CN206281978U - A kind of test system of GNSS receiver course angle - Google Patents
A kind of test system of GNSS receiver course angle Download PDFInfo
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- CN206281978U CN206281978U CN201621318745.3U CN201621318745U CN206281978U CN 206281978 U CN206281978 U CN 206281978U CN 201621318745 U CN201621318745 U CN 201621318745U CN 206281978 U CN206281978 U CN 206281978U
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- gnss receiver
- course angle
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- receiver
- inertial navigation
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Abstract
The application is related to satellite navigation accuracy test technical field, more particularly to a kind of test system of GNSS receiver course angle, can be based on the basis of inertial navigation system, it is connected by the way that the inertial navigation system and GNSS receiver are carried out into communication, and the record of navigation information is carried out based on consistent coordinate system, position correction is carried out to inertial navigation system using GNSS receiver in the default time period simultaneously, and then can precisely obtain deviation of the navigation informations such as the course angle and velocity amplitude of GNSS receiver under different time and varying environment.
Description
Technical field
The utility model is related to satellite navigation accuracy test technical field, more particularly to a kind of GNSS receiver course
The test system at angle.
Background technology
With the development and the progress of science and technology of society, Satellite Navigation Technique obtains development at full speed, and then causes that satellite is led
The precision of boat also more and more higher.GNSS (Global Navigation Satellite System, GPS/
GLONASS) receiver is then very important component parts in satellite navigation system, former according to purposes, work
GNSS receiver can be divided into plurality of classes by reason, receives frequency etc..
Although GNSS receiver can be applied relatively small in aviation, land and the shallower limitations such as under water
Environment in, but the support of external information is required to due to GNSS receiver normal work, allow for GNSS receiver measurement and carry
The limitation of the course angle of body carries out operation than larger in GNSS receiver is applied to deeper water.
Although GPS navigation system based on GNSS receiver can be applied to less demanding to such environmental effects at some
In industry, but because GNSS receiver can to a certain extent be subject to disturbing for extraneous electromagnetic wave or high-intensity magnetic field, require it is higher
Aviation lead the way in its can only be used as secondary navigation system；Made in different based on the navigation equipment for being currently based on GNSS receiver
With environment and requirement, the different classification that can be divided into GNSS receiver according to purposes, operation principle, receives frequency etc., example
Such as GNSS receiver can be divided into navigational route type receiver according to purposes (to be mainly used in the navigation of motion carrier, can give in real time
Go out position and the speed of carrier.C/A yards of pseudo range measurement is typically used, single-point Real-Time Positioning is relatively low, generally 10 meters or so.
Receiver is cheap, is widely used), geodetic type receiver (be mainly used in Precise Geodetic Survey and precise engineering survey.It is this kind of
Instrument mainly carries out relative positioning using carrier phase observation data, and positioning precision is high.Apparatus structure is complicated, expensive.) and award
When type receiver (the main split-second precision standard using GNSS satellite offer carries out time service, is usually used in observatory, radio communication
And time synchronized in electric power networks.)
At present, industry is to test whether different classes of GNSS receiver meets corresponding standard, to GNSS receiver
When being tested during the precision of the course angle of test carrier, generally require and look for a use environment to compare mostly and by external interference
Smaller instrument completes the contrast test of the course angle of receiver.But, according to current course angle and the correlative measurement of speed
Examination, is substantially test data between the GNSS receiver by different board types and contrasts to obtain GNSS receiver in difference
The stability of course angle and velocity amplitude under environment different periods, but the precision of its test is unable to reach current demand.
Utility model content
Regarding to the issue above, this application provides a kind of test system of GNSS receiver course angle, it may include：
GNSS receiver to be measured, to obtain positional information and the first navigation data in real time；
Inertial navigation unit, is connected with the receiver to be measured, according to the navigation data of reference point locations information output second；
Carrier, being used to carry the GNSS receiver to be measured and the inertial navigation unit carries out test campaign；
Data receiver/processing equipment, is connected with the GNSS receiver to be measured and inertial navigation unit communication respectively；
Wherein, the carrier carries the GNSS receiver to be measured and the inertial navigation unit and carries out the test motion
When, the data receiver/processing equipment is received and processes the GNSS receiver to be measured and the inertial navigation unit is synchronously defeated
First navigation data and second navigation data for going out, to export the navigation error data of the GNSS receiver.
Preferably, the test system of above-mentioned GNSS receiver course angle, the carrier carries the GNSS to be measured and receives
When machine and the inertial navigation unit carry out test motion, the inertial navigation unit obtains the GNSS receiver output to be measured
Positional information carry out position correction.
