A dynamic positioning accuracy detection device and its detection method

Abstract

The present invention discloses a dynamic positioning accuracy detection device, which includes a circular workbench assembly. A rotary arm assembly is arranged on the circular workbench assembly, and an accuracy detection assembly is arranged on the rotary arm assembly. A three-degree-of-freedom load platform assembly is arranged at the end of the rotary arm assembly. The circular workbench assembly, the accuracy detection assembly, and the three-degree-of-freedom load platform assembly are all connected to a drive control system. The GNSS dynamic accuracy measurement device of the present invention has a simple structure, few factors affecting the movement trajectory accuracy of the receiver under test, high movement trajectory accuracy, good stability, good repeatability, effectively compensates for measurement errors caused by spatio-temporal asynchronization through forward and reverse measurements, is convenient to operate, has a low cost, and has good practical value.

Description

Technical Field

[0001] The present invention belongs to the technical field of test and measurement, and particularly relates to a dynamic positioning accuracy detection device, and also relates to a detection method for the above-mentioned dynamic positioning accuracy detection device. Background Art

[0002] At present, the Global Navigation Satellite System (GNSS) has been widely applied in various fields to provide positioning and navigation services for different service objects. Since navigation is based on positioning, with the development and application of AI technology, autonomous driving technology, unmanned aerial vehicles, robots, and three-dimensional measurement technology, higher requirements have been put forward for the navigation and positioning accuracy, continuity, and reliability of GNSS. Therefore, the dynamic positioning accuracy detection of GNSS has become increasingly important.

[0003] The key to GNSS dynamic positioning accuracy detection is to construct the motion environment of the receiver under test and provide a high-precision comparison reference. The known detection methods at home and abroad can be summarized into the following three types. The first type: the simulated carrier motion detection method based on a simulation system, that is, using a simulation system to simulate and generate satellite navigation simulation signals with dynamic characteristics, and testing and analyzing the dynamic measurement accuracy of the GNSS measurement system in a microwave anechoic chamber. Since the receiver under test is not in an actual motion state, the accuracy and credibility of this method are relatively low; the second type: the real carrier motion detection method based on attitude measurement, that is, fixing the receiver under test and the comparison device on a moving carrier according to a pre-designed relative relationship, and the comparison device obtains the high-precision position and attitude information of the receiver under test in real time, and compares it with the measurement value of the GNSS for the receiver under test, so as to obtain the GNSS dynamic positioning error. The third type: the outdoor "road test" comparison method, that is, using a high-precision GNSS receiver to provide the so-called "true value" and comparing it with the measurement result of the receiver under test to obtain the GNSS dynamic positioning accuracy. However, none of these three methods can meet the following conditions: 1. It can perform repeated detections in the same detection environment and reach the required number of detections; 2. It must ensure the spatio-temporal consistency of the detection, that is, the position of the GNSS positioning measurement is consistent with the actual spatial position of the receiver under test at the same moment. Summary of the Invention

[0004] The purpose of the present invention is to provide a dynamic positioning accuracy detection device, which solves the problems in the prior art that repeated detections cannot be carried out in the same detection environment and the measurement errors caused by spatio-temporal asynchrony cannot be effectively compensated.

[0005] The purpose of the present invention is to provide a detection method for a dynamic positioning accuracy detection device.

[0006] One technical solution adopted by the present invention is a dynamic positioning accuracy detection device, which includes a circular workbench assembly. A slewing arm assembly is arranged on the circular workbench assembly, and an accuracy detection assembly is arranged on the slewing arm assembly. A three-degree-of-freedom load platform assembly is arranged at the end of the slewing arm assembly. The circular workbench assembly, the accuracy detection assembly, and the three-degree-of-freedom load platform assembly are all connected to a drive control system.

[0007] The characteristics of the present invention also lie in:

[0008] The circular workbench assembly includes a rotating turntable base, and a rotating turntable is arranged on the rotating turntable base. The rotating turntable rotates along the rotating turntable base. The drive control system includes a motor, and the output shaft of the motor is connected to the rotating turntable shaft.

[0009] The slewing arm assembly includes a slewing arm mounting base, which is fixed on the rotating turntable, and a slewing arm is arranged on the slewing arm mounting base.

[0010] The slewing arm includes a vertical column arranged on the slewing arm mounting base. An upper chord is arranged obliquely downward above the column, and a lower chord is arranged obliquely upward below the column. A number of web members are radially connected between the upper chord and the lower chord, and fixing plates are fixedly connected to the ends of the upper chord and the lower chord.

[0011] The slewing arm includes a vertical column arranged on the slewing arm mounting base. A truss-type slewing arm main body is horizontally arranged diametrically at 180° with the slewing arm mounting base and the column as the center. A number of longitudinal web members are arranged along the length direction and a number of transverse web members are arranged along the width direction on the truss-type slewing arm main body, and a fixing plate is arranged at the end of the truss-type slewing arm main body.

