CN209460412U - Dynamic positioning error testing device and system applied to navigation and positioning system - Google Patents

Abstract

The utility model relates to a kind of dynamic positioning error test devices and system applied to navigation positioning system, including circular track structure, measuring device, test sensor, wherein the measuring device and test sensor fit into the circular track structure, carry out circular motion.Using the dynamic positioning error test device and system applied to navigation positioning system of the utility model, it is able to achieve the position error test of the dynamic vehicle navigation system of submillimeter level precision, and compared to the prior art in method, with lower cost, it can be used for assessing all kinds of location technologies, can be used for testing all kinds of absolute fix technologies of assessment and relative positioning technology.

Description

Dynamic positioning error testing device and system applied to navigation and positioning system

technical field

The utility model relates to the field of geographic information, in particular to the field of positioning error testing of navigation and positioning technology, and specifically refers to a dynamic positioning error testing device and system applied to a navigation and positioning system.

Background technique

With the development of science and technology, the application range of navigation and positioning systems is becoming wider and wider, and the outside world also puts forward new requirements for the positioning accuracy of navigation and positioning systems.

The Global Navigation Satellite System (GNSS) is a commonly used navigation and positioning system that has been widely used in high-precision positioning applications, where the accuracy assessment of static GNSS positioning systems can be done with a known baseline (Lau et al. 2015, Quan et al. .2016), the accuracy evaluation of the dynamic GNSS positioning system can be carried out through the GNSS signal simulator, but when the GNSS signal simulator is used to simulate and obtain the accuracy evaluation, it has its limitations, that is, the price is relatively high, the cost is high, and the Analog and actual signals may not match.

However, when using real data to evaluate the positioning quality of dynamic GNSS, it is necessary to establish known trajectories. In the prior art, Kechine et al. (2004) used small boats to test GNSS dynamic positioning and assumed that the trajectory of the boat was a straight line. The problem faced by this method is that the accuracy of the reference trajectory established is not high, and the dynamic test platform is in a specific The position at the moment is not known, so the error of GNSS dynamic positioning in the orbit direction cannot be evaluated.

Utility model content

The purpose of the utility model is to overcome the above-mentioned shortcomings of the prior art, and to provide a dynamic positioning error testing device and system with submillimeter precision and low cost applied to navigation and positioning systems.

In order to achieve the above-mentioned purpose, the dynamic positioning error testing device and system applied to the navigation and positioning system of the present utility model have the following components:

The dynamic positioning error testing device applied to the navigation and positioning system is mainly characterized in that it includes a circular track device, a measuring device, and a test sensor, and the measuring device and the test sensor are all installed on the circular track device , making a circular motion.

Preferably, the circular track device includes a rotating device and a driving device connected to each other, the measuring device and the test sensor are installed at one end of the rotating device, and the driving device drives the rotating device around Rotate on a vertical axis.

More preferably, the driving device is connected to the rotating device through an output shaft, and the rotating device includes a rotary arm.

More preferably, the driving device includes a motor and a control device, and the control device is connected to the motor.

More preferably, the control device is connected to the motor through a motor power supply, and the control device and the motor power supply are wired or wirelessly connected.

Preferably, the measuring device and the test sensor are fixed to the circular track device through a fixing device, and the fixing device includes a tripod.

Preferably, the measuring device includes a prism, and the testing sensor includes a GNSS antenna.

Preferably, both the measuring device and the test sensor are detachably mounted on the circular track device.

The measurement system with the dynamic positioning error testing device applied to the navigation and positioning system is mainly characterized in that it also includes a surveying and mapping instrument, a test sensor receiver and a calculation subject, and both the surveying and mapping instrument and the test sensor receiver are Connected to the computing main body, the test sensor receiver is connected and matched with the test sensor, and the surveying instrument surveys and maps the position information of the measuring device.

Preferably, the surveying and mapping instrument includes a total station and/or a photogrammetric camera and/or a laser scanner, and the computing subject includes a data recorder.

The dynamic positioning error testing device and system applied to the navigation and positioning system of the present utility model can realize the positioning error testing of the dynamic navigation system with submillimeter precision, and compared with the method in the prior art, it has a lower The cost can be used to evaluate various positioning technologies, and can be used to test and evaluate various absolute positioning technologies and relative positioning technologies. The design of the circular trajectory of the system not only improves the stability and repeatability of the test platform, but also determines the precise position of the sensor in a uniform circular motion at any time when the rotating device rotates horizontally in a windless environment, thereby eliminating The positioning error evaluates the error interference in the track direction; at the same time, the measurement device can be easily disassembled and assembled for easy transportation, thereby realizing dynamic testing in different environments (such as multi-path environments).

Description of drawings

FIG. 1 is a structural schematic diagram of an embodiment of a dynamic positioning error testing device applied to a navigation and positioning system of the present invention.

Fig. 2 is a structural schematic diagram of another embodiment of the dynamic positioning error testing device applied to the navigation and positioning system of the present invention.

reference sign

1 weight

2 triangular base

3 Measuring device or test sensor

4 Worm gear reducer

5 tripods

6 Hollow drive shaft

7 motor

8 base

9 Controls

10 Retractable/detachable rods

11 load-bearing device

12 Test the sensor receiver

13 power supply

14 Motor Power

15 Solid drive shaft

Detailed ways

In order to describe the technical content of the present utility model more clearly, further description will be given below in conjunction with specific embodiments.

The dynamic positioning error testing device applied to the navigation and positioning system is mainly characterized in that it includes a circular track device, a measuring device, and a test sensor, and the measuring device and the test sensor are all installed on the circular track device , making a circular motion.

In a preferred embodiment, the circular track device includes a rotating device and a driving device connected to each other, the measuring device and the test sensor are installed at one end of the rotating device, and the driving device drives The rotating device rotates around a vertical axis. In a specific embodiment, the driving device drives the driving device to rotate around an axis perpendicular to the rotating device, and drives the measuring device 3 and/or the test sensor 3 arranged at one end of the rotating device to perform circular motion .

In a more preferred embodiment, the driving device is connected to the rotating device through an output shaft, and the rotating device includes a rotary arm. In a specific embodiment, the swing arm includes a telescopic/detachable rod, and the output shaft is arranged at the center of the rotating device.

In a more preferred embodiment, the driving device includes a motor and a control device, and the control device is connected to the motor.

In a more preferred embodiment, the control device is connected to the motor through a motor power supply, and the control device and the motor power supply are wired or wirelessly connected. In a specific embodiment, the control device realizes the control of the switch state, motion direction and speed of the motor 7 through the motor power supply, thereby controlling the rotation state of the rotation device, including rotation speed and rotation direction (clockwise rotation) or counterclockwise).

In a preferred embodiment, the measuring device and the test sensor are fixed to the circular track device through a fixing device, and the fixing device includes a triangular bracket. In a specific embodiment, the triangular bracket can also be replaced with other fixed brackets.

In a preferred embodiment, the measuring device includes a prism, and the testing sensor includes a GNSS antenna. In a specific embodiment, the measuring device further includes a target, and the test sensor includes a test sensor adapted to the navigation and positioning system to be tested. When the navigation and positioning system is a global navigation satellite system, the matching test sensor For GNSS antennas, when the navigation and positioning system is other navigation and positioning systems, the test sensor should be changed accordingly.

In a preferred embodiment, both the measuring device and the test sensor can be detachably installed on the circular track device. And the relative deviation between the center of the measuring device (such as the center of the prism) and the center of the test sensor (such as the phase center of the GNSS antenna) after installation is known in the specific implementation process.

In a specific embodiment, the measurement system with a dynamic positioning error testing device applied to a navigation and positioning system also includes a surveying instrument, a test sensor receiver and a computing body, and the surveying instrument and the test sensor receiver are connected to To the calculation subject, the test sensor receiver is connected and matched with the test sensor to obtain the position information of the test sensor when it moves in a circle, and the surveying instrument performs a circular motion on the measuring device The circular trajectory is surveyed and mapped to obtain the position information of the points on the circular trajectory, and the calculation host performs positioning error calculation according to the data obtained by the surveying and mapping instrument and the test sensor receiver.

