CN207881711U - Inertial navigation system based on GNSS - Google Patents
Inertial navigation system based on GNSS Download PDFInfo
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- CN207881711U CN207881711U CN201820194241.8U CN201820194241U CN207881711U CN 207881711 U CN207881711 U CN 207881711U CN 201820194241 U CN201820194241 U CN 201820194241U CN 207881711 U CN207881711 U CN 207881711U
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Abstract
The utility model discloses a kind of inertial navigation system based on GNSS comprising inertia measurement device, GNSS module and navigation computing module；The inertia measurement device is electrically connected with the navigation computing module, the first motion state parameters for detecting characterization moving object motion state, and first motion state parameters are sent to the navigation computing module；The GNSS module is electrically connected with the navigation computing module, the second motion state parameters for detecting characterization moving object motion state, and second motion state parameters are sent to the navigation computing module；The navigation computing module is used to calculate the posture of moving object according to first motion state parameters and second motion state parameters.The utility model has the advantages that preferably avoid posture initialization error larger or wrong.
Description
Technical field
The utility model is related to field of navigation technology more particularly to a kind of inertial navigation systems based on GNSS.
Background technology
With first bus networking, the detection of unmanned, semi-automatic driving, intelligent back vision mirror, TBOX, vehicle side turning, car crass
The development of technologies and the rises of UBI industries such as detection.Usually by inertia measurement device come identify driver driving behavior,
Detect igniting or extinction function, vehicle side turning, car crass, the inertial navigation etc. of moving object, when measurement has to allow inertia
Measurement device, which is operated under correct posture, can just complete these functions.The posture of inertia measurement device becomes increasingly to weigh
It wants.At the beginning of relying primarily on the data progress posture of inertia device itself using strap-down inertial navigation system posture in the prior art
Beginningization causes its posture initialization error larger or mistake due to not using the actual speed of vehicle and bearing data.Cause
How this, develop a kind of inertial navigation system for being avoided posture initialization error larger or wrong, it has also become people in the art
Member's urgent problem to be solved.
Utility model content
The utility model solve the technical issues of be to provide one kind can preferably avoid posture initialization error larger or
The inertial navigation system based on GNSS of mistake.
In order to solve the above technical problems, the utility model discloses a kind of inertial navigation systems based on GNSS comprising
Inertia measurement device, GNSS module and navigation computing module；The inertia measurement device is electrically connected with the navigation computing module,
The first motion state parameters for detecting characterization moving object motion state, and first motion state parameters are sent to
The navigation computing module；The GNSS module is electrically connected with the navigation computing module, for detecting characterization moving object fortune
Second motion state parameters of dynamic state, and second motion state parameters are sent to the navigation computing module；It is described
The computing module that navigates is used to calculate moving object according to first motion state parameters and second motion state parameters
Posture.
Preferably, the inertia measurement device includes acceleration transducer, and the acceleration transducer is counted with the navigation
Calculate module electrical connection, the acceleration for measuring moving object.
Preferably, the inertia measurement device further includes angular-rate sensor, the angular-rate sensor and the navigation
Computing module is electrically connected, the angular speed for measuring moving object.
Preferably, the navigation computing module includes attitude calculation unit, coordinate transformation unit and navigation computing unit, institute
It states attitude calculation unit to be electrically connected with the coordinate transformation unit and navigation computing unit, for according to the angular-rate sensor
The angular speed of offer and the vertical rotational angular velocity of the navigation computing unit feedback calculate posture and the side of generation of moving object
To cosine element；The coordinate transformation unit is electrically connected with the acceleration transducer and the navigation computing unit, is used for root
Acceleration transducer described in body coordinate system is measured into the acceleration obtained according to the direction cosines element and is transformed to navigation seat
The acceleration of system is marked, and the acceleration of navigational coordinate system is sent to the navigation computing unit；The navigation computing unit is used
In the position and speed according to the acceleration calculation moving object of the navigational coordinate system.
Preferably, the angular-rate sensor includes dynamically tuned gyro, DTG, particle gyroscope, lasergyro, vibration
At least one of gyroscope, fibre optic gyroscope.
