CN118426017A - Radio station RTK integrated navigation positioning method based on agricultural scene custom coordinates - Google Patents
Radio station RTK integrated navigation positioning method based on agricultural scene custom coordinates Download PDFInfo
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- CN118426017A CN118426017A CN202410517148.6A CN202410517148A CN118426017A CN 118426017 A CN118426017 A CN 118426017A CN 202410517148 A CN202410517148 A CN 202410517148A CN 118426017 A CN118426017 A CN 118426017A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention discloses a radio station RTK combined navigation positioning method based on agricultural scene custom coordinates, which belongs to the technical field of agricultural positioning and navigation and comprises the following specific steps: performing GNSS differential positioning by using a self-built radio station, and outputting real-time centimeter-level precision position information; taking the station base station coordinates as an origin, performing Gaussian projection, and converting longitude and latitude coordinates output by GNSS difference into custom coordinates; and after the space-time unification of the multiple sensors, performing integrated navigation under a self-defined coordinate system, and outputting high-precision pose data. The self-built RTK radio station base station reduces the burden and cost of a server and improves the reliability of a data link; the precision and reliability of the carrier course angle under the agricultural environment are ensured by adopting a dual-antenna RTK; and establishing a self-defined coordinate system suitable for agricultural scenes and an inertial sensor/dual-antenna RTK integrated navigation model under the coordinate system, and improving positioning accuracy, stability and robustness.
Description
Technical Field
The invention relates to the technical field of agricultural positioning and navigation, in particular to a radio station RTK combined navigation positioning method based on agricultural scene custom coordinates.
Background
The precise agriculture, intelligent agriculture and the like in the agricultural field are still urgent to develop, and a series of problems and limitations exist, which have a non-negligible relation with the variability and complexity of the agricultural environment, wherein positioning navigation is one of core technologies. The agricultural requirements for positioning are mainly embodied in the aspects of high precision (in centimeter level), high stability (stable positioning quality), high reliability (positioning system is not easy to downtime) and the like.
GNSS provides highly accurate three-dimensional position information for a carrier, whose positioning errors do not accumulate over time, but are susceptible to signal masking or interference. The INS is the position, velocity and attitude information of the moving carrier obtained by solving through inertial elements. The INS has autonomous navigation capability and strong anti-interference capability, but navigation errors of the INS are gradually accumulated along with working time. Combining the GNSS and the INS can obtain three-dimensional position, speed and attitude information with better reliability, higher precision and faster data update rate.
The RTK real-time dynamic differential positioning technology is a technology for correcting a positioning result by using a GNSS carrier phase observation value so as to perform real-time dynamic relative positioning. RTKs typically employ a 4G network to establish a data communication link between a reference station and an rover station through which carrier phase observations of the reference station and position information of the reference station are received and resolved to obtain high-accuracy position information.
GNSS is a longitude and latitude coordinate, and is generally converted into a unit meter, so that subsequent control is facilitated. The UTM coordinate of the universal ink-card grid system is a planar rectangular coordinate, and the grid system and the projection on which it is based have been widely used for topography, as a reference grid for satellite images and natural resource databases, and other applications requiring accurate positioning.
MEMS inertial sensors are commonly employed in the agricultural field. The accuracy of the MEMS gyroscope is limited, and the course angle cannot be sensed. The magnetometer is also very easy to be interfered by the use environment, so that the heading angle precision can not be ensured. In an agricultural scene, a general 4G signal is weak, and a network RTK (real time kinematic) can not run continuously, so that the reliability of a system is affected. UTM is orthographic projection, if the farm work scene just keeps away from two secants and leads to length deformation great, or is in degree area edge, leads to the transform loaded down with trivial details influence follow-up accurate agricultural operation. Therefore, the invention discloses a radio station RTK combined navigation positioning method based on agricultural scene custom coordinates, so as to solve the problems.
Disclosure of Invention
The present invention has been made in view of the above-mentioned and/or existing problems occurring in a station RTK integrated navigation positioning method based on agricultural scene custom coordinates.
Therefore, the invention aims to provide a radio station RTK combined navigation positioning method based on agricultural scene custom coordinates, which can solve the problems in the prior art.