[0012] The slewing arm includes a single rod horizontally arranged on the slewing arm mounting base. A balance weight is arranged at one end of the single rod close to the slewing arm mounting base, and a fixing plate is arranged at the other end of the single rod far from the slewing arm mounting base. A number of pulling steel wires are arranged between the slewing arm mounting base and the fixing plate, and the extending direction of the pulling steel wires is parallel to the axial direction of the single rod, and a balance weight is arranged at the end of the single rod.

[0013] The slewing arm includes three single rods horizontally and circumferentially and evenly arranged on the slewing arm mounting base. A number of rigid auxiliary rods are connected between two adjacent single rods, and a number of auxiliary rod steel wires are arranged on each rigid auxiliary rod to connect the slewing arm mounting base.

[0014] The three - degree - of - freedom load - carrying platform assembly includes a three - axis slide module. The three - axis slide module includes an X - axis sliding component extending in the left - right direction, a Y - axis sliding component extending in the front - back direction, and a Z - axis sliding component extending in the up - down direction. The X - axis sliding component, Y - axis sliding component, and Z - axis sliding component are arranged perpendicular to each other. The X - axis sliding component includes an X - axis slide table, on which an X - axis slide rail is provided. Inside the X - axis slide rail, an X - axis slider is slidably arranged; the Y - axis sliding component includes a Y - axis slide table, on which a Y - axis slide rail is provided. Inside the Y - axis slide rail, a Y - axis slider is slidably arranged; the Z - axis sliding component includes a Z - axis slide table, on which a Z - axis slide rail is provided. Inside the Z - axis slide rail, a Z - axis slider is slidably arranged. The X - axis slide rail, Y - axis slide rail, and Z - axis slide rail are provided with three lead screws for driving the X - axis slider, Y - axis slider, and Z - axis slider to slide back and forth and a drive motor for driving the lead screws to rotate. The three lead screws are respectively penetrated through the X - axis slider, Y - axis slider, and Z - axis slider, and the three drives are all electrically connected to the drive control system; the Z - axis slide table is arranged outside the fixed plate, the Y - axis slide table is arranged on the Z - axis slider, the X - axis slide table is arranged above the Y - axis slider, and a load - carrying platform is arranged at the upper end of the X - axis slide table. A receiver under test is arranged on the load - carrying platform.

[0015] The precision detection component includes a position change detection device a, a position change detection device b, and a ground position marking sensor. An installation seat a is arranged on the rotary arm, the position change detection device a is arranged on the detection instrument installation seat, an installation seat b is arranged on the inner side of the fixed plate, the installation seat b and the installation seat a are located at the same horizontal position, the position change detection device b is arranged on the installation seat b, and a plurality of ground position marking sensors are evenly arranged on the circumference of the rotation trajectory of the receiver under test. The position change detection device a, the position change detection device b, and the ground position marking sensor are all electrically connected to the drive control system.

[0016] Another technical solution adopted by the present invention is a detection method for a dynamic positioning precision detection device, which specifically includes the following steps:

[0017] Step 1: Before the GNSS dynamic positioning precision detection device works, use anchor bolts and adjusting shims to fix the rotating turntable base on the concrete foundation, and assemble the rotary arm according to the local wind resistance and the user's budget precision requirements; adjust the perpendicularity of the rotary axis of the rotary arm through the adjusting shims, and adjust the spatial orientation of the load - carrying platform through the X - axis sliding component, Y - axis sliding component, and Z - axis sliding component to meet the measurement requirements required by the user.

[0018] Step 2: Perform spatial position calibration of the GNSS receiver detection base point.

[0019] Number the ground position marking sensors, and after multiple repeated calibrations and taking the average value, determine the high - precision spatial coordinate values of the receiver under test at the ground position marking sensor as (x d , y d, z d ) i , where i is the number of the ground position marking sensor, i = 0 to N - 1;

[0020] The receiver under test is installed on the load platform. There is a detection reference point on the load platform. The position of the receiver under test relative to the detection reference point is known. The rotary arm is located at each ground position marking sensor 16. The relative position between the detection reference point and the ground sensor is known. From the determined position of the ground position marking sensor, the static spatial position of the receiver under test when the rotary arm is located at each ground position marking sensor is obtained. Calibrate the spatial position of the GNSS receiver detection reference point, and use repeated calibration multiple times. Use the average value of the repeated calibrations multiple times to ensure the calibration accuracy;

[0021] Step 3: Configure a stable operating environment.

