CN209342926U - A kind of RTG cart positioning survey appearance system - Google Patents
A kind of RTG cart positioning survey appearance system Download PDFInfo
- Publication number
- CN209342926U CN209342926U CN201821853603.6U CN201821853603U CN209342926U CN 209342926 U CN209342926 U CN 209342926U CN 201821853603 U CN201821853603 U CN 201821853603U CN 209342926 U CN209342926 U CN 209342926U
- Authority
- CN
- China
- Prior art keywords
- module
- rtg
- information
- positioning
- appearance
- 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
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
It is positioned the utility model discloses a kind of RTG cart and surveys appearance system, including base station subsystem and mobile station subsystem, in which: the base station subsystem includes GNSS receiver, difference information generation module and communication broadcasting module；The mobile station subsystem includes that appearance module is surveyed in locating module, inertia measuring module and positioning, the locating module includes two GNSS receivers, every GNSS receiver is separately connected two three system omnidirectional antennas, the positioning surveys appearance module using the location information of four three system omnidirectional antennas and angular speed, the acceleration information progress fusion calculation of RTG, obtains the accurate location and posture information of RTG.Compared with prior art, the good effect of the utility model is: even if appearance effect is surveyed in the positioning for having respective antenna short duration failure (being such as blocked) that will not influence RTG, the redundancy of system is considerably increased, to ensure that RTG cart high accuracy positioning surveys the continuity of appearance.
Description
Technical field
The utility model relates to a kind of remote controls for being based on GNSS (satellite navigation system) and INS (inertial navigation system)
The high accuracy positioning of RTG cart surveys appearance.
Background technique
Tyred container door type crane (RTG) is the important machinery of container terminal system, efficiency, safety, work
Industry correctness has an important influence dock operation.With the development that container terminal automates, more and more container codes
RTG remote control system is introduced in the concern of head company.Multisensor location technology, communication skill is utilized in RTG remote control system
Art, automatic control technology etc. obtain storage yard container pile information and RTG cart, the position of trolley and suspender and fortune in real time
Dynamic state carries out long-range monitoring display and realizes to carry out operation according to more RTG of remote control operation by an operator, finally
Realize the safety in production of remote automation.
RTG cart high accuracy positioning surveys the important link that appearance is RTG remote control system, while being also one of difficult point.Mesh
Preceding multiselect in the market cart alignment sensor obtains the positioning of cart or surveys appearance, such as encoder, magnetic nail, Gray bus, GNSS
Satellite positioning etc..It is positioned by single-sensor and surveys appearance, be easy to happen dropout or failure, not can guarantee successional high-precision
Degree evidence, leads to the system failure.For the continuity and reliability for guaranteeing positioning, surveying appearance, using two or more orientation sensings
Device carries out fusion and is positioned to for development trend.
Currently, appearance technology is surveyed in GNSS positioning to be common and effective cart positioning, survey appearance means, basic implementation method is
Using carrier phase difference GNSS technology, using 1 or 2 GNSS antenna, realize that RTG cart high accuracy positioning surveys appearance.But exist
Following significant drawback: GNSS short duration failure (antenna is blocked) causes positioning to survey the of short duration failure of appearance；It will cause when GNSS outlier and be
System erroneous judgement, may result in accident when serious.
Summary of the invention
In order to overcome the disadvantages mentioned above of the prior art, the utility model provides a kind of RTG cart positioning survey appearance system.
The technical scheme adopted by the utility model to solve the technical problem is as follows: appearance system, packet are surveyed in a kind of RTG cart positioning
Include base station subsystem and mobile station subsystem, in which:
The base station subsystem includes GNSS receiver, difference information generation module and communicates broadcasting module, described
GNSS receiver utilizes GNSS antenna real-time reception GNSS navigation information, and is sent to difference information generation module, the difference
Information generating module generates difference modification information using GNSS navigation information and is sent to communication broadcasting module, and the communication is broadcast
Module is responsible for broadcasting the difference modification information of generation；
The mobile station subsystem includes that appearance module, the locating module are surveyed in locating module, inertia measuring module and positioning
Including two GNSS receivers, every GNSS receiver is separately connected two three system omnidirectional antennas, and the locating module utilizes
The difference modification information that the base station subsystem that four three system omnidirectional antennas receive is broadcast calculates four three system omnidirectionals
The location information of antenna is simultaneously sent to positioning survey appearance module；The inertia measuring module is used to measure angular speed and the acceleration of RTG
Information is spent, and sends positioning to and surveys appearance module；The location information that appearance module utilizes four three system omnidirectional antennas is surveyed in the positioning
Fusion calculation is carried out with angular speed, the acceleration information of RTG, obtains the accurate location and posture information of RTG.
