CN116540285B - Inertial-assisted GNSS dual-antenna orientation method and device and electronic equipment - Google Patents
Inertial-assisted GNSS dual-antenna orientation method and device and electronic equipment Download PDFInfo
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- 239000011159 matrix material Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
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Classifications
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an inertial assisted GNSS dual-antenna orientation method, an inertial assisted GNSS dual-antenna orientation device and electronic equipment, which are realized based on a dual-antenna global satellite navigation system (GNSS) receiver and an Inertial Measurement Unit (IMU) hardware embedded platform, a dual-difference observation equation is constructed based on dual-GNSS antenna observation data, and the initialized azimuth angle and baseline length output by the IMU are adopted to constrain GNSS dual-antenna baseline calculation, so that the baseline calculation precision is improved, and the convergence time is shortened. The invention combines the advantages of IMU orientation and GNSS dual-antenna orientation, adopts the azimuth angle output by the IMU to restrict the GNSS dual-antenna baseline solution, improves the baseline solution precision, shortens the convergence time, and improves the dual-antenna orientation precision and the real-time performance.
Description
Technical Field
The invention belongs to the field of satellite precise navigation, positioning and orientation gesture measurement, and particularly relates to an inertial-assisted GNSS dual-antenna orientation method, device and electronic equipment.
Background
Orientation refers to the orientation of the carrier during movement relative to a reference space and is one of the important parameters describing the state of movement of the carrier. In land navigation, with the deep development of unmanned technology, the vehicle posture must be monitored in real time during the running process of the automobile to ensure the running safety. In marine applications, providing the marine vessel with information such as position, speed and heading with high accuracy is a necessary condition for safe sailing. In 5G applications, accurate monitoring of the azimuth information of the panel is required to ensure the quality of communication when the 5G antenna panel is installed.
With the development and perfection of global satellite navigation systems (Global Navigation Satellite System, GNSS), the orientation and attitude measurement by using the GNSS is widely applied, for example, in unmanned agricultural machinery, unmanned planes and unmanned ships, the GNSS can provide functions of positioning, speed measurement, time service and the like for the carrier, and can also provide course information of the carrier.
Currently, the methods of orientation are mainly inertial measurement unit (Inertial Measurement Unit, IMU) orientation and GNSS dual antenna orientation. The azimuth result of the directional output of the IMU is continuous, but the defects of difficult initial calibration and divergent precision along with time exist. The dual-antenna orientation device can obtain high-precision heading information only after obtaining an ambiguity fixing solution, and can always keep a high-precision output result after the ambiguity is fixed. When the shielding environment is met, the signal is easy to lose lock, the azimuth angle cannot be obtained, and after the signal is captured again, the ambiguity is required to be searched again. The convergence time is slow, so that the defects of poor instantaneity, interruption of results and the like exist.
Disclosure of Invention
Aiming at the defects of the technology, the invention provides an inertial-assisted GNSS dual-antenna orientation method, an inertial-assisted GNSS dual-antenna orientation device and electronic equipment, wherein the inertial-assisted GNSS dual-antenna orientation device integrates a GNSS dual-antenna measurement unit, an inertial measurement unit and a data processing module, and the GNSS dual-antenna orientation method based on azimuth constraint can improve the speed of base line resolving convergence and the stability of orientation.
The technical scheme adopted by the invention for achieving the purpose is as follows:
an inertial assisted GNSS dual antenna orientation method comprising the steps of:
step 1), adopting GNSS dual-antenna initial position and azimuth information to complete IMU initial alignment;
step 2) performing rough rejection and cycle slip detection on GNSS original observed data to perform preprocessing on the GNSS original observed data, and ensuring the quality of the GNSS original observed data;
step 3) obtaining the position information of the first GNSS antenna by adopting a pseudo-range single-point positioning mode；
Step 4) estimating an IMU azimuth angle A, linearizing the IMU azimuth angle A, and ignoring a quadratic term after Taylor expansion to obtain the IMU azimuth angle A:；/>is an approximation of A, g is A +.>At the first derivative in the x-direction, h is A +.>First derivative in y-direction, w is A +.>The first derivative in the z direction, dx, dy and dz are power factors of first order terms in three directions of the Taylor formulas x, y and z respectively;
step 5) establishing a double-antenna double-difference relative positioning observation equation of the first GNSS antenna and the second GNSS antenna of azimuth constraint according to the double-antenna double-difference pseudo-range observation value, the double-difference phase observation value, the baseline length virtual observation value and the azimuth virtual observation value of the first GNSS antenna and the second GNSS antenna:
；
in the method, in the process of the invention,for carrier phase observations, +.>For pseudo-range observations>For the virtual observation of the length of the base line,for azimuth virtual observations, +.>，，/>For the position coordinate approximation of the second GNSS antenna, I is the identity matrix,/>For the wavelength corresponding to satellite i,for the coordinate correction of the second GNSS antenna,for the coordinate correction of the x, y, z axis of the second GNSS antenna, N is the double-difference ambiguity, +.>Error for carrier phase observations,/>Error for pseudo-range observation, +.>For the virtual observation of errors for the baseline length,virtual observation errors are azimuth angles; />For baseline length approximation, +.>For baseline length measurements, C is the measurement matrix;
step 6) Jie Jixian obtaining position information of the second GNSS antenna；
Step 7) performing dual-antenna orientation calculation of the first GNSS antenna and the second GNSS antenna, and obtaining the position information of the first GNSS antenna according to the steps 3) and 6)And position information of a second GNSS antennaThe azimuth B of the dual antenna pointing based on the first GNSS antenna and the second GNSS antenna is obtained by:
，
step 8) repeating the steps 2) -6) to estimate the next epoch azimuth information.
The invention also provides an inertial assisted GNSS dual-antenna orientation device, which comprises:
the GNSS dual-antenna measurement module comprises a first GNSS antenna, a second GNSS antenna and a GNSS receiver board card and is used for outputting dual-antenna observation values;
the inertial measurement unit comprises an IMU module and outputs a triaxial angular velocity observation value after initialization;
the data processing module is used for processing the triaxial angles through the IMU data processing module to obtain azimuth angles, and the GNSS dual-antenna orientation module based on azimuth angle constraint is used for calculating azimuth information.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the inertial assisted GNSS dual-antenna orientation method when executing the program.
Compared with the traditional differential positioning technology, the invention has the advantages that:
the invention combines the advantages of IMU orientation and GNSS dual-antenna orientation, adopts the azimuth angle output by the IMU to restrict the GNSS dual-antenna baseline solution, and improves the precision and convergence time of the baseline solution, thereby improving the precision and instantaneity of dual-antenna orientation.
Drawings
FIG. 1 is a flow chart of an inertial assisted GNSS dual-antenna orientation method according to the present invention.
FIG. 2 is a schematic diagram of an inertial assisted GNSS dual-antenna orientation device and an electronic apparatus according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, an inertial assisted GNSS dual antenna orientation method of the present invention includes the steps of:
step 1), adopting GNSS dual-antenna initial position and azimuth information to complete IMU initial alignment;
step 2) performing GNSS data preprocessing such as rough rejection and cycle slip detection on GNSS original observation data so as to ensure the quality of the GNSS observation data;
step 3) obtaining the position information of the first GNSS antenna by adopting a pseudo-range single-point positioning mode；
Step 4) estimating an IMU azimuth angle A, linearizing the IMU azimuth angle A, and obtaining the IMU azimuth angle A by ignoring a quadratic term after Taylor expansion；/>Is A approximation, g is A +.>At the first derivative in the x-direction, h is A +.>First derivative in y-direction, w is A +.>The first derivative in the z direction, dx, dy and dz are power factors of first order terms in three directions of the Taylor formulas x, y and z respectively;
step 5) establishing a double-antenna double-difference relative positioning observation equation of the first GNSS antenna and the second GNSS antenna of azimuth constraint according to the double-antenna double-difference pseudo-range observation value, the double-difference phase observation value, the baseline length virtual observation value and the azimuth virtual observation value of the first GNSS antenna and the second GNSS antenna:
；
in the method, in the process of the invention,for carrier phase observations, +.>For pseudo-range observations>For baseline length virtual observations, +.>For azimuth virtual observations, +.>，，/>For the position coordinate approximation of the second GNSS antenna, I is the identity matrix,/>For the wavelength of the corresponding satellite i>For the coordinate correction of the second GNSS antenna, < >>The coordinate corrections of x, y and z axes respectively, N is double-difference ambiguity, ++>Error for carrier phase observations,/>Error for pseudo-range observation, +.>Virtual observation error for baseline length,>is the azimuth virtual observation error. />For the baseline length approximation, l is the baseline length measurement, C is the measurement matrix;
step 6) Jie Jixian obtaining position information of the second GNSS antenna；
Step 7) performing dual-antenna orientation calculation of the first GNSS antenna and the second GNSS antenna, and according to the position information of the first GNSS antenna and the second GNSS antenna obtained in the step 3) and the step 6)、/>The azimuth B of the dual antenna pointing based on the first GNSS antenna and the second GNSS antenna is obtained by:
，
step 8) repeating the steps 2) -6) to estimate the next epoch azimuth information.
As shown in fig. 2, an inertial assisted GNSS dual antenna orientation apparatus of the present invention includes:
the GNSS dual-antenna measurement module comprises a first GNSS antenna, a second GNSS antenna and a GNSS receiver board card and is used for outputting dual-antenna observation values;
the inertial measurement unit comprises an IMU module and outputs a triaxial angular velocity observation value after initialization;
the data processing module is used for processing the triaxial angles through the IMU data processing module to obtain azimuth angles, and the GNSS dual-antenna orientation module based on azimuth angle constraint is used for calculating azimuth information.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor executes the program to realize the steps of the inertial assisted GNSS dual-antenna orientation method.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (3)
1. An inertial assisted GNSS dual antenna orientation method comprising the steps of:
step 1), adopting GNSS dual-antenna initial position and azimuth information to complete IMU initial alignment;
step 2) performing rough rejection and cycle slip detection on GNSS original observed data to perform preprocessing on the GNSS original observed data, and ensuring the quality of the GNSS original observed data;
step 3) obtaining the position information of the first GNSS antenna by adopting a pseudo-range single-point positioning mode；
Step 4) estimating an IMU azimuth angle A, linearizing the IMU azimuth angle A, and ignoring a quadratic term after Taylor expansion to obtain the IMU azimuth angle A:；/>is an approximation of A, g is A +.>At the first derivative in the x-direction, h is A +.>First derivative in y-direction, w is A +.>The first derivative in the z direction, dx, dy and dz are power factors of first order terms in three directions of the Taylor formulas x, y and z respectively;
step 5) establishing a double-antenna double-difference relative positioning observation equation of the first GNSS antenna and the second GNSS antenna of azimuth constraint according to the double-antenna double-difference pseudo-range observation value, the double-difference phase observation value, the baseline length virtual observation value and the azimuth virtual observation value of the first GNSS antenna and the second GNSS antenna:
；
in the method, in the process of the invention,for carrier phase observations, +.>For pseudo-range observations>For baseline length virtual observations, +.>For azimuth virtual observations, +.>，
，/>For the position coordinate approximation of the second GNSS antenna, I is the identity matrix,/>For the wavelength corresponding to satellite i,for the coordinate correction of the second GNSS antenna, < >>For the coordinate correction of the x, y, z axis of the second GNSS antenna, N is the double-difference ambiguity, +.>Error for carrier phase observations,/>Error for pseudo-range observation, +.>Virtual observation error for baseline length,>virtual observation errors are azimuth angles; />For baseline length approximation, +.>For baseline length measurements, C is the measurement matrix;
step 6) Jie Jixian obtaining position information of the second GNSS antenna；
Step 7) performing dual-antenna orientation calculation of the first GNSS antenna and the second GNSS antenna, and obtaining the position information of the first GNSS antenna according to the steps 3) and 6)And position information of a second GNSS antennaThe azimuth B of the dual antenna pointing based on the first GNSS antenna and the second GNSS antenna is obtained by:
,
step 8) repeating the steps 2) -6) to estimate the next epoch azimuth information.
2. A GNSS dual antenna orientation apparatus for implementing an inertial assisted GNSS dual antenna orientation method according to claim 1, comprising:
the GNSS dual-antenna measurement module comprises a first GNSS antenna, a second GNSS antenna and a GNSS receiver board card and is used for outputting dual-antenna observation values;
the inertial measurement unit comprises an IMU module and outputs a triaxial angular velocity observation value after initialization;
the data processing module is used for processing the triaxial angles through the IMU data processing module to obtain azimuth angles, and the GNSS dual-antenna orientation module based on azimuth angle constraint is used for calculating azimuth information.
3. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of an inertial assisted GNSS dual antenna orientation method according to claim 1 when the program is executed by the processor.
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| CN117148403B (en) * | 2023-11-01 | 2024-01-26 | 中国船舶集团有限公司第七〇七研究所 | Double-antenna orientation method based on BDS-3 five-frequency double-difference non-combination model |
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