Rotation system differential positioning test system and method

Abstract

The present invention discloses a differential positioning test system and method for a rotating system to ensure the positioning reliability of a satellite receiving compartment during the rotation process. The system includes: a satellite receiving compartment equipped with a receiving antenna and a satellite receiver; an RTK base station; an RTK calibration station for calibrating the first coordinate information of the position of the satellite receiving compartment; a rotation control mechanism; a shielding mechanism; a detection system for first obtaining the second coordinate information of the satellite receiver differentially positioned by the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off; then obtaining the third coordinate information of the satellite receiver differentially positioned by the RTK base station when the shielding function is turned on for a period of time and then turned off again in the rotating state of the satellite receiving compartment; finally, judging whether the difference between the second and third coordinate information and the first coordinate information is less than the positioning accuracy index, if so, judging that the differential positioning accuracy of the rotating system is qualified, otherwise unqualified.

Description

Technical Field

[0001] The present invention relates to the technical field of supporting tests for control systems in intelligent manufacturing, and in particular to a differential positioning test system and method for a rotating system. Background Art

[0002] Some special flight equipment has the function of self-spin, which controls it to roll continuously around its own longitudinal axis during flight. The equipment's own rotational movement can effectively improve the influence of interference such as thrust eccentricity, mass eccentricity, and shape processing technology errors, thereby maintaining the stability of the equipment's flight.

[0003] In flying equipment with autospin function, differential satellite positioning is usually used, and the positioning and navigation accuracy can reach the centimeter level; however, how to test the reliability of the differential positioning function has become the primary technical problem to be faced. Summary of the invention

[0004] The present invention aims to disclose a differential positioning test system and method for a rotating system, so as to ensure the positioning reliability of a satellite receiving compartment during the rotation process.

[0005] To achieve the above-mentioned purpose, the rotary system differential positioning test system disclosed in the present invention comprises:

[0006] The satellite receiving compartment is equipped with receiving antennas and satellite receivers.

[0007] The RTK base station is used to solve satellite positioning information and provide RTK data coverage within a certain range so that satellite receivers and RTK calibration stations can achieve high-precision differential positioning.

[0008] The RTK calibration station is used to calibrate the first coordinate information of the position of the satellite receiving module via the RTK base station, wherein the first coordinate information includes a first longitude, a first latitude and a first altitude.

[0009] The rotation control mechanism is used to drive the start and stop of the satellite receiving compartment rotation function and the speed setting according to the instructions of the detection system.

[0010] The shielding mechanism is used to switch the shielding function between the on and off states according to the instructions of the detection system; wherein, when the shielding function is turned on, the satellite receiving compartment is in a signal shielding state, and the satellite receiver cannot be positioned; when the shielding function is turned off, the satellite receiving compartment is in a signal unshielded state, and the satellite receiver can be positioned normally.

[0011] The detection system is used to first obtain the second coordinate information of the satellite receiver differentially located by the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes the second longitude, the second latitude and the second altitude; then, send an instruction to drive the rotation control mechanism to drive the satellite receiving compartment to rotate at a target speed, and during the rotation process, obtain the third coordinate information of the satellite receiver differentially located by the RTK base station after the shielding function is turned on for a period of time and then turned off again, wherein the third coordinate information includes the third longitude, the third latitude and the third altitude; finally, determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index, and if so, determine that the differential positioning accuracy of the rotation system is qualified, otherwise it is unqualified.

[0012] Preferably, the strategy for determining whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index includes: calculating whether the horizontal distance based on the latitude and longitude information in the two coordinate information is less than the positioning horizontal accuracy index, and calculating whether the vertical distance based on the height information in the two coordinate information is less than the positioning vertical accuracy index.

[0013] Preferably, the detection system is also used to record and determine whether the time difference between the satellite receiver being powered on and obtaining the second coordinate information through differential positioning is less than a cold start time index during the process of obtaining the second coordinate information. If so, the second coordinate information is determined to be valid; otherwise, the second coordinate information is determined to be invalid.

[0014] Preferably, the detection system is also used to record and determine whether the time difference between the satellite receiver's shielding function being turned off again and the third coordinate information being obtained by differential positioning is less than a repositioning time index during the process of obtaining the third coordinate information. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

[0015] To achieve the above object, the present invention further discloses a rotation system differential positioning test method, comprising:

[0016] Step S1, building a test system, which is the above-mentioned rotation system differential positioning test system.

