CN110220512A - A kind of dynamic positioning system of total station combination Inertial Measurement Unit - Google Patents
A kind of dynamic positioning system of total station combination Inertial Measurement Unit Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- 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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a kind of dynamic positioning systems of total station combination Inertial Measurement Unit, including Inertial Measurement Unit, total station, synchrotimer, odometer and data processing unit；When work, total station ontology real-time tracking reflecting prism provides the observation information of prism position after synchrotimer carries out time synchronization, and observation information refers to oblique distance, course, pitch angle；The inertial data of Inertial Measurement Unit measurement and the increment information of odometer are after synchrotimer carries out time synchronization, uniform time reference is in the observation information of total station, it transfers to the Kalman filter in data processing unit uniformly to carry out data calculation, obtains location information.The present invention has invented a kind of High Precision Automatic tracking total station/Inertial Measurement Unit combination metering system towards the specific use environment such as harbour, harbour, airfield runway, and 10 centimetres of navigation and positioning accuracy can be reached under complex electromagnetic environment by realizing.
Description
Technical field
Total station is automatically tracked the present invention relates to positioning field more particularly to one kind to be combined with Inertial Measurement Unit,
To realize the high-accuracy position system in regional area under vehicle-mounted dynamic condition.
Background technique
Currently used dynamic high precision localization method is by the way of satellite positioning and inertial positioning combination, practical application
In, such as military field receiver usually faces high dynamic, weak signal, strong jamming or signal blocks environment complicated and changeable.Together
When, under complex electromagnetic environment, the satellite navigation and location systems such as GPS/ Beidou are highly prone to compacting and cheating interference (referring to " satellite
The research of communications jamming art ", " satellite navigation receiver anti-deceptive interference technique study "), at this moment receiver can losing lock transfer
It is influenced to increase to which whole system is affected by curve in capture curve or tracking, and then causes to defend
Star/inertia combined navigation system position error becomes larger, and it is unavailable to eventually lead to system.
Navigator fix technology has become essential equipment, positioning accuracy and system in numerous automated systems now
The ability to work and application potential of system where reliability all directly affects.GNSS and its inertia combined navigation system have obtained
It is widely applied, however satellite navigation mode excessively relies on the information of satellite system, (such as city high-story group of buildings under special environment
Area, tunnel, the underground space, interior, the inferior satellite-signal of crown canopy be weak/without area, the structures such as dam, bridge, Disastrous environment and
Satellite navigation equipment for user and personnel can not arrival area, index point area can not be set) be difficult to be applicable in.
Summary of the invention
Based on above-mentioned technical problem, invention is a kind of to be worked in special environment, office without satellite information
Portion independently integrates Position Fixing Navigation System entirely.It makes system in Wu Wei by introducing laser tracking and positioning/inertia combined navigation theory
It still can be realized high-precision positioning under star navigator fix signal conditioning, determine appearance.
The system introduces the real-time target location information that laser tracking prism obtains, based on traditional inertial error model,
Various error terms present in system composition are analyzed, system time delay is introduced as new state estimation parameter, establishes
Simplified, the error propagation equation of laser tracking and Inertial Measurement Unit combination metering system suitable for local coordinate system movement
And observational equation, it finally carries out automatically tracking total station laser ranging Angle Information using extended Kalman filter and inertia is surveyed
The fusion treatment for measuring data, thus the high-precision carrier positions posture information under obtaining local coordinate system.
It is complete to have invented a kind of High Precision Automatic tracking towards the specific use environment such as harbour, harbour, airfield runway by the present invention
It stands instrument/Inertial Measurement Unit combination metering system, 10 centimetres of navigator fix can be reached under complex electromagnetic environment by realizing
Precision.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the schematic illustration of the dynamic positioning system of total station combination Inertial Measurement Unit；
Fig. 2 is the information flow direction figure of the dynamic positioning system of total station combination Inertial Measurement Unit in Fig. 1；
Fig. 3 is the plan range variation diagram of prism and GPS receiver phase center；
Fig. 4 is the plan range variation diagram of prism and GPS receiver phase center after time lag amendment.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
With reference to Fig. 1, total station combination Inertial Measurement Unit dynamic positioning system include Inertial Measurement Unit, total station,
Synchrotimer, odometer, five part of data processing unit, data processing unit can be realized by computer.
