CN112799102A - Direction angle correction method, device, equipment and storage medium based on double antennas - Google Patents
Direction angle correction method, device, equipment and storage medium based on double antennas Download PDFInfo
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- 238000005259 measurement Methods 0.000 abstract description 7
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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
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The application relates to the field of data analysis, and provides a method, a device, equipment and a storage medium for correcting a direction angle based on double antennas, wherein the method comprises the following steps: acquiring a horizontal magnetic vector through an electronic magnetometer; calculating an electronic magnetic direction angle according to the horizontal magnetic vector; acquiring a direction angle and a bias angle through the double antennas; correcting the direction angle according to the offset angle to obtain a corrected direction angle; acquiring a preset precision threshold; acquiring a plurality of precision indexes corresponding to the corrected direction angles through the double antennas; if the plurality of accuracy indexes are all larger than the accuracy threshold, outputting the corrected direction angle; and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force. The application provides that the magnetic field generated by the current is compensated by the compensation coefficient, so that the interference of the magnetic field generated by the current on the electronic magnetometer is reduced in measurement.
Description
Technical Field
The present application relates to the field of electromagnetic computing, and in particular, to a method, an apparatus, a device, and a storage medium for correcting a direction angle based on dual antennas.
Background
In the existing double-antenna direction finding scheme, direction finding is carried out by using two GPS receivers, and a double-antenna direction finding device consists of two GPS receivers, two measurement antennas and a computer taking an embedded processor as a core. The two GPS are used as satellite signal sensors, GPS system information is received through the two measuring antennas, and the positions of the two GPS receiver antennas and the included angle between the connecting line of the phase centers of the two antennas and the true north are calculated through a computer by utilizing a carrier wave measuring technology and a whole-cycle ambiguity fast solving technology. However, the dual-antenna direction finding is based on the GPS positioning technology, and when the GPS receiving antenna is blocked or the GPS receiving signal is interfered, the interfered direction finding data can be obtained, or even the direction finding data cannot be calculated.
Disclosure of Invention
The application provides a direction angle correction method based on double antennas, which can solve the problem that electromagnetic measurement is interfered by current in the prior art.
In a first aspect, the present application provides a method for correcting a direction angle based on dual antennas, including:
acquiring a horizontal magnetic vector through an electronic magnetometer;
calculating an electronic magnetic direction angle according to the horizontal magnetic vector;
acquiring a direction angle and a bias angle through the double antennas;
correcting the direction angle according to the offset angle to obtain a corrected direction angle;
acquiring a preset precision threshold;
acquiring a plurality of precision indexes corresponding to the corrected direction angles through the double antennas;
if the plurality of accuracy indexes are all larger than the accuracy threshold value, outputting the corrected direction angle;
and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
In some possible designs, the calculating an electron magnetic force direction angle from the horizontal magnetic vector includes:
extracting the value of the X direction and the value of the Y direction in the horizontal magnetic vector to obtain a magnetic vector modular length value of the X direction and a magnetic vector modular length value of the Y direction;
calculating the electron magnetic force direction angle by psi ═ arctan (Y, X), where psi is the electron magnetic force direction angle, Y is the Y-direction magnetic vector modulo length value, and X is the X-direction magnetic vector modulo length value.
In some possible designs, the correcting the direction angle according to the offset angle to obtain a corrected direction angle includes:
the corrected azimuth angle is obtained by an azimuth angle d ═ ψ + θ, where ψ is the azimuth angle and θ is the corrected azimuth angle.
In some possible designs, the obtaining the direction angle and the offset angle by the dual antenna includes:
acquiring the signal strength of each antenna;
determining the direction angle and the bias angle according to the signal strength.
In some possible designs, the plurality of accuracy indicators includes at least heading standard deviation hdgstdev, solution state sol stat, and number of tracked satellites SVS.
In some possible designs, the obtaining the signal strength of each antenna includes:
acquiring a Received Signal Code Power (RSCP) value of the dual antenna to obtain a first RSCP value and a second RSCP value;
if the first RSCP value is equal to the second RSCP value, judging that the signal strengths of the double antennas are equal;
if the first RSCP value is larger than the second RSCP value, the signal intensity of the antenna corresponding to the first RSCP value is judged to be larger than the signal intensity of the antenna corresponding to the second RSCP value;
and if the first RSCP value is smaller than the second RSCP value, judging that the signal intensity of the antenna corresponding to the first RSCP value is smaller than the signal intensity of the antenna corresponding to the second RSCP value.
In some possible designs, the obtaining, by the dual antenna, a precision indicator corresponding to the corrected direction angle includes:
the first RSCP value and the second RSCP value are subjected to difference to obtain a target difference value;
if the target difference value is larger than zero, taking an antenna accuracy index corresponding to the first RSCP value as the accuracy index;
and if the target difference value is less than or equal to zero, taking the antenna accuracy index corresponding to the second RSCP value as the accuracy index.
In a second aspect, the present application provides a dual-antenna based azimuth correction apparatus having a function of implementing a method corresponding to the dual-antenna based azimuth correction platform provided in the first aspect. The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above functions, which may be software and/or hardware.
The dual-antenna-based direction angle correction apparatus includes:
the input and output module is used for acquiring a horizontal magnetic vector through the electronic magnetometer;
the processing module is used for calculating an electronic magnetic force direction angle according to the horizontal magnetic vector; the input and output module is also used for acquiring a direction angle and a bias angle through the double antennas;
correcting the direction angle according to the offset angle to obtain a corrected direction angle;
the input and output module is also used for acquiring a preset precision threshold;
the processing module is further used for obtaining a plurality of precision indexes corresponding to the corrected direction angles through the double antennas; if the plurality of accuracy indexes are all larger than the accuracy threshold value, outputting the corrected direction angle; and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
In some possible designs, the processing module is further to:
extracting the value of the X direction and the value of the Y direction in the horizontal magnetic vector to obtain a magnetic vector modular length value of the X direction and a magnetic vector modular length value of the Y direction;
calculating the electron magnetic force direction angle by psi ═ arctan (Y, X), where psi is the electron magnetic force direction angle, Y is the Y-direction magnetic vector modulo length value, and X is the X-direction magnetic vector modulo length value.
In some possible designs, the processing module is further to:
the corrected azimuth angle is obtained by an azimuth angle d ═ ψ + θ, where ψ is the azimuth angle and θ is the corrected azimuth angle.
In some possible designs, the processing module is further to:
acquiring the signal strength of each antenna;
determining the direction angle and the bias angle according to the signal strength.
In some possible designs, the plurality of accuracy indicators includes at least heading standard deviation hdgstdev, solution state sol stat, and number of tracked satellites SVS.
In some possible designs, the processing module is further to:
acquiring a Received Signal Code Power (RSCP) value of the dual antenna to obtain a first RSCP value and a second RSCP value;
if the first RSCP value is equal to the second RSCP value, judging that the signal strengths of the double antennas are equal;
if the first RSCP value is larger than the second RSCP value, the signal intensity of the antenna corresponding to the first RSCP value is judged to be larger than the signal intensity of the antenna corresponding to the second RSCP value;
and if the first RSCP value is smaller than the second RSCP value, judging that the signal intensity of the antenna corresponding to the first RSCP value is smaller than the signal intensity of the antenna corresponding to the second RSCP value.
In some possible designs, the processing module is further to:
the first RSCP value and the second RSCP value are subjected to difference to obtain a target difference value;
if the target difference value is larger than zero, taking an antenna accuracy index corresponding to the first RSCP value as the accuracy index;
and if the target difference value is less than or equal to zero, taking the antenna accuracy index corresponding to the second RSCP value as the accuracy index.
Yet another aspect of the present application provides a computer device comprising at least one connected processor, a memory, and an input/output unit, wherein the memory is used for storing program codes, and the processor is used for calling the program codes in the memory to execute the method of the above aspects.
Yet another aspect of the present application provides a computer storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of the above-described aspects.
