CN115453594A - Positioning navigation method based on double-carrier phase differential mobile station - Google Patents

Positioning navigation method based on double-carrier phase differential mobile station Download PDF

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CN115453594A
CN115453594A CN202210884991.9A CN202210884991A CN115453594A CN 115453594 A CN115453594 A CN 115453594A CN 202210884991 A CN202210884991 A CN 202210884991A CN 115453594 A CN115453594 A CN 115453594A
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sampling time
mobile station
agv
lat
rtk
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陈炜
朱建新
向抒林
吕宝林
程伟
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Hefei General Machinery Research Institute Special Equipment Inspection Station Co ltd
Hefei General Machinery Research Institute Co Ltd
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Hefei General Machinery Research Institute Special Equipment Inspection Station Co ltd
Hefei General Machinery Research Institute Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a positioning navigation method based on a double-carrier phase differential mobile station, which relates to the technical field of positioning navigation, wherein two RTK mobile stations are arranged on an Automatic Guided Vehicle (AGV); respectively obtaining GPS positions of a first mobile station, a second mobile station and a base station by utilizing satellite positioning; establishing a local coordinate system by taking the base station as an origin to obtain position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system and position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system; calculating a course angle theta (k) of the AGV at the kth sampling time; calculating the mass center coordinates (x (k), y (k)) of the AGV at the kth sampling time; and calculating the position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the k-th sampling time, and obtaining the actual physical pose (X (k), Y (k), theta (k)) of the AGV in the local coordinate system at the k-th sampling time. The positioning navigation method has the characteristics of high flexibility, high accuracy and high real-time performance, and improves the positioning efficiency and the diversity of AGV applicable scenes.

Description

Positioning navigation method based on double-carrier phase differential mobile station
Technical Field
The invention relates to the technical field of positioning and navigation, in particular to a positioning and navigation method based on a dual-carrier phase differential mobile station.
Background
With the progress of science and technology, the entity manufacturing industry is gradually turning to intellectualization and unmanned, and an Automated Guided Vehicle (AGV) is widely used in various industries as an intelligent industrial device. The navigation positioning technology is the basis of autonomous movement of the AGV, the current navigation positioning method applied to the outdoor AGV comprises magnetic navigation, visual navigation, global Positioning System (GPS) navigation and the like, magnetic stripes need to be laid in the magnetic navigation, the arrangement of the magnetic stripes is affected by the environment to bring inconvenience, the visual navigation development difficulty is large, and the positioning is inaccurate due to the influence of illumination easily outdoors. The GPS navigation technology has the characteristics of being simple to realize in outdoor open places and convenient for command and monitoring of formation by combining a digital map due to the free path change, and is widely applied to various fields of land, ocean, space navigation and positioning and the like.
The GPS navigation positioning error is affected by various factors including satellite error, propagation error, reception error, etc., and carrier phase difference (RTK) is a real-time differential measurement technique using a carrier phase as a basic observed quantity, by setting up a base station near a rover station, which has a highly precise positioning instrument built therein and continuously communicates with a GPS satellite simultaneously with the rover station. The base station sends the observed value, the coordinate of the survey station, the satellite tracking state and the like to the mobile station through a data link, the ambiguity of the carrier phase whole cycle is solved in the mobile station, the error of the mobile station is obtained through a relative positioning model, and the error is used for correcting the space position data of the mobile station. By the carrier phase difference GPS, the influences of ephemeris error, star Zhong Wucha, ionosphere delay error, troposphere delay error and random noise error can be effectively eliminated or weakened, and centimeter-level navigation positioning accuracy is obtained.
In the prior art, a single RTK positioning technology is adopted outdoors to provide angle data, positioning instantaneity is obviously insufficient, especially in the rotating process of the AGV, an angle calculation module inside the RTK is greatly influenced by positioning errors, longitude and latitude values slightly fluctuate, and the angle value is easy to jump, so that positioning stability and instantaneity are difficult to meet the requirements of chassis motion control and development of other tasks.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a positioning navigation method based on a dual-carrier phase differential mobile station, which has the characteristics of high flexibility, high accuracy and high real-time performance, and improves the positioning efficiency and the diversity of AGV application scenes.
