CN109269471A - A kind of novel GNSS receiver inclinometric system and method - Google Patents
A kind of novel GNSS receiver inclinometric system and method Download PDFInfo
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- CN109269471A CN109269471A CN201811333054.4A CN201811333054A CN109269471A CN 109269471 A CN109269471 A CN 109269471A CN 201811333054 A CN201811333054 A CN 201811333054A CN 109269471 A CN109269471 A CN 109269471A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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
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- 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
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Abstract
The present invention provides a kind of novel GNSS receiver inclinometric system, including Inertial Measurement Unit, the Inertial Measurement Unit includes 3 axis accelerometers and 3 axis gyroscopes；GNSS receiver, the GNSS receiver are used to the position and speed of measuring receiver antenna phase center；CPU, the CPU are used for data processing, and it is synchronous with Inertial Measurement Unit data to be responsible for GNSS receiver data；Centering rod, the centering rod is the physical media of GNSS receiver and the transmitting of measurement point position, realize without correction, reliable, continuous precise inclination measurement, to replace the tilt measuring method for being based on electronic compass technology and " shaking " technology, the working efficiency for improving the measurement of GNSS receiver field operation, reduces the labor intensity of surveyor.
Description
Technical field
The invention belongs to a kind of GNSS receiver high-precision inclinometric system conceptual design and implementation methods, are suitable for benefit
The fields of measurement such as each mapping, engineering survey, monitoring of measurement and setting-out are carried out with GNSS receiver and centering rod.
Background technique
What GNSS receiver measured is the coordinate position of antenna phase center, and in practical application it is desirable that centering rod bottom
The coordinate position of corresponding points is held, traditional work mode needs to maintain the level(l)ing bubble on centering rod placed in the middle, by antenna phase center
Position is transferred to the corresponding measurement point in measuring rod bottom end, and operating efficiency is low, large labor intensity, and the environment such as corner, slope are simultaneously
Do not have level(l)ing bubble objective condition placed in the middle, inclination measurement technology is GNSS receiver measurement without maintaining centering rod vertical
One change of technology, can reduce labor intensity, improve operating efficiency.
Current tilt measuring technique mainly has two major classes scheme: first is that by determining receiver carrier coordinate system (IMU coordinate
System) with the space vector transformational relation between navigational coordinate system (ECEF ECEF coordinate system, locality horizontal coordinates), will be
Constant centering rod length vector decomposes to navigation coordinate under carrier coordinate system, directly to antenna phase center position in navigation system
It sets and carries out centering rod length compensation, to realize the measurement (Fig. 1) of ground survey point；Second is that the theoretical multidigit that crossed based on space
Set measurement method (Fig. 2)；
Be currently based on first kind scheme mainly electronic compass tilt measuring method, determine receiver carrier coordinate system with
Space vector transformational relation between navigational coordinate system, essence are the attitude angle (pitching between determining carrier system and navigation system
Angle, roll angle, course angle), (the coordinate conversion of inclination measurement is not related to stretching, and pertains only to rotation and translation), it is based on electronics sieve
For the inclination measurement scheme of disk using the pitch angle and roll angle of accelerometer and gyroscope tracking GNSS receiver, gyroscope is can
Sensor is selected, using pitch angle and roll angle by the output adjustment of magnetometer to horizontal plane, so that magnetic heading is calculated, by magnetic
Drift angle compensates to obtain course angle, generates direction cosine matrix using pitch angle, roll angle and course angle, realizes the seat of space vector
Mark conversion, by antenna phase center position compensation to ground survey point, but its disadvantage is more:
Pitch angle, roll angle absolute precision depend on the performance of accelerometer, the zero bias of accelerometer, zero bias are stablized
Property etc. performance indicators require very high, need periodically to carry out stringent calibration, need accurate calibration facility and stringent calibration ring
Border, this is not available for common customer；
Due to accelerometer cannot be distinguished acceleration of motion and and acceleration of gravity, so electronic compass inclination measurement technology
Inclination measurement can only be carried out under the conditions of quasi-static, even if the dynamic that gyroscope increases angleonly tracking is added, due to IMU system
The presence of error and random error can not still accomplish real-time inclination measurement；
It being required to be corrected before each use of magnetometer, calibration result directly affects the precision of course angular measurement, and
Influence in magnetometer use process vulnerable to the variation of receiver inside and outside electromagnetic environment, and the variation is difficult to monitor, so magnetic force
Measure the poor reliability of magnitude；
Since there are absolute precisions not can guarantee, it is cumbersome to correct, poor reliability for the inclination measurement scheme based on electronic compass
The disadvantages of, so surveyor is reluctant to use, dare not use in practical application.