In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided:
a radio station RTK combined navigation positioning method based on agricultural scene custom coordinates comprises the following specific steps:
S1: adjusting the power of a radio station, broadcasting differential information in the form of radio waves at the frequency, receiving differential data sent by a satellite signal and a base station radio station by utilizing a multi-frequency GNSS antenna, and finally calculating and outputting real-time centimeter-level precision position information by utilizing a GNSS board card;
s2: taking the station base station coordinates as an origin, performing Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates;
S3: firstly, unifying the time and space of the sensor, then, carrying out time synchronization on an inertial sensor and a GNSS through a PPS, then, carrying out double-antenna installation angle conversion, and carrying out lever arm setting between an IMU and the GNSS antenna;
S4: based on the self-defined coordinate double-antenna integrated navigation of the radio station, an extended Kalman filter is used for establishing a model under a self-defined coordinate system after initial alignment, and finally high-precision pose data are output after GNSS and IMU real-time data are fused, errors are fed back, and positioning precision, stability and reliability are improved.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the specific flow of the S1 is as follows:
s11: adjusting the power, data transmission rate and frequency of the station to broadcast differential information in the form of radio waves and establishing a data communication link between the reference station and a nearby rover station;
s12: the method comprises the steps of firstly utilizing a multi-frequency GNSS antenna to receive satellite signals and differential data sent by a base station radio station, analyzing ephemeris, pseudo-range and carrier phase data received by the antenna, and finally utilizing a GNSS board card to calculate and output real-time centimeter-level precision position information and high-precision attitude angle information.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the specific flow of the S2 is as follows:
S21: measuring the coordinates of a radio station base station in a 2000 coordinate system;
S22: compensating the phase offset of the base station antenna, and taking the offset as the origin under the self-defined coordinate system;
S23: taking the longitude and latitude of the origin as a central meridian, taking the north as a Y axis and the east as an X axis, carrying out Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates, wherein the height is based on the ellipsoidal height under a 2000 coordinate system;
S24: in order to keep the X-axis coordinate in the custom coordinate system as a positive value, the X-axis coordinate output in the step S23 is shifted by 50000m according to the coverage area of the base station and the agricultural scene.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the specific flow of the S3 is as follows:
S31: performing time synchronization on the inertial sensor and the GNSS through the PPS;
S32: converting the attitude information output by the GNSS through a rotation matrix according to the GNSS double-antenna mounting angle so as to obtain a real course angle of the carrier;
S33: a lever arm is provided between the IMU and the GNSS antenna.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the specific flow of the S4 is as follows:
S41: coarse alignment: after the system receives the data output by the inertial sensor, the position of the carrier is determined by GNSS, the gravity acceleration of the position is determined, the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier are measured by the inertial sensor, and the projection coordinates of the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier at two coordinates are respectively recorded as V 1 r,V1 b and V 2 Finally, solving a direction cosine array between the carrier coordinate system b and the earth coordinate system r through double-vector attitude determination to obtain a carrier initial attitude rotation matrix through calculation
S42: fine alignment: because the MEMS inertial sensor has lower precision and can not sense the rotation angular velocity of the earth, coarse alignment is obtainedFinally, only accurate pitch angle and roll angle can be obtained, so that other observations are needed to obtain a course angle;
S43: calculating carrier data acquired by a strapdown inertial navigation system by taking the initial pose of a carrier as a reference to acquire carrier pose information calculated by an inertial navigation sensor;
s44: establishing a combined navigation state space model under a custom coordinate system;
s45: performing calculation through extended Kalman filtering, processing and fusing inertial navigation data and GNSS dual-antenna data, and estimating zero offset and installation misalignment angle errors of a gyroscope and an accelerometer to obtain high-precision pose information;
S46: performing feedback correction on zero offset and installation misalignment angle errors of the gyroscope and the accelerometer obtained in the step S45, and improving subsequent positioning accuracy;
s47: and finally outputting the fused positioning and attitude-determining data with high precision and high reliability.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the initial attitude and rotation matrix of the carrier in the S41The method comprises the following steps:
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the specific flow of S42 is as follows:
s421: establishing a fine alignment model taking a course angle as an observation, and measuring angular velocity information, a course angle and a pitch angle output by double antennae and a carrier initial attitude rotation matrix by using a gyroscope For input, a Kalman filter is used for state estimation, which is based on a model of the dual antenna RTK static initial alignment as follows:
Phi is strapdown inertial navigation attitude error, δv is strapdown inertial navigation speed error, epsilon is random constant drift of the gyroscope, and Z is speed and course angle observation;
s422: the state equation and the measurement equation in the strapdown inertial navigation system model are discretized, and then state estimation is carried out through Kalman filtering, so that high-precision initial pose data are output.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the pose information of the carrier in S43 includes a pose angle, a velocity and a position.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the attitude angle is obtained by collecting angular speed and acceleration data collected by an inertial sensor, correcting a conical error by adopting a rotation vector of a three subsamples, updating an attitude equation by using a quaternion, and calculating the attitude angle at the current moment;
The speed is obtained by compensating the gravity acceleration through the speed and the gesture of the carrier at the previous moment and then calculating by combining the angular speed and the acceleration data acquired by the inertial sensor;
the position is a position value at the current moment calculated through the position, the speed and the geographic parameters at the previous moment.
