CN106197413B - A kind of airborne distributed location attitude measurement system - Google Patents

A kind of airborne distributed location attitude measurement system Download PDF

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CN106197413B
CN106197413B CN201610536981.0A CN201610536981A CN106197413B CN 106197413 B CN106197413 B CN 106197413B CN 201610536981 A CN201610536981 A CN 201610536981A CN 106197413 B CN106197413 B CN 106197413B
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distributed
gps
imu
pcs
data
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CN106197413A (en
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刘刚
叶文
房建成
李建利
朱庄生
卢兆兴
顾宾
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention relates to a kind of airborne distributed location attitude measurement system, comprising three Inertial Measurement Units (IMU), a distributed treatment computer system (distributed PCS) and a set of differential GPS devices.First, three IMU measure the line motion of three different nodes and angular movement and distributed PCS are sent in the form of 422 respectively, while the real-time output difference GPS of a set of differential GPS devices gives distributed PCS；Then, distributed PCS completes three road IMU and the parallel reception of DGPS data all the way, parallel processing, parallel memorizing and transmitted in parallel；Finally, distributed location attitude measurement system exports the position and attitude information of three nodes in real time.The distributed location attitude measurement system that the present invention realizes, suitable for high accuracy distributed inertia measurement, navigation and integrated navigation system.