[0017] Step S2: calibrate the first coordinate information of the position of the satellite receiving module via the RTK base station using the RTK calibration station, wherein the first coordinate information includes a first longitude, a first latitude and a first altitude.

[0018] Step S3, obtaining second coordinate information of the satellite receiver located by the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes a second longitude, a second latitude and a second altitude.

[0019] Step S4, the detection system sends a command to drive the rotation control mechanism to control the satellite receiving compartment to rotate at a target speed. During the rotation process, the third coordinate information of the satellite receiver located by the RTK base station is obtained after the shielding function is turned on for a period of time and then turned off again. The third coordinate information includes a third longitude, a third latitude and a third altitude.

[0020] Step S5: determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index; if so, determine that the differential positioning accuracy of the rotation system is qualified; otherwise, it is unqualified.

[0021] The present invention has the following beneficial effects:

[0022] The invention is simple to implement, easy to operate, and has strong compatibility, and can reliably realize the positioning performance test of the satellite receiver of special flight equipment when it is rotating.

[0023] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a schematic diagram of the architecture of the differential positioning test system for a rotation system disclosed in an embodiment of the present invention.

[0026] Figure 2 It is a flow chart of a differential positioning test method for a rotating system disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0028] Example 1

[0029] This embodiment discloses a differential positioning test system for a rotating system. Figure 1 As shown, it consists of a satellite receiving cabin, an RTK base station, an RTK calibration station, a rotation control mechanism, a shielding mechanism, a detection system and supporting cables.

[0030] The satellite receiving compartment consists of a satellite receiver, a receiving antenna and a load-bearing cylindrical cabin. The satellite receiver is installed inside the load-bearing cylindrical cabin, and the receiving antenna is installed conformally with the load-bearing cylindrical cabin. The satellite receiver can receive differential positioning signals and can also parse and output satellite positioning data to obtain longitude, latitude and altitude values. The satellite receiver has a radio frequency interface connected to the receiving antenna through a radio frequency line. The satellite receiver has a serial port connected to the detection system through a cable. The satellite signal received by the receiving antenna and the wireless signal transmitted by the RTK base station are input into the satellite receiver through the radio frequency port and the positioning data is calculated and output to the detection system through the serial port for real-time display and storage.

[0031] RTK (Real Time Kinematic) base stations are usually composed of power supplies, data transmission modules, receivers, high-precision satellite navigation antennas and radio frequency lines. The high-precision satellite navigation antenna receives satellite signals, and the receiver calculates the BD (Beidou Navigation Satellite System) and GPS (Global Positioning System) satellite positioning information, and broadcasts it through the data transmission module, providing RTK data coverage for carriers within a certain range, and realizing remote high-precision differential positioning.

[0032] RTK calibration stations are usually composed of power supplies, receivers, high-precision satellite navigation antennas and radio frequency lines. The high-precision satellite navigation antenna receives satellite positioning signals and wireless signals transmitted by RTK base stations, and outputs accurate position coordinates after differential processing by the receiver.

[0033] The rotation control mechanism consists of a motor, a motor controller and a coaxial turntable. The motor and the satellite receiving compartment are installed on the coaxial turntable with the same central axis. The motor, motor controller and detection system use serial communication. The detection system controls the motor to drive the satellite receiving compartment to rotate by sending a speed setting instruction to the motor controller, which can simulate the situation of special air-to-surface equipment rotating in the air. The rotation control mechanism is powered by 220V AC.

[0034] Optionally, the shielding mechanism is composed of a shielding cover and a control mechanism. The shielding cover is placed above the satellite receiving compartment. The control mechanism has a serial port connected to the detection system through a cable, receives instructions from the detection system, and drives the shielding cover to descend or ascend. After descending, it will completely shield the satellite receiving compartment, so that the satellite receiving compartment is in a signal shielding state, and the satellite receiver cannot locate (i.e., corresponding to the "shielding function on state" described later); after ascending, the shielding of the satellite receiving compartment will be removed, which will not affect the satellite receiver from receiving the positioning signal (i.e., corresponding to the "shielding function off state" described later).

[0035] The detection system usually consists of a DC power supply, a signal conditioning module, a measurement and control computer, a display and a chassis structure.

[0036] In this embodiment, the detection system can be connected to the satellite receiving compartment via a cable. On the one hand, it supplies power to the satellite receiving compartment; on the other hand, it receives, displays and saves the positioning data output by the satellite receiving compartment in real time. The measurement and control computer can be connected to the motor controller via a cable, and send the motor speed setting to control the motor to drive the satellite receiving compartment to rotate at a certain speed. In addition, the detection system is connected to the shielding mechanism via a cable. On the one hand, it supplies power to the shielding mechanism; on the other hand, it sends a "blocking" or "unblocking" instruction so that the shielding mechanism shields or does not shield the satellite receiving compartment.

[0037] In summary, the rotation system differential positioning test system disclosed in this embodiment includes:

[0038] The satellite receiving compartment is equipped with receiving antennas and satellite receivers.

[0039] The RTK base station is used to solve satellite positioning information and provide RTK data coverage within a certain range so that satellite receivers and RTK calibration stations can achieve high-precision differential positioning.

[0040] The RTK calibration station is used to calibrate the first coordinate information of the position of the satellite receiving module through the RTK base station (the positioning method of each coordinate adopts the differential positioning method, which will not be repeated later). The first coordinate information includes a first longitude, a first latitude and a first altitude.

[0041] The rotation control mechanism is used to drive the start and stop of the satellite receiving compartment rotation function and the speed setting according to the instructions of the detection system.

[0042] The shielding mechanism is used to switch the shielding function between the on and off states according to the instructions of the detection system; wherein, when the shielding function is turned on, the satellite receiving compartment is in a signal shielding state, and the satellite receiver cannot be positioned; when the shielding function is turned off, the satellite receiving compartment is in a signal unshielded state, and the satellite receiver can be positioned normally.

[0043] The detection system is used to first obtain the second coordinate information of the satellite receiver differentially located by the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes the second longitude, the second latitude and the second altitude; then, send an instruction to drive the rotation control mechanism to drive the satellite receiving compartment to rotate at a target speed, and during the rotation process, obtain the third coordinate information of the satellite receiver differentially located by the RTK base station after the shielding function is turned on for a period of time and then turned off again, wherein the third coordinate information includes the third longitude, the third latitude and the third altitude; finally, determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index, and if so, determine that the differential positioning accuracy of the rotation system is qualified, otherwise it is unqualified.

[0044] Preferably, the strategy for determining whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index includes: calculating whether the horizontal distance based on the latitude and longitude information in the two coordinate information is less than the positioning horizontal accuracy index, and calculating whether the vertical distance based on the height information in the two coordinate information is less than the positioning vertical accuracy index.

[0045] Preferably, the detection system is also used to record and determine whether the time difference between the satellite receiver being powered on and obtaining the second coordinate information through differential positioning is less than a cold start time index during the process of obtaining the second coordinate information. If so, the second coordinate information is determined to be valid; otherwise, the second coordinate information is determined to be invalid.

[0046] Preferably, the detection system is also used to record and determine whether the time difference between the satellite receiver's shielding function being turned off again and the third coordinate information being obtained by differential positioning is less than a repositioning time index during the process of obtaining the third coordinate information. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

[0047] Example 2

[0048] This embodiment discloses a differential positioning test method for a rotating system based on the system in the above embodiment, and its implementation process is as follows: Figure 2 As shown, the details are as follows:

[0049] Step 1: Test environment setup. Assemble the satellite receiving compartment and the rotation control mechanism and place them outdoors in an unobstructed environment; place the shielding mechanism next to the satellite receiving compartment; place the detection system next to the satellite receiving compartment and connect it to the satellite receiving compartment, the rotation control mechanism, and the shielding mechanism through cables; connect the RTK base station and place it in an unobstructed environment near the satellite receiving compartment, and turn on the RTK base station.

[0050] Step 2: Use the RTK calibration station to calibrate the coordinate point a (longitude, latitude, altitude) of the satellite receiving module.

[0051] Step 3: Power the rotation control mechanism and the detection system. The detection system powers on the satellite receiving compartment and the shielding mechanism, and the detection system receives and displays the positioning data in real time. Determine whether the time from the power-on of the satellite receiving compartment to the differential positioning is less than or equal to the cold start time indicator tcold. If so, record the satellite receiver cold start time t1, and record the coordinate point b (longitude, latitude, altitude) located at this time and proceed to the next step; if not, end the test.

[0052] Step 4: Send a speed setting instruction to the rotation control mechanism through the detection system, control the rotation control mechanism to drive the satellite receiving compartment to rotate at a speed of n revolutions per second, send a "blocking" instruction to the shielding mechanism through the detection system, control the shielding mechanism to shield the satellite receiving compartment, and after the satellite receiver is not positioned for one minute, send a "no blocking" instruction to the shielding mechanism through the detection system, and control the shielding mechanism to not shield the satellite receiving compartment. Determine whether the time from the satellite receiver not being positioned to re-positioning is less than or equal to t re-positioning. If so, record the re-positioning time t2 and the coordinate point c (longitude, latitude, altitude) positioned at this time; if not, end the test.

[0053] Step 5: Determine the positioning accuracy of the differential receiver.

[0054] Calculate the horizontal distance between b and a, and between c and a respectively and , horizontal distance The general formula is:

[0055] ;

[0056] In the formula, , They are the longitude and latitude values ​​of coordinate point 1, , They are the longitude and latitude values ​​of coordinate point 2 respectively; is pi; R is the radius of the earth.

[0057] Calculate the vertical distance between b and a, and between c and a respectively , , the calculation formula is as follows:

[0058] ;

[0059] In the formula, is the height value of coordinate point 1, It is the height value of coordinate point 2.

[0060] when , < ,and , < This indicates that the positioning accuracy is qualified. It is the positioning horizontal accuracy indicator; It is an indicator of vertical positioning accuracy.

[0061] In other words, the method of this embodiment can be summarized as comprising at least the following steps:

[0062] Step S1, constructing the test system as described in Example 1.

[0063] Step S2: calibrate the first coordinate information (equivalent to the coordinates of the above-mentioned coordinate point a) of the position of the satellite receiving module via the RTK base station using the RTK calibration station, wherein the first coordinate information includes a first longitude, a first latitude and a first altitude.

[0064] Step S3, obtaining the second coordinate information (equivalent to the coordinates of the above-mentioned coordinate point b) located by the satellite receiver through the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes a second longitude, a second latitude and a second altitude.

[0065] Step S4, the detection system sends a command to drive the rotation control mechanism to control the satellite receiving compartment to rotate at a target speed. During the rotation process, the third coordinate information (equivalent to the coordinates of the above-mentioned coordinate point c) located by the satellite receiver through the RTK base station after the shielding function is turned on for a period of time and then turned off again is obtained. The third coordinate information includes a third longitude, a third latitude and a third altitude.

[0066] Step S5: determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index; if so, determine that the differential positioning accuracy of the rotation system is qualified; otherwise, it is unqualified.

[0067] Preferably, the strategy for determining whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index includes: calculating whether the horizontal distance based on the latitude and longitude information in the two coordinate information is less than the positioning horizontal accuracy index, and calculating whether the vertical distance based on the height information in the two coordinate information is less than the positioning vertical accuracy index.

[0068] Preferably, in the process of acquiring the second coordinate information, the detection system records and determines whether the time difference between the satellite receiver being powered on and the second coordinate information being obtained by differential positioning is less than the cold start time index; if so, the second coordinate information is determined to be valid; otherwise, the second coordinate information is determined to be invalid.

[0069] Preferably, in the process of acquiring the third coordinate information, the detection system records and determines whether the time difference between the satellite receiver being turned off again after the shielding function is turned off and the third coordinate information is obtained by differential positioning is less than the repositioning time index; if so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

[0070] In summary, the methods and systems disclosed in the above embodiments of the present invention respectively have at least the following beneficial effects:

[0071] The invention is simple to implement, easy to operate, and has strong compatibility, and can reliably realize the positioning performance test of the satellite receiver of special flight equipment when it is rotating.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A differential positioning test system for a rotation system, characterized in that: include: The satellite receiving module is equipped with a receiving antenna and a satellite receiver; RTK base station, used to solve satellite positioning information and provide RTK data coverage within a certain range, so that satellite receivers and RTK calibration stations can achieve high-precision differential positioning; An RTK calibration station, used to calibrate first coordinate information of the position of the satellite receiving module via the RTK base station, wherein the first coordinate information includes a first longitude, a first latitude and a first altitude; A rotation control mechanism, used to drive the start and stop of the satellite receiving compartment rotation function and the speed setting according to the instructions of the detection system; The shielding mechanism is used to switch the shielding function between the on and off states according to the instructions of the detection system; wherein, when the shielding function is turned on, the satellite receiving compartment is in a signal shielding state, and the satellite receiver cannot locate; when the shielding function is turned off, the satellite receiving compartment is in a signal unshielded state, and the satellite receiver can locate normally; The detection system is used to first obtain the second coordinate information of the satellite receiver differentially located by the RTK base station when the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes the second longitude, the second latitude and the second altitude; then, send an instruction to drive the rotation control mechanism to drive the satellite receiving compartment to rotate at a target speed, and during the rotation process, obtain the third coordinate information of the satellite receiver differentially located by the RTK base station after the shielding function is turned on for a period of time and then turned off again, wherein the third coordinate information includes the third longitude, the third latitude and the third altitude; finally, determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index, and if so, determine that the differential positioning accuracy of the rotation system is qualified, otherwise it is unqualified.

2. The system according to claim 1, characterized in that The strategies for determining whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index include: The horizontal distance calculated based on the latitude and longitude information in the two coordinate information is less than the horizontal positioning accuracy index, and the vertical distance calculated based on the height information in the two coordinate information is less than the vertical positioning accuracy index.

3. The system according to claim 1 or 2, characterized in that: The detection system is also used to record and determine whether the time difference between the satellite receiver being powered on and obtaining the second coordinate information through differential positioning is less than the cold start time index during the process of obtaining the second coordinate information. If so, the second coordinate information is determined to be valid; otherwise, the second coordinate information is determined to be invalid.

4. The system according to claim 1 or 2, characterized in that: The detection system is also used to record and determine whether the time difference between the satellite receiver being turned off again after the shielding function is turned off and the third coordinate information is obtained through differential positioning is less than the repositioning time index during the process of obtaining the third coordinate information. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

5. The system according to claim 3, characterized in that The detection system is also used to record and determine whether the time difference between the satellite receiver being turned off again after the shielding function is turned off and the third coordinate information is obtained through differential positioning is less than the repositioning time index during the process of obtaining the third coordinate information. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

6. A differential positioning test method for a rotating system, characterized in that: include: Step S1, constructing a system as described in any one of claims 1 to 5; Step S2, calibrating the first coordinate information of the position of the satellite receiving compartment by the RTK calibration station through the RTK base station, wherein the first coordinate information includes a first longitude, a first latitude and a first altitude; Step S3, obtaining second coordinate information of the satellite receiver located by the RTK base station in a state where the satellite receiving compartment is stationary and the shielding function is turned off, wherein the second coordinate information includes a second longitude, a second latitude and a second altitude; Step S4, the detection system sends an instruction to drive the rotation control mechanism to control the satellite receiving compartment to rotate at a target speed. During the rotation process, the third coordinate information of the satellite receiver located by the RTK base station after the shielding function is turned on for a period of time and then turned off again is obtained, and the third coordinate information includes a third longitude, a third latitude and a third altitude; Step S5: determine whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index; if so, determine that the differential positioning accuracy of the rotation system is qualified; otherwise, it is unqualified.

7. The method according to claim 6, characterized in that The strategies for determining whether the differences between the second coordinate information and the third coordinate information and the first coordinate information are both less than the positioning accuracy index include: The horizontal distance calculated based on the latitude and longitude information in the two coordinate information is less than the horizontal positioning accuracy index, and the vertical distance calculated based on the height information in the two coordinate information is less than the vertical positioning accuracy index.

8. The method according to claim 6 or 7, characterized in that: Also includes: In the process of acquiring the second coordinate information, the detection system records and determines whether the time difference between the satellite receiver being powered on and the second coordinate information being obtained through differential positioning is less than the cold start time index. If so, the second coordinate information is determined to be valid; otherwise, the second coordinate information is determined to be invalid.

9. The method according to claim 6 or 7, characterized in that: Also includes: In the process of acquiring the third coordinate information, the detection system records and determines whether the time difference between the satellite receiver being turned off again after the shielding function is turned off and the third coordinate information is obtained through differential positioning is less than the repositioning time index. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

10. The method according to claim 8, characterized in that Also includes: In the process of acquiring the third coordinate information, the detection system records and determines whether the time difference between the satellite receiver being turned off again after the shielding function is turned off and the third coordinate information is obtained through differential positioning is less than the repositioning time index. If so, the third coordinate information is determined to be valid; otherwise, the third coordinate information is determined to be invalid.

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