CN201016741Y - GPS/INS combined positioning guidance system - Google Patents
GPS/INS combined positioning guidance system Download PDFInfo
- Publication number
- CN201016741Y CN201016741Y CNU2007200346611U CN200720034661U CN201016741Y CN 201016741 Y CN201016741 Y CN 201016741Y CN U2007200346611 U CNU2007200346611 U CN U2007200346611U CN 200720034661 U CN200720034661 U CN 200720034661U CN 201016741 Y CN201016741 Y CN 201016741Y
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Abstract
The utility model relates to a GPS/INS combined positioning and navigation system comprising a CPU unit, an INS module, a GPS receiver and a touch screen operating unit; the INS module produces a velocity pulse signal and a movable corner signal and delivers the signals to the input end of the velocity pulse signal and the input end of angle signal of the GPS receiver; the positioning and navigation output end of the GPS receiver delivers the longitude and latitude signal, the movement distance value corresponding to a single velocity pulse after being corrected, the velocity pulse signal and the movable corner signal after being corrected to the positioning and navigation input end of the CPU unit; if the GPS receiver is interfered in the process of receiving signals, the CPU unit implements positioning and navigation by the touch screen operating unit with the velocity pulse signal, the movement distance value corresponding to a single velocity pulse after being corrected and the movable corner signal which promotes the positioning and navigation precision of the system.
Description
Technical field
The utility model relates to a kind of GPS/INS combined positioning and navigating system.
Background technology
Mainstream technology is GPS (Global Position System NAVSTAR) system on the vehicle mounted guidance market.Gps system is distributed in the wireless signal compute location information of 24 satellite transmissions of sky by reception, have advantages such as global, round-the-clock, high precision, real-time positioning, but because the rectilinear propagation characteristic of wireless signal, its dynamic property and antijamming capability are relatively poor, when the GPS receiver is near tunnel, tree shade or high building, satellite-signal is blocked, and influence is accurately located even can't be located.
INS (Inertial Navigation System inertial positioning navigational system) system has the independent navigation ability, can independently provide locating navigation informations such as attitude of carrier, speed and position, and anti-external interference ability is strong.Along with the development of inertial gyroscope technology in the INS system, the INS system applies in gps system, has promptly been produced GPS/INS combined positioning and navigating system, this system can position navigation by the INS system when the GPS location navigation is influenced.Constantly increase but the location navigation error of INS system continues in time, i.e. the accumulation of error, drift greatly.
The INS system comprises gyroscope and rate sensor.Angular velocity in gyroscope survey mobile vehicle (is example with the automobile) traveling process, the i.e. angle value that is turned in the unit interval; The speed of rate sensor measured automobiles is to realize the location navigation of INS system.So the error of INS system when location navigation comprises rate error and angular error.The method of INS systematic survey automobile speed is: rate sensor produces corresponding rate pulse signal according to the number of turns of wheel turnover, and the back is according to the frequency computation part vehicle speed of described pulse signal.So the error of rate pulse signal has caused rate error; In addition, the tire size difference of different vehicle has further increased rate error.
Therefore, how utilizing gps signal to proofread and correct the rate error of INS system when location navigation, is that GPS/INS combined positioning and navigating system improves location navigation precision technical barrier to be solved.
The utility model content
Technical problem to be solved in the utility model provides a kind of rate error of the location navigation that is used to proofread and correct the INS system to improve the GPS/INS combined positioning and navigating system of location navigation precision.
For solving the problems of the technologies described above, GPS/INS combined positioning and navigating of the present utility model system comprises: CPU element, INS module, be used to receive the gps receiver of longitude and latitude signal and control the unit with the two-way touch-screen that is electrically connected of CPU element; Can link to each other with the angle signal input end with the rate pulse signal input end of gps receiver respectively with the angle signal output terminal according to the rate pulse signal output terminal that rate travel produces the INS module of corresponding rate pulse signal and mobile angular signal, can link to each other with the location navigation signal input part of CPU element according to described longitude and latitude signal carries out the gps receiver of error correction to pairing displacement value of single speed pulse and mobile angular signal location navigation signal output part.
In the technique scheme, the INS module comprises the rate detecting unit that is used for the generating rate pulse signal and is used to generate the gyro unit of mobile angular signal; The rate pulse signal output terminal of the rate detecting unit in the INS module and the angle signal output terminal of gyro unit are the rate pulse signal output terminal and the angle signal output terminal of INS module respectively.
In the technique scheme, gps receiver comprises: the radio frequency amplifier that the GPS module links to each other with radio-frequency (RF) signal input end with the GPS module; The signal input part of radio frequency amplifier links to each other with gps antenna; The angle signal input end of gps receiver and rate pulse signal input end are respectively the angle signal input end and the rate pulse signal input end of GPS module; The location navigation signal output part of gps receiver is the location navigation signal output part of GPS module.
The utlity model has positive effect: longitude and latitude signal correction pairing distance value of single speed pulse and mobile gyration value that (1) GPS/INS combined positioning and navigating of the present utility model system utilizes gps receiver to receive, to be blocked at satellite-signal, when gps receiver reception longitude and latitude signal is disturbed, can only depend on the INS system more accurately to navigate, so with respect to prior art, this system has reduced rate error and mobile gyration error, the location navigation error that has solved the INS system continues continuous increase in time, it is the accumulation of error, the big technical matters of drifting about, also solved the difference of using tire size because of various vehicles, the INS system rate detection error that pavement behavior factor etc. is caused has improved the location navigation precision of GPS/INS combined positioning and navigating system.(2) in the testing and correcting method for speed rate of the present utility model, when the GPS module records described mobile alignment and is line of collimation, the GPS module just according to the longitude and latitude signal to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module; Described line of collimation is a corner less than 15 ° curve.If the corner of mobile alignment is greater than 15 °, then the speed umber of pulse of the corresponding generation of INS module exists than mistake, and inconvenience is used for described error correction.
Description of drawings
Fig. 1 is the circuit theory diagrams of GPS/INS combined positioning and navigating of the present utility model system;
Fig. 2 is the flow chart of the angular detection bearing calibration of GPS/INS combined positioning and navigating of the present utility model system.
Fig. 3 is the flow chart of the testing and correcting method for speed rate of GPS/INS combined positioning and navigating of the present utility model system.
Embodiment
(embodiment 1)
See Fig. 1, the GPS/INS combined positioning and navigating system of present embodiment is applicable to the carrier that automobile, steamer etc. can move along straight line, and it comprises: CPU element 1, INS module 2, the gps receiver 3 and the touch-screen that are used to receive the longitude and latitude signal are controlled unit 4.
Gps receiver 3 comprises: the radio frequency amplifier 32 that GPS module 31 links to each other with radio-frequency (RF) signal input end with GPS module 31; The signal input part of radio frequency amplifier 32 links to each other with gps antenna.
INS module 2 comprises: the rate detecting unit 21 and the gyro unit 22 that is used to generate mobile angular signal that are used for the generating rate pulse signal; The angle signal input end of the angle signal output termination GPS module 31 of gyro unit 22; The rate pulse signal input end of the rate pulse signal output termination GPS module 31 of rate detecting unit 21; The two-way electrical connection of navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1.The demonstration that the demonstration of CPU element 1 control communication ends and touch-screen are controlled unit 4 controls that communication ends is two-way to be electrically connected.
The principle of work of the location navigation of the GPS/INS combined positioning and navigating system of present embodiment is as follows:
After system opened, the navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1 carried out protocol handshake; Then, gps receiver 3 is started working, and the latitude and longitude information at the carrier place that records is sent into CPU element 1, CPU element 1 according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.
