CN1321330C - Precision dynamic positioning device of pulse encoder combined with GPS - Google Patents
Precision dynamic positioning device of pulse encoder combined with GPS Download PDFInfo
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- CN1321330C CN1321330C CNB2004100419384A CN200410041938A CN1321330C CN 1321330 C CN1321330 C CN 1321330C CN B2004100419384 A CNB2004100419384 A CN B2004100419384A CN 200410041938 A CN200410041938 A CN 200410041938A CN 1321330 C CN1321330 C CN 1321330C
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Abstract
The present invention discloses a precise dynamic positioning device of a pulse encoder combined with GPS, which comprises a GPS receiver, a pulse encoder, and a data processing controller which are arranged on a moving object, wherein the GPS receiver and the pulse encoder are connected with the data processing controller. The GPS receiver provides position information for the data processing controller, the pulse encoder provides pulse signals of numbers and displacement which are in linear relation, and the data processing controller obtains precise position information of the moving objects according to the position information and the pulse signals. Compared with the prior art, the present invention uses the matching of GPS and the pulse encoder to dynamically position with high precision, reaches positioning precision with centimeter level, still satisfies the requirements of precision under the condition of the failure of GPS data, and is widely suitable for positioning with high precision for the moving object.
Description
One, technical field
The present invention relates to a kind of device that is used for movable body is carried out hi-Fix, specifically a kind of pulse encoder is in conjunction with the accurate Kinematic Positioning device of GPS.
Two, background technology
Carry out in the various technology of hi-Fix at the applied satellite Positioning System (GPS) at present, pseudo range measurement and carrier phase measurement (RTK mode) mode has obtained using widely.The bearing accuracy of pseudo range measurement is a meter level, and uses the RTK mode, and the dynamic real-time bearing accuracy can reach centimetre-sized, this shows, carrier phase measurement exceeds two orders of magnitude than pseudo range measurement mode precision.But when GPS accepts data in the RTK mode, owing to can be subjected to the influence of several factors, non-RTK data often occur, these data can not meet the demands on precision, have influenced the dynamic real-time bearing accuracy to movable body.Studies show that, adopt pulse encoder to cooperate GPS to calculate to satisfy at the positioning accuracy request of accepting still can reach when data are non-RTK mode centimetre-sized.
Three, summary of the invention
The purpose of this invention is to provide the accurate Kinematic Positioning device of a kind of pulse encoder in conjunction with GPS, this device can be used for movable body is carried out hi-Fix.
The objective of the invention is to be achieved through the following technical solutions:
A kind of pulse encoder is characterized in that in conjunction with the accurate Kinematic Positioning device of GPS: it comprises GPS receiving trap, pulse encoder and the data processing controller that is installed on the movable body, and the GPS receiving trap all is connected with data processing controller with pulse encoder; Described GPS receiving trap provides positional information to data processing controller, pulse encoder provides number and the linear pulse signal of displacement to data processing controller, and data processing controller obtains the precise position information of movable body according to positional information and pulse signal.Data processing controller can be the computer with data processing function.
Among the present invention, the GPS receiving trap that is installed on the movable body can provide per second 1 time or positional information repeatedly, comprises longitude, latitude, height and data precision, and GPS receiving trap data output interface is RS232.
Generally, the GPS in the system receives the data computation coordinate in the RTK mode, but owing to some reasons, the data that GPS sometimes receives are not the RTK modes, makes the precision of data reduce, and can not meet design requirement; Or when the frequency of data output receives data frequency greater than GPS, can not directly utilize gps data at that time.Can utilize pulse encoder to solve this problem this moment, and pulse encoder provides number and the linear pulse signal of displacement when object of which movement, and pulse signal is that variable period, dutycycle are 1/2 square-wave signal.Count value and the last reliable gps data according to paired pulses combine, and just can derive the current position of object.Thereby guaranteed that under the situation that gps data lost efficacy the pulse signal that data that data processing controller reception GPS provides and pulse encoder provide still can be met the positional information that precision needs by calculating.
