CN204347258U - Double antenna GNSS/INS integrated navigation system - Google Patents
Double antenna GNSS/INS integrated navigation system Download PDFInfo
- Publication number
- CN204347258U CN204347258U CN201420464477.0U CN201420464477U CN204347258U CN 204347258 U CN204347258 U CN 204347258U CN 201420464477 U CN201420464477 U CN 201420464477U CN 204347258 U CN204347258 U CN 204347258U
- Authority
- CN
- China
- Prior art keywords
- double antenna
- module
- integrated navigation
- navigation system
- gnss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 239000000835 fiber Substances 0.000 claims description 2
- 238000007667 floating Methods 0.000 claims description 2
- 239000010453 quartz Substances 0.000 claims description 2
- 229910052710 silicon Inorganic materials 0.000 claims description 2
- 239000010703 silicon Substances 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 230000003068 static effect Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Landscapes
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses a kind of double antenna GNSS/INS integrated navigation system, this navigational system comprises double antenna direction finding module, Inertial Measurement Unit IMU module, data are resolved and processing unit module, display unit module and power module, double antenna direction finding module is used for the course angle measuring carrier in real time, Inertial Measurement Unit IMU module is used for three axis angular rates and the acceleration information of measuring carrier in real time, data are resolved and are adopted DSP+FPGA to be data processing and the acquisition scheme of core with processing unit module, receive double antenna direction finding module and export the position of resolving, the rudimentary horn speed of speed and course information and the output of IMU module, acceleration measurement and temperature value, realize the Communication Control of interface, INS resolves and calculates with integrated navigation, for the attitude algorithm of system and navigation algorithm provide good hardware platform.The utility model solve single antenna GNSS/INS integrated navigation system static or little motor-driven time azimuthal observation weak problem, meet simultaneously high dynamically, the requirement of real-time applied environment, and volume is little, moderate cost.
Description
Technical field
The utility model belongs to integrated navigation technology field, is specifically related to a kind of double antenna GNSS/INS integrated navigation system.
Background technology
Nowadays, many navigation application fields need navigational system not only to provide position and velocity information accurately, also need to provide attitude of carrier information accurately, as aircraft, boats and ships, vehicle etc.Traditionally, in integrated navigation, GNSS is used for location, and attitude is then responsible for by inertial navigation element, but this method, the error of attitude angle can constantly be accumulated in time, and the low not even Observable of attitude angle observability.So in recent years, many research institutes and institution of higher learning adopt GPS to be sensor, carry out attitude measurement, make GPS not only have positioning function, and play the role of attitude measurement.
What adopt GPS measurement attitude to commonly use has two kinds of methods, one class adopts single gps antenna, by GPS measured velocity value estimated acceleration information, and then obtain attitude angle, the method has that cost is low, volume is little, lightweight, advantages of simple structure and simple, but because gps data turnover rate is low, be difficult to meet application that is dynamically high and real-time, and precision is difficult to ensure; Another kind of is adopt many gps antennas, and know versus baseline between each antenna by oneself, resolve carrier phase difference, obtain the relative position solution between each antenna, and then obtain the attitude angle of carrier, the method has the shortcomings such as poor real, installation difficulty are large.
At present, many single-antenna GPSs on market/INS integrated navigation product, real-time can be met and height is applied dynamically, but when carrier is in static state, little motor-driven or rectilinear motion, azimuth observation is weak, drifts about in time, error builds up, unless by high-precision optical fiber or lasergyro, but expensive, more difficultly meet the common market demand.
Therefore, the utility model adopts double antenna GNSS/INS integrated navigation technology, with double antenna GNSS carrier phase signal determination two-dimensional attitude, again with inertial navigation elements combination, can effectively solve single antenna GNSS/INS integrated navigation system static or little motor-driven time azimuthal observation weak problem, meet simultaneously high dynamically, the requirement of real-time applied environment, and volume is little, moderate cost.
Utility model content
The purpose of this utility model is, utilizes existing GPS/INS integrated navigation system technology, provides high-precision double antenna GNSS/INS integrated navigation system in one.
The technical solution of the utility model is:
A kind of double antenna GNSS/INS integrated navigation system, comprise double antenna direction finding module, Inertial Measurement Unit IMU module, data are resolved and processing unit module, display unit module and power module, described double antenna direction finding module is used for the course angle measuring carrier in real time, described Inertial Measurement Unit IMU module is used for three axis angular rates and the acceleration information of measuring carrier in real time, described data are resolved and the Communication Control of processing unit module for interface, INS resolves and calculates with integrated navigation, by navigation integral and calculating and Kalman filter, obtain carrier positions, speed, attitude and course data, display unit module has been used for navigation working state control, user command control inputs, navigation data and working state of system output etc., described power module is for providing the power supply of whole system, it is characterized in that, employing DSP+FPGA is data processing and the acquisition scheme of core, receive double antenna direction finding module and export the position of resolving, the rudimentary horn speed of speed and course information and the output of IMU module, acceleration measurement and temperature value, realize the Communication Control of interface, INS resolves and calculates with integrated navigation.
Described double antenna direction finding module is by the process of RF radiofrequency signal, base band signal process and double antenna navigation calculation are formed, the process of described RF radiofrequency signal, for radiofrequency signal down coversion, described base band signal process is used for carrier track and code tracking and exports scale-of-two navigation message and carrier phase raw data, described double antenna navigation calculation utilizes the phase differential of the GNSS carrier phase signal of two antenna measurements to determine the Angle Position of motion carrier coordinate system relative to navigational coordinate system in real time, to determine position angle and the angle of pitch of carrier, the 20Hz time is exported with RS232 serial ports, position and course information.
Described Inertial Measurement Unit IMU module is made up of 3 gyroscopes, 3 accelerometers, temperature sensor and data acquisitions, and 3 described gyroscopes are used for the angular velocity information measuring carrier three directions in real time; 3 accelerometers are used for the linear acceleration information measuring carrier three directions in real time; Temperature sensor is used for measuring IMU inside modules temperature in real time, carries out temperature compensation to gyro and accelerometer, the temperature drift of abatement device; The simulating signal that data acquisition is used for the output of Real-time Collection 3 gyroscopes, 3 accelerometers and temperature sensor converts digital signal to, exports three direction 100Hz/200Hz angular velocity and acceleration measurement with RS232 or RS422 serial ports.
Described gyroscope can be MEMS or fibre optic gyroscope.
Described accelerometer can be the micro-or quartz accelerometer of silicon.
Described data acquisition is technical grade 24 bit synchronization digital to analog converter.
Described data are resolved and are comprised FGPA and DSP with processing unit module, described FPGA is for realizing the Communication Control of multiple interface, receive double antenna direction finding module exports resolve position, the rudimentary horn speed of speed and course information and the output of IMU module, acceleration measurement and temperature value, complete the conversion of serial-to-parallel data in FPGA after, interrupt mode is utilized to give DSP; The steering order etc. simultaneously receiving display unit module is stored in FIFO, described DSP is for obtaining corresponding data from parallel bus, carry out INS navigation and integrated navigation resolve, by navigation calculation result after the conversion that FPGA completes parallel-to-serial data, send to display unit module.
Described DSP is 32 high-speed floating point type TMS320C6747 processors that TI company produces.
Described FPGA is the high performance-price ratio EP4CE15 that ALTERA company produces.
Further, also comprise display unit module, this module has been used for navigation working state control, user command control inputs, and navigation data and working state of system output etc., complete the man-machine interaction with user.
Further, also comprise power module, for powering to whole system.
Compared with prior art, the beneficial effects of the utility model are:
1, double antenna direction finding technology is combined with traditional inertial navigation system INS by double antenna GNSS/INS integrated navigation system of the present utility model, utilize double antenna direction finding and time, the irrelevance of quiet dynamic environment, precision is high in short-term with INS, the feature of the real-time attitude of carrier two-forty and navigational parameter can be provided, utilize modern estimation technique and Kalman filter, the location navigation error solving inertial navigation system continues the technical matters constantly increased in time, solve many single-antenna GPSs/INS integrated navigation product in static state, during little motor-driven or rectilinear motion, position angle drifts about in time, the technical matters that error builds up, also many gps antennas data updating rate is solved low, poor real, the technical matterss such as installation difficulty is large.
2, double antenna GNSS/INS integrated navigation system of the present utility model adopts data processing and the acquisition scheme of DSP+FPGA, there is the advantages such as Peripheral Interface is abundant, calculation processing power is strong, fast operation, integrated navigation system requirement of real-time can be met, for the attitude algorithm of system and navigation algorithm provide good hardware platform.
3, double antenna GNSS/INS integrated navigation system uses the hardware of low cost, low precision, is combined into the measuring system of medium accuracy, all can extensively promotes the use of at military project, civil area.
4, double antenna GNSS/INS integrated navigation system can receive gps system, G1onass system and BD system signal, improves system accuracy, strengthens antijamming capability and the reliability of system;
5, double antenna GNSS/INS integrated navigation system support list GPS, single BD system works, meet military industry field request for utilization;
6, double antenna GNSS/INS integrated navigation system can receive differential correcting data, to obtain more hi-Fix information.
Accompanying drawing explanation
Fig. 1 is double antenna GNSS/INS integrated navigation system hardware comprising modules schematic diagram of the present utility model;
Fig. 2 is double antenna GNSS/INS integrated navigation system software of the present utility model composition and work block diagram;
Fig. 3 is double antenna GNSS/INS integrated navigation system workflow diagram of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
According to Fig. 1 and Fig. 2, the utility model comprises double antenna direction finding module 1, IMU module 2, data are resolved and processing unit module 3, power module 4 and display unit module 5.
Double antenna direction finding module 1 comprises: radio frequency processing 11, Base-Band Processing 12, double antenna navigation calculation 13 and two GNSS antennas.Described radio frequency processing 11 is for radiofrequency signal down coversion; Base-Band Processing 12 is for carrier track and code tracking and export scale-of-two navigation message and carrier phase raw data; Double antenna navigation calculation 13 utilizes the phase differential of the GNSS carrier phase signal of two antenna measurements to determine the Angle Position of motion carrier coordinate system relative to navigational coordinate system in real time, to determine position angle and the angle of pitch of carrier, position, speed and azimuth information is finally provided to resolve and processing unit module 3 to data, carry out integrated navigation to resolve, the error of restriction and compensation inertial navigation and drift.
IMU module 2 comprises: 3 gyroscopes 21,3 accelerometers 22, temperature sensor 23 and data acquisitions 24.3 described gyroscopes 21 are for measuring the angular velocity information in carrier three directions in real time; 3 accelerometers 22 are for measuring the linear acceleration information in carrier three directions in real time; Temperature sensor 23, for measuring IMU inside modules temperature in real time, carries out temperature compensation to gyro and accelerometer, the temperature drift of abatement device; The simulating signal that data acquisition 24 exports for Real-time Collection 3 gyroscopes, 3 accelerometers and temperature sensor, digital signal is converted to through 24 synchronous digital to analog converters of technical grade, export to data by RS232 or RS422 interface to resolve and processing unit module 3, for real time data processing with resolve.
Data are resolved and are comprised FGPA 31 and DSP 32 with processing unit module 3.Described FPGA major function is the Communication Control for realizing multiple interface, receive double antenna direction finding module exports resolve position, the rudimentary horn speed of speed and course information and the output of IMU module, acceleration measurement and temperature value, complete the conversion of serial-to-parallel data in FPGA after, interrupt mode is utilized to give DSP; The steering order etc. simultaneously receiving display unit module is stored in FIFO; The major function of DSP carries out INS navigation calculation and integrated navigation is resolved, and by navigation calculation result after the conversion that FPGA completes parallel-to-serial data, sends to display unit module 5.
Power module 4 provides stable, reliable working power for resolving processing unit module 3 to double antenna direction finding module 1, IMU module 2 and data; by the wide pressure of 9 ~ 30V/DC of input; through DC-DC voltage conversion circuit; export as stable 5VDC; 12VDC and ± 15VDC, has overvoltage, overcurrent, reverse polarity protection's function.
Display unit module 5 for completing navigation working state control, user command control inputs, navigation data and working state of system output etc.
According to Fig. 2 and Fig. 3, the course of work of whole system is as follows: after system electrification, carry out the initial work of system, comprise the initial work and correlation parameter configuration etc. of each hardware of system, as the initialization of digital to analog converter, the optimum configurations of serial port communication, DSP internal register are arranged; Initialization complete and all normal after, judge whether 1PPS pps pulse per second signal that double antenna measurement module 1 exports exports and effectively, when receiving the rising edge of 1PPS pps pulse per second signal, trigger DSP external interrupt service routine, and restart counter and start counting.Under the triggering of outside interrupt routine, start to detect and gather 3 the directional angular velocity information through gyroscope and accelerometer sensitive and 3 directional acceleration information that IMU module 2 exports, resolving through data to carry out after serial data turns parallel data with FPGA in processing unit 3 31, send into DSP 32 and carry out a series of inertial navigation integral and calculating, namely INS resolves, and obtains the position of carrier, speed and attitude, then, detect and judge the position that double antenna direction finding module 1 exports, the validity of speed and course information, when information effective available time, INS is resolved the position obtained, the position that speed and course information and double antenna direction finding module 1 obtain, speed and course information ask poor respectively, obtain 7 observed quantities of 7 deviates as integrated navigation wave filter, introduce 3 site errors, 3 velocity errors, 3 attitude errors, 3 acceleration zero partially and 3 gyro drifts totally 15 quantity of states, set up state equation and the observation equation of system, Kalman filter is utilized to carry out optimal estimation to the error of state navigation system, and utilize estimated value to correct inertial navigation system, obtain high-precision integrated navigation calculation result, finally by display unit module 5 result exported to user or or other equipment, user also can input some steering orders, as double antenna direction finding module 1 work system switches, data export baud rate change, data output rate change etc.In addition, when the position that unavailable or double antenna direction finding module 1 exports in 1PPS pulse per second (PPS), speed, course information are unavailable, system carries out resolving and exporting according to inertial navigation flow process.
Double antenna GNSS/INS integrated navigation system provided by the utility model is described above by specific embodiment, those skilled in the art is to be understood that, in the scope not departing from the invention essence, certain distortion or amendment can be made to the utility model.
Claims (10)
1. a double antenna GNSS/INS integrated navigation system, comprise double antenna direction finding module, IMU module and data are resolved and processing unit module, the position that described double antenna direction finding module is measured for exporting double antenna GNSS, speed and course information, described IMU module is for exporting 3 gyroscopes, the measurement data of 3 accelerometers and measured temperature, described data are resolved and are adopted DSP+FPGA data processing and acquisition scheme with processing unit module, receive double antenna direction finding module and export the position of resolving, the rudimentary horn speed of speed and course information and the output of IMU module, acceleration measurement and temperature value, realize the Communication Control of interface, INS resolves and calculates with integrated navigation.
2. double antenna GNSS/INS integrated navigation system as claimed in claim 1, it is characterized in that, described double antenna measurement module comprises radiofrequency signal process, base band signal process and double antenna navigation calculation, the course angle of the phase differential determination carrier of the GNSS carrier phase signal measured by external two antenna trackings and the angle of pitch, export 20Hz time, position and course information with RS232 serial ports.
3. double antenna GNSS/INS integrated navigation system as claimed in claim 1, it is characterized in that, described IMU module comprises the gyroscope of three orthogonal installations, the accelerometer of three orthogonal installations, temperature sensor and data acquisition circuit, described gyroscope, for providing three directional angular velocity measured values, described accelerometer is used for providing three directional acceleration measured values, described temperature sensor is used for measuring system internal temperature, and described data acquisition circuit is used for Real-time Collection gyroscope, accelerometer and temperature sensor data.
4. double antenna GNSS/INS integrated navigation system as claimed in claim 2, it is characterized in that, described double antenna direction finding module is gps system, Glonass system and BD system multisystem direction finding module.
5. double antenna GNSS/INS integrated navigation system as claimed in claim 3, it is characterized in that, described gyroscope is MEMS or fibre optic gyroscope.
6. double antenna GNSS/INS integrated navigation system as claimed in claim 3, is characterized in that, described accelerometer is the micro-or quartz accelerometer of silicon.
7. double antenna GNSS/INS integrated navigation system as claimed in claim 3, it is characterized in that, described data acquisition comprises a technical grade 24 bit synchronization digital to analog converter, for Real-time Collection gyroscope, accelerometer and temperature sensor data.
8. double antenna GNSS/INS integrated navigation system as claimed in claim 1, is characterized in that, also comprise power module, for powering to whole system.
9. the double antenna GNSS/INS integrated navigation system as described in claim 1 or 7, is characterized in that, described DSP is 32 high-speed floating point type TMS320C6747 processors that TI company produces.
10. the double antenna GNSS/INS integrated navigation system as described in claim 1 or 7, is characterized in that, described FPGA is the high performance-price ratio EP4CE15 that ALTERA company produces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420464477.0U CN204347258U (en) | 2014-08-18 | 2014-08-18 | Double antenna GNSS/INS integrated navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420464477.0U CN204347258U (en) | 2014-08-18 | 2014-08-18 | Double antenna GNSS/INS integrated navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204347258U true CN204347258U (en) | 2015-05-20 |
Family
ID=53230519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420464477.0U Expired - Fee Related CN204347258U (en) | 2014-08-18 | 2014-08-18 | Double antenna GNSS/INS integrated navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204347258U (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241453A (en) * | 2015-10-18 | 2016-01-13 | 上海圣尧智能科技有限公司 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
| CN105549057A (en) * | 2015-12-07 | 2016-05-04 | 韩厚增 | Inertial auxiliary GPS/BDS fusion large-scale measurement device and method for quickly measuring land parcel |
| CN106707874A (en) * | 2017-01-18 | 2017-05-24 | 上海航天控制技术研究所 | Multisource navigational computer circuit |
| CN106772517A (en) * | 2016-12-29 | 2017-05-31 | 华南农业大学 | Agricultural machinery roll angle method of testing based on double antenna GNSS receiver/gyroscope information fusion |
| CN107037469A (en) * | 2017-04-11 | 2017-08-11 | 北京七维航测科技股份有限公司 | Based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter |
| CN107315345A (en) * | 2017-06-23 | 2017-11-03 | 华南农业大学 | Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model |
| CN107525503A (en) * | 2017-08-23 | 2017-12-29 | 王伟 | Adaptive cascade kalman filter method based on double antenna GPS and MIMU combination |
| CN107656533A (en) * | 2017-11-15 | 2018-02-02 | 航宇救生装备有限公司 | A kind of air-drop load bed posture adjustment control method based on double antenna direction finding |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN108226980A (en) * | 2017-12-23 | 2018-06-29 | 北京卫星信息工程研究所 | Difference GNSS and the adaptive close coupling air navigation aids of INS based on Inertial Measurement Unit |
| CN108680942A (en) * | 2018-09-07 | 2018-10-19 | 湖南天羿领航科技有限公司 | A kind of inertia/multiple antennas GNSS Combinated navigation methods and device |
| CN110133694A (en) * | 2019-04-18 | 2019-08-16 | 同济大学 | The vehicle positioning method and system assisted based on the course double antenna GNSS and wheel speed |
| CN110686673A (en) * | 2019-10-30 | 2020-01-14 | 重庆市皓颖科技发展有限公司 | Double-antenna combined inertial navigation system |
| CN110986940A (en) * | 2019-11-05 | 2020-04-10 | 中国船舶重工集团公司第七一七研究所 | Strapdown hemispherical resonator gyroscope inertial navigation |
| CN114152268A (en) * | 2021-09-27 | 2022-03-08 | 北京控制工程研究所 | Inertial navigation performance verification system for missile-borne test |
| CN114235003A (en) * | 2021-11-16 | 2022-03-25 | 中国航空工业集团公司雷华电子技术研究所 | Airborne radar antenna motion parameter resolving method and attitude measurement system |
| CN115184977A (en) * | 2022-09-15 | 2022-10-14 | 北京云恒科技研究院有限公司 | Integrated combined navigation device and navigation system |
| CN115542363A (en) * | 2022-11-24 | 2022-12-30 | 浙江航天润博测控技术有限公司 | Attitude measurement method suitable for vertical downward-looking aviation pod |
| CN117387443A (en) * | 2023-12-13 | 2024-01-12 | 贵州航天凯山石油仪器有限公司 | Missile separation attitude testing device and method based on inertial measurement module |
-
2014
- 2014-08-18 CN CN201420464477.0U patent/CN204347258U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241453A (en) * | 2015-10-18 | 2016-01-13 | 上海圣尧智能科技有限公司 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
| CN105549057A (en) * | 2015-12-07 | 2016-05-04 | 韩厚增 | Inertial auxiliary GPS/BDS fusion large-scale measurement device and method for quickly measuring land parcel |
| CN105549057B (en) * | 2015-12-07 | 2018-08-17 | 韩厚增 | A kind of GPS/BDS fusion quick ancestral land measurement apparatus and method of large scale of inertia auxiliary |
| CN106772517A (en) * | 2016-12-29 | 2017-05-31 | 华南农业大学 | Agricultural machinery roll angle method of testing based on double antenna GNSS receiver/gyroscope information fusion |
| CN106707874A (en) * | 2017-01-18 | 2017-05-24 | 上海航天控制技术研究所 | Multisource navigational computer circuit |
| CN107037469A (en) * | 2017-04-11 | 2017-08-11 | 北京七维航测科技股份有限公司 | Based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter |
| CN107315345A (en) * | 2017-06-23 | 2017-11-03 | 华南农业大学 | Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model |
| CN107315345B (en) * | 2017-06-23 | 2020-10-09 | 华南农业大学 | Agricultural machinery automatic navigation control method based on double-antenna GNSS and preview tracking model |
| CN107525503B (en) * | 2017-08-23 | 2020-09-11 | 王伟 | Adaptive cascade Kalman filtering method based on combination of dual-antenna GPS and MIMU |
| CN107525503A (en) * | 2017-08-23 | 2017-12-29 | 王伟 | Adaptive cascade kalman filter method based on double antenna GPS and MIMU combination |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN107656533A (en) * | 2017-11-15 | 2018-02-02 | 航宇救生装备有限公司 | A kind of air-drop load bed posture adjustment control method based on double antenna direction finding |
| CN108226980B (en) * | 2017-12-23 | 2022-02-08 | 北京卫星信息工程研究所 | Differential GNSS and INS self-adaptive tightly-coupled navigation method based on inertial measurement unit |
| CN108226980A (en) * | 2017-12-23 | 2018-06-29 | 北京卫星信息工程研究所 | Difference GNSS and the adaptive close coupling air navigation aids of INS based on Inertial Measurement Unit |
| CN108680942B (en) * | 2018-09-07 | 2018-12-07 | 湖南天羿领航科技有限公司 | A kind of inertia/multiple antennas GNSS Combinated navigation method and device |
| CN108680942A (en) * | 2018-09-07 | 2018-10-19 | 湖南天羿领航科技有限公司 | A kind of inertia/multiple antennas GNSS Combinated navigation methods and device |
| CN110133694B (en) * | 2019-04-18 | 2023-11-03 | 同济大学 | Vehicle positioning method and system based on dual-antenna GNSS heading and wheel speed assistance |
| CN110133694A (en) * | 2019-04-18 | 2019-08-16 | 同济大学 | The vehicle positioning method and system assisted based on the course double antenna GNSS and wheel speed |
| CN110686673A (en) * | 2019-10-30 | 2020-01-14 | 重庆市皓颖科技发展有限公司 | Double-antenna combined inertial navigation system |
| CN110986940A (en) * | 2019-11-05 | 2020-04-10 | 中国船舶重工集团公司第七一七研究所 | Strapdown hemispherical resonator gyroscope inertial navigation |
| CN114152268A (en) * | 2021-09-27 | 2022-03-08 | 北京控制工程研究所 | Inertial navigation performance verification system for missile-borne test |
| CN114152268B (en) * | 2021-09-27 | 2024-05-31 | 北京控制工程研究所 | Inertial navigation energy verification system for missile-borne test |
| CN114235003B (en) * | 2021-11-16 | 2023-08-18 | 中国航空工业集团公司雷华电子技术研究所 | Solution method for motion parameters of airborne radar antenna and attitude measurement system |
| CN114235003A (en) * | 2021-11-16 | 2022-03-25 | 中国航空工业集团公司雷华电子技术研究所 | Airborne radar antenna motion parameter resolving method and attitude measurement system |
| CN115184977A (en) * | 2022-09-15 | 2022-10-14 | 北京云恒科技研究院有限公司 | Integrated combined navigation device and navigation system |
| CN115542363A (en) * | 2022-11-24 | 2022-12-30 | 浙江航天润博测控技术有限公司 | Attitude measurement method suitable for vertical downward-looking aviation pod |
| CN117387443A (en) * | 2023-12-13 | 2024-01-12 | 贵州航天凯山石油仪器有限公司 | Missile separation attitude testing device and method based on inertial measurement module |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204347258U (en) | Double antenna GNSS/INS integrated navigation system | |
| CN201266089Y (en) | INS/GPS combined navigation system | |
| CN104154916B (en) | A kind of vehicle positioning equipment based on the used group of laser gyro strap down | |
| CN105607093B (en) | A kind of integrated navigation system and the method for obtaining navigation coordinate | |
| CN102608642A (en) | Beidou/inertial combined navigation system | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| CN101865693A (en) | Multi-sensor combined navigation system for aviation | |
| CN102901977B (en) | Method for determining initial attitude angle of aircraft | |
| CN105021188A (en) | Dual-mode bionic polarization/geomagnetic-aided integrated navigation system | |
| CN103760584B (en) | A kind of MONITOR AND CONTROL SYSTEM for the actual measurement of floating support mounting | |
| CN104180804A (en) | Single reference node underwater vehicle integrated navigation method based on underwater information network | |
| CN102207386A (en) | North-finding method based on orientation effect error compensation | |
| CN203037260U (en) | Positioning attitude determination device | |
| CN207318731U (en) | A kind of device for monitoring vehicle with Big Dipper positioning and directing | |
| CN110850461A (en) | GNSS attitude real-time measuring device and measuring method based on three antennas | |
| CN108152838B (en) | Device and method for measuring target position based on sighting | |
| CN101696880A (en) | Dynamic real-time precise level measurement method of moving carrier | |
| CN103196442A (en) | Adaptive vehicle-mounted navigation terminal | |
| CN101571395B (en) | Microminiature inertial-combined navigation parameter measuring method | |
| CN206281978U (en) | A kind of test system of GNSS receiver course angle | |
| CN206804875U (en) | A kind of combined navigation device | |
| CN104898146A (en) | Vehicle-mounted positioning device | |
| CN203053447U (en) | Attitude measuring system based on laser ranging and GPS (global positioning system) | |
| CN2788131Y (en) | Mini-type underwater self-combination navigation equipment | |
| CN103245320B (en) | A kind of deformation of hull measurement mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20190505 Granted publication date: 20150520 |
|
| PP01 | Preservation of patent right | ||
| DD01 | Delivery of document by public notice |
Addressee: BEIJING SDI SCIENCE & TECHNOLOGY Co.,Ltd. Document name: Notice of preservation procedure |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: BEIJING SDI SCIENCE & TECHNOLOGY Co.,Ltd. Document name: Notification to Pay the Fees |
|
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20220505 Granted publication date: 20150520 |
|
| PD01 | Discharge of preservation of patent | ||
| DD01 | Delivery of document by public notice |
Addressee: Gou Lishan Document name: Notice of Termination of Patent Rights |
|
| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150520 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |