CN203037260U - Positioning attitude determination device - Google Patents
Positioning attitude determination device Download PDFInfo
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- CN203037260U CN203037260U CN 201220740949 CN201220740949U CN203037260U CN 203037260 U CN203037260 U CN 203037260U CN 201220740949 CN201220740949 CN 201220740949 CN 201220740949 U CN201220740949 U CN 201220740949U CN 203037260 U CN203037260 U CN 203037260U
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Abstract
The utility model discloses a positioning attitude determination device, which comprises an inertial measurement unit (IMU) inertial measurement device, a global navigation satellite system (GNSS) navigator, a navigational computer and a kalman filter, wherein the output end of the IMU inertial measurement device is connected with the input end of the navigational computer, the output end of the navigational computer is respectively connected with the input end of the GNSS navigator and the input end of the kalman filter, the output end of the GNSS navigator is connected with the input end of the kalman filter, and the output end of the kalman filter is connected with the input end of the navigational computer. The IMU inertial measurement device and the GNSS navigator are closely combined, and the positioning attitude determination device achieves positioning and attitude determination in high dynamic and strong interference environment by utilizing long-term stability of positioning orientation direction precision of the GNSS navigator and short-term stability of the IMU inertial measurement device. When GNSS signals are kept out or the quality reduces, the positioning attitude determination device can position and determines attitude through the IMU inertial measurement device, thereby being capable of effectively increasing reliability, integrity and continuity.
Description
Technical field
The utility model relates to navigation field, relates in particular to a kind of location and decides the appearance device.
Background technology
Navigational system is requisite visual plant on the carriers such as naval vessel, bullet arrow, aircraft, aircraft.Navigation is exactly within the predetermined time, by definite plan and requirement, carrier is directed to the process of destination from starting point.Finish this navigation procedure system accurate navigational parameter must be provided, as information such as attitude angle, course, speed, positions.
Wherein, GNSS(Global Navigation Satellite System) can come compute location information by the wireless signal that receives the skyborne Navsat transmission that distributes, have advantages such as global, round-the-clock, high precision, real-time navigation location, can be the user accurate position, speed and time service data are provided, but the attitude information of carrier can not be provided.And its serviceability is subjected to environmental baseline, carrier is motor-driven and the influence of radio interference, is difficult to accurately locate even can't locate.In addition, GNSS system data output frequency is low, in high dynamic case, is difficult to satisfy the high requirement of user data update rate.
INS(Inertial Navigation System, inertial navigation system) has the independent navigation ability, be not subjected to environment, carrier is motor-driven and the influence of radio interference, location navigation parameters such as carrier positions, speed and attitude can be provided continuously, its data updating rate is fast, range is bigger, and has higher relative accuracy in the short time.But the INS system is along with the prolongation of working time, and navigation error accumulates growth in time, need utilize external observation information often to revise the INS system, controls the accumulation in time of its error, is difficult to satisfy user's accuracy requirement.
Because all there are relative merits in GNSS and INS self, therefore, how both to be merged the inherent shortcoming of forgoing, utilize advantage separately, the location attitude determination system of make up the degree of accuracy height, be not subjected to environment, carrier is motor-driven and radio interference influences has become problem demanding prompt solution.
Summary of the invention
Technical problem to be solved in the utility model is, provides a kind of location to decide the appearance device, IMU inertia measurement device and GNSS omniselector can be combined closely, and effectively improves reliability, integrality and continuity.
In order to solve the problems of the technologies described above, the utility model provides a kind of location to decide the appearance device, comprises IMU inertia measurement device, GNSS omniselector, navigational computer and Kalman filter; The output terminal of described IMU inertia measurement device is connected with the input end of navigational computer, the output terminal of described navigational computer is connected respectively with the input end of GNSS omniselector and the input end of Kalman filter, the output terminal of described GNSS omniselector is connected with the input end of Kalman filter, and the output terminal of described Kalman filter is connected with the input end of navigational computer.
Improvement as such scheme, described GNSS omniselector comprises that GNSS antenna, GNSS receiver and GNSS resolve processor, described GNSS antenna is connected with the GNSS receiver by concentric cable, and described GNSS receiver resolves processor by the R232 interface with GNSS and is connected.
As the improvement of such scheme, described GNSS antenna is corresponding one by one with the GNSS receiver, and the quantity of described GNSS antenna and GNSS receiver is two.
As the improvement of such scheme, described IMU inertia measurement device is located on the center of gravity of testee.
As the improvement of such scheme, described IMU inertia measurement device comprises the accelerometer that gyroscope that three quadratures arrange, three quadratures arrange, the transmission circuit that is used for the transmission signal.
As the improvement of such scheme, described transmission circuit comprises low-pass filter and A/D change-over circuit.
As the improvement of such scheme, described location is decided the appearance device and is also comprised the display that links to each other with the output terminal of described navigational computer.
As the improvement of such scheme, described location is decided the appearance device and is also comprised for the power supply of powering.
The enforcement the beneficial effects of the utility model are: IMU inertia measurement device and GNSS omniselector are combined closely, and appearance is decided in the location that utilizes the short-term stability of the long-time stability of GNSS omniselector positioning and directing precision and IMU inertia measurement device to be implemented under dynamically high and the strong interference environment.Wherein, the GNSS omniselector receives the GNSS signal in real time; Simultaneously, IMU inertia measurement device is measured the information such as three axis angular rates, acceleration of testee in real time.Correspondingly, IMU inertia measurement device is forwarded to the GNSS omniselector with information such as three axis angular rates, acceleration through navigational computer, the GNSS omniselector resolves and the difference location the GNSS signal in conjunction with information and GNSS signals such as three axis angular rates, acceleration, obtains high-precision differential signal; By Kalman filter information such as differential signal and three axis angular rates, acceleration are carried out correction processing; The information such as revised differential signal and three axis angular rates, acceleration that send obtain accurate localization and decide the appearance data to navigational computer.Therefore, when the GNSS signal is blocked or quality when descending, can position by IMU inertia measurement device and decide appearance, have advantages such as orientation accuracy height, no cumulative errors, good, the full attitude work of dynamic, strong interference immunity, can effectively improve reliability, integrality and the continuity of deciding the appearance device.
Description of drawings
Fig. 1 is the first example structure synoptic diagram that the utility model is decided the appearance device;
Fig. 2 is the second example structure synoptic diagram that the utility model is decided the appearance device.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, decide appearance device 1 and comprise IMU inertia measurement device 2, GNSS omniselector 3, navigational computer 4 and Kalman filter 5.Wherein, the output terminal of described IMU inertia measurement device 2 is connected with the input end of navigational computer 4, the output terminal of described navigational computer 4 is connected respectively with the input end of GNSS omniselector 3 and the input end of Kalman filter 5, the output terminal of described GNSS omniselector 3 is connected with the input end of Kalman filter 5, and the output terminal of described Kalman filter 5 is connected with the input end of navigational computer 4.Preferably, navigational computer 4 is master-slave mode tight coupling navigational computer, comprises the dsp chip of the TMS320C6713 model of 200M dominant frequency.
Need to prove that IMU inertia measurement device 2 can produce corresponding rate pulse signal (acceleration) and mobile angular signal (angular velocity) according to the rate travel of testee; GNSS receiver 3 can carry out error correction to the corresponding displacement value of single speed pulse and the mobile angular signal of IMU inertia measurement device 2 according to longitude and latitude signal (GNSS signal).More preferably, described IMU inertia measurement device 2 is located on the center of gravity of testee.
During work, GNSS omniselector 3 receives the GNSS signal in real time; Simultaneously, information such as three axis angular rates of IMU inertia measurement device 2 real-time measurement testees, acceleration.Correspondingly, IMU inertia measurement device 2 is forwarded to GNSS omniselector 3 with information such as three axis angular rates, acceleration through navigational computer 4, GNSS omniselector 3 resolves and the difference location the GNSS signal in conjunction with information and GNSS signals such as three axis angular rates, acceleration, obtains high-precision differential signal; By Kalman filter 5 information such as differential signal and three axis angular rates, acceleration are carried out correction processing; The information such as revised differential signal and three axis angular rates, acceleration that send obtain accurate localization and decide the appearance data to navigational computer 4.
Need to prove, IMU inertia measurement device 2 has the independent navigation ability, be not subjected to environment, carrier is motor-driven and the influence of radio interference, therefore, when the GNSS signal is blocked or quality when descending, can position by IMU inertia measurement 2 devices and decide appearance, can effectively improve reliability, integrality and the continuity of deciding the appearance device.
As shown in Figure 2, described IMU inertia measurement device 2 comprises that the gyroscope 21 of three quadratures settings, the accelerometer 22 of three quadrature settings reach the transmission circuit 23 that is used for the transmission signal.
Need to prove that gyroscope 21 is for detection of the angular velocity of testee; Accelerometer 22 is for detection of the acceleration of testee.Preferably, described gyroscope 21 is fibre optic gyroscope, and described accelerometer 22 is silicon micro accerometer.
More preferably, described transmission circuit 23 comprises low-pass filter and A/D change-over circuit.
During 2 work of IMU inertia measurement device, gyroscope 21 produces corresponding mobile angular signal (angular velocity) according to the rate travel of testee, and simultaneously, accelerometer 22 produces corresponding rate pulse signal (acceleration) according to the rate travel of testee.Gyroscope 21 and accelerometer 22 input to low-pass filter with angular velocity information and acceleration information respectively and abate the noise, subsequently angular velocity information and acceleration information are inputed to the A/D change-over circuit, angular velocity information and acceleration information are converted to numerical information, are sent to the GNSS omniselector finally by navigational computer 4.
In addition, described GNSS omniselector 3 comprises that GNSS antenna 31, GNSS receiver 32 and GNSS resolve processor 33, described GNSS antenna 31 is connected with GNSS receiver 32 by concentric cable, and described GNSS receiver 32 resolves processor 33 by the R232 interface with GNSS and is connected.
Need to prove that the GNSS signal that GNSS receiver 32 receives GNSS antenna 31 is forwarded to GNSS and resolves processor 33.GNSS resolves processor 33 in conjunction with the numerical information of GNSS signal and navigational computer 4 forwardings, and the GNSS signal is resolved and the difference location, obtains high-precision differential signal.
More preferably, described GNSS antenna 31 is corresponding one by one with GNSS receiver 32, and described GNSS antenna 31 is two with the quantity of GNSS receiver 32, and wherein, two GNSS antennas arrange respectively and testee front and back axis direction.
More preferably, decide appearance device 1 and also comprise the display 6 that links to each other with the output terminal of described navigational computer 4.Navigational computer 4 will be located the appearance data and be exported display 6 to and show.
More preferably, decide appearance device 1 and also comprise the power supply that is used to whole location to decide 1 power supply of appearance device.
As from the foregoing, power supply is for after deciding 1 power supply of appearance device, deciding appearance device 1 starts working, gyroscope 21 and accelerometer 22 are measured angular velocity and the linear acceleration of carrier respectively, low-pass filter is to the processing that abates the noise of angular velocity and linear acceleration, and exports the A/D change-over circuit to, and angular velocity information and acceleration information are converted to numerical information, subsequently, numerical information is transferred to navigational computer 4.Simultaneously, GNSS receiver 32 is forwarded to GNSS with the GNSS signal of GNSS antenna 31 and resolves processor 33, GNSS resolves processor 33 in conjunction with the numerical information of GNSS signal and navigational computer 4 forwardings, and the GNSS signal is resolved and the difference location, obtains high-precision differential signal.Subsequently, Kalman filter 5 is carried out correction processing eliminating cumulative errors with differential signal and numerical information, and sends revised differential signal and numerical information to navigational computer 4, decides the appearance data to obtain accurate localization.Therefore, when the GNSS signal is blocked or quality when descending, can position by IMU inertia measurement device 2 and decide appearance, have advantages such as orientation accuracy height, no cumulative errors, good, the full attitude work of dynamic, strong interference immunity, can effectively improve reliability, integrality and the continuity of deciding the appearance device.
The above is preferred implementation of the present utility model; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection domain of the present utility model.
Claims (8)
1. decide the appearance device for one kind, it is characterized in that, comprise IMU inertia measurement device, GNSS omniselector, navigational computer and Kalman filter;
The output terminal of described IMU inertia measurement device is connected with the input end of navigational computer, the output terminal of described navigational computer is connected respectively with the input end of GNSS omniselector and the input end of Kalman filter, the output terminal of described GNSS omniselector is connected with the input end of Kalman filter, and the output terminal of described Kalman filter is connected with the input end of navigational computer.