In a preferred embodiment, the surveying instrument includes a total station and/or a photogrammetry camera and/or a laser scanner, and the computing subject includes a data recorder. When the surveying and mapping instrument is a total station, the surveying device is a prism; when the surveying and mapping instrument is a photogrammetric camera and/or a laser scanner, the surveying device is a target; corresponding parameters. And the data recorder is used to record the data and information obtained by both the surveying instrument and the test sensor receiver 12, and record the calculation results of the calculation subject.

In a preferred embodiment, the measuring device 3 includes a prism, and the testing sensor 3 includes a GNSS antenna (ie, a Global Navigation Satellite System (GNSS) antenna).

In a specific embodiment, the method for realizing the dynamic positioning error test of the navigation and positioning system by using the measurement system includes the following steps:

(1) The driving device drives the rotating device to rotate, so that the measuring device performs circular motion, obtains the test circular trajectory of the measuring device 3 through the surveying instrument and the computing body, and stores the testing circular trajectory into the computing body data logger in

Obtaining the test circular trajectory of measuring device 3 by surveying instrument and computing subject in described step (1) comprises the following steps:

(1.1) The surveying and mapping instrument obtains the position information of n points on the circular trajectory when the rotating device performs circular motion, and sends the obtained position information of n points to the calculation subject, and the calculation subject obtains Calculate the position information of the n points of the n points and obtain the coordinate center of gravity (x ₀ , y ₀ , z ₀ );

(1.2) The calculation subject obtains the coordinate points of the n points relative to the coordinate center of gravity (x ₀ , y ₀ , z ₀ ) according to the coordinate center of gravity (x ₀ , y ₀ , z ₀ ) of the n points Set ( _xi , y _i , _zi ), and 1≤i≤n, n≥3, and fit the first plane where the coordinate point set ( _xi , y _i , _zi ) is located;

The calculation subject described in (1.3) fits the circle where the coordinate point set ( _xi , y _i , z _i ) is located on the first plane, so as to obtain the test circular trajectory.

In a better implementation manner, described step (1.2) is:

The calculation subject determines two eigenvectors through the measured coordinate point set ( _xi , y _i , _zi ) and Depend on and Determine the first plane where the coordinate point set ( _xi , y _i , z _i ) is located, so as to obtain the coordinates of the coordinate point set ( _xi , y _i , z _i ) in the first plane:

Among them, x' _i is the x-axis coordinate of the coordinate point set ( _xi , y _i , _zi ) of n points in the first plane, and y' _i is the coordinate point set of n points ( _xi , y _i , z _i ) the y-axis coordinates in the first plane.

Described step (1.3) is:

The calculation subject is based on the following formula, using the least squares method to fit the circle where the coordinate point set ( _xi , y _i , _zi ) of n points is located in the first plane:

Where a and b represent the position of the center of the fitted circle on the first plane, and a is the x-axis coordinate of the center of the fitted circle on the first plane, and b is the y of the center of the fitted circle on the first plane Axial coordinates, r is the radius of the fitting circle, where z _i '= _xi ' ² +y _i ' ² , A=-2a, B=-2b, C=a ² +b ² -r ² .

(2) The calculation subject calculates and acquires the theoretical coordinate point set of the test sensor 3 arranged at one end of the rotating device according to the obtained test circular trajectory, specifically:

According to the test circular trajectory obtained in the following formula and step (1.3), the calculation subject obtains the theoretical coordinate point set when the test sensor 3 at one end of the rotating device rotates:

Wherein (x _θ , y _θ , z _θ ) is the theoretical coordinates of the test sensor 3, and θ=θ ₀ +ωt, θ ₀ is the initial phase angle of the test sensor, and ω is the phase angle of the test sensor when performing circular motion angular velocity.

(3) The driving device drives the rotating device to rotate, so that the test sensor performs circular motion, and the test sensor 3 obtains the position information when it rotates itself, and sends the position information to the test sensor receiver 12 through the test sensor receiver 12. The calculation subject described above is used to calculate and obtain the actual coordinate point set when the test sensor 3 rotates;

(4) By calculating the main body, according to the theoretical coordinate point set obtained in step (2) and the actual coordinate point set obtained in step (3), evaluate the positioning error of the navigation and positioning system, specifically:

Described calculation main body evaluates the positioning error of this navigation and positioning system according to the theoretical coordinate point set obtained in the following formula and step (2) and the actual coordinate point set obtained in step (3):

Where E is the positioning error of the navigation and positioning system, and (x _t , y _t , z _t ) represent the actual coordinate point set of the test sensor.

In a specific implementation, the calculation subject also obtains the normal vector of the first plane through PCA principal component analysis method or singular value decomposition method (SVD) to verify the level of the swivel. In a specific embodiment, the eigenvector and It is also obtained by PCA principal component analysis (or singular value decomposition (SVD)), and the eigenvectors can be obtained together by PCA principal component analysis (or singular value decomposition (SVD)) and and the normal vector

In a specific embodiment, the device of the present utility model can be used to evaluate the positioning positioning error test of various navigation and positioning technologies, including various absolute positioning technologies (such as global satellite navigation system (GNSS) positioning, ultra-wideband positioning) And relative positioning technology (such as inertial measurement unit), the horizontal rotation device can be used to make the test sensor at the end of the rotation device do a uniform circular motion, and the circular trajectory of the measurement device can be accurately measured by surveying and mapping instruments such as total stations. The circular trajectory acquired by the surveying instrument improves the stability and repeatability of the system.

When the rotating device rotates horizontally in a windless environment, the precise position of the test sensor in uniform circular motion can be determined at any time, thereby eliminating the error interference of the positioning error evaluation in the track direction; at the same time, the measuring device 3 can be easily disassembled and assembled, In order to facilitate transportation, so as to realize dynamic testing in different environments (such as multi-path environment).

In the specific implementation process, when the rotating device is a rotating arm, the rotating sensor (such as a GNSS antenna, hereinafter it is assumed that the sensor is a GNSS antenna) and/or the prism (or target) located at one end (such as the end) of the rotating arm moves at a constant speed along a circular trajectory. sports. When a prism is installed on the triangular base 2, the circular trajectory of the prism following the rotation of the arm can be measured by a total station (surveying instrument); when a GNSS antenna is installed on the triangular base 2, a high-precision positioning dynamic positioning test can be done. A tribrach 2 and a GNSS antenna can also be installed at the center of rotation of the arm for testing dynamic GNSS positioning of ultra-short baselines.

Referring to Fig. 1, the dynamic positioning error testing device includes a weight 1 for adjusting the deformation of the swing arm, a triangular base 2, a retractable (or detachable) rod, a weight 1 for adjusting balance, a motor power supply 14, Worm gear gearbox 4, tripod 5, motor 7, base 8, hollow drive shaft 6 (i.e. corresponding to output shaft), load bearing device 11, test sensor receiver 12 (GNSS receiver or data logger for other sensors), control A device 9 (in a specific embodiment, a switch and a speed controller of the motor 7 ), and a power supply 13 . Wherein, the tripod 5 is the base of the whole device, on which a platform base 8 is placed, and a motor power supply 14 and a variable-speed motor 7 are installed on the platform base 8, and the motor 7 is connected to the worm gear and the reduction box, wherein the worm is a hollow drive shaft 6, the swing arm is connected on it, the swing arm is a telescopic swing arm (shown as having two telescopic/detachable rods 10), the two ends of the swing arm and the top of the hollow drive shaft 6 can be installed with a triangular base 2, and the For mounting prisms or GNSS antennas.

