CN110389367A - A kind of airborne center RTK backoff algorithm - Google Patents
A kind of airborne center RTK backoff algorithm Download PDFInfo
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- CN110389367A CN110389367A CN201910746647.1A CN201910746647A CN110389367A CN 110389367 A CN110389367 A CN 110389367A CN 201910746647 A CN201910746647 A CN 201910746647A CN 110389367 A CN110389367 A CN 110389367A
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- antenna
- gnss1
- gnss2
- center
- unmanned plane
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- 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)
Abstract
The invention discloses a kind of airborne center RTK backoff algorithms, belong to UAV TT & C and field of information transmission, the algorithm include a), according to the installation site of antenna GNSS1 and antenna GNSS2, measure the distance between antenna GNSS1 and antenna GNSS2 L1With unmanned plane center and antenna GNSS1 and the midpoint antenna GNSS2 distance L2；B), the location information (y, x) of antenna GNSS1 is extracted from the telemetry that received unmanned plane passes down and is biased to angle, θ；C), according to the distance between antenna GNSS1 and antenna GNSS2 L1, antenna GNSS1 position (y, x) and be biased to angle, θ, utilize geometrical principle calculate antenna GNSS1 and the midpoint antenna GNSS2 position (y1,x1)；D), according to the position (y of antenna GNSS1 and the midpoint antenna GNSS21,x1), unmanned plane center and antenna GNSS1 and the midpoint antenna GNSS2 distance L2And deviation angle θ, the position (y at unmanned plane center can be calculated using geometrical principle2,x2) step.The algorithm can effectively calculate the center of unmanned plane, reduction deviation caused by the installation question on unmanned plane by antenna.
Description
Technical field
The invention belongs to UAV TT & Cs and technical field of information transmission, and in particular to a kind of airborne center RTK benefit
Repay algorithm.
Background technique
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft, or fully or intermittently automatically operated by car-mounted computer, in unmanned plane, the output of RTK board
Position is the data of GNSS1 aerial position, and non-aircraft center causes aircraft that can innately have the error of tens cm in this way,
And it is directly related with course, it is greatly to be wasted to RTK positioning accuracy.Therefore a kind of position compensation algorithm is designed here, come more
Mend the positioning BUG devious by antenna caused by the installation question on unmanned plane.
Summary of the invention
The purpose of the present invention is to provide a kind of airborne center RTK backoff algorithms, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the invention provides the following technical scheme: a kind of airborne center RTK backoff algorithm, is somebody's turn to do
Algorithm includes the following steps:
A) it according to the installation site of antenna GNSS1 and antenna GNSS2, measures between antenna GNSS1 and antenna GNSS2
Distance L1With unmanned plane center and antenna GNSS1 and the midpoint antenna GNSS2 distance L2；
B) location information (y, x) and the deviation angle of antenna GNSS1 are extracted from the telemetry that received unmanned plane passes down
Spend θ；
C) according to the distance between antenna GNSS1 and antenna GNSS2 L1, antenna GNSS1 position (y, x) and be biased to angle
θ calculates the position (y of antenna GNSS1 and the midpoint antenna GNSS2 using geometrical principle1,x1)；
D) according to the position (y of antenna GNSS1 and the midpoint antenna GNSS21,x1), unmanned plane center and antenna GNSS1 and day
The distance L at the midpoint line GNSS22And deviation angle θ, the position (y at unmanned plane center can be calculated using geometrical principle2,x2)。
Preferably, deviation angle, θ described in step b) is the deviation angle of unmanned plane and antenna GNSS1.
Preferably, in step c) antenna GNSS1 and the midpoint antenna GNSS2 position (y1,x1) calculating formula it is as follows:
Preferably, in step d) unmanned plane center position (y2,x2) calculating formula it is as follows:
Compared with prior art, the beneficial effects of the present invention are: the airborne center the RTK backoff algorithm can be counted accurately
The location information for calculating unmanned plane center, can be effectively reduced error, substantially increase the accuracy of unmanned plane centralized positioning, avoid
The problem of leading to deviations because of the installation question of antenna.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure；
Specific embodiment
Below with reference to embodiment, the present invention will be further described.
The following examples are intended to illustrate the invention, but cannot be used to limit the scope of the invention.Item in embodiment
Part can be adjusted according to actual conditions are further, under concept thereof of the invention all to method simple modifications of the invention
Belong to the scope of protection of present invention.
Referring to Fig. 1, the present invention provides a kind of airborne center RTK backoff algorithm, which includes the following steps:
A) it according to the installation site of antenna GNSS1 and antenna GNSS2, measures between antenna GNSS1 and antenna GNSS2
Distance L1With unmanned plane center and antenna GNSS1 and the midpoint antenna GNSS2 distance L2；
B) location information (y, x) and the deviation angle of antenna GNSS1 are extracted from the telemetry that received unmanned plane passes down
θ is spent, the deviation angle that angle, θ is unmanned plane and antenna GNSS1 is biased to；
C) according to the distance between antenna GNSS1 and antenna GNSS2 L1, antenna GNSS1 position (y, x) and be biased to angle
θ calculates the position (y of antenna GNSS1 and the midpoint antenna GNSS2 using geometrical principle1,x1)；In antenna GNSS1 and antenna GNSS2
Position (the y of point1,x1) calculating according to the following formula:
D), according to the position (y of antenna GNSS1 and the midpoint antenna GNSS21,x1), unmanned plane center and antenna GNSS1 and day
The distance L at the midpoint line GNSS22And deviation angle θ, the position (y at unmanned plane center can be calculated using geometrical principle2,x2)；
Position (the y of antenna GNSS1 and the midpoint antenna GNSS21,x1) calculate according to the following formula:
The airborne center the RTK backoff algorithm can accurately calculate the location information at unmanned plane center, can effectively drop
Low error substantially increases the accuracy of unmanned plane centralized positioning, and the installation question because of antenna is avoided to lead to asking for deviations
Topic.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of airborne center RTK backoff algorithm, which is characterized in that the algorithm includes the following steps:
A) according to the installation site of antenna GNSS1 and antenna GNSS2, the distance between antenna GNSS1 and antenna GNSS2 are measured
L1With unmanned plane center and antenna GNSS1 and the midpoint antenna GNSS2 distance L2；
B) location information (y, x) of antenna GNSS1 is extracted from the telemetry that received unmanned plane passes down and is biased to angle, θ；
C) according to the distance between antenna GNSS1 and antenna GNSS2 L1, antenna GNSS1 position (y, x) and be biased to angle, θ, benefit
Position (the y of antenna GNSS1 and the midpoint antenna GNSS2 are calculated with geometrical principle1,x1)；
D) according to the position (y of antenna GNSS1 and the midpoint antenna GNSS21,x1), unmanned plane center and antenna GNSS1 and antenna
The distance L at the midpoint GNSS22And deviation angle θ, the position (y at unmanned plane center can be calculated using geometrical principle2,x2)。
2. a kind of airborne center RTK backoff algorithm according to claim 1, which is characterized in that described in step b)
Be biased to angle, θ be unmanned plane and antenna GNSS1 deviation angle.
3. a kind of airborne center RTK backoff algorithm according to claim 1, which is characterized in that antenna in step c)
Position (the y of GNSS1 and the midpoint antenna GNSS21,x1) calculating formula it is as follows:
4. a kind of airborne center RTK backoff algorithm according to claim 3, which is characterized in that in step d), nobody
Position (the y at machine center2,x2) calculating formula it is as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910746647.1A CN110389367A (en) | 2019-08-14 | 2019-08-14 | A kind of airborne center RTK backoff algorithm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746647.1A CN110389367A (en) | 2019-08-14 | 2019-08-14 | A kind of airborne center RTK backoff algorithm |
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| CN110389367A true CN110389367A (en) | 2019-10-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
Citations (5)
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|---|---|---|---|---|
| WO2016036617A1 (en) * | 2014-09-07 | 2016-03-10 | Trimble Navigation Limited | Satellite navigation using side by side antennas |
| CN108535750A (en) * | 2018-03-26 | 2018-09-14 | 广州中海达卫星导航技术股份有限公司 | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system |
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
| CN108802788A (en) * | 2018-04-10 | 2018-11-13 | 拓攻（南京）机器人有限公司 | A kind of determination method, apparatus, equipment and the storage medium of course deviation |
| CN110045746A (en) * | 2019-05-14 | 2019-07-23 | 山东蜂巢航空科技有限公司 | A kind of anti-interference power-line patrolling flight control system of double antenna |
-
2019
- 2019-08-14 CN CN201910746647.1A patent/CN110389367A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016036617A1 (en) * | 2014-09-07 | 2016-03-10 | Trimble Navigation Limited | Satellite navigation using side by side antennas |
| CN108535750A (en) * | 2018-03-26 | 2018-09-14 | 广州中海达卫星导航技术股份有限公司 | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system |
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
| CN108802788A (en) * | 2018-04-10 | 2018-11-13 | 拓攻（南京）机器人有限公司 | A kind of determination method, apparatus, equipment and the storage medium of course deviation |
| CN110045746A (en) * | 2019-05-14 | 2019-07-23 | 山东蜂巢航空科技有限公司 | A kind of anti-interference power-line patrolling flight control system of double antenna |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
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Application publication date: 20191029 |