JP2013253928A - Attitude information calculation device, and attitude information calculation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a GPS compass that can be used even when the hull is largely inclined.SOLUTION: A GPS compass 1 comprises GPS antennas 2, horizontal holding mechanisms 7, an inertial sensor 4, and a calculation unit 6. The horizontal holding mechanisms 7 maintains attitude of the GPS antennas 2 relative to a vertical direction. The inertial sensor 4 is fixed to a coordinate system of the hull, and detects a change in attitude of the hull. The calculation unit 6 calculates the orientation of the bow on the basis of information obtained by the GPS antennas 2 and information detected by the inertial sensor 4.

Description

  The present invention mainly relates to a GPS compass. In detail, it is related with the structure for maintaining the reception state of the GPS antenna with which a GPS compass is provided.

  Conventionally, a gyro compass or the like has been used as a sensor for detecting a direction in a ship or the like. However, in recent years, an orientation sensor (so-called GPS compass) using a GNSS (Global Navigation Satellite System) represented by GPS (Global Positioning System) is becoming popular. This GPS compass receives signals from GPS satellites by a plurality of GPS antennas, and measures the direction with high accuracy based on the signals. Such a GPS compass is realized by measuring the relative position of another antenna with respect to a reference antenna based on the carrier phase difference of signals received by a plurality of antennas, as described in Patent Document 1, for example. it can. The GPS compass has characteristics that the settling time is earlier than that of the gyrocompass, and that the azimuth accuracy does not change even when the antenna is shaken if GPS signals from the required number of satellites can be received.

  In order to use the carrier phase information of the GPS signal, it is necessary to receive a direct wave from a GPS satellite. For this reason, the GPS compass requires a configuration for preventing each GPS antenna from receiving a reflected wave (multipath). Therefore, the GPS antenna has a configuration for cutting radio waves incident at a low elevation angle and radio waves incident from below the horizontal plane. For example, Patent Document 2 and Patent Document 3 describe an antenna having a ground plane (ground conductor) made of a metal plate on the back side of a dielectric.

  By the way, the direction measurement result based on the signal from the GPS satellite is intermittently output at intervals of several tens of milliseconds to several seconds. For this reason, a GPS compass that obtains an azimuth based only on signals from GPS satellites cannot obtain a continuous azimuth measurement result like a conventional gyrocompass. In order to compensate for this drawback, a marine GPS compass includes an inertial sensor such as an angular velocity sensor or an acceleration sensor that detects a change in the attitude of the hull in addition to a GPS antenna. By interpolating intermittent information acquired based on signals from GPS satellites based on detection values of inertial sensors, it is possible to obtain azimuth measurement results almost continuously. In general, the GPS antenna and the inertial sensor are fixed to the same frame (support member). Thereby, since a GPS antenna and an inertial sensor do not move relatively, INS / GPS calculation can be performed. This is called a strap-down INS / GPS system.

Japanese Patent No. 4446569 Japanese Patent No. 3892154 Japanese Patent No. 4769629 Japanese Patent No. 3856740

  As described above, the GPS antenna is provided with a ground plane and the like, and is configured to cut radio waves from the back surface of the antenna. By the way, this GPS antenna is fixed to a frame, and this frame is fixed to the hull. Therefore, when the hull is tilted, the GPS antenna is also tilted. If the inclination of the hull is small, the antenna is in a state of being almost horizontal, so that radio waves from the GPS satellites in the sky can be received well. However, in a sail yacht or the like that maintains a state in which the inclination angle of the hull exceeds 20 °, the GPS antenna is greatly inclined, so that radio waves from GPS satellites may be blocked by the ground plane. For this reason, a GPS compass cannot be used for a sail yacht or the like.

  In this regard, Patent Document 4 discloses a configuration including a horizontal holding device for keeping the GPS antenna horizontal. However, since Patent Document 4 is not related to the GPS compass, the configuration of Patent Document 4 cannot be directly adopted for the GPS compass.

