Inertial navigation technology assisted high-precision GNSS dynamic inclination measurement system and method
A tilt measurement, high-precision technology, applied in the field of satellite navigation and positioning, can solve the problems of inconvenient measurement efficiency, large measurement error, and low efficiency
Active Publication Date: 2019-08-16
WUHAN CANGQIONG ELECTRONICS INSTR
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[0004] This invention proposes a high-precision GNSS dynamic tilt measurement system and method assisted by inertial navigation technology, which is used to solve the need for centering in the existing GNSS measurement. Inconvenience, low measurement efficiency, and large measurement errors
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[0085]The present invention proposes a high-precision GNSS dynamic inclination measurement system and method assisted by inertial navigation technology, which no longer requires strict alignment of the measuring equipment, and the system will automatically correct the coordinate values to achieve high-precision measurement in the tilted state, thereby reducing the Requirements for measuring personnel, reduce human error, and improve measurement efficiency.
[0086] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by per...
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The invention provides a inertial navigation technology assisted high-precision GNSS dynamic inclination measurement system and method. The system comprises a GNSS board card and an inertial navigation module, wherein the inertial navigation module comprises a processor, an angular velocity sensor, an acceleration sensor and a PPS pulse clock, wherein the angular velocity sensor, the accelerationsensor and the PPS pulse clock are respectively in communication connection with the processor; the GNSS board card is used for measuring the positioning information of a observation point; the processor calculates to obtain the position, attitude and speed information of the observation point according to the measured value of the sensor; a state equation of the combination of inertial navigationand GNSS positioning is established, errors of the angular velocity sensor and the acceleration sensor are estimated by using Kalman filtering, and error compensation is carried out in real time to obtain a corrected attitude angle; and the position of a measuring point is calculated according to the positioning information of the observation point, the corrected attitude angle and the rod length. The system and method provided by the invention no longer requires strict centering on the measuring equipment, and the system can automatically correct the coordinate value, thereby reducing the personal error and improving the measuring efficiency.
Description
technical field [0001] The invention belongs to the technical field of satellite navigation and positioning, and in particular relates to a high-precision GNSS dynamic tilt measurement system and method assisted by inertial navigation technology. Background technique [0002] The Global Navigation Satellite System (GNSS) is a space-based radio navigation and positioning system that can provide users with all-weather 3-dimensional coordinates, velocity and time information at any point on the earth's surface or in near-earth space. GNSS technology has basically replaced ground-based radio navigation, traditional geodetic and astronomical survey navigation and positioning technologies, and has promoted new developments in the field of geodesy and navigation and positioning. [0003] At present, when using GNSS for high-precision measurement, the GNSS equipment needs to be placed vertically above the measurement point, and the equipment needs to be adjusted to the level, which ...
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IPC IPC(8): G01S19/40G01S19/42G01C9/00
CPCG01S19/40G01S19/42G01C9/00
Inventor 张践马骏熊东旭
Owner WUHAN CANGQIONG ELECTRONICS INSTR