CN106483535B - A kind of Dual-antenna receiver position and attitude precision testing platform and test method - Google Patents
A kind of Dual-antenna receiver position and attitude precision testing platform and test method Download PDFInfo
- Publication number
- CN106483535B CN106483535B CN201611079301.3A CN201611079301A CN106483535B CN 106483535 B CN106483535 B CN 106483535B CN 201611079301 A CN201611079301 A CN 201611079301A CN 106483535 B CN106483535 B CN 106483535B
- Authority
- CN
- China
- Prior art keywords
- slide unit
- guide rail
- antenna
- data
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
It includes: support device, linear guide and trailer system that the present invention, which provides a kind of Dual-antenna receiver position and attitude precision testing platform and test method, test platform,；Support device is made of lifting support, runing rest；Linear guide includes opening up U-type groove guide rail, the sliding block above U-type groove guide rail and plane slide unit；U-type groove guide rail is mounted on the upper surface of support platform, and two antennas are mounted on above slide unit；Trailer system includes speed regulating motor, driving wheel, tooth belt, limit switch and attachment, speed regulating motor and driving wheel are separately fixed on the guard rail steel pipe of linear guide two sides by attachment, tooth belt is connected with speed regulating motor, driving wheel, the side of tooth belt and slide unit are connected, and the both ends of linear guide are arranged in limit switch.The present invention can test the position of Dual-antenna receiver and attitude accuracy under different baseline length friction speeds, and it is difficult to solve the problems, such as that appearance precision evaluation is surveyed in Dual-antenna receiver positioning.
Description
Technical field
The technical field for surveying appearance is positioned the present invention relates to agricultural machinery double antenna (GNSS) receiver, in particular to it is a kind of double
Aerial receiver position and attitude precision testing platform and test method.
Background technique
Automatic steering control of farm mechanism is a core key technology in precision agriculture technology system, is widely used in ploughing
The agricultural production processes such as work, sowing, fertilising, spray, harvest.Position and posture information are in automatic steering control of farm mechanism control
Important parameter, research positioning and survey appearance precision are of great significance for agricultural machines navigation control.
Currently, common agricultural machinery localization method has 2 kinds, first is that relative position measurement, i.e. measurement agricultural machinery and the baseline that navigates
Relative position measurement, typical relative position measurement method are the location measurement methods based on machine vision.Another kind is absolute
Position measurement, i.e. absolute position of the measurement agricultural machinery in geographical space, representative is based on Global Navigation Satellite System
(GNSS) location measurement method.GNSS location technology because it is high with precision, speed it is fast, easy to operate, global arrange net, whole day
The advantages that waiting operation, three-dimensional coordinate positioning, precision time service, in skills such as automobile navigation, precision agriculture, geodesic survey, resource investigations
Art field is widely applied.As carrier phase is checked the mark the development of technology, GNSS positioning accuracy is continuously improved.Different GNSS
Technical applications have different requirements to GNSS positioning accuracy.GNSS positioning accuracy becomes each related application field and industry
Focus of attention.
Traditional agricultural machinery high-precision, which surveys appearance, to be realized using inertial navigation, and the device is complicated, expensive, starting speed
Degree is slow, maintenance difficult, while also having and lead to accumulated error because of gyroscopic drift in dynamic measurement increasing this is consistent
Order weakness.GNSS is designed for precision time service and positioning service earliest, with to it further investigation and usage mining, it is potential
High-precision attitude measurement capability obtained extensive concern.Currently, the satellite navigation system attitude measurement skill based on multiple antennas
Art has become an important branch of its Applied research fields.Attitude measurement technology based on satellite navigation system can be perfect
The shortcomings that overcoming inertial navigation, it have stability is good, low in cost, precision is high, real-time is good, be not necessarily to initial calibration and nothing
The advantages that accumulated time error.Attitude accuracy is to measure the most important index for surveying attitude positioning method, tests double days using reasonable method
Whether line receiver surveys appearance precision can directly or indirectly be used for agricultural machines navigation for assessment receiver (through information processing)
Or other related application fields have important directive significance.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency, provide a kind of Dual-antenna receiver position
Attitude accuracy test platform and test method can test the position of Dual-antenna receiver and appearance under different baseline length friction speeds
It is difficult to solve the problems, such as that appearance precision evaluation is surveyed in Dual-antenna receiver positioning for the dynamic static accuracy of state.In order to achieve the above object, this hair
It is bright to use following technical scheme:
A kind of Dual-antenna receiver position and attitude precision testing platform of the invention, including support device, linear guide and
Trailer system, the linear guide are fixed on the upper end of support device, and the trailer system traction is arranged in linear guide
Plane slide unit is moved, and the support device is fixed on guard rail steel pipe；
The support device includes lifting support and runing rest, and the lifting support is used for the height of adjusting supporting device
Degree, the runing rest are used for the level inclination of adjusting supporting device；The lifting support is arranged on guard rail steel pipe, the rotation
Turn bracket to be arranged on lifting support；
The linear guide uses built-in twin shaft core idler wheel linear guide, including opening up U-type groove guide rail, is set to U
Sliding block and plane slide unit above type groove guide rail
The trailer system includes speed regulating motor, driving wheel, tooth belt, limit switch and attachment, described solid
Even speed regulating motor and driving wheel are separately fixed on the guard rail steel pipe at linear guide both ends by device, tooth belt and speed regulation electricity
Machine, driving wheel are connected, and the side of tooth belt and plane slide unit are fixed together, and the two of U-type groove guide rail are arranged in limit switch
End.