Compared with prior art, the good effect of the utility model is:
The utility model is combined using two GNSS receivers and inertial navigation technology, every GNSS receiver connection two
A three systems omnidirectional antenna, every GNSS receiver, which can work independently and combine, calculates that carrying out positioning surveys appearance, accordingly even when
Appearance effect is surveyed in the positioning for having respective antenna short duration failure (being such as blocked) that will not influence RTG, considerably increases the redundancy of system
Degree, to ensure that RTG cart high accuracy positioning surveys the continuity of appearance.The specific manifestation of the advantages of the utility model is as follows:
1, four antenna Distribution Strategies are based on, the influence for blocking and positioning to RTG and surveying appearance is utmostly reduced.
2, the angle problem between the multiple antennas of the baseline between ART network any two antenna, in any two day
When line is effective, capable of completing the mapping of other antenna baselines and position, (principle is: the positional relationship between four antennas is solid
Fixed, it is approximately on rigid body, only it is to be understood that two of them, can extrapolate other two).
3, be based on information redundancy and integration technology, can be maintained under satellite-signal blockage environment positioning survey appearance precision with
Stability enhances the validity that appearance is surveyed in positioning.
4, the feature high using INS short-term stability can carry out availability deciding to difference GNSS location information, from
And it reduces influence that GNSS outlier runs RTG (principle is: the INS short time stablizes, so in adjacent measuring point or adjacent close
The error of measuring point INS measurement is quasi-, if the information error of at this moment GNSS positioning is very big, INS of being just subject to is measured).
5, it is capable of sedimentation and the grade information in ART network place, adaptability of the enhancing RTG to different space enrironments.
The utility model efficiently solves the problems, such as that RTG cart high accuracy positioning surveys appearance, improves the positioning of RTG cart and surveys
Appearance validity and continuity, it is expansible to stop automatically applied to the positioning of RTG cart, cart monitoring position, cart automatic deviation correction, cart
The subsystems such as vehicle, RTG deformation monitoring, levelling of the land detection, cart automatic Pilot.
Detailed description of the invention
The utility model will illustrate by example and with reference to the appended drawing, in which:
It stands on the basis of Fig. 1 logic chart；
Fig. 2 is movement station logic chart.
Specific embodiment
A kind of RTG cart positioning survey appearance system, as depicted in figs. 1 and 2, including base station subsystem and movement station subsystem
System, in which:
Base station subsystem includes GNSS receiver, difference information generation module and communication broadcasting module, in which: described
GNSS receiver is one piece of three system GNSS receiver of high-precision, using GNSS antenna real-time reception GNSS navigation information, concurrently
Difference information generation module is given, the difference information generation module is concurrent using GNSS navigation information generation difference modification information
Communication broadcasting module is given, the communication broadcasting module utilizes harbour network or radio link, is responsible for modifying the difference of generation
Information is broadcast.
Mobile station subsystem includes that appearance mould is surveyed in communication receipt module, precision positioning module, inertia measuring module and positioning
Block.Wherein: communication receipt module is responsible for receiving the difference modification information that base station subsystem is broadcast, for receiver precision positioning；
Precision positioning module includes two piece of three system GNSS receiver, and each GNSS receiver connects two three system omnidirectional antennas, this
Two antennas define one of them be primary antenna another be from antenna, then it is fixed that measurement position posture, which is exactly with primary antenna position,
Place value, to be to survey appearance output valve from the relative attitude relationship of antenna and primary antenna；4 antennas are respectively arranged in four angles of RTG
On the vertex fallen, carrier phase difference is carried out by the difference modification information received, it is accurately fixed to be carried out to tetra- points of RTG
Position；Inertia measuring module is installed close to GNSS primary antenna, and realizes that measurement obtains the relative position away from primary antenna phase center,
It is made of three-axis gyroscope and three axis accelerometer, for measuring the angular speed and acceleration information of RTG；Positioning is surveyed appearance module and is connect
The precise location information of precision positioning module and the Inertia information of inertia measuring module are received, and two kinds of information are merged,
Finally obtain the accurate location and posture information of RTG.