In order to achieve the purpose, the invention adopts the following technical scheme that:
a positioning navigation method based on a dual-carrier phase differential mobile station comprises the following steps:
s1, arranging two RTK mobile stations, namely a first mobile station and a second mobile station, on an automatic guided vehicle AGV;
s2, performing kth acquisition by using satellite positioning to respectively obtain the GPS positions of the first mobile station, the second mobile station and the base station at the kth sampling time, wherein the GPS positions comprise precision and latitude;
the longitude of the first mobile station at the kth sampling time is lon1 (k), and the latitude is lat1 (k); longitude of the second mobile station at the kth sampling time is lon2 (k), and latitude is lat2 (k); longitude of the base station at the kth sampling moment is baseline (k), and latitude is baseline (k);
s3, establishing a local coordinate system by taking the base station as an origin, and obtaining a position coordinate (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system at the kth sampling time and a position coordinate (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the kth sampling time according to the GPS positions of the first mobile station, the second mobile station and the base station at the kth sampling time;
s4, calculating a course angle theta (k) of the AGV at the kth sampling time according to the GPS positions of the first mobile station and the second mobile station at the kth sampling time, wherein the theta (k) belongs to [0 DEG, 360 DEG ];
s5, calculating the barycenter coordinates (x (k), y (k)) of the AGV at the kth sampling time according to the position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system and the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the kth sampling time;
and S6, calculating position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the k sampling time according to the mass center coordinates (X (k), Y (k)) of the AGV at the k sampling time, and obtaining the actual physical pose (X (k), Y (k), theta (k)) of the AGV in the local coordinate system at the k sampling time.
Preferably, in step S1, the two RTK rover stations are respectively disposed on the front and rear sides of the automated guided vehicle AGV, and centers of the two RTK rover stations are located on the same straight line.
Preferably, in step S4, the heading angle θ (k) of the AGV at the kth sampling time is calculated as follows:
s41, judging whether the longitude lon1 (k) of the first mobile station and the longitude lon2 (k) of the second mobile station at the kth sampling time are equal, if not, entering a step S42, otherwise, entering a step S43;
s42, if lon1 (k) > lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference value delta lat (k) and the latitude difference value delta lon (k) of the two RTK mobile stations at the k-th sampling time, wherein delta lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the arctangent value of the ratio of delta lat and delta lon as the course angle theta (k) of the AGV at the k-th sampling time;
if lon1 (k) > lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the k-th sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking an absolute value obtained by subtracting 360 degrees from an arctangent value of a ratio of Δ lat and Δ lon as a course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference Δ lat (k) and the latitude difference Δ lon (k) of the two RTK rover stations at the k-th sampling time, Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the absolute value of the inverse tangent of the ratio of Δ lat and Δ lon minus 180 degrees as the course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the k-th sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the value obtained by adding 180 degrees to the arctangent value of the ratio of Δ lat and Δ lon as the course angle θ (k) of the AGV at the k-th sampling time;
s43, if lon1 (k) = lon2 (k), and lat1 (k) > lat2 (k), the heading angle θ (k) =90 ° of the AGV at the kth sampling time;
if lon1 (k) = lon2 (k), and lat1 (k) < lat2 (k), then the heading angle θ (k) =270 ° for the AGV at the kth sampling time.
Preferably, in step S3, a position coordinate (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system at the kth sampling time is obtained according to a difference between the GPS positions of the first mobile station and the base station at the kth sampling time; and obtaining the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the k sampling time according to the difference between the GPS positions of the second mobile station and the base station at the k sampling time.
Preferably, in step S5, the calculation method of the centroid coordinates (x (k), y (k)) of the AGV at the kth sampling time is as follows:
x(k)＝[x1(k)+x2(k)]/2；
y(k)＝[y1(k)+y2(k)]/2。
preferably, in step S6, the position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the kth sampling time are calculated in the following manner:
X(k)＝C lon ·x(k)，Y(k)＝C lat ·y(k)；
wherein, C lon As a longitude physical distance conversion coefficient, C lat And the latitude physical distance conversion coefficient is obtained.
