Installation method of high-precision combined navigation terminal

Abstract

The invention provides an installation method of a high-precision integrated navigation terminal. The installation method comprises the following steps: step 1, respectively installing a master antenna, a slave antenna and a host IMU of a GNSS / INS integrated navigation terminal on a motion carrier; 2, setting a telescopic measuring frame, placing the measuring frame on a host IMU, and measuring the relative height between the main antenna and the host IMU, the relative height between the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU, and the distance between the slave antenna and the host IMU by using the measuring frame; 3, calculating the X-axis coordinate offset, the Y-axis coordinate offset and the Z-axis coordinate offset of the main antenna relative to the host IMU; calculating the X-axis coordinate offset, the Y-axis coordinate offset and the Z-axis coordinate offset of the slave antenna relative to the host IMU; and 4, starting the motion carrier, and starting a calibration algorithm in the GNSS / INS integrated navigation terminal. According to the invention, the process of installing the high-precision integrated navigation terminal by on-site constructors is simplified, and the problem of long calibration time in the calibration stage caused by large manual measurement errors is solved.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and more specifically, to a method for installing a high-precision combined navigation terminal. Background Art

[0002] At present, GNSS / INS combined navigation based on GNSS satellite positioning technology and inertial navigation technology is the most widely used and mature high-precision positioning method in outdoor scenes. It has been widely used in unmanned driving, smart transportation, smart agriculture and other fields.

[0003] Generally, after the GNSS / INS integrated navigation terminal is properly physically installed, it needs to go through the following steps before it can be used normally and provide high-precision positioning data: 1. Measurement phase: Obtain the three-axis relative distances of the phase centers of the main antenna and the slave antenna of the GNSS / INS integrated navigation terminal relative to the X-axis, Y-axis and Z-axis of the host IMU of the GNSS / INS integrated navigation terminal.

[0004] 2. Arm setting stage: Input the relative relationship data of the main antenna arm and the slave antenna arm of the GNSS / INS integrated navigation terminal with respect to the X-axis, Y-axis and Z-axis of the host IMU of the GNSS / INS integrated navigation terminal.

[0005] 3. Calibration phase: Start the carrier and move it at a speed not lower than the minimum constraint speed. The calibration algorithm is started inside the GNSS / INS integrated navigation terminal until the calibration algorithm converges.

[0006] 4. The calibration is successful, the calibration value is saved, and the GNSS / INS combined navigation terminal is installed.

[0007] During the installation of the GNSS / INS integrated navigation terminal, in the first and second stages, since there is no tool specifically for measuring the relative distance between the main antenna and the slave antenna and the host IMU, the on-site implementation personnel need to use a steel tape measure to measure the data, convert the measured data into three-dimensional coordinates, calculate the relative coordinates and the relative data of the X, Y, and Z axes, and then manually input the above relative data into the GNSS / INS integrated navigation terminal. However, this installation method is not only inefficient, but also has large errors in the measurement results, resulting in a long calibration time for the sports car during the calibration phase, which seriously affects work efficiency. In addition, in actual work, human errors often occur due to on-site implementation personnel, such as: measurement and setting errors (wrong coordinate system, wrong coordinates of the main and slave antennas, and the positive and negative signs of the relative displacement of one of the three axes of XYZ are reversed), which will lead to the third stage - the calibration stage. The result is a calibration failure (unable to converge for a long time). During the calibration phase, calibration failure cannot be discovered or determined immediately. Only when the calibration algorithm fails to converge after a long period of running (usually more than 30 minutes of running), the "calibration failure" alarm will be issued. This greatly wastes precious construction time and fuel expenses, thereby greatly increasing the installation and use costs of the GNSS / INS combined navigation terminal. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a method for installing a high-precision combined navigation terminal. The method not only greatly simplifies the operating procedures for on-site construction personnel to install the high-precision combined navigation terminal and greatly reduces the operating difficulty, but also solves the problem of long calibration time in the calibration phase due to large human measurement errors, thereby improving the installation efficiency of the high-precision combined navigation terminal and reducing its installation and use costs.

