High-precision GNSS terminal dynamic positioning detection vehicle fused with GNSS and INS and detection method

Abstract

The invention discloses a high-precision GNSS terminal dynamic positioning detection vehicle fused with GNSS and INS and a detection method. The detection vehicle is a working platform integrating functions of a power supply system, a computer system, a communication system, an inertia navigation system, a satellite navigation system and a satellite signal receiving and forwarding system. All devices are arranged in the vehicle. According to the invention, based on time-spatial synchronous observation, advantages of multi-constellation multi-frequency GNSS redundant observation data are fully developed; by use of characteristics of strong independency and ability of being free of environment interference of the INS, a novel GNSS / INS tight integration positioning mode which is multi-frequency GNSS positioning-centered and INS enhancement-assisted is constructed; and by fusing the CORS data and then carrying out combined solving, a set of INS-enhanced GNSS-based dynamic continuous positioning high-precision inspection method is formed. Thus, outdoor work measurement is facilitated; a traditional working mode where ''dynamic detection'' is inspected by '' static detection'' is changed; and the provided vehicle and the method are highly dynamic, high in detection precision and free of limitation of the detection environment.

Description

technical field [0001] The invention belongs to the technical field of global navigation satellite system (GNSS) testing and evaluation, relates to a real-time dynamic positioning technology, in particular to a high-precision GNSS terminal dynamic positioning detection vehicle and a detection method integrated with GNSS / INS. Background technique [0002] GNSS system, global navigation satellite system, is an independent and independent global multi-mode satellite positioning and navigation system in Europe, which provides high-precision and high-reliability positioning services, can perform global navigation and positioning functions, and send real-time high-precision positioning information , the system is advanced and reliable. [0003] Compared with the static scene, GNSS dynamic positioning has obvious instantaneous and spatial variation characteristics, and the internal mechanism of positioning error and external environmental influence are more complicated. How to effe...

AI Technical Summary

Problems solved by technology

The positioning technology represented by RTK has brought GNSS accuracy to a new stage (real-time dynamic positioning three-dimensional accuracy is better than 5 cm), and has been widely used in key fields such as property rights investigation and dynamic measurement. However, due to higher accuracy (sub-centimeter to millimeter Level) and the lack of uninterrupted reference standards, currently the evaluation is mainly carried out through the method of post-event static baseline calculation in the field baseline field. The impact of carrier motion characteristics on high-precision positioning performance, lack of objective understanding of RTK and other dynamic positioning capabilities, how to evaluate high-precision GNSS positioning performance under real dynamic conditions has become a new demand for dynamic verification

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