Preferably, the calibration method of the physical distance conversion coefficient is as follows:
in the calibration process, the RTK mobile station and the base station keep a certain distance;
conversion coefficient C for longitude physical distance lon Calibration: firstly, measuring an x-axis distance section with the actual physical distance of alpha meters along the x-axis direction, then respectively placing the RTK mobile stations at two ends of the x-axis distance section for positioning so as to obtain longitude difference values of the RTK mobile stations at two ends of the distance section, and finally dividing the longitude difference values by alpha meters to obtain a ratio, namely C lon 。
Conversion coefficient C for physical distance of latitude lat The calibration method comprises the steps of firstly measuring a y-axis distance section with the actual physical distance of alpha meters along the y-axis direction, then respectively placing the RTK mobile stations at two ends of the y-axis distance section for positioning to obtain the latitude difference value of the RTK mobile station at two ends of the distance section, and finally dividing the latitude difference value by the alpha meters to obtain the ratio, namely C lat 。
Preferably, in the calibration process, the distance between the RTK mobile station and the base station is kept to be more than 5 meters.
Preferably, the positioning navigation method is applied to a global real-time positioning system consisting of two RTK rover stations, n satellites and a base station.
Preferably, n.gtoreq.8.
The invention has the advantages that:
(1) The positioning navigation method based on the double RTK mobile stations, which is provided by the invention, has the advantages of high flexibility, high accuracy and high real-time performance, can realize centimeter-level global positioning, and improves the positioning efficiency and the diversity of AGV application scenes.
(2) The method for positioning and navigating the double RTK mobile stations can still ensure high-precision longitude and latitude information and a course angle under the condition of long distance (at least 5 kilometers) under the outdoor condition, thereby improving the applicability of the AGV in an outdoor special scene.
(3) For the magnetic navigation needing to arrange magnetic strips in the prior art, the hardware of the double RTK mobile station is simple and convenient to lay, and the positioning accuracy of the AGV can be ensured.
(4) In the arrangement method of the double RTK mobile stations, the front RTK mobile station and the rear RTK mobile station are separated by a certain distance, and the influence of longitude and latitude positioning errors on angle calculation is small, so that the angle value calculated according to coordinates is more stable, and the real-time property is ensured.
Drawings
Fig. 1 is a flowchart of a positioning and navigation method based on a dual-carrier phase differential mobile station according to the present invention.
Fig. 2 is a schematic diagram of positioning an RTK rover station of the present invention.
FIG. 3 is a diagram of the local coordinate system established by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment, the positioning navigation method based on the double-carrier phase differential mobile station is applied to a global real-time positioning system consisting of two RTK mobile stations, n satellites and a base station, wherein n is more than or equal to 8; the two RTK mobile stations are respectively arranged at the front position and the rear position of the top end of the AGV, and the centers of the two RTK mobile stations are positioned on the same straight line. The base station is a device which is fixed on the ground and provides a reference datum for the mobile station, and the base station is not movable in the using process; the mobile station is a device for performing an operation, and it performs an RTK accurate positioning using differential data transmitted from the fixed station. No shelter is arranged above the mobile station to avoid influencing the communication with the base station, and the base station is arranged in an open place and does not have a tall building as much as possible nearby;
as shown in fig. 1, the positioning and navigating method is performed as follows:
s1, arranging two RTK mobile stations, namely a first mobile station and a second mobile station, on an automatic guided vehicle AGV.
The two RTK mobile stations are correspondingly arranged on the front side and the rear side of the AGV, and the centers of the two RTK mobile stations are on the same straight line.
S2, performing kth acquisition by using satellite positioning to respectively obtain the GPS positions of the first mobile station, the second mobile station and the base station at the kth sampling time, wherein the GPS positions comprise precision and latitude; the longitude of the first mobile station at the kth sampling time is lon1 (k), and the latitude is lat1 (k); longitude of the second mobile station at the kth sampling time is lon2 (k), and latitude is lat2 (k); the longitude of the base station at the kth sampling instant is baseline (k) and the latitude is baseline (k).
The principle of GPS satellite navigation positioning is shown in fig. 2.