The angular velocity information and acceleration information for the RTG that appearance module real-time reception inertia measuring module measures are surveyed in positioning,
And position, speed, posture information are calculated by inertial navigation algorithm, the quantity of state as Kalman filter；Meanwhile it is fixed
Position survey appearance module receive four GNSS receiver antennas from precision positioning module location information, and according to four GNSS days
Line positioning scenarios calculate the accurate course RTG, position, velocity information, the observed quantity as Kalman filter；By above two
Kind information input Kalman filter carries out information fusion, obtains the current optimal location of RTG, speed, posture solution, and estimate
The device error of inertia measurement device, to be corrected.
Level ground is run on ideally in RTG, and vertical projection point of the GNSS antenna position on ground is located at RTG
On the track that tire is advanced, therefore GNSS antenna position can react the position of RTG tire, this provides reason for RTG automatically walk
By support.But since there may be transition operations by RTG, meanwhile, place causes as the time is there may be the possibility of sedimentation
The vertical projection of GNSS antenna position on the ground deviates RTG tire travelling route, causes RTG physical location measurement error.Needle
To this problem, which surveys attitude positioning method and uses position projection point tolerance real-time estimation algorithm, the algorithm dynamic estimation
The lateral inclination angle of RTG cart, the elevation information in conjunction with GNSS antenna away from ground can be calculated in real time since RTG cart inclines
GNSS antenna position caused by tiltedly and carries out real-time error compensation to the position projection error on ground.This method can overcome not
It can cause different cart position ground projection errors with working space gradient and sedimentation, further improve RTG to operation
The adaptability of environment.
In RTG cart operational process, be blocked, multipath etc. influences, carrier phase difference GNSS there are the possibility of cycle slip,
Outlier is generated so as to cause location information, and then the position of RTG, posture are normally measured and had an impact.Metrical information at this time
As the reference value of RTG cart automatically walk, the consequence for being difficult to estimate can be generated.In response to this problem, the utility model uses
The algorithm of GNSS outlier real-time monitoring, i.e., feature high using INS short-term stability, there is difference GNSS location information
Sex determination is imitated, the positioning outlier of GNSS is found out and is rejected, to reduce the influence that GNSS runs RTG.
When due to RTG actual job, will receive around block etc. and to influence, may cause in four GNSS antennas one or more
(losing lock is the term in GNSS positioning to a generation losing lock, and specific bit failure, essence is that the satellite-signal received can not stable detection
Locking), so that the normal acquisition of impact position, course, further influences positioning and surveys appearance.For the situation, devise GNSS with
The adaptive handoff functionality of INS combined filter, can according to the positioning states of current GNSS antenna, determine current GNSS location,
Posture availability, and adaptive carry out GNSS and INS combined filter are guaranteeing that positioning, survey appearance are successional simultaneously, further
The precision for improving positioning, surveying appearance.
Positioning the method for surveying appearance to RTG cart using the utility model includes following content:
One, Coordinate Setting:
1, carrier coordinate system (BFS)
2, local horizontal coordinates (LLS)
3, ECEF coordinate system (ECEF)
Two, coordinate is converted
1, WGS-84 coordinate goes to LLS coordinate
Purpose: because the antenna coordinate actually resolved is WGS-84 coordinate, need to be converted to antenna coordinate LLS seat
Mark；
Conversion formula:
For the relationship between space any point M, WGS-84 coordinate and local horizontal coordinate, write as matrix form:
In formula: λ,The geodetic longitude and the earth of respectively H point (phase center of LLS coordinate origin, i.e. primary antenna)
Latitude；WithRespectively H point and M point are in WGS-
Coordinate in 84 coordinate systems.
2, LLS coordinate goes to BFS coordinate
Purpose: because LLS is consistent with the coordinate origin of BFS, conversion between the two is actually three Eulers
Angle (Ψ, θ,) --- (yaw angle, pitch angle, roll angle)；The transformational relation between LLS and BFS is known again, so thus relationship
Three attitude angles can be solved.
Transformational relation between LLS coordinate and BFS coordinate:
In formula: XBIndicate the basic lineal vector under BFS coordinate system；XLIndicate the basic lineal vector under LLS coordinate system.Rx
(θ), Rz(ψ) is respectively indicated around Y-axis, X-axis, the spin matrix of Z axis；Wherein XBIt is known quantity, XLIt can be obtained with real-time resolving.
It enablesThen
XB=R XL (2-3)
Wherein:
Three, least square method calculates attitude angle
By formula above (2-3): XB=R XLIt is found that each independent baseline may be constructed an equation, N item is independent
Baseline may make up N number of equation.Then XBFor 3 × N matrix.According to the principle of least square, then:
Remember that the element in matrix R is Rij, then attitude angle can be estimated by following formula:
N baseline can be calculated in each epoch, by these given values, R can be solvedij, and then utilize formula
(2-4) solves attitude angle.
