CN216561010U - GNSS receiver dynamic precision measuring device - Google Patents
GNSS receiver dynamic precision measuring device Download PDFInfo
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- CN216561010U CN216561010U CN202122397314.8U CN202122397314U CN216561010U CN 216561010 U CN216561010 U CN 216561010U CN 202122397314 U CN202122397314 U CN 202122397314U CN 216561010 U CN216561010 U CN 216561010U
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Abstract
The utility model discloses a GNSS receiver dynamic precision measuring device which comprises a circular workbench assembly, wherein a rotary arm assembly is arranged on the circular workbench assembly, a precision detection assembly is arranged on the rotary arm assembly, a three-degree-of-freedom objective platform assembly is arranged at the end part of the rotary arm assembly, and the circular workbench assembly, the precision detection assembly and the three-degree-of-freedom objective platform assembly are all connected with a driving control system. The GNSS receiver dynamic precision measuring device is simple in structure, few in factors influencing the motion trail precision of the receiver to be detected, high in motion trail precision, good in stability and repeatability, capable of effectively compensating the measurement error caused by time-space desynchrony through forward and reverse measurement, convenient to operate and control, low in cost and good in practical value.
Description
Technical Field
The utility model belongs to the technical field of test and measurement, and particularly relates to a dynamic precision measuring device of a GNSS receiver.
Background
At present, a Global Navigation Satellite System (GNSS) has been widely applied in various fields to provide positioning and navigation services for different service objects, and the basis of navigation is positioning, and with the development and application of AI technology, autopilot technology, unmanned aerial vehicle, robot and three-dimensional measurement technology, higher requirements are provided for the navigation and positioning accuracy, continuity and reliability of GNSS. Therefore, dynamic positioning accuracy detection of GNSS is increasingly important.
The key of the GNSS dynamic positioning precision detection is to construct the motion environment of the detected receiver and provide a high-precision comparison reference, and the currently known detection methods at home and abroad can be summarized into the following three methods. The first method comprises the following steps: the method for detecting the motion of the simulated carrier based on the simulation system comprises the steps of utilizing the simulation system to simulate and generate satellite navigation simulation signals with dynamic characteristics, and testing and analyzing the dynamic measurement precision of a GNSS measurement system in a microwave darkroom. Because the detected receiver is not in an actual motion state, the method has low accuracy and credibility; and the second method comprises the following steps: the real carrier motion detection method based on attitude measurement is characterized in that a detected receiver and comparison equipment are fixedly placed on a motion carrier according to a pre-designed relative relation, the comparison equipment acquires high-precision position and attitude information of the detected receiver in real time, and the high-precision position and attitude information is compared with a measurement value of a GNSS on the detected receiver, so that a GNSS dynamic positioning error can be obtained. And the third is that: the outdoor 'sports car' comparison method is that a high-precision GNSS receiver provides a so-called 'true value', and the so-called 'true value' is compared with a measurement result of a receiver to be detected so as to acquire the GNSS dynamic positioning precision. However, none of these three methods can achieve the following conditions: 1, repeated detection can be carried out under the same detection environment to reach the required detection times; 2. it is necessary to ensure the detected spatiotemporal consistency, i.e. the position of the GNSS positioning measurements coincides with the actual spatial position of the receiver being detected at the same time.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a GNSS receiver dynamic precision measuring device, which solves the problems that repeated detection cannot be carried out under the same detection environment and measurement errors generated by time-space asynchronism cannot be effectively compensated in the prior art.
The technical scheme includes that the GNSS receiver dynamic precision measuring device comprises a circular workbench assembly, a rotary arm assembly is arranged on the circular workbench assembly, a precision detection assembly is arranged on the rotary arm assembly, a three-degree-of-freedom objective platform assembly is arranged at the end of the rotary arm assembly, and the circular workbench assembly, the precision detection assembly and the three-degree-of-freedom objective platform assembly are all connected with a driving control system.
The utility model is also characterized in that:
the round workbench assembly comprises a rotating round platform base, a rotating round platform is arranged on the rotating round platform base and rotates along the rotating round platform base, the driving control system comprises a motor, and an output shaft of the motor is connected with a rotating round platform rotating shaft.