According to the deployment relationship of each section, total station and Inertial Measurement Unit integrated navigation system can be divided into observation station and stream
Dynamic station two parts.Wherein, total station, synchrotimer and computer are fixedly placed in known control as observation station part
Point, Inertial Measurement Unit, total reflection prism and odometer are deployed on mobile vehicle, to measure mobile vehicle position,
Angular speed and acceleration.
In actual work, total station real-time tracking reflecting prism provides prism place to system after synchrotimer synchronizes
The oblique distance of position, course, pitch angle.Meanwhile the increment information of inertial data (angular speed, acceleration) and odometer is when passing through
Between synchronize after, be in uniform time reference with total station observation information, transfer to Kalman filter uniformly to carry out data calculation, obtain
To location information.
In synchrotimer and computer when carrying out data processing, error compensation also is carried out to data.
High-precision integrated navigation and location is realized, other than studying reasonable filter construction, it is often more important that
The error model of each sensor and the interaction relationship of each error source are solved, it, should be from the angle of system for system-level error
Degree is demarcated and is compensated, and the precision index requirement to sensor element is reduced.Following models that will be explained in various errors,
On the basis of each model, apply the big directional compensation such as one, to realize the elimination of error.
A) Inertial Measurement Unit error propagation equation
Inertial Measurement Unit belongs to Strapdown Inertial Navigation System, and error equation expression-form is as described below:
Wherein, δ VN、δVERespectively velocity error of the Inertial Measurement Unit on north orientation and east orientation；ΨRN,ΨRE,ΨRDPoint
Not Wei Inertial Measurement Unit course angle error, pitching angle error and roll angle error；Ω is rotational-angular velocity of the earth, and Lc is
Inertial Measurement Unit present position latitude,Respectively equivalent north orientation and equivalent east orientation accelerometer error, εN、εE、
εDRespectively equivalent north orientation, equivalent east orientation, equivalent day are to gyroscope constant value drift；And
εN=C11εX+C12εY+C13εZ；
εE=C21εX+C22εY+C23εZ；
εD=C31εX+C32εY+C313εZ；
Wherein, εx, εy, εzGyroscopic drift of the Inertial Measurement Unit under coordinates computed system of navigating is represented,AndIt is used
Property accelerometer bias of the measuring unit under coordinates computed system of navigating, C represents due to navigation coordinates computed system and practical navigates
Cross-coupling component caused by attitude error deviation between coordinate system.
For this system Inertial Measurement Unit, accelerometer biasFor 100 μ g ± 10%, Gyro Random
Drift about εx, εy, εzFor 0.1 °/h ± 10%.
B) total station dynamic locating accuracy
In the quiescent state, the precision of the ranging angle measurement of total station is quite accurate, and detection means is quite mature.But to its dynamic
The detection of performance is also in space state.The origin cause of formation of the dynamic measurement performance of total station is complex.In addition to normal atmosphere shadow
Sound corrects, correction for earth curvature, prism constant, and outside heeling error, the error of dynamic measurement further includes time delay (time lag), surveys
Angle and range error, measurement noise and random jump.
Due to only rough error can not be picked by the method for Mathematical treatment with the redundant observation condition of excluding gross error
It removes.It, can be using most in order to obtain based on the space motion path of discrete point under the premise of observation data meet required precision
Small two multiply fitting and the method for cubic spline interpolation handles data.Since the time lag producing cause of sound state is different, need
Separately processing.Static time lag is more stable, generally goes out time delay using least-squares estimation；When can only estimate average when dynamic
Prolong value.