[0009] In order to achieve the above object, the present invention is implemented by the following technical scheme: a method for installing a high-precision integrated navigation terminal, characterized in that it includes the following steps: Step 1: Install the main antenna, slave antenna and host IMU of the GNSS / INS integrated navigation terminal on the moving carrier respectively; install the main antenna and the slave antenna on the same horizontal plane; obtain the main antenna GNSS positioning information and the slave antenna GNSS positioning information; Step 2: Set up a retractable measuring frame, place the measuring frame on the host IMU, and use the measuring frame to measure the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU projected on the same horizontal plane, and the distance between the slave antenna and the host IMU projected on the same horizontal plane; Step 3: Calculate the X-axis coordinate offset, Y-axis coordinate offset, and Z-axis coordinate offset of the main antenna relative to the host IMU; Calculate the X-axis coordinate offset, Y-axis coordinate offset, and Z-axis coordinate offset of the slave antenna relative to the host IMU; Step 4: Start the moving carrier and move it at the minimum constrained speed. Start the calibration algorithm inside the GNSS / INS integrated navigation terminal until the calibration algorithm converges. The calibration is successful, the calibration value is saved, and the installation of the GNSS / INS integrated navigation terminal is completed.

[0010] In the above scheme, on-site construction personnel directly measure the relative heights between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU projected on the same horizontal plane, and the distance between the slave antenna and the host IMU projected on the same horizontal plane through a retractable measuring frame, and then calculate the offset of the main antenna and the slave antenna relative to the host IMU and perform calibration. This scheme not only greatly simplifies the operating procedures for on-site construction personnel to install the high-precision combined navigation terminal and greatly reduces the difficulty of operation, but also solves the problem of long calibration time in the calibration stage due to large human measurement errors, thereby improving the installation efficiency of the high-precision combined navigation terminal and reducing its installation and use costs.

[0011] The line connecting the phase centers of the main antenna and the slave antenna is parallel or perpendicular to the moving direction of the moving carrier.

[0012] The measuring frame comprises a tripod base with a folding structure, a placing platform, a main rod, a sliding rod, a ranging arm angle indicator disk, a main ranging arm and a slave ranging arm; the bottom end of the main rod is arranged on the tripod base and is provided with a length scale, and the placing platform is arranged on the top end of the main rod; the sliding rod can be slidably sleeved on the main rod; the ranging arm angle indicator disk can be rotatably arranged on the sliding rod and is provided with an angle scale; the main ranging arm and the slave ranging arm are retractable and foldable structures and are respectively provided with length scales, the main ranging arm is connected to the ranging arm angle indicator disk, and the slave ranging arm is rotatably connected to the ranging arm angle indicator disk.

[0013] In step 2, when the measuring frame is placed on the host IMU, when the host IMU is below the horizontal plane of the master antenna and the slave antenna, the main rod is placed on the host IMU through the tripod base, and the bottom end of the main rod touches the host IMU; when the host IMU is above the horizontal plane of the master antenna and the slave antenna, the main rod is placed below the host IMU through the tripod base, the platform is placed tightly against the host IMU, and the top end of the main rod touches the host IMU; The length scale of the main pole is set in two rows. The zero scale of one row of length scale is set at the bottom of the main pole, and the length units increase successively toward the top of the main pole; the zero scale of the other row of length scale is set at the top of the main pole, and the length units increase successively toward the bottom of the main pole. This design makes the measurement frame suitable for measuring the relative height between the main antenna and the slave antenna and the host IMU in various installation positions.

[0014] The measuring frame also includes a sliding rod locking device for locking the relative position of the sliding rod and the main rod; the sliding rod locking device is a threaded fastening component, and the fastening component passes through the sliding rod and the main rod for locking.

[0015] The measuring frame also includes two ranging arm locking devices for locking the relative angle between the main ranging arm and the slave ranging arm; the main ranging arm is set at the 0° scale of the ranging arm angle indicator disk through one ranging arm locking device, and the slave ranging arm is rotatably connected and fixed to the ranging arm angle indicator disk through another ranging arm locking device.

[0016] The range-measuring arm locking device comprises two clamping pieces and a screw. The two clamping pieces clamp the range-measuring arm angle indicator plate from top to bottom, and the screw penetrates the two clamping pieces to lock the two clamping pieces on the range-measuring arm angle indicator plate.

