GNSS receiver direction finding accuracy calibration system and calibration method
The GNSS receiver direction finding accuracy calibration system, composed of a static reference point, a turntable, and a sliding module, solves the problems of high cost and poor applicability of existing GNSS receiver direction finding accuracy calibration equipment. It achieves low-cost, high-efficiency multi-system testing and meets the requirements for static and dynamic direction finding accuracy calibration of GNSS receivers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-07-06
- Publication Date
- 2026-04-07
AI Technical Summary
Existing GNSS receiver direction finding accuracy calibration methods suffer from problems such as expensive equipment, inability to accurately assess the impact of the external electromagnetic environment, difficulty in reproducing test conditions, and poor applicability.
A GNSS receiver direction finding accuracy calibration system is adopted, which includes a static reference point, a turntable, a sliding module, and a direction finding accuracy calculation module. The turntable provides different azimuth angles and rotation speeds, the sliding module adjusts the baseline length, and the direction finding accuracy calculation module calculates the static and dynamic direction finding accuracy of the GNSS receiver.
It enables low-cost and widely applicable GNSS receiver direction finding accuracy calibration, capable of calibrating both static and dynamic headings, improving detection efficiency and reducing enterprise R&D costs.
Smart Images
Figure CN116794689B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of radio navigation technology, and in particular to a GNSS receiver direction finding accuracy calibration system and calibration method thereof. Background Technology
[0002] The Global Navigation Satellite System (GNSS) is a global satellite navigation system independently constructed by my country. It can provide all-day, all-weather, high-precision positioning, navigation, and timing services to a wide range of users on the Earth's surface and in near-Earth space. It has been widely used in fields such as national defense, land, sea and air transportation, surveying and mapping, mobile communications, power, electronic finance, precision agriculture, and disaster reduction and relief. It is an important space infrastructure for expanding human activities and promoting social development.
[0003] GNSS precise direction finding technology is one of the key technologies for providing precise positioning services in global satellite navigation systems. It is currently widely used in driver's license testing, precision agriculture, and drone control. Utilizing GNSS direction finding technology, it uses carrier phase and pseudorange data collected by two receivers on the vehicle as the main observations for differential calculation and estimation of the integer ambiguity of the carrier phase. This allows for real-time acquisition of high-precision heading information, greatly improving operational efficiency and reducing operating costs.
[0004] Currently, there are several main methods for calibrating the direction-finding accuracy of GNSS receivers: First, the simulator-based testing method, which compares the receiver's heading with the simulator's output heading through dynamic motion to calculate accuracy. Second, the attitude test platform-based method, which performs dynamic testing on a dedicated attitude test platform to evaluate direction-finding accuracy. Third, the static testing method, which places two antennas at two adjacent fixed points, uses a measurement receiver to measure the geodetic azimuth of the two fixed points as the standard heading value, and combines this heading data to calculate the accuracy. The simulator method and dedicated attitude test platforms are expensive, and the simulator method cannot accurately assess the impact of the external electromagnetic environment on receiver direction finding. Dynamic test platforms are often conducted on dedicated test vehicles or carriers, and their test conditions are often unreproducible, making routine calibration difficult for ordinary users. The static testing method typically establishes high-precision reference points with fixed baseline lengths, but different users need to evaluate direction-finding accuracy under different baseline lengths, resulting in poor applicability. Summary of the Invention
[0005] The purpose of this invention is to provide a GNSS receiver direction finding accuracy calibration system and calibration method, which at least solves one of the technical problems existing in the current GNSS receiver direction finding accuracy calibration.
[0006] To achieve the above objectives, this invention provides a GNSS receiver direction finding accuracy calibration system, comprising a static reference point, a turntable, a sliding module, and a direction finding accuracy calculation module; wherein,
[0007] The sliding module includes a slide rail and two bases slidably disposed on the slide rail. The slide rail is disposed on the turntable. Two antennas of the GNSS receiver to be tested are respectively mounted on the two bases. The two bases can slide relative to each other on the slide rail to adjust the baseline length between the two antennas.
[0008] The static reference point is used to calibrate the initial azimuth angle of the turntable;
[0009] The turntable is used to provide different azimuth angles and different rotation speeds to the slide rail;
[0010] The direction finding accuracy calculation module is used to acquire the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver, and to calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and / or different azimuth angles, as well as the dynamic heading accuracy of the GNSS receiver under different baseline lengths and / or different rotation speeds.
[0011] Optionally, the slide rail is provided with a scale to indicate the baseline length between the two antennas.
[0012] Optionally, the slide rail is a rigid track.
[0013] Optionally, a laser alignment device is provided on the turntable.
[0014] Based on the same inventive concept, this invention also provides a GNSS receiver direction finding accuracy calibration method, which utilizes the GNSS receiver direction finding accuracy calibration system described above for calibration, including:
[0015] S1. Adjust the azimuth angle of the turntable to be in the same azimuth as the static reference point, and take the azimuth angle of the turntable at this time as the initial azimuth angle;
[0016] S2. Adjust the baseline length of the two antennas and / or adjust the azimuth angle of the turntable, obtain the azimuth angle information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and / or different azimuth angles.
[0017] S3. Adjust the baseline length of the two antennas and / or adjust the rotation speed of the turntable. Obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under different baseline lengths and / or different rotation speeds.
[0018] Optionally, S1 specifically includes:
[0019] The azimuth angle of the static reference point is obtained, and the turntable and the static reference point are kept in the same azimuth using a laser centering device. The azimuth angle of the static reference point is then used as the initial azimuth angle of the turntable.
[0020] Optionally, S2 specifically includes:
[0021] S21. Set the baseline length of the two antennas, obtain the initial azimuth angle of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under the current baseline length.
[0022] S22. Adjust the baseline length of the two antennas, obtain the initial azimuth angle of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths.
[0023] S23. Adjust the baseline length of the two antennas, and simultaneously rotate the turntable horizontally by a set angle. Obtain the azimuth information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and different azimuth angles.
[0024] Optionally, S3 specifically includes:
[0025] S31. Set the baseline length of the two antennas, set the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under the current baseline length.
[0026] S32. Set the baseline length of the two antennas, adjust the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver at different rotation speeds.
[0027] S33. Adjust the baseline length of the two antennas, set the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under different baseline lengths.
[0028] Optionally, the dynamic heading accuracy of the GNSS receiver can be calculated using least squares interpolation curves.
[0029] Optionally, the slide rail is a rigid rail, and the slide rail is provided with a scale to indicate the baseline length between the two antennas.
[0030] In the GNSS receiver direction-finding accuracy calibration system and method provided by this invention, a high-precision turntable drives the slide rail to rotate, providing different azimuth angles and rotational speeds to the antenna. The azimuth angle and rotational speed information of the turntable are used to calibrate the heading value of the GNSS receiver. This system can calibrate both the static and dynamic heading accuracy of the GNSS receiver, filling a gap in GNSS receiver direction-finding accuracy calibration systems and improving the detection method for GNSS receiver direction-finding accuracy. Based on existing detection technologies, it transforms the traditional single-method detection into a multi-systematic detection approach, greatly improving detection efficiency and reducing enterprise R&D costs. The calibration is low-cost, highly applicable, easy to use, and feasible, and can simultaneously meet the calibration requirements for the static and dynamic direction-finding accuracy of GNSS receivers. Attached Figure Description
[0031] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:
[0032] Figure 1 This is a structural block diagram of a GNSS receiver direction finding accuracy calibration system provided in an embodiment of the present invention.
[0033] in:
[0034] 1-Static reference point; 2-Turntable; 3-Sliding module; 4-Direction finding accuracy calculation module; 5-GNSS receiver; 5-1 Antenna; 6-Laser centering device. Detailed Implementation
[0035] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the purpose of the embodiments of this invention. Please refer to the accompanying drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only used to complement the content disclosed in the specification, for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, if they are the same as or similar to the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.