It is originally determined: coordinate (x of the antenna 1,2,3,4 under RTG coordinate systemi, yi, zi)BFS, baseline 13, baseline 12, baseline
14 under RTG coordinate system be all given value, and is constant after antenna installation is fixed.
Attitude algorithm method: utilizing GPS carrier phase measurement, calculates baseline 13, baseline 12, and baseline 14 is sat in WGS-84
Value under mark system, is converted to baseline 13, baseline 12, value of the baseline 14 under LLS coordinate system by formula (2-1).
It is to be solved: attitude angle (Ψ, θ,) --- (yaw angle, pitch angle, roll angle)
Method for solving: formula (2-4)
Four, aerial position and course mapping
When four antenna all effective positions, between the baseline and baseline between real-time estimation any two antenna
Angle, wherein baseline calculation method is formula 3-1.
Wherein,For the length of i antenna under carrier coordinate system to j (i, j=1,2,3,4, similarly hereinafter) antenna baseline, R is to work as
Transition matrix of the ground horizontal coordinates to carrier coordinate system, Δ Pe,ΔPn,ΔPuRespectively ij baseline is in local horizontal coordinates
Component.
Angle calcu-lation method between baseline is formula 3-2.
Wherein,Indicate baseline ji in horizontal component (the Δ P of local horizontal coordinatese,ΔPn),It indicates's
Length, AijkIndicate baselineWithBetween angle.
If it is known that the course of baseline ji is then easy to calculate since real-time estimation obtains the angle between baseline
The course of other any baselines.
If it is known that the position Pi of machine antenna, then the position of Pj can be sought according to formula 3-3.
Five, place sedimentation, gradient correction
If it is known that antenna phase center is the posture of L and current RTG cart away from ground level, then locality can be calculated
Horizontal coordinates the transition matrix R to carrier coordinate system, then position correction amount such as formula 3- caused by settling, tilt due to place
4。
Δ P=RTL (3-4)
Six, GNSS and INS integrated mode switches
1, when four antenna all effective positions (four antennas have effective signal to export), by any two antenna
It partners, its baseline length of real-time estimation, and estimate the angle between any two baseline；At this point, by the position of primary antenna
Baseline course between the ipsilateral antenna of primary antenna and direction of travel is observed as course and being believed as position detection information by information
Breath.
2, when there are two or when three antenna effective positions, according to fixed selection algorithm, choose two antennas therein,
Calculate its course value；It is defeated in conjunction with current inertial navigation using the baseline length information pre-estimated, the angle information between baseline
Any baseline and position can be mapped on position and baseline described in 1, and then acquire equivalent position by posture information out
It sets and course observation information.
3, when having and when only one antenna effective position, course observation information can not be provided at this time, it can only be according to institute in 2
The method of stating calculates equivalent position detection information.
4, when four antenna all delocalizations, then carrier movement is constrained to the observed quantity as Kalman filter equation.At this point,
Kalman filter still is able to estimate the position of certain precision and course information (location error in 10s whithin a period of time
0.1m, 0.3 ° of course error).After four antennas all delocalization time exceeding 10s, system alarm, and remind and be switched to manually
Correction mode.
Claims (5)
1. appearance system is surveyed in a kind of RTG cart positioning, it is characterised in that: including base station subsystem and mobile station subsystem, in which:
The base station subsystem includes that GNSS receiver, difference information generation module and communication broadcasting module, the GNSS connect
Receipts machine utilizes GNSS antenna real-time reception GNSS navigation information, and is sent to difference information generation module, and the difference information is raw
Difference modification information is generated using GNSS navigation information at module and is sent to communication broadcasting module, and the communication broadcasting module is negative
Duty broadcasts the difference modification information of generation；
The mobile station subsystem includes that appearance module is surveyed in communication receipt module, locating module, inertia measuring module and positioning, described
Communication receipt module is responsible for receiving the difference modification information that base station subsystem is broadcast, and is sent to locating module；The positioning
Module includes two GNSS receivers, and every GNSS receiver is separately connected two three system omnidirectional antennas, the locating module
Four three systems are calculated using the difference modification information that the base station subsystem that four three system omnidirectional antennas receive is broadcast
The location information of omnidirectional antenna is simultaneously sent to positioning survey appearance module；The inertia measuring module be used for measure RTG angular speed and
Acceleration information, and send positioning to and survey appearance module；The position that appearance module utilizes four three system omnidirectional antennas is surveyed in the positioning
The angular speed of information and RTG, acceleration information carry out fusion calculation, obtain the accurate location and posture information of RTG.
2. appearance system is surveyed in a kind of RTG cart positioning according to claim 1, it is characterised in that: four three systems are complete
On the vertex in four corners for being respectively arranged in RTG to antenna, two three system omnidirectional antennas of every GNSS receiver are divided equally
For primary antenna and from antenna.
3. appearance system is surveyed in a kind of RTG cart positioning according to claim 2, it is characterised in that: the inertia measuring module
It is made of three-axis gyroscope and three axis accelerometer, is installed close to primary antenna.
4. appearance system is surveyed in a kind of RTG cart positioning according to claim 1, it is characterised in that: the base station subsystem
GNSS receiver be three system GNSS receivers.
5. appearance system is surveyed in a kind of RTG cart positioning according to claim 1, it is characterised in that: appearance module is surveyed in the positioning
The angular velocity information and acceleration information for the RTG that real-time reception inertia measuring module measures, and pass through inertial navigation algorithm meter
Calculation obtains position, the speed, posture information of RTG, the quantity of state as Kalman filter；The positioning surveys appearance module and receives
The location information of four three system omnidirectional antennas of self-positioning module, and the accurate course RTG, position, velocity information are calculated,
Observed quantity as Kalman filter；Both the above information input Kalman filter is subjected to information fusion, is calculated
RTG current optimal location, speed, posture solution, and the device error of inertia measuring module is estimated, to be corrected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821853603.6U CN209342926U (en) | 2018-11-11 | 2018-11-11 | A kind of RTG cart positioning survey appearance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821853603.6U CN209342926U (en) | 2018-11-11 | 2018-11-11 | A kind of RTG cart positioning survey appearance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209342926U true CN209342926U (en) | 2019-09-03 |
Family
ID=67747996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821853603.6U Active CN209342926U (en) | 2018-11-11 | 2018-11-11 | A kind of RTG cart positioning survey appearance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209342926U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110855343A (en) * | 2019-10-30 | 2020-02-28 | 山东科技大学 | Underwater sound positioning and timing buoy and working method thereof |
-
2018
- 2018-11-11 CN CN201821853603.6U patent/CN209342926U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110855343A (en) * | 2019-10-30 | 2020-02-28 | 山东科技大学 | Underwater sound positioning and timing buoy and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109307874A (en) | A kind of RTG cart positioning survey appearance system | |
| CN110208842A (en) | Vehicle high-precision locating method under a kind of car networking environment | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| CN102565834A (en) | Single-frequency GPS (Global Positioning System) direction-finding system and direction-finding and positioning method thereof | |
| CN106597487A (en) | Synchronous detection device for dynamic positioning accuracy of multiple receivers of Beidou satellite and method thereof | |
| CN105301621B (en) | A kind of vehicle locating device and a kind of intelligent Driving Test system | |
| CN108931244A (en) | Ins error suppressing method and system based on train kinematic constraint | |
| CN106410410A (en) | Satellite capturing and tracking method for VSAT (Very Small Aperture Terminal) antenna system with physical level platform | |
| CN112269202A (en) | Motion carrier assisted space reference transmission system and method | |
| CN101650433B (en) | Method for obtaining self-movement locus of object | |
| CN102998689A (en) | Area judging method based on virtual sensor | |
| CN209342926U (en) | A kind of RTG cart positioning survey appearance system | |
| CN201463898U (en) | Object motion trail positioning and tracking system | |
| Du et al. | Integration of PPP GPS and low cost IMU | |
| CN202649469U (en) | Positioning device for judging position of effective global satellite positioning system | |
| Wang et al. | Performance analysis of GNSS/MIMU tight fusion positioning model with complex scene feature constraints | |
| Li et al. | A high-precision vehicle navigation system based on tightly coupled PPP-RTK/INS/odometer integration | |
| CN202676915U (en) | Global navigation satellite system receiver | |
| Conde et al. | Collaborative vehicle self-localization using multi-GNSS receivers and V2V/V2I communications | |
| CN109444919A (en) | The method that appearance system output result correctness is surveyed in positioning is judged using high precision position information | |
| CN101644769A (en) | Method for acquiring 3D motion trace of object | |
| CN101655553A (en) | Electronic equipment for obtaining three-dimensional movement locus of object | |
| Xu et al. | Application of smartphone based land vehicle navigation | |
| CN105094036A (en) | Application method of quantum compass at a port and a quay | |
| CN201508184U (en) | Web exhibition-based positioning and tracking system of three-dimensional trajectory of object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |