas on the body main body according to the installation information and constructing a body attitude and heading coordinate system according to the four GNSS antennas after installation.
9. The apparatus of claim 8, wherein the determining unit is specifically configured to:
determining the installation position information of the four GNSS antennas installed on the body main body according to a preset installation strategy;
and determining the length of a base line between two opposite GNSS antennas in the four GNSS antennas according to a preset measurement error and a preset attitude and heading angle error constraint condition.
10. The apparatus of claim 9, wherein the installation information comprises: the four GNSS antennas are respectively arranged on the top main beams of the tail, the head, the left side wing and the right side wing.
CN202010670440.3A 2020-07-13 2020-07-13 GNSS four-antenna-based body attitude and heading coordinate system establishing method and device Pending CN111880208A (en)

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