[0036] As used herein, the singular forms “a,” “an,” and “the” include plural objects unless otherwise expressly indicated. As used herein, the term “or” is generally used to include “and / or” unless otherwise expressly indicated. As used herein, the term “a number” is generally used to include “at least one” unless otherwise expressly indicated. As used herein, the term “at least two” is generally used to include “two or more” unless otherwise expressly indicated. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature.
[0037] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0038] Please refer to Figure 1 This embodiment provides a GNSS receiver direction finding accuracy calibration system, including a static reference point 1, a turntable 2, a sliding module 3, and a direction finding accuracy calculation module 4; wherein,
[0039] The sliding module 3 includes a slide rail and two bases slidably mounted on the slide rail. The slide rail is mounted on the turntable 2. Two antennas 5-1 of the GNSS receiver 5 under test are respectively mounted on the two bases. The two bases can slide relative to each other on the slide rail to adjust the baseline length between the two antennas 5-1.
[0040] Static reference point 1 is used to calibrate the initial azimuth angle of turntable 2;
[0041] Turntable 2 is used to provide different azimuth angles and different rotation speeds to the slide rail;
[0042] The direction finding accuracy calculation module 4 is used to acquire the azimuth and rotation speed information of the turntable 2 and the direction finding information of the GNSS receiver 5, and to calculate the static direction finding accuracy of the GNSS receiver 5 under different baseline lengths and / or different azimuth angles, as well as the dynamic heading accuracy of the GNSS receiver 5 under different baseline lengths and / or different rotation speeds.
[0043] The basic principle of this invention is to use a high-precision turntable 2 to drive the slide rail to rotate, providing different azimuth angles and rotational speeds to the antenna 5-1. The azimuth angle and rotational speed information of the turntable 2 are used to calibrate the heading value of the GNSS receiver 5. However, since the turntable 2 itself does not have an initial azimuth angle, the initial azimuth angle of the turntable 2 can be calibrated through a static reference point 1. This allows for the calibration of both the static direction-finding accuracy and the dynamic heading accuracy of the GNSS receiver 5, filling the gap in GNSS receiver direction-finding accuracy calibration systems and improving the detection method for GNSS receiver direction-finding accuracy. Based on existing detection technologies, it transforms traditional, single-function detection into a multi-faceted, systematic detection approach, significantly improving detection efficiency and reducing enterprise R&D costs.
[0044] In this embodiment, the turntable 2 can control the antenna 5-1 to rotate to different azimuth angles, and can also set different rotation speeds. Combined with the initial azimuth angle calibration of the turntable 2, different azimuth angles can be controlled, as well as azimuth angles at different rotation speeds.
[0045] Preferably, the slide rail is a rigid rail with a scale to indicate the baseline length between the two antennas 5-1. The two antennas 5-1 can be installed on different baseline lengths as needed to meet the direction finding accuracy measurement requirements for different baseline lengths.
[0046] Preferably, the turntable 2 is equipped with a laser alignment device 6, which can keep the turntable 2 and the static reference point 1 in the same position, and use the azimuth angle of the static reference point 1 as the initial azimuth angle of the turntable 2.
[0047] Based on the same inventive concept, embodiments of the present invention also provide a GNSS receiver direction finding accuracy calibration method, which utilizes the above-described GNSS receiver direction finding accuracy calibration system for calibration, including:
[0048] S1. Adjust the azimuth angle of turntable 2 to be in the same azimuth as static reference point 1, and take the azimuth angle of turntable 2 at this time as the initial azimuth angle.
[0049] S2. Adjust the baseline length of the two antennas 5-1 and / or adjust the azimuth angle of the turntable 2. Obtain the azimuth angle information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the static direction finding accuracy of the GNSS receiver 5 under different baseline lengths and / or different azimuth angles.
