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A GNSS dual-antenna heading installation angle offset estimation method

An installation angle and dual-antenna technology, applied in the field of multi-information fusion, can solve the problems of real-time calibration, GNSS primary and secondary dual antennas, time-consuming and labor-intensive problems, etc.

Active Publication Date: 2021-05-04
WUXI KALMAN NAVIGATION TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the time-consuming and labor-intensive problems of calibrating the GNSS primary and secondary antennas and can not be calibrated in real time, the present invention provides a method for estimating GNSS dual antennas based on RTK positioning, which is used to estimate the installation of GNSS dual antennas in real time. Angle offset, and then real-time calibration is carried out to GNSS dual-antenna measurement heading, and described method comprises:

Method used

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  • A GNSS dual-antenna heading installation angle offset estimation method
  • A GNSS dual-antenna heading installation angle offset estimation method
  • A GNSS dual-antenna heading installation angle offset estimation method

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Embodiment 1

[0059] This embodiment provides a GNSS dual-antenna estimation method based on RTK positioning, see figure 1 , the method includes:

[0060] According to the precise position of the RTK positioning, the difference is made to predict the direction of the trajectory of the agricultural machinery, and the predicted heading angle of the trajectory of the agricultural machinery is obtained.

[0061] Real-time measurement of the direction of the agricultural machine head through GNSS dual antennas

[0062] According to the real-time measurement of the front direction of the agricultural machinery through the GNSS dual antenna and the predicted heading angle of the agricultural machinery trajectory Combined filter estimation, real-time estimation to obtain GNSS dual antenna heading installation angle offset so that according to The direction of the head of the agricultural machine Perform compensation correction to obtain the corrected head heading of the agricultural m...

Embodiment 2

[0087] This embodiment provides a calibration method based on RTK (Real-Time Kinematic, real-time dynamic) positioning GNSS dual-antenna measurement heading, which is applied to agricultural machinery equipment, and the GNSS dual-antenna is horizontally installed on the left and right sides of the roof of the agricultural machinery. The methods described include:

[0088] S1 performs difference according to the precise position of RTK positioning, predicts the direction of the agricultural machinery movement trajectory, and obtains the predicted heading angle of the agricultural machinery movement trajectory

[0089]

[0090] Among them, such as figure 2 As shown, assume that the position of the agricultural machinery at time k-1 is P k-1 (x k-1 ,y k-1 ), the position of the agricultural machinery at time k is P k (x k ,y k );

[0091] The predicted heading angle of the agricultural machinery movement trajectory, that is, the angle between the predicted heading of...

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Abstract

The invention discloses a GNSS dual-antenna heading installation angle offset estimation method, which belongs to the technical field of multi-information fusion. In the method, the GNSS dual antennas are horizontally installed on the left and right sides of the roof of the agricultural machine, and the combined filter estimation is performed according to the direction of the head of the agricultural machine measured in real time by the GNSS dual antennas and the predicted heading angle of the agricultural machine motion trajectory obtained by prediction, and the real-time estimation obtains the heading of the GNSS dual antennas The installation angle offset is compensated and corrected according to the correction, and the corrected head heading of the agricultural machine is obtained. This method avoids the time-consuming and laborious troubles caused by multiple calibrations by professionals. Real-time calibration also avoids the use error caused by the wear and tear of the agricultural machine. , At the same time, the estimated accuracy of this method is within ±0.15 degrees; the calibration time can be converged to ±0.5 degrees within 10 seconds, and the calibration time can be completely converged within 50 seconds, which is greatly shortened compared with the traditional calibration method.

Description

technical field [0001] The invention relates to a GNSS dual-antenna heading installation angle offset estimation method, which belongs to the technical field of multi-information fusion. Background technique [0002] In the field of agricultural machinery automatic driving technology, the planning of automatic driving routes needs to determine the current position and real-time heading of agricultural machinery, and in the technology of obtaining the real-time heading of agricultural machinery, one method is to install GNSS ( Global Navigation Satellite System (GNSS)'s main and auxiliary dual antennas are used to measure the heading, usually the main and auxiliary dual antennas measure the heading After rotating 90 degrees, it is the direction of the front of the car. [0003] However, there are errors in the antenna installation, so the measurement heading of the GNSS primary and secondary antennas There is a fixed small angle between the direction after rotating 90 deg...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/40
CPCG01S19/40G01S19/393
Inventor 朱龙泉陈彬程方陈向东王浩王烁吴飞
Owner WUXI KALMAN NAVIGATION TECH CO LTD