As a preferable scheme of the radio station RTK integrated navigation positioning method based on the agricultural scene custom coordinates, the invention comprises the following steps: the spatial model of S44 is established as follows:
Wherein: x is the error state, F is the state transition matrix, G is the noise transition matrix, For the inertial navigation output speed error,For the RTK output speed error,For the inertial navigation to output a position error,For the position error under the custom coordinate system,For the inertial navigation to output an attitude error,For RTK output attitude error, H is observation transfer matrix, V is observation noise, W b is system noise,White noise is measured for the angular velocity of the gyroscope,White noise is measured for accelerometer specific force, δv n is the velocity error, δp is the position error, ε b is the gyroscope zero bias,For accelerometer zero bias, δl b is lever arm error, δt is time synchronization error.
Compared with the prior art:
1. The self-built RTK radio station base station adopts a radio communication mode to make up for the defect that the 4G signal is generally poor in the agricultural scene. When a plurality of agricultural machines operate within the range of tens of kilometers, the burden of a server can be effectively reduced, the cost is reduced, and the positioning reliability is improved.
2. The precision and reliability of the carrier course angle under the agricultural environment are guaranteed by adopting the radio station dual-antenna RTK, and the defect that the course angle cannot be perceived by the low-cost MEMS inertial sensor and the magnetometer is extremely easy to be interfered by the environment is overcome.
3. Aiming at the UTM coordinates at edges, the subsequent processing is complicated, and the length is deformed. And a self-defined coordinate system suitable for agricultural scenes is established, so that the applicability is improved.
4. And establishing an inertial sensor/dual-antenna RTK integrated navigation model under a custom coordinate system, and improving positioning accuracy, stability, robustness and efficiency by data fusion, and finally improving the quality and benefit of agricultural production.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a flow chart of the integrated navigation of the present invention;
FIG. 3 is a Kalman filtering flow chart of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The invention provides a radio station RTK integrated navigation positioning method based on agricultural scene custom coordinates, referring to FIGS. 1-3, comprising the following specific steps:
S1: adjusting the power of a radio station, broadcasting differential information in the form of radio waves at the frequency, receiving differential data sent by a satellite signal and a base station radio station by utilizing a multi-frequency GNSS antenna, and finally calculating and outputting real-time centimeter-level precision position information by utilizing a GNSS board card;
Wherein: the specific flow of S1 is as follows:
s11: adjusting the power, data transmission rate and frequency of the station to broadcast differential information in the form of radio waves and establishing a data communication link between the reference station and a nearby rover station;
S12: firstly, receiving differential data sent by satellite signals and a base station radio station by utilizing a multi-frequency GNSS antenna, analyzing ephemeris, pseudo-range and carrier phase data received by the antenna, and finally, calculating and outputting real-time centimeter-level precision position information and high-precision attitude angle information by utilizing a GNSS board card;
s2: taking the station base station coordinates as an origin, performing Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates;
wherein: the specific flow of S2 is as follows:
S21: measuring the coordinates of a radio station base station in a 2000 coordinate system;
S22: compensating the phase offset of the base station antenna, and taking the offset as the origin under the self-defined coordinate system;
S23: taking the longitude and latitude of the origin as a central meridian, taking the north as a Y axis and the east as an X axis, carrying out Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates, wherein the height is based on the ellipsoidal height under a 2000 coordinate system;
S24: in order to keep the X-axis coordinate in the custom coordinate system as a positive value, the X-axis coordinate output in the step S23 is shifted by 50000m according to the coverage area of the base station and the agricultural scene;
S3: firstly, unifying the time and space of the sensor, then, carrying out time synchronization on an inertial sensor and a GNSS through a PPS, then, carrying out double-antenna installation angle conversion, and carrying out lever arm setting between an IMU and the GNSS antenna;
Wherein: the specific flow of S3 is as follows:
S31: performing time synchronization on the inertial sensor and the GNSS through the PPS;
S32: converting the attitude information output by the GNSS through a rotation matrix according to the GNSS double-antenna mounting angle so as to obtain a real course angle of the carrier;
s33: setting a lever arm between the IMU and the GNSS antenna;
S4: based on the self-defined coordinate double-antenna integrated navigation of the radio station, an extended Kalman filter is used for establishing a model under a self-defined coordinate system after initial alignment, and finally high-precision pose data are output after GNSS and IMU real-time data are fused, errors are fed back, and positioning precision, stability and reliability are improved;
wherein: the specific flow of S4 is as follows:
S41: coarse alignment: after the system receives the data output by the inertial sensor, the position of the carrier is determined by GNSS, the gravity acceleration of the position is determined, the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier are measured by the inertial sensor, and the projection coordinates of the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier at two coordinates are respectively recorded as V 1 r,V1 b and V 2 Finally, solving a direction cosine array between the carrier coordinate system b and the earth coordinate system r through double-vector attitude determination to obtain a carrier initial attitude rotation matrix through calculationIts carrier initial attitude rotation matrixThe method comprises the following steps:
S42: fine alignment: because the MEMS inertial sensor has lower precision and can not sense the rotation angular velocity of the earth, coarse alignment is obtained Finally, only accurate pitch angle and roll angle can be obtained, so that other observations are needed to obtain the course angle, and the specific flow is as follows:
s421: establishing a fine alignment model taking a course angle as an observation, and measuring angular velocity information, a course angle and a pitch angle output by double antennae and a carrier initial attitude rotation matrix by using a gyroscope For input, a Kalman filter is used for state estimation, which is based on a model of the dual antenna RTK static initial alignment as follows:
X＝[φE φN φU δvE δvN εN εU]T；
Phi is strapdown inertial navigation attitude error, δv is strapdown inertial navigation speed error, epsilon is random constant drift of the gyroscope, and Z is speed and course angle observation;
s422: discretizing a state equation and a measurement equation in a strapdown inertial navigation system model, and performing state estimation through Kalman filtering to output high-precision initial pose data;
S43: the method comprises the steps of calculating carrier data acquired by a strapdown inertial navigation system by taking an initial pose of a carrier as a reference to obtain carrier pose information calculated by an inertial navigation sensor, wherein the carrier pose information comprises a pose angle, a speed and a position; the attitude angle is the attitude angle of the current moment which is calculated by collecting the angular speed and acceleration data collected by the inertial sensor, adopting a rotation vector of a three subsampled sample to correct the cone error and then updating an attitude equation by using a quaternion; the speed is that the gravity acceleration is compensated by the speed and the gesture of the carrier at the previous moment, and then the angular speed and the acceleration data acquired by the inertial sensor are combined to calculate, so as to obtain the speed value at the current moment; the position is a position value at the current moment calculated through the position, the speed and the geographic parameters at the previous moment;
S44: establishing a combined navigation state space model under a self-defined coordinate system, and taking lever arm errors and time asynchronous errors into consideration, wherein the space model is established as follows:
Wherein: x is the error state, F is the state transition matrix, G is the noise transition matrix, For the inertial navigation output speed error,For the RTK output speed error,For the inertial navigation to output a position error,For the position error under the custom coordinate system,For the inertial navigation to output an attitude error,For RTK output attitude error, H is observation transfer matrix, V is observation noise, W b is system noise,White noise is measured for the angular velocity of the gyroscope,White noise is measured for accelerometer specific force, δv n is the velocity error, δp is the position error, ε b is the gyroscope zero bias,For accelerometer zero bias, δl b is lever arm error, δt is time synchronization error;
s45: performing calculation through extended Kalman filtering, processing and fusing inertial navigation data and GNSS dual-antenna data, and estimating zero offset and installation misalignment angle errors of a gyroscope and an accelerometer to obtain high-precision pose information;
S46: performing feedback correction on zero offset and installation misalignment angle errors of the gyroscope and the accelerometer obtained in the step S45, and improving subsequent positioning accuracy;
s47: and finally outputting the fused positioning and attitude-determining data with high precision and high reliability.
Although the invention has been described hereinabove with reference to embodiments, various modifications thereof may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the features of the disclosed embodiments may be combined with each other in any manner as long as there is no structural conflict, and the exhaustive description of these combinations is not given in this specification merely for the sake of omitting the descriptions and saving resources. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A radio station RTK combined navigation positioning method based on agricultural scene custom coordinates is characterized by comprising the following specific steps:
S1: adjusting the power of a radio station, broadcasting differential information in the form of radio waves at the frequency, receiving differential data sent by a satellite signal and a base station radio station by utilizing a multi-frequency GNSS antenna, and finally calculating and outputting real-time centimeter-level precision position information by utilizing a GNSS board card;
s2: taking the station base station coordinates as an origin, performing Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates;
S3: firstly, unifying the time and space of the sensor, then, carrying out time synchronization on an inertial sensor and a GNSS through a PPS, then, carrying out double-antenna installation angle conversion, and carrying out lever arm setting between an IMU and the GNSS antenna;
S4: based on the self-defined coordinate double-antenna integrated navigation of the radio station, an extended Kalman filter is used for establishing a model under a self-defined coordinate system after initial alignment, and finally high-precision pose data are output after GNSS and IMU real-time data are fused, errors are fed back, and positioning precision, stability and reliability are improved.
2. The method for integrated navigation and positioning of the radio station RTK based on the agricultural scene custom coordinates according to claim 1, wherein the specific flow of S1 is as follows:
s11: adjusting the power, data transmission rate and frequency of the station to broadcast differential information in the form of radio waves and establishing a data communication link between the reference station and a nearby rover station;
s12: the method comprises the steps of firstly utilizing a multi-frequency GNSS antenna to receive satellite signals and differential data sent by a base station radio station, analyzing ephemeris, pseudo-range and carrier phase data received by the antenna, and finally utilizing a GNSS board card to calculate and output real-time centimeter-level precision position information and high-precision attitude angle information.
3. The method for integrated navigation and positioning of the radio station RTK based on the agricultural scene custom coordinates according to claim 1, wherein the specific flow of S2 is as follows:
S21: measuring the coordinates of a radio station base station in a 2000 coordinate system;
S22: compensating the phase offset of the base station antenna, and taking the offset as the origin under the self-defined coordinate system;
S23: taking the longitude and latitude of the origin as a central meridian, taking the north as a Y axis and the east as an X axis, carrying out Gaussian projection, and converting longitude and latitude coordinates output by GNSS into custom coordinates, wherein the height is based on the ellipsoidal height under a 2000 coordinate system;
S24: in order to keep the X-axis coordinate in the custom coordinate system as a positive value, the X-axis coordinate output in the step S23 is shifted by 50000m according to the coverage area of the base station and the agricultural scene.
4. The method for integrated navigation and positioning of the radio station RTK based on the agricultural scene custom coordinates according to claim 1, wherein the specific flow of S3 is as follows:
S31: performing time synchronization on the inertial sensor and the GNSS through the PPS;
S32: converting the attitude information output by the GNSS through a rotation matrix according to the GNSS double-antenna mounting angle so as to obtain a real course angle of the carrier;
S33: a lever arm is provided between the IMU and the GNSS antenna.
5. The method for integrated navigation and positioning of the radio station RTK based on the agricultural scene custom coordinates according to claim 1, wherein the specific flow of S4 is as follows:
S41: coarse alignment: after the system receives the data output by the inertial sensor, the position of the carrier is determined by GNSS, the gravity acceleration of the position is determined, the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier are measured by the inertial sensor, and the projection coordinates of the rotational angular velocity V 1 and the gravity acceleration V 2 of the carrier at two coordinates are respectively recorded as AndFinally, solving a direction cosine array between the carrier coordinate system b and the earth coordinate system r through double-vector attitude determination to obtain a carrier initial attitude rotation matrix through calculation
S42: fine alignment: because the MEMS inertial sensor has lower precision and can not sense the rotation angular velocity of the earth, coarse alignment is obtainedFinally, only accurate pitch angle and roll angle can be obtained, so that other observations are needed to obtain a course angle;
S43: calculating carrier data acquired by a strapdown inertial navigation system by taking the initial pose of a carrier as a reference to acquire carrier pose information calculated by an inertial navigation sensor;
s44: establishing a combined navigation state space model under a custom coordinate system;
s45: performing calculation through extended Kalman filtering, processing and fusing inertial navigation data and GNSS dual-antenna data, and estimating zero offset and installation misalignment angle errors of a gyroscope and an accelerometer to obtain high-precision pose information;
S46: performing feedback correction on zero offset and installation misalignment angle errors of the gyroscope and the accelerometer obtained in the step S45, and improving subsequent positioning accuracy;
s47: and finally outputting the fused positioning and attitude-determining data with high precision and high reliability.
6. The method for integrated navigation and positioning of a radio station RTK based on custom coordinates of an agricultural scene as set forth in claim 5, wherein said initial pose rotation matrix of the carrier in S41 is characterized in thatThe method comprises the following steps:
7. The method for integrated navigation and positioning of a station RTK based on custom coordinates of an agricultural scene according to claim 5, wherein the specific flow of S42 is as follows:
s421: establishing a fine alignment model taking a course angle as an observation, and measuring angular velocity information, a course angle and a pitch angle output by double antennae and a carrier initial attitude rotation matrix by using a gyroscope For input, a Kalman filter is used for state estimation, which is based on a model of the dual antenna RTK static initial alignment as follows:
Phi is strapdown inertial navigation attitude error, δv is strapdown inertial navigation speed error, epsilon is random constant drift of the gyroscope, and Z is speed and course angle observation;
s422: the state equation and the measurement equation in the strapdown inertial navigation system model are discretized, and then state estimation is carried out through Kalman filtering, so that high-precision initial pose data are output.
8. The method for integrated navigation and positioning of a station RTK based on custom coordinates of an agricultural scene according to claim 5, wherein the pose information of the carrier in S43 includes a pose angle, a velocity and a position.
9. The method for integrated navigation and positioning of a radio station RTK based on the custom coordinates of the agricultural scene according to claim 8, wherein the attitude angle is the attitude angle calculated at the current moment by collecting the angular velocity and acceleration data collected by an inertial sensor, correcting the cone error by adopting a rotation vector of a three-subsampled form, and updating the attitude equation by using a quaternion;
The speed is obtained by compensating the gravity acceleration through the speed and the gesture of the carrier at the previous moment and then calculating by combining the angular speed and the acceleration data acquired by the inertial sensor;
the position is a position value at the current moment calculated through the position, the speed and the geographic parameters at the previous moment.
10. The method for integrated navigation and positioning of a station RTK based on custom coordinates of an agricultural scene of claim 6, wherein the spatial model of S44 is established as follows:
X＝[φT (δvn)T (δp)T (εb)T (▽b)T (δlb)T δt]T;
Wherein: x is the error state, F is the state transition matrix, G is the noise transition matrix, For the inertial navigation output speed error,For the RTK output speed error,For the inertial navigation to output a position error,For the position error under the custom coordinate system,For the inertial navigation to output an attitude error,For RTK output attitude error, H is observation transfer matrix, V is observation noise, W b is system noise,White noise is measured for the angular velocity of the gyroscope,White noise is measured for accelerometer specific force, δv n is the velocity error, δp is the position error, ε b is the gyroscope zero bias,For accelerometer zero bias, δl b is lever arm error, δt is time synchronization error.
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