  The present invention has been made in view of the above circumstances, and a main object thereof is to provide a GPS compass that can be used even when the hull is largely inclined.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to an aspect of the present invention, an attitude information calculation device having the following configuration is provided. That is, the posture information calculation device includes a GNSS antenna, a holding mechanism, an inertial sensor, and a calculation unit. The holding mechanism maintains the posture of the GNSS antenna with respect to the vertical direction. The inertial sensor is fixed to the coordinate system of the moving body and detects a change in posture of the moving body. The calculation unit calculates posture information of the moving body based on information obtained by the GNSS antenna and information detected by the inertial sensor.

  Thus, by maintaining the attitude of the GNSS antenna by the holding mechanism, radio waves from the GNSS satellite in the sky can always be properly received even when the moving body is inclined. On the other hand, since the inertial sensor is fixed with respect to the moving body, it is possible to appropriately detect the posture change of the moving body. Therefore, the posture of the moving body can be calculated with high accuracy based on the information acquired by the GNSS antenna and the information detected by the inertial sensor.

  The posture information calculation device is preferably configured as follows. That is, this attitude information calculation device includes a plurality of the GNSS antennas. The holding mechanism maintains the posture of each GNSS antenna in the vertical direction while keeping the distance between the GNSS antennas constant.

  In this way, by keeping the positional relationship between the GNSS antennas constant, the relative position of other antennas with respect to the reference antenna can be obtained with high accuracy.

  Preferably, the attitude information calculation device includes a ground conductor that blocks radio waves from below with respect to the GNSS antenna.

  Thereby, it is possible to prevent the reflected wave (multipath) from below from being received by the GNSS antenna.

  In the above posture information calculation device, it is preferable that the holding mechanism maintains the posture of the GNSS antenna and the ground conductor in the vertical direction.

  As a result, even if the mobile body is greatly inclined, the posture of the GNSS antenna and the ground conductor is maintained, so that radio waves from the GNSS satellite can be prevented from being blocked by the ground conductor (such as a ground plane).

  In the posture information calculation device, it is preferable that the holding mechanism causes buoyancy to act on the GNSS antenna.

  By applying buoyancy to the GNSS antenna in this way, it is possible to maintain the attitude of the GNSS antenna with respect to the vertical direction without using a complicated mechanical configuration.

  In the attitude information calculation apparatus, it is preferable that the moving body is a hull, and the holding mechanism maintains the attitude of the GNSS antenna in the vertical direction when the hull swings in the roll direction.

  That is, since the hull easily swings greatly in the roll direction, it is particularly effective to prevent the GNSS antenna from tilting when swinging in the roll direction.

  In the above attitude information calculation device, it is preferable that the moving body is a car or airplane body, and the holding mechanism maintains the attitude of the GNSS antenna in the vertical direction when the body swings in the pitch direction. .

  That is, since the body of a vehicle body or an airplane is likely to swing greatly in the pitch direction, it is particularly effective to prevent the GNSS antenna from tilting when swinging in the pitch direction.

  According to another aspect of the present invention, the following posture information calculation method for calculating posture information of a moving body is provided. That is, this attitude information calculation method includes a GNSS reception process, a holding process, an attitude variation detection process, and a calculation process. In the GNSS receiving step, a signal from a GNSS satellite is received by a GNSS antenna. In the holding step, the posture of the GNSS antenna with respect to the vertical direction is maintained. In the posture variation detection step, the posture variation of the moving body is detected by an inertial sensor fixed to the coordinate system of the moving body. In the calculation step, posture information of the moving body is calculated based on information obtained by the GNSS antenna and information detected by the inertial sensor.

1 is a block diagram showing a schematic configuration of a GPS compass according to the present invention. Front sectional drawing which shows the horizontal holding | maintenance mechanism which concerns on 1st Embodiment. Front sectional drawing which shows the horizontal holding mechanism which concerns on 2nd Embodiment. Front sectional drawing which shows the horizontal holding | maintenance mechanism which concerns on a modification.

  Next, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a GPS compass (attitude information calculation device) 1 according to the present embodiment.

  The GPS compass 1 of the present embodiment is a ship compass (direction sensor) provided in a hull (moving body), and is configured to detect a direction (heading) in which the bow of the hull faces. The GPS compass 1 includes a plurality of GPS antennas (GNSS antennas) 2, a ground plane (grounding conductor) 3, an inertial sensor 4, a body frame (support member) 5, a horizontal holding mechanism (holding mechanism) 7, and an arithmetic operation. Part 6.

  The GPS antenna 2 is configured as a planar antenna such as a microstrip antenna, for example, and is configured to receive a 1.5 GHz band radio wave transmitted from a GPS satellite. The GPS antenna 2 is arranged so that its receiving surface is substantially horizontal, and can receive radio waves from GPS satellites coming from above.

  The plurality of GPS antennas 2 are arranged at an appropriate interval from each other. Although the GPS compass 1 of this embodiment includes two GPS antennas 2, it may include three or more GPS antennas 2.

  The ground plane 3 is a metal plate and is disposed below each GPS antenna 2. The ground plane 3 is arranged so as to be larger than the bottom area of the GPS antenna 2 and parallel to the GPS antenna 2. The ground plane 3 is for blocking radio waves incident on the GPS antenna 2 from below. Thereby, it is possible to prevent the reflected wave (multipath) arriving from below from being received by the GPS antenna 2 and to receive only the direct wave from the GPS satellite by the GPS antenna 2.

  The body frame 5 is a member for holding each component of the GPS compass 1 and is fixedly installed on the hull. In this way, by holding the components of the GPS compass 1 in the body frame 5, the positional relationship between the GPS antenna 2 and the inertial sensor 4 can be kept constant. In addition, since each component of the GPS compass 1 can be handled integrally, the GPS compass 1 can be easily attached to the hull.

  The inertial sensor 4 is an angular velocity sensor, an acceleration sensor, or the like, for example, and can detect a change in posture without depending on radio waves from a GPS satellite. Since the inertial sensor 4 is fixedly provided on the body frame 5 as described above, it can be said that the inertial sensor 4 is fixed to the coordinate system (local coordinate system) of the hull. As described above, the inertial sensor 4 can detect a change in the attitude of the hull.

  The horizontal holding mechanism 7 is disposed between the body frame 5 and the GPS antenna 2 and supports the GPS antenna 2. The horizontal holding mechanism 7 is for maintaining the posture of the GPS antenna 2 with respect to the vertical direction. Specifically, the horizontal holding mechanism 7 is configured to hold the GPS antenna 2 so that the GPS antenna 2 is always horizontal (the receiving surface of the GPS antenna always points in the zenith direction). Thereby, the radio wave from a GPS satellite can be satisfactorily received by the GPS antenna 2 regardless of the attitude of the hull. Further, the horizontal holding mechanism 7 of the present embodiment is configured to maintain the posture of the ground plane 3 with respect to the vertical direction. As a result, even if the hull is largely inclined, the ground plane 3 is always horizontal, so that direct waves from GPS satellites can be prevented from being blocked by the ground plane 3. Thereby, the GPS compass 1 of the present embodiment can be used for a sail yacht or the like that travels with the hull greatly inclined.

  The specific configuration of the horizontal holding mechanism is not particularly limited, and any configuration may be used as long as the GPS antenna 2 (and the ground plane 3) can be kept horizontal. For example, if the GPS antenna 2 is waterproof, the horizontal holding mechanism 7 can be configured as shown in FIG. That is, the horizontal holding mechanism 7 shown in FIG. 2 has a configuration in which the liquid 10 is sealed in the container 9 and the dielectric substrate 8 on which the GPS antenna 2 is formed floats on the liquid surface. In this way, the GPS antenna 2 can be kept horizontal by causing buoyancy to act on the GPS antenna 2 (the dielectric substrate 8 thereof). In the example of FIG. 2, the ground plane 3 is provided on the back side of the dielectric substrate 8 (opposite the GPS antenna 2), and the ground plane 3 is integrated with the dielectric substrate 8. Floating on the liquid surface. Therefore, according to the configuration of FIG. 2, the ground plane 3 can be kept horizontal in addition to the GPS antenna 2.