Description

A kind of airborne distributed location attitude measurement system
Technical field
The present invention relates to a kind of airborne distributed POS (Position and Orientation System, position and attitude Measuring system) design and realize, it can apply to inertial navigation, inertia/GPS (the Global Position of multinode System, global positioning system) integrated navigation system and distributed node measurement.
Background technology
High-precision POS can provide high frequency, high-precision time, space reference letter for high-resolution air remote sensing system Breath, imaging precision and efficiency are improved by kinematic error compensation.With air remote sensing constantly carrying to high-resolution imaging demand Height, new and effective multitask imaging load joint imaging technology, the interference of Long baselines microwave load and array technique are increasingly becoming and carried The effective means of high imaging efficiency and resolution ratio.Two sub- interference SARs are led for flexible Long baselines one, because it under wing by hanging day Line gondola, without aircraft conversion, be easier to realize the features such as it is in widespread attention in recent years.But for three sights of same carrier aircraft Load is surveyed, the demand of the high-precision motion parameter measurement of different settlement multi-loads can not be met using traditional single POS, and And because of the limitation of the factors such as volume, weight, cost, it is also unrealistic at each observation load to be respectively mounted a high-precision POS.Cause This, there is an urgent need to set up the distributed POS measuring systems of high accuracy.
Distributed POS measuring systems be for solve the movable information of multinode measurement, and single POS can only measure it is single The movable information of node is compared, and distributed POS measuring systems can complete the navigation calculation of host node and by Transfer Alignment reality When export two sub- IMU position, speed, attitude information.
Distributed POS measuring systems are comprising three Inertial Measurement Units for gathering linear velocity and angular speed, distributed PCS (PCS represents POS Computer System) and differential GPS devices.Wherein distributed POS computer system is by distributed data Manage computer module, distributed power supply module, GPS-OEM modules, distributed storage module and distributed mother matrix module, the data Handle framework of the computer module using TMS320C6678 8 core DSP+FPGA.Chinese invention patent《A kind of distributed POS is used Data handling machine system》(number of patent application：201410099312.2) it is that one kind can be used for distributed POS measurements system A module in system, and it is the framework using FPGA+6 pieces DSP, and volume is big and data-handling capacity is limited.
The content of the invention
The technology of the present invention solves problem：Existing airborne single POS measuring systems are overcome to carry out multinode measurement Deficiency, there is provided a kind of airborne distributed location attitude measurement system, can high frequency export the movable information of multinode in real time.
The technology of the present invention solution is：
The airborne distributed POS measuring systems of the present invention, utilize three road Inertial Measurement Units (IMU), three nodes of measurement Angular movement and line move, and send distributed PCS data handling machine to by 422 buses, meanwhile, differential GPS is with 232 Or Transistor-Transistor Logic level is also passed to distributed PCS data handling machine；Distributed PCS contains distributed power supply module, GPS-OEM modules, distributed storage module, distributed motherboard module and distributed data processing computer module.Distributed PCS It is online to mend using distributed data processing computer module is the three road IMU data received and gps data is unpacked all the way Repay, strapdown resolves, time synchronized, Transfer Alignment and combined filter；Finally, data handling machine module is original three road IMU Data and all the way gps data and combined filter result are sent to storage plate module, external load and monitoring computer, with after an action of the bowels Processing, real time imagery and monitoring.Finally, distributed POS synchronously completes the position of three nodes, the movable information such as speed and posture Accurate measurement.
The present invention principle be：
Airborne distributed POS measuring systems, using three road Inertial Measurement Units (IMU) measure three nodes angular movement and Line moves, and sends distributed PCS data handling machine to by 422 buses, meanwhile, differential GPS is with 232 or TTL Level is also passed to distributed PCS data handling machine；Distributed PCS contains distributed power supply module, GPS-OEM moulds Block, distributed storage module, distributed motherboard module and distributed data processing computer module, distributed PCS utilize distribution Formula data handling machine module is the three road IMU data received and DGPS data is unpacked all the way, online compensation, Strapdown resolves, time synchronized, Transfer Alignment and combined filter；Finally, distributed data processing computer module is former three road IMU Beginning data and all the way gps data and combined filter result are sent to storage plate module, external load and monitoring computer, so as to Post processing, real time imagery and monitoring.Finally, distributed POS measuring systems synchronously complete the position of three nodes, speed and posture Deng the accurate measurement of movable information.
The present invention compared with prior art the advantages of be：
(1) distributed POS measuring systems of the invention can complete three nodes by three road IMU and distributed PCS The synchronous acquisition of movable information, receive, processing in real time and in real time output.And a large amount of, high-precision data operation, energy can be completed Realize that the real-time navigation of host node resolves, while export by Transfer Alignment the positions of two child nodes, speed, posture etc. in real time Movable information, it is the premise of distributed radar imaging.
(2) distributed POS measuring systems of the invention can complete connecing for real-time carrier phase differential signal by differential GPS Receive, resolve, be transferred to distributed data processing computer module and be combined navigation, further improve the navigation essence of host node Degree, and then high-precision Transfer Alignment benchmark is provided.
(3) distributed POS measuring systems of the invention can realize a variety of baud rates and a variety of by distributed storage module The high-frequency I MU initial data for receiving three nodes that distributed data processing computer module is sent of transmission means, three sections The DGPS data that the high frequency integrated navigation information and GPS-OEM of point resolve, improves the spirit of distributed POS measuring systems Activity and reliability, laid a good foundation for the Data Post of distributed POS measuring systems.
Brief description of the drawings
Fig. 1 is the airborne distributed POS composition frame charts of the present invention；
Fig. 2 is the airborne distributed POS fundamental diagrams of the present invention.
Embodiment
As shown in figure 1, the present invention includes a distributed PCS, three IMU and differential GPS devices.Wherein, distributed PCS It is airborne distributed POS core, it receives 422 data and the DGPS data that three IMU are sent parallel, while for three IMU and RTK airborne stations provide 28V D.C. regulated power supplies, for and for imaging load and monitor computer and provide three nodes Navigation information；Three IMU are the angular speed and acceleration that distributed PCS provides three nodes parallel, and are sent in the form of 422 Distributed PCS distributed motherboard module, distributed PCS distributed data processing computer module is then sent to, completed Strapdown resolves；Differential GPS devices include terrestrial reference station equipment and airborne flowing station equipment, and terrestrial reference station equipment is by GPS bases Quasi- station antenna, GPS reference station receiver, RTK base stations data radio station and RTK radio station transmitting antenna composition, GPS reference station antenna Gps signal is received, is then resolved by GPS reference station receiver and is sent to RTK benchmark station radios, finally launched by RTK radio station Antenna is sent out；It is airborne that airborne flowing station equipment includes RTK airborne antennas, RTK airborne stations and GPS rover stations antenna composition, RTK Antenna receives the signal of RTK radio station transmitting antenna, and is sent into distributed PCS GPS-OEM modules, while GPS flowing station antennas Also the GPS-OEM modules that gps signal is sent into distributed PCS are received, difference is completed and resolves.When distributed PCS GPS-OEM modules Complete difference to resolve, real time differential position and speed are sent to distributed PCS distributed data processing computer module, and Compensated by lever arm, and the strapdown resolving of host node in the same time is combined filtering.Two child node IMU real-time navigation is not Using INS/GPS method, and the kalman filter method based on the compensation of multistage lever arm is used to believe the real-time navigation of host node Breath resolves information fusion with the strapdown of two child nodes respectively, obtains the real-time navigation result of high-precision child node；By lever arm Error in length introduces system model as quantity of state, can more accurately estimate the baseline length between master/child node, carry High lever arm compensation precision；Using the matching process of measurement parameter " speed+position ", it is easier to the error of dynamic lever arm is estimated, And error correction is carried out, there is preferable integral smooth to act on the measurement noise of flex motion noise and inertia device；Pin To distributed POS measuring systems, time synchronizing has been carried out in its data acquisition phase, ensure that each IMU data acquisitions Synchronousness.The state equation and measurement equation of the wave filter are as follows：
System state equation is：
In formula X ties up state variables, including 3 attitude errors, 3 velocity errors, 3 site errors, 3 offset of gyroscope, 3 acceleration for 18 The biasing of degree meter and 3 lever arm length errors, F is state-transition matrix；W is system noise, and assumes that it is zero-mean Gaussian white Noise；F expression formula：
In formula：
R in formulaMAnd RNRespectively along meridian circle and the principal radius of curvature of prime vertical, H is carrier height, ωieFor the earth certainly Tarnsition velocity, fE、fNAnd fURespectively east orientation specific force, north orientation specific force and day is to specific force.
Measurement equation is as follows：
Measurement Z is the velocity error and site error after lever arm compensates, and measurement matrix H is：
H=[HV HP]T
As shown in Fig. 2 three IMU are the angular movement and line motion for being respectively used for measuring three different nodes, by IMU After the data prediction in portion, and distributed PCS is sent to by distributed PCS distributed motherboard module with 422 bus forms Distributed data processing computer module, carry out strapdown resolving.In the process, GPS flows station antenna and RTK airborne stations Put in the whole second to distributed PCS GPS-OEM modules and send GPS rover stations information and base station information, and then GPS-OEM modules Complete real time differential resolve, be sent to distributed PCS distributed data processing computer module and host node strapdown resolve As a result combined filter, and the Transfer Alignment for combined filter result two child nodes of completion for passing through host node are completed, exports two The combined filter result of child node.Combined filter of the distributed PCS distributed data processing computer module three nodes As a result three imaging load are sent to CAN or 422 bus forms.Three IMU initial data, GPS initial data and reality When filter result be sent to distributed PCS distributed storage module, to carry out Data Post, there is provided higher navigation essence Degree.
Above example is provided just for the sake of the description purpose of the present invention, and is not intended to limit the scope of the present invention.This The scope of invention is defined by the following claims.The various equivalent substitutions that do not depart from spirit and principles of the present invention and make and repair Change, all should cover within the scope of the present invention.

