GNSS attitude real-time measurement device and method based on three antennas

Abstract

The invention discloses a GNSS attitude real-time measurement device and measurement method based on three antennas, and belongs to the technical field of measurement and surveying and mapping. A three-antenna GNSS receiver structure is adopted, and an azimuth angle, a pitch angle and a roll angle of a plane where the antennas are located are obtained by measuring carrier phase difference values of GNSS satellite signals received by the three antennas; due to the fact that satellite signals are updated and resolved in real time, the problem of error accumulation does not exist, high-precisionreal-time attitude measurement can be achieved, and positioning and attitude measurement are integrated. The three antennas can be placed at will without being limited by geometrical shapes of the antennas, and compared with a single-point positioning attitude measurement system and other attitude measurement systems, the precision is high, and the real-time performance is good; compared with a double-antenna RTK receiver, a three-dimensional attitude angle can be obtained; and according to the invention, GNSS signals are used for position, baseline and attitude calculation, and the system canautomatically calculate the azimuth angle, the pitch angle and the roll angle.

Description

technical field [0001] The invention belongs to the technical field of measurement, and in particular relates to a three-antenna-based GNSS attitude real-time measurement device and a measurement method. Background technique [0002] With the development of unmanned systems and intelligent equipment, attitude has become an indispensable measurement parameter for the system, so the inertial navigation system is widely used to measure the attitude parameters of the system. [0003] The inertial navigation system is widely used as an attitude sensor because of its high precision (attitude accuracy less than 1°). However, since the inertial navigation system calculates the attitude angle in the form of an integral, the attitude information will accumulate errors over time, resulting in larger and larger errors. , which eventually leads to excessive errors that affect the system and the attitude information is unavailable. The calibration source must be input regularly for regula...

AI Technical Summary

Problems solved by technology

[0003] The inertial navigation system is widely used as an attitude sensor because of its high precision (attitude accuracy less than 1°). However, since the inertial navigation system calculates the attitude angle in the form of an integral, the attitude information will accumulate errors over time, resulting in larger and larger errors. , which eventually leads to excessive errors that affect the system and the attitude information is unavailable. The calibration source must be input regularly for regular calibration. However, under many application conditions, the calibration source cannot be input, and the calibration source is also unreliable.

[0004] GNSS (Global Navigation Satellite System) has the advantages of all-weather, high precision, real-time, and continuity. With the research of high-precision positioning methods such as single-point positioning, differential positioning, and RTK (real-time), Receivers based on GNSS signals are also used to measure attitude and direction, but the current attitude measurement adopts multi-receiver and single-point positioning, which requires a large distance between antennas, but the accuracy of attitude measurement results is low and the cost is high; while RTK-based The receiver currently supports up to two antennas, which can only achieve direction finding, but cannot measure three-dimensional attitude

[0005] At present, inertial navigation systems, such as gyroscopes and accelerometers, are used in real-time three-dimensional attitude measurement systems, but inertial navigation has two problems: one is expensive, and the cost of fiber optic gyroscopes is hundreds of thousands or millions; Attitude drift, gyroscope and accelerometer errors will accumulate over time and cannot be eliminated

For long-term unattended equipment such as at sea, the angular drift of attitude and heading will accumulate over time, and the performance cannot meet the requirements of use, which brings unpredictable risks to the equipment

At present, existing products use RTK (Real-time kinematic, real-time dynamic) carrier difference technology to solve the dual-antenna baseline vector, get the azimuth and pitch angle of the baseline, but cannot get the roll angle of the three-dimensional attitude

Images