The lifting support is made of inner layer steel pipe and outer layer pipe as a preferred technical solution, the inner layer steel pipe
Side is provided with elevating screw thread, and outer layer pipe respective side is equipped with impeller knob, and the impeller knob matches with the elevating screw thread；
The opposite side of the outer layer pipe screws butterfly screw there are two setting.
The inner layer steel pipe is higher by outer layer pipe as a preferred technical solution, and the adjacent two sides upper end of whorl side is provided with
Tapped through hole, the runing rest are the arcuate structures for being socketed in inner layer steel pipe upper end, which is provided with through-hole, are used
Butterfly screw and the through-hole of inner layer steel pipe upper end are connected, and the long waist of chord length is parallel among the upper transverse plane of the arcuate structure
Hole, for fixing U-type groove guide rail.
It is symmetrically arranged with cambered surface sliding-rail groove on the two sidewalls in U-lag guide openings end as a preferred technical solution,
It is embedded with reinforcing bar axis in cambered surface sliding-rail groove, is lifted with several concave surface idler wheels in the middle part of sliding block, concave surface idler wheel extends vertically downward
Linear slide is kept to connect between the open end of U-lag guide rail and with after the reinforcing bar axis interworking of two sides.
There is a through-hole in U-lag guide rail bottom every 10cm as a preferred technical solution, for installing guide rail
It is fixed on the upper surface of support device.
Three sliding blocks are connected by the plane slide unit as a preferred technical solution, set above plane slide unit every 20cm
There is the antenna installing hole of an installation GNSS antenna, there are the first screw holes for the side of plane slide unit, for being connected with tooth belt.
The speed regulating motor is furnished with controller as a preferred technical solution, and controller panel is equipped with power switch, just
It inverts button, speed regulation knob and revolving speed and shows table；The controller can rotate control and speed monitoring to motor.
A kind of test method of Dual-antenna receiver position and attitude precision testing platform of the invention, including test platform peace
Adjustment is whole and two processes of data acquisition process:
(1) test platform mounting and adjusting process comprising steps of
Support device is mounted on roof guard rail steel pipe by (1-1) with metal anchor ear, every L distance installation one, is screwed
Metal anchor ear, support device is firmly installed；
Level meter is placed on the top of support platform by (1-2), adjusts runing rest, until level meter inclination angle is shown as 0,
Rotary screw is screwed, runing rest is fastened；
(1-3) utilizes the height of vernier caliper measurement support device upper end plane separation guard rail steel pipe, makes all support platforms
Upper end plane separation guard rail steel pipe height is consistent；
Multistage U-type groove guide rail is mounted in support platform by (1-4), is drawn an auxiliary straight line along U-type groove guide rail, is finely tuned more
Section U-type groove guide rail joining place makes guide rail alignment straight line to guarantee the straightness of whole section guide rail, U-type groove guide rail is fastened on support
On platform runing rest on the long lumbar hole of transverse plane；
(1-5) plane slide unit is connected in upper end of slide block, and level meter is placed across on plane slide unit, slip plane slide unit
Inclination angle of the level meter in whole section guide rail is observed, if level meter is not 0 in certain section guide rail top rade, then adjusts support device nearby
Runing rest make slide unit inclination angle 0, it is horizontal in whole section guide rail to correct slide unit；Level meter is placed longitudinally in plane slide unit
On, slip plane slide unit observes inclination angle of the level meter in whole section guide rail, if inclination angle of the level meter in certain section guide rail is not 0,
The lifting support for then adjusting support device nearby makes level meter inclination angle 0, contour in whole section guide rail to correct slide unit；
Driving wheel and speed regulating motor are mounted on the guard rail steel pipe at linear guide both ends by (1-6), tooth belt and transmission
Wheel, speed regulating motor are connected, and the side of tooth belt and slide unit are fixed together；
(1-7) experimental starting motor carries out positive and negative rotation operation, gradually checks platform stabilization and limit to high speed by low speed
Reliability (2) data acquisition and treatment process comprising steps of
(2-1) static immobilization data acquisition: primary antenna being mounted in the antenna installing hole of plane slide unit, in plane slide unit
M group location data is acquired under stationary state；
(2-2) dynamic alignment data obtains: primary antenna being mounted in the antenna installing hole of plane slide unit, adjusts speed regulation electricity
The speed of machine, obtains Dual-antenna receiver dynamic alignment data under friction speed, and every secondary flat slide unit is moved to right end from left end
For one group of experimental data, each speed level acquisition N group data；
(2-3) static attitude data acquisition: primary antenna is fixed in first antenna installing hole of plane slide unit, from antenna