2. the appearance device is decided in location as claimed in claim 1, it is characterized in that, described GNSS omniselector comprises that GNSS antenna, GNSS receiver and GNSS resolve processor, described GNSS antenna is connected with the GNSS receiver by concentric cable, and described GNSS receiver resolves processor by the R232 interface with GNSS and is connected.
3. the appearance device is decided in location as claimed in claim 2, it is characterized in that, described GNSS antenna is corresponding one by one with the GNSS receiver, and the quantity of described GNSS antenna and GNSS receiver is two.
4. the appearance device is decided in location as claimed in claim 1, it is characterized in that, described IMU inertia measurement device is located on the center of gravity of testee.
5. the appearance device is decided in location as claimed in claim 4, it is characterized in that, described IMU inertia measurement device comprises the accelerometer that gyroscope that three quadratures arrange, three quadratures arrange, the transmission circuit that is used for the transmission signal.
6. the appearance device is decided in location as claimed in claim 5, it is characterized in that, described transmission circuit comprises low-pass filter and A/D change-over circuit.
7. decide the appearance device as each described location of claim 1 ~ 6, it is characterized in that, also comprise the display that links to each other with the output terminal of described navigational computer.
8. the appearance device is decided in location as claimed in claim 7, it is characterized in that, also comprises the power supply for power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220740949 CN203037260U (en) | 2012-12-31 | 2012-12-31 | Positioning attitude determination device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220740949 CN203037260U (en) | 2012-12-31 | 2012-12-31 | Positioning attitude determination device |
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|---|---|
| CN203037260U true CN203037260U (en) | 2013-07-03 |
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| CN 201220740949 Expired - Lifetime CN203037260U (en) | 2012-12-31 | 2012-12-31 | Positioning attitude determination device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808233A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system |
| CN105479431A (en) * | 2016-01-21 | 2016-04-13 | 烟台拓伟机械有限公司 | Inertial navigation type robot demonstration equipment |
| CN105607634A (en) * | 2015-12-30 | 2016-05-25 | 广州中海达定位技术有限公司 | Automatic navigation control system of agricultural machinery |
| CN105758427A (en) * | 2016-02-26 | 2016-07-13 | 南京航空航天大学 | Monitoring method for satellite integrity based on assistance of dynamical model |
| CN106855413A (en) * | 2016-12-30 | 2017-06-16 | 广州中海达定位技术有限公司 | The determination methods and its device in a kind of locomotive operation direction |
| CN110065588A (en) * | 2019-04-30 | 2019-07-30 | 天津大学 | A kind of fast assembling-disassembling three-body unmanned boat partly latent |
-
2012
- 2012-12-31 CN CN 201220740949 patent/CN203037260U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808233A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system |
| CN105607634A (en) * | 2015-12-30 | 2016-05-25 | 广州中海达定位技术有限公司 | Automatic navigation control system of agricultural machinery |
| CN105607634B (en) * | 2015-12-30 | 2018-07-24 | 广州中海达定位技术有限公司 | A kind of agricultural machinery automatic navigation control system |
| CN105479431A (en) * | 2016-01-21 | 2016-04-13 | 烟台拓伟机械有限公司 | Inertial navigation type robot demonstration equipment |
| CN105758427A (en) * | 2016-02-26 | 2016-07-13 | 南京航空航天大学 | Monitoring method for satellite integrity based on assistance of dynamical model |
| CN106855413A (en) * | 2016-12-30 | 2017-06-16 | 广州中海达定位技术有限公司 | The determination methods and its device in a kind of locomotive operation direction |
| CN110065588A (en) * | 2019-04-30 | 2019-07-30 | 天津大学 | A kind of fast assembling-disassembling three-body unmanned boat partly latent |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220424 Address after: 510000 Room 202, building 13, Tian'an headquarters center, No. 555, North Panyu Avenue, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU HI-TARGET SURVEYING INSTRUMENT Co.,Ltd. Address before: 511400 908, zone 2, building 1, Fanshan entrepreneurship center, Panyu energy saving technology park, No. 537, North Panyu Avenue, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee before: HI-TARGET POSITIONING TECHNOLOGY CO.,LTD. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130703 |