It is currently based on mainly " shaking " tilt measuring method of the second class scheme, this method is surveyed by shaking centering rod
Multiple points in quantity space, using centering pole length as constraint condition, progress space, which crosses, calculates the position of measurement point, but by
The geometry of spatial point distribution influences, especially the environment such as corner, and the distribution of spatial point is limited, and geometry is very poor, so
The precision of measurement point is unstable, can only achieve the precision of decimeter grade, and needs to measure multiple spatial points and could complete inclination measurement.
Summary of the invention
In order to solve above-mentioned insufficient defect, the present invention provides a kind of novel GNSS receiver inclinometric system and sides
Method realizes without correction, reliable, continuous precise inclination measurement, to replace based on electronic compass technology and " shake one
Shake " tilt measuring method of technology, improves the working efficiency of GNSS receiver field operation measurement, reduces the labor intensity of surveyor.
The present invention provides a kind of novel GNSS receiver inclinometric system, including Inertial Measurement Unit, the inertia
Measuring unit includes 3 axis accelerometers and 3 axis gyroscopes；GNSS receiver, the GNSS receiver are used to measuring receiver day
The position and speed at phase of line center；CPU, the CPU are used for data processing, are responsible for GNSS receiver data and inertia measurement list
The synchronization of metadata and the execution of GNSS/INS blending algorithm and slope compensation algorithm；Centering rod, the centering rod are that GNSS connects
The physical media of receipts machine and the transmitting of measurement point position.
Above-mentioned system, wherein the Inertial Measurement Unit includes three axis accelerometer and three-axis gyroscope, can not be wrapped
Containing 3 axis magnetometers.
Above-mentioned system, wherein the GNSS receiver also provides PPS pulse synchronous signal, the position of antenna phase center
Set be inclination measurement position reference, the position and speed of antenna phase center is that the observation of GNSS/INS data fusion model is defeated
Enter, PPS pulse signal is then the GNSS data benchmark synchronous with IMU observation data time.
Above-mentioned system, wherein the CPU is also responsible for the operation of GNSS/INS data anastomosing algorithm, is responsible for slope compensation
Calculating and compensation point precision evaluation index calculating.
The present invention also provides a kind of novel GNSS receiver tilt measuring methods, comprising the following steps:
Step (1): factory correction；
Step (2): time synchronization；
Step (3): state initialization；
Step (4): GNSS/INS fusion resolves；
Step (5): slope compensation；
Step (6): heeling condition is shown；
Step (7): tilt accuracy evaluation.
Above-mentioned method, wherein the step (2) specifically includes: the PPS pulse signal based on GNSS receiver is realized
The time synchronization of GNSS data and IMU data, to guarantee the real-time and dynamic of inclination measurement.
Above-mentioned method, wherein the step (3) specifically includes: using GNSS position and speed information complete position,
The initialization of speed and posture provides original state to resolve for GNSS/INS fusion.
Above-mentioned method, wherein the step (4) specifically includes: being basic structure with the error equation of inertia mechanical layout
The kinematical equation of Kalman filter is built, is to measure input with the position and speed information of GNSS, to realize GNSS/INS
Data fusion resolve and position, speed, the real-time estimation of posture.
Above-mentioned method, wherein the step (5) specifically includes: will be permanent under carrier coordinate system based on 3 d pose
Fixed centering rod resolution of vectors is to carry out centering rod length compensation to antenna phase center position under navigation system to navigating, from
And obtain position of the measurement point under navigation system.
Above-mentioned method, wherein the step (6) specifically includes: realize that centering rod inclines based on 3 d pose information
The calculating of rake angle and inclined direction, thus the convenient description to centering rod heeling condition；Step (7) specifically includes: with GNSS/
The 3 d pose standard deviation of INS blending algorithm estimation, it is poor according to law of propagation of errors derivation compensation point location criteria, to realize
The precision evaluation of slope compensation.
The invention has the following advantages: realize without correction, reliable, continuous precise inclination measurement, with
Replace the tilt measuring method for being based on electronic compass technology and " shaking " technology, improves the work of GNSS receiver field operation measurement
Efficiency reduces the labor intensity of surveyor.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in all the attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is show the gist of the present invention.
Fig. 1, Fig. 2 are respectively existing inclination measurement technology schematic diagram.
Fig. 3 a show GNSS/INS data anastomosing algorithm schematic diagram of the present invention；Fig. 3 b is the structural representation of present system
Figure.
Fig. 4 a show IMU systematic error scaling method schematic diagram synchronous with installation error with Fig. 4 b.
Fig. 5 show PPS time synchronization schematic illustration of the present invention.
Fig. 6 is the schematic diagram that walking GNSS/INS of the present invention fusion resolves state initialization scheme.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
Referring to Fig.1 shown in-Fig. 5, a kind of novel GNSS receiver inclinometric system provided by the invention, including inertia are surveyed
It measures unit (IMU), GNSS receiver, CPU, centering rod, Inertial Measurement Unit includes 3 axis accelerometers and 3 axis gyroscopes, is not wrapped
Containing 3 axis magnetometers, needs to correct and change the problem of influencing vulnerable to electromagnetic environment to fundamentally avoid magnetometer, this is
The present invention is dramatically different with electronic compass inclination measurement scheme, and Inertial Measurement Unit is installed on the centre bit of GNSS receiver
It sets, for the linear acceleration and angular speed of measuring receiver, carries out inertia mechanical layout using the acceleration and angular speed of measurement
Resolve and participate in the motion model that building GNSS/INS data fusion resolves；
GNSS receiver is mainly used to the position and speed of measuring receiver antenna phase center, and it is same to provide PPS pulse
Signal is walked, the position of antenna phase center is the position reference of inclination measurement, and the position and speed of antenna phase center is GNSS/
The observation of INS data fusion model inputs, and PPS pulse signal is then the GNSS data benchmark synchronous with IMU observation data time；
CPU is data processing centre, and responsible GNSS data is synchronous with IMU data, is responsible for GNSS/INS data fusion and calculates
The operation of method, is responsible for the calculating of slope compensation and the calculating of compensation point precision evaluation index, and the present invention passes through GNSS/INS number
It is resolved according to the dynamically track that blending algorithm carries out 3 d pose, and real-time estimation and compensation is carried out to inertial sensor errors, with
Only using the electronic compass inclination measurement scheme of accelerometer, magnetometer and gyroscope progress attitude algorithm, there are in principle
Difference；The present invention is based on high dynamic and high reliability that GNSS/INS data anastomosing algorithm has given full play to inertia sensing, energy
It is enough provide in real time inclination measurement as a result, and precision reach Centimeter Level, surveyed in service efficiency and precision with " shaking " inclination
There are significant differences for amount scheme；
Centering rod is the physical media of GNSS receiver and the transmitting of measurement point position.
A kind of novel GNSS receiver tilt measuring method provided by the invention, comprises the following steps: step (1): factory
Correction: the invention proposes a kind of factory scaling methods of IMU systematic error calibration synchronous with installation error, to avoid system
Influence of the property error to inclination measurement precision；
Step (2): time synchronization: the present invention is based on the PPS pulse signals of GNSS receiver to realize GNSS data and IMU number
According to time synchronization, to guarantee the real-time and dynamic of inclination measurement；
Step (3): state initialization: the present invention make full use of GNSS position and speed information complete position, speed and
The initialization of posture provides original state to resolve for GNSS/INS fusion；
Step (4): GNSS/INS fusion resolves: the present invention is constructed based on the error equation of inertia mechanical layout
The kinematical equation of Kalman filter is to measure input with the position and speed information of GNSS, to realize GNSS/INS's
Data fusion resolves and position, speed, the real-time estimation of posture；
Step (5): slope compensation: the present invention is based on 3 d pose by centering rod vector constant under carrier coordinate system
Navigation system is decomposed to, centering rod length compensation is carried out to antenna phase center position under navigation system, is existed to obtain measurement point
Position under navigation system；
Step (6): heeling condition is shown: the present invention is realized centering rod tilt angle and is inclined based on 3 d pose information
The calculating of tilted direction, thus the convenient description to centering rod heeling condition；
Step (7): tilt accuracy evaluation: the 3 d pose standard deviation that the present invention is estimated with GNSS/INS blending algorithm, root
It is poor according to law of propagation of errors derivation compensation point location criteria, to realize the precision evaluation of slope compensation.