After carrier began to move, the gyro unit 22 in the INS module 2 constantly detected the rotational angle of carrier on mobile alignment, and the rotational angle signal that records is delivered to the rotational angle signal input part of GPS module 31; Simultaneously, described rate detecting unit 21 produces corresponding rate pulse signal according to rate travel and described rate pulse signal is sent into the rate pulse signal input end of the GPS module 31 in the gps receiver 3.
If do not store pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then according to described longitude and latitude signal pairing displacement value of single speed pulse and mobile angular signal are carried out error correction by gps receiver 3, draw through the pairing displacement value of single speed pulse of error correction and be used for mobile angular signal is carried out the offset α of error correction, and store; Then, will draw mobile angular signal from the described offset α of rotational angle signal combination of 22 generations of gyro unit in the INS module 2 through error correction.
If stored pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then GPS module 31 is at first carried out error correction with the described offset α of described rotational angle signal combination, and draws the mobile angular signal through error correction.(for example, if the angle value of the mobile angular signal correspondence that gps receiver 3 receives is θ
3, then the angle value through the mobile angular signal correspondence of error correction is θ
3+ α.In other embodiments, also can be according to θ
3The size of value, the α of increase corresponding proportion.)
Then, the location navigation signal output part of gps receiver 3 is with described longitude and latitude signal, rate pulse signal, through the pairing displacement value of single speed pulse of error correction with deliver to the location navigation signal input part of CPU element 1 through the mobile angular signal of error correction.
Only when receiving the longitude and latitude signals at gps receiver 3 and disturbed, CPU element 1 is according to described rate pulse signal, through the pairing displacement value of single speed pulse of error correction with control unit 4 through the mobile angular signal of error correction by touch-screen and position navigation.
When gps receiver 3 can normally receive the longitude and latitude signal, CPU element 1 only according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.
See Fig. 3, the step of the testing and correcting method for speed rate of above-mentioned GPS/INS combined positioning and navigating system is:
A, gps antenna receive gps signal, send into GPS module 31 through radio frequency amplifier 32, and GPS module 31 obtains the longitude and latitude signal of current location;
Rate detecting unit 21 in B, the INS module 2 is according to rate travel generating rate pulse signal and send into the rate pulse signal input end of GPS module 31;
C, GPS module 31 judge according to the longitude and latitude signal of each point on the mobile alignment whether this mobile alignment is line of collimation, and described line of collimation is a corner less than 15 ° curve; The spacing of described each point can be made as 0.5m (among other embodiment, can be made as 0.1m, 0.2m or 1m, the spacing of described each point is more little, and is just accurate more according to the mobile alignment that each point drew).
D, when GPS module 31 records described mobile alignment and is line of collimation, GPS module 31 to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module 2, and is delivered to the pairing displacement value of single speed pulse after the error correction location navigation signal input part of CPU element 1 according to described longitude and latitude signal.In this step, the step that the pairing displacement value of single speed pulse is carried out error correction comprises: GPS module 31 is designated as mobile starting point to current longitude and latitude signal post, begin to move from this starting point, until recording the air line distance of 1 a between the described starting point is that preset value 1km is (among other embodiment, can be 1.5km, 2km, even more, the preset value of air line distance is high more, and it is just accurate more to draw the pairing distance value of single speed pulse.) time, GPS module 31 is labeled as terminal point to described some a; During above-mentioned, GPS module 31 is noted the speed pulse sum that INS module 2 is extremely produced between the described terminal point in described starting point; GPS module 31 goes out the length of the mobile alignment between described starting point and the terminal point according to the longitude and latitude calculated signals of each point on the mobile alignment between described starting point and the terminal point, being divided by with described speed pulse sum then promptly draws the pairing distance value of single speed pulse, promptly finishes the error correction to the pairing distance value of single speed pulse.
Totally 5 times (in other embodiments to repeat above-mentioned steps A-D, can be 7,10 or 15 times, even it is more, number of times is many more, the pairing displacement value of single speed pulse that obtains after second order error is proofreaied and correct is just accurate more), and adopt the difference algorithm that the pairing distance value of single speed pulse is carried out the second order error correction, and obtain the pairing displacement value of single speed pulse after second order error is proofreaied and correct.
Described difference filtering algorithm is: speed umber of pulse n and the pairing distance value s of single speed pulse
0The length that draws described line of collimation that multiplies each other is that actual travel is apart from s=n*s
0, and s
0Is fixed value for one to fixed system.Repeat above-mentioned steps A-D totally 5 times, get 5 sections actual travel distances and be respectively s
1, s
2, s
3, s
4And s
5, s then
01=(s
2-s
1)/(n
2-n
1), s
02=(s
3-s
1)/(n
3-n
1), s
03=(s
4-s
1)/(n
4-n
1), s
04=(s
5-s
1)/(n
5-n
1), s
05=(s
3-s
2)/(n
3-n
2), s
06=(s
4-s
2)/(n
4-n
2), s
07=(s
5-s
2)/(n
5-n
2), s
08=(s
4-s
3)/(n
4-n
3), s
09=(s
5-s
3)/(n
5-n
3), s
010=(s
5-s
4)/(n
5-n
4); Ask above-mentioned s
01To s
010Average, the pairing displacement value of the single speed pulse s after promptly obtaining second order error and proofreading and correct
0
See Fig. 2, the GPS/INS combined positioning and navigating system of present embodiment detects and method of its error calibration the rotational angle signal that gyro unit 22 generates, and comprises the steps:
Gps antenna in a, the gps receiver 3 receives gps signal, sends into the radio-frequency (RF) signal input end of GPS module 31 through radio frequency amplifier 32, and GPS module 31 draws the longitude and latitude signal of each point on the carrier mobile alignment; Gyro unit 22 in the INS module 2 generates the rotational angle signal on mobile alignment, and this signal is delivered to the rotational angle signal input part of GPS module 31;
B, GPS module 31 judge according to described longitude and latitude signal whether the carrier mobile alignment is in non-line of collimation state; Wherein, the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) judges that then the carrier mobile alignment is in the line of collimation state during less than 15 °; Otherwise, when the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) is not less than 15 °, judge that then the carrier mobile alignment is in non-line of collimation state.
C, the mobile alignment that records described carrier when GPS module 31 enter non-line of collimation state constantly at T1, and when T2 enters the line of collimation state constantly, GPS module 31 according to from gyro unit 22 in the INS module 2 respectively T1 constantly and the described rotational angle signal that generates constantly of T2 draw carrier at the rotational angle θ 1 of T1 to T2 in the moment; GPS module 31 according to T1 to T2 constantly on the described carrier mobile alignment longitude and latitude calculated signals of each point go out the rotational angle θ 2 of this carrier;
D, GPS module 31 draw the detection error delta θ=θ 2-θ 1 at described T1 to T2 rotational angle of GPS/INS combined positioning and navigating system in the moment;
E, repeat above-mentioned steps a to d at least 5 times, and obtain the Δ θ of corresponding number, each Δ θ is carried out difference calculate, and the value of being compensated α; Wherein, when each Δ θ is carried out difference calculating, ask each Δ θ sum earlier, the back promptly draws described offset α divided by its sum.
F, gps receiver 3 receives the longitude and latitude signals when being disturbed, GPS module 31 is according to the described offset α of rotational angle signal combination that generates from gyro unit in the INS module 2 22, draws through the mobile angular signal of error correction and delivers to the navigator fix signal input part of CPU element 1.
GPS module 31 regularly the pairing displacement value of single speed pulse is carried out error correction and existing displacement value is replaced in storage.Simultaneously, also regularly (as 1 time) carries out error correction to mobile angular signal, draws offset α, and existing offset is replaced in storage.
Claims (3)
1. GPS/INS combined positioning and navigating system comprises: CPU element (1), INS module (2), be used to receive the gps receiver (3) of longitude and latitude signal and control unit (4) with the two-way touch-screen that is electrically connected of CPU element (1); It is characterized in that: can link to each other with the angle signal input end with the rate pulse signal input end of gps receiver (3) respectively with the angle signal output terminal according to the rate pulse signal output terminal that rate travel produces the INS module (2) of corresponding rate pulse signal and mobile angular signal, can link to each other with the location navigation signal input part of CPU element (1) according to described longitude and latitude signal carries out the gps receiver (3) of error correction to pairing displacement value of single speed pulse and mobile angular signal location navigation signal output part.
2. GPS/INS combined positioning and navigating according to claim 1 system, it is characterized in that: INS module (2) comprises rate detecting unit (21) that is used for the generating rate pulse signal and the gyro unit (22) that is used to generate mobile angular signal; The rate pulse signal output terminal of the rate detecting unit (21) in the INS module (2) and the angle signal output terminal of gyro unit (22) are the rate pulse signal output terminal and the angle signal output terminal of INS module (2) respectively.
3. GPS/INS combined positioning and navigating according to claim 1 system, it is characterized in that: gps receiver (3) comprising: the radio frequency amplifier (32) that GPS module (31) links to each other with radio-frequency (RF) signal input end with GP8 module (31); The signal input part of radio frequency amplifier (32) links to each other with gps antenna; The angle signal input end of gps receiver (3) and rate pulse signal input end are respectively the angle signal input end and the rate pulse signal input end of GPS module (31); The location navigation signal output part of gps receiver (3) is the location navigation signal output part of GPS module (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200346611U CN201016741Y (en) | 2007-02-09 | 2007-02-09 | GPS/INS combined positioning guidance system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200346611U CN201016741Y (en) | 2007-02-09 | 2007-02-09 | GPS/INS combined positioning guidance system |
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| CN201016741Y true CN201016741Y (en) | 2008-02-06 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545781B (en) * | 2008-03-26 | 2012-01-25 | 高德软件有限公司 | Method for determining pulse equivalent of speedometer in on-board integrated navigation |
| CN102620605A (en) * | 2012-03-31 | 2012-08-01 | 林德福 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN105021183A (en) * | 2015-07-05 | 2015-11-04 | 电子科技大学 | Low-cost GPS and INS integrated navigation system for multi-rotor aircrafts |
| CN105190344A (en) * | 2013-03-14 | 2015-12-23 | 高通股份有限公司 | Inter-device transfer of accurate location information |
| CN106207386A (en) * | 2016-07-18 | 2016-12-07 | 中国民用航空总局第二研究所 | A kind of navigator on-line measurement antenna and driving method thereof |
-
2007
- 2007-02-09 CN CNU2007200346611U patent/CN201016741Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545781B (en) * | 2008-03-26 | 2012-01-25 | 高德软件有限公司 | Method for determining pulse equivalent of speedometer in on-board integrated navigation |
| CN102620605A (en) * | 2012-03-31 | 2012-08-01 | 林德福 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN102620605B (en) * | 2012-03-31 | 2014-07-02 | 北京理工大学 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN105190344A (en) * | 2013-03-14 | 2015-12-23 | 高通股份有限公司 | Inter-device transfer of accurate location information |
| CN105021183A (en) * | 2015-07-05 | 2015-11-04 | 电子科技大学 | Low-cost GPS and INS integrated navigation system for multi-rotor aircrafts |
| CN106207386A (en) * | 2016-07-18 | 2016-12-07 | 中国民用航空总局第二研究所 | A kind of navigator on-line measurement antenna and driving method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: JIANGSU HUAKE NAVIGATION TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: JIANGSU SHINCO DIGITAL TECHNOLOGY CO., LTD. Effective date: 20080314 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20080314 Address after: No 8, West Taihu Road, Xinbei District, Jiangsu, Changzhou: 213011 Patentee after: Jiangsu Huake GPS Technology Co., Ltd. Address before: Hutang town Wujin District Jiangsu city of Changzhou province Gufang Road No. 1, zip code: 213000 Patentee before: Jiangsu Xinke Digital Techn Co., Ltd. |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080206 Termination date: 20110209 |