The invention preferentially uses the double-antenna measurement value with higher precision, outputs the corrected direction intersection under the condition of no GPS signal shielding and interference, and is not interfered by hard iron and soft iron and the current effect of a lead, so that the unmanned aerial vehicle can normally operate in a scene with serious magnetic interference. And under the condition that the quality of the GPS signal is reduced, the direction-finding precision index of the double antennas is also reduced, so that the decision maker is switched to the electronic magnetometer, and the system can not completely lose the direction-finding capability due to the failure of the direction-finding of the double antennas.
Drawings
Fig. 1 is a schematic flowchart of a method for correcting a direction angle based on dual antennas according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an apparatus for directional angle correction based on dual antennas according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a computer device in an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, article, or apparatus, and such that a division of modules presented in this application is merely a logical division that may be implemented in an actual application in a different manner, such that multiple modules may be combined or integrated into another system, or some features may be omitted, or may not be implemented.
Referring to fig. 1, a method for directional angle correction based on dual antennas according to the present application is illustrated as follows, where the method includes:
101. the horizontal magnetic vector is acquired by an electronic magnetometer.
In this embodiment, the horizontal magnetic vector is a three-dimensional vector, and the value of the three-dimensional vector is measured by the electronic magnetometer, and the three-dimensional vector includes: an X-direction vector, a Y-direction vector, a Z-direction vector.
102. And calculating the direction angle of the electronic magnetic force according to the horizontal magnetic vector.
In this embodiment, the direction angle of the electron magnetic force is obtained by Arctan (Y-direction vector/X-direction vector).
103. The directive angle and the offset angle are obtained by the dual antenna.
In this embodiment, the directional angle refers to an angle between the antenna and the X axis as an azimuth angle, where the X coordinate axis direction is used as a standard direction. Offset angle the angle between the two antennas.
104. And correcting the direction angle according to the offset angle to obtain a corrected direction angle.
In this embodiment, the direction angle is corrected by the included angle between the two antennas, so as to obtain a corrected included angle.
105. And acquiring a preset precision threshold value.
In this embodiment, the accuracy threshold is used to describe the strength of the dual-antenna signal.
106. And acquiring a plurality of precision indexes corresponding to the corrected direction angle through the double antennas.
In the embodiment, the accuracy index heading standard deviation hdgstdev, the solution state sol stat and the tracked satellite number SVS are adopted.
107-1, if the plurality of accuracy indexes are all larger than the accuracy threshold, outputting the corrected direction angle.
In this embodiment, if the signals of the dual antennas are stable, the corrected direction angle is output.
107-2, if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
In this embodiment, if the dual antenna signal is unstable, the direction angle measured by the electronic magnetometer is output.
The invention preferentially uses the double-antenna measurement value with higher precision, outputs the corrected direction intersection under the condition of no GPS signal shielding and interference, and is not interfered by hard iron and soft iron and the current effect of a lead, so that the unmanned aerial vehicle can normally operate in a scene with serious magnetic interference. And under the condition that the quality of the GPS signal is reduced, the direction-finding precision index of the double antennas is also reduced, so that the decision maker is switched to the electronic magnetometer, and the system can not completely lose the direction-finding capability due to the failure of the direction-finding of the double antennas.
In some embodiments, said calculating an electron magnetic force direction angle from said horizontal magnetic vector comprises:
extracting the value of the X direction and the value of the Y direction in the horizontal magnetic vector to obtain a magnetic vector modular length value of the X direction and a magnetic vector modular length value of the Y direction;
calculating the electron magnetic force direction angle by psi ═ arctan (Y, X), where psi is the electron magnetic force direction angle, Y is the Y-direction magnetic vector modulo length value, and X is the X-direction magnetic vector modulo length value.
In the above embodiment, since the direction angle is an angle to the X axis, the electron magnetic force direction angle is obtained by calculating the vector mode length in the Y direction divided by the vector mode length in the X direction by the arctangent function.
In some embodiments, the correcting the direction angle according to the offset angle to obtain a corrected direction angle includes:
the corrected azimuth angle is obtained by an azimuth angle d ═ ψ + θ, where ψ is the azimuth angle and θ is the corrected azimuth angle.
In the above embodiment, since the two antennas automatically acquire the direction angle and the mounting methods of the two antennas differ, there is an offset angle, and therefore, it is necessary to correct the two measured direction angles to obtain a corrected direction angle.
In some embodiments, the obtaining the direction angle and the offset angle by the dual antenna includes:
acquiring the signal strength of each antenna;
determining the direction angle and the bias angle according to the signal strength.
In the above embodiment, it is determined whether the obtained direction angle and offset angle are reliable according to the signal strength of each antenna, and if the signal strength is too low, it is determined that the obtained direction angle and offset angle are not reliable, and the direction angle and offset angle at the previous time are used for calculation.
In some embodiments, the plurality of accuracy indicators includes at least heading standard deviation hdgstdev, solution state sol stat, and number of tracked satellites SVS.
In the above embodiment, the standard deviation of the heading is the accuracy of the heading measured by the two-finger antenna. The solution state refers to a solution state of the double-antenna resolved course, the number of satellites is the number of satellites in common view on two days, and the course measured by the double-antenna can be resolved only if the number of the satellites is enough. The accuracy and the reliability of the course measured by the double antennas are judged through the embodiment
In some embodiments, the obtaining the signal strength of each antenna comprises:
acquiring a Received Signal Code Power (RSCP) value of the dual antenna to obtain a first RSCP value and a second RSCP value;
if the first RSCP value is equal to the second RSCP value, judging that the signal strengths of the double antennas are equal;
if the first RSCP value is larger than the second RSCP value, the signal intensity of the antenna corresponding to the first RSCP value is judged to be larger than the signal intensity of the antenna corresponding to the second RSCP value;
and if the first RSCP value is smaller than the second RSCP value, judging that the signal intensity of the antenna corresponding to the first RSCP value is smaller than the signal intensity of the antenna corresponding to the second RSCP value.
In the above embodiments, the Received Signal Code Power (RSCP) generally refers to the pilot channel, and can be understood as the Signal strength of the pilot channel Received by the antenna. The RSCP values of the two antennas are compared to determine which antenna has stronger signal strength, and when the signal strength of the two antennas is lower than a certain value, the direction angle with higher signal strength can be selected as a measured value. The problem that the measurement cannot be carried out when the signal intensity is low is solved.
In some embodiments, the obtaining, by the dual antenna, the accuracy indicator corresponding to the corrected direction angle includes:
the first RSCP value and the second RSCP value are subjected to difference to obtain a target difference value;
if the target difference value is larger than zero, taking an antenna accuracy index corresponding to the first RSCP value as the accuracy index;
and if the target difference value is less than or equal to zero, taking the antenna accuracy index corresponding to the second RSCP value as the accuracy index.
In the above embodiment, the above manner may be to select the accuracy index value of one antenna in the specific dual antennas as the judgment, and select the antenna with higher accuracy as the judgment criterion, because in actual selection, the antenna with high accuracy is selected, and therefore it is only necessary to select a high RSCP value to evaluate whether the measurement value is reliable.
Fig. 2 is a schematic structural diagram of an apparatus 20 for directional angle correction based on dual antennas, which can be applied to directional angle correction based on dual antennas. The apparatus for dual-antenna based azimuth correction in the embodiment of the present application can implement the steps corresponding to the method for dual-antenna based azimuth correction performed in the embodiment corresponding to fig. 1. The functions implemented by the dual-antenna directivity angle correction-based apparatus 20 may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, which may be software and/or hardware. The apparatus for correcting a directive angle based on dual antennas may include an input/output module 201 and a processing module 202, and the processing module 202 and the input/output module 201 may refer to operations executed in the embodiment corresponding to fig. 1 for realizing the functions, which are not described herein again. The input-output module 201 may be used to control input, output, and acquisition operations of the input-output module 201.
In some embodiments, the input/output module 201 may be configured to obtain a horizontal magnetic vector from an electronic magnetometer;
the processing module 202 may be configured to calculate an electron magnetic direction angle according to the horizontal magnetic vector;
the input/output module 201 is further configured to obtain a direction angle and a bias angle through a dual antenna;
correcting the direction angle according to the offset angle to obtain a corrected direction angle;
the input/output module 201 is further configured to obtain a preset precision threshold;
the processing module is further used for obtaining a plurality of precision indexes corresponding to the corrected direction angles through the double antennas; if the plurality of accuracy indexes are all larger than the accuracy threshold value, outputting the corrected direction angle; and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
In some embodiments, the processing module 202 is further configured to:
extracting the value of the X direction and the value of the Y direction in the horizontal magnetic vector to obtain a magnetic vector modular length value of the X direction and a magnetic vector modular length value of the Y direction;
calculating the electron magnetic force direction angle by psi ═ arctan (Y, X), where psi is the electron magnetic force direction angle, Y is the Y-direction magnetic vector modulo length value, and X is the X-direction magnetic vector modulo length value.
In some embodiments, the processing module 202 is further configured to:
the corrected azimuth angle is obtained by an azimuth angle d ═ ψ + θ, where ψ is the azimuth angle and θ is the corrected azimuth angle.
In some embodiments, the processing module 202 is further configured to:
acquiring the signal strength of each antenna;
determining the direction angle and the bias angle according to the signal strength.
In some embodiments, the plurality of accuracy indicators includes at least heading standard deviation hdgstdev, solution state sol stat, and number of tracked satellites SVS.
In some embodiments, the processing module 202 is further configured to:
acquiring a Received Signal Code Power (RSCP) value of the dual antenna to obtain a first RSCP value and a second RSCP value;
if the first RSCP value is equal to the second RSCP value, judging that the signal strengths of the double antennas are equal;
if the first RSCP value is larger than the second RSCP value, the signal intensity of the antenna corresponding to the first RSCP value is judged to be larger than the signal intensity of the antenna corresponding to the second RSCP value;
and if the first RSCP value is smaller than the second RSCP value, judging that the signal intensity of the antenna corresponding to the first RSCP value is smaller than the signal intensity of the antenna corresponding to the second RSCP value.
In some embodiments, the processing module 202 is further configured to:
the first RSCP value and the second RSCP value are subjected to difference to obtain a target difference value;
if the target difference value is larger than zero, taking an antenna accuracy index corresponding to the first RSCP value as the accuracy index;
and if the target difference value is less than or equal to zero, taking the antenna accuracy index corresponding to the second RSCP value as the accuracy index.
The creating apparatus in the embodiment of the present application is described above from the perspective of the modular functional entity, and the following describes a computer device from the perspective of hardware, as shown in fig. 3, which includes: a processor, a memory, an input-output unit (which may also be a transceiver, not identified in fig. 3), and a computer program stored in the memory and executable on the processor. For example, the computer program may be a program corresponding to the method for correcting the azimuth angle based on the dual antennas in the embodiment corresponding to fig. 1. For example, when the computer device implements the function of the apparatus 20 for correcting a directional angle based on a dual antenna as shown in fig. 2, the processor executes the computer program to implement the steps of the method for correcting a directional angle based on a dual antenna performed by the apparatus 20 for correcting a directional angle based on a dual antenna in the embodiment corresponding to fig. 2. Alternatively, the processor implements the functions of the modules in the apparatus 20 for correcting the directional angle based on the dual antenna according to the embodiment corresponding to fig. 2 when executing the computer program. For another example, the computer program may be a program corresponding to the method for correcting the azimuth angle based on the dual antennas in the embodiment corresponding to fig. 1.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like which is the control center for the computer device and which connects the various parts of the overall computer device using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The input-output unit may also be replaced by a receiver and a transmitter, which may be the same or different physical entities. When they are the same physical entity, they may be collectively referred to as an input-output unit. The input and output may be a transceiver.
The memory may be integrated in the processor or may be provided separately from the processor.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM), and includes several instructions for enabling a terminal (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the drawings, but the present application is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many changes and modifications without departing from the spirit and scope of the present application and the protection scope of the claims, and all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (10)
1. A method for correcting a direction angle based on dual antennas is characterized by comprising the following steps:
acquiring a horizontal magnetic vector through an electronic magnetometer;
calculating an electronic magnetic direction angle according to the horizontal magnetic vector;
acquiring a direction angle and a bias angle through the double antennas;
correcting the direction angle according to the offset angle to obtain a corrected direction angle;
acquiring a preset precision threshold;
acquiring a plurality of precision indexes corresponding to the corrected direction angles through the double antennas;
if the plurality of accuracy indexes are all larger than the accuracy threshold value, outputting the corrected direction angle;
and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
2. The method of claim 1, wherein said calculating an electron magnetic force direction angle from said horizontal magnetic vector comprises:
extracting the value of the X direction and the value of the Y direction in the horizontal magnetic vector to obtain a magnetic vector modular length value of the X direction and a magnetic vector modular length value of the Y direction;
calculating the electron magnetic force direction angle by psi ═ arctan (Y, X), where psi is the electron magnetic force direction angle, Y is the Y-direction magnetic vector modulo length value, and X is the X-direction magnetic vector modulo length value.
3. The method of claim 2, wherein said correcting said heading angle based on said offset angle to obtain a corrected heading angle comprises:
the corrected azimuth angle is obtained by an azimuth angle d ═ ψ + θ, where ψ is the azimuth angle and θ is the corrected azimuth angle.
4. The method of claim 3, wherein obtaining the directive angle and the bias angle via dual antennas comprises:
acquiring the signal strength of each antenna;
determining the direction angle and the bias angle according to the signal strength.
5. The method according to claim 4, wherein the plurality of accuracy indicators comprises at least heading standard deviation hdgstdev, solution state sol stat and number of tracked satellites SVS.
6. The method of claim 5, wherein said obtaining the signal strength of each of said antennas comprises:
acquiring a Received Signal Code Power (RSCP) value of the dual antenna to obtain a first RSCP value and a second RSCP value;
if the first RSCP value is equal to the second RSCP value, judging that the signal strengths of the double antennas are equal;
if the first RSCP value is larger than the second RSCP value, the signal intensity of the antenna corresponding to the first RSCP value is judged to be larger than the signal intensity of the antenna corresponding to the second RSCP value;
and if the first RSCP value is smaller than the second RSCP value, judging that the signal intensity of the antenna corresponding to the first RSCP value is smaller than the signal intensity of the antenna corresponding to the second RSCP value.
7. The method according to claim 6, wherein the obtaining the accuracy index corresponding to the corrected direction angle by using the dual antennas comprises:
the first RSCP value and the second RSCP value are subjected to difference to obtain a target difference value;
if the target difference value is larger than zero, taking an antenna accuracy index corresponding to the first RSCP value as the accuracy index;
and if the target difference value is less than or equal to zero, taking the antenna accuracy index corresponding to the second RSCP value as the accuracy index.
8. An apparatus for dual antenna based directional angle correction, the apparatus comprising:
the input and output module is used for acquiring a horizontal magnetic vector through the electronic magnetometer;
the processing module is used for calculating an electronic magnetic force direction angle according to the horizontal magnetic vector; the input and output module is also used for acquiring a direction angle and a bias angle through the double antennas;
correcting the direction angle according to the offset angle to obtain a corrected direction angle;
the input and output module is also used for acquiring a preset precision threshold;
the processing module is further used for obtaining a plurality of precision indexes corresponding to the corrected direction angles through the double antennas; if the plurality of accuracy indexes are all larger than the accuracy threshold value, outputting the corrected direction angle; and if one precision index is smaller than or equal to the precision threshold, outputting the direction angle of the electronic magnetic force.
9. A computer device, characterized in that the computer device comprises:
at least one processor, a memory, and an input-output unit;
wherein the memory is configured to store program code and the processor is configured to invoke the program code stored in the memory to perform the method of any of claims 1-7.
10. A computer storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011508334.1A CN112799102A (en) | 2020-12-18 | 2020-12-18 | Direction angle correction method, device, equipment and storage medium based on double antennas |
Applications Claiming Priority (1)
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