It is the plan range variation diagram of prism of the invention and GPS receiver phase center with reference to Fig. 3.For high-precision
For degree dynamic measures, the error model of total station are as follows:
xi=x0-[L(1+k)+ΔL]cos(α+Δα)sin(β+Δβ)
yi=y0+[L(1+k)+ΔL]cos(α+Δα)cos(β+Δβ)
zi=z0+[L(1+k)+ΔL]sin(α+Δα)
Δ α=Δ α1+Δα2
Δ β=Δ β1+Δβ2
Wherein, x0And y0For total station instrument coordinate, xi、yiAnd ziTo observe i moment prism coordinate, k is range scale coefficient, Δ
L is ranging dynamic error caused by time delay, and Δ α is elevation measurement error, by Δ α1、Δα2Two parts composition, Δ α1
For photoelectric code disk angle error, exist in dynamic and static weighing mode, Δ α2It is surveyed for the dynamic of pitch angle caused by time delay
Error is measured, Δ β is course measurement error, by Δ β1、Δβ2Two parts composition, Δ β1For photoelectric code disk angle error,
Dynamic and static weighing mode exists, Δ β2For course angle dynamic measurement error caused by time delay.
C) odometer error
Strapdown Inertial Navigation System provides mileage increment by odometer, realizes that the navigator fix based on reckoning resolves, fortune
Dynamic initial position is (x0、y0、z0), by the output for constantly acquiring odometer, it is assumed that Δ liFor the mileage of odometer measurement
Increment,For the course angle that i-th calculates, θiFor corresponding pitch angle, then the i moment can be extrapolated using following formula
Present position is (xi、yi、zi)。
Odometer measurement is speed of the tire with respect to ground, change in location situation, its usual coefficient is relatively fixed, uses
It is preceding to have demarcated, but tire pressure and surface friction coefficient factor all can cause odometer coefficient minor change occur.It considers
High-precision navigation system needs, while the position precision of Inertial Measurement Unit in a short time is higher, therefore, it is possible to use inertia
Measuring unit location information calibrates tire pressure and surface friction coefficient, minimum usually using the recursion with forgetting factor
Square law guarantees the fast convergence of odometer coefficient, in accurately known two control point coordinates, can by control point or
Extraneous auxiliary information carries out the real-time calibration of odometer coefficient.
D) systematic error
The time synchronization error of system consists of three parts, and total station sample delay, Inertial Measurement Unit sample delay (contain
Mileage sampling error) and total station time reference with the time synchronization error between Inertial Measurement Unit time reference.Wherein,
Total station is the main error source of time synchronization error, maximum up to 0.1~0.2 second, and remaining two errors are Microsecond grade,
It is negligible.
Time lag in total station dynamic measurement process mainly includes two parts: being surveyed first is that measuring output since total station
Measure the time of result；Second is that being passed to computer from measurement data receives this section of delay of first character to computer.Computer mentions
The time of the dynamic standard position of confession be using last character in dynamic measuring data character string be passed to computer as standard,
Therefore the time delay of dynamic standard position, corresponding position measurements shift to an earlier date than actual measurement result.If will
Dynamic standard position is pushed back according to regular hour difference, and measurement error will be obviously reduced.When the time and survey pushed back
When amount time lag is consistent, measurement error average value is up to minimum.Due to vehicle driving and the speed of rotation to total station automatically with
There is certain influence in the performance of track, therefore in different situations, and measurement time lag is slightly different.The survey of total station dynamically track
Measuring time lag is about 100ms-110ms under the conditions of Different Dynamic.After time lag correction, dynamic measurement results improve significantly.
Total station Time Delay Model is τ=τb+τr+τω,
τbIt is believed that set time delay, and meet
τrTo become drift slowly, can be described with first-order Markov process,
τωTo become drift fastly, meet condition E [τω(t)τω(τ)]=q δ (t- τ)
T indicates total station acquisition time sequence, and subscript indicates derivative, ωrIndicate that random white noise, E indicate expectation, q
For fixed value, and q ∈ [50,100] ms, δ indicate unit impulse function.
In actual use, τb、τωIt plays a leading role to Time Delay Model, τb50 are generally for the 100ms numerical value for adding and subtracting 10%, q
~100ms.
In the data of Fig. 4, there is obvious time delays.The horizontal linear section of stationary state and dynamic fluctuation section section are deposited
In the jump of 0.2m.After time lag is corrected, error obviously changes small.