Preferably, the test system of above-mentioned GNSS receiver course angle, the carrier is that diving apparatus and/or flight set
Standby and/or unmanned land row equipment.
Preferably, the test system of above-mentioned GNSS receiver course angle, the data receiver/processing equipment is with number
According to the electronic equipment for receiving/processing/export, (computer and/or panel computer, mobile phone etc. have data processing and output work
Intelligent mobile terminal equipment of energy etc.).
Preferably, the test system of above-mentioned GNSS receiver course angle, the test campaign non-is at the uniform velocity transported in the same direction for non-
It is dynamic.
Preferably, the test system of above-mentioned GNSS receiver course angle, the inertial navigation unit is when default
Between section carry out the position correction；
Wherein, the default time period for (0,10] s.
Preferably, the test system of above-mentioned GNSS receiver course angle, the navigation data includes course angle and speed
Value.
Preferably, the test system of above-mentioned GNSS receiver course angle, the data receiver/processing equipment is making the difference
Mode obtains the navigation error data.
Preferably, the test system of above-mentioned any one GNSS receiver course angle, the data receiver/processing equipment
The navigation error data is presented in the way of broken line graph.
A kind of test system of GNSS receiver course angle provided herein, can be based on the basis of inertial navigation system
On, it is connected by the way that the inertial navigation system and GNSS receiver are carried out into communication, and navigation letter is carried out based on consistent coordinate system
The record of breath, while position correction is carried out to inertial navigation system using GNSS receiver in the default time period, and then can
Precisely obtain the deviations of the navigation information under different time and varying environment such as the course angle and velocity amplitude of GNSS receiver.
Brief description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiment of the present utility model.However, appended accompanying drawing is only used for
Bright and elaboration, does not constitute the limitation to the utility model scope.
Fig. 1 is the structural representation of the test system of GNSS receiver course angle in the embodiment of the present application；
Fig. 2 is the schematic flow sheet of the method for testing of GNSS receiver course angle in the embodiment of the present application.
Specific embodiment
The utility model will be illustrated by way of embodiment with reference to accompanying drawing.In the accompanying drawings, it is identical in each figure or
Dependency structure or functional element can be represented with similar label.The size and feature of element are only as convenient elaboration in accompanying drawing
Purpose.They have not been defined to scope of the present utility model, and do not necessarily mean that actual size and proportionate relationship.
Inertial navigation is a kind of navigational parameter resolving system with gyro and accelerometer as Sensitive Apparatus, i.e., the system can
Navigational coordinate system is set up in output according to gyro, and calculates speed of the carrier in navigational coordinate system according to accelerometer output
Degree and position.Inertial navigation system calculates navigation system for a kind of, i.e., from the position of a known point according to the motion for continuously measuring
Body course angle and speed calculation go out the position of its subsequent point, thus can continuously measure the current location of movable body.Inertial navigation system
Gyroscope in system is used for forming a navigational coordinate system, makes the measurement axle stabilization of accelerometer in the coordinate system, and provide
Course and attitude angle；Accelerometer is used for measuring the acceleration of movable body, and speed, speed are obtained by the once integration to the time
It is again that can obtain displacement by the once integration to the time.
Due to inertial navigation system be it is a kind of do not rely on any external information and meanwhile also not to outside emittance from
Main formula system, so that it has preferable good concealment, and will not also be influenceed by outside electromagnetic interference；So inertial navigation
Equipment round-the-clock, complete can be worked in temporally in aerial, earth surface or even the operating environment such as under water, so export have it is preferable
The navigation information including position, speed, course and attitude angle data etc. of continuity and low noise；While inertial navigation
Data updating rate is also higher, and short-term accuracy and stability are also more excellent compared to conventional satellite navigation equipment.But, due to used
The navigation information of property navigation equipment is produced by integration, so can cause that its position error increases with the passing of time,
And then cause that the precision of long-term navigation information is poor, and needed initial alignment more long before every time using inertial navigation set
Time, while the price of its equipment is very expensive, and correct time information can not be provided.
It is shown in Figure 1 for above-mentioned problems, the application it is creative propose a kind of GNSS receiver course angle
Test system, it may include to obtain the GNSS receiver to be measured 2 of positional information and the first navigation data in real time and above-mentioned treat
Survey receiver connection and can according to the inertial navigation unit 3 of the navigation data of reference point locations information output second, be used to carry and treat
Survey GNSS receiver and inertial navigation unit test motion carrier 1 and respectively with GNSS receiver to be measured and inertial navigation
Data receiver/processing equipment 4 of device communication connection etc., and can carry GNSS receiver to be measured 2 and inertia in above-mentioned carrier 1
When guider 3 carries out test motion, inertial navigation unit 3 can in real time or interval preset time period acquisition GNSS receiver to be measured
The positional information of 2 outputs carries out position correction, and data receiver/processing equipment 4 then can respectively be received and process GNSS to be measured and connect
First navigation data and the second navigation data of receipts machine 2 and the synchronism output of inertial navigation unit 3, to export GNSS receiver to be measured
2 navigation error data.
