System, method and device for measuring tilt amount of GNSS receiver and storage medium

Abstract

The embodiment of the invention discloses a system, method and device for measuring tilt amount of a GNSS receiver, wherein the system comprises an inertial measurement unit, a GNSS receiver, a processor and a centering rod, wherein the inertial measurement unit is used for measuring first attitude information of the GNSS receiver; the GNSS receiver is used for measuring first position information; and the processor is used for calculating second position information and second attitude information according to received data by adopting an inertial navigation mechanical arrangement algorithm and a Kalman filtering algorithm. According to the technical scheme of the embodiment of the invention, the attitude information and the position information are respectively acquired by the inertial measurement unit and the GNSS receiver, the position, speed and attitude of the GNSS receiver are estimated by using the inertial navigation mechanical arrangement algorithm, and the estimation resultis corrected by using the Kalman filtering algorithm to calculate the measurement error feedback, so that the acquisition precision of the GNSS receiver is improved, and the dynamic tracking of the attitude, speed and position is achieved.

Description

technical field [0001] Embodiments of the present invention relate to the field of navigation and positioning, and in particular to a GNSS receiver tilt measurement system, method, device and storage medium. Background technique [0002] With the continuous advancement of science and technology, GNSS (Global Navigation Satellite System, Global Navigation Satellite System) receivers are widely used in various navigation and positioning equipment. As a position acquisition device, GNSS receivers can more accurately acquire the equipment under test. position information, and the emergence of tilt measurement technology has greatly improved the measurement accuracy and work efficiency of GNSS receivers. [0003] In order to enable the GNSS receiver to measure the tilt, an electronic compass is usually installed in the GNSS receiver for measurement. The electronic compass includes an accelerometer and a magnetometer. On this basis, some gyroscopes are also installed. According to...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the electronic compass is used as the attitude acquisition device, but its accuracy is low, the calibration is cumbersome, and the reliability is poor. At the same time, there are certain errors in the position information obtained by the GNSS receiver due to factors such as its own structure and geographical environment. In addition, the magnetic force The magnetometer is easily affected by the environment, for example, by factors such as current or magnetic field, and the magnetometer must be calibrated before each use, and the calibration process is very complicated

However, the measurement method based on the spatial intersection theory is affected by the geometric structure of the spatial point distribution, especially in environments such as wall corners. The distribution of spatial points is limited, the geometric structure is poor, and the accuracy of the measurement points is unstable, which can only reach the decimeter level. Accuracy, and multiple spatial points need to be measured to complete the tilt measurement

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