[0050] S3. Adjust the baseline length of the two antennas 5-1 and / or adjust the rotation speed of the turntable 2. Obtain the azimuth and rotation speed information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the dynamic heading accuracy of the GNSS receiver 5 under different baseline lengths and / or different rotation speeds.
[0051] Preferably, S1 specifically includes:
[0052] Obtain the azimuth angle of static reference point 1, keep turntable 2 and static reference point 1 in the same azimuth using laser centering device 6, and use the azimuth angle of static reference point 1 as the initial azimuth angle of turntable 2.
[0053] For example, assuming the azimuth angle of the obtained static reference point 1 is 45°, the turntable 2 and the reference point are kept in the same azimuth by the laser centering device 6, and the azimuth angle of the static reference point 1, 45°, can be used as the initial azimuth angle of the turntable 2.
[0054] Preferably, S2 specifically includes:
[0055] S21. Set the baseline length of the two antennas 5-1, obtain the initial azimuth angle of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the static direction finding accuracy of the GNSS receiver 5 under the current baseline length.
[0056] S22. Adjust the baseline length of the two antennas 5-1, obtain the initial azimuth angle of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the static direction finding accuracy of the GNSS receiver 5 under different baseline lengths.
[0057] S23. Adjust the baseline length of the two antennas 5-1, and at the same time rotate the turntable 2 horizontally by a set angle. Obtain the azimuth information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the static direction finding accuracy of the GNSS receiver 5 under different baseline lengths and different azimuth angles.
[0058] For example, first adjust the baseline length of the two antennas 5-1 to 1m, and obtain the static direction finding accuracy under the 1m baseline through the direction finding accuracy calculation module 4; then adjust the baseline length to 1.5m, 2m, 2.5m, etc., and obtain the static direction finding accuracy under different baselines through the direction finding accuracy calculation module 4; finally, rotate the turntable 2 clockwise by 45° in sequence, and adjust the baseline length of the two antennas 5-1 to obtain the static direction finding accuracy under different baselines and different azimuth angles.
[0059] Preferably, S3 specifically includes:
[0060] S31. Set the baseline length of the two antennas 5-1, set the rotation speed of the turntable 2, obtain the azimuth and rotation speed information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the dynamic heading accuracy of the GNSS receiver 5 under the current baseline length.
[0061] S32. Set the baseline length of the two antennas 5-1, adjust the rotation speed of the turntable 2, obtain the azimuth and rotation speed information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the dynamic heading accuracy of the GNSS receiver 5 at different rotation speeds.
[0062] S33. Adjust the baseline length of the two antennas 5-1, set the rotation speed of the turntable 2, obtain the azimuth and rotation speed information of the turntable 2 and the direction finding information of the GNSS receiver 5 through the direction finding accuracy calculation module 4, and calculate the dynamic heading accuracy of the GNSS receiver 5 under different baseline lengths.
[0063] For example, when performing dynamic heading accuracy calibration, the baseline length of the two antennas 5-1 is set to 1m, the rotation speed of turntable 2 is set to 15 degrees / second, and the data update rate of GNSS receiver 5 is set to 10Hz. The baseline length is adjusted to 1.5m, 2m, 2.5m, and the rotation speed of turntable 2 is set to 10 degrees / second, 20 degrees / second, etc. By reading the azimuth and rotation speed information of turntable 2 and the heading information of GNSS receiver 5 in real time through the direction finding accuracy calculation module 4, the dynamic heading accuracy of GNSS receiver 5 under different baseline lengths and different rotation speeds can be obtained.
[0064] Preferably, the dynamic heading accuracy of the GNSS receiver 5 is calculated by least squares interpolation curve.
[0065] Preferably, the slide rail is a rigid rail, and the slide rail is provided with a scale to indicate the baseline length between the two antennas 5-1.
[0066] The GNSS receiver direction finding accuracy calibration system and calibration method provided in this embodiment of the invention can calibrate both the static direction finding accuracy and the dynamic heading accuracy of the GNSS receiver 5, filling the gap in GNSS receiver direction finding accuracy calibration systems and improving the detection method of GNSS receiver direction finding accuracy. Based on existing detection technologies, it changes from traditional single detection to multi-system detection, greatly improving detection efficiency and reducing enterprise R&D costs.
[0067] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.
Claims
1. A GNSS receiver direction finding accuracy calibration system, characterized in that, It includes a static reference point, a turntable, a sliding module, and a direction finding accuracy calculation module; among which, The sliding module includes a slide rail and two bases slidably disposed on the slide rail. The slide rail is disposed on the turntable. Two antennas of the GNSS receiver to be tested are respectively mounted on the two bases. The two bases can slide relative to each other on the slide rail to adjust the baseline length between the two antennas. The slide rail is provided with a scale to indicate the baseline length between the two antennas. The static reference point is used to calibrate the initial azimuth angle of the turntable; The turntable is used to provide different azimuth angles and different rotation speeds to the slide rail, and a laser centering device is provided on the turntable. The direction finding accuracy calculation module is used to acquire the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver, and to calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and / or different azimuth angles, as well as the dynamic heading accuracy of the GNSS receiver under different baseline lengths and / or different rotation speeds.
2. The GNSS receiver direction finding accuracy calibration system according to claim 1, characterized in that, The slide rail is a rigid track.
3. A method for calibrating the direction-finding accuracy of a GNSS receiver, comprising calibration using the GNSS receiver direction-finding accuracy calibration system according to claim 1 or 2, characterized in that, include: S1. Adjust the azimuth angle of the turntable to be in the same azimuth as the static reference point, and take the azimuth angle of the turntable at this time as the initial azimuth angle; S2. Adjust the baseline length of the two antennas and / or adjust the azimuth angle of the turntable, obtain the azimuth angle information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and / or different azimuth angles. S3. Adjust the baseline length of the two antennas and / or adjust the rotation speed of the turntable. Obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under different baseline lengths and / or different rotation speeds.
4. The GNSS receiver direction finding accuracy calibration method according to claim 3, characterized in that, S1 specifically includes: The azimuth angle of the static reference point is obtained, and the turntable and the static reference point are kept in the same azimuth using a laser centering device. The azimuth angle of the static reference point is then used as the initial azimuth angle of the turntable.
5. The GNSS receiver direction finding accuracy calibration method according to claim 3, characterized in that, S2 specifically includes: S21. Set the baseline length of the two antennas, obtain the initial azimuth angle of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under the current baseline length. S22. Adjust the baseline length of the two antennas, obtain the initial azimuth angle of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths. S23. Adjust the baseline length of the two antennas, and simultaneously rotate the turntable horizontally by a set angle. Obtain the azimuth information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the static direction finding accuracy of the GNSS receiver under different baseline lengths and different azimuth angles.
6. The GNSS receiver direction finding accuracy calibration method according to claim 3, characterized in that, S3 specifically includes: S31. Set the baseline length of the two antennas, set the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under the current baseline length. S32. Set the baseline length of the two antennas, adjust the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver at different rotation speeds. S33. Adjust the baseline length of the two antennas, set the rotation speed of the turntable, obtain the azimuth and rotation speed information of the turntable and the direction finding information of the GNSS receiver through the direction finding accuracy calculation module, and calculate the dynamic heading accuracy of the GNSS receiver under different baseline lengths.
7. The GNSS receiver direction finding accuracy calibration method according to claim 6, characterized in that, The dynamic heading accuracy of the GNSS receiver was calculated using the least squares interpolation curve.
8. The GNSS receiver direction finding accuracy calibration method according to claim 3, characterized in that, The slide rail is a rigid track, and the slide rail is provided with a scale to indicate the baseline length between the two antennas.
Citation Information
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