CN113514865B - Initialization method of combined navigation device, combined navigation device and computer readable medium - Google Patents

Initialization method of combined navigation device, combined navigation device and computer readable medium Download PDF

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CN113514865B
CN113514865B CN202110779653.4A CN202110779653A CN113514865B CN 113514865 B CN113514865 B CN 113514865B CN 202110779653 A CN202110779653 A CN 202110779653A CN 113514865 B CN113514865 B CN 113514865B
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module
navigation device
fixed point
sensor module
integrated navigation
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CN113514865A (en
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王云鹏
张璐
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COMNAV TECHNOLOGY 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
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The invention relates to an initialization method of a combined navigation device, which comprises the following steps: randomly selecting a fixed point on the ground surface; standing the combined navigation device on a horizontal ground to obtain a zero offset value of the sensor module; standing after the combined navigation device is picked up to obtain initial values of all parameters of the sensor module; placing the integrated navigation device at a plurality of different places, aiming at the fixed point in a plurality of different postures, and acquiring a plurality of estimation parameters and a plurality of distance values between the measuring point and the fixed point of the corresponding sensor module; obtaining coordinate values of the measuring points resolved by the GNSS module; and calculating an error value of the sensor module according to the obtained parameters, distance values and coordinate values, so that the user can realize high-precision remote target point inclination measurement without directly contacting a target during outdoor operation.

Description

Initialization method of combined navigation device, combined navigation device and computer readable medium
Technical Field
The present invention relates to the field of satellite navigation technologies, and in particular, to an initialization method for an integrated navigation device, an integrated navigation device for executing the method, and a computer readable medium.
Background
Conventional GNSS (Global Navigation Satellite System, which refers to all Satellite Navigation systems in general, including Global, regional, and enhanced, such as GPS in the united states, Glonass in russia, Galileo in europe, beidou Satellite Navigation System in china, and related enhanced systems) receivers meet centimeter-level positioning accuracy, but need to level the level of the center pole to measure, and thus are not usable in many scenarios, for example: the wall corner point can not meet the requirement of making the centering rod vertical, so that the operation efficiency is relatively low. In order to realize the inclination Measurement of the GNSS receiver, an angle Measurement system is needed, most of the system is internally integrated with IMU (Inertial Measurement Unit) or magnetometer, and the Measurement of the difficult point is realized by a combined navigation mode.
The inertial navigation system is an integral recursion system, navigation parameters at the current moment are recurred according to the navigation result at the previous moment, and the characteristic determines that the navigation solution of the first epoch can be completed only after the initial calibration process. The navigation parameters typically include position, velocity, and attitude angles and heading angles. The initial values of position and velocity are usually directly obtained by GNSS, and the attitude angle is calculated by an accelerometer in a static scene. Due to the limitation of cost and size, most inertial navigation GNSS receivers use low-cost MEMS (micro-electro-mechanical systems) inertial devices, and the gyro has zero offset which varies from tens of degrees/hour to hundreds of degrees/hour, so that the self-alignment of the stationary base of the course cannot be realized. In the current market, only an IMU scheme is used, and initial calibration of a course angle is mostly complicated, for example, a handheld receiver needs to travel straight lines for several meters to tens of meters; the initial course calibration is realized by performing the operation of the front-back shaking receiver in situ, but the initial time is dozens of seconds under the influence of the shaking amplitude and the speed. By using the scheme of the IMU and the magnetometer, although the initialization of the course angle can be easily realized, the magnetic calibration is easily subjected to the electromagnetic interference of an external magnetic field under the condition that a user does not know the quality of the magnetic environment, and the reliability is poor.
In addition, even if the course angle is initialized quickly and accurately, the GNSS receiver with the centering rod cannot measure the target point due to the limitation of the length of the centering rod when personnel inconveniently reach the vicinity of the target point.
Disclosure of Invention
In order to solve the above problems, an embodiment of the present invention provides an initialization method for a combined navigation device, where the combined navigation device includes a GNSS module, a processor module, a sensor module, and a ranging module, and the initialization method includes the following steps: randomly selecting a fixed point on the ground surface; standing the combined navigation device on a horizontal ground to obtain a zero offset value of the sensor module; standing after the combined navigation device is picked up to obtain initial values of all parameters of the sensor module; placing the integrated navigation device at a plurality of different places, aiming at the fixed point at a plurality of different postures, and acquiring a plurality of estimation parameters and a plurality of distance values between the measuring point and the fixed point of the corresponding sensor module; obtaining coordinate values of measuring points resolved by the GNSS module; and calculating an error value of the sensor module according to the plurality of estimation parameters of the sensor module, the plurality of distance values of the measuring point and the fixed point and the coordinate value of the measuring point calculated by the GNSS module.
In some embodiments, the initial values of the parameters of the sensor module include initial values of roll and pitch angles.
In some embodiments, the plurality of estimated parameters of the sensor module includes an attitude angle and a heading angle resolved by the sensor module.
In some embodiments, placing the integrated navigation device in a plurality of different locations and aiming at the fixed point in a plurality of different poses comprises four orientations before, after, left or right of the fixed point, while tilting or rotating the integrated navigation device by 3 different angles, respectively, aims the fixed point a total of 3 times.