The GPS satellite navigation positioning process is based on the passive ranging principle, that is, the mobile station passively measures the propagation delay of the navigation positioning signal from the GPS satellite to measure the phase center of the GPS satellite transmitting antenna and the phase center (x) of the GPS signal receiving antenna of the mobile station s ,y s ,z s ) Distance between (i.e., the satellite-to-satellite distance) due to the mobile station's clock bias δ t from GPS time (derived from the atomic clock on the satellite) s And thus the measured station-to-satellite ranges are inaccurate pseudoranges. As shown in fig. 2, if n satellites are observed simultaneously:
(P i -cδt n ) 2 ＝(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2
wherein, P i Is a pseudo-range measurement of satellite i and the mobile station, (x) i ,y i ,z i ) The three-dimensional position of the ith satellite, and c the speed of light (3X 10) 8 m/s). To determine 4 unknowns (x) s ,y s ,z s ,δt s ) And 4 equations are needed to be solved, so that the spatial position of a mobile station needs to be obtained, the mobile station needs to be linked with 4 satellites at least simultaneously, a quadric-quadratic equation set is obtained, and the spatial position of the mobile station, namely the GPS position, can be obtained after the solution.
However, the GPS navigation positioning error is also affected by various factors, including propagation delay due to ionosphere, propagation delay due to troposphere, multipath error, etc., and the pseudorange measurement is corrected by considering the effect of various errors, i:
(P i -cδt n -I i (t)-T i (t)-ε i (t)) 2 ＝(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2
wherein, I i (T) represents the correction of the propagation delay due to the ionosphere for the ith satellite, T i (t) represents the correction of the propagation delay due to the troposphere for the ith satellite,. Epsilon i (t) shows the ranging error correction value due to other reasons for the ith satellite. The error correction is realized by using an RTK technology.
S3, with the base station as the origin, the true east direction as the X axis, and the true north direction as the Y axis, a local coordinate system is established, and as shown in fig. 3, according to the GPS positions of the first mobile station, the second mobile station, and the base station at the kth sampling time, the position coordinates (X1 (k), Y1 (k)) of the first mobile station in the local coordinate system at the kth sampling time and the position coordinates (X2 (k), Y2 (k)) of the second mobile station in the local coordinate system are obtained.
Obtaining a position coordinate (x 1 (k), y1 (k)) of the first mobile station in a local coordinate system at the kth sampling time according to the difference between the GPS positions of the first mobile station and the base station at the kth sampling time; and obtaining the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the kth sampling time according to the difference of the GPS positions of the second mobile station and the base station at the kth sampling time.
And S4, calculating a course angle theta (k) of the AGV at the kth sampling time according to the GPS positions of the first mobile station and the second mobile station at the kth sampling time, wherein the theta (k) belongs to the range of 0 degrees and 360 degrees.
The calculation method of the heading angle θ (k) of the automated guided vehicle AGV at the kth sampling time is as follows:
s41, judging whether the longitude lon1 (k) of the first mobile station and the longitude lon2 (k) of the second mobile station at the kth sampling time are equal, if not, entering a step S42, otherwise, entering a step S43;
s42, if lon1 (k) > lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference value delta lat (k) and the latitude difference value delta lon (k) of the two RTK mobile stations at the k-th sampling time, wherein delta lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the arctangent value of the ratio of delta lat and delta lon as the course angle theta (k) of the AGV at the k-th sampling time;
if lon1 (k) > lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the k-th sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking an absolute value obtained by subtracting 360 degrees from an arctangent value of a ratio of Δ lat and Δ lon as a course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference Δ lat (k) and the latitude difference Δ lon (k) of the two RTK rover stations at the k-th sampling time, Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the absolute value of the inverse tangent of the ratio of Δ lat and Δ lon minus 180 degrees as the course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the kth sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k) and lon1 (k) -lon2 (k), and taking the value obtained by adding 180 degrees to the arctangent value of the ratio of Δ lat and Δ lon as the heading angle θ (k) of the AGV at the kth sampling time;
s43, if lon1 (k) = lon2 (k) and lat1 (k) > lat2 (k), the heading angle θ (k) =90 ° at the k-th sampling time by the AGV;
if lon1 (k) = lon2 (k), and lat1 (k) < lat2 (k), then the heading angle θ (k) =270 ° for the AGV at the kth sampling time.
And S5, calculating the mass center coordinates (x (k), y (k)) of the automatic guided vehicle AGV at the k sampling time according to the position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system and the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the k sampling time.
The calculation method of the barycenter coordinates (x (k), y (k)) of the automatic guided vehicle AGV at the kth sampling time is as follows: x (k) = [ x1 (k) + x2 (k) ]/2; y (k) = [ y1 (k) + y2 (k) ]/2.
And S6, calculating position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the k sampling time according to the mass center coordinates (X (k), Y (k)) of the AGV at the k sampling time, and obtaining the actual physical pose (X (k), Y (k), theta (k)) of the AGV in the local coordinate system at the k sampling time.
The position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the kth sampling time are calculated as follows:
X(k)＝C lon ·x(k)，Y(k)＝C lat ·y(k)；
wherein, C lon As a longitude physical distance conversion coefficient, C lat And the latitude physical distance conversion coefficient is obtained.
In this embodiment, the calibration method of the physical distance conversion coefficient is as follows:
the earth is in an ellipsoidal shape, so that the calibration needs to be carried out in the longitude direction and the latitude direction respectively, and in the calibration process, the RTK mobile station needs to keep a distance of more than 6 meters from the base station.
Conversion coefficient C for longitude physical distance lon Calibration: firstly, measuring an x-axis distance section with an actual physical distance of 1 meter along the east-west direction, namely the x-axis direction, then respectively placing the RTK mobile stations at two ends of the x-axis distance section for positioning to obtain longitude difference values of the RTK mobile stations at two ends of the distance section, and finally dividing the longitude difference values by 1 meter to obtain a ratio, namely C lon 。
Conversion coefficient C for latitude physical distance lat Calibration: firstly, a y-axis distance section with the actual physical distance of 1 meter is measured along the north-south direction, namely the y-axis direction, then the RTK mobile stations are respectively placed at two ends of the y-axis distance section for positioning to obtain the latitude difference value of the RTK mobile stations at two ends of the distance section, and finally the latitude difference value is divided by 1 meter to obtain the ratio, namely C lat 。
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A positioning navigation method based on a dual-carrier phase differential mobile station is characterized by comprising the following steps:
s1, arranging two RTK mobile stations, namely a first mobile station and a second mobile station, on an automatic guided vehicle AGV;
s2, performing kth acquisition by using satellite positioning to respectively obtain the GPS positions of the first mobile station, the second mobile station and the base station at the kth sampling time, wherein the GPS positions comprise precision and latitude;
the longitude of the first mobile station at the kth sampling time is lon1 (k), and the latitude is lat1 (k); longitude of the second mobile station at the kth sampling time is lon2 (k), and latitude is lat2 (k); longitude of the base station at the kth sampling moment is baseline (k), and latitude is baseline (k);
s3, establishing a local coordinate system by taking the base station as an origin, and obtaining position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system at the kth sampling time and position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system according to the GPS positions of the first mobile station, the second mobile station and the base station at the kth sampling time;
s4, calculating a course angle theta (k) of the AGV at the kth sampling time according to the GPS positions of the first mobile station and the second mobile station at the kth sampling time, wherein the theta (k) belongs to [0 DEG, 360 DEG ];
s5, calculating the mass center coordinates (x (k), y (k)) of the AGV at the k sampling time according to the position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system and the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the k sampling time;
and S6, according to the mass center coordinates (X (k), Y (k)) of the AGV at the kth sampling time, calculating the position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the kth sampling time, and obtaining the actual physical pose (X (k), Y (k), theta (k)) of the AGV in the local coordinate system at the kth sampling time.
2. The method for positioning and navigating based on the dual carrier phase differential mobile station as claimed in claim 1, wherein in step S1, the two RTK mobile stations are correspondingly disposed on the front and rear sides of the AGV, and the centers of the two RTK mobile stations are on the same straight line.
3. The method as claimed in claim 2, wherein the calculation of the heading angle θ (k) of the AGV at the kth sampling time in step S4 is as follows:
s41, judging whether the longitude lon1 (k) of the first mobile station and the longitude lon2 (k) of the second mobile station at the kth sampling time are equal, if not, entering a step S42, otherwise, entering a step S43;
s42, if lon1 (k) > lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference value delta lat (k) and the latitude difference value delta lon (k) of the two RTK mobile stations at the k-th sampling time, wherein delta lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the arctangent value of the ratio of delta lat and delta lon as the course angle theta (k) of the AGV at the k-th sampling time;
if lon1 (k) > lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the k-th sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking an absolute value obtained by subtracting 360 degrees from an arctangent value of a ratio of Δ lat and Δ lon as a course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) ≧ lat2 (k), calculating the latitude difference Δ lat (k) and the latitude difference Δ lon (k) of the two RTK rover stations at the k-th sampling time, Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the absolute value of the inverse tangent of the ratio of Δ lat and Δ lon minus 180 degrees as the course angle θ (k) of the AGV at the k-th sampling time;
if lon1 (k) < lon2 (k) and lat1 (k) < lat2 (k), calculating a latitude difference value Δ lat (k) and a latitude difference value Δ lon (k) of the two RTK mobile stations at the k-th sampling time, wherein Δ lat (k) = lat1 (k) -lat2 (k), and lon1 (k) -lon2 (k), and taking the value obtained by adding 180 degrees to the arctangent value of the ratio of Δ lat and Δ lon as the course angle θ (k) of the AGV at the k-th sampling time;
s43, if lon1 (k) = lon2 (k) and lat1 (k) > lat2 (k), the heading angle θ (k) =90 ° at the k-th sampling time by the AGV;
if lon1 (k) = lon2 (k), and lat1 (k) < lat2 (k), then the heading angle θ (k) =270 ° for the AGV at the kth sampling time.
4. The method according to claim 1, wherein in step S3, the position coordinates (x 1 (k), y1 (k)) of the first mobile station in the local coordinate system at the kth sampling time are obtained according to the difference between the GPS positions of the first mobile station and the base station at the kth sampling time; and obtaining the position coordinates (x 2 (k), y2 (k)) of the second mobile station in the local coordinate system at the k sampling time according to the difference between the GPS positions of the second mobile station and the base station at the k sampling time.
5. The positioning and navigation method based on dual carrier phase differential mobile station as claimed in claim 1, wherein in step S5, the centroid coordinates (x (k), y (k)) of AGV at the kth sampling time are calculated as follows:
x(k)＝[x1(k)+x2(k)]/2；
y(k)＝[y1(k)+y2(k)]/2。
6. the method as claimed in claim 1, wherein in step S6, the position coordinates (X (k), Y (k)) of the AGV in the local coordinate system at the kth sampling time are calculated as follows:
X(k)＝C lon ·x(k)，Y(k)＝C lat ·y(k)；
wherein, C lon As a longitude physical distance conversion coefficient, C lat And the latitude physical distance conversion coefficient is obtained.
7. The method for positioning and navigating based on dual carrier phase differential mobile station as claimed in claim 6, wherein the calibration method of the physical distance conversion coefficient is as follows:
in the calibration process, the RTK mobile station and the base station keep a certain distance;
conversion coefficient C for longitude physical distance lon Calibration: firstly, measuring an x-axis distance section with the actual physical distance of alpha meters along the x-axis direction, then respectively placing the RTK mobile stations at two ends of the x-axis distance section for positioning so as to obtain longitude difference values of the RTK mobile stations at two ends of the distance section, and finally dividing the longitude difference values by alpha meters to obtain a ratio, namely C lon ；
Conversion coefficient C for latitude physical distance lat The calibration method comprises the steps of firstly measuring a y-axis distance section with the actual physical distance of alpha meters along the y-axis direction, then respectively placing the RTK mobile stations at two ends of the y-axis distance section for positioning to obtain the latitude difference value of the RTK mobile station at two ends of the distance section, and finally dividing the latitude difference value by the alpha meters to obtain the ratio, namely C lat 。
8. The method as claimed in claim 7, wherein the RTK rover station is located at a distance of 5 meters or more from the base station during calibration.
9. The method of claim 1, wherein the method is applied to a global real time positioning system (RTK) consisting of two RTK rover stations, n satellites and a base station.
10. The method as claimed in claim 9, wherein n ≧ 8.
CN202210884991.9A 2022-07-26 2022-07-26 Positioning navigation method based on double-carrier phase differential mobile station Pending CN115453594A (en)

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