It is mounted on the 2nd antenna installing hole, the static course angle of M group, inclination angular data are acquired under plane slide unit stationary state, then successively
The 3rd will be mounted on from antenna to the last one antenna installing hole, every kind of baseline length acquisition M group static course angle, inclination angle number
According to；
(2-4) dynamic attitude accuracy test method: being fixed on first antenna installing hole on plane slide unit for primary antenna, from
Antenna is mounted on the 2nd antenna installing hole, adjusts the speed of speed regulating motor, obtains Dual-antenna receiver dynamic under friction speed and navigates
To angle, inclination angular data, it is one group of experimental data, each speed level acquisition N that every secondary flat slide unit, which is moved to right end from left end,
Group data, then the 3rd will be successively mounted on from antenna to the last one antenna installing hole, it obtains under different baseline length friction speeds
Dual-antenna receiver dynamic course angle, inclination angular data；
(2-5) static immobilization data processing method: the WGS-84 terrestrial navigation coordinate that will acquire is switched to by gauss projection
Plane coordinate system, statistics location data are converted to x-axis direction and very poor, the root-mean-square error of y-axis direction positioning after plane coordinate system,
Evaluation index as evaluation Dual-antenna receiver Static positioning accuracy；
(2-6) dynamic alignment data processing method: acquiring the location information of a point on guide rail every Lm, and each point is adopted
Intensive P group data make the average location estimation value as the point, pass through minimum two using the location estimation value of points multiple on guide rail
Squares regression straight line calculates average value of the location data away from this linear distance acquired under current intelligence, as dynamic
The evaluation index of positioning accuracy；
(2-7) static attitude data processing method: the course angle obtained under different baseline length and inclination angular data are counted
Very poor, root-mean-square error surveys the evaluation index of appearance precision as evaluation Dual-antenna receiver static state；
(2-8) dynamic attitude accuracy evaluation method: the boat of the straight line is sought according to the slope of regression straight line in step (2-6)
To the very poor and root-mean-square error of the course angular data and this benchmark that are obtained in statistics dynamic process on the basis of the course is made
For the evaluation index of dynamic course angular accuracy, due to having demarcated linear guide using level meter in linear guide installation process
Horizontal direction is 0 °, on the basis of 0 °, counts the very poor and root mean square of the inclination angular data and this benchmark that obtain in dynamic process
Error, the evaluation index as dynamic tilt angular accuracy.
L is 1m as a preferred technical solution,.
M is 1500 groups as a preferred technical solution, and N is 3 groups, and P is 1200 groups.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, Dual-antenna receiver position and attitude precision testing platform of the present invention can be conveniently installed at roof, and GNSS is avoided to believe
Number block the influence generated to receiver positioning and directing precision.
2, Dual-antenna receiver position and attitude precision testing platform of the present invention can lifting support by support device and rotation
Turn height, levelness and straightness that bracket easily adjusts linear guide, the fastening that can be convenient by butterfly nut.
3, Dual-antenna receiver position and attitude accuracy test device of the present invention passes through vernier caliper, level meter and bracing wire correction
Straightness and levelness of the plane slide unit in whole section guide rail, have ensured the straightness and levelness of guide rail.
4, the motor in trailer system of the present invention can be by control panel stepless speed regulation, and has velocity feedback table.Facilitate survey
Appearance precision is surveyed in the positioning for trying Dual-antenna receiver under friction speed.
5, in the present invention, there is an antenna installing hole every 20cm on plane slide unit, double antenna is mounted on different positioning
Kong Shang can test Dual-antenna receiver positioning under different baseline length and survey appearance precision.
6, in the present invention, gear belt transmission avoids transmission slip, has ensured accurate test speed.
7, in the present invention, limit switch ensures that slide unit moves on U-type groove guide rail, and slide unit is avoided to derail.
8, in the present invention, the method that reference line is returned using the average value of multiple spot position on guide rail, from statistical significance
Upper searching reference line solves the problems, such as that dynamic positioning surveys benchmark in appearance performance evaluation and finds hardly possible.
Detailed description of the invention
Fig. 1 is Dual-antenna receiver position and attitude precision testing platform overall structure diagram；
Fig. 2 is support device front view；
Fig. 3 is that support device side attempts；
Fig. 4 is runing rest top view；
Fig. 5 is linear guide the schematic diagram of the section structure；
Fig. 6 is trailer system top view；
Fig. 7 is electric machine controller panel schematic diagram.
Drawing reference numeral explanation: 1, support device；1-1, lifting support；1-1-1, thumb wheel knob；1-1-2, the first butterfly spiral shell
Silk；1-1-3, elevating screw thread；1-2, runing rest；1-2-1, the second butterfly screw；1-2-2, long lumbar hole；
2, linear guide；2-1, U-type groove guide rail；2-1-1, first through hole；2-1-2, reinforcing bar axis；2-2, sliding block；2-2-1,
Concave surface idler wheel；2-3, plane slide unit；2-3-1, antenna installing hole；2-3-2, the first screw hole；The second screw hole of 2-4；
3, trailer system；3-1, motor；3-2, driving wheel；3-3, tooth belt；3-4, limit switch；3-5, be connected dress
It sets.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment
As shown in Figure 1, being Dual-antenna receiver position and attitude precision testing platform overall structure diagram, including support dress
1 is set, linear guide 2 and trailer system 3, the linear guide are fixed on the upper end of support device, and the trailer system traction is set
The plane slide unit set in linear guide is moved, and the support device is fixed on guard rail steel pipe.
It as shown in Figure 2,3, is the front view and side view of support device, including lifting support 1-1 and runing rest respectively
1-2, the lifting support are used for the height of adjusting supporting device, and level of the runing rest for adjusting supporting device is inclined
Angle；The lifting support is arranged on guard rail steel pipe, and the runing rest is arranged on lifting support.In the present embodiment, institute
Lifting support is stated to be made of internal layer rectangular steel tube and outer layer rectangular steel tube.The side of inner layer steel pipe is provided with elevating screw thread 1-1-3, outside
Layer steel pipe respective side is equipped with thumb wheel knob 1-1-1, and the opposite side of outer layer pipe is set there are two screwing butterfly screw 1-1-2.It is interior
Layer steel pipe is higher by outer layer pipe, and invert bridge type runing rest 1-2 is socketed in the upper end of inner layer steel pipe, passes through butterfly screw 1-2-1
Elastic rotation or fastening.
Fig. 4 is the top view of runing rest, and transverse plane is provided with long lumbar hole that is fixed and adjusting U-type groove guide rail on runing rest
1-2-2。
It is linear guide the schematic diagram of the section structure as shown in Figure 5, linear guide uses built-in twin shaft core idler wheel linear guide,
Including opening up U-type groove guide rail 2-1, the sliding block 2-2 above U-type groove guide rail and plane slide unit 2-3.U-shaped guide rail
Arch groove is symmetrically arranged on two sidewalls in open end, reinforcing bar axis 2-1-2 is inlaid in arch groove, if being lifted in the middle part of sliding block
Dry concave surface idler wheel 2-2-1, concave surface idler wheel keep linear slide to connect after extending downward into the reinforcing bar axis 2-1-2 interworking with two sides
It connects.There is a first through hole 2-1-1 in 1 bottom of U-shaped guide rail every 10cm, for U-type groove guide rail to be fixed on support device
On the long lumbar hole 1-2-2 of runing rest.Plane slide unit 2-3 passes through two sliding block 2-2 on the second screw hole 2-4 and U-type groove guide rail
It can be moved on guide rail with sliding block after being connected, be equipped with the antenna installation of an installation GNSS antenna above plane slide unit every 20cm
Hole 2-3-1.There are the first screw hole 2-3-2 for the side of plane slide unit, for being connected with tooth belt 3-3.
If Fig. 6 is trailer system top view, including speed regulating motor 3-1, driving wheel 3-2, tooth belt 3-3, limit switch
3-4 and attachment 3-5.Speed regulating motor 3-1 and driving wheel 3-2 are separately fixed at 2 both ends of linear guide by attachment
On guard rail steel pipe, tooth belt 3-3 is connected with speed regulating motor 3-1, driving wheel 3-2, the side of tooth belt and plane slide unit 2-3
It is fixed together by nut 3-6.The both ends of U-type groove guide rail are arranged in limit switch 3-4.
As shown in fig. 7, speed-regulating motor controller panel is equipped with power switch, positive and negative rotation button, speed regulation knob and revolving speed
Show table.Speed-regulating motor controller can carry out rotation control and speed monitoring to motor.
Test platform is such mounting and adjusting:
(1) support device is mounted on roof guard rail steel pipe with metal anchor ear, installs one every 1m, screwed metal and embrace
Hoop, support device is firmly installed.
(2) level meter is placed on to the top of support platform, adjusts runing rest, until level meter inclination angle is shown as 0, rotation
Tight butterfly screw, fastens runing rest.
(3) height for utilizing vernier caliper measurement support device upper end plane separation guard rail steel pipe, makes in all support devices
Transverse plane is consistent away from guard rail steel pipe height.
(4) straight line is drawn above head and the tail support platform, is adjusted the lifting support screw on intermediate supports platform, is made institute
There is support platform alignment straight line contour, screws lifting support screw, fasten all lifting supports.(5) by multistage U-type groove guide rail
It is mounted in support platform, draws an auxiliary straight line along U-type groove guide rail, finely tune multistage U-type groove guide rail joining place, be aligned guide rail
Straight line is to guarantee the straightness of whole section guide rail.U-type groove guide rail is fastened on to the long lumbar hole of transverse plane on support platform runing rest
On.
(6) plane slide unit is connected in upper end of slide block, and level meter is placed across on plane slide unit, and slip plane slide unit is seen
Inclination angle of the level meter in whole section guide rail is examined, if level meter is not 0 in certain section guide rail top rade, then adjusts neighbouring support device
Runing rest makes slide unit inclination angle 0, horizontal in whole section guide rail to correct slide unit；Level meter is placed longitudinally in plane slide unit
On, slip plane slide unit observes inclination angle of the level meter in whole section guide rail, if inclination angle of the level meter in certain section guide rail is not 0,
The lifting support for then adjusting support device nearby makes level meter inclination angle 0, contour in whole section guide rail to correct slide unit.
(7) driving wheel and speed regulating motor are mounted on the guard rail steel pipe at linear guide both ends, tooth belt and driving wheel,
Speed regulating motor is connected, and the side of tooth belt and slide unit are fixed together.
(8) experimental starting speed regulating motor carries out positive and negative rotation operation.Gradually platform stabilization and limit are checked to high speed by low speed
Position reliability.
Test data is such acquisition and processing:
(1) static immobilization data acquisition: primary antenna being mounted in the antenna installing hole of plane slide unit, quiet in plane slide unit
About 1500 groups of location datas are only acquired under state.
(2) dynamic alignment data obtains: primary antenna being mounted in the antenna installing hole of plane slide unit, adjusts speed regulating motor
Speed, obtain friction speed under Dual-antenna receiver dynamic alignment data.Every secondary flat slide unit is moved to right end from left end and is
One group of experimental data, 3 groups of data of each speed level acquisition.
(3) static attitude data acquisition: primary antenna is fixed in first antenna installing hole of plane slide unit, from antenna
It is mounted on the 2nd antenna installing hole, about 1500 groups of static state course angles, inclination angular data are acquired under plane slide unit stationary state.
The 3rd will be successively mounted on from antenna again to the last one antenna installing hole, every kind of baseline length acquires about 1500 groups of static state courses
Angle, inclination angular data.
(4) dynamic attitude accuracy test method: primary antenna is fixed on first antenna installing hole on plane slide unit, from day
Line is mounted on the 2nd antenna installing hole, adjusts the speed of speed regulating motor, obtains Dual-antenna receiver dynamic course under friction speed
Angle, inclination angular data.It is one group of experimental data, 3 groups of each speed level acquisition that every secondary flat slide unit, which is moved to right end from left end,
Data.The 3rd will be successively mounted on from antenna again to the last one antenna installing hole, obtains lower pair of different baseline length friction speeds
Aerial receiver dynamic course angle, inclination angular data.
(5) static immobilization data processing method: the WGS-84 terrestrial navigation coordinate that will acquire switchs to put down by gauss projection
Areal coordinate system, statistics location data are converted to x-axis direction and very poor, the root-mean-square error of y-axis direction positioning after plane coordinate system.Make
For the evaluation index for evaluating Dual-antenna receiver Static positioning accuracy.
(6) location information of a point dynamic alignment data processing method: is acquired every 1m on guide rail.Each point acquisition
About 1200 groups of data make the average location estimation value as the point.Pass through minimum two using the location estimation value of points multiple on guide rail
Squares regression straight line.Average value of the location data away from this linear distance acquired under current intelligence is calculated, as dynamic
The evaluation index of positioning accuracy.
(7) course angle obtained under different baseline length and inclination angular data pole static attitude data processing method: are counted
Difference, root-mean-square error.The evaluation index of appearance precision is surveyed as evaluation Dual-antenna receiver static state.
(8) dynamic attitude accuracy evaluation method: seeking the course of the straight line according to the slope of regression straight line in step (6),
The very poor and root-mean-square error of the course angular data and this benchmark that obtain in dynamic process is counted on the basis of the course.As dynamic
The evaluation index of state course angular accuracy.Due to having demarcated linear guide level using level meter in linear guide installation process
Direction is 0 °.On the basis of 0 °, the very poor and root-mean-square error of the inclination angular data and this benchmark that obtain in dynamic process is counted.