[0017] The method of using a measuring frame to measure the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU, and the distance between the slave antenna and the host IMU includes the following steps: The first step is to move the sliding rod. When the horizontal plane of the main ranging arm and the slave ranging arm coincides with the horizontal plane of the main antenna and the slave antenna, the sliding rod locking device is used to lock the sliding rod on the main rod. The length scale of the sliding rod corresponding to the main rod is read and used as the relative height between the main antenna and the slave antenna and the host IMU. The second step is to rotate the ranging arm angle indicator and stretch the main ranging arm so that the top of the main ranging arm coincides with the phase center of the main antenna; read the length scale at the top of the main ranging arm and use it as the distance between the main antenna and the host IMU projected on the same horizontal plane; The third step is to rotate the slave ranging arm and lock it through the ranging arm locking device, stretch the slave ranging arm so that the top of the slave ranging arm coincides with the phase center of the slave antenna; read the length scale at the top of the slave ranging arm and use it as the distance between the slave antenna and the host IMU projected on the same horizontal plane; Step 4: Read the angle scale between the main ranging arm and the slave ranging arm on the ranging arm angle indicator plate as the angle between the main antenna and the slave antenna.

[0018] Step 3, calculating the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the main antenna relative to the host IMU; calculating the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the slave antenna relative to the host IMU means, including the following steps: S1, input the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU projected on the same horizontal plane, the distance between the slave antenna and the host IMU projected on the same horizontal plane, the main antenna GNSS positioning information, and the slave antenna GNSS positioning information; S2, using a GNSS coordinate conversion carrier coordinate system function to convert the master antenna GNSS positioning information and the slave antenna GNSS positioning information into the master antenna GNSS carrier coordinates and the slave antenna GNSS carrier coordinates respectively; S3, determine the angle A between the main antenna and the slave antenna: if the angle A between the main antenna and the slave antenna>180°, then the angle A between the main antenna and the slave antenna=360°-A, otherwise proceed to S4; S4, in the master antenna GNSS carrier coordinate system and the slave antenna GNSS carrier coordinate system, calculate the X-axis coordinate offset X0, Y-axis coordinate offset Y0 and Z-axis coordinate offset Z0 of the master antenna relative to the host IMU through the following equations; calculate the X-axis coordinate offset X1, Y-axis coordinate offset Y1 and Z-axis coordinate offset Z1 of the slave antenna relative to the host IMU: X0 2 +Y0 2 =m 2 –––① X1 2 +Y1 2 =s 2 –––② (Y1-Y0) 2 =m 2 +s 2 -2·m·s·Cos(A) –––③ X0=X1–––④ Z0=Z1=h –––⑤ Among them, m is the distance between the main antenna and the host IMU projected on the same horizontal plane, s is the distance between the slave antenna and the host IMU projected on the same horizontal plane, A is the angle between the main antenna and the slave antenna, and h is the relative height between the main antenna and the slave antenna and the host IMU.

[0019] In step 4, when the moving carrier is a car, the minimum speed limit is 20 km / h; when the moving carrier starts calibration in a low-speed motion scene, the minimum speed limit is 5 km / h.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects: the installation method of the high-precision combined navigation terminal of the present invention not only greatly simplifies the operation process of on-site construction personnel installing the high-precision combined navigation terminal, greatly reduces the operation difficulty, but also solves the problem of long calibration time in the calibration stage caused by large human measurement errors, thereby improving the installation efficiency of the high-precision combined navigation terminal and reducing its installation and use costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the open state of the measuring frame used in the installation method of the high-precision integrated navigation terminal of the present invention; Figure 2 It is a schematic diagram of a folded state of a measuring frame used in the installation method of the high-precision integrated navigation terminal of the present invention; Figure 3 It is a schematic diagram of the distance measuring arm locking device of the present invention being installed on the distance measuring arm angle indicator plate; Figure 4 This is a diagram of measuring with a measuring stand. Figure 1 ; Figure 5 This is a diagram of measuring with a measuring stand. Figure 2 ; Figure 6 This is a diagram of measuring with a measuring stand. Figure 3 ; Among them, 1 is the main antenna, 2 is the slave antenna, 3 is the host IMU, 4 is the car, 5 is the tripod base, 6 is the main rod, 7 is the sliding rod, 8 is the ranging arm angle indicator plate, 9 is the main ranging arm, 10 is the slave ranging arm, 11 is the sliding rod locking device, 12 is the ranging arm locking device, and 13 is the placement platform. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Embodiment 1 like Figures 1 to 6 As shown, this embodiment is described by taking the example that the main antenna and the slave antenna are placed in parallel, the main antenna is behind the slave antenna, and the moving carrier is a car. The installation method of the high-precision integrated navigation terminal of the present invention comprises the following steps: Step 1: Install the main antenna 1, the slave antenna 2 and the host IMU 3 of the GNSS / INS integrated navigation terminal on the car 4 respectively; install the main antenna 1 and the slave antenna 2 on the same horizontal plane; obtain the main antenna GNSS positioning information and the slave antenna GNSS positioning information; Step 2: Set up a retractable measuring frame, place the measuring frame on the host IMU 3, and use the measuring frame to measure the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3, the angle between the main antenna 1 and the slave antenna 2, the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane, and the distance between the slave antenna 2 and the host IMU 3 projected on the same horizontal plane; Step 3, calculate the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the main antenna 1 relative to the host IMU 3; calculate the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the slave antenna 2 relative to the host IMU 3; Step 4: Start the car, and the car moves at a speed not lower than the minimum constraint speed of 20 km / h. The calibration algorithm is started inside the GNSS / INS integrated navigation terminal until the calibration algorithm converges. The calibration is successful, the calibration value is saved, and the installation of the GNSS / INS integrated navigation terminal is completed.