Preferably, the inertial navigation system based on GNSS further includes that the inertial navigation system based on GNSS is also wrapped
The gravity gradient detection device for being measured in real time gravitational field is included, the gravity gradient detection device is counted with the navigation
Unit electrical connection is calculated, the parameter for providing the figure of the earth and gravity for the navigation computing unit.
Preferably, the inertial navigation system based on GNSS further includes display module, and the display module is led with described
The computing module that navigates is electrically connected, the information for showing the posture.
Preferably, the inertial navigation system based on GNSS further includes server, and the server is counted with the navigation
It calculates module to connect by radio communication, the information for recording the posture.
Preferably, the inertial navigation system based on GNSS further includes imaging sensor, described image sensor and institute
Navigation computing module electrical connection is stated, for carrying out monitoring tracking in real time to the environment residing for moving object.
Preferably, the inertial navigation system based on GNSS further includes temperature sensor, the temperature sensor and institute
Navigation computing module electrical connection is stated, for being measured in real time to the environment temperature residing for moving object.
The inertial navigation system based on GNSS of the utility model has the advantages that：Due to the utility model
The inertial navigation system include inertia measurement device, GNSS module and navigation computing module；The inertia measurement device with
Navigation computing module electrical connection, for detect the first motion state parameters for characterizing moving object motion state, and by institute
It states the first motion state parameters and is sent to the navigation computing module；The GNSS module is electrically connected with the navigation computing module
It connects, the second motion state parameters for detecting characterization moving object motion state, and second motion state parameters are sent out
Give the navigation computing module；The navigation computing module is used for according to first motion state parameters and second fortune
Dynamic state parameter calculates posture, position and the speed of moving object.It takes full advantage of the actual speed of moving object and direction
Data, so as to the problem for preferably avoiding posture initialization error larger or wrong.
Description of the drawings
Fig. 1 is the functional block diagram of inertial navigation system the first embodiment of the utility model based on GNSS.
Fig. 2 is inertial navigation system Attitude Calculation flow chart of the utility model based on GNSS.
Fig. 3 is the functional block diagram of the utility model second of embodiment of the inertial navigation system based on GNSS.
Specific implementation mode
The utility model is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted,
Each feature in the utility model embodiment and embodiment can be combined with each other, the scope of protection of the utility model it
It is interior.
It please refers to Fig.1 to Fig.3, the utility model discloses a kind of inertial navigation systems based on GNSS comprising inertia
Measurement device 1, GNSS module 2 and navigation computing module 3.The inertia measurement device 1 is electrically connected with the navigation computing module 3
It connects, the first motion state parameters for detecting characterization moving object motion state, and first motion state parameters are sent out
Give the navigation computing module 3.The GNSS module 2 is electrically connected with the navigation computing module 3, for detecting characterization movement
Second motion state parameters of object moving state, and second motion state parameters are sent to the navigation computing module
3.The navigation computing module 3 is used to calculate movement according to first motion state parameters and second motion state parameters
The posture of object.The moving object can be vehicle, aircraft or ship etc., and in the present embodiment, the moving object is vehicle
.
Inertial navigation system of the utility model based on GNSS is strap-down inertial navigation system, is by inertia survey meter
Part 1 is directly installed on carrier, it is no longer necessary to the inertial navigation system of stabilized platform.In the present embodiment, the GNSS
(Global Navigation Satellite System, Global Satellite Navigation System) module 2 detects characterization moving object
Second motion state parameters of motion state include speed (GNSS speed) and the direction of moving object campaign, wherein from the fortune
The packet in the direction of animal body movement contains the information of GNSS angles.Since the GNSS module 2 is the prior art, structure
Details are not described herein.
Preferably, the inertia measurement device 1 includes acceleration transducer 11 and angular-rate sensor 12, the acceleration
Sensor 11 is electrically connected with the navigation computing module 3, the acceleration for measuring moving object.The angular-rate sensor 12
It is electrically connected with the navigation computing module 3, the angular speed for measuring moving object.In the present embodiment, first movement
State parameter includes acceleration and angular speed.Wherein, the inertia measurement device 1 can export the device of 3 axle acceleration values,
It can also be the inertia measurement device 1 for exporting 6 axis, 9 axis or multiaxis, be not specifically limited herein.