[0022] Select the platform rotation parameters according to the required linear velocity of the user and the radius of the rotary arm. Select the fixed elevation or variable elevation motion mode, and start the rotating turntable to make it reach the stable operation time standard. The higher the required accuracy of the user, the longer the stable operation time. Configure the stable operating environment for clockwise and counterclockwise respectively to prepare for data measurement.

[0023] Step 4: Under the motion parameters selected in Step 3, when the rotating turntable rotates stably, the receiver under test generates a stable circular motion. When the receiver under test passes through the zero position (i = 0), the drive control system starts to issue a sampling instruction, and the receiver under test starts to receive GNSS positioning information. At the same time, the position change detection device a and the position change detection device b respectively collect the position change information of the receiver under test once; afterwards, every time the receiver under test passes through a ground position marking sensor, the receiver under test receives a GNSS positioning information, and at the same time the position change detection device a and the position change detection device b collect the position change information of the receiver under test once. The positioning information of the GNSS system is recorded as (x g , y g , z g ) i , and the position change information of the receiver under test is recorded as (Δx g , Δy g , Δz g ) i , and collect and store the coordinates of the receivers at all i points and the actual position coordinates in clockwise and counterclockwise directions respectively.

[0024] Step 6: After the detection, perform effective spatio-temporal asynchronous error compensation.

[0025] Due to factors such as the response time of the ground position marker sensor and the data acquisition time, there is a time delay Δt from when the slewing arm sweeps over the ground position marker sensor and emits a sampling pulse to when the GNSS system performs positioning measurement. Since the receiver under test is in a moving state, a displacement of Δs occurs within the time Δt, causing the GNSS system to measure the position of the receiver under test to deviate from the position when the slewing arm sweeps over the ground position marker sensor. Therefore, the detection error in the GNSS dynamic positioning accuracy, which is the detection error caused by the time-space asynchronization.

[0026] The error is compensated by forward and reverse measurements. In the GNSS dynamic positioning accuracy detection, the detection error caused by time-space asynchronization is mainly reflected in the x-y coordinate plane. (x i , y i ) is the position of the i-th ground position marker sensor at 16 o'clock, and (x i＇ , y i＇ ) is the position of the receiver under test after a time delay of Δt when the slewing arm rotates counterclockwise; (x i＂ , y i＂ ) is the position of the receiver under test after a time delay of Δt when the slewing arm rotates clockwise:

[0027] Compared with point i, the position deviations generated are respectively

[0028] Δx' = (x i＇ - x i ) < 0

[0029] Δy' = (y i＇ - y i ) > 0

[0030] Δx" = (x i＂ - x i ) > 0

[0031] Δy" = (y i＂ - y i ) < 0

[0032] The polarities of the corresponding coordinate errors are opposite. Through data processing methods, the influences cancel each other out, achieving the effect of error compensation.

[0033] The coordinates of the receiver under test passing through point i after compensation during rotation are: For the case where point i is located on the x-axis, at this time, the polarities of Δx' and Δx" are the same, but the polarities of Δy' and Δy" are still opposite, and the error in the x direction is much smaller than the error in the y direction. The method of forward and reverse detection still has the effect of error compensation. The situation where point i is located on the y-axis is similar.

[0034] The final position coordinates of the GNSS receiver after compensation are: Compared with (x d+Δx g , y d +Δy g , z d +Δz g ) i The data is analyzed and processed. After multiple measurements and averaging to obtain the error, the dynamic positioning error of the receiver under test can be obtained.

[0035] The beneficial effects of the present invention are as follows: A dynamic positioning accuracy detection device of the present invention, through the structure of the rotary arm rotating around a fixed axis, enables the receiver under test to perform a circular motion, realizes the detection of the dynamic positioning accuracy of the receiver under test, and preferably meets the conditions required for GNSS dynamic positioning accuracy detection. The GNSS dynamic positioning accuracy detection device of the present invention does not require a special guide rail. Through the rotation of the rotary arm, the receiver under test generates a circular motion. The structural form and layout method of the rotary arm are flexible and diverse, meeting the requirements for the diversity of motion in GNSS receiver dynamic positioning accuracy detection. The structure is simple, the factors affecting the motion trajectory accuracy of the receiver under test are few, the motion trajectory accuracy is high, the stability is good, and the repeatability is good. By measuring in both forward and reverse directions, the measurement error caused by spatio-temporal asynchrony can be effectively compensated. It is convenient to operate, has a low cost, and has good practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic structural diagram of a dynamic positioning accuracy detection device of the present invention;

[0037] Figure 2 is a schematic structural diagram of a truss-type rotary arm of a dynamic positioning accuracy detection device of the present invention;

[0038] Figure 3 is a schematic structural diagram of a single-rod rotary arm of a dynamic positioning accuracy detection device of the present invention;

[0039] Figure 4 is a schematic structural diagram of a rotary arm with a single-arm three-rod with a pull of a dynamic positioning accuracy detection device of the present invention;

[0040] Figure 5 is a schematic diagram of the idea for compensating the spatio-temporal asynchrony error in GNSS dynamic positioning accuracy detection of the present invention.