[0024] The line connecting the phase centers of the main antenna 1 and the slave antenna 2 of this embodiment is parallel to the forward direction of the car 4. The measuring frame of the present invention comprises a tripod base 5 of a folding structure, a placement platform 13, a main rod 6, a sliding rod 7, a ranging arm angle indicator plate 8, a main ranging arm 9 and a slave ranging arm 10, wherein the main rod 6 is arranged on the tripod base 5 and is provided with a length scale, and the placement platform 13 is arranged at the top of the main rod 6; the sliding rod 7 can be slidably sleeved on the main rod 6, and the ranging arm angle indicator plate 8 can be rotatably arranged on the sliding rod 7 and is provided with an angle scale. The main ranging arm 9 and the slave ranging arm 10 are retractable and foldable structures and are respectively provided with length scales, the main ranging arm 9 is connected to the ranging arm angle indicator plate 8, and the slave ranging arm 10 is rotatably connected to the ranging arm angle indicator plate 8.

[0025] In step 2, when the measuring frame is placed on the host IMU 3, when the host IMU 3 is located below the horizontal plane of the main antenna 1 and the slave antenna 2, the main rod 6 is placed on the host IMU 3 through the tripod base 5, and the bottom end of the main rod 6 touches the host IMU 3; when the host IMU 3 is located above the horizontal plane of the main antenna 1 and the slave antenna 2, the main rod 6 is placed below the host IMU 3 through the tripod base 5, the placement platform is pressed against the host IMU 3, and the top end of the main rod 6 touches the host IMU 3. In order to be applicable to measuring the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3 in various installation positions, the length scale of the main rod 6 is set in two rows, the zero scale of one row of length scales is set at the bottom end of the main rod 6, and the length units are increased successively toward the top end of the main rod 6, and the minimum length unit is 0.5 cm; the zero scale of the other row of length scales is set at the top end of the main rod 6, and the length units are increased successively toward the bottom end of the main rod 6, and the minimum length unit is 0.5 cm. The measuring frame further comprises a sliding rod locking device 11 for locking the relative position of the sliding rod 7 and the main rod 6. The sliding rod locking device 11 is a threaded fastening component that passes through the sliding rod 7 and the main rod 6 for locking.

[0026] The measuring frame of the present invention further comprises two ranging arm locking devices 12 for locking the relative angle between the main ranging arm 9 and the slave ranging arm 10; the main ranging arm 9 is arranged at the 0° scale of the ranging arm angle indicator disk 8 through one ranging arm locking device 12, and the slave ranging arm 10 is rotatably connected and fixed to the ranging arm angle indicator disk 8 through another ranging arm locking device 12. The ranging arm locking device 12 comprises two clips and a screw, the two clips clamp the ranging arm angle indicator disk 8 up and down, and the screw passes through the two clips to lock the two clips to the ranging arm angle indicator disk 8.