Evaluation index as dynamic tilt angular accuracy.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of test method of Dual-antenna receiver position and attitude precision testing platform, which is characterized in that the double antenna connects
Receiving seat in the plane and setting attitude accuracy test platform includes support device, linear guide and trailer system, and the linear guide is fixed on branch
The upper end of support arrangement, the plane slide unit that the trailer system traction is arranged in linear guide are moved, the support device
It is fixed on guard rail steel pipe；
The support device includes lifting support and runing rest, and the lifting support is used for the height of adjusting supporting device, institute
State level inclination of the runing rest for adjusting supporting device；On the lifting support setting guard rail steel pipe, the runing rest
It is arranged on lifting support；
The linear guide uses built-in twin shaft core idler wheel linear guide, including opening up U-type groove guide rail, is set to U-type groove
Sliding block and plane slide unit above guide rail；
The trailer system includes speed regulating motor, driving wheel, tooth belt, limit switch and attachment, the connected dress
It sets and is separately fixed at speed regulating motor and driving wheel on the guard rail steel pipe at linear guide both ends, tooth belt and speed regulating motor pass
Driving wheel is connected, and the side of tooth belt and plane slide unit are fixed together, and the both ends of U-type groove guide rail are arranged in limit switch；
The test method includes two processes of test platform mounting and adjusting and data acquisition process:
(1) test platform mounting and adjusting process comprising steps of
Support device is mounted on roof guard rail steel pipe by (1-1) with metal anchor ear, every L distance installation one, screws metal
Anchor ear firmly installs support device；
(1-2) places level meter above the support device, adjusts runing rest, until level meter inclination angle is shown as 0, screws
Butterfly screw, fastens runing rest；
(1-3) utilizes the height of vernier caliper measurement support device upper end plane separation guard rail steel pipe, makes all support device upper ends
Plane separation guard rail steel pipe height is consistent；
Multistage U-type groove guide rail is mounted in support platform by (1-4), is drawn an auxiliary straight line along U-type groove guide rail, is finely tuned multistage U
Type groove guide rail joining place makes guide rail alignment straight line to guarantee the straightness of whole section guide rail, U-type groove guide rail is fastened on support platform
On runing rest on the long lumbar hole of transverse plane；
(1-5) plane slide unit is connected in upper end of slide block, and level meter is placed across on plane slide unit, the observation of slip plane slide unit
Inclination angle of the level meter in whole section guide rail then adjusts the rotation of support device nearby if level meter is not 0 in certain section guide rail top rade
Turning bracket makes slide unit inclination angle 0, horizontal in whole section guide rail to correct slide unit；Level meter is placed longitudinally on plane slide unit,
Slip plane slide unit is observed inclination angle of the level meter in whole section guide rail and is then adjusted if inclination angle of the level meter in certain section guide rail is not 0
The lifting support of whole support device nearby makes level meter inclination angle 0, contour in whole section guide rail to correct slide unit；
Driving wheel and speed regulating motor are mounted on the guard rail steel pipe at linear guide both ends by (1-6), and tooth belt and driving wheel are adjusted
Speed motor is connected, and the side of tooth belt and slide unit are fixed together；
(1-7) experimental starting speed regulating motor carries out positive and negative rotation operation, gradually checks platform stabilization and limit to high speed by low speed
Reliability；
(2) data acquisition and treatment process comprising steps of
(2-1) static immobilization data acquisition: primary antenna being mounted in the antenna installing hole of plane slide unit, static in plane slide unit
M group location data is acquired under state；
(2-2) dynamic alignment data obtains: primary antenna being mounted in the antenna installing hole of plane slide unit, adjusts speed regulating motor
Speed obtains Dual-antenna receiver dynamic alignment data under friction speed, and it is one that every secondary flat slide unit, which is moved to right end from left end,
Group experimental data, each speed level acquisition N group data；
(2-3) static attitude data acquisition: primary antenna is fixed in first antenna installing hole of plane slide unit, is installed from antenna
In the 2nd antenna installing hole, the static course angle of M group is acquired under plane slide unit stationary state, tilts angular data, then successively will be from
Antenna is mounted on the 3rd to the last one antenna installing hole, the static course angle of every kind of baseline length acquisition M group, inclination angular data；
(2-4) dynamic attitude accuracy test method: primary antenna is fixed on first antenna installing hole on plane slide unit, from antenna
It is mounted on the 2nd antenna installing hole, adjusts the speed of speed regulating motor, obtains Dual-antenna receiver dynamic course under friction speed
Angle, inclination angular data, it is one group of experimental data, each speed level acquisition N group that every secondary flat slide unit, which is moved to right end from left end,
Data, then the 3rd will be successively mounted on from antenna to the last one antenna installing hole, obtain lower pair of different baseline length friction speeds
Aerial receiver dynamic course angle, inclination angular data；
(2-5) static immobilization data processing method: the WGS-84 terrestrial navigation coordinate that will acquire switchs to plane by gauss projection
Coordinate system, statistics location data are converted to x-axis direction and very poor, the root-mean-square error of y-axis direction positioning after plane coordinate system, as
Evaluate the evaluation index of Dual-antenna receiver Static positioning accuracy；
(2-6) dynamic alignment data processing method: the location information of a point, each point acquisition are acquired every L m on guide rail
About P group data make the average location estimation value as the point, and the location estimation value using points multiple on guide rail passes through least square
Method returns straight line, calculates average value of the location data away from this linear distance acquired under current intelligence, fixed as dynamic
The evaluation index of position precision；
(2-7) static attitude data processing method: counting the course angle obtained under different baseline length and inclination angular data is very poor,
Root-mean-square error surveys the evaluation index of appearance precision as evaluation Dual-antenna receiver static state；
(2-8) dynamic attitude accuracy evaluation method: seeking the course of the straight line according to the slope of regression straight line in step (2-6),
The very poor and root-mean-square error that the course angular data and this benchmark that obtain in dynamic process are counted on the basis of the course, as dynamic
The evaluation index of state course angular accuracy；Due to having demarcated linear guide level using level meter in linear guide installation process
Direction is 0 °, on the basis of 0 °, counts the very poor and root-mean-square error of the inclination angular data and this benchmark that obtain in dynamic process,
Evaluation index as dynamic tilt angular accuracy.
2. test method according to claim 1, which is characterized in that L 1m.
3. test method according to claim 1, which is characterized in that M is 1500 groups, and N is 3 groups, and P is 1200 groups.
4. test method according to claim 1, which is characterized in that the lifting support is by inner layer steel pipe and outer layer pipe
Composition, the inner layer steel pipe side are provided with elevating screw thread, and outer layer pipe respective side is equipped with impeller knob, the impeller knob and institute
Elevating screw thread is stated to match；The opposite side of the outer layer pipe screws butterfly screw there are two setting.
5. test method according to claim 4, which is characterized in that the inner layer steel pipe is higher by outer layer pipe, whorl side
Adjacent two sides upper end is provided with tapped through hole, and the runing rest is the arcuate structure for being socketed in inner layer steel pipe upper end, the arc
Structure lower end is provided with through-hole, is connected with butterfly screw and the through-hole of inner layer steel pipe upper end, in the upper transverse plane of the arcuate structure
Between be parallel to the long lumbar hole of chord length, for fixing U-type groove guide rail.
6. test method according to claim 5, which is characterized in that right on the two sidewalls in U-type groove guide openings end
Claim to be equipped with cambered surface sliding-rail groove, reinforcing bar axis is embedded in cambered surface sliding-rail groove, is lifted with several concave surface idler wheels in the middle part of sliding block, it is recessed
Surface roller keeps linear slide to connect after extending to the reinforcing bar axis interworking between the open end of U-type groove guide rail and with two sides vertically downward
It connects.
7. test method according to claim 5, which is characterized in that U-type groove guide rail bottom has one every 10cm
Through-hole, for guide rail to be fixed on the upper surface of support device.
8. test method according to claim 1, which is characterized in that three sliding blocks are connected by the plane slide unit, plane
Be equipped with the antenna installing hole of an installation GNSS antenna above slide unit every 20cm, the side of plane slide unit there are the first screw hole,
For being connected with tooth belt.
9. test method according to claim 1, which is characterized in that the speed regulating motor is furnished with controller, controller face
Plate is equipped with power switch, positive and negative rotation button, speed regulation knob and revolving speed and shows table；The controller can to motor rotate control and
Speed monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079301.3A CN106483535B (en) | 2016-11-30 | 2016-11-30 | A kind of Dual-antenna receiver position and attitude precision testing platform and test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079301.3A CN106483535B (en) | 2016-11-30 | 2016-11-30 | A kind of Dual-antenna receiver position and attitude precision testing platform and test method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106483535A CN106483535A (en) | 2017-03-08 |
| CN106483535B true CN106483535B (en) | 2019-02-01 |
Family
ID=58274265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079301.3A Active CN106483535B (en) | 2016-11-30 | 2016-11-30 | A kind of Dual-antenna receiver position and attitude precision testing platform and test method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106483535B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108592835B (en) * | 2018-04-09 | 2019-07-30 | 西安电子科技大学 | A kind of antenna minor face pose method for real-time measurement based on strain |
| CN108845345B (en) * | 2018-06-12 | 2022-04-12 | 中国矿业大学 | Double-antenna directional attitude measurement method based on GNSS speed measurement principle |
| CN110007158B (en) * | 2019-05-07 | 2020-07-31 | 中国人民解放军32039部队 | Antenna testing device and antenna dynamic testing platform |
| CN110611168B (en) * | 2019-09-21 | 2020-11-20 | 深圳市锦凌电子有限公司 | Multi-antenna calibration device for 5G communication |
| CN110836780B (en) * | 2019-11-21 | 2020-11-03 | 中国汽车工程研究院股份有限公司 | Inertial navigation frame of automatic driving test equipment |
| CN111142135A (en) * | 2019-11-25 | 2020-05-12 | 北京九曜智能科技有限公司 | GPS differential positioning precision manual measurement system and implementation method thereof |
| CN111929234B (en) * | 2020-09-24 | 2020-12-15 | 成都理工大学 | Device for measuring friction coefficient of drilling plugging material |
| CN112799102A (en) * | 2020-12-18 | 2021-05-14 | 易瓦特科技股份公司 | Direction angle correction method, device, equipment and storage medium based on double antennas |
| CN113885054B (en) * | 2021-12-07 | 2022-03-25 | 广东皓行科技有限公司 | Antenna position determining method and device |
| CN113900126B (en) * | 2021-12-07 | 2022-03-25 | 广东皓行科技有限公司 | Double-antenna position determination method and device |
| CN115100131B (en) * | 2022-06-17 | 2023-04-28 | 成都新西旺自动化科技有限公司 | High-precision visual alignment method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101644756A (en) * | 2008-12-30 | 2010-02-10 | 中国科学院声学研究所 | Linear GPS dynamic locating accuracy verification instrument and verification method thereof |
| CN103777301A (en) * | 2014-01-01 | 2014-05-07 | 西安应用光学研究所 | Support fine-tuning device applied to pre lens optical axis alignment |
| CN204731321U (en) * | 2015-05-05 | 2015-10-28 | 中国空空导弹研究院 | A kind of proving installation of electromagnetic parameter of test material |
| CN205484835U (en) * | 2016-01-14 | 2016-08-17 | 四川聚能核技术工程有限公司 | All direction movement supporting mechanism and adopt its radiation detection device |
-
2016
- 2016-11-30 CN CN201611079301.3A patent/CN106483535B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101644756A (en) * | 2008-12-30 | 2010-02-10 | 中国科学院声学研究所 | Linear GPS dynamic locating accuracy verification instrument and verification method thereof |
| CN103777301A (en) * | 2014-01-01 | 2014-05-07 | 西安应用光学研究所 | Support fine-tuning device applied to pre lens optical axis alignment |
| CN204731321U (en) * | 2015-05-05 | 2015-10-28 | 中国空空导弹研究院 | A kind of proving installation of electromagnetic parameter of test material |
| CN205484835U (en) * | 2016-01-14 | 2016-08-17 | 四川聚能核技术工程有限公司 | All direction movement supporting mechanism and adopt its radiation detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106483535A (en) | 2017-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106483535B (en) | A kind of Dual-antenna receiver position and attitude precision testing platform and test method | |
| CN104359492B (en) | Inertial navigation and the reckoning Positioning System Error estimating algorithm of wheel speed meter composition | |
| US10969500B2 (en) | Method for determining an azimuth angle of a wind turbine | |
| CN104848785B (en) | A kind of vehicle complete vehicle parameter test system | |
| CN107687114A (en) | A kind of track absolute position and bias measurement method | |
| CN106895819A (en) | A kind of total powerstation high accuracy Trigonometric Leveling | |
| CN102901977A (en) | Method for determining initial attitude angle of aircraft | |
| CN110023714A (en) | For measuring the measuring system and measurement method of the stator of the wind energy plant without transmission device | |
| CN105571574A (en) | Movable total station instrument measuring platform for shield automatic guide system | |
| CN106767670B (en) | Photoelectric nacelle mounting shift angle assists calibration device | |
| CN104535974A (en) | Boresight device of airplane radar system and using method of boresight device | |
| CN104229633A (en) | Method for detecting bridge crane runway and wheel group by using laser distance measuring instrument | |
| CN103472846B (en) | A kind of sun acquisition method based on multiple solar cell piece | |
| CN108225286A (en) | A kind of vehicle-mounted total powerstation position and orientation estimation method of movement station | |
| CN110159888B (en) | Surveying instrument's convenience improve equipment | |
| CN104594647B (en) | Girder steel location adjusting device | |
| CN109112937A (en) | A kind of surface evenness fining method for fast measuring | |
| CN102865853B (en) | Rapid high-precision guiding method based on inclined base photoelectric tracking measuring equipment | |
| CN208295462U (en) | A kind of adjusting bracket of balanced type gyroscope equipment | |
| CN207702075U (en) | A kind of rangefinder adjusting apparatus | |
| CN202433012U (en) | Bracing wire type angle measurement system | |
| CN212340262U (en) | Movable target device for measuring horizontal displacement | |
| CN112361968A (en) | Vehicle wheel center measuring device and measuring method | |
| CN202885836U (en) | Theodolite horizontal one-test-return precision testing system under extreme temperature condition | |
| CN209069595U (en) | A kind of positioning pedestal and positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |