CN102645667A - Energy-optimized navigation device based on integrated navigation - Google Patents
Energy-optimized navigation device based on integrated navigation Download PDFInfo
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Abstract
The invention discloses an energy optimization navigation unit based on combined navigation, which comprises a navigation module, a computation module, a control module and a display module. The navigation module, the computation module and the display module are connected with the control module, and the navigation module is further connected with the computation module. The energy optimization navigation unit is a handheld energy optimization GNSS (global navigation satellite system) receiver based on an inertial navigation device, and the handheld energy optimization GNSS receiver integrates advantages, including high precision, low power consumption, high independency and external interference resistance, of the inertial navigation device and a common GNSS receiver. On the premise of guaranteeing the navigation precision and sensitivity, the power consumption can be reduced to be 21% of the original power consumption. In addition, compared with the pure inertial navigation device, the energy optimization navigation unit can effectively control accumulated errors on the premise of keeping low power consumption and low dependency on external environments.
Description
Technical field
The present invention relates to a kind of guider, especially, relate to a kind of energy-optimised guider based on integrated navigation.
Background technology
Airmanship is an information of utilizing device such as satellite/sensor to provide, and through computing, correct fast guiding carrier arrives a kind of technology of predetermined purpose.Airmanship begins to apply to military field most, but along with development of science and technology, airmanship is also progressively moved towards the commercial market from military field.Now, the module with navigation feature all is installed in boats and ships, automobile even mobile phone.These navigation modules greatly facilitate people's trip.At present, except comparatively popular satellite navigation and inertial navigation, starlight navigation, earth-magnetic navigation also are emerging airmanships.
In practical engineering application, the inertial navigation device has low-power consumption, does not rely on the external environment condition of its work, and the advantages such as independence of height are arranged.But, inertial navigation system have simultaneously long-time stability relatively poor, have deficiencies such as cumulative errors.GLONASS (Global Navigation Satellite Systems, GNSS) navigation accuracy of receiver is high, does not have cumulative errors, and system stability is good.But the energy that the GNSS receiver consumes in navigation procedure is bigger.Deficiency on this power consumption has greatly limited satellite navigation system such as the use on the miniaturized device such as mobile phone.Simultaneously, in urban environment, barriers such as building, viaduct can stop satellite-signal, cause GNSS receiver " losing lock ".
In traditional airmanship, often only adopted the inertial navigation device, GNSS receiver or other single navigation original papers navigate.Owing to only adopted a kind of navigational material to navigate; These navigational materials often aspect one of navigation accuracy, energy consumption, scope of heading etc. or many aspects have defective, thereby can not satisfy the requirement of hand-held navigator low-power consumption, high precision, wide coverage rate.
For the navigational system that adopts single navigation original paper; In order to make navigational system can reach requirements such as high precision, low power consumption, low cumulative errors; Or tend to adopt, and the expensive price of these devices makes it can not apply to civilian installation on a large scale such as the high-precision MEMS device of gyroscope.
Therefore, we need a kind of low cost, low-power consumption, precise navigation equipment.
Summary of the invention
Because the above-mentioned defective of prior art, technical matters to be solved by this invention provides a kind of energy-optimised guider based on integrated navigation, and it is the guider that utilizes GNSS receiver and the associated working of inertial navigation device.Advantage such as this device combines the GNSS receiver and inertial navigation device navigation accuracy is high, low in energy consumption, conditional request is low to external world; Overcome the deficiency that GNSS receiver and inertial navigation device power consumption are high, cumulative errors is arranged simultaneously, can satisfy hand-held requirement of moving the low-power consumption navigator.
For realizing above-mentioned purpose; The invention provides a kind of energy-optimised guider based on integrated navigation; It comprises navigation module, computing module, control module and display module; Said navigation module, computing module and display module all link to each other with said control module, and said navigation module links to each other with said computing module again;
Wherein, Said navigation module is used for receiving the navigation raw data; And the said navigation raw data that will receive sends to said computing module, and said navigation module comprises inertial navigation device and GNSS receiver, and said inertial navigation device is used to export the said navigation raw data of navigation carrier; Said GNSS receiver is launched according to the regular hour frequency under the control of said control module, is used for the position at receiving satellite signal and output navigation carrier place;
Said computing module is used for the original navigation data of said navigation module output is carried out calculation process, and the navigation data after will handling sends to said control module;
Said control module is used to control the work of said navigation module, computing module and display module, and wherein, said control module is controlled the mode of operation of said navigation module; Said control module is controlled said computing module reads in said inertial navigation device output from said navigation module said navigation raw data, from said computing module, reads simultaneously through the navigation data after the said computing module processing; Said control module is controlled said display module and is demonstrated navigation content, and from said display module, read in navigation request according to final navigation data;
Said display module is used to show final navigation data and as the inputting interface of navigation request.
Like the above-mentioned energy-optimised guider based on integrated navigation, wherein, said navigation raw data comprises x, the y of the carrier that navigates, the acceleration and the turning velocity of three directions of z.
Further; Like above-mentioned energy-optimised guider based on integrated navigation; Wherein, The acceleration of the x that said computing module employing Simpson discrete integration formula is exported said inertial navigation device, y, three directions of z carries out discrete integration twice, obtains the displacement of said navigation carrier in x, y, z direction; Said computing module adopts Simpson's discrete integration formula that the turning velocity of said inertial navigation device output is carried out discrete integration, obtain said navigation carrier current towards.
Like the above-mentioned energy-optimised guider based on integrated navigation, wherein, the mode of operation of said navigation module comprises inertial navigation and GNSS navigation correction.
Further, like the above-mentioned energy-optimised guider based on integrated navigation, wherein, said inertial navigation is meant that navigation module utilizes the inertial navigation device to navigate; Said GNSS navigation correction is meant and utilizes the navigation data of GNSS receiver reception to revise the cumulative errors that the inertial navigation device causes at interval according to certain hour.
Like the above-mentioned energy-optimised guider based on integrated navigation, wherein, said inertial navigation device adopts the MEMS device, and the mode that employing is carried out filtering with the output of a plurality of MEMS devices reduces cumulative errors.
Further; Like above-mentioned energy-optimised guider based on integrated navigation; Wherein, said filtering mode is following: in the GNSS operation of receiver stage, when the cumulative errors of said MEMS device navigation greater than threshold values L the time; When the MEMS of next stage device navigates, increase the quantity of MEMS device work original paper; When the cumulative errors of said MEMS device navigation the time, when the MEMS of next stage device navigates, reduce the quantity of MEMS device work original paper less than threshold values S; When the cumulative errors of said MEMS device navigation was between threshold values S and threshold values L, when the MEMS of next stage device navigated, the quantity of keeping MEMS device work original paper was constant.
Like above-mentioned energy-optimised guider based on integrated navigation; Wherein, Said control module comprises microcontroller and reservoir; Wherein, said reservoir includes RAM and ROM again, and said RAM is used for storing navigation data, the navigation data that from said computing module, reads in and the navigation request of from display module, reading in and other instructions of the GNSS receiver that directly reads in from said navigation module; Said ROM is used to store cartographic information and system program.
Like the above-mentioned energy-optimised guider based on integrated navigation, wherein, said display module comprises reservoir and display screen, and wherein, said reservoir is used to store the navigation displaying contents of said control module output; Said display screen is exported the display message that stores in the said reservoir under the control of said control module, the while is as the inputting interface of navigation request and other request instructions.
Further, like the above-mentioned energy-optimised guider based on integrated navigation, wherein, said reservoir is RAM.
Energy-optimised guider based on integrated navigation of the present invention utilizes GNSS receiver and inertial navigation device to unite navigation; It carries out the alternation of GNSS receiver and inertial navigation device according to certain frequency; Utilize the navigation data comparatively accurately of GNSS receiver output to revise the navigation data of inertial navigation device output, thereby eliminate the cumulative errors of inertial navigation device; Owing to the inertial navigation device has advantage low in energy consumption, that work independence is not influenced by extraneous factor by force,, utilize the inertial navigation device of low-power consumption to navigate for a long time, finally can under the prerequisite that guarantees navigation accuracy, reduce the receiver power consumption.Therefore, the energy-optimised guider based on integrated navigation of the present invention combines the navigation of inertial navigation device and GNSS receiver high precision, low-power consumption, highly independently, does not receive the advantage of external interference.Compared to the navigation of pure GNSS receiver, the present invention is under the prerequisite that guarantees navigation accuracy and sensitivity, and power consumption can be reduced to original 21%; Compared to the pure-inertial guidance device, the present invention can effectively control cumulative errors under the prerequisite that keeps low-power consumption, low external environment dependency degree.
Description of drawings
Fig. 1 is the modular structure synoptic diagram of the energy-optimised guider based on integrated navigation of the present invention;
Fig. 2 is the structural representation based on the navigation module in the energy-optimised guider of integrated navigation of the present invention;
Fig. 3 is the structural representation based on the computing module in the energy-optimised guider of integrated navigation of the present invention;
Fig. 4 is the structural representation based on the control module in the energy-optimised guider of integrated navigation of the present invention;
Fig. 5 is the structural representation based on the display module in the energy-optimised guider of integrated navigation of the present invention.
Embodiment
Below will combine accompanying drawing that the technique effect of design of the present invention, concrete structure and generation is described further, to understand the object of the invention, characteristic and effect fully.
As shown in Figure 1; Energy-optimised guider based on integrated navigation of the present invention comprises: navigation module 1, computing module 4, control module 2 and display module 3; Wherein, navigation module 1, computing module 4 and display module 3 all link to each other with control module 2, and navigation module 1 links to each other with computing module 4 again.
Particularly, 1 of mould of navigation is used for receiving the navigation raw data, and the navigation raw data that will receive sends to computing module.
Computing module 4 is used for the original navigation data of navigation module 1 output is carried out calculation process, and the navigation data after will handling sends to control module 2.
Control module 2 is used to control the work of navigation module 1, computing module 4 and display module 3.For navigation module 1; Control module 2 controls it adopt specific mode of operation to navigate; And, revise the navigation data of inertial navigation device output, thereby eliminate the cumulative errors of inertial navigation device according to the navigation data of GNSS receiver in the navigation module 1 with certain frequency.For computing module 4, it reads in the navigation raw data of inertial navigation device output control module 2 controls from navigation module 1, and control module 2 is read from computing module 4 through the navigation data after computing module 4 processing simultaneously.For display module 3, the final navigation data after control module 2 can be handled according to computing module 4, control display module 3 demonstrates navigation content, and simultaneously, control module 2 also can be read in the navigation request input from display module 3.
Display module 3 is used to show final navigation data and as the inputting interface of navigation request.
As shown in Figure 2, navigation module 1 specifically comprises GNSS receiver and inertial navigation device.
Wherein, the GNSS receiver is launched according to the regular hour frequency, is used for the position at receiving satellite signal and output navigation carrier place.Because the navigation of GNSS receiver output is comparatively accurate, does not have the existence of cumulative errors, so export the cumulative errors that can be used to eliminate the inertial navigation device with the navigation of GNSS receiver.But for hand-held miniaturization navigator, the work power consumption of GNSS receiver is bigger, can not be used for the long-time continuous navigation.
The inertial navigation device is a kind of navigational material of low power consumption, and it is applicable to the navigator of miniaturization.The inertial navigation device is used to export the original physical datas such as acceleration and turning velocity of x, y, the z direction of navigation carrier.These data are input to computing module under the control of control module, be used to calculate the navigation carrier displacement and towards etc. data for use in final navigation.Because the x of inertial navigation device output, y, the acceleration of three directions of z has certain error with the acceleration of actual navigation carrier, and this error can accumulate, and causes the inertial navigation device bigger at the navigation data errors of navigation back output for a long time.In order to eliminate cumulative errors, need be according to certain time interval, utilize the output of GNSS receiver to revise the output of inertial navigation device.
Navigation module under the control of control module according to certain mode of operation work.Wherein, concrete mode of operation includes inertial navigation and GNSS navigation correction.Inertial navigation is meant that navigation module utilizes the inertial navigation device to navigate.System utilizes x, the y of the navigation carrier of inertial navigation device output, the acceleration and the turning velocity of three directions of z, through the computing of computing module, and the navigation mode of output navigation data.The GNSS navigation is revised and is meant that the navigation data that utilizes the GNSS receiver to receive does not have cumulative errors, advantage of high precision, utilizes the navigation data of GNSS receiver to revise the cumulative errors that is caused by long-time inertial navigation device according to certain hour at interval.
In the present invention, the inertial navigation device adopts microelectromechanical systems (Micro Electro Mechanical systems, MEMS) device is used for exporting the x of navigation carrier, y, navigation such as the acceleration of z direction and turning velocity raw data.Owing in the time of the acceleration of MEMS device output certain additive noise is arranged, and this noise is that average is zero white Gaussian noise.This additive noise is the immediate cause that causes the cumulative errors of the long-time navigation of MEMS device.In order to reduce the cumulative errors of MEMS device navigation, can adopt a plurality of MEMS device outputs to reduce this error through the mode of filter filtering.Particularly, in the GNSS operation of receiver stage, the navigation output that utilizes the GNSS receiver is as the foundation of judging MEMS device cumulative errors.When the cumulative errors of MEMS device navigation greater than threshold values L the time, when the MEMS of next stage device navigate, the quantity of increase MEMS device work original paper was to reduce the cumulative errors of navigating; When the cumulative errors of MEMS device navigation less than threshold values S the time, when the MEMS of next stage device navigate, the number that reduces MEMS device work original paper was to reduce the power consumption of navigating; When the cumulative errors of MEMS device navigation was between threshold values S and threshold values L, when the MEMS of next stage device navigated, the quantity of keeping MEMS device work original paper was constant.The navigation raw data of MEMS device output is sent to computing module, is used to calculate final navigation data.
As shown in Figure 3, computing module comprises reservoir RAM and supercomputing chip.
Under the control of computing module in control module; From navigation module, read in the navigation raw data of inertial navigation device; After navigation such as x, y, z three positioner accelerations and the turning velocity raw data of carrier of promptly navigating; With these data storing in RAM, as the buffer memory of supercomputing chip.Utilize x, the y of the navigation carrier that stores among the RAM, the acceleration of three directions of z, through an integration, the speed of the carrier that can obtain navigating is carried out integration one time to speed again in the supercomputing chip, the displacement of the carrier that can obtain navigating.Utilize displacement,, just can calculate the current location of navigation carrier according to the initial position of navigation carrier.Can utilize simultaneously the turning velocity of the navigation carrier of inertial navigation device output, integration obtain navigating carrier current towards.
In the present invention, the supercomputing chip can adopt CPU.Simultaneously, the integration method of employing is the Simpson's discrete integration formula in the numerical integration, and the acceleration that the MEMS device is exported carries out discrete integration twice, just can obtain x, y, the displacement of z direction.
As shown in Figure 4: control module comprises microcontroller (MCU) and reservoir.Wherein, reservoir includes RAM and ROM again.
MCU is the control chip of a low-power consumption, is used for controlling the co-ordination of other several modules of the present invention.Particularly, MCU output control signal control navigation module carries out work and exports the result according to specific navigation mode; MCU output control signal requires navigation module output GNSS to receive signal, is used to revise the cumulative errors of inertial navigation device; MCU exports control signal, and the control computing module reads the navigation raw data of navigation carrier from navigation module; MCU output control signal requires computing module output through the navigation data after calculating, and it is stored among the RAM of control module; MCU exports control signal, and the control display demonstrates the navigation synoptic diagram according to the cartographic information that stores among the navigation data of the storage of RAM in the control module and the ROM; MCU exports control signal, or is used for reading in other instructions of navigation request from display module.
Wherein, RAM is the navigation data that is used for storing the GNSS receiver that directly reads in from navigation module, the navigation data that from computing module, reads in.According to these navigation datas,, can under the control of MCU, on display module, demonstrate the navigation informations such as running orbit of navigation carrier in conjunction with the cartographic information that stores among the ROM.Simultaneously, RAM also can be used for storing the navigation request and other instructions of reading in from display module.
ROM is the storage medium that stores cartographic information and some other system program.The work of this whole navigational system of control under the control of the program of MCU in ROM.
As shown in Figure 5, display module comprises reservoir RAM and display screen.
Wherein, RAM is used for the navigation displaying contents of storage control module output.Display screen is the interface of man-machine interaction, can be under the control of control module, and the display message that stores among the output RAM; Simultaneously also can be as the inputting interface of navigation request and other request instructions.
More than describe preferred embodiment of the present invention in detail.The ordinary skill that should be appreciated that this area need not creative work and just can design according to the present invention make many modifications and variation.Therefore, all technician in the art all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology through the available technical scheme of logical analysis, reasoning, or a limited experiment.
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| CN104111445A (en) * | 2014-07-09 | 2014-10-22 | 上海交通大学 | Ultrasonic-array auxiliary positioning method and system used for indoor navigation |
| CN105182987A (en) * | 2015-08-18 | 2015-12-23 | 北京航天长征飞行器研究所 | Pose correction method for powered phase of aircraft |
| US11209555B2 (en) | 2015-09-29 | 2021-12-28 | Huawei Technologies Co., Ltd. | Positioning method and apparatus for mobile terminal, and mobile terminal |
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Application publication date: 20120822 |