Preferably, the angular-rate sensor 12 includes dynamically tuned gyro, DTG, particle gyroscope, lasergyro, shakes
At least one of dynamic gyroscope, fibre optic gyroscope, electrostatic gyro.In one embodiment, the angular-rate sensor 12
Including fibre optic gyroscope and electrostatic gyro, fibre optic gyroscope is small, at low cost, and precision does not have up to one thousandth
Movable part, reliability are high.Electrostatic gyro is using electrode to the electrostatic attraction of spherical spinner, and automatic adjustment electrode voltage
Method, so that spherical spinner is supported on electrode centers；And the corner of shell relative rotor polar axis is measured using photoelectric measurement method,
It eliminates the disturbance torque of restrained gyroscope and flexible gyroscope caused by mechanical attachment, also avoids liquid floated gyroscope due to liquid
The caused disturbance torque of body disturbance, thus precision is high.Therefore, by the cooperation of fibre optic gyroscope and electrostatic gyro, thus
Cost can be reduced and obtain higher precision.
Preferably, the navigation computing module 3 includes that attitude calculation unit 31, coordinate transformation unit 32 and navigation calculate list
Member 33, the attitude calculation unit 31 is electrically connected with the coordinate transformation unit 32 and navigation computing unit 33, for according to institute
The vertical rotational angular velocity of the angular speed and navigation computing unit 33 feedback of stating the offer of angular-rate sensor 12 calculates movement
The posture of object simultaneously generates direction cosines element.The coordinate transformation unit 32 and the acceleration transducer 11 and the navigation
Computing unit 33 is electrically connected, for being measured acceleration transducer 11 described in body coordinate system according to the direction cosines element
The acceleration of acquisition is transformed to the acceleration of navigational coordinate system, and the acceleration of navigational coordinate system is sent to the navigation and is calculated
Unit 33.The navigation computing unit 33 is used for position and the speed of the acceleration calculation moving object according to the navigational coordinate system
Degree.
It is understood that the direction cosines element is two reference bases defined in the attitude calculation unit 31
The dot product of base vector, these dot products are the cosine of unit vector angle.In strap-down inertial navigation system, in order to coordinate into
Row conversion, need to know the attitude angle of moving object, such as course angle, pitch angle and inclination angle, then establish an attitude matrix, institute
It states the geometrical relationship that navigation computing module 3 is established by attitude matrix and coordinate turn is carried out to the acceleration that acceleration transducer 11 exports
It is exactly the direction cosine matrix between body system and navigational coordinate system to change attitude matrix.
Preferably, the inertial navigation system based on GNSS further includes the gravity for being measured in real time gravitational field
Gradient detection device 4, the gravity gradient detection device 4 are electrically connected with the navigation computing unit 33, for being the navigation
Computing unit 33 provides the parameter of the figure of the earth and gravity, and the navigation computing unit 33 is according to the figure of the earth and gravity
The acceleration of parameter and the navigational coordinate system generates the vertical rotational angular velocity.
Significantly, since the navigation accuracy of inertial navigation system and the precision of earth parameter are closely related.It is high-precision
The inertial navigation system of degree must provide the parameter of the figure of the earth and gravity with reference ellipsoid.Due to CRUST DENSITY is uneven,
The factors such as deformation, it is often variant between the calculated value that the parameter actual value and reference ellipsoid of earth each point acquire, and this
Species diversity also carries randomness, and this phenomenon is known as gravity anomaly.Gravitational field is carried out by the gravity gradient detection device 4
It measures in real time, earth parameter is provided, to preferably solve the problems, such as gravity anomaly.In the present embodiment, described based on GNSS's
Inertial navigation system further includes display module 5, and the display module 5 is electrically connected with the navigation computing module 3, for showing
The information of the posture.
Preferably, the inertial navigation system based on GNSS further includes voice playing module 6, the voice playing module
6 are electrically connected with the navigation computing module 3, the information for playing the posture.