[0027] Specifically, in step 2, using a measuring stand to measure the relative heights between the main antenna 1 and the slave antenna 2 and the host IMU 3, the angle between the main antenna 1 and the slave antenna 2, the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane, and the distance between the slave antenna 2 and the host IMU 3 projected on the same horizontal plane refers to the following steps: The first step is to move the sliding rod 7. When the horizontal plane where the main ranging arm 9 and the slave ranging arm 10 are located coincides with the horizontal plane where the main antenna 1 and the slave antenna 2 are located, the sliding rod locking device 11 is used to lock the sliding rod 7 on the main rod 6, and the length scale of the sliding rod 7 corresponding to the main rod 6 is read and used as the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3; The second step is to rotate the ranging arm angle indicator plate 8 and stretch the main ranging arm 9 so that the top of the main ranging arm 9 coincides with the phase center of the main antenna 1; read the length scale at the top of the main ranging arm 9 and use it as the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane; The third step is to rotate the slave ranging arm 10 and lock the slave ranging arm 10 through the ranging arm locking device 12, stretch the slave ranging arm 10 so that the top of the slave ranging arm 10 coincides with the phase center of the slave antenna 2; read the length scale at the top of the slave ranging arm 10 and use it as the distance projected on the same horizontal plane between the slave antenna 2 and the host IMU 3; In the fourth step, the angle scale between the main ranging arm 9 and the slave ranging arm 10 is read on the ranging arm angle indicator plate 8 as the angle between the main antenna 1 and the slave antenna 2.

[0028] In the above step 3, calculating the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the main antenna 1 relative to the host IMU 3; calculating the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the slave antenna 2 relative to the host IMU 3 means that the following steps are included: S1, input the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3, the angle between the main antenna 1 and the slave antenna 2, the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane, the distance between the slave antenna 1 and the host IMU 3 projected on the same horizontal plane, the main antenna GNSS positioning information and the slave antenna GNSS positioning information; S2, using an existing GNSS coordinate conversion function to convert the master antenna GNSS positioning information and the slave antenna GNSS positioning information into the master antenna GNSS carrier coordinates and the slave antenna GNSS carrier coordinates respectively; S3, determine the angle A between the main antenna 1 and the slave antenna 2: if the angle A between the main antenna 1 and the slave antenna 2>180°, then the angle A between the main antenna 1 and the slave antenna 2=360°-A, otherwise proceed to S4; S4, in the master antenna GNSS carrier coordinate system and the slave antenna GNSS carrier coordinate system, calculate the X-axis coordinate offset X0, Y-axis coordinate offset Y0 and Z-axis coordinate offset Z0 of the master antenna 1 relative to the host IMU 3 by the following equations; calculate the X-axis coordinate offset X1, Y-axis coordinate offset Y1 and Z-axis coordinate offset Z1 of the slave antenna 2 relative to the host IMU 3: X0 2 +Y0 2 =m 2 –––① X1 2 +Y1 2 =s 2 –––② (Y1-Y0) 2 =m 2 +s 2 -2·m·s·Cos(A) –––③ X0=X1–––④ Z0=Z1=h –––⑤ Among them, m is the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane, s is the distance between the slave antenna 2 and the host IMU 3 projected on the same horizontal plane, A is the angle between the main antenna 1 and the slave antenna 2, and h is the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3.

[0029] The on-site construction personnel directly measure the relative height between the main antenna 1 and the slave antenna 2 and the host IMU 3, the angle between the main antenna 1 and the slave antenna 2, the distance between the main antenna 1 and the host IMU 3 projected on the same horizontal plane, and the distance between the slave antenna 2 and the host IMU 3 projected on the same horizontal plane through the retractable measuring frame of the present invention, and directly manually input them into the existing conversion software. The conversion software can be installed on any intelligent carrier, such as a mobile phone, a laptop, a PAD, etc., especially when the conversion software is embedded in the built-in application software of the combined navigation terminal, in conjunction with the calibration program, it can be realized that the on-site measurement personnel directly manually input the measured values ​​obtained by the present invention, and other steps such as coordinate conversion, coordinate offset calculation to a series of calibration processes are automatically performed, which is a prior art. This solution not only greatly simplifies the operation process of the on-site construction personnel installing the high-precision combined navigation terminal, greatly reduces the difficulty of operation, but also solves the problem of long calibration time in the calibration stage due to large human measurement errors, thereby improving the installation efficiency of the high-precision combined navigation terminal and reducing its installation and use costs. In addition, when the measuring stand is not in use, the tripod base 5, the main ranging arm 9 and the slave ranging arm 10 can be folded and stored.