(1) present invention implements factory calibration link, is mended to the system zero bias and proportionality coefficient of inertial sensor
It repays, improves the precision of inertial sensor observation；And the installation error of inertial sensor is demarcated, and avoid peace
Influence of the error to inclination measurement precision is filled, because what the 3 d pose of receiver characterized is inertial sensor and navigational coordinate system
Transformational relation will lead to centering rod resolution of vectors mistake, most if the bottom surface of inertial sensor and GNSS receiver is not parallel
Lead to slope compensation mistake eventually；
(2) present invention employs the GNSS/INS data synchronization technology based on PPS second pulse signal, PPS second pulse signals
Time service precision be nanosecond, be the Primary Reference benchmark of Time Synchronizing, due to GNSS receiver from receive satellite electricity
Magnetostatic wave signal to output position and velocity information needs to handle the time, and the processing time of mainstream GNSS receiver is 10- at present
100ms, and 3 d pose information is according to the high-frequency inertia data calculation of 100Hz or more, so GNSS receiver output bit confidence
Breath moment corresponding posture is not that GNSS receiver receives electromagnetic wave signal moment corresponding posture, therefore the present invention utilizes PPS
Second pulse signal stamps the timestamp with GNSS location same time system to inertia observation data, to match for GNSS location
Closest to the posture at moment, to ensure that the dynamic and real-time of inclination measurement；
(3) state that the present invention makes full use of the speed of GNSS and location information to realize that GNSS/INS fusion resolves is initial
Change, surveyor is only needed to hold the distance of one section of 10m of GNSS receiver walking or so, it can speed according to GNSS receiver and position
The initialization for completing GNSS/INS fusion resolving state is set, key is the initialization of 3 d pose, once completion status is initial
Change, fusion solution process can be entered；
(4) present invention is resolved using the tracking that GNSS/INS blending algorithm carries out 3 d pose, passes through Kalman filter
The reckoning result and GNSS calculation result for merging inertia mechanical layout, estimate attitude error, velocity error and the position of mechanization
The remaining zero offset error of error and inertial sensor is set, and carries out feedback compensation, to realize the high frequency of 3 d pose, high-precision
Dynamically track resolves, due to not using magnetometer, so fundamentally avoiding correction to magnetometer and because of electromagnetic environment
The problem of poor reliability caused by interfering；Due to having carried out complete modeling to motion state, so the tracking of 3 d pose is not
It will receive the influence of GNSS receiver motion state variation, so dynamic tilt measurement may be implemented in the present invention, without quasi- quiet
It is carried out under the conditions of state；
(5) present invention calculates the inclination side of the relatively local horizontal coordinates of centering rod according to the 3 d pose of GNSS receiver
To and tilt angle, so as to over the display intuitively display GNSS receiver and centering rod spatial position；
(6) real-time criteria that the present invention derives 3 d pose according to the simplification error model of inertia mechanical layout is poor, then
The standard deviation of slope compensation point and the standard deviation of inclination measurement angle are derived according to law of propagation of errors, so that intuitively display is inclined
The precision level tiltedly measured improves the experience of the user of inclination measurement；
The specific embodiment of the invention presented below
Referring to shown in Fig. 3 b, GNSS receiver 1 is fixed comprising receiving the antenna of satellite electromagnetic wave signal and carrying out GNSS navigation
The board that position resolves exports GNSS original observed data, PPS second pulse signal and day for realizing the resolving of GNSS navigator fix
Phase of line central speed and location information；It is installed on the IMU inertia measuring module 2 of GNSS receiver center, for measuring
The linear velocity and angular speed of tri- orthogonal directions of IMU, to carry out inertia mechanical layout resolving；CPU processor 3, it is main to realize
The time synchronization of GNSS navigator fix information, IMU inertia observation data, IMU inertia mechanical layout resolve, and GNSS/INS data are melted
Close the operation resolved with the slope compensation scheduling algorithm of space vector；Centering rod 4, GNSS antenna phase centre location and measurement point it
Between spatial position transmit physical media；
GNSS/INS data anastomosing algorithm mainly includes three parts: the synchronization of GNSS/INS data time, GNSS/INS number
It is resolved according to fusion, space compensation resolving, three parts have sequencing in logic.
Referring to shown in Fig. 4 a, Fig. 4 b, the effect of horizontal platform is to provide datum water level, and turntable or dividing head etc. can also be used
Equipment provides, regular hexahedron inner hollow, it acts as mutually orthogonal plane is provided, constitutes vertical plane with horizontal plane, can also
To be realized using equipment such as turntable or dividing heads, IMU module zero bias and installation error inside GNSS receiver proposed by the present invention
The key of synchronous scaling method is the theoretical output using IMU under horizontal plane and vertical plane state as constraint, with least square
Algorithm realizes the estimation of systematic error, if synchronous calibration IMU zero bias and installation error, provides datum water level and vertical plane
Equipment is necessary condition, if only demarcating IMU zero bias, need to only provide the equipment and a general plane of vertical plane.
Referring to Figure 5, PPS second pulse signal is the pulse signal of nanosecond, is the base of data synchronization scheme of the present invention
Calibration signal, the output frequency of GNSS navigator fix result is 1Hz, 5Hz or 10Hz, using system when GPS, positioning knot
Whole moment second measurement result when fruit is based on GPS, and the whole second time trigger of system when PPS pulse is again based on GPS,
So PPS pulse per second (PPS) triggering moment is stringent corresponding in time system with the measurement moment of GNSS receiver, but due to
GNSS receiver needs that observation data are parsed, resolved and exported, so GNSS receiver output navigator fix result
Moment and actual measurement moment are inconsistent, there is delay, and the renewal frequency of IMU observation data is thousand Hz ranks, and real-time is very
Height, and data fusion resolving need to merge the consistent navigator fix result of space-time, so need by IMU and GNSS when
Between system carry out unification, to mark moment consistent navigator fix result and observation data, when GNSS/INS proposed by the present invention
Between synchronization scheme using PPS second pulse signal as synchronous base, the IMU of high frequency is observed in observation data time series in real time
Data carry out the time label of system when GPS, system when the observation data of IMU are synchronized to GPS, to realize that inertial navigation is fixed
The time match of position result and observation data and GNSS navigator fix result and observation data.
The algorithm principle of the inclination measurement scheme in the present invention is described briefly below:
Step 1: the complete machine calibration before GNSS receiver factory:
The definition of coordinate system can be related to by resolving link in calibration link and algorithm, and what mainly carrier system and navigation were determines
Justice is described collectively herein, and carrier system is the orthogonal coordinate system being connected with IMU module in GNSS receiver, with IMU matter
The heart is origin, to describe IMU module three-dimensional space define, can be divided into according to the direction of reference axis it is right front upper, in front left,
The inferior definition of front right, need to only meet the right-hand rule, and navigation system is main using the space coordinates to describe navigator fix result
There are ECEF ECEF coordinate system, Department of Geography, the locality ENU/NED horizontal coordinates etc., only selects right front upper coordinate system herein
Carrier system is described with ENU coordinate system and navigation is, to be illustrated to the method applied in the present invention and algorithm, other coordinates are fixed
Justice does not influence the use of the present invention used method and algorithm.
According to attached drawing 4a, the underrun connector of GNSS receiver is connected with hexahedral inner bottom surface, successively according to
Hexahedron is placed on horizontal platform by coordinate system direction shown in attached drawing 4b, acquires static data respectively, is acquired 6 groups of data altogether, is put
Setting sequence can not only need reference axis to be directed toward corresponding, also the direction of redefinable XYZ according to sequence shown in attached drawing 4b,
It need to only meet after the right-hand rule and energy that the direction after XYZ is directed toward is redefined with attached drawing 4b is corresponding.According to formula 1
IMU observation model is established least square model (formula 3), and is constraint in the theoretical output of horizontal plane with IMU, estimates IMU's
Accelerometer bias, gyroscope zero bias and accelerometer proportionality coefficient, under horizontal plane, the sight in accelerometer direction straight up
Measured value is theoretically local gravity size, and the observation in horizontal direction is theoretically 0, sensitive earth autobiography on gyroscopic theory
Angular speed, but the present invention uses MEMS inertial sensor, and lack of resolution is to identify earth autobiography angular speed, so of the invention
It is exported using 0 theory as gyroscope in horizontal plane.
For gyroscope, the scaling scheme that the present invention uses only demarcates the zero bias item of gyroscope, and calculation method is by 6 groups
Mean value in sequence corresponding to the output of XYZ axis is separately summed to be averaging again, such as formula 2 calculates gyro X-axis zero bias, as top
The zero offset compensation item bias of spiral shell instrument.
For accelerometer, the present invention uses least-squares algorithm with the theoretical output of horizontal plane for restrained split-flow acceleration
The zero bias item and proportionality coefficient item of meter need to estimate 3 zero bias coefficients and 9 according to the error model of accelerometer in formula 1
Proportionality coefficient, totally 12 variables, the present invention are demarcated using six positions, each position can establish 3 reality outputs with
Theory exports corresponding observational equation, can establish 18 observational equations altogether, it is possible to using least square method to 12
Variable is estimated.
The accelerometer bias and proportionality coefficient calculated using formula 3 is corresponding to No. 1 in Fig. 4 b or No. 2 or No. 3 positions
Static acceleration meter observation data are compensated by formula 1, and recycling compensated data, calculating level is pacified according to the following formula
Fill error:
Wherein accx, accy, accz are the mean value for compensating the output of three axis of post-acceleration meter,To be constructed according to 3 d pose
Direction cosine matrix, concrete form is related to the selection of coordinate system, and above formula is fixed according to the coordinate system selected herein
Justice, which calculates, is horizontally mounted error pitch, the algorithm of roll, and other coordinate systems define the derivation process class for calculating and being horizontally mounted error
Seemingly.
Step 2: GNSS/INS data are synchronous:
Such as attached drawing 5, after completing opening initialization to IMU inertial sensor and GNSS board, by the inertia measurement number of IMU
It is linked into CPU processor according to, observation data of GNSS receiver and PPS second pulse signal, IMU is observed by the crystal oscillator of CPU
Value carries out cpu system time label, and when PPS signal triggering, the part of whole second when by GPS system is assigned to IMU observation
Timestamp, and by the fractional part zero setting of IMU observation timestamp, when PPS signal does not trigger, then there is the crystal oscillator of CPU to maintain
Cumulative and the whole second carry of the fractional part of IMU observation timestamp, then by the GNSS observation data and IMU sight after synchronization
Measured data passes to GNSS/INS fusion computation module.
Step 3: navigation calculation state initialization:
Inertia mechanical Arrangement algorithm belongs to dead reckoning algorithm, needs the position of carrier, the initial value of speed and posture, sheet
Invention makes full use of speed and the location information of GNSS to realize the initialization of inertia mechanical layout, and surveyor is only needed to hold GNSS
Receiver straight line walking 10m or so, walking speed be greater than 1m/s, such as Fig. 6, can very according to GNSS receiver output position and speed
The initialization that information completes the position, speed and posture of inertia mechanical layout is spent, due to observing data and IMU observation to GNSS
Data have carried out time synchronization, so carrying out initialization to inertia mechanical layout by GNSS observation data, there is no space-time is different
The problem of cause；
Step 4: GNSS/INS data fusion resolves:
After the initialization for completing position, speed and posture, so that it may according to the differential equation of inertia mechanical Arrangement algorithm
(formula 4-1,2,3) carries out dead reckoning with the frequency not higher than IMU inertia observation data sampling, and according to inertia mechanical layout
Error equation (formula 5-1-9) the building GNSS/INS data fusion of the algorithm differential equation resolves the state side of kalman filter
Journey (formula 6), (since carrier system is different with the selection of navigation system, formula 4,5,6 is poor caused by existing due to coordinate system conversion
It is different, be herein that navigation system provides specific formula by carrier system, local horizontal coordinates of ENU, other coordinate systems define under public affairs
Formula is similar), and (formula 7- is updated with the time that the frequency not higher than IMU inertia observation data sampling carries out kalman filter
1,2), once CPU receive observe moment corresponding GNSS navigator fix with GNSS as a result, if carry out the measurement of kalman filter
Update (formula 7-3,4,5), and the state error feedback modifiers for measuring more new estimation are calculated to inertia mechanical layout position,
Speed and posture are exported with the result that revised position, speed and posture are resolved as GSNN/INS fusion, so far complete one
The data fusion of secondary GNSS/INS resolves, and GNSS/INS data anastomosing algorithm circulation executes above procedure, with realize 3 d pose,
The tracking of the dynamic high precision of speed and position.
Wherein,Indicate rotation of the navigation system relative to inertial system, it includes two parts: navigation system caused by earth rotation
The rotation of navigation system, that is, have caused by rotation and system are moved about at the earth's surface because of earth surface bending
Wherein
ωieFor earth rotation angular speed, L and h are respectively geographic latitude and height.
WhereinFor the specific force of accelerometer measures,To cause Ge Shi to add by carrier movement and earth rotation
Speed,For the centripetal acceleration over the ground as caused by carrier movement, gnFor acceleration of gravity,
It is referred to as harmful acceleration.
Wherein
RMh=RM+ h, RNh=RN+h
The state space X in formula 6 is constituted on the right of the equation of formula 5-1 to 5-9k, and expanded IMU accelerometer and
The zero offset error item of gyroscope, the equation left side of formula 5-1 to 5-9 constitute the state-transition matrix φ in formula 6k/k-1, and
The state transfer item of the zero offset error of IMU accelerometer and gyroscope, W are expandedK-1For state passing noise, passed according to inertia
The nominal accuracy and empirical value of sensor are set, ZkFor observed quantity, the present invention is using GNSS speed and position and inertia dead reckoning
Position and speed difference as observed quantity, HkFor measurement matrix, set according to the transformational relation of observed quantity and state space, vk
To measure noise, according to the positioning constant speed precision set of GNSS.
1. state one-step prediction
2. state one-step prediction mean square error
3. filtering gain
4. state estimation
5. state estimation mean square error
Pk=(I-KkHk)Pk/k-1 (7-5)
Step 5: inclination measurement:
The distance L of centering rod bottom to antenna phase center is projected as constant three-dimensional space at carrier coordinate system ENU
Vector leverb=[0 0-L], and the 3 d pose of GNSS/INS data anastomosing algorithm output describes carrier system b (ENU)
Rotation relationship with navigation is between n (local horizontal coordinates), can construct direction cosine matrix according to 3 d poseIt will
Three-dimensional space vectors under carrier system project the three-dimensional space vectors to navigational coordinate systemThus will
Antenna phase center position R under navigational coordinate systemantennaConvert the position to centering rod bottom measurement point under navigational coordinate system
Rmeasurement, realize inclination measurement.
Step 6: inclination measurement precision evaluation index:
Inertia mechanical setup error equation is carried out simplifying (formula 9) based on formula 5-1 to 5-9 and approximation can be right
3 d pose in short time calculates that error is evaluated, and calculates the standard deviation of 3 d pose, then be with 3 d pose standard deviation
Basis calculates the standard deviation of inclination measurement point and the standard of tilt angle according to law of propagation of errors with formula 8 and formula 10
Difference.
Wherein φE,φN,φUFor the posture standard deviation of tri- axial directions of ENU, φE,φN,φUIt is poor for the primary standard of posture,
εE,εN,εUFor the zero bias of ENU three-axis gyroscope, ▽E,▽N,▽UFor the zero bias of ENU three axis accelerometer, R is earth radius, δ
vE0,δvN0Velocity standard for the direction E and the direction N is poor, tL=tan (L), L are geographic latitude, and t is the inertia dead reckoning time.
Step 7: centering rod spatiality describes:
Tilt angle and inclined direction of the centering rod in navigational coordinate system are derived according to 3 d pose, is being shown with facilitating
End describes the heeling condition of centering rod, if from carrier system b to navigation being the direction cosine matrix of nThen
The inclined direction angle dir and tilt angle tilt of centering rod can be calculated by following formula:
(1) present invention implements factory calibration link, is mended to the system zero bias and proportionality coefficient of inertial sensor
It repays, improves the precision of inertial sensor observation；And the installation error of inertial sensor is demarcated, and avoid peace
Influence of the error to inclination measurement precision is filled, because what the 3 d pose of receiver characterized is inertial sensor and navigational coordinate system
Transformational relation will lead to centering rod resolution of vectors mistake, most if the bottom surface of inertial sensor and GNSS receiver is not parallel
Lead to slope compensation mistake eventually；
(2) present invention employs the GNSS/INS data synchronization technology based on PPS second pulse signal, PPS second pulse signals
Time service precision be nanosecond, be the Primary Reference benchmark of Time Synchronizing, due to GNSS receiver from receive satellite electricity
Magnetostatic wave signal to output position and velocity information needs to handle the time, and the processing time of mainstream GNSS receiver is 10- at present
100ms, and 3 d pose information is according to the high-frequency inertia data calculation of 100Hz or more, so GNSS receiver output bit confidence
Breath moment corresponding posture is not that GNSS receiver receives electromagnetic wave signal moment corresponding posture, therefore the present invention utilizes PPS
Second pulse signal stamps the timestamp with GNSS location same time system to inertia observation data, to match for GNSS location
Closest to the posture at moment, to ensure that the dynamic and real-time of inclination measurement；
(3) state that the present invention makes full use of the speed of GNSS and location information to realize that GNSS/INS fusion resolves is initial
Change, surveyor is only needed to hold the distance of one section of 10m of GNSS receiver walking or so, it can speed according to GNSS receiver and position
The initialization for completing GNSS/INS fusion resolving state is set, key is the initialization of 3 d pose, once completion status is initial
Change, fusion solution process can be entered；
(4) present invention is resolved using the tracking that GNSS/INS blending algorithm carries out 3 d pose, passes through Kalman filter
The reckoning result and GNSS calculation result for merging inertia mechanical layout, estimate attitude error, velocity error and the position of mechanization
The remaining zero offset error of error and inertial sensor is set, and carries out feedback compensation, to realize the high frequency of 3 d pose, high-precision
Dynamically track resolves, due to not using magnetometer, so fundamentally avoiding correction to magnetometer and because of electromagnetic environment
The problem of poor reliability caused by interfering；Due to having carried out complete modeling to motion state, so the tracking of 3 d pose is not
It will receive the influence of GNSS receiver motion state variation, so dynamic tilt measurement may be implemented in the present invention, without quasi- quiet
It is carried out under the conditions of state；
(5) present invention calculates the inclination side of the relatively local horizontal coordinates of centering rod according to the 3 d pose of GNSS receiver
To and tilt angle, so as to over the display intuitively display GNSS receiver and centering rod spatial position；
(6) real-time criteria that the present invention derives 3 d pose according to the simplification error model of inertia mechanical layout is poor, then
The standard deviation of slope compensation point and the standard deviation of inclination measurement angle are derived according to law of propagation of errors, so that intuitively display is inclined
The precision level tiltedly measured improves the experience of the user of inclination measurement.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (10)
1. a kind of novel GNSS receiver inclinometric system, which is characterized in that including Inertial Measurement Unit, the inertia measurement
Unit includes 3 axis accelerometers and 3 axis gyroscopes；GNSS receiver, the GNSS receiver are used to measuring receiver antenna phase
Centrical position and speed；CPU, the CPU are used for data processing, are responsible for GNSS receiver data and Inertial Measurement Unit number
According to synchronization and GNSS/INS blending algorithm and slope compensation algorithm execution；Centering rod, the centering rod are GNSS receivers
With the physical media of measurement point position transmitting.
2. a kind of novel GNSS receiver inclinometric system as described in claim 1, which is characterized in that the inertia measurement
Unit includes three axis accelerometer and three-axis gyroscope, can not include 3 axis magnetometers.
3. a kind of novel GNSS receiver inclinometric system as described in claim 1, which is characterized in that the GNSS is received
Machine also provides PPS pulse synchronous signal, and the position of antenna phase center is the position reference of inclination measurement, antenna phase center
Position and speed is the observation input of GNSS/INS data fusion model, and PPS pulse signal is then GNSS data and IMU observation number
According to the benchmark of time synchronization.
4. a kind of novel GNSS receiver inclinometric system as claimed in claim 3, which is characterized in that the CPU is also negative
The operation of GNSS/INS data anastomosing algorithm is blamed, the calculating of slope compensation and the calculating of compensation point precision evaluation index are responsible for.
5. a kind of novel GNSS receiver tilt measuring method, which comprises the following steps:
Step (1): factory correction；
Step (2): time synchronization；
Step (3): state initialization；
Step (4): GNSS/INS fusion resolves；
Step (5): slope compensation；
Step (6): heeling condition is shown；
Step (7): tilt accuracy evaluation.
6. a kind of novel GNSS receiver tilt measuring method as claimed in claim 5, which is characterized in that the step (2)
Specifically include: the PPS pulse signal based on GNSS receiver realizes the time synchronization of GNSS data and IMU data, to guarantee
The real-time and dynamic of inclination measurement.
7. a kind of novel GNSS receiver tilt measuring method as claimed in claim 5, which is characterized in that the step (3)
It specifically includes: the initialization of position, speed and posture is completed using the position and speed information of GNSS, to melt for GNSS/INS
It closes to resolve and original state is provided.
8. a kind of novel GNSS receiver tilt measuring method as claimed in claim 5, which is characterized in that the step (4)
It specifically includes: constructing the kinematical equation of Kalman filter, based on the error equation of inertia mechanical layout with GNSS's
Position and speed information be measure input, thus realize GNSS/INS data fusion resolve and position, speed, posture it is real-time
Estimation.
9. a kind of novel GNSS receiver tilt measuring method as claimed in claim 5, which is characterized in that the step (5)
It specifically includes: being to navigating by centering rod resolution of vectors constant under carrier coordinate system based on 3 d pose, be in navigation
Under to antenna phase center position carry out centering rod length compensation, thus obtain measurement point navigation system under position.
10. a kind of novel GNSS receiver tilt measuring method as claimed in claim 5, which is characterized in that the step (6)
It specifically includes: realizing the calculating of centering rod tilt angle and inclined direction based on 3 d pose information, thus convenient to right
The description of middle bar heeling condition；Step (7) specifically includes: the 3 d pose standard deviation estimated with GNSS/INS blending algorithm, root
It is poor according to law of propagation of errors derivation compensation point location criteria, to realize the precision evaluation of slope compensation.
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