Preferably, the inertial navigation system based on GNSS further includes imaging sensor 7, temperature sensor 8 and service
Device 9, described image sensor 7 are electrically connected with the navigation computing module 3, real-time for being carried out to the environment residing for moving object
Monitoring tracking.The temperature sensor 8 is electrically connected with the navigation computing module 3, for the environment temperature residing for moving object
Degree is measured in real time.When moving object when the temperature is excessively high, reduce the speed of service and power consumption of moving object.The server 9
It is connect by radio communication with the navigation computing module 3, the information for recording the posture, consequently facilitating consulting vehicle
Operating status.
Inertial navigation system of the utility model based on GNSS can carry out the posture of moving object real-time update, update
The detailed process of method includes static initialization, dynamic initialization and dynamic corrections.It is specific as follows：Static initialization is using weight
Power acceleration carry out Attitude Calculation, i.e., by the body coordinate of the inertia device of vehicle-mounted inertial navigation system by gravity in its each axis
On component calculate the angle between each reference axis of driving behavior analysis system and facing.And then it is distributed over each seat
The inertia values of parameter are transformed into facing.Dynamic initialization be using GNSS speed and the transformed Y-axis of GNSS angle calculations with
Angle between moving object travel direction is overlapped with completing transformed Y-axis with direction of traffic, transformed X-axis and driving side
To vertical.GNSS speed and GNSS angles are continuing with after the completion of dynamic initialization come caused when correcting static initialization
Error, to provide the precision of system.Wherein, the X-axis refers to the X-axis of navigational coordinate system, and the Y-axis refers to navigational coordinate system
Y-axis.The posture renewal method can not only fast and accurately complete posture renewal, and improve the accuracy of posture, in addition,
The memory that the posture renewal method needs is few, and the requirement of hardware is low, can almost be embedded into all existing inertia that possess and survey
In the product of metering device 1, the versatility of this method is enhanced.
In conclusion in the inertial navigation system based on GNSS of the utility model, due to the inertial navigation system
System includes inertia measurement device 1, GNSS module 2 and navigation computing module 3；The inertia measurement device 1 is calculated with the navigation
Module 3 is electrically connected, the first motion state parameters for detecting characterization moving object motion state, and moves shape by described first
State parameter is sent to the navigation computing module 3；The GNSS module 2 is electrically connected with the navigation computing module 3, for detecting
The second motion state parameters of moving object motion state are characterized, and second motion state parameters are sent to the navigation
Computing module 3；The navigation computing module 3 is used for according to first motion state parameters and second motion state parameters
Calculate posture, position and the speed of moving object.It takes full advantage of the actual speed of moving object and bearing data, so as to
Enough problems for preferably avoiding posture initialization error larger or wrong.
The inertial navigation system provided by the utility model based on GNSS is described in detail above, is answered herein
The principles of the present invention and embodiment are expounded with specific case, the explanation of above example is only intended to sides
Assistant solves the method and its core concept of the utility model；It is new according to this practicality meanwhile for those of ordinary skill in the art
The thought of type, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is only this
The embodiment of utility model, it does not limit the scope of the patent of the present invention, every to utilize the utility model specification
And equivalent structure or equivalent flow shift made by accompanying drawing content, it is applied directly or indirectly in other relevant technical fields,
It is equally included in the patent within the scope of the utility model.It should not be construed as a limitation of the present invention.
Claims (10)
1. a kind of inertial navigation system based on GNSS, which is characterized in that including inertia measurement device, GNSS module and navigation meter
Calculate module；The inertia measurement device is electrically connected with the navigation computing module, for detecting characterization moving object motion state
The first motion state parameters, and first motion state parameters are sent to the navigation computing module；The GNSS moulds
Block is electrically connected with the navigation computing module, the second motion state parameters for detecting characterization moving object motion state, and
Second motion state parameters are sent to the navigation computing module；The navigation computing module is used for according to described first
Motion state parameters and second motion state parameters calculate the posture of moving object.
2. the inertial navigation system according to claim 1 based on GNSS, which is characterized in that the inertia measurement device packet
Acceleration transducer is included, the acceleration transducer is electrically connected with the navigation computing module, for measuring adding for moving object
Speed.
3. the inertial navigation system according to claim 2 based on GNSS, which is characterized in that the inertia measurement device is also
Including angular-rate sensor, the angular-rate sensor is electrically connected with the navigation computing module, for measuring moving object
Angular speed.
4. the inertial navigation system according to claim 3 based on GNSS, which is characterized in that the navigation computing module packet
Include attitude calculation unit, coordinate transformation unit and navigation computing unit, the attitude calculation unit and the coordinate transformation unit
And navigation computing unit electrical connection, the angular speed and the navigation computing unit for being provided according to the angular-rate sensor are anti-
The vertical rotational angular velocity of feedback calculates the posture of moving object and generates direction cosines element；The coordinate transformation unit with it is described
Acceleration transducer and navigation computing unit electrical connection, for according to the direction cosines element by institute in body coordinate system
It states acceleration transducer and measures the acceleration obtained and be transformed to the acceleration of navigational coordinate system, and by the acceleration of navigational coordinate system
It is sent to the navigation computing unit；The navigation computing unit is used to be moved according to the acceleration calculation of the navigational coordinate system
The position and speed of object.
5. the inertial navigation system according to claim 3 or 4 based on GNSS, which is characterized in that the angular speed sensing
Device includes in dynamically tuned gyro, DTG, particle gyroscope, lasergyro, vibratory gyroscope, fibre optic gyroscope, electrostatic gyro
At least one.
6. the inertial navigation system according to claim 4 based on GNSS, which is characterized in that the inertia based on GNSS
Navigation system further includes the gravity gradient detection device for being measured in real time gravitational field, the gravity gradient detection device
It is electrically connected with the navigation computing unit, the parameter for providing the figure of the earth and gravity for the navigation computing unit.
7. the inertial navigation system according to any one of claims 1 to 4 based on GNSS, which is characterized in that described to be based on
The inertial navigation system of GNSS further includes display module, and the display module is electrically connected with the navigation computing module, for showing
Show the information of the posture.
8. the inertial navigation system according to any one of claims 1 to 4 based on GNSS, which is characterized in that described to be based on
The inertial navigation system of GNSS further includes server, and the server is connect by radio communication with the navigation computing module,
Information for recording the posture.
9. the inertial navigation system according to any one of claims 1 to 4 based on GNSS, which is characterized in that described to be based on
The inertial navigation system of GNSS further includes imaging sensor, and described image sensor is electrically connected with the navigation computing module, is used
It is tracked in carrying out monitoring in real time to the environment residing for moving object.
10. the inertial navigation system according to any one of claims 1 to 4 based on GNSS, which is characterized in that described to be based on
The inertial navigation system of GNSS further includes temperature sensor, and the temperature sensor is electrically connected with the navigation computing module, is used
It is measured in real time in the environment temperature residing for moving object.
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| CN201820194241.8U CN207881711U (en) | 2018-02-05 | 2018-02-05 | Inertial navigation system based on GNSS |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110934375A (en) * | 2019-12-17 | 2020-03-31 | 浙江工贸职业技术学院 | Navigation shoes of planning route |
| WO2020237495A1 (en) * | 2019-05-28 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Ground mobile platform and motion information detection method and system therefor |
-
2018
- 2018-02-05 CN CN201820194241.8U patent/CN207881711U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020237495A1 (en) * | 2019-05-28 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Ground mobile platform and motion information detection method and system therefor |
| CN110934375A (en) * | 2019-12-17 | 2020-03-31 | 浙江工贸职业技术学院 | Navigation shoes of planning route |
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Effective date of registration: 20221010 Address after: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee after: SHENZHEN DINGRAN INFORMATION TECHNOLOGY CO.,LTD. Patentee after: Zhuhai Dingran Information Technology Co.,Ltd. Address before: 518000 Room 201, building a, No.1 Qianwan 1st Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen City, Guangdong Province (entry: Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: SHENZHEN DINGRAN INFORMATION TECHNOLOGY CO.,LTD. |