In addition, it is shown in Figure 2, above-mentioned system can be based on, present invention also provides a kind of GNSS receiver course angle
Method of testing, including：
Step S1 a, it is possible to provide GNSS receiver to be measured and a connected inertial navigation unit.
Step S2, by GNSS to be measured and inertial navigation unit connection after, be installed on identical carrier (such as diving apparatus and/or
Flight equipment and/or unmanned land row equipment etc.) on.
Step S3, by the one data receiver/processing equipment electronic equipment of data receiver/treatment/output (have) respectively with
GNSS receiver to be measured and inertial navigation unit communication connection.
It is (such as non-non- even in the same direction that step S4, carrier carrying GNSS receiver to be measured and inertial navigation unit carry out test campaign
Speed motion), inertial navigation unit can in real time or interval preset time period (as (and 0,10] s) obtain what GNSS receiver to be measured was exported
Positional information carries out position correction, and data receiver/processing equipment is received and processes the GNSS receiver to be measured and the inertia
Guider synchronism output navigation data (including GNSS receiver output the first navigation data and inertial navigation unit output
The second navigation data, and navigation data pointed in first navigation data, the second navigation data and the present embodiment
Including the data such as course angle and velocity amplitude), and the side will be made the difference between above-mentioned the first navigation data and the second navigation data
Formula is calculated and exports the navigation error data (can be a broken line graph) of GNSS receiver.
Test system and method in the application, the equipment that can be directed to such as navigation orientation positioning (are provided with GNSS receptions
Machine) by using precision measure is carried out, especially for the product with high-precision location information and course angle information, by profit
The navigation data exported with inertia system accurately obtains the accuracy that GNSS receiver exports navigation data as benchmark,
It is attached by serial ports also between inertia system and GNSS receiver simultaneously, is received with real-time or interval preset time period
And position correction to inertia system is carried out according to the positional information that GNSS receiver sends, to overcome the inertial navigation system can only
The high-precision course angle of short-term stability and the technical problem of velocity information are provided, so as to may be such that the test system tool after improving
Have it is steady in a long-term more preferably and precision real-time course angle and velocity information higher.
In addition, during inertial navigation system and the course angle and velocity information of receiver output are to being compared to difference, and
Need not pay close attention to whether inertial navigation system can provide temporal information, it is only necessary to ensure the GPHDT numbers of GNSS receiver output
According to frequency it is synchronous with the output frequency holding of inertial navigation system.Meanwhile, in order to further lift the precision of test,
Before contrast test is proceeded by, the coordinate that with the coordinate system of GNSS receiver is consistent of inertial navigation system can be set up
System, in order to the contrast operation carried out between two course angles of pinpoint accuracy.
In actual test process, can be before carrier carry out test campaign, can first by inertial navigation system and to be measured
The related accessory of GNSS receiver and configuration (can carry out the operation of adaptability, in order to illustrate simplicity using existing technology herein
It is not tired again to state)；Then, inertial navigation system and GNSS receiver to be measured can be installed on carrier, and assemble finish after,
Consistent coordinate system and coordinate system is set up, and starting point can be confirmed (as inertia system by GNSS receiver to be measured
Datum mark) geographic coordinate information；Afterwards, when carrier starts to be travelled with friction speed different directions, can be by using computer
Record and preserve the information such as the course angle and velocity information of inertial navigation system and GNSS receiver synchronism output to be measured, and
During carrier movement, inertial navigation system can often the regular hour obtains positional information to carry out from GNSS receiver to be measured excessively
Position correction；Finally, after being completed, the data that computer is preserved such as can be made the difference at the mode by Microsoft Excel and is done
Difference is calculated, and difference is made into the forms such as broken line graph is presented, in order to convenient and swift and accurately learn to be measured
Deviation of the navigation informations such as course angle, the velocity amplitude of GNSS receiver under different time varying environment.
It should be noted that in embodiments herein, the GNSS based on inertial navigation system (i.e. inertial navigation unit)
The method of testing and system of receiver course angle, can be directed to course angle and velocity amplitude of the GNSS receiver of navigation type etc. carries out essence
True measurement, and may be such that inertial navigation system is consistent with the coordinate system of GNSS receiver to be measured during test,
In order to the analyzing and processing of follow-up data, while being carried out in the carrier that carrier carries GNSS receiver to be measured and inertial navigation system
During test motion, inertial navigation system can be believed by the position in real time or acquired in the scheduled time from GNSS receiver to be measured of interval
Cease to carry out location update operations to inertial navigation system, to lift the accuracy of inertial navigation system long-time navigation information.