The rotary arm assembly comprises a rotary arm mounting base, the rotary arm mounting base is fixed on the rotary round table, and the rotary arm is arranged on the rotary arm mounting base.
The rotary arm comprises a vertical upright post arranged on a rotary arm mounting base, an upper chord is arranged on the upper side of the upright post in a downward inclined mode, a lower chord is arranged on the lower side of the upright post in an upward inclined mode, the upper chord and the lower chord are radially connected with a plurality of web members, and the end portions of the upper chord and the lower chord are fixedly connected with a fixing plate.
The rotary arm comprises a vertical upright post arranged on a rotary arm mounting base, the rotary arm mounting base and the upright post are used as a center, the horizontal diameter alignment is 180 degrees, a truss type rotary arm main body is arranged, a plurality of longitudinal web members are arranged on the truss type rotary arm main body along the length direction, a plurality of transverse web members are arranged on the truss type rotary arm main body along the width direction, and a fixing plate is arranged at the end part of the truss type rotary arm main body.
The slewing arm includes that slewing arm installation base is improved level and is set up the single pole, and the single pole is close to slewing arm installation base one end and sets up the balancing piece, and single pole is kept away from slewing arm installation base one end and is set up the fixed plate, sets up a plurality of tractive wire rope between slewing arm installation base and the fixed plate, and the direction that tractive wire rope extends is parallel with the axial of single pole, and single pole tip sets up the balancing piece.
The rotary arm comprises three single rods which are uniformly distributed on the rotary arm mounting base in the horizontal circumferential direction, a plurality of rigid auxiliary rods are connected between every two adjacent single rods, and a plurality of auxiliary rod steel wires are arranged on each rigid auxiliary rod and connected with the rotary arm mounting base.
The three-degree-of-freedom objective platform assembly comprises a three-axis sliding table module, the three-axis sliding table module comprises an X-axis sliding assembly extending in the left-right direction, a Y-axis sliding assembly extending in the front-back direction and a Z-axis sliding assembly extending in the up-down direction, the X-axis sliding assembly, the Y-axis sliding assembly and the Z-axis sliding assembly are arranged in the vertical direction, the X-axis sliding assembly comprises an X-axis sliding table, an X-axis sliding rail is arranged on the X-axis sliding table, and an X-axis sliding block is arranged in the X-axis sliding rail in a sliding manner; the Y-axis sliding assembly comprises a Y-axis sliding table, a Y-axis sliding rail is arranged on the Y-axis sliding table, and a Y-axis sliding block is arranged in the Y-axis sliding rail in a sliding manner; the Z-axis sliding assembly comprises a Z-axis sliding table, a Z-axis sliding rail is arranged on the Z-axis sliding table, and a Z-axis sliding block is arranged in the Z-axis sliding rail in a sliding mode; the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail are provided with three lead screws for driving the X-axis slide block, the Y-axis slide block and the Z-axis slide block to slide back and forth and a driving motor for driving the lead screws to rotate, the three lead screws respectively penetrate through the X-axis slide block, the Y-axis slide block and the Z-axis slide block, and the three drives are all electrically connected with a drive control system; z axle slip table sets up in the fixed plate outside, sets up Y axle slip table on the Z axle slider, and Y axle slider top sets up X axle slip table, and X axle slip table upper end sets up cargo platform, sets up on the cargo platform and is examined the receiver.
The precision detection assembly comprises a position change detection device a, a position change detection device b and ground position mark sensors, wherein a mounting seat a is arranged on the rotary arm, the position change detection device a is arranged on the mounting seat a, the mounting seat b is arranged on the inner side of the fixing plate, the mounting seat b and the mounting seat a are located at the same horizontal position, the position change detection device b is arranged on the mounting seat b, a plurality of ground position mark sensors are uniformly arranged on the circumference of the rotation track of the detected receiver, and the position change detection device a, the position change detection device b and the ground position mark sensors are electrically connected with a drive control system.
The adjacent two ground position mark sensors are 0.5m-1 m.