[0041] In the figure, 1. Rotating turntable base, 2. Rotating turntable, 3. Rotary arm mounting base, 4. Lower chord, 5. Column, 6. Mounting seat a, 7. Position change detection device a, 8. Upper chord, 9. Web member, 10. Position change detection device b, 11. Mounting seat b, 12. Fixed plate, 13. X-axis sliding assembly, 14. Receiver under test, 15. Load platform, 16. Ground position marking sensor, 17. Y-axis sliding assembly, 18. Z-axis sliding assembly, 19. Truss-type rotary arm body, 20. Single rod, 21. Pulling steel wire rope, 22. Rigid secondary rod, 23. Secondary rod steel wire. Detailed implementation manners

[0042] The following further elaborates on the present invention in conjunction with the accompanying drawings and detailed implementation manners.

[0043] The structure of a dynamic positioning accuracy detection device of the present invention is as Figure 1 shown, including a circular workbench assembly, a rotary arm assembly is arranged on the circular workbench assembly, an accuracy detection assembly is arranged on the rotary arm assembly, a three-degree-of-freedom load platform assembly is arranged at the end of the rotary arm assembly, and the circular workbench assembly, the accuracy detection assembly, and the three-degree-of-freedom load platform assembly are all connected to a drive control system.

[0044] The circular workbench assembly includes a rotating turntable base 1, a rotating turntable 2 is arranged on the rotating turntable base 1, and the rotating turntable 2 rotates along the rotating turntable base 1. The rotating turntable base 1 and the rotating turntable 2 are the basis for generating the rotary motion, and the drive control system includes a motor, and the output shaft of the motor is connected to the rotating shaft of the rotating turntable 2.

[0045] The rotary arm assembly includes a rotary arm mounting base 3, the rotary arm mounting base 3 is fixed on the rotating turntable 2, and a rotary arm is arranged on the rotary arm mounting base 3.

[0046] In an embodiment of the rotary arm of the present invention, the rotary arm includes a column 5 vertically arranged on the rotary arm mounting base 3, an upper chord 8 is arranged obliquely downward above the column 5, a lower chord 4 is arranged obliquely upward below the column 5, a plurality of web members 9 are radially connected between the upper chord 8 and the lower chord 4, and the ends of the upper chord 8 and the lower chord 4 are fixedly connected to a fixed plate 12.

[0047] Another embodiment of the rotary arm of the present invention is a truss-type rotary arm, as Figure 2 shown, the rotary arm includes a column 5 vertically arranged on the rotary arm mounting base 3, and a truss-type rotary arm body is horizontally diametrically arranged at 180° with the rotary arm mounting base 3 and the column 5 as the center. A plurality of longitudinal web members are arranged along the length direction and a plurality of transverse web members are arranged along the width direction on the truss-type rotary arm body, and a fixed plate 12 is arranged at the end of the truss-type rotary arm body. The truss-type rotary arm enables the entire device to have better dynamic balance performance and at the same time enables dual-station operation.

[0048] One embodiment of the slewing arm in the present invention is a single-rod structure slewing arm. As Figure 3 shown, the slewing arm includes a single rod 20 horizontally arranged on a slewing arm mounting base 3. A balance weight is arranged at one end of the single rod 20 close to the slewing arm mounting base 3, and a fixing plate 12 is arranged at the other end of the single rod 20 away from the slewing arm mounting base 3. A plurality of pulling steel wires 21 are arranged between the slewing arm mounting base 3 and the fixing plate 12. The extending direction of the pulling steel wires 21 is parallel to the axial direction of the single rod 20. The single-rod 20 structure can reduce the mass of the slewing arm. The pulling steel wires 21 are arranged to prevent the problem of deformation caused by the poor rigidity of the single rod 20. A balance weight is arranged at the end of the single rod 20 to improve the dynamic balance of the device.

[0049] One embodiment of the slewing arm in the present invention is a slewing arm with a pulled single-arm three-rod structure. As Figure 4 shown, the slewing arm includes three single rods 20 horizontally and circumferentially arranged on a slewing arm mounting base 3. A plurality of rigid auxiliary rods 22 are connected between two adjacent single rods 20 to form a plurality of stable triangular structures between the three single rods 20. A plurality of auxiliary rod steel wires 23 are arranged on each rigid auxiliary rod 22 to connect the slewing arm mounting base 3, minimizing the deformation caused by the wind resistance load to the greatest extent and realizing multi-receiver and multi-point synchronous detection.

[0050] The three-degree-of-freedom load platform assembly includes a three-axis sliding table module. The three-axis sliding table module includes an X-axis sliding component 13 extending in the left-right direction, a Y-axis sliding component 17 extending in the front-back direction, and a Z-axis sliding component 18 extending in the up-down direction. The X-axis sliding component 13, the Y-axis sliding component 17, and the Z-axis sliding component 18 are arranged perpendicular to each other. The X-axis sliding component 13 includes an X-axis sliding table, an X-axis slide rail is opened on the X-axis sliding table, and an X-axis slider is slidably arranged inside the X-axis slide rail; the Y-axis sliding component 17 includes a Y-axis sliding table, a Y-axis slide rail is opened on the Y-axis sliding table, and a Y-axis slider is slidably arranged inside the Y-axis slide rail; the Z-axis sliding component 18 includes a Z-axis sliding table, a Z-axis slide rail is opened on the Z-axis sliding table, and a Z-axis slider is slidably arranged inside the Z-axis slide rail; three lead screws for driving the X-axis slider, the Y-axis slider, and the Z-axis slider to slide back and forth and a driving motor for driving the lead screws to rotate are arranged on the X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail. The three lead screws are respectively arranged on the X-axis slider, the Y-axis slider, and the Z-axis slider, and the three drives are all electrically connected to the drive control system; the Z-axis sliding table is arranged outside the fixing plate 12, the Y-axis sliding table is arranged on the Z-axis slider, the X-axis sliding table is arranged above the Y-axis slider, and a load platform 15 is arranged at the upper end of the X-axis sliding table. A receiver under test 14 is arranged on the load platform 15. The three-degree-of-freedom load platform is used to adjust the spatial attitude of the receiver under test 14 to realize the detection of the dynamic positioning accuracy at variable elevations.

[0051] The precision detection component includes a position change detection device a7, a position change detection device b10, and a ground position marking sensor 16. An installation seat a6 is provided on the rotary arm. The position change detection device a7 is provided on the detection instrument installation seat 6. An installation seat b11 is provided inside the fixed plate 12. The installation seat b11 and the installation seat a6 are located at the same horizontal position. The position change detection device b10 is provided on the installation seat b11. A number of ground position marking sensors 16 are evenly arranged on the circumference of the rotation trajectory of the receiver under test 14. The distance between two adjacent ground position marking sensors 16 is 0.5 m - 1 m. The position change detection device a7, the position change detection device b10, and the ground position marking sensor 16 are all electrically connected to the drive control system. The change detection device a7 and the position change detection device b10 measure the displacements of the receiver under test along the X, Y, and Z coordinate directions in real time, and correct the spatial position coordinates of the receiver under test in real time to ensure the detection accuracy.

[0052] The working principle of a dynamic positioning precision detection device of the present invention is that the rotary arm does not rely on a traditional guide rail, and a rigid structure rotary arm is adopted. The end of the rotary arm is connected to the fixed plate and the three-degree-of-freedom load platform. The receiver under test 14 is installed on the load platform 15. The rotary arm is installed on the rotating turntable 2. When the rotating turntable 2 rotates, the receiver under test 14 generates a circular motion. The precision detection component installed at the end of the rotary arm feeds back the motion trajectory of the load platform 15 in real time. The position accuracy of the motion trajectory is high, and the stability and repeatability are good. The positioning accuracy detection with different motion parameters and different motion postures can be realized for a long time.

[0053] The detection method using a dynamic positioning precision detection device of the present invention specifically includes the following steps:

[0054] Step 1: Before the GNSS dynamic positioning precision detection device works, use anchor bolts and adjusting shims to fix the rotating turntable base on the concrete foundation, and assemble the rotary arm according to the local wind resistance and the user's budget accuracy requirements; adjust the perpendicularity of the rotary axis of the rotary arm through the adjusting shims, and adjust the spatial orientation of the load platform 15 through the X-axis sliding component 13, the Y-axis sliding component 17, and the Z-axis sliding component 18 to meet the measurement requirements required by the user.

[0055] Step 2: Perform spatial position calibration of the GNSS receiver detection base point.

[0056] Number the ground position marking sensors 16, and take the average value after multiple repeated calibrations to determine the high-precision spatial coordinate values of the receiver under test 14 at the ground position marking sensors 16, which are recorded as (x d , y d , z d ), where o is the number of the ground position marking sensor, and i = 0 to N - 1; i ​

[0057] The receiver under test 14 is installed on the load platform 15. There are detection reference points on the load platform 15. The position of the receiver under test 14 relative to the detection reference points is known. The rotary arm is located at each ground position marking sensor 16. The relative position between the detection reference point and the ground sensor is known. From the determined position of the ground position marking sensor 16, the static spatial position of the receiver under test is obtained when the rotary arm is located at each ground position marking sensor 16. The spatial position of the GNSS receiver detection reference point is calibrated. Multiple repeated calibrations are adopted, and the average value of the multiple repeated calibrations is used to ensure the calibration accuracy;

[0058] Step 3: Configure a stable operating environment.

[0059] Select the platform rotation parameters according to the required linear velocity of the user and the radius of the rotary arm. Select the fixed elevation or variable elevation motion mode. Start the rotating turntable 2 to make it reach the stable operation time standard. The higher the required accuracy of the user, the longer the stable operation time. Configure the stable operating environments in the clockwise and counterclockwise directions respectively to prepare for data measurement.

[0060] Step 4: Under the conditions of the motion parameters selected in Step 3, when the rotating turntable 2 rotates stably, the receiver under test generates a stable circular motion. When the receiver under test 14 passes through the zero position (i = 0), the drive control system starts to issue a sampling instruction, and the receiver under test 14 starts to receive GNSS positioning information. At the same time, the position change detection device a7 and the position change detection device b10 respectively collect the position change information of the receiver under test 14 once. After that, every time the receiver under test 14 passes through a ground position marking sensor 16, the receiver under test 14 receives a GNSS positioning information, and at the same time, the position change detection device a7 and the position change detection device b10 collect the position change information of the receiver under test 14 once. The positioning information of the GNSS system is recorded as (x g , y g , z g ). i , and the position change information of the receiver under test is recorded as (Δx g , Δy g , Δz g ). i , and collect and store the coordinates of all i-point receivers and the actual position coordinates in the clockwise and counterclockwise directions respectively.

[0061] Step 6: After the detection, perform effective space-time asynchronous error compensation.

[0062] Due to the influence of factors such as the response time and data acquisition time of the ground position marker sensor 16, there is a time delay Δt from when the slewing arm sweeps over the ground position marker sensor 16 and emits a sampling pulse to when the GNSS system performs positioning measurement. Since the receiver under test 14 is in a moving state, a displacement of Δs is generated within the time Δt, causing the position of the GNSS system to measure the receiver under test to deviate from the position when the slewing arm sweeps over the ground position marker sensor 16. Therefore, the detection error of the GNSS dynamic positioning accuracy generated is the detection error caused by the time-space asynchronization.

[0063] The error is compensated by forward and reverse measurements, and the compensation idea is as Figure 5 shown.

[0064] In the GNSS dynamic positioning accuracy detection, the detection error caused by time-space asynchronization is mainly reflected in the x-y coordinate plane. (x i ,y i ) is the position of the i-th ground position marker sensor 16, and (x i＇ ,y i＇ ) is the position of the receiver under test after a time delay of Δt when the slewing arm rotates counterclockwise; (x i＂ ,y i＂ ) is the position of the receiver under test after a time delay of Δt when the slewing arm rotates clockwise:

[0065] Compared with point i, the position deviations generated are respectively

[0066] Δx' = (x i＇ - x i ) < 0

[0067] Δy' = (y i＇ - y i ) > 0

[0068] Δx" = (x i＂ - x i ) > 0

[0069] Δy" = (y i＂ - y i ) < 0

[0070] The polarities of the corresponding coordinate errors are opposite. Through data processing methods, the influences cancel each other out, achieving the effect of error compensation.

[0071] The coordinates of the receiver under test passing through point i after compensation during rotation are: For the case where point i is located on the x-axis, at this time, the polarities of Δx' and Δx" are the same, but the polarities of Δy' and Δy" are still opposite, and the error in the x direction is much smaller than the error in the y direction. The method of forward and reverse detection still has the effect of error compensation. The situation where point i is located on the y-axis is similar.

[0072] The position coordinates of the GNSS receiver after final compensation are as follows: With (x d + Δx g , y d + Δy g , z d + Δz g ) i After analyzing and processing the data through multiple measurements and averaging to obtain the error, the dynamic positioning error of the receiver under test can be obtained.

[0073] A dynamic positioning accuracy detection device of the present invention has the characteristics of simple structure and low cost. It can measure the displacements of the receiver under test along the x, y, and z coordinate directions in real time, compensate for the measurement errors caused by spatio-temporal asynchrony, and correct the spatial position coordinates of the receiver under test in real time to ensure the detection accuracy. Through forward and reverse detections, the errors caused by spatio-temporal asynchrony can be effectively compensated, and the detection accuracy can be improved. Moreover, by using the forward and reverse measurement methods, the measurement errors caused by spatio-temporal asynchrony can be effectively compensated.

Claims

1. A dynamic positioning accuracy detection device, characterized in that, it includes a circular workbench component, a rotary arm component is arranged on the circular workbench component, an accuracy detection component is arranged on the rotary arm component, a three-degree-of-freedom load platform component is arranged at the end of the rotary arm component, and the circular workbench component, the accuracy detection component, and the three-degree-of-freedom load platform component are all connected to a drive control system; The circular workbench component includes a rotating turntable base (1), a rotating turntable (2) is arranged on the rotating turntable base (1), the rotating turntable (2) rotates along the rotating turntable base (1), and the drive control system includes a motor, and the output shaft of the motor is connected to the rotating shaft of the rotating turntable (2); The rotary arm component includes a rotary arm mounting base (3), the rotary arm mounting base (3) is fixed on the rotating turntable (2), and a rotary arm is arranged on the rotary arm mounting base (3); The rotary arm includes a vertical column (5) arranged on the rotary arm mounting base (3), an upper chord rod (8) is arranged obliquely downward in the upper direction of the column (5), a lower chord rod (4) is arranged obliquely upward in the lower direction of the column (5), a plurality of web members (9) are radially connected between the upper chord rod (8) and the lower chord rod (4), and the ends of the upper chord rod (8) and the lower chord rod (4) are fixedly connected to a fixing plate (12); The three-degree-of-freedom load platform component includes a three-axis slide module, and the three-axis slide module includes an X-axis sliding component (13), a Y-axis sliding component (17), and a Z-axis sliding component (18) extending in the left-right direction. The X-axis sliding component (13), the Y-axis sliding component (17), and the Z-axis sliding component (18) are arranged perpendicular to each other. The X-axis sliding component (13) includes an X-axis slide, an X-axis slide rail is opened on the X-axis slide, and an X-axis slider is slidably arranged inside the X-axis slide rail; the Y-axis sliding component (17) includes a Y-axis slide, a Y-axis slide rail is opened on the Y-axis slide, and a Y-axis slider is slidably arranged inside the Y-axis slide rail; The Z-axis sliding component (18) includes a Z-axis slide, a Z-axis slide rail is opened on the Z-axis slide, and a Z-axis slider is slidably arranged inside the Z-axis slide rail; three lead screws for driving the X-axis slider, the Y-axis slider, and the Z-axis slider to slide back and forth and a drive motor for driving the lead screws to rotate are arranged on the X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail. The three lead screws are respectively arranged on the X-axis slider, the Y-axis slider, and the Z-axis slider, and the three drives are all electrically connected to the drive control system; the Z-axis slide is arranged outside the fixing plate (12), the Y-axis slide is arranged on the Z-axis slider, the X-axis slide is arranged above the Y-axis slider, and a load platform (15) is arranged at the upper end of the X-axis slide. A receiver under test (14) is arranged on the load platform (15).

2. The dynamic positioning accuracy detection device according to claim 1, characterized in that, the rotary arm includes a vertical column (5) arranged on the rotary arm mounting base (3), and a truss-type rotary arm main body is arranged horizontally diametrically at 180° with the rotary arm mounting base (3) and the column (5) as the center. A plurality of longitudinal web members are arranged along the length direction and a plurality of transverse web members are arranged along the width direction on the truss-type rotary arm main body, and a fixing plate (12) is arranged at the end of the truss-type rotary arm main body.

3. The dynamic positioning accuracy detection device according to claim 1, characterized in that, The slewing arm includes a single rod (20) horizontally arranged on a slewing arm mounting base (3). A balance weight is arranged at one end of the single rod (20) close to the slewing arm mounting base (3), and a fixing plate (12) is arranged at the other end of the single rod (20) far from the slewing arm mounting base (3). A plurality of pulling steel wires (21) are arranged between the slewing arm mounting base (3) and the fixing plate (12). The extending direction of the pulling steel wires (21) is parallel to the axial direction of the single rod (20). A balance weight is arranged at the end of the single rod (20).

4. A dynamic positioning accuracy detection device according to claim 1, characterized in that the slewing arm includes three single rods (20) horizontally and circumferentially and uniformly arranged on a slewing arm mounting base (3). A plurality of rigid auxiliary rods (22) are connected between two adjacent single rods (20). A plurality of auxiliary rod steel wires (23) are arranged on each rigid auxiliary rod (22) to connect the slewing arm mounting base (3).

5. A dynamic positioning accuracy detection device according to claim 1, characterized in that the accuracy detection assembly includes a position change detection device a (7), a position change detection device b (10), and a ground position marking sensor (16). An installation seat a (6) is arranged on the slewing arm. The position change detection device a (7) is arranged on the installation seat a (6). An installation seat b (11) is arranged inside the fixing plate (12). The installation seat b (11) and the installation seat a (6) are located at the same horizontal position. The position change detection device b (10) is arranged on the installation seat b (11). A plurality of ground position marking sensors (16) are uniformly arranged on the circumference of the slewing track of the receiver to be detected (14). The position change detection device a (7), the position change detection device b (10), and the ground position marking sensor (16) are all electrically connected to the drive control system.

6. A detection method for a dynamic positioning accuracy detection device, characterized in that it specifically includes the following steps: Step 1: Before the GNSS dynamic positioning accuracy detection device works, use anchor bolts and adjusting shims to fix the rotating turntable base on the concrete foundation. Assemble the slewing arm according to the local wind resistance and the user's budget accuracy requirements. Adjust the perpendicularity of the slewing axis of the slewing arm through adjustable shims, and adjust the spatial orientation of the load platform (15) through the X-axis sliding assembly (13), Y-axis sliding assembly (17), and Z-axis sliding assembly (18) to meet the measurement requirements required by the user; Step 2: Perform spatial position calibration of the GNSS receiver detection reference point; Number the ground position marking sensors (16), and after multiple repeated calibrations and taking the average value, determine the high-precision spatial coordinate value of the receiver under test (14) located at the ground position marking sensor (16), denoted as , is the number of the ground position marking sensor, ; The receiver to be detected (14) is installed on the load platform (15). A detection reference point is provided on the load platform (15). The relative position of the receiver to be detected (14) relative to the detection reference point is known. The slewing arm is located at each ground position marking sensor (16). The relative position between the detection reference point and the ground sensor is known. The position is determined by the determined ground position marking sensor (16) to obtain the static spatial position of the receiver to be detected when the slewing arm is located at each ground position marking sensor (16). Perform spatial position calibration of the GNSS receiver detection reference point, and use repeated calibration multiple times. Use the average value of the repeated calibration multiple times to ensure the calibration accuracy; Step 3: Configure the stable operation environment; Select the platform rotation parameters according to the linear velocity required by the user and the radius of the slewing arm, select the fixed elevation or variable elevation motion mode, start the rotating turntable (2), and make it reach the stable operation time standard. The higher the accuracy required by the user, the longer the stable operation time. Configure the stable operation environment for clockwise and counterclockwise respectively to prepare for data measurement; Step 4. Under the condition of the motion parameters selected in Step 3, when the turntable (2) rotates stably, the receiver under test generates a stable circular motion. When the receiver under test (14) passes through the zero position ( ), the drive control system starts to issue a sampling instruction, and the receiver under test (14) starts to receive GNSS positioning information. At the same time, the position change detection device a (7) and the position change detection device b (10) respectively collect the position change information of the receiver under test (14) once. After that, every time the receiver under test (14) passes through a ground position marker sensor (16), the receiver under test (14) receives a GNSS positioning information, and at the same time, the position change detection device a (7) and the position change detection device b (10) collect the position change information of the receiver under test (14) once. The positioning information of the GNSS system is denoted as , and the position change information of the receiver under test is denoted as . The coordinates of the receivers at all i points in the clockwise and counterclockwise directions and the actual position coordinates are collected and stored. Step 6: After the detection, perform effective space-time asynchronous error compensation; Due to factors such as the response time and data acquisition time of the ground position marker sensor (16), there is a time delay from when the slewing arm sweeps over the ground position marker sensor (16) and issues a sampling pulse to when the GNSS system performs positioning measurement. , and the receiver under test (14) is in a moving state. During the time, a displacement is generated, causing the GNSS system to measure the position of the receiver under test to deviate from the position when the slewing arm sweeps over the ground position marker sensor (16). The detection error of the GNSS dynamic positioning accuracy thus generated is the detection error caused by spatio-temporal asynchronization; Compensate for errors through forward and reverse measurements. In the GNSS dynamic positioning accuracy detection, the detection errors caused by spatio-temporal asynchronization are mainly reflected in the x-y coordinate plane. The position when the rotating arm rotates counterclockwise and delays for the position of the receiver under test. The rotating arm rotates counterclockwise and delays for the position of the receiver under test: Compared with points, the resulting position deviations are respectively The polarities of the corresponding coordinate errors are opposite. Through data processing methods, the influences are offset from each other to achieve the error compensation effect; After compensation, when rotating through i The coordinates of the receiver under test at point are: ( ), for When the point is located on the x-axis, at this time and have the same polarity, but and still have opposite polarities, and the error in the x direction is much smaller than the error in the y direction. The method of positive and reverse detection still has the effect of error compensation. The situation when the point is located on the y-axis is similar. The GNSS receiver position coordinates after final compensation are: ( , z i ). By analyzing and processing the data and averaging the errors obtained through multiple measurements, the dynamic positioning error of the receiver under test can be obtained.

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