  As shown in FIG. 2, the two GPS antennas 2 included in the GPS compass 1 of the present embodiment are formed on the same dielectric substrate 8, and therefore the distance between the two GPS antennas 2 is fixed. , Never fluctuate. Therefore, the horizontal holding mechanism 7 in FIG. 2 can maintain the horizontal position of each GPS antenna 2 while maintaining the distance between the two GPS antennas 2. The “distance between the GPS antennas 2” here means both the distance between the physical centers of the GPS antennas 2 and the distance between the characteristic centers of the GPS antennas 2.

  The calculation unit 6 includes a processor that performs various calculations and a power supply unit. A signal received by each GPS antenna 2 and an output of the inertial sensor 4 are input to the calculation unit 6. The calculation unit 6 calculates the relative position of the other GPS antenna 2 with respect to one GPS antenna 2 (reference antenna) based on the carrier phase difference of the signal received by each GPS antenna 2 in the GPS coordinate system. Subsequently, the calculation unit 6 converts the relative position of the GPS antenna 2 obtained in the GPS coordinate system into the local coordinate system of the hull, and calculates the heading based on this.

  In the calculation unit 6, the heading based on the signal from the GPS satellite is intermittently calculated at a predetermined positioning cycle (for example, every several tens of milliseconds to several seconds). For this reason, when the heading is calculated based only on the signal from the GPS satellite, information on the heading cannot be obtained at a cycle shorter than the positioning cycle. On the other hand, the inertial sensor 4 is configured to obtain a detection result at a cycle shorter than the positioning cycle (for example, at intervals of several milliseconds).

  Accordingly, the calculation unit 6 is configured to interpolate the heading calculated based on the signal from the GPS satellite based on the output of the inertial sensor 4. As a result, the heading information can be acquired at intervals shorter than the positioning cycle, so that the heading information can be acquired almost in real time. Note that a method for calculating the attitude of a moving body based on attitude information obtained by GPS (information on the heading in the present embodiment) and information on attitude fluctuation detected by an inertial sensor is an INS / GPS calculation. Detailed description will be omitted. In the GPS compass 1 of the present embodiment, since the inertial sensor 4 is fixed with respect to the hull, so-called strap-down INS / GPS calculation is performed. As a result, accurate correction can be performed.

  By the way, if the GPS antenna 2 moves completely freely in the container 9 of FIG. 2, the positional relationship between the GPS antenna 2 and the inertial sensor 4 becomes unclear, so the calculation unit 6 performs INS / GPS calculation. It becomes impossible to do. Therefore, the horizontal holding mechanism 7 of the present embodiment is configured as follows. That is, the container 9 in which the liquid 10 is enclosed is formed in a hollow, substantially spherical shape. On the other hand, the dielectric substrate 8 is formed in a circular shape. The diameter of the circular dielectric substrate 8 and the inner diameter of the spherical container 9 are substantially the same. Further, the intermediate position between the two GPS antennas 2 and the center of the spherical container 9 are configured to substantially coincide with each other. According to this, the GPS antenna 2 on the dielectric substrate 8 oscillates around the center of the container 9 within the spherical container 9. And since the said container 9 is being fixed with respect to the body frame 5, the positional relationship of the rocking | swiveling center of the GPS antenna 2 and the inertial sensor 4 is fixed. As described above, since the positional relationship between the swing center of the GPS antenna 2 and the inertial sensor 4 is fixed, the calculation unit 6 can perform the INS / GPS calculation.

  As described above, the GPS compass 1 of this embodiment includes the GPS antenna 2, the horizontal holding mechanism 7, the inertial sensor 4, and the calculation unit 6. The horizontal holding mechanism 7 maintains the posture of the GPS antenna 2 with respect to the vertical direction. The inertial sensor 4 is fixed to the coordinate system of the hull and detects the attitude change of the hull. The computing unit 6 calculates the heading based on the information obtained by the GPS antenna 2 and the information detected by the inertial sensor 4.

  Therefore, the bow direction calculation method (posture information calculation method) by the GPS compass 1 of the present embodiment is performed as follows.

  This bow direction calculation method includes a GPS reception process, a holding process, an attitude variation detection process, and a calculation process. In the GPS reception process, a signal from a GPS satellite is received by the GPS antenna 2. In the holding step, the attitude of the GPS antenna 2 with respect to the vertical direction is maintained. In the attitude fluctuation detection step, the attitude fluctuation of the hull is detected by the inertial sensor 4 fixed to the coordinate system of the hull. In the calculation process, the heading is calculated based on the information obtained by the GPS antenna and the information detected by the inertial sensor 4.

  Thus, by maintaining the attitude of the GPS antenna 2 by the horizontal holding mechanism 7, radio waves from the GPS satellites in the sky can always be properly received even when the hull is tilted. On the other hand, since the inertial sensor 4 is fixed with respect to the hull, it is possible to appropriately detect the posture change of the hull. Therefore, the attitude of the hull can be accurately calculated based on the information acquired by the GPS antenna 2 and the information detected by the inertial sensor 4.

  Next, a second embodiment of the present invention will be described. In the description of the present embodiment, the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  The horizontal holding mechanism 7 of the first embodiment is configured to maintain the level of the GPS antenna 2 by applying buoyancy to the GPS antenna 2 (the dielectric substrate 8 thereof) with the liquid 10. However, when the GPS antenna 2 is not waterproof, it is difficult to adopt the above configuration.

  Therefore, the horizontal holding mechanism 17 of the second embodiment shown in FIG. 3 is configured so that the dielectric substrate 8 is swingably supported by the swing shaft 11 so that it can be applied even when the GPS antenna 2 is not waterproof. It is. An appropriate weight (weight) 12 that swings integrally with the dielectric substrate 8 is provided below the dielectric substrate 8. According to this, the level of the GPS antenna 2, the dielectric substrate 8, and the ground plane 3 can be maintained by the action of gravity. Moreover, according to this structure, since the container 9 which enclosed the liquid like 1st Embodiment becomes unnecessary, the horizontal holding mechanism 17 can be comprised lightweight.

  It is preferable that the axis center of the swing shaft 11 is arranged at an intermediate position between the two GPS antennas 2. The swing shaft 11 is fixedly provided with respect to the body frame 5 (not shown in FIG. 3). The inertial sensor 4 (not shown in FIG. 3) is fixed to the body frame 5 as in the first embodiment. As a result, the positional relationship between the swing center (swing shaft 11) of the GPS antenna 2 and the inertial sensor 4 is fixed, so that the calculation unit 6 can perform the INS / GPS calculation.

  Since the horizontal holding mechanism 17 of the second embodiment is configured to support the dielectric substrate 8 with one axis, the direction in which the dielectric substrate 8 (and the GPS antenna 2 and the ground plane 3) swings is limited to a plane. It is done. For example, in the second embodiment, the swing shaft 11 is provided along the front-rear direction of the hull. When the swing shaft 11 is arranged in this way, the GPS antenna 2 and the ground plane 3 swing within a plane including the left-right direction of the hull. The horizontal holding mechanism 17 having this configuration works so as to maintain the level of the GPS antenna 2 and the ground plane 3 with respect to the swinging of the hull in the roll direction (left-right swinging). Therefore, according to the horizontal holding mechanism 17 of the second embodiment, the GPS antenna 2 can satisfactorily receive the radio wave from the GPS satellite even if the hull is largely tilted left and right.

  In the case of the configuration of the second embodiment, the horizontal position of the GPS antenna 2 cannot be maintained with respect to the swing of the hull in the pitch direction (back and forth swing). However, in the case of a hull, the swing in the roll direction is significantly larger than that in the pitch direction, and the wobbling in the pitch direction does not significantly affect the reception sensitivity of the GPS antenna 2. Therefore, even with the above-described configuration that cannot cope with the pitch direction, the horizontal holding mechanism 17 that sufficiently maintains the attitude of the GPS antenna 2 so as to appropriately receive radio waves from GPS satellites is sufficiently fulfilled. be able to.

  As in the second embodiment described above, if the GPS antenna 2 is supported so as to be swingable on one axis and the level of the GPS antenna is maintained, the axis of inclination can be clearly seen like a hull. In a moving body, it is possible to improve the interruption of reception of radio waves from GPS satellites and improve accuracy and reliability.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  The number of GPS antennas is not limited to two and may be three or more. Further, there may be one GPS antenna. Even if there is only one GPS antenna, it is possible to obtain the effect of the present invention that the reception state of the GPS antenna is improved by maintaining the level of the GPS antenna.

  In the above embodiment, two GPS antennas 2 are formed on one dielectric substrate 8, and the horizontal holding mechanism 7 keeps the dielectric substrate 8 horizontal. In other words, in the above-described embodiment, the horizontal positions of the plurality of GPS antennas 2 are maintained by the common horizontal holding mechanism 7. However, the present invention is not limited thereto, and a horizontal holding mechanism may be provided for each of the plurality of GPS antennas 2 so that the level of each GPS antenna is individually maintained by each horizontal holding mechanism. For example, as shown in FIG. 4, a plurality of GPS antennas 2 and 2 are formed on separate dielectric substrates 8 and 8, respectively. The dielectric substrates 8 and 8 are swingably supported by separate swing shafts 11 and 11, respectively. According to this, the attitude | position with respect to the vertical direction of each GPS antenna 2 and 2 can be maintained separately.

  In the second embodiment, the weight 12 is provided in order to keep the GPS antenna 2 horizontal. However, the center of gravity of the GPS antenna 2, the dielectric substrate 8, and the ground plane 3 is located below the axis of the oscillating shaft 11, and the GPS antenna 2 can be maintained in a horizontal state by its own weight. If there is, for example, the weight 12 may be omitted as shown in FIG. In particular, when the ground plane 3 is integrally provided below the dielectric substrate 8, the ground plane 3 can serve as a weight.

  In the above embodiment, the ground plane 3 is integrally provided on the back side of the dielectric substrate 8. However, the present invention is not limited to this, and the ground plane 3 is separated from the dielectric substrate 8 as shown in FIG. May be provided.

  The horizontal holding mechanism of the above embodiment is configured to maintain the posture of the ground plane 3 with respect to the vertical direction by swinging the ground plane 3 integrally with the dielectric substrate 8. However, the present invention is not limited to this, and the horizontal holding mechanism does not necessarily have to maintain the level of the ground plane 3. For example, the ground plane 3 may be provided separately from the dielectric substrate 8 and the ground plane 3 may be fixedly disposed on the body frame 5 side. Even in this case, since the level of the GPS antenna 2 can be maintained by the horizontal holding mechanism, the reception state of the GPS antenna 2 can be kept good.

  In the said 1st Embodiment, although it was set as the structure which floats the GPS antenna 2 with the buoyancy of the liquid 10, as a structure which acts on a buoyancy, it is not restricted to this. For example, the GPS antenna 2 may be configured to float by magnetic force. In addition, for example, the GPS antenna 2 may be configured to float by gas.

  In the second embodiment, the horizontal holding mechanism 17 functions to maintain the level of the GPS antenna 2 with respect to the swing of the hull in the roll (left-right swing) direction. However, in the case of other types of moving bodies such as airplanes and cars, the pitch direction swing tends to be larger than the roll direction. Therefore, when the horizontal holding mechanism 17 of the second embodiment is applied to a moving body such as an airplane or a car, it is preferable that the swing shaft 11 is provided along the left-right direction of the moving body. In this case, the horizontal holding mechanism 17 works so as to maintain the level of the GPS antenna 2 against the swing of the moving body in the pitch direction.

  In addition, in the horizontal holding mechanism 17 of the said 2nd Embodiment, it is set as the structure which supports the GPS antenna 2 etc. by 1 axis | shaft, However, It is good also as a structure supported by 2 axes | shafts or more. According to this configuration, it is possible to deal with fluctuations in both the pitch direction and the roll direction.

  In the above embodiment, the attitude information calculation device is configured as the GPS compass 1, and the heading is calculated as the attitude information of the moving body. However, the present invention is not limited to this, and any information relating to the posture of the moving body with respect to the earth can be calculated by the posture information calculation device of the present invention. For example, the attitude information calculation device of the second embodiment (FIG. 3) is configured such that the horizontal position of the GPS antenna 2 cannot be maintained with respect to the swinging of the hull in the pitch direction (swinging back and forth). In other words, since the GPS antenna 2 swings in the pitch direction together with the hull, the pitch angle of the mobile body (the hull in the above embodiment) is calculated based on the signal received by the GPS antenna 2. It is possible. In addition to this, the posture information calculation device of the present invention can be configured to detect, for example, the roll angle of a moving body.

1 GPS compass (attitude information calculation device)
2 GPS antenna (GNSS antenna)
3 Ground plane (installed conductor)
4 Inertial sensor 6 Calculation unit 7 Horizontal holding mechanism (holding mechanism)

Claims (8)

A posture information calculation device for calculating posture information of a moving body,
A GNSS antenna,
A holding mechanism for maintaining a posture of the GNSS antenna in a vertical direction;
An inertial sensor that is fixed to the coordinate system of the moving body and detects a change in posture of the moving body;
An arithmetic unit that calculates posture information of the moving body based on information obtained by the GNSS antenna and information detected by the inertial sensor;
A posture information calculation apparatus comprising: The posture information calculation apparatus according to claim 1,
A plurality of the GNSS antennas;
The attitude information calculation apparatus, wherein the holding mechanism maintains an attitude of each GNSS antenna with respect to a vertical direction while keeping a distance between the GNSS antennas constant. The posture information calculation device according to claim 1 or 2,
An attitude information calculation apparatus comprising a ground conductor for blocking radio waves from below to the GNSS antenna. The posture information calculation apparatus according to claim 3,
The posture information calculation apparatus, wherein the holding mechanism maintains a posture of the GNSS antenna and the ground conductor in a vertical direction. The posture information calculation apparatus according to any one of claims 1 to 4,
The posture information calculation device, wherein the holding mechanism causes buoyancy to act on the GNSS antenna. The posture information calculation device according to any one of claims 1 to 5,
The moving body is a hull;
The attitude information calculation apparatus, wherein the holding mechanism maintains an attitude of the GNSS antenna with respect to a vertical direction when the hull swings in a roll direction. The posture information calculation device according to any one of claims 1 to 5,
The moving body is a car or an airplane body,
The posture information calculation device, wherein the holding mechanism maintains a posture of the GNSS antenna with respect to a vertical direction when the airframe swings in a pitch direction. A posture information calculation method for calculating posture information of a moving body,
A GNSS reception step of receiving a signal from a GNSS satellite by a GNSS antenna;
A holding step for maintaining a posture of the GNSS antenna with respect to a vertical direction;
A posture variation detection step of detecting a posture variation of the movable body by an inertial sensor fixed to the coordinate system of the movable body;
A calculation step of calculating posture information of the moving body based on information obtained by the GNSS antenna and information detected by the inertial sensor;
A posture information calculation method comprising:

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