The utility model has the beneficial effects that: the GNSS receiver dynamic precision measuring device does circular motion through the structure that the revolving arm rotates around the fixed shaft, the receiver to be detected is enabled to do circular motion, the dynamic positioning precision detection of the receiver to be detected is realized, and the conditions required by the GNSS dynamic positioning precision detection are better met.
Drawings
FIG. 1 is a schematic structural diagram of a GNSS receiver dynamic accuracy measurement apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of a truss-type revolving arm of a GNSS receiver dynamic precision measurement apparatus according to the present invention;
FIG. 3 is a schematic diagram of a single-rod structure swivel arm of a GNSS receiver dynamic accuracy measurement apparatus according to the present invention;
FIG. 4 is a schematic structural diagram of a single-arm three-bar articulated arm with traction of a GNSS receiver dynamic accuracy measurement apparatus according to the present invention;
FIG. 5 is a diagram of the GNSS dynamic positioning accuracy detection time-space out-of-sync error compensation concept.
In the figure, 1, a rotary circular table base, 2, a rotary circular table, 3, a rotary arm mounting base, 4, a lower chord, 5, an upright post, 6, a mounting seat a, 7, a position change detection device a, 8, an upper chord, 9, a web member, 10, a position change detection device b, 11, a mounting seat b, 12, a fixing plate, 13, an X-axis sliding assembly, 14, a detected receiver, 15, a carrying platform, 16, a ground position mark sensor, 17, a Y-axis sliding assembly, 18, a Z-axis sliding assembly, 19, a truss type rotary arm main body, 20, a single rod, 21, a traction steel wire rope, 22, a rigid auxiliary rod and 23, an auxiliary rod steel wire.
Detailed Description
The utility model is described in further detail below with reference to the figures and the detailed description.
The utility model relates to a structure of a GNSS receiver dynamic precision measuring device, which comprises a circular workbench assembly, wherein a rotary arm assembly is arranged on the circular workbench assembly, a precision detection assembly is arranged on the rotary arm assembly, a three-degree-of-freedom objective platform assembly is arranged at the end part of the rotary arm assembly, and the circular workbench assembly, the precision detection assembly and the three-degree-of-freedom objective platform assembly are all connected with a driving control system.
The round workbench assembly comprises a rotary round table base 1, a rotary round table 2 is arranged on the rotary round table base 1, and the rotary round table 2 rotates along the rotary round table base 1. The rotary round table base 1 and the rotary round table 2 are the basis for generating rotary motion, the drive control system comprises a motor, and an output shaft of the motor is connected with a rotating shaft of the rotary round table 2.
The rotating arm assembly comprises a rotating arm mounting base 3, the rotating arm mounting base 3 is fixed on the rotating round table 2, and a rotating arm is arranged on the rotating arm mounting base 3.
According to one embodiment of the rotary arm, the rotary arm comprises a vertical column 5 vertically arranged on a rotary arm mounting base 3, an upper chord 8 is obliquely arranged above the vertical column 5, a lower chord 4 is obliquely arranged below the vertical column 5, the upper chord 8 and the lower chord 4 are radially connected with a plurality of web members 9, and the end parts of the upper chord 8 and the lower chord 4 are fixedly connected with a fixing plate 12.
Another embodiment of the revolving arm in the utility model is a truss-type revolving arm, as shown in fig. 2, the revolving arm comprises a vertical upright post 5 arranged on a revolving arm mounting base 3, a truss-type revolving arm main body is horizontally arranged in a 180-degree radial alignment manner by taking the revolving arm mounting base 3 and the upright post 5 as centers, a plurality of longitudinal web members are arranged on the truss-type revolving arm main body along the length direction, a plurality of transverse web members are arranged on the truss-type revolving arm main body along the width direction, a fixing plate 12 is arranged at the end part of the truss-type revolving arm main body, and the truss-type revolving arm enables the whole device to have better double-station dynamic balance performance and simultaneously realize double-station operation.
One embodiment of the revolving arm in the utility model is a revolving arm with a single-rod structure, as shown in fig. 3, the revolving arm comprises a revolving arm mounting base 3, a single rod 20 is horizontally arranged on the revolving arm mounting base 3, a balance block is arranged at one end of the single rod 20 close to the revolving arm mounting base 3, a fixing plate 12 is arranged at one end of the single rod 20 far away from the revolving arm mounting base 3, a plurality of traction steel wire ropes 21 are arranged between the revolving arm mounting base 3 and the fixing plate 12, the extending direction of the traction steel wire ropes 21 is parallel to the axial direction of the single rod 20, the single rod 20 structure can reduce the mass of the revolving arm, the traction steel wire ropes 21 are arranged to prevent the deformation problem caused by the rigidity difference of the single rod 20, and the balance block is arranged at the end part of the single rod 20 to improve the dynamic balance of the device.
One embodiment of the slewing arm is a single-arm three-rod slewing arm with traction, as shown in fig. 4, the slewing arm comprises three single rods 20 uniformly distributed on a slewing arm mounting base 3 in the horizontal circumferential direction, a plurality of rigid auxiliary rods 22 are connected between every two adjacent single rods 20, a plurality of stable triangular structures are formed among the three single rods 20, a plurality of auxiliary rod steel wires 23 are arranged on each rigid auxiliary rod 22 and connected with the slewing arm mounting base 3, deformation generated by wind resistance load is reduced to the maximum extent, and multi-receiver and multi-point synchronous detection is realized.
The three-degree-of-freedom objective platform assembly comprises a three-axis sliding table module, the three-axis sliding table module comprises an X-axis sliding assembly 13 extending in the left-right direction, a Y-axis sliding assembly 17 extending in the front-back direction and a Z-axis sliding assembly 18 extending in the up-down direction, the X-axis sliding assembly 13, the Y-axis sliding assembly 17 and the Z-axis sliding assembly 18 are arranged in the vertical direction, the X-axis sliding assembly 13 comprises an X-axis sliding table, an X-axis sliding rail is arranged on the X-axis sliding table, and an X-axis sliding block is arranged in the X-axis sliding rail in a sliding manner; the Y-axis sliding assembly 17 comprises a Y-axis sliding table, a Y-axis sliding rail is arranged on the Y-axis sliding table, and a Y-axis sliding block is arranged in the Y-axis sliding rail in a sliding mode; the Z-axis sliding assembly 18 comprises a Z-axis sliding table, a Z-axis sliding rail is arranged on the Z-axis sliding table, and a Z-axis sliding block is arranged in the Z-axis sliding rail in a sliding mode; the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail are provided with three lead screws for driving the X-axis slide block, the Y-axis slide block and the Z-axis slide block to slide back and forth and a driving motor for driving the lead screws to rotate, the three lead screws respectively penetrate through the X-axis slide block, the Y-axis slide block and the Z-axis slide block, and the three drives are all electrically connected with a drive control system; z axle slip table sets up in the fixed plate 12 outside, sets up Y axle slip table on the Z axle slider, and Y axle slider top sets up X axle slip table, and X axle slip table upper end sets up objective platform 15, sets up on objective platform 15 and is examined receiver 14. The three-degree-of-freedom objective platform is used for adjusting the spatial attitude of the detected receiver 14 and realizing the detection of variable elevation dynamic positioning accuracy.
The precision detection assembly comprises a position change detection device a7, a position change detection device b10 and ground position mark sensors 16, wherein a mounting seat a6 is arranged on the rotary arm, a position change detection device a7 is arranged on the mounting seat a6, a mounting seat b11 is arranged on the inner side of the fixed plate 12, the mounting seat b11 and the mounting seat a6 are located at the same horizontal position, a position change detection device b10 is arranged on the mounting seat b11, a plurality of ground position mark sensors 16 are uniformly arranged on the circumference of the rotary track of the detected receiver 14, and the adjacent two ground position mark sensors 16 are 0.5m-1 m. The position change detection device a7, the position change detection device b10 and the ground position mark sensor 16 are all electrically connected with a driving control system, the change detection device a7 and the position change detection device b10 measure the displacement of the detected receiver along the X, Y and Z coordinate directions in real time, and the spatial position coordinate of the detected receiver is corrected in real time to ensure the detection precision.
The utility model relates to a working principle of a GNSS receiver dynamic precision measuring device, wherein a rotary arm does not depend on a traditional guide rail, the rotary arm is of a rigid structure, the end part of the rotary arm is connected with a fixed plate and is connected with a three-degree-of-freedom object carrying platform, a detected receiver 14 is arranged on an object carrying platform 15, the rotary arm is arranged on a rotary circular table 2, the detected receiver 14 generates circular motion when the rotary circular table 2 rotates, a precision detection component arranged at the tail end of the rotary arm feeds back the motion track of the object carrying platform 15 in real time, the position precision of the motion track is high, the stability and the repeatability are good, and the positioning precision detection of long time, different motion parameters and different motion postures can be realized.
The detection method of the GNSS receiver dynamic precision measuring device comprises the following steps:
And 2, calibrating the space position of the GNSS receiver detection base point.
The ground position mark sensor 16 is numbered, and after repeated scaling and averaging, the high-precision space coordinate value of the receiver 14 at the ground position mark sensor 16 is determined to be (x)d,yd,zd)iI is the number of the ground position mark sensor, and i is 0-N-1;
the receiver 14 to be detected is installed on an object carrying platform 15, a detection base point is arranged on the object carrying platform 15, the position of the receiver 14 to be detected relative to the detection base point is known, the revolving arm is located at each ground position mark sensor 16, the relative position of the detection base point and the ground sensor is known, the static space position of the receiver to be detected when the revolving arm is located at each ground position mark sensor 16 is obtained according to the determined position of the ground position mark sensor 16, the space position of the detection base point of the GNSS receiver is calibrated, multiple repeated calibration is adopted, and the calibration precision is ensured according to the average value of the multiple repeated calibration;
and 3, configuring a stable operation environment.
Selecting platform rotation parameters according to the linear speed required by a user and the radius of the rotary arm, selecting a fixed elevation or variable elevation motion mode, and starting the rotary circular table 2 to enable the rotary circular table to reach a stable operation time standard, wherein the higher the precision required by the user is, the longer the stable operation time is, clockwise and anticlockwise stable operation environments are respectively configured to prepare for data measurement.
And 4, generating stable circular motion by the detected receiver when the rotary circular table 2 rotates stably under the condition that the motion parameters are selected in the step 3, and driving the control system when the detected receiver 14 passes through a zero position (i is 0)Starting to issue a sampling command, the receiver 14 to be detected starts to receive GNSS positioning information, and at the same time, the position change detection device a7 and the position change detection device b10 collect position change information of the receiver 14 to be detected once respectively; thereafter, each time the receiver 14 passes by one ground position marker sensor 16, the receiver 14 receives one piece of GNSS positioning information, and the position change detecting device a7 and the position change detecting device b10 collect one piece of position change information of the receiver 14, and the positioning information of the GNSS system is expressed as (x)g,yg,zg)iThe detected receiver position change information is expressed as (Δ x)g,Δyg,Δzg)iAnd respectively collecting and storing the coordinates of all the i-point receiver clockwise and anticlockwise and the actual position coordinates.
And 6, after the detection is finished, effective space-time asynchronous error compensation is carried out.
Due to the influence of factors such as the response time of the ground position mark sensor 16, the data acquisition time and the like, the slewing arm sweeps across the ground position mark sensor 16 and sends out sampling pulses, a delay delta t exists between the positioning measurement of the GNSS system, the receiver 14 to be detected is in a motion state, delta s displacement is generated within the delta t time, the position of the receiver to be detected is measured by the GNSS system and deviates from the position of the slewing arm when the slewing arm sweeps across the ground position mark sensor 16, and therefore the generated GNSS dynamic positioning precision detection error is the detection error generated by time-space asynchronization.
The error is compensated by forward and reverse measurements, and the compensation concept is shown in fig. 5.
In GNSS dynamic positioning precision detection, detection errors generated by time-space asynchronism are mainly reflected on an x-y coordinate plane (x)i,yi) The location of the ith ground location marker sensor 16, (x)i＇,yi＇) The position of the receiver is detected after the rotation of the rotary arm is anticlockwise delayed by delta t; (x)i＂,yi＂) For clockwise rotation of the slewing arm, the position of the receiver is detected after a time delay of delta t:
the positional deviations generated compared with the i point are respectively
Δx＇＝(xi＇-xi)＜0
Δy＇＝(yi＇-yi)＞0
Δx＂＝(xi＂-xi)＞0
Δy＂＝(yi＂-yi)＜0
The polarities of the corresponding coordinate errors are opposite, and the influences are mutually counteracted through a data processing method, so that an error compensation effect is received.
The coordinates of the detected receiver passing through the point i during the rotation after compensation are as follows:
for the case that the i point is located on the x axis, at this time, Δ x 'and Δ x "have the same polarity, but Δ y' and Δ y" still have opposite polarities, and the error in the x direction is much smaller than the error in the y direction.
The GNSS receiver position coordinates after final compensation are:
and (x)d+Δxg,yd+Δyg,zd+Δzg)iAnd analyzing and processing the data, and obtaining the error through multiple measurement averages to obtain the dynamic positioning error of the detected receiver.
The GNSS receiver dynamic precision measuring device has the characteristics of simple structure and low cost, measures the displacement of the detected receiver along the directions of three coordinates of x, y and z in real time, compensates the measuring error generated by time-space asynchronization, corrects the space position coordinate of the detected receiver in real time to ensure the detection precision, can effectively compensate the error generated by time-space asynchronization through forward and reverse detection, improves the detection precision, and effectively compensates the measuring error generated by time-space asynchronization by using a forward and reverse measuring method.
Claims (10)
1. The GNSS receiver dynamic precision measuring device is characterized by comprising a circular workbench assembly, wherein a rotary arm assembly is arranged on the circular workbench assembly, a precision detection assembly is arranged on the rotary arm assembly, a three-degree-of-freedom objective platform assembly is arranged at the end part of the rotary arm assembly, and the circular workbench assembly, the precision detection assembly and the three-degree-of-freedom objective platform assembly are all connected with a driving control system.
2. The GNSS receiver dynamic accuracy measuring device of claim 1, wherein the circular worktable assembly comprises a rotary circular table base (1), a rotary circular table (2) is arranged on the rotary circular table base (1), the rotary circular table (2) rotates along the rotary circular table base (1), the drive control system comprises a motor, and an output shaft of the motor is connected with a rotating shaft of the rotary circular table (2).
3. The GNSS receiver dynamic accuracy measurement apparatus according to claim 1, wherein the rotation arm assembly comprises a rotation arm mounting base (3), the rotation arm mounting base (3) is fixed on the rotation round table (2), and a rotation arm is arranged on the rotation arm mounting base (3).
4. The GNSS receiver dynamic accuracy measuring device of claim 3, wherein the revolving arm comprises a vertical column (5) vertically arranged on a revolving arm mounting base (3), an upper chord (8) obliquely arranged above the vertical column (5), a lower chord (4) obliquely arranged below the vertical column (5), a plurality of web members (9) radially connected with the upper chord (8) and the lower chord (4), and a fixing plate (12) fixedly connected with the ends of the upper chord (8) and the lower chord (4).
5. The GNSS receiver dynamic precision measuring device of claim 3, wherein the rotary arm comprises a vertical upright post (5) arranged on the rotary arm mounting base (3), a truss type rotary arm main body is arranged by taking the rotary arm mounting base (3) and the upright post (5) as a center and horizontally diametrically opposite by 180 degrees, a plurality of longitudinal web members are arranged on the truss type rotary arm main body along the length direction, a plurality of transverse web members are arranged on the truss type rotary arm main body along the width direction, and a fixing plate (12) is arranged at the end part of the truss type rotary arm main body.