Claims (2)

  1. A kind of 1. airborne distributed location attitude measurement system, it is characterised in that：Described system composition includes three IMU, divided Cloth PCS and differential GPS devices：Three IMU can measure the movable information of three different nodes simultaneously, and be sent to simultaneously point Cloth PCS；Distributed PCS can not only provide a variety of constant voltage dc sources, and the tunnels of Neng Wei tri- for distributed PCS each module IMU, RTK airborne station provide 28V D.C. regulated power supply, while can receive three road IMU data, real time differential GPS parallel Data, the real-time navigation information of three nodes of parallel output；The GPS information of the datum mark of differential GPS devices measurement is sent into distribution In GPS-OEM modules in formula PCS, completed by GPS-OEM modules real-time for distributed data processing computer module after resolving Outgoing carrier phase difference GPS；
    The differential GPS includes GPS flowing station antennas, a RTK airborne station, a RTK airborne antenna, GPS reference station day Line, GPS reference station receiver, RTK base stations data radio station and RTK radio station transmitting antenna, wherein GPS flowing station antenna be for Obtain position and the speed of carrier；RTK airborne stations are the datum mark GPS informations sent for receiving RTK radio station transmitting antenna, GPS reference station antenna is the position and velocity information for obtaining datum mark, RTK base stations data radio station and the transmitting of RTK radio station Antenna is the GPS information of the GPS information and transmission datum mark for receiving the datum mark of GPS reference station receiver resolving respectively, So that the GPS-OEM modules in distributed PCS complete the resolving and output of real-time carrier phase difference；
    The distributed PCS includes distributed cabinet, distributed data processing computer module, GPS-OEM modules, distributed electrical Source plate module, distributed storage module and distributed motherboard module；Distributed cabinet be for and external power source, IMU, GPS days Line, load and monitoring computer interaction, indicate distributed POS working conditions and control power supply；Distributed data processing module It is for receiving three road IMU initial data, real time differential GPS initial data, data processing and data are sent；GPS-OEM moulds Block is for resolving differential GPS signal, and power panel is the voltage for providing 28V, 5V and 12V, wherein the tunnels of 28V Shi Wei tri- IMU powers, and it for GPS-OEM modules and distributed data processing module for power supply, 12V is for distributed storage module for power supply that 5V, which is,； Distributed storage module is the GPS initial data all the way for storing three road IMU initial data, three road real-time navigation data；Motherboard It is to complete the information exchange between each module.
  2. 2. airborne distributed location attitude measurement system according to claim 1, it is characterised in that：Each IMU bags Containing power panel, three plus meter, three gyros and collection plate, the line motion of node and the collection of angular movement are completed, and with 422 shapes Formula is sent to distributed PCS.
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CN107329825B (en) * 2017-06-13 2020-10-27 千寻位置网络有限公司 GNSS algorithm verification method and system, positioning terminal and memory
CN107472521B (en) * 2017-06-22 2023-05-23 深圳大学 Multi-rotor flying platform and control method thereof
CN107747944B (en) * 2017-09-18 2020-03-17 北京航空航天大学 Airborne distributed POS transfer alignment method and device based on fusion weight matrix
CN107702718B (en) * 2017-09-18 2020-03-24 北京航空航天大学 Airborne POS maneuvering optimization method and device based on instant observability model
CN107991694B (en) * 2017-11-24 2022-02-18 上海华测导航技术股份有限公司 RTK-based reference station attitude monitoring system and monitoring method thereof
CN108168503B (en) * 2017-12-21 2020-08-14 北华航天工业学院 Three-component induction coil attitude data acquisition system and method
CN108844540A (en) * 2018-09-11 2018-11-20 北京机械设备研究所 A kind of adaptive filter method of combination covariance and Sage-Husa filtering technique
CN109269529B (en) * 2018-11-30 2023-08-11 徐州市产品质量监督检验中心 Navigation positioning precision detection method for intelligent engineering robot

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