Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A motion-to-motion real-time precise relative positioning method based on satellite and inertial combination

A relative positioning and inertial combination technology, applied in satellite radio beacon positioning systems, instruments, navigation, etc., can solve the problem of not considering the centimeter-level relative positioning solution, not considering the data broadcast rate and sampling rate, communication pressure and calculation burden, etc. question

Active Publication Date: 2021-02-09
NAT UNIV OF DEFENSE TECH
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these methods all need to broadcast the original inertial navigation measurement information, without considering the communication pressure and calculation burden caused by the data broadcast rate and sampling rate, and without considering the use of low data broadcast rate and sampling rate to achieve a very high update rate centimeter level Possibility of Relative Positioning Solutions

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A motion-to-motion real-time precise relative positioning method based on satellite and inertial combination
  • A motion-to-motion real-time precise relative positioning method based on satellite and inertial combination
  • A motion-to-motion real-time precise relative positioning method based on satellite and inertial combination

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] refer to figure 1 , a kind of satellite and inertial combined moving-to-moving real-time precise relative positioning method comprises the following steps:

[0069] In the first step, the mobile station receiver and the moving reference receiver sample synchronously to obtain the original GNSS observation information, respectively detect and eliminate the fault information gross error of carrier phase cycle slip and pseudo-range observation information in the original GNSS observation information obtained by sampling respectively, and obtain The preprocessed carrier phase and pseudorange observation information of the mobile station receiver and the moving reference receiver.

[0070] The invention adopts multiple methods to jointly detect and eliminate faults. Gross errors in GNSS observation data must be monitored and eliminated before being used for relative positioning. Fault information includes carrier phase cycle slip and pseudorange gross error. Carrier phas...

Embodiment 2

[0161] In order to test the method in Example 1, a vehicle-to-vehicle test is carried out in this example. The mobile station and the moving reference are both vehicles and there are many turns when moving on the square. A static reference station is set up at a known location near the test site to calculate the relative positions of the mobile station and the moving reference post-processing respectively. The corresponding results are used to provide reference results for position increments and relative positions. In the test, the GNSS / MEMS prototype system consisting of Sensonor STIM300 MEMS and ComNavOEM-K508 board is fixedly connected to the No. 2 mobile datum of the mobile station. The GNSS receiver can provide observation information of 5 frequency points (B1 / B2 / B3 / L1 / L2) for real-time and post-navigation. In the subsequent analysis, only the observation information of four frequency points (B1 / B3 / L1 / L2) is actually used. The maximum sampling rate of the GNSS receive...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention proposes a satellite and inertial combination moving-to-moving real-time precision relative positioning method, based on the carrier phase real-time dynamic differential relative positioning method to obtain the relative positioning vector between the mobile station and the moving reference, based on the carrier phase GNSS / inertial navigation tight combination The algorithm obtains the measurement update interval △ t TC The position increment of the mobile station, the increment of the moving reference position and the predicted time of the mobile station△ t p Based on the position increment within the sliding window polynomial prediction method, the moving datum is obtained at the forecast time, and finally the relative positioning result is synthesized and output. This method can not only overcome the influence of position increment and broadcast delay of GNSS raw observation data, but also provide precise relative positioning results with extremely high update rate through low data broadcast rate and sampling rate.

Description

technical field [0001] The invention belongs to the technical field of satellite and inertial combination relative positioning and navigation, in particular to a satellite and inertial combination dynamic-to-dynamic precise relative positioning method with low data broadcast rate, low sampling rate and extremely high update rate. Background technique [0002] Precise relative positioning with high update rates is a required technology in many safety-related motion-to-motion applications, such as vehicle-to-vehicle cooperative safety applications, autonomous aerial refueling, and carrier-based aircraft landing. At present, the commonly used motion-to-motion relative positioning technology is the carrier phase RTK (Real-Time Kinematic) differential relative positioning technology. However, the use of carrier phase RTK (Real-Time Kinematic) differential relative positioning technology to achieve high update rate output is mainly due to the high data broadcast rate, high receive...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/47G01S19/44G01C21/16
CPCG01C21/165G01S19/44G01S19/47
Inventor 李青松吴杰董毅王鼎杰
Owner NAT UNIV OF DEFENSE TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com