Another embodiment is to use the solid drive shaft 15 as the output shaft. Please refer to Fig. 2. At this time, the cabinet for placing the test sensor receiver 12 or the data recorder of the calculation body is changed to be installed above the swing arm, but this scheme The middle unit has a higher center of gravity and less stability when the arm rotates, and it may be necessary to replace the tripod 5 with a more stable base. In a specific embodiment, the cabinet for placing the test sensor receiver 12 or the data recorder of the computing body can also be installed under the swing arm, at this time, the stability when the swing arm rotates can be guaranteed.

When the rotating device is a cantilever, the measuring device is a prism, and the test sensor is a GNSS antenna, when using the above device to measure the positioning error, the following methods are available:

(1) Install a prism on the triangular base 2 at the end of the arm, and adjust the weight 1 at the other end to balance the two sides. If you are only evaluating the radial error of the test sensor on the rotational track, it is not necessary to level the arm; if you plan to evaluate both the radial and tangential errors of the test sensor on the Different rotation angles are adjusted to the level;

(2) Use a total station to measure n points of the prism on the circular trajectory (n must be greater than 3, and the larger n, the higher the redundancy);

(3) Obtain the coordinate center of gravity (x ₀ , y ₀ , z ₀ ) of the n points, and calculate the coordinate point set (x _i ) of n points relative to the coordinate center of gravity (x ₀ , y ₀ , z ₀ ) , y _i , z _i ), where 1≤i≤n, n≥3;

(4) Fitting the first plane where the coordinate point set ( _xi , y _i , z _i ) of n points is located. Specifically: use the principal component analysis (PCA) method to determine three eigenvectors: the first two eigenvectors and Can be used to establish the best fitting plane; the third eigenvector is the normal vector of the fitted plane, which can be used to verify whether the arm is horizontal (if the arm is tilted greatly, the test sensor may do variable speed circular motion instead of constant speed circular motion, thereby affecting the orbital error evaluation). Among them, the coordinates of all coordinate point sets (x _i , y _i , z _i ) in the first plane are:

(5) The calculation subject described in (5) is based on the following formula, using the least squares method to fit the circle where the coordinate point set ( _xi , y, _{zi )} is located on the first plane:

Where a and b represent the position of the center of the fitted circle on the first plane, and a is the x-axis coordinate of the center of the fitted circle on the first plane, and b is the y of the center of the fitted circle on the first plane Axial coordinates, r is the radius of the fitting circle, where z _i '= _xi ' ² +y _i ' ² , A=-2a, B=-2b, C=a ² +b ² -r ² .

Among them, M _zz , M _xx , and M _xz are moments, for example:

M _zz =∑ x _z '²;

M _zz =∑ x _i 'z _i ';

The fitted circle can be solved using algebraic fitting methods, e.g. based on the following constraint matrix:

This restriction matrix was proposed by Al-Sharadqah and Chernov (2009), but other restriction matrices can also be used here.

And introduce the Lagrange multiplier to find the minimum value of the following functions:

F(A,η)= ^AT MA-η( ^AT NA-1);

Derivation of A can be obtained:

MA-ηNA=0

therefore

det(MA-ηNA)=0

The above formula can start to iteratively solve A from η=0 by Newton's method, that is, the three parameters a, b, and r of the fitting circle on the first two-dimensional plane, but other solutions can also be used here to obtain the above Three parameters.

(6) Remove the prism and install the test sensor on the triangular base 2. If the weight difference between the prism and the test sensor (such as the GNSS choke coil antenna) is large, adjust the weight of the weight 1 at the two ends of the swing arm to make the modification The slight deformation is the same at the front and rear ends.

(7) The rotating device is started to rotate through the control device, and the test sensor starts to record data;

(8) Use the following formula to calculate the coordinates of the test sensor on the fitting circle at time t in three-dimensional space:

Where (x ₀ , y ₀ , z ₀ ) is calculated in step (3), and Calculated in (4), and θ=θ ₀ +ωt, θ ₀ is the initial phase angle of the test sensor, and ω is the angular velocity when the test sensor performs circular motion.

(9) Use the following formula to calculate the positioning error of the sensor at time t:

Among them (x _t , y _t , z _t ) represent the measurement data of the sensor at time t.

The original observation data obtained by using the above-mentioned utility model device are as follows:

total station measuring point x_i(m) y_i(m) z_i(m) 1 1.3041 1.4018 -0.0016 2 -0.6828 1.8763 0.0043 3 -1.8333 0.8707 0.0061 4 -1.9447 -0.5442 0.0056 5 -0.9362 -1.7315 0.0007 6 0.5739 -1.8205 -0.0047 7 1.7430 -0.6906 -0.0064 8 1.7762 0.6377 -0.0043

Through the above table, calculate the obtained circle trajectory parameters:

a=0.0712; b=0.0329; r=1.9524;

Evaluate the fitted trajectory accuracy:

The root mean square error in the x, y, z directions is 0.2mm, 0.1mm, 0.4mm, and the three-dimensional root mean square error is 0.5mm.

The dynamic positioning error testing device and system applied to the navigation and positioning system of the present utility model can realize the positioning error testing of the dynamic navigation system with submillimeter precision, and compared with the method in the prior art, it has a lower The cost can be used to evaluate various positioning technologies, and can be used to test and evaluate various absolute positioning technologies and relative positioning technologies. The design of the circular trajectory of the system not only improves the stability and repeatability of the test platform, but also determines the precise position of the sensor in a uniform circular motion at any time when the rotating device rotates horizontally in a windless environment, thereby eliminating The positioning error evaluates the error interference in the track direction; at the same time, the measurement device 3 can be easily disassembled and assembled for transportation, thereby realizing dynamic testing in different environments (such as multi-path environments).

In this specification, the invention has been described with reference to specific embodiments thereof. However, it is obvious that various modifications and changes can be made without departing from the spirit and scope of the present invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims (9)

1. a kind of dynamic positioning error test macro applied to navigation positioning system, which is characterized in that filled including circuit orbit Set, measuring device, test sensor, instrument of surveying and mapping, test sensor receiver and calculate main body, and the measuring device and Test sensor is installed in the circular track structure, and can carry out circular motion；

The instrument of surveying and mapping and the test sensor receiver are connected to the calculating main body；

The test sensor receiver and the test sensor matching connection, are carrying out for obtaining the measuring device Location information when circular motion；

The running track when instrument of surveying and mapping is used for the circular motion to the measuring device is surveyed and drawn, to obtain Location information of the test sensor when carrying out circular motion；

The main body that calculates is used for according to the location information and the measurement for testing sensor when carrying out circular motion Location information of the device when carrying out circular motion carries out location error calculating.

2. the dynamic positioning error test macro according to claim 1 applied to navigation positioning system, which is characterized in that The circular track structure includes rotating device interconnected and driving device, the measuring device and test sensor It is installed in one end of rotating device, and rotating device described in the driving device driving is rotated around a vertical axes.

3. the dynamic positioning error test macro according to claim 2 applied to navigation positioning system, which is characterized in that The driving device is pivotally connected to the rotating device by output, and the rotating device includes spiral arm.

4. the dynamic positioning error test macro according to claim 2 applied to navigation positioning system, which is characterized in that The driving device includes motor and control device, and the control device is connected with the motor.

5. the dynamic positioning error test macro according to claim 4 applied to navigation positioning system, which is characterized in that The control device is connected to the motor by motor power, and is to have between the control device and motor power Line connection is wirelessly connected.

6. the dynamic positioning error test macro according to claim 1 applied to navigation positioning system, which is characterized in that The measuring device and test sensor passes through fixed device and is fixed to the circular track structure, the fixation device Including tripod.

7. the dynamic positioning error test macro according to claim 1 applied to navigation positioning system, which is characterized in that The measuring device includes prism, and the test sensor includes GNSS antenna.

8. the dynamic positioning error test macro according to claim 1 applied to navigation positioning system, which is characterized in that The measuring device and the test sensor are releasably attached on the circuit orbit.

9. the dynamic positioning error test macro according to claim 1 applied to navigation positioning system, which is characterized in that Instrument of surveying and mapping includes total station and/or photogrammetric camera and/or laser scanner, and the calculating main body includes data record Instrument.