Lever arm effect is since one kind that Inertial Measurement Unit installation site is not overlapped with carrier swing center and is generated is dry
Disturb component of acceleration.It is waved or vibrational state and Inertial Measurement Unit be not in swing center, accelerometer meeting when carrier is in
Sensitivity arrives centrifugal acceleration and tangential acceleration, so as to cause the measurement error of accelerometer.For with accelerometer and gyro
Strapdown inertial navigation system of the output signal of instrument as observed quantity, initially to will definitely have biggish original reason error, because
This must be cancelled or compensated.Using laser ranging (or) be combined navigation with Inertial Measurement Unit before, it is necessary to by laser
Ranging center (or reflecting prism center) measures center with Inertial Measurement Unit and is normalized.
The present invention is filtered using standard Kalman filtering algorithm, obtains location information.
As described in formula, the state vector of Kalman filtering algorithm are as follows:
XINS=[δ L, δ λ, δ h, δ vE,δvN,δvU,φE,φN,φU,τ]…(4),
Wherein, δ L, δ λ, δ h are respectively longitude of the Inertial Measurement Unit in navigational coordinate system, latitude, vertical error；δVE、δ
VN、δVURespectively east orientation of the Inertial Measurement Unit under navigational coordinate system, north orientation, day is to error；ΦE、ΦN、ΦUIt is respectively used
Pitching of the property measuring unit under navigational coordinate system, roll, course angle error；τ is total station to causing in prism observation process
Uncertain time delay.
The measurement equation of Kalman filtering algorithm are as follows:
HTS=[I10×10,010×10],
In formula, ZTS、HTSThe respectively observational equation and gain equation of total station combination Inertial Measurement Unit system, LINS、
LTSThe longitude that the Inertial Measurement Unit and total station at respectively observation moment respectively calculate, λINS、λTSRespectively observe the moment
Inertial Measurement Unit and the latitude value that respectively calculates of total station, hINS、hTSRespectively observe the Inertial Measurement Unit at moment and complete
The height value that instrument of standing respectively calculates.
For standard Kalman filter algorithm, updated according to the iteration that following five formula carry out state, to obtain
Location information.
Status predication equation: X (k | k-1)=A X (k-1 | k-1) ... ... .. (1)
In formula (1), X (k | k-1) is that (k-1 | k-1) is the optimal knot of laststate as a result, X using laststate prediction
Fruit.
Prediction mean square error equation: P (k | k-1)=A P (k-1 | k-1) A '+Q ... ... (2)
In formula (2), P (k | k-1) is the corresponding covariance of X (k | k-1), and P (k-1 | k-1) is the corresponding association of X (k-1 | k-1)
Variance, A ' indicate the transposed matrix of A, and Q is the covariance of systematic procedure.
Kalman gain matrix: Kg (k)=P (k | k-1) H '/(H P (k | k-1) H '+R) ... ... (3)
In formula (3), Kg is kalman gain, and H is the parameter of measuring system, and R is that observation noise drives battle array.
State estimation equation: X (k | k)=X (k | k-1)+Kg (k) (Z (k)-H X (k | k-1)) ... ... (4)
In formula (4), and X (k | k) it is current state optimal solution, Z (k) is current time observation.
Mean square error estimation equation: P (k | k)=(I-Kg (k) H) P (k | k-1) ... ... (5)
In formula (5), P (k | k) is the corresponding covariance of X (k | k), and I is unit battle array.
A kind of novel high-precision of invention automatically tracks total station/Inertial Measurement Unit combination metering system, real
Now without the exact position in the environment of GNSS signal, attitude measurement.
By the fusion treatment of total station and Inertial Measurement Unit data, the steady of dynamic Laser tracing measurement system is improved
The precision of qualitative and strap down inertial navigation real-time attitude measurement, has expanded dynamic tracking measurement systematic difference field.Experimental result table
It is bright, dynamic measurement precision of the set system up to Centimeter Level.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (9)
1. a kind of dynamic positioning system of total station combination Inertial Measurement Unit, which is characterized in that including Inertial Measurement Unit, entirely
It stands instrument, synchrotimer, odometer and data processing unit, total station is made of total station ontology and total reflection prism；
Total station ontology, synchrotimer and data processing unit are fixedly placed in known control point, inertia as observation station part
Measuring unit, total reflection prism and odometer are as movement station partial deployment on mobile vehicle；When work, total station ontology
Real-time tracking reflecting prism provides the observation information of prism position, observation after synchrotimer carries out time synchronization
Information refers to oblique distance, course, pitch angle；When the inertial data of Inertial Measurement Unit measurement and the increment information of odometer pass through
Between synchronizer carry out time synchronization after, be in uniform time reference with the observation information of total station, transfer in data processing unit
Kalman filter uniformly carry out data calculation, obtain location information.