[0030] Embodiment 2 The main antenna and the slave antenna of this embodiment can be placed vertically along the forward direction of the car, and the terminal can also be installed using the installation method of the high-precision combined navigation terminal of the first embodiment.

[0031] Embodiment 3 The installation method of the high-precision integrated navigation terminal of this embodiment can be applied to low-speed motion scenarios where the moving carrier is a robot, etc. In step 4, the moving carrier moves at a speed not lower than the minimum constraint speed of 5 km / h.

[0032] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for installing a high-precision integrated navigation terminal, characterized in that: The following steps are involved: Step 1: Install the main antenna, slave antenna and host IMU of the GNSS / INS integrated navigation terminal on the moving carrier respectively; The main antenna and the slave antenna are installed on the same horizontal plane; the GNSS positioning information of the main antenna and the GNSS positioning information of the slave antenna are obtained; Step 2: Set up a retractable measuring frame, place the measuring frame on the host IMU, and use the measuring frame to measure the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU projected on the same horizontal plane, and the distance between the slave antenna and the host IMU projected on the same horizontal plane; Step 3: Calculate the X-axis coordinate offset, Y-axis coordinate offset, and Z-axis coordinate offset of the main antenna relative to the host IMU; Calculate the X-axis coordinate offset, Y-axis coordinate offset and Z-axis coordinate offset of the slave antenna relative to the host IMU; Step 4: Start the moving carrier and move it at the minimum constrained speed. Start the calibration algorithm inside the GNSS / INS integrated navigation terminal until the calibration algorithm converges. The calibration is successful, the calibration value is saved, and the installation of the GNSS / INS integrated navigation terminal is completed.

2. The installation method of the high-precision integrated navigation terminal according to claim 1, characterized in that: The line connecting the phase centers of the main antenna and the slave antenna is parallel or perpendicular to the moving direction of the moving carrier.

3. The installation method of the high-precision integrated navigation terminal according to claim 1, characterized in that: The measuring frame comprises a tripod base with a folding structure, a placing platform, a main rod, a sliding rod, a ranging arm angle indicator disk, a main ranging arm and a slave ranging arm; the bottom end of the main rod is arranged on the tripod base and is provided with a length scale, and the placing platform is arranged on the top end of the main rod; the sliding rod can be slidably sleeved on the main rod; the ranging arm angle indicator disk can be rotatably arranged on the sliding rod and is provided with an angle scale; the main ranging arm and the slave ranging arm are retractable and foldable structures and are respectively provided with length scales, the main ranging arm is connected to the ranging arm angle indicator disk, and the slave ranging arm is rotatably connected to the ranging arm angle indicator disk.

4. The installation method of the high-precision integrated navigation terminal according to claim 3 is characterized in that: In step 2, when the measuring frame is placed on the host IMU, when the host IMU is located below the horizontal plane of the master antenna and the slave antenna, the main rod is placed on the host IMU through the tripod base, and the bottom end of the main rod touches the host IMU; When the host IMU is above the horizontal plane of the master antenna and the slave antenna, the main pole is placed under the host IMU through the tripod base, the platform is placed tightly against the host IMU, and the top of the main pole touches the host IMU; The main rod has two rows of length scales. The zero scale of one row of length scales is set at the bottom end of the main rod, and the length units increase successively toward the top end of the main rod; the zero scale of the other row of length scales is set at the top end of the main rod, and the length units increase successively toward the bottom end of the main rod.

5. The installation method of the high-precision integrated navigation terminal according to claim 3 is characterized in that: The measuring frame also includes a sliding rod locking device for locking the relative position of the sliding rod and the main rod; the sliding rod locking device is a threaded fastening component, and the fastening component passes through the sliding rod and the main rod for locking.

6. The method for installing a high-precision integrated navigation terminal according to claim 4, characterized in that: The measuring frame also includes two ranging arm locking devices for locking the relative angle between the main ranging arm and the slave ranging arm; the main ranging arm is set at the 0° scale of the ranging arm angle indicator disk through one ranging arm locking device, and the slave ranging arm is rotatably connected and fixed to the ranging arm angle indicator disk through another ranging arm locking device.

7. The method for installing a high-precision integrated navigation terminal according to claim 6, characterized in that: The range-measuring arm locking device comprises two clamping pieces and a screw. The two clamping pieces clamp the range-measuring arm angle indicator plate from top to bottom, and the screw penetrates the two clamping pieces to lock the two clamping pieces on the range-measuring arm angle indicator plate.

8. The method for installing a high-precision integrated navigation terminal according to claim 6, characterized in that: The method of using a measuring frame to measure the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU, and the distance between the slave antenna and the host IMU includes the following steps: The first step is to move the sliding rod. When the horizontal plane of the main ranging arm and the slave ranging arm coincides with the horizontal plane of the main antenna and the slave antenna, the sliding rod locking device is used to lock the sliding rod on the main rod. The length scale of the sliding rod corresponding to the main rod is read and used as the relative height between the main antenna and the slave antenna and the host IMU. The second step is to rotate the ranging arm angle indicator and stretch the main ranging arm so that the top of the main ranging arm coincides with the phase center of the main antenna; read the length scale at the top of the main ranging arm and use it as the distance between the main antenna and the host IMU projected on the same horizontal plane; The third step is to rotate the slave ranging arm and lock it through the ranging arm locking device, stretch the slave ranging arm so that the top of the slave ranging arm coincides with the phase center of the slave antenna; read the length scale at the top of the slave ranging arm and use it as the distance between the slave antenna and the host IMU projected on the same horizontal plane; The fourth step is to read the angle scale between the main ranging arm and the slave ranging arm on the ranging arm angle indicator plate as the angle between the main antenna and the slave antenna.

9. The method for installing a high-precision integrated navigation terminal according to claim 1, characterized in that: Step 3: Calculate the X-axis coordinate offset, Y-axis coordinate offset, and Z-axis coordinate offset of the main antenna relative to the host IMU; Calculating the X-axis coordinate offset, Y-axis coordinate offset, and Z-axis coordinate offset of the slave antenna relative to the host IMU includes the following steps: S1, input the relative height between the main antenna and the slave antenna and the host IMU, the angle between the main antenna and the slave antenna, the distance between the main antenna and the host IMU projected on the same horizontal plane, the distance between the slave antenna and the host IMU projected on the same horizontal plane, the distance between the main antenna and the host IMU, the distance between the slave antenna and the host IMU, the main antenna GNSS positioning information, and the slave antenna GNSS positioning information; S2, using a GNSS coordinate conversion carrier coordinate system function to convert the master antenna GNSS positioning information and the slave antenna GNSS positioning information into the master antenna GNSS carrier coordinates and the slave antenna GNSS carrier coordinates respectively; S3, determine the angle A between the main antenna and the slave antenna: if the angle A between the main antenna and the slave antenna>180°, then the angle A between the main antenna and the slave antenna=360°-A, otherwise proceed to S4; S4, in the master antenna GNSS carrier coordinate system and the slave antenna GNSS carrier coordinate system, calculate the X-axis coordinate offset X0, Y-axis coordinate offset Y0 and Z-axis coordinate offset Z0 of the master antenna relative to the host IMU through the following equations; calculate the X-axis coordinate offset X1, Y-axis coordinate offset Y1 and Z-axis coordinate offset Z1 of the slave antenna relative to the host IMU: X0 2 +Y0 2 =m 2 –––① X1 2 +Y1 2 =s 2 –––② (Y1-Y0) 2 =m 2 +s 2 -2·m·s·Cos(A) –––③ X0=X1–––④ Z0=Z1=h –––⑤ Among them, m is the distance between the main antenna and the host IMU projected on the same horizontal plane, s is the distance between the slave antenna and the host IMU projected on the same horizontal plane, A is the angle between the main antenna and the slave antenna, and h is the relative height between the main antenna and the slave antenna and the host IMU.

10. The method for installing a high-precision integrated navigation terminal according to claim 1, characterized in that: In step 4, when the moving carrier is a car, the minimum speed limit is 20 km / h; when the moving carrier starts calibration in a low-speed motion scene, the minimum speed limit is 5 km / h.

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