RU2762080C1 - Autonomous mobile module for increasing the accuracy of determining the coordinates and paths of movement of army objects - Google Patents

Abstract

FIELD: navigation.

SUBSTANCE: invention relates to means of navigation support, in particular, to means of determining the location and paths of movement of mobile and stationary objects in enclosed spaces (including basements, tunnels, mines), in restricted open (closed) territories, as well as in conditions wherein the use of GLONASS/GPS receivers is impractical or impossible. The autonomous mobile module for determining the coordinates and paths of movement of army objects is characterised by containing a closed sealed enclosure, placed wherein are a GPS/GLONASS antenna with a navigation module, an electronic motion recorder board of an inertial system, a data storage, a power supply element, and a rebound mechanism with a mini electric engine. The electronic motion recorder board of an inertial system therein comprises a gyroscope, a barometer, a magnetometer, an accelerometer, and a controller for calculating and controlling the system.

EFFECT: increase in the accuracy of determining the coordinates and paths of movement of army objects.

1 cl, 1 dwg

Description

The invention relates to navigation aids, in particular to means of increasing the accuracy of coordinates (location) and routes of movement of objects moving (portable) and stationary (including people, animals, equipment) in closed rooms (including in basements, tunnels, mines), in limited open (closed) areas, as well as in conditions where the use of GLONASS / GPS receivers is impractical or impossible.

There are analogues of this module of use, but their work is based on simple logging of traffic routes and their work is carried out only in conjunction with stations of a mobile cellular network (for example, GSM). An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects makes it possible to refine the coordinates and routes (tracks) of movement of military objects in post-processing with their subsequent processing and analysis using the Precise Point Positioning (PPP) method. Single-frequency precise point positioning (PPP) is a promising method of high-precision navigation with sub-meter or even centimeter accuracy due to its convenience and low cost. The navigation performance of single frequency satellite receiving systems is highly dependent on the real-time availability and quality of satellite orbit and satellite clock correction products. One of the most commonly used satellite orbit and clock error correction products is the International Global Navigation Satellite Systems (IGS) service, from which correction products are available at various delays ranging from 3 hours for ultrafast, up to 17 hours for fast and 13 days for final products. (post-processing).

An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects determines its location using a combination of:

navigation antenna with a pierced navigation module;

electronic recorder of the movement of the inertial system.

Stages of preparation for operation of an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects:

1. Calibration of the electronic motion recorder (ESD) by rotational movements around the virtual axis (performed with the firmware of the KRUS controller);

2. Downloading data to the GLONASS / GPS antenna navigation module (via the UART port, for example, using the program, GlobalTop GPS - Viewer v1.8).

At this time, there is no possibility of promptly and secretly determining the location of an object with the required accuracy using modern means of navigation and space geodesy, in areas where there is no relevant geospatial information.

Currently, it is required to be armed with an autonomous means to ensure the ability to determine the coordinates of objects with the required accuracy and reliability.

The operation of the ESD is based on the use of special sensors, the joint operation of which determines the peculiarity of the invention: an accelerometer, a gyroscope, a magnetometer, a barometer - solutions and system control (KRUS) united by the controller. The electronic motion recorder works in two modes with and without the GLONASS / GPS antenna according to the algorithm of the program being executed. Based on information from the sensors of the electronic recorder of movement, an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects builds a local trajectory of movement (track), without reference to global coordinates, simultaneously writes it to the SD card. Automatically (by solving the conditions laid down in KRUS), provided that the satellite constellation is visible, sufficient time at the anchor point, the reliability and accuracy of the coordinates of the module with the GLONASS / GPS antenna is programmatically determined, if the accuracy meets the KRUS software settings, then the ESD track is linked to global coordinates ( i.e. coordinates of an individual point in the track are set). Thus, in the ESD, the error that accumulates over time is eliminated by periodically binding the trajectory to local coordinates, using the GLONASS GPS antenna, in areas of a stable navigation field. This scheme is used by an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects to determine the location at most closed objects. A separate case is represented by mines and underground tunnels. In this case, it is required to determine the coordinates of at least one point (entry and / or exit): the tunnel has a limited radius and, in fact, it is only necessary to determine the distance from the beginning / end of the tunnel. After recording to the SD card, it becomes possible to obtain information about the location of objects (current and archived information).

In addition, the module has a clock synchronized with the stationary point and the correction can be entered in post-processing (you only need to put a time stamp by clicking on the track during the route).

For data processing, it is proposed to use the open source software RTKLib (or Waypoint GrafNav 8.2, Magnet Office Tools, Justin, etc.). In the absence of a base station, measurement accuracy of up to 3 meters is obtained using special software with a processing function in the PPP (Precise Point Positioning) mode, which takes into account corrections to the ephemeris of the orbits and onboard clocks of satellites of the global navigation satellite system and other information.

The use of an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects is not limited to work in order to increase the accuracy of determining the coordinates and routes of movement of military objects, but is applicable for the purpose of mapping territories: to provide coordinate referencing, space and aerial photographs, foreign maps, matrices and models relief, diagrams, plans and other geospatial information, tracking movement inside closed objects, for automatic control of robotic vehicles, to improve the accuracy of positioning dynamic objects in conditions of strong shading and re-emission of signals from orbital constellations, etc.

General features of the proposed invention: an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects.

An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects is schematically shown in the attached drawing, where in the diagram FIG. presented to the proposed device.

An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects externally represents a device in a closed sealed case with an external rubberized button with indicators of the device operation status, protected by a rubberized solid plug for inputs / outputs and connectors.

An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects contains (see Fig. A):

1. Antenna GLONASS / GPS with navigation module (1);

2. The board (2) of the electronic recorder of the motion of the inertial system (ESD) includes:

2.1 Gyroscope (3);

2.2 Barometer (4);

2.3 Magnetometer (5);

2.4 Accelerometer (6);

3. Controller of calculations and system management (KRUS) (7)

4. SD drive (8);

5. Mini-USB connector (for communication with a computer) (9);

6. UART connector (for communication with the GLONASS / GPS antenna) (10);

7. Slot for external SD card (11).

8. Button to start / turn off / fix a point / switch operating modes (12);

9. Magnet (with a force of at least 10 kg) (13);

10. Rebound mechanism (14) with mini electric motor;

11. Indicator of start / shutdown / fixing a point / switching modes (15);

12. Battery (16).

An autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects works as follows:

1. Firmware of the KRUS controller (with setting the coordinates and radius of the shooting zone).

2. Firmware of the GLONASS / GPS / antenna module

3. Calibration and adjustment of sensors.

4. Installation

5. Shooting in the designated area (see fig. 6)

6. Reading data

7. Data processing

The main distinctive (sufficient) features of the invention: autonomy, mobility, ease of use, increased accuracy, cost-effectiveness.

Thus, an autonomous mobile module for increasing the accuracy of determining the coordinates and routes of movement of military objects will ensure high efficiency of observation of military objects, will allow determining the coordinates of terrain points globally (throughout the Earth) and autonomously with an accuracy of up to 3 meters, which will significantly increase the accuracy of cartographic products to foreign territory (10-20 times).

Bibliography:

1. Aksenov A.L., Kozlov O.I., Navigation tracks as an alternative to the planned-high-altitude basis, Izvestiya vuzov "Geodesy and aerial photography", 2018.

2. Shevchuk S.O., Malyutina K.I., Lipatnikov L.A., Prospects for the use of free software for post-processing of GNSS measurements, Bulletin of SSUGiT, Volume 23, No. 1, 2018.

Claims (1)

An autonomous mobile module for determining the coordinates and routes of movement of military objects, characterized by the fact that it contains a closed sealed case, inside which there is a GPS / GLONASS antenna with a navigation module, an electronic recorder board for the movement of an inertial system containing a gyroscope, barometer, magnetometer, accelerometer and calculation controller, and system control, data storage, battery and rebound mechanism with a mini-electric motor.

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