In some embodiments, the plurality of different locations are arranged on a circular arc trajectory centered on the fixed point.
In some embodiments, calculating the error value of the sensor module based on the plurality of estimated parameters of the sensor module, the plurality of distance values between the measurement point and the fixed point, and the measurement point coordinate value calculated by the GNSS module comprises:
according to the distance value between the measuring point and the fixed point, the position relationship between the phase center of the GNSS module and the fixed point can be represented by the following formula:
Figure GDA0003542127390000021
in the above formula, n represents a local geographical coordinate system, the origin of coordinates is located at the center of the sensor module, the x-axis is parallel to the local horizontal plane and points to the geographical north direction, the y-axis is parallel to the local horizontal plane and points to the geographical east direction, and the z-axis, the x-axis and the y-axis form a right hand system and point to the lower part of the horizontal plane; b represents the sensor module coordinates The system comprises a coordinate origin positioned at the center of the sensor module, an x-axis perpendicular to a receiver panel points to the inner side, a y-axis perpendicular to the x-axis points to the right side of the gun body, and a z-axis, the x-axis and the y-axis form a right-handed system;
Figure GDA0003542127390000022
a projection of a position vector representing the fixed point in n, and M represents the fixed point;
Figure GDA0003542127390000023
the projection of the phase center position vector of the GNSS module under an n system can be obtained by resolving through the GNSS module;
Figure GDA0003542127390000024
a coordinate transformation matrix representing a b system to an n system; r isbRepresenting the projection of the fixed point vector pointed by the center of the sensor module under the b system; lbAnd the projection of a vector which indicates that the center of the sensor module points to the phase center of the GNSS module under the b system.
Wherein the coordinate transformation matrix from the b system to the n system
Figure GDA0003542127390000025
Can be represented by the following formula:
Figure GDA0003542127390000031
in the above formula, c represents cos (-); s represents sin (·); θ represents a pitch angle; phi represents a roll angle;
Figure GDA0003542127390000032
indicating the heading angle.
Coordinate transformation matrix at different observation moments
Figure GDA0003542127390000033
Can be represented by the following formula:
Figure GDA0003542127390000034
in the above formula, tkRepresents the current time; t is tk-1Represents a previous time instant;
Figure GDA0003542127390000035
showing the rotation change of the b system at two time points before and after.
Figure GDA0003542127390000036
Can be represented by the following formula:
Figure GDA0003542127390000037
wherein the content of the first and second substances,
Figure GDA0003542127390000038
wherein the content of the first and second substances,
Figure GDA0003542127390000039
in the above formula, phi is an equivalent rotation vector; i | · | | is a modulo operation of the vector; (×) is an antisymmetric array of vector constructions; delta theta (t) k) The gyro angle increment at the current moment is obtained; delta theta (t)k-1) The increment of the gyroscope angle at the previous moment;
Figure GDA00035421273900000310
replaced by an approximation of delta theta.
The coordinate system of the fixed point is denoted as n ', and the relationship between the local geographic coordinate system n and the fixed point coordinate system n' can be represented by the following formula:
Figure GDA00035421273900000311
in the above formula, the first and second carbon atoms are,
Figure GDA00035421273900000312
indicating the heading angle.
The observation equation can be represented by the following formula:
Figure GDA00035421273900000313
in the above formula, the first and second carbon atoms are,
Figure GDA0003542127390000041
representing the fixed point coordinate estimated by the GNSS module in a north direction component;
Figure GDA0003542127390000042
representing the fixed point coordinates estimated by the GNSS module as an east component;
Figure GDA0003542127390000043
representing the north component of the fixed point coordinates;
Figure GDA0003542127390000044
representing an east component of the fixed point coordinates; i represents the ith observation; delta rNA component representing the fixed point coordinate error in a north direction; delta rEA component representing the east direction of the fixed point coordinate error; epsilon is an observation error; epsilonNIs the north component of the observation error; epsilonETo observe the error in the east component.
Collating the observation equation into a residual equation, which may be represented by:
vi＝Bix-li (9)
in the above formula, v represents a correction number vector; b represents an observation matrix; x represents an unknown parameter vector; l denotes an observation vector. Wherein the content of the first and second substances,
Figure GDA0003542127390000045
Figure GDA0003542127390000046
Figure GDA0003542127390000047
in the above formula, subscript 0 represents an initial value; initial course angle error
Figure GDA0003542127390000048
Can obtain the value corresponding to the first moment
Figure GDA0003542127390000049
And with
Figure GDA00035421273900000410
The included angle of (c) is obtained.
When N observed quantities exist, a calculation result is obtained by using a recursive least square method as follows:
Figure GDA00035421273900000411
in the above-mentioned formula, the compound has the following structure,
Figure GDA00035421273900000412
substituting the above equation to obtain the error value x of the sensor module, the optimal estimated parameter value of the sensor module can be represented by the following equation:
Figure GDA00035421273900000413
in the above formula, X0For the known initial horizontal coordinate and initial heading angle of the fixed point,
Figure GDA00035421273900000414
and the optimal estimated parameter value of the sensor module is obtained.
The embodiment of the invention also provides a combined navigation device which is used for executing the initialization method and comprises a GNSS module, a processor module, a sensor module and a ranging module.