6. The GNSS receiver dynamic accuracy measuring device of claim 3, wherein the rotary arm comprises a single rod (20) horizontally arranged on a rotary arm mounting base (3), a balance block is arranged at one end of the single rod (20) close to the rotary arm mounting base (3), a fixing plate (12) is arranged at one end of the single rod (20) far away from the rotary arm mounting base (3), a plurality of drawing steel wire ropes (21) are arranged between the rotary arm mounting base (3) and the fixing plate (12), the extending direction of the drawing steel wire ropes (21) is parallel to the axial direction of the single rod (20), and the balance block is arranged at the end part of the single rod (20).
7. The GNSS receiver dynamic accuracy measuring device of claim 3, wherein the rotating arm comprises three single rods (20) uniformly arranged on the rotating arm mounting base (3) in the horizontal and circumferential directions, a plurality of rigid auxiliary rods (22) are connected between two adjacent single rods (20), and a plurality of auxiliary rod steel wires (23) are arranged on each rigid auxiliary rod (22) and connected with the rotating arm mounting base (3).
8. The GNSS receiver dynamic precision measuring device according to claim 4, wherein the three-degree-of-freedom objective platform assembly comprises a three-axis sliding table module, the three-axis sliding table module comprises an X-axis sliding assembly (13), a Y-axis sliding assembly (17) and a Z-axis sliding assembly (18) which extend in the left-right direction, the X-axis sliding assembly (13), the Y-axis sliding assembly (17) and the Z-axis sliding assembly (18) are arranged in the vertical direction, the X-axis sliding assembly (13) comprises an X-axis sliding table, an X-axis sliding rail is arranged on the X-axis sliding table, and an X-axis sliding block is arranged in the X-axis sliding rail in a sliding manner; the Y-axis sliding assembly (17) comprises a Y-axis sliding table, a Y-axis sliding rail is arranged on the Y-axis sliding table, and a Y-axis sliding block is arranged in the Y-axis sliding rail in a sliding manner; the Z-axis sliding assembly (18) comprises a Z-axis sliding table, a Z-axis sliding rail is arranged on the Z-axis sliding table, and a Z-axis sliding block is arranged in the Z-axis sliding rail in a sliding mode; the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail are provided with three lead screws for driving the X-axis slide block, the Y-axis slide block and the Z-axis slide block to slide back and forth and a driving motor for driving the lead screws to rotate, the three lead screws respectively penetrate through the X-axis slide block, the Y-axis slide block and the Z-axis slide block, and the three drives are all electrically connected with a drive control system; z axle slip table sets up in fixed plate (12) outside, sets up Y axle slip table on the Z axle slider, and Y axle slider top sets up X axle slip table, and X axle slip table upper end sets up cargo platform (15), sets up on cargo platform (15) and is examined receiver (14).
9. The GNSS receiver dynamic accuracy measurement apparatus according to claim 4, the precision detection assembly comprises a position change detection device a (7), a position change detection device b (10) and a ground position mark sensor (16), wherein a mounting seat a (6) is arranged on the rotary arm, the position change detection device a (7) is arranged on the mounting seat a (6), a mounting seat b (11) is arranged on the inner side of the fixing plate (12), the mounting seat b (11) and the mounting seat a (6) are positioned at the same horizontal position, the position change detection device b (10) is arranged on the mounting seat b (11), a plurality of ground position mark sensors (16) are uniformly arranged on the circumference of the rotation track of the detected receiver (14), and the position change detection device a (7), the position change detection device b (10) and the ground position mark sensors (16) are all electrically connected with a driving control system.
10. The GNSS receiver dynamic accuracy measurement apparatus of claim 9, wherein two adjacent ground position marker sensors (16) are 0.5m to 1 m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122397314.8U CN216561010U (en) | 2021-09-30 | 2021-09-30 | GNSS receiver dynamic precision measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122397314.8U CN216561010U (en) | 2021-09-30 | 2021-09-30 | GNSS receiver dynamic precision measuring device |
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| CN216561010U true CN216561010U (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122397314.8U Active CN216561010U (en) | 2021-09-30 | 2021-09-30 | GNSS receiver dynamic precision measuring device |
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2021
- 2021-09-30 CN CN202122397314.8U patent/CN216561010U/en active Active
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