The present invention has some detailed problems also will consider in the process of actual installation and operation.During installation, can cause alignment error because the receiving antenna of GPS can not be installed in position exactly, must obtain the size of these errors this moment, when actual computation the result revised; When there is fluctuating on the ground at the track place that object travels, cause object tilt, thereby make that the receiving antenna projection and the position of tire on the ground be installed in the GPS on the object is inconsistent, finally cause the side-play amount miscount, therefore in order to reduce the dependence of control system, need come side-play amount is revised according to antenna variation in height to surface state.Simultaneously,, can measure specially, the data that proofread and correct are preserved, when movable body drives to this place, use special data to measure in the location that surface state is bad especially in order thoroughly to address this problem.
The invention has the beneficial effects as follows: be installed in the RTK mode that data processing controller on the movable body can applying GPS and carry out the Dynamic High-accuracy location, reach the bearing accuracy of centimetre-sized, and under the situation that gps data lost efficacy, utilize the cooperation calculating of pulse encoder still can satisfy accuracy requirement to the location of movable body in a short time.
Four, description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a structured flowchart of the present invention;
Fig. 3 is mode indicator circuit theory diagrams of the present invention;
Fig. 4 is GPS receiving trap circuit theory diagrams of the present invention;
Fig. 5 is an individual pulse encoder circuit schematic diagram among the present invention;
Fig. 6 is a part of pulse encoder circuit theory diagrams among the present invention;
Fig. 7 is another part pulse encoder circuit theory diagrams among the present invention;
Scrambler output phase graph of a relation when Fig. 8 is movable body positive movement and counter motion.
Five, embodiment
A kind of pulse encoder of the present invention is in conjunction with the accurate Kinematic Positioning device of GPS, comprise GPS receiving trap 1, pulse encoder 2 and data processing controller 3, one group of two GPS receiving traps 1, two paired pulses scramblers 2 and data processing controller 3 are installed on the movable body 4, and movable body 4 moves by the rotation of wheel 5.GPS receiving trap 1 all is connected with data processing controller 3 with pulse encoder 2; GPS receiving trap 1 provides positional information to data processing controller 3, pulse encoder 2 provides number and the linear pulse signal of displacement to data processing controller 3, and data processing controller 3 obtains the precise position information of movable body according to positional information and pulse signal.Data processing controller 3 is the computers with data processing function, and GPS receiving trap 1 is connected with computer by data bus with pulse encoder 2.
Among Fig. 2, → represent control signal; → designate data signal; → represent bus signals.For pulse encoder, a group coding device has two outputs, is respectively output A and output B, when the movable body positive dirction was moved, the preceding 90 degree phase places of output A specific output B ultrasonic were when movable body moves in the other direction, output A specific output B falls behind 90 degree phase places, as shown in Figure 8;
The way that detects scrambler output phase relation is two outputs of scrambler to be received the input end and the clock end of a d type flip flop respectively, just can judge between the two phase relation according to the level of the output Q of d type flip flop.After obtaining phase relation, just can learn the direction of object operation.During the operation of object positive dirction, start an encoder to count device, during counter motion, start another one encoder to count device, the method that realizes control like this is to judge the gating signal of the output of the used trigger of phase place as counter.Be the duty of timely grasp system, the present invention is provided with working state of system indicator 6, can in time keep in repair after system breaks down.
Workflow of the present invention is: after system's energized, and at first self check, initialization (comprise and read configuration file) carries out asking for to the GPS receiver order of data then.Have the RTK data to send over if detect GPS, we just think that system is normal, can carry out life's work.If also do not receive the data of RTK in official hour, the GPS receiver that just resets again continues to wait for, and shows the wait sign.After life's work begins, judge at first whether keyboard has input, if suitable instruction input is arranged, according to input instruction work; Check whether arrived the moment of output data then,, just calculate and output result of calculation if arrived; If there is serial ports to interrupt from gps receiver, just accept data and extract coordinate data, calculate the output result then.
System requirements of the present invention and design details are as follows:
System requirements (purpose): the elementary object of design is the degree that goes out object skew planned orbit according to the data computation that GPS receives, input next stage equipment, and the controlled motion object travels along planned orbit, makes the maximum offset of object be no more than centimetre-sized.The output frequency of data is 1HZ or 5HZ.
Data processing controller is accepted the data from GPS, calculates side-play amount, and direct travelling of controlled motion body, and is responsible for handling various abnormal conditions.
Design details:
1, the foundation of coordinate: before all calculating, at first will set up a convenient coordinate system that calculates.What directly obtained by GPS is the BLH coordinate, in the application of reality, convert thereof into different rectangular coordinate systems as required.In the native system, being free central meridian and calculating base plane and do Gauss projection, the length deformation in the time of can reducing projection to greatest extent of use.In computation process, set up two plane right-angle coordinates, one is the longitude and latitude coordinate system, and one is the rectangular coordinate system that meets local circumstance, and the initial point of these two coordinate systems overlaps.In the longitude and latitude coordinate system, the y axle points to positive north, and the x axle is turn 90 degrees by the dextrorotation of y axle and obtains, and is parallel with parallel.In local coordinate system, the direction of initial point and x axle is provided by the locality, and general x axle is parallel to track.Under the situation that rectangular coordinate system has been set up, just the longitude and latitude that obtains point can be converted into local coordinate, behind the coordinate that obtains under the local coordinate system, just can ask easily and calculate the size of side-play amount.
2, scrambler is calculated: generally speaking, the GPS in the system receives the data computation coordinate in the RTK mode, but owing to some reasons, the data that GPS sometimes receives are not the RTK modes, makes the precision of data reduce, and can not meet design requirement; Or when the frequency of data output receives data frequency greater than GPS, at this moment, we can not directly utilize gps data at that time, can only utilize pulse encoder: it is counted the number of turns of object both sides tyre rotation, tyre rotation one circle, scrambler will produce 10000 left and right sides pulses, and pulse is with the form input of square wave, count value and the last reliable gps data according to paired pulses combine, and just can derive the current position of object.Utilizing scrambler to calculate can be under the situation that GPS lost efficacy, and the control object continued to keep along straight-line travelling in 15 seconds.
3, altimetric compensation: the purpose of altimetric compensation is to reduce the dependence of control system to surface state.When there is fluctuating on the ground at the track place that object travels, cause object tilt, thereby make that the receiving antenna projection and the position of tire on the ground be installed in the GPS on the object is inconsistent, finally cause the side-play amount miscount.Therefore, need come side-play amount is revised according to antenna variation in height.Simultaneously,, can measure specially, the data that proofread and correct are preserved, when moving object drives to this place, use special data to measure in the location that surface state is bad especially in order thoroughly to address this problem.
4, alignment error: can not be placed in appropriate position accurately when installing and cause alignment error owing to the antenna of GPS.Must obtain the size of these errors, when actual computation, the result be revised accordingly.
5, configuration file: in the whole process of calculating, not only need gps data timely, the basic geographical location information that also needs some places, such as coordinate of track etc., and the setting relevant with system, such as whether using scrambler, whether use altimetric compensation, alignment errors etc., these information are stored in the middle of the configuration file.So when system begins, need earlier the information of all configuration files to be read in internal memory.
Automatic deviation correction when running at high speed:
Design object according to this system requires the controlled motion body along certain rail running, and maximum offset is no more than 10 centimetres, promptly reaches the purpose of automatic deviation correction.From the actual motion effect of system because the hysteresis quality that steering order is carried out, when the movable body travel speed not simultaneously, the effect of automatic deviation correction is just different.Movable body speed is slow more, and the automatic deviation correction effect is good more.When travel speed was bigger, lagging influence was just relatively big.In order to make automatic deviation correction can be applied in speed faster on the movable body, can use predicting means to offset the influence of hysteresis.Promptly basis situation is at that time predicted in the position of next one moment movable body, and controls as output quantity with it.
Can carry out the Dynamic High-accuracy location to movable body by the present invention, reach the bearing accuracy of centimetre-sized, and under the situation that gps data lost efficacy, utilize the cooperation calculating of pulse encoder still can satisfy positioning accuracy request.
Claims (3)
1, a kind of pulse encoder is in conjunction with the accurate Kinematic Positioning device of GPS, it is characterized in that: it comprises GPS receiving trap (1), pulse encoder (2) and data processing controller (3), and described GPS receiving trap (1), pulse encoder (2) and data processing controller (3) are installed on the movable body; GPS receiving trap (1) all is connected with data processing controller (3) with pulse encoder (2); Described GPS receiving trap (1) provides positional information to data processing controller (3), pulse encoder (2) provides number and the linear pulse signal of displacement to data processing controller (3), and data processing controller (3) obtains the precise position information of movable body according to positional information and pulse signal.
2, pulse encoder according to claim 1 is characterized in that in conjunction with the accurate Kinematic Positioning device of GPS: the positional information that described GPS receiving trap (1) provides comprises longitude, latitude, height and the data precision of movable body.
3, pulse encoder according to claim 1 is characterized in that in conjunction with the accurate Kinematic Positioning device of GPS: described pulse signal is that variable period, dutycycle are 1/2 square-wave signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100419384A CN1321330C (en) | 2004-09-10 | 2004-09-10 | Precision dynamic positioning device of pulse encoder combined with GPS |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100419384A CN1321330C (en) | 2004-09-10 | 2004-09-10 | Precision dynamic positioning device of pulse encoder combined with GPS |
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| CN1609629A CN1609629A (en) | 2005-04-27 |
| CN1321330C true CN1321330C (en) | 2007-06-13 |
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| CNB2004100419384A Expired - Fee Related CN1321330C (en) | 2004-09-10 | 2004-09-10 | Precision dynamic positioning device of pulse encoder combined with GPS |
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| CN104007685B (en) * | 2014-03-21 | 2017-02-15 | 宁波巨匠自动化装备有限公司 | High-speed precise-positioning acquisition trigger card circuit and acquisition method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2442883Y (en) * | 2000-09-30 | 2001-08-15 | 北京中科恒业中自技术有限公司 | Locomotive positioner with GPS Positioning system |
| CN1090314C (en) * | 1995-08-28 | 2002-09-04 | 数据技术株式会社 | Movement detector |
| CN2569099Y (en) * | 2002-03-21 | 2003-08-27 | 赵京 | Combined positioner |
| US6694260B1 (en) * | 2003-05-09 | 2004-02-17 | Deere & Company | Inertial augmentation for GPS navigation on ground vehicles |
-
2004
- 2004-09-10 CN CNB2004100419384A patent/CN1321330C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1090314C (en) * | 1995-08-28 | 2002-09-04 | 数据技术株式会社 | Movement detector |
| CN2442883Y (en) * | 2000-09-30 | 2001-08-15 | 北京中科恒业中自技术有限公司 | Locomotive positioner with GPS Positioning system |
| CN2569099Y (en) * | 2002-03-21 | 2003-08-27 | 赵京 | Combined positioner |
| US6694260B1 (en) * | 2003-05-09 | 2004-02-17 | Deere & Company | Inertial augmentation for GPS navigation on ground vehicles |
Non-Patent Citations (3)
| Title |
|---|
| 一种利用GPS定位和测速相结合的动态定位方法 叶松，万德钧，王庆，中国惯性技术学报，第12卷第2期 2004 * |
| 一种利用GPS定位和测速相结合的动态定位方法 叶松，万德钧，王庆，中国惯性技术学报，第12卷第2期 2004;载波相位差分GPS定位技术 王广运，测绘工程，第8卷第1期 1999 * |
| 载波相位差分GPS定位技术 王广运，测绘工程，第8卷第1期 1999 * |
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