In some embodiments, the sensor module comprises an inertial navigation system.
In some embodiments, the inertial navigation system includes a 3-axis gyroscope and a 3-axis accelerometer.
In some embodiments, the processor module includes a GNSS high-precision solution module, an inertial navigation mechanics programming module, and a kalman filter.
In some embodiments, the ranging module comprises at least one of a laser ranging module, an infrared ranging module.
In some embodiments, the integrated navigation device further comprises a power module, a storage module, a display module, and a communication module.
Embodiments of the present invention further provide a computer-readable medium having executable instructions stored thereon, which when executed by one or more processors perform the initialization method of the integrated navigation device described above.
Compared with the prior art, the embodiment of the invention has at least one of the following advantages:
1. according to the embodiment of the invention, the high-precision remote target point inclination measurement can be realized by using the low-cost MEMS inertial device, the system integration cost is reduced, and the limitation of the length of the centering rod is avoided.
2. According to the embodiment of the invention, the phase center coordinates of the antenna resolved by the GNSS are reduced to the fixed point, an error equation is constructed with the coordinates of the known (rough) fixed point, and the course angle error can be rapidly determined at 3 different positions theoretically. In the observation equation, only the sensor module is used for attitude update to construct a coordinate rotation matrix
Figure GDA0003542127390000051
The error therefore mainly originates from the error of the sensor module; while the main error of the sensor module, i.e. the random constant zero offset, is already in the stationary processAnd (4) obtaining. Therefore, after the initialization of the sensor module is completed in the embodiment of the invention, higher measurement precision is realized.
3. The embodiment of the invention can finish initialization only by aiming the fixed points at a plurality of places around the fixed point, has simple and convenient operation and high reliability, and has no influence of shaking amplitude and speed because the receiver does not need to shake forwards and backwards.
4. The embodiment of the invention does not use a magnetometer, so the embodiment of the invention can not be interfered by an external magnetic field and has wider application range.
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Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified. Components in the figures are not drawn to scale and may be drawn out of scale to facilitate understanding of embodiments of the present disclosure.
FIG. 1 is a schematic diagram of a handheld integrated navigation device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a handheld integrated navigation device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an internal structure of a handheld integrated navigation device according to another embodiment of the present invention;
fig. 4 is a schematic view of a measuring point when the handheld integrated navigation device is aimed according to another embodiment of the present invention.
Detailed Description
The following description is made for the purpose of illustrating the general principles of the present invention and is not meant to limit the inventive concepts claimed herein. Furthermore, particular features described herein can be used in combination with other described features in each of the various possible combinations and permutations.
It should be understood that the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: the existence of A alone, the existence of B alone and the existence of A and B simultaneously, and in addition, the character "/" in the text generally indicates that the front and back associated objects are in an "or" relationship.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly on" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe relationships between elements (e.g., "between … …" pair directly between … … "," adjacent "pair" directly adjacent ", etc.) should be interpreted in a similar manner.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may in fact be executed substantially concurrently or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
Unless otherwise specifically defined herein, all terms are to be given their broadest interpretation including meanings implied in this specification and meanings understood by those skilled in the art and/or as defined in dictionaries, papers, etc. For the purpose of illustrating the technical contents, structural features, and objects and functions of the present invention in detail, reference will be made to the following detailed description taken in conjunction with the accompanying drawings.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a handheld integrated navigation device according to an embodiment of the present invention; fig. 2 is a schematic internal structural diagram of a handheld integrated navigation device according to an embodiment of the present invention. The embodiment of the invention provides a handheld combined navigation device 1, which comprises a shell, an information acquisition module 2, a ranging module 3 and a processor module 6, wherein the ranging module 3 and the processor module 6 are arranged in a cavity of the shell, the shell is in a T shape and comprises a main body 15 in the horizontal direction and a handle 5 which is vertically inclined towards the rear end, the information acquisition module 2 is arranged above the main body 15, optionally, a sighting telescope (not shown in the figure) can be further arranged above the main body 15, the ranging module 3 is arranged at the front end (one end far away from a user) of the main body 15, the combined navigation device 1 further comprises a ranging module trigger device 4 arranged at the handle 5, and the ranging module 3 can adopt a laser ranging module or an infrared ranging module.
Optionally, the integrated navigation device 1 further includes a display module 7, an input end of the display module 7 is connected to the processor module 6, and the display module 7 is a display and is disposed at a rear end (an end close to the user) of the main body 15. The display module 7 is used for displaying coordinate information of a target point, so that a user can observe the coordinate information conveniently, the display module 7 can adopt a liquid crystal display, an organic light emitting display and the like in the prior art, in order to save more electricity, an electronic paper display can also be used, and the display module 7 can also be integrated with a transparent touch screen so as to be convenient for the user to operate.
Optionally, the integrated navigation device 1 further includes a storage module 13, and an input end of the storage module 13 is connected to the processor module 6. The storage module 13 is used for storing the measured coordinate information, so that the user can conveniently look up the coordinate information of the historical target point later, the storage module 13 can adopt a memory in the prior art, such as an SD memory card, a mobile hard disk, and the like, the storage module 13 can also be arranged in the handle 5, and a transmission interface is arranged below the handle 5, so that the stored information of the storage module 13 can be exported to an external memory for backup and other operations.