2. the dynamic positioning system of total station combination Inertial Measurement Unit according to claim 1, which is characterized in that described
Inertial data is made of angular velocity data and acceleration information.
3. the dynamic positioning system of total station combination Inertial Measurement Unit according to claim 1, which is characterized in that described
Time synchronization is carried out by synchrotimer to refer to according to following total station Time Delay Models one an equal amount of reversed benefit of progress
It repays:
Total station Time Delay Model τ are as follows: τ=τb+τr+τω；
Wherein, τbPostpone for the set time of total station, and meetsτrTo become drift slowly, and meetτωTo become drift fastly, meet condition E [τω(t)τω(τ)]=q δ (t- τ)；T indicates total station acquisition
Time series, subscript indicate derivative, ωrIndicate that random white noise, E indicate expectation, q is fixed value, and q ∈ [50,100]
Ms, δ indicate unit impulse function.
4. the dynamic positioning system of total station combination Inertial Measurement Unit according to claim 1, which is characterized in that described
Data processing unit is also used to compensate the inertial navigation error of Inertial Measurement Unit, and the mode of compensation is according to following victories
The error equation of connection inertial navigation system provides an an equal amount of Contrary compensation:
Wherein, δ VN、δVERespectively velocity error of the Inertial Measurement Unit on north orientation and east orientation；ΨN,ΨE,ΨDIt is respectively used
Course angle error, pitching angle error and the roll angle error of property measuring unit；Ω is rotational-angular velocity of the earth, and Lc is inertia survey
Unit present position latitude is measured,Respectively equivalent north orientation and equivalent east orientation accelerometer error, εN、εE、εDRespectively
It is equivalent north orientation, equivalent east orientation, equivalent day to gyroscope constant value drift；And
εN=C11εX+C12εY+C13εZ；
εE=C21εX+C22εY+C23εZ；
εD=C31εX+C32εY+C313εZ；
Wherein, εx, εy, εzGyroscopic drift of the Inertial Measurement Unit under coordinates computed system of navigating is represented,AndFor inertia survey
Accelerometer bias of the unit under coordinates computed system of navigating is measured, C is represented due to navigation coordinates computed system and practical navigation coordinate
Cross-coupling component caused by attitude error deviation between system.
5. the dynamic positioning system of total station combination Inertial Measurement Unit according to claim 1, which is characterized in that described
Data processing unit is also used to compensate the error of total station, and the mode of compensation is to provide one according to following error models
An equal amount of Contrary compensation:
xi=x0-[L(1+k)+ΔL]cos(α+Δα)sin(β+Δβ)
yi=y0+[L(1+k)+ΔL]cos(α+Δα)cos(β+Δβ)
zi=z0+[L(1+k)+ΔL]sin(α+Δα)
Δ α=Δ α1+Δα2
Δ β=Δ β1+Δβ2
Wherein, x0And y0For total station instrument coordinate, xi、yiAnd ziTo observe i moment prism coordinate, k is range scale coefficient, and △ L is
Ranging dynamic error caused by time delay, △ α is elevation measurement error, by △ α1、△α2Two parts composition, △ α1For
Photoelectric code disk angle error exists, △ α in dynamic and static weighing mode2It is measured for the dynamic of pitch angle caused by time delay
Error, △ β is course measurement error, by △ β1、△β2Two parts composition, △ β1For photoelectric code disk angle error, moving
Dynamical surveying mode exists, △ β2For course angle dynamic measurement error caused by time delay.
6. the dynamic positioning system of total station combination Inertial Measurement Unit according to claim 1, which is characterized in that inertia
Measuring unit provides mileage increment by odometer, realizes that the navigator fix based on reckoning resolves, the initial position of movement
For (x0、y0、z0), by the output for constantly acquiring odometer, it is assumed that △ liFor odometer measurement mileage increment,It is i-th
The secondary course angle calculated, θiIt is then (x using the present position that following formula to calculating goes out the k moment for corresponding pitch anglek、
yk、zk):
Odometer measurement is speed of the tire with respect to ground, change in location situation, and coefficient is relatively fixed, has been marked using preceding
It is fixed；And odometer calibrates tire pressure and surface friction coefficient using the location information of Inertial Measurement Unit.
7. according to the dynamic positioning system for the total station combination Inertial Measurement Unit that claim 6 is stated, which is characterized in that use inertia
It includes: using band forgetting factor that the location information of measuring unit, which carries out calibration to tire pressure and surface friction coefficient to odometer,
Least square method of recursion guarantee odometer coefficient fast convergence pass through control point in known two control point coordinates
Or extraneous auxiliary information carries out the real-time calibration of odometer coefficient.
8. according to the dynamic positioning system for the total station combination Inertial Measurement Unit that claim 1 is stated, which is characterized in that make total station
Before being combined positioning with Inertial Measurement Unit, reflecting prism center is measured into center with Inertial Measurement Unit, place is normalized
Reason.
9. according to the dynamic positioning system for the total station combination Inertial Measurement Unit that claim 1 is stated, which is characterized in that transfer to data
Kalman filter in processing unit uniformly carries out data calculation, during obtaining location information:
The state vector of dynamic positioning system is XINS:
XINS=[δ L, δ λ, δ h, δ vE,δvN,δvU,φE,φN,φU,τ]·；
Wherein, δ L, δ λ, δ h are respectively Inertial Measurement Unit in the longitude error of navigational coordinate system, latitude error, vertical error；δ
VE、δVN、δVURespectively east orientation error of the Inertial Measurement Unit under navigational coordinate system, north orientation error, day are to error；ΦE、ΦN、
ΦURespectively pitch error of the Inertial Measurement Unit under navigational coordinate system, roll error, course angle error；τ is total station pair
Caused uncertainty time delay in prism observation process；
Measurement equation are as follows:
HTS=[I10×10,010×10]；
In formula, ZTS、HTSThe respectively observational equation and gain equation of total station combination Inertial Measurement Unit system, LINS、LTSPoint
The Inertial Measurement Unit at moment Wei not observed and longitude that total station respectively calculates, λINS、λTSRespectively observe the inertia at moment
The latitude value that measuring unit and total station respectively calculate, hINS、hTSInertial Measurement Unit and the total station for respectively observing the moment are each
From the height value of reckoning.
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| CN111076720A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院国家天文台 | A method and system for dynamic measurement of cabin pose and attitude based on distance intersection |
| CN111897321A (en) * | 2020-06-19 | 2020-11-06 | 中国煤炭科工集团太原研究院有限公司 | Unmanned system of underground special vehicle |
| CN111982126A (en) * | 2020-08-31 | 2020-11-24 | 郑州轻工业大学 | Design method of full-source BeiDou/SINS elastic state observer model |
| CN113983954A (en) * | 2021-10-19 | 2022-01-28 | 中铁大桥科学研究院有限公司 | Method and device for measuring bridge deck line shape |
| CN114353835A (en) * | 2022-01-21 | 2022-04-15 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Inertial Orbiter Dynamic Calibration System, Method and Application |
| CN114509073A (en) * | 2022-01-28 | 2022-05-17 | 中国商用飞机有限责任公司 | Course signal processing method and device, storage medium and aircraft |
| CN114545466A (en) * | 2022-02-21 | 2022-05-27 | 南京大学 | Total station and GNSS combined guidance system and method |
| CN114739425A (en) * | 2022-04-21 | 2022-07-12 | 之江实验室 | Coal mining machine positioning calibration system based on RTK-GNSS and total station and application method |
| CN115752395A (en) * | 2022-10-31 | 2023-03-07 | 武汉大学 | A measuring prism with inertial autonomous positioning capability and prism tracking method |
| CN115900692A (en) * | 2022-08-25 | 2023-04-04 | 中铁隧道局集团有限公司 | A multi-sensor fusion high-precision tunnel positioning and attitude determination method |
| CN116067368A (en) * | 2023-01-10 | 2023-05-05 | 北京自动化控制设备研究所 | An underground space navigation and positioning method and navigation and positioning system |
| CN119335580A (en) * | 2024-12-19 | 2025-01-21 | 珠海魔方芯智联科技有限公司 | IMU/GNSS fusion method, computer equipment and storage medium based on Kalman filtering |
| CN119533524A (en) * | 2025-01-22 | 2025-02-28 | 中国船舶集团有限公司第七〇七研究所 | A method, device, equipment and medium for calibrating installation error angle of total station |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111076720B (en) * | 2019-12-31 | 2020-11-13 | 中国科学院国家天文台 | Cabin pose dynamic measurement method and system based on distance intersection |
| CN111076720A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院国家天文台 | A method and system for dynamic measurement of cabin pose and attitude based on distance intersection |
| CN111897321A (en) * | 2020-06-19 | 2020-11-06 | 中国煤炭科工集团太原研究院有限公司 | Unmanned system of underground special vehicle |
| CN111897321B (en) * | 2020-06-19 | 2023-08-11 | 中国煤炭科工集团太原研究院有限公司 | Unmanned system of underground special vehicle |
| CN111982126A (en) * | 2020-08-31 | 2020-11-24 | 郑州轻工业大学 | Design method of full-source BeiDou/SINS elastic state observer model |
| CN113983954B (en) * | 2021-10-19 | 2023-08-11 | 中铁大桥科学研究院有限公司 | Method and device for measuring bridge deck line shape |
| CN113983954A (en) * | 2021-10-19 | 2022-01-28 | 中铁大桥科学研究院有限公司 | Method and device for measuring bridge deck line shape |
| CN114353835A (en) * | 2022-01-21 | 2022-04-15 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Inertial Orbiter Dynamic Calibration System, Method and Application |
| CN114509073A (en) * | 2022-01-28 | 2022-05-17 | 中国商用飞机有限责任公司 | Course signal processing method and device, storage medium and aircraft |
| CN114509073B (en) * | 2022-01-28 | 2024-03-26 | 中国商用飞机有限责任公司 | Course signal processing method and device, storage medium and aircraft |
| CN114545466A (en) * | 2022-02-21 | 2022-05-27 | 南京大学 | Total station and GNSS combined guidance system and method |
| CN114739425A (en) * | 2022-04-21 | 2022-07-12 | 之江实验室 | Coal mining machine positioning calibration system based on RTK-GNSS and total station and application method |
| CN115900692A (en) * | 2022-08-25 | 2023-04-04 | 中铁隧道局集团有限公司 | A multi-sensor fusion high-precision tunnel positioning and attitude determination method |
| CN115752395A (en) * | 2022-10-31 | 2023-03-07 | 武汉大学 | A measuring prism with inertial autonomous positioning capability and prism tracking method |
| CN115752395B (en) * | 2022-10-31 | 2024-12-06 | 武汉大学 | A measuring prism with inertial autonomous positioning capability and a prism tracking method |
| CN116067368A (en) * | 2023-01-10 | 2023-05-05 | 北京自动化控制设备研究所 | An underground space navigation and positioning method and navigation and positioning system |
| CN119335580A (en) * | 2024-12-19 | 2025-01-21 | 珠海魔方芯智联科技有限公司 | IMU/GNSS fusion method, computer equipment and storage medium based on Kalman filtering |
| CN119335580B (en) * | 2024-12-19 | 2025-03-14 | 珠海魔方芯智联科技有限公司 | IMU/GNSS fusion method based on Kalman filtering, computer equipment and storage medium |
| CN119533524A (en) * | 2025-01-22 | 2025-02-28 | 中国船舶集团有限公司第七〇七研究所 | A method, device, equipment and medium for calibrating installation error angle of total station |
| CN119533524B (en) * | 2025-01-22 | 2025-04-15 | 中国船舶集团有限公司第七〇七研究所 | Calibration method, device, equipment and medium for total station installation error angle |
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Application publication date: 20190910 |