Due to carrying out accuracy detection to GNSS receiver by using inertial navigation system in the embodiment of the present application, while
Positional information can be in real time transferred to inertial navigation system again by realizing high-precision position correction in real time for GNSS receiver
To lift the accuracy of inertial navigation system long-time navigation information, can not only so cause that testing precision is higher, moreover it is possible to
It is effective to solve that short-term stability is done the problems such as testing, so as to lift course angle, the precision of velocity test；In addition, respectively
The accuracy test of course angle and speed is carried out in varying environment different periods, may also be advantageous for realizing the optimal of GNSS receiver
Use environment and period, more accurate data message can be provided when client uses.
The technical solution of the utility model is described above in association with specific embodiment, but those skilled in the art should manage
Solution, the above is merely illustrative of, and protection domain of the present utility model is limited by appended claims.Art technology
Personnel on the premise of without prejudice to know-why of the present utility model and substance, embodiment can be carried out numerous variations or
Change, these changes and change all should fall into protection domain of the present utility model.
Claims (9)
1. a kind of test system of GNSS receiver course angle, it is characterised in that including：
GNSS receiver to be measured, to obtain positional information and the first navigation data in real time；
Inertial navigation unit, is connected with the receiver to be measured, according to the navigation data of reference point locations information output second；
Carrier, being used to carry the GNSS receiver to be measured and the inertial navigation unit carries out test campaign；
Data receiver/processing equipment, is connected with the GNSS receiver to be measured and inertial navigation unit communication respectively；
Wherein, when the carrier carrying GNSS receiver to be measured and the inertial navigation unit carry out the test motion,
Data receiver/the processing equipment is received and processes the GNSS receiver to be measured and the inertial navigation unit synchronism output
First navigation data and second navigation data, to export the navigation error data of the GNSS receiver.
2. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the carrier carries described
When GNSS receiver to be measured and the inertial navigation unit carry out test motion, the inertial navigation unit obtains described to be measured
The positional information of GNSS receiver output carries out position correction.
3. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the carrier sets for diving
Standby and/or flight equipment and/or unmanned land row equipment.
4. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the data receiver/place
Reason equipment is the electronic equipment with data receiver/treatment/output.
5. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the test campaign is non-
Non-uniform movement in the same direction.
6. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the inertial navigation unit
The position correction is carried out every the default time period；
Wherein, the default time period for (0,10] s.
7. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the navigation data includes
Course angle and velocity amplitude.
8. the test system of GNSS receiver course angle as claimed in claim 1, it is characterised in that the data receiver/place
Reason equipment obtains the navigation error data in the way of making the difference.
9. the test system of the GNSS receiver course angle as described in any one in claim 1~8, it is characterised in that institute
State data receiver/processing equipment and the navigation error data is presented in the way of broken line graph.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621318745.3U CN206281978U (en) | 2016-12-02 | 2016-12-02 | A kind of test system of GNSS receiver course angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621318745.3U CN206281978U (en) | 2016-12-02 | 2016-12-02 | A kind of test system of GNSS receiver course angle |
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| CN206281978U true CN206281978U (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621318745.3U Expired - Fee Related CN206281978U (en) | 2016-12-02 | 2016-12-02 | A kind of test system of GNSS receiver course angle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646539A (en) * | 2016-12-02 | 2017-05-10 | 上海华测导航技术股份有限公司 | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle |
| CN108896042A (en) * | 2018-07-17 | 2018-11-27 | 千寻位置网络有限公司 | Simulate walking inertial navigation test method and system without satellite-signal |
| CN110514223A (en) * | 2019-08-22 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of vehicle-mounted inertial guidance data acquisition system |
-
2016
- 2016-12-02 CN CN201621318745.3U patent/CN206281978U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646539A (en) * | 2016-12-02 | 2017-05-10 | 上海华测导航技术股份有限公司 | Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle |
| CN108896042A (en) * | 2018-07-17 | 2018-11-27 | 千寻位置网络有限公司 | Simulate walking inertial navigation test method and system without satellite-signal |
| CN108896042B (en) * | 2018-07-17 | 2021-06-29 | 千寻位置网络有限公司 | Walking inertial navigation test method and system for simulating satellite-free signals |
| CN110514223A (en) * | 2019-08-22 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of vehicle-mounted inertial guidance data acquisition system |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170627 Termination date: 20211202 |