CN208488105U - Navigation elements and navigation device - Google Patents
Navigation elements and navigation device Download PDFInfo
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- CN208488105U CN208488105U CN201820658095.XU CN201820658095U CN208488105U CN 208488105 U CN208488105 U CN 208488105U CN 201820658095 U CN201820658095 U CN 201820658095U CN 208488105 U CN208488105 U CN 208488105U
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- 238000005259 measurement Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 19
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 229920000642 polymer Polymers 0.000 claims description 4
- 239000003190 viscoelastic substance Substances 0.000 claims description 4
- 239000004411 aluminium Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 2
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Abstract
The utility model relates to a kind of navigation elements and navigation devices；Navigation elements include microprocessor, GNSS positioning and directing board, Inertial Measurement Unit, three axle magnetometer and wireless network communication module；GNSS positioning and directing board, Inertial Measurement Unit, three axle magnetometer and wireless network communication module are connect with microprocessor respectively；Wireless network communication module is also communicated to connect with reference station, and GNSS positioning and directing board is also communicated to connect with navigation satellite；A kind of navigation device, including shell and above-mentioned navigation elements, navigation elements are fixed in shell；Shell is connect with unmanned plane body；The satellite-signal of above-mentioned navigation elements and navigation device in GNSS is blocked, when causing GNSS positioning and directing board to be in out-of-lock state, the continuity that positioning is maintained using the inertial navigation positioning result that Inertial Measurement Unit exports, improves the continuity and real-time of the positioning result of navigation elements or navigation device.
Description
Technical field
The utility model relates to field of navigation technology, more particularly to a kind of navigation elements and navigation device.
Background technique
With the continuous hair of GNSS (Global Navigation Satellite System, Global Satellite Navigation System)
It opens up, is perfect, GNSS has become the current main means for obtaining high accuracy positioning result, and still, GNSS receiver needs to receive
Enough satellite-signals are just able to achieve positioning, once satellite-signal is blocked, will lead to the received satellite letter of GNSS receiver
Number reduce, cause GNSS receiver losing lock to be unable to complete positioning, the continuity of positioning result and real-time caused to substantially reduce.
For example, the positioning and directing result of unmanned plane more options GNSS carries out trajectory planning as benchmark, still, if flying
The factors such as GNSS signal interference, sign mutation are encountered on the way and cause GNSS navigation device losing lock, lead to unmanned plane course and position
Precision can reduce rapidly, and be again introduced into longer, the company of the positioning result of GNSS navigation device the time required to GNSS navigational state
The defect of continuous property and real-time difference seriously affects unmanned plane during flying safety, results even in unmanned plane " aircraft bombing ".
Utility model content
Based on this, it is necessary to which continuity and real-time difference problem for the positioning result of GNSS navigation device provide one
Kind navigation elements and navigation device.
A kind of navigation elements, including microprocessor, GNSS positioning and directing board, Inertial Measurement Unit, three axle magnetometer with
And wireless network communication module；
The GNSS positioning and directing board, the Inertial Measurement Unit, the three axle magnetometer and the wireless network
Communication module is connect with the microprocessor respectively；
The wireless network communication module is also communicated to connect with reference station, and the GNSS positioning and directing board is also defended with navigation
Star communication connection.
The Inertial Measurement Unit includes three axis accelerometer and three-axis gyroscope in one of the embodiments,；Institute
The output end of the output end and the three-axis gyroscope of stating three axis accelerometer is connect with the microprocessor respectively.
It in one of the embodiments, further include memory module；The memory module is connect with the microprocessor.
It in one of the embodiments, further include power module；The GNSS positioning and directing board, the inertia measurement list
First, the described three axle magnetometer and the microprocessor are connect with the power module respectively.
GNSS positioning and directing board, Inertial Measurement Unit, three axle magnetometer and wireless network are logical in above-mentioned navigation elements
Letter module is connect with microprocessor respectively, and composition GNSS and inertial navigation system integrated navigation system, inertial navigation system use
The physical quantity of the carrier of Inertial Measurement Unit measurement is blocked without external observation value as input in the satellite-signal of GNSS,
It, can be by using the inertial navigation of Inertial Measurement Unit output when causing GNSS positioning and directing board to be in out-of-lock state
Positioning result maintains the continuity of positioning, improves the continuity and real-time of the positioning result of navigation elements.
A kind of navigation device, including shell and above-mentioned navigation elements；The navigation elements are fixed in the shell；Institute
Shell is stated to connect with unmanned plane body.
Navigation device further includes stud in one of the embodiments,；The navigation elements are fixed on by the stud
In the shell.
Navigation device further includes rubber pad in one of the embodiments, and the rubber pad is sheathed on the stud, and
It offsets with the navigation elements.
The shell includes aluminium shell in one of the embodiments,.
It in one of the embodiments, further include hollow pad, the shell passes through the hollow pad and the unmanned plane machine
Body connection.
The hollow pad is made of polymer viscoelastic material in one of the embodiments,.
In above-mentioned navigation device, using include GNSS positioning and directing board, it is Inertial Measurement Unit, three axle magnetometer, wireless
The navigation elements of network communication module and microprocessor are blocked in the satellite-signal of GNSS, lead to GNSS positioning and directing plate
When card is in out-of-lock state, the continuity of positioning is maintained using the inertial navigation positioning result that Inertial Measurement Unit exports,
The continuity and real-time of the positioning result of navigation elements are improved, to improve the flight safety of unmanned plane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of navigation elements in the utility model one embodiment；
Fig. 2 is the structural schematic diagram of navigation elements in another embodiment of the utility model；
Fig. 3 is the structural schematic diagram of navigation elements in another embodiment of the utility model；
Fig. 4 is the structural schematic diagram of navigation device in the utility model one embodiment；
Fig. 5 is the structural schematic diagram of hollow pad in the utility model one embodiment.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the protection scope of the utility model.
It is the structural schematic diagram of navigation elements in the utility model one embodiment referring to Fig. 1, Fig. 1.In the present embodiment, lead
Navigate unit 110 include microprocessor 111, GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axle magnetometer 114 with
And wireless network communication module 115:GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axle magnetometer 114 and nothing
Line network communication module 115 is connect with microprocessor 111 respectively；Wireless network communication module 115 also with 30 communication link of reference station
It connects, GNSS positioning and directing board 112 is also communicated to connect with navigation satellite 40.
In the present embodiment, GNSS positioning and directing board 112 can be GNSS double antenna positioning and directing board；Reference station 30 can
To be continuous operation of the reference station (Continuously Operating Reference Stations, CORS), it is also possible to base
Quasi- station；Inertial Measurement Unit 113 and three axle magnetometer 114 pass through I2C (Inter-Integrated Circuit, collection respectively
At circuit bus) it is connect with microcontroller 111.
Navigation elements 110 by GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axle magnetometer 114 and
Wireless network communication module 115 is connect with microprocessor 111 respectively, composition GNSS and inertial navigation system integrated navigation system,
The physical quantity for the carrier that inertial navigation system is measured using Inertial Measurement Unit 113 can without external observation value as input
It realizes the jump point for rejecting GNSS positioning result according to inertial navigation result, improves positioning accuracy, and in the satellite-signal quilt of GNSS
It blocks, when causing GNSS positioning and directing board to be in out-of-lock state, can be maintained by using inertial navigation positioning result
The continuity of positioning improves the continuity and real-time of the positioning result of navigation elements 110.Due to Inertial Measurement Unit 113
Renewal frequency is high, can be realized high frequency output, can be realized the dynamically track to carrier with the navigation elements of GNSS composition, and used
Property navigator fix bearing reaction be carrier 3 d pose real-time output, navigation elements can be realized position, speed, posture
Total state output.
Referring to fig. 2, Fig. 2 is the structural schematic diagram of navigation elements in another embodiment of the utility model.In the present embodiment,
Inertial Measurement Unit 113 includes three axis accelerometer 1131 and three-axis gyroscope 1132；The output end of three axis accelerometer 1131
It is connect respectively with microprocessor 111 with the output end of three-axis gyroscope 1132.
In the present embodiment, Inertial Measurement Unit 113 includes that three axis accelerometer 1131 and 1132 inertia of three-axis gyroscope are quick
Sensing unit, three axis accelerometer 1131 and three-axis gyroscope 1132 are connect by I2C with microprocessor 111 respectively, real-time measurement
Acceleration and angular acceleration of the carrier relative to ground motion, to determine the position of carrier and the group of terrestrial gravitation field parameters
Collaboration system, to realize inertial positioning.
In the course of work of navigation elements 110, wireless network communication module 115 is for receiving continuous operation of the reference station 30
Differential data, and it is transmitted to GNSS positioning and directing board；GNSS positioning and directing board is used to receive the original of the transmission of navigation satellite 40
Beginning data and PPS (Pulse Per Second, pulses per second) signal, and carried out using differential data and initial data
Carrier phase difference (Real-time kinematic, RTK) resolves, and obtains GNSS positioning result；Inertial Measurement Unit 113 wraps
The meter of 3-axis acceleration 1131 and three-axis gyroscope 1132 are included, for obtaining acceleration and angular speed data；Three axle magnetometer 114
For obtaining magnetic data；Microprocessor 111 is used for GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axis magnetic
The data acquisition and device configuration of power meter 114, add acceleration information, angular velocity data and magnetic data according to PPS signal
Timestamp, and carry out integrated navigation resolving.
It should be noted that microprocessor 111, GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axis magnetic force
Meter 114 and wireless network communication module 115 can be used hardware product mature on the market and realize, for example, wireless network
4G module can be used in communication module 115, including antenna, SIM (Subscriber Identification Module)
Card, signal processing unit etc.；What is run on microprocessor 111 is that common strapdown resolves and blending algorithm, can be by common
Software program realize that the realization of technical solutions of the utility model do not need to make software program any improvement.
It is the structural schematic diagram of navigation elements in another embodiment of the utility model referring to Fig. 3, Fig. 3.In the present embodiment,
Navigation elements further include memory module 116, and memory module 116 is connect with microprocessor 111.
In the present embodiment, memory module 116 can be TF (Trans-flash) card being connected with microprocessor 111, be used for
Store the data such as positioning result.
Navigation elements 110 further include power module 117 in one of the embodiments,；GNSS positioning and directing board 112,
Inertial Measurement Unit 113, three axle magnetometer 114 and microprocessor 111 are connect with power module 117 respectively.
In the present embodiment, power module 117 is used to be GNSS positioning and directing board 112, Inertial Measurement Unit 113, three axis
Magnetometer 114 and microprocessor 111 provide working power, the work that continue navigation elements (110) can.
The present invention also provides a kind of navigation devices in one of the embodiments,；Navigation device includes shell 120 and above-mentioned
Navigation elements 110 in any one embodiment；Navigation elements 110 are fixed in shell 120；Shell 120 and unmanned plane body connect
It connects.
In the present embodiment, navigation elements 110 are set in shell 120, and the outer surface of shell 120 and unmanned plane body connect
It connects；Navigation elements 110 are installed on unmanned plane body by shell 120, shell 120 can effective protection navigation elements 110 keep away
Exempt from, to guarantee the normal work of navigation elements 110, to keep the continuous of the positioning result of navigation elements 110 from external damage
Property and real-time avoid the danger of aircraft bombing to improve the flight safety of unmanned plane.
Optionally, shell 120 includes aluminium shell.Module weight is increased using the shell 120 of aluminum, to a certain degree
Influence of the upper local vibration for reducing unmanned plane body to the navigation measurement data of navigation elements 110, reduces body vibration to inertia
Measurement unit measures the error that all data generates.
Referring to fig. 4, Fig. 4 is the structural schematic diagram of navigation module in the utility model one embodiment.In the present embodiment, lead
The device that navigates further includes stud 130；The navigation elements 110 are fixed in the shell 120 by the stud 130.
In the present embodiment, navigation elements 110 are fixedly connected by stud 130 with shell 120, and shell 120 is effectively reduced
The influence to the measurement result of Inertial Measurement Unit 113 in navigation elements 110 is vibrated, the inertia for exporting Inertial Measurement Unit is led
The positioning result that navigates maintains the continuity of positioning, the continuity and real-time of the positioning result of navigation elements 110 is improved, to improve nothing
Man-machine flight safety.
Navigation module further includes rubber pad 140 in one of the embodiments, and rubber pad 140 is sheathed on stud 130,
And it offsets with navigation elements 110.
In the present embodiment, it is arranged rubber pad 140 on the stud 130 for being fixedly connected with navigation elements 110 with shell 120,
Damping vibration can be played and be transmitted to navigation elements 110, the vibration of the vibration, shell 120 that reduce unmanned plane main body is single to navigation
The influence of 113 measurement result of Inertial Measurement Unit in member 110.
Navigation device further includes hollow pad 150 in one of the embodiments, and navigation module passes through hollow pad 150 and nothing
Man-machine body connection.
In the present embodiment, referring to Fig. 5, Fig. 5 is the structural schematic diagram of hollow pad in the utility model one embodiment, hollow
Pad 150 is placed on navigation module bottom, and navigation module is isolated with unmanned plane body, reduces the vibration of unmanned plane body to navigation
The influence of 113 measurement data of Inertial Measurement Unit in unit 110.
Optionally, hollow pad 150 is made of polymer viscoelastic material.Hollow pad made of polymer viscoelastic material
150 can play the role of damping unmanned plane body vibration, and the vibration for reducing unmanned plane body, which navigates to navigation elements 110, to be measured
The influence of data.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of navigation elements, which is characterized in that surveyed including microprocessor (111), GNSS positioning and directing board (112), inertia
Measure unit (113), three axle magnetometer (114) and wireless network communication module (115)；
The GNSS positioning and directing board (112), the Inertial Measurement Unit (113), the three axle magnetometer (114) and institute
Wireless network communication module (115) is stated to connect with the microprocessor (111) respectively；
The wireless network communication module (115) also communicates to connect with reference station (30), the GNSS positioning and directing board (112)
Also communicated to connect with navigation satellite (20).
2. navigation elements according to claim 1, which is characterized in that the Inertial Measurement Unit (113) includes that three axis add
Speedometer (1131) and three-axis gyroscope (1132)；The output end and the three-axis gyroscope of the three axis accelerometer (1131)
(1132) output end is connect with the microprocessor (111) respectively.
3. navigation elements according to claim 1, which is characterized in that further include memory module (116)；The memory module
(116) it is connect with the microprocessor (111).
4. navigation elements according to claim 1, which is characterized in that further include power module (117)；The GNSS positioning
Orient board (112), the Inertial Measurement Unit (113), the three axle magnetometer (114) and the microprocessor (111)
It is connect respectively with the power module (117).
5. a kind of navigation device, which is characterized in that including shell (120) and as the described in any item navigation of Claims 1-4 are single
First (110)；The navigation elements (110) are fixed in the shell (120)；The shell (120) connect with unmanned plane body.
6. navigation device according to claim 5, which is characterized in that further include stud (130)；The navigation elements
(110) it is fixed in the shell (120) by the stud (130).
7. navigation device according to claim 6, which is characterized in that further include rubber pad (140), the rubber pad
(140) it is sheathed on the stud (130), and offsets with the navigation elements (110).
8. navigation device according to claim 5, which is characterized in that the shell (120) includes aluminium shell.
9. according to the described in any item navigation devices of claim 5 to 8, which is characterized in that it further include hollow pad (150), it is described
Shell (120) is connect by the hollow pad (150) with the unmanned plane body.
10. navigation device according to claim 9, which is characterized in that the hollow pad (150) is by polymer viscoelastic material
Material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820658095.XU CN208488105U (en) | 2018-05-03 | 2018-05-03 | Navigation elements and navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820658095.XU CN208488105U (en) | 2018-05-03 | 2018-05-03 | Navigation elements and navigation device |
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| CN208488105U true CN208488105U (en) | 2019-02-12 |
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| CN201820658095.XU Expired - Fee Related CN208488105U (en) | 2018-05-03 | 2018-05-03 | Navigation elements and navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| CN113551669A (en) * | 2021-07-23 | 2021-10-26 | 山东泉清通信有限责任公司 | Short baseline-based combined navigation positioning method and device |
-
2018
- 2018-05-03 CN CN201820658095.XU patent/CN208488105U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| CN113551669A (en) * | 2021-07-23 | 2021-10-26 | 山东泉清通信有限责任公司 | Short baseline-based combined navigation positioning method and device |
| CN113551669B (en) * | 2021-07-23 | 2024-04-02 | 山东泉清通信有限责任公司 | Combined navigation positioning method and device based on short base line |
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Granted publication date: 20190212 |