Optionally, the integrated navigation device 1 further includes a power module 14 disposed inside the cavity of the handle 5, and the power module 14 outputs a working power to the information acquisition module 2, the processor module 6, the display module 7, the storage module 13, and the ranging module 3. The power module 14 may be a power product with energy saving and low power consumption in the prior art, such as a lithium battery. The power module 14 is arranged in the cavity of the handle 5, and the power module 14 is isolated from the processor module 6 and the electronic chip of the information acquisition module 2 in the main body, so that electromagnetic interference is reduced; and the power module 14 can increase the weight of the handle 5 part and can keep the T-shaped shell smooth. When power module 14 adopts the dry battery, the setting is convenient for change the battery in handle 5 position, if power module 14 is rechargeable battery, the setting also is convenient for set up the interface that charges at the lower extreme of handle in handle 5 department and charge for rechargeable battery, and the interface that charges can adopt interfaces such as current standard USB, MiniUSB, MicroUSB, Type-C, and this embodiment does not do the restriction to this.
Optionally, the processor module 6 may be a single chip or an FPGA (Field Programmable Gate Array) with high processing capability and low power consumption in the prior art.
Optionally, the integrated navigation device 1 further includes a wireless communication module (not shown in the figure), and the wireless communication module includes one or a combination of a GPRS (General packet radio service) wireless communication module, a bluetooth module, a radio module, and can be adapted to more severe environments, such as the field or a remote area with wide and sparse people. The GPRS comprises a communication antenna, a GPRS module and at least one SIM card seat, if two SIM card seats are adopted, dual-card dual-standby can be realized, and more operators are compatible. The user holds the integrated navigation device 1 by hand to obtain the differential information broadcast by a reference station or a CORS (continuous operation reference station for satellite positioning service) through a wireless communication module, wherein the differential information comprises satellite orbit error correction, atmospheric influence correction and the like, the differential information is output to the processor module 6, and the high-precision measurement point coordinates are finally obtained through correction.
Referring to fig. 3, fig. 3 is a schematic internal structure diagram of a handheld integrated navigation device according to another embodiment of the present invention. Specifically, the integrated navigation device in this embodiment includes a GNSS module, a processor module, a sensor module, a ranging module, and a display module, the GNSS module includes a GNSS receiving module 9 disposed in the information acquisition module and a GNSS high-precision calculating module 11 disposed in the processor module 17, the sensor module includes an inertial navigation system, the inertial navigation system includes an IMU data acquisition and processing module 8 disposed in the information acquisition module and an inertial navigation mechanical arranging module 10 disposed in the processor module 17, the processor module further includes a filter 12, the ranging module includes a laser ranging module 16, and optionally, the display module, the communication module, the storage module, and the power module may refer to the content of the previous embodiment.
Optionally, the inertial navigation system is a strapdown inertial navigation system (abbreviated as "inertial navigation") and includes an Inertial Measurement Unit (IMU). In order to improve the measurement precision, a magnetometer can be further arranged, the output end of the IMU data acquisition and processing module 8 is connected with the inertial navigation mechanical arrangement module 10 in the processor module 17, and the IMU is composed of a three-axis accelerometer and a three-axis gyroscope. The inertial navigation system needs an initialization process to establish the relationship between the fixed reference system of the combined navigation device and the navigation coordinate system during each positioning, during initialization, the inertial navigation system enables the longitudinal axis of the ground coordinate system to be consistent (leveled) with the detected acceleration through a self-calibration process, and measures the horizontal earth velocity so as to preliminarily judge the azimuth angle (gyroscope), the magnetometer is used for assisting in determining the initial position, and can also provide reference through the earth magnetic field, the gyroscope provides the change rate of the azimuth angle and the three-axis attitude velocity, and the accelerometer calculates the accelerations in three directions.
Optionally, the GNSS module includes a GNSS receiving module 9 and a GNSS high-precision resolving module 11 that are sequentially connected in series, the GNSS high-precision resolving module 11 includes a preamplifier, a frequency converter, and a signal processing circuit for amplifying, filtering, and the output end of the signal processing circuit is connected to the filter 12. The GNSS receiving module 9 converts weak energy from a satellite into corresponding current amount, amplifies a GNSS satellite signal through the preamplifier, converts a high-frequency satellite signal into an intermediate-frequency signal with a lower level by the frequency converter, and finally performs a series of processing such as further frequency conversion, amplification, filtering and the like on the signal through the signal processing circuit, so that the tracking, locking and measurement of the GNSS signal are realized, and data information of a measurement point is provided.
Optionally, the laser ranging module 16 includes a laser emitting portion: a laser emitter, a beam splitter and a reflector; a laser receiving section: a detector, a preamplifier and a main amplifier; the signal processing part: gate circuit, clock oscillator, counter. When the combined navigation device measures distance, a laser emitter emits a laser pulse signal, a clock oscillator continuously generates a standard pulse signal with a certain time interval, a counter starts timing, laser is divided into two parts through a light splitter, one part of the laser is emitted to a target object to be reflected, the other part of the laser is emitted through a reflector, the two parts of light are finally received by a detector, an analog signal is converted into an electric signal, the electric signal enters a microprocessor after being amplified and shaped through a preamplifier and a main amplifier, a gate circuit is closed, and the timer stops timing. The ranging distance is obtained by multiplying the time interval of the clock pulse by the number of pulses, namely the time interval of the main wave and the echo.
Optionally, the laser transmitter includes a distance measuring module triggering device 4, as shown in fig. 1, the distance measuring module triggering device 4 is located at the upper part of the front end of the handle 5.
Optionally, the filter 12 in this embodiment is a kalman filter, and the output end of the inertial navigation system is connected to the kalman filter, and is configured to obtain the attitude information of the measurement point; the output end of the GNSS module is connected with the Kalman filter and is used for receiving GNSS satellite signals; the output end of the Kalman filter is connected with the processor 18 and is used for fusing the attitude information with GNSS satellite signals to obtain the attitude and coordinate information of the measuring point; the output end of the laser ranging module 16 is connected with the processor 18 and used for measuring the distance between the measuring point and the target point; the processor 10 acquires the coordinates of the target point from the attitude and coordinates of the measurement point and the distance between the measurement point and the target point.
The principle of the embodiment of the invention is that the gesture and the coordinate of the handset and the distance between the handset and the target point are obtained by measuring for many times, and the coordinate of the target point in a space rectangular coordinate system is obtained by calculation, so that a user can obtain more accurate coordinate information of the target without directly contacting the target during outdoor operation, the operation efficiency is improved, the working difficulty is reduced, meanwhile, the coordinate of the measuring point is obtained by depending on GNSS under the condition of good satellite signals, and the coordinate of the measuring point is obtained by depending on an inertial navigation system under the condition of poor satellite signals, so that the difficulty that the GNSS handset is difficult to work under the condition of poor satellite quality is overcome, and the volume of the handheld receiver is small and is convenient for the user to carry.
Another embodiment of the present invention provides an initialization method for an integrated navigation device, where the integrated navigation device includes the integrated navigation device in the above embodiments, and the initialization method includes the following steps:
s1: randomly selecting a fixed point on the ground surface;
s2: standing the combined navigation device on a horizontal ground to obtain a zero offset value of the sensor module;
s3: standing after the integrated navigation device is picked up to obtain initial values of all parameters of the sensor module;
S4: placing the integrated navigation device at a plurality of different places, aiming at the fixed point at a plurality of different postures, and acquiring a plurality of estimation parameters and a plurality of distance values between the measuring point and the fixed point of the corresponding sensor module;
s5: obtaining the coordinate value of the measuring point resolved by the GNSS module;
s6: and calculating an error value of the sensor module according to the plurality of estimation parameters of the sensor module, the plurality of distance values of the measuring point and the fixed point and the coordinate value of the measuring point calculated by the GNSS module.
Wherein the initial values of the parameters of the sensor module comprise initial values of roll angle and pitch angle. The plurality of estimated parameters of the sensor module include an attitude angle and a heading angle calculated by the sensor module. Placing the integrated navigation device at a plurality of different locations and aiming at the fixed point at a plurality of different poses includes four orientations in front of, behind, to the left of, or to the right of the fixed point while tilting or rotating the integrated navigation device by 3 different angles, respectively aiming at the fixed point a total of 3 times. Preferably, referring to fig. 4, fig. 4 is a schematic view of a measuring point when the handheld integrated navigation device is aimed, which is provided by another embodiment of the present invention, and the measuring point (P) is a plurality of measuring points 1、P2、P3、P4) And the device is arranged on an arc track with the fixed point M as the center of a circle.
Optionally, in step S1, if there is no obvious surface feature on the surface, such as in grasslands and woods, a stationary object on the surface may be selected as a marker, and the marker point is a fixed point; step 2, standing the integrated navigation device on a horizontal ground for n minutes to obtain a larger random constant zero offset of the sensor module and deducting the larger random constant zero offset; step 3, holding the combined navigation device by hand and standing for n seconds after the combined navigation device is taken up, and acquiring initial values of a roll angle and a pitch angle of the sensor module; and 4, aiming the distance measuring device of the combined navigation device at the fixed point above the selected fixed point, rotating clockwise or anticlockwise after inclining for n degrees, and respectively measuring the distance of the fixed point for 4 times in four directions of front, back, left and right of the fixed point, wherein n is more than 0, and then finishing the calculation of the course angle error of the sensor module.
In the embodiment, the specific calculation steps of the course angle error of the sensor module are as follows;
according to the distance value between the measuring point and the fixed point, the position relationship between the phase center of the GNSS module and the fixed point can be represented by the following formula:
Figure GDA0003542127390000101
in the formula, n represents a local geographical coordinate system, the origin of coordinates is located at the center of the sensor module, the x axis is parallel to the local horizontal plane and points to the geographical north direction, the y axis is parallel to the local horizontal plane and points to the geographical east direction, and the z axis, the x axis and the y axis form a right hand system and point to the lower part of the horizontal plane; b represents the coordinate system of the sensor module, the origin of coordinates is positioned at the center of the sensor module, the x axis is vertical to the panel of the receiver and points to the inner side, the y axis is vertical to the x axis and points to the right side of the gun body, and the z axis, the x axis and the y axis form a right-hand system;
Figure GDA0003542127390000102
A projection of a position vector representing the fixed point under n, M representing the fixed point;
Figure GDA0003542127390000103
the projection of the phase center position vector of the GNSS module under the n system can be obtained by resolving through the GNSS module;
Figure GDA0003542127390000104
a coordinate transformation matrix representing a b system to an n system; rbRepresenting the projection of the fixed point vector pointed by the center of the sensor module under the b system; lbAnd the projection of a vector which indicates that the center of the sensor module points to the phase center of the GNSS module under the b system.
Further, the coordinate transformation matrix from the b system to the n system
Figure GDA0003542127390000105
Can be represented by the following formula:
Figure GDA0003542127390000106
wherein c represents cos (-); s represents sin (·); θ represents a pitch angle; phi represents a roll angle;
Figure GDA0003542127390000107
indicating the heading angle.
Right side of the medium type in formula (1)
Figure GDA0003542127390000108
Directly given by the GNSS module solution, as long as each observation moment is obtained
Figure GDA0003542127390000109
And the calculation of the coordinates of the target point can be completed. Coordinate transformation matrix at different observation moments
Figure GDA00035421273900001010
Can be expressed in the form of a matrix chain multiplication in the following equation:
Figure GDA00035421273900001011
in the formula, tkRepresents the current time; t is tk-1Represents a previous time instant;
Figure GDA00035421273900001012
representing the rotation change of the n series at the front and the back time points;
Figure GDA00035421273900001013
showing the rotation change of the b system at two time points before and after.
In addition, the range and speed of motion of the integrated navigation device are considered to be small during initialization
Figure GDA00035421273900001014
The above formula updates may be omitted as follows:
Figure GDA0003542127390000111
wherein the content of the first and second substances,
Figure GDA0003542127390000112
wherein the content of the first and second substances,
Figure GDA0003542127390000113
in the formula, phi is an equivalent rotation vector; i | · | | is a modulo operation of the vector; (. x) is an antisymmetric array of vector constructions.
Figure GDA0003542127390000114
In the formula,. DELTA.theta.tk) The gyro angle increment at the current moment is obtained; delta theta (t)k-1) The increment of the gyroscope angle at the previous moment;
Figure GDA0003542127390000115
is replaced by the approximation of delta theta, and single subsample updating of a double subsample algorithm is realized.
Furthermore, the estimated navigation coordinate system of the ground fixed point is recorded as an n' system, and the position error of the measurement point calculated by the GNSS module is not considered, so that the navigation coordinate system mainly comprises an attitude angle error and a course angle error. Considering that the attitude angle can be more accurately determined in step S3, the n 'and n systems can be simplified into two coplanar two-dimensional coordinate systems, including only one ambiguity of the initial heading angle, and the relationship between the local geographic coordinate system n and the fixed-point coordinate system n' can be represented by the following formula:
Figure GDA0003542127390000116
considering that in actual use, a user cannot easily find a fixed point with accurately known coordinates, for more practicability, only rough coordinates X of the fixed point are given0Namely, the plane coordinate error of the coordinate point is simultaneously used as an unknown parameter to be estimated together with the initial course angle. In summary, the observation equation is expressed as:
Figure GDA0003542127390000117
In the formula (I), the compound is shown in the specification,
Figure GDA0003542127390000118
representing the fixed point coordinate estimated by the GNSS module in a north direction component;
Figure GDA0003542127390000119
representing the fixed point coordinates estimated by the GNSS module as an east component;
Figure GDA00035421273900001110
representing the north component of the fixed point coordinates;
Figure GDA00035421273900001111
representing an east component of the fixed point coordinates; i represents the ith observation; delta rNA component representing the fixed point coordinate error in a north direction; delta rEA component representing the east direction of the fixed point coordinate error; epsilon is an observation error; epsilonNIs the north component of the observation error; epsilonETo observe the error in the east component.
The observation equation contains heading angle error and 2 coordinate offsets, and 3 unknown parameters are calculated, Taylor series expansion is carried out, only one order is taken, and the equation is arranged into a form of a residual error equation, wherein the residual error equation can be represented by the following formula:
vi＝Bix-li (9)
wherein v represents a correction vector; b represents an observation matrix; x represents an unknown parameter vector; l denotes an observation vector. Wherein the content of the first and second substances,
Figure GDA0003542127390000121
Figure GDA0003542127390000122
Figure GDA0003542127390000123
wherein subscript 0 represents an initial value, an initial value of the initial course angle error
Figure GDA0003542127390000124
The corresponding time at the first moment can be obtained through the formulas (1) to (6)
Figure GDA0003542127390000125
And
Figure GDA0003542127390000126
the included angle of (a) is obtained. When there are N observations, using recursive least squaresThe method obtains the resolving result as follows:
Figure GDA0003542127390000127
note the book
Figure GDA0003542127390000128
Substituting the above equation to obtain the error value x of the sensor module, the optimal estimated parameter value of the sensor module can be represented by the following equation:
Figure GDA0003542127390000129
In the formula, X0Knowing the initial horizontal coordinate and initial heading angle of the fixed point,
Figure GDA00035421273900001210
and estimating coordinate values for the optimal sensor module.
Embodiments of the present invention further provide a computer-readable medium having executable instructions stored thereon, which when executed by one or more processors perform the initialization method of the integrated navigation device described above.
The embodiment of the invention has at least one of the following advantages:
1. according to the embodiment of the invention, the high-precision remote target point inclination measurement can be realized by using the low-cost MEMS inertial device, the system integration cost is reduced, and the limitation of the length of the centering rod is avoided.
2. According to the embodiment of the invention, the phase center coordinates of the antenna calculated by the GNSS are reduced to the fixed point, an error equation is constructed with the coordinates of the known (rough) fixed point, and the course angle error can be rapidly determined at 3 different positions theoretically. In the observation equation, the coordinate rotation matrix is constructed using only the sensor modules for attitude update
Figure GDA0003542127390000131
Therefore, the error mainly comes from the sensor moduleError of the block; while the main error of the sensor module, i.e. the random constant zero offset, has been obtained during the stationary process. Therefore, after the initialization of the sensor module is completed in the embodiment of the invention, higher measurement precision is realized.
3. The embodiment of the invention can finish initialization only by aiming the fixed points at a plurality of places around the fixed point, has simple and convenient operation and high reliability, and has no influence of shaking amplitude and speed because the receiver does not need to shake forwards and backwards.
4. The embodiment of the invention does not use a magnetometer, so the embodiment of the invention is not interfered by an external magnetic field and has wider application range. Embodiments of the present invention further provide a computer-readable medium having executable instructions stored thereon, which when executed by one or more processors perform the initialization method of the integrated navigation device described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary hardware platform, and may also be implemented by hardware entirely. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of the embodiments or some parts of the embodiments of the present invention.
In an embodiment of the present invention, the units/modules may be implemented in software to be executed by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical blocks of computer instructions which may, for instance, be constructed as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different bits which, when joined logically together, comprise the unit/module and achieve the stated purpose for the unit/module.
When a unit/module can be implemented by using software, considering the level of existing hardware technology, a person skilled in the art can build a corresponding hardware circuit to implement corresponding functions, without considering the cost, the hardware circuit includes a conventional Very Large Scale Integration (VLSI) circuit or a gate array and an existing semiconductor such as a logic chip, a transistor, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.
While certain embodiments of the invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions.

Claims (19)

1. An initialization method of a combined navigation device, wherein the combined navigation device comprises a GNSS module, a processor module, a sensor module and a distance measurement module, and is characterized by comprising the following steps:
randomly selecting a fixed point on the ground surface;
standing the combined navigation device on a horizontal ground to obtain a zero offset value of the sensor module;
standing after the combined navigation device is picked up to obtain initial values of all parameters of the sensor module;
placing the integrated navigation device at a plurality of different places, aiming at the fixed point in a plurality of different postures, and acquiring a plurality of estimation parameters and a plurality of distance values between the measuring point and the fixed point of the corresponding sensor module;
Obtaining coordinate values of the measuring points resolved by the GNSS module;
calculating an error value of the sensor module according to the plurality of estimated parameters of the sensor module, the plurality of distance values between the measuring point and the fixed point, and the coordinate value of the measuring point calculated by the GNSS module, including:
according to the distance value between the measuring point and the fixed point, the position relation between the phase center of the GNSS module and the fixed point is represented by the following formula:
Figure FDA0003542127380000011
in the formula, n represents a local geographical coordinate system, the origin of coordinates is located at the center of the sensor module, the x axis is parallel to the local horizontal plane and points to the geographical north direction, the y axis is parallel to the local horizontal plane and points to the geographical east direction, and the z axis, the x axis and the y axis form a right hand system and point to the lower part of the horizontal plane; b represents the coordinate system of the sensor module, the origin of coordinates is positioned at the center of the sensor module, the x axis is vertical to the panel of the receiver and points to the inner side, the y axis is vertical to the x axis and points to the right side of the gun body, and the z axis, the x axis and the y axis form a right-hand system;
Figure FDA0003542127380000012
a projection of a position vector representing the fixed point in n, and M represents the fixed point;
Figure FDA0003542127380000013
the projection of the phase center position vector of the GNSS module under the n system is obtained by resolving through the GNSS module;
Figure FDA0003542127380000014
A coordinate transformation matrix representing a b system to an n system; r isbRepresenting the projection of the center of the sensor module to the fixed point vector under a b system; l. thebAnd the projection of a vector of the center of the sensor module to the phase center of the GNSS module under a b system is represented.
2. The initialization method of the integrated navigation device according to claim 1, wherein: the initial values of the parameters of the sensor module include initial values of roll angle and pitch angle.
3. The initialization method of the integrated navigation device according to claim 1, wherein: the plurality of estimated parameters of the sensor module include an attitude angle and a heading angle calculated by the sensor module.
4. The initialization method of the integrated navigation device according to claim 1, wherein: placing the integrated navigation device at a plurality of different locations and aiming at the fixed point at a plurality of different poses includes four orientations in front of, behind, to the left of, or to the right of the fixed point while tilting or rotating the integrated navigation device by 3 different angles, respectively aiming at the fixed point a total of 3 times.
5. The initialization method of the integrated navigation device according to claim 4, wherein: the plurality of different places are arranged on an arc track taking the fixed point as the center of a circle.
6. The initialization method of the integrated navigation device according to claim 1, wherein: wherein the coordinate transformation matrix from the b system to the n system
Figure FDA0003542127380000021
Represented by the formula:
Figure FDA0003542127380000022
wherein c represents cos (. cndot.); s represents sin (·); θ represents a pitch angle; phi represents a roll angle;
Figure FDA0003542127380000023
indicating the heading angle.
7. The initialization method of the integrated navigation device according to claim 6, wherein: coordinate transformation matrix at different observation moments
Figure FDA0003542127380000024
Represented by the formula:
Figure FDA0003542127380000025
in the formula, tkRepresents the current time; t is tk-1Represents a previous time instant;
Figure FDA0003542127380000026
showing the rotation change of the b system at two time points before and after.
8. The initialization method of the integrated navigation device according to claim 7, wherein:
Figure FDA0003542127380000027
represented by the formula:
Figure FDA0003542127380000028
wherein the content of the first and second substances,
Figure FDA0003542127380000029
wherein the content of the first and second substances,
Figure FDA0003542127380000031
in the formula, phi is an equivalent rotation vector; i | · | | is a modulo operation of the vector; (×) is an antisymmetric array of vector constructions; delta theta (t)k) The gyro angle increment at the current moment is obtained;Δθ(tk-1) The increment of the gyroscope angle at the previous moment;
Figure FDA0003542127380000032
replaced by an approximation of delta theta.
9. The integrated navigation device initialization method according to any one of claims 1 to 8, characterized in that: calculating an error value of the sensor module according to the plurality of estimated parameters of the sensor module, the plurality of distance values between the integrated navigation device and the fixed point, and the fixed point coordinate value calculated by the GNSS module, further comprises the following steps:
The coordinate system of the fixed point is denoted as n ', and the relationship between the local geographic coordinate system n and the fixed point coordinate system n' is expressed by the following formula:
Figure FDA0003542127380000033
in the formula (I), the compound is shown in the specification,
Figure FDA0003542127380000034
indicating the heading angle.
10. The initialization method of the integrated navigation device according to claim 9, wherein: the observation equation is represented by:
Figure FDA0003542127380000035
in the formula (I), the compound is shown in the specification,
Figure FDA0003542127380000036
representing the fixed point coordinate estimated by the GNSS module in a north direction component;
Figure FDA0003542127380000037
representing said GNSS module estimateThe fixed point coordinates are in the east component;
Figure FDA0003542127380000038
representing the north component of the fixed point coordinates;
Figure FDA0003542127380000039
representing an east component of the fixed point coordinates; i represents the ith observation; delta rNA component representing the fixed point coordinate error in a north direction; delta rEA component representing the east direction of the fixed point coordinate error; epsilon is an observation error; epsilonNIs the north component of the observation error; epsilonETo observe the error in the east component.
11. The initialization method of the integrated navigation device according to claim 10, wherein: the observation equation is arranged into a residual equation, and the residual equation is represented by the following formula:
vi＝Bix-li (9)
in the formula, the subscript i represents the ith observation, and v represents the correction vector; b represents an observation matrix; x represents an unknown parameter vector; l denotes an observation vector in which, among others,
Figure FDA0003542127380000041
Figure FDA0003542127380000042
Figure FDA0003542127380000043
In the formula, subscript 0 represents an initial value; initial course angle error
Figure FDA0003542127380000044
By finding the value of (a) which corresponds to the first instant
Figure FDA0003542127380000045
And with
Figure FDA0003542127380000046
The included angle of (c) is obtained.
12. The initialization method of the integrated navigation device according to claim 11, wherein: when N observed quantities exist, a calculation result is obtained by using a recursive least square method as follows:
Figure FDA0003542127380000047
in the formula (I), the compound is shown in the specification,
Figure FDA0003542127380000048
substituting equation (10) to obtain the error value x of the sensor module, the optimal estimated parameter value of the sensor module is represented by the following equation:
Figure FDA0003542127380000049
in the formula, X0For the known initial horizontal coordinate and initial heading angle of the fixed point,
Figure FDA00035421273800000410
and the optimal estimated parameter value of the sensor module is obtained.
13. A combination navigation device, comprising: for performing the initialization method according to any one of claims 1 to 12, the integrated navigation device comprising a GNSS module, a processor module, a sensor module and a ranging module.
14. The integrated navigation device according to claim 13, wherein: the sensor module includes an inertial navigation system.
15. The integrated navigation device according to claim 14, wherein: the inertial navigation system comprises a 3-axis gyroscope and a 3-axis accelerometer.
16. The integrated navigation device according to claim 14, characterized in that: the processor module comprises a GNSS high-precision resolving module, an inertial navigation mechanical arrangement module and a Kalman filter.
17. The integrated navigation device according to claim 13, characterized in that: the distance measuring module comprises at least one of a laser distance measuring module and an infrared distance measuring module.
18. The integrated navigation device according to claim 13, characterized in that: the device also comprises a power module, a storage module, a display module and a communication module.
19. A computer-readable medium having executable instructions stored thereon that, when executed by one or more processors, perform the method of any of claims 1-12.
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