A high-precision combined navigation and positioning device

Abstract

The utility model relates to the field of navigation and positioning technology, and discloses a high-precision combined navigation and positioning device, including an instrument screen, a display screen is arranged on the right side of the instrument screen, a connecting bracket is fixedly assembled on the instrument screen and the back of the display screen, and a rotating bracket is fixedly assembled on the outer edge of the connecting bracket. The observation quantity output by the GNSS module is subtracted from the inertial measurement result output by the INS module, and the difference is output to the Kalman filter, so that the cumulative error measured by the INS module is calculated, and the calculated error compensation is fed back to the INS module, and the corrected inertial measurement result of the INS module is synchronously input into the Kalman filter of the data processing module, and the combined navigation solution is finally obtained in combination with the RTK positioning result, thereby solving the problem that the high-precision position and attitude information provided by the existing navigation and positioning device in harsh environments such as basements, viaducts, tunnels, urban streets, and highway signal interference is not stable and accurate enough.

Description

Technical Field

[0001] The utility model relates to the technical field of navigation and positioning, in particular to a high-precision combined navigation and positioning device. Background Art

[0002] High-precision positioning is to obtain high-precision three-dimensional coordinate information and heading and attitude information in a unified coordinate system through high-precision satellite navigation and multi-sensor fusion technology. Due to the special geographical environment of Sichuan and Chongqing, the existing navigation and positioning system has certain defects.

[0003] The high-precision position and attitude information provided by existing navigation and positioning devices in harsh environments such as basements, viaducts, tunnels, city streets, and highway signal interference is not stable and accurate enough. The existing car navigation display screen is integrated with the instrument panel screen, which makes the cockpit look more beautiful. However, this integrated display screen cannot be adjusted in angle when facing the sun, which affects the driver's viewing of the navigation route. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the utility model provides a high-precision combined navigation and positioning device, which has the advantages of strong practicality and good stability. It solves the problem that the high-precision position and attitude information provided by the existing navigation and positioning devices in harsh environments such as basements, viaducts, tunnels, city streets, and highway signal interference is not stable and accurate enough.

[0005] The utility model provides the following technical solutions: a high-precision combined navigation and positioning device, comprising an instrument screen, a display screen is arranged on the right side of the instrument screen, a connecting bracket is fixedly assembled with the back of the instrument screen and the display screen, a rotating bracket is fixedly assembled with the outer edge of the connecting bracket, a connecting piece is fixedly assembled with the outer edge of the rotating bracket, a movable rod is movably connected with the inner wall of the connecting piece, a connecting block is movably connected with the outer edge of the movable rod, a fixed bracket is fixedly assembled with the outer edge of the connecting block, a mounting plate is fixedly assembled with the inner wall of the rotating bracket, a rotating assembly is fixedly assembled with the outer edge of the mounting plate, and the instrument screen and the display screen are electrically connected to a vehicle-mounted high-precision combined navigation platform.

[0006] As a preferred technical solution of the utility model, the rotating assembly includes a semicircular gear, the outer edge of the semicircular gear is meshed with a driving gear, and the inner wall of the driving gear is fixedly assembled on the power output shaft of the servo motor.

[0007] As a preferred technical solution of the utility model, a transverse groove is provided on the outer edge of the connecting block, and a vertical groove is provided on the top of the connecting block.

[0008] As a preferred technical solution of the present utility model, the connecting bracket, the rotating bracket, the connecting piece, the mounting plate, the connecting block and the fixed bracket are all made of aluminum alloy.

[0009] As a preferred technical solution of the utility model, the vehicle-mounted high-precision integrated navigation platform includes a high-precision GNSS and a high-performance IMU, integrating satellite positioning technology, carrier phase difference technology, and a tightly coupled integrated navigation component.

[0010] As a preferred technical solution of the utility model, the tightly coupled integrated navigation component includes a GNSS module, an INS module, a Kalman filter and RTK positioning.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] 1. The high-precision integrated navigation and positioning device subtracts the observed value output by the GNSS module from the inertial measurement result output by the INS module, and outputs the difference to the Kalman filter, so that the cumulative error measured by the INS module is calculated, and the calculated error compensation is fed back to the INS module. The corrected inertial measurement result of the INS module is synchronously input into the Kalman filter of the data processing module, and the combined navigation solution is finally obtained in combination with the RTK positioning result, thereby solving the problem that the high-precision position and attitude information provided by the existing navigation and positioning device is not accurate enough in harsh environments such as basements, viaducts, tunnels, urban streets, and highway signal interference.

[0013] 2. The high-precision combined navigation and positioning device drives the gear to rotate by rotating the servo motor, and then the semicircular gear rotates, and the connecting piece, the rotating bracket, the connecting bracket, the instrument screen and the display screen rotate around the movable rod, so that the instrument screen and the display screen can be adjusted in angle, thereby solving the problem that the existing integrated display screen cannot be adjusted in angle when facing the sun, thereby affecting the driver's viewing of the navigation route. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the front three-dimensional structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the connecting bracket of the utility model;

[0016] Figure 3 This is a schematic diagram of the cross-sectional structure of the utility model;

[0017] Figure 4 For this utility model Figure 3 A is an enlarged structural diagram;

[0018] Figure 5The figure is a schematic diagram of the block diagram of the high-precision combined navigation and positioning device of the utility model.

[0019] In the figure: 1. instrument screen; 2. display screen; 3. connecting bracket; 4. rotating bracket; 5. connecting piece; 6. movable rod; 7. mounting plate; 8. rotating assembly; 801. semicircular gear; 802. driving gear; 803. servo motor; 9. connecting block; 91. horizontal groove; 92. vertical groove; 10. fixing bracket; 11. vehicle-mounted high-precision combined navigation platform; 12. tightly coupled combined navigation assembly. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-5 A high-precision combined navigation and positioning device comprises an instrument screen 1, a display screen 2 is arranged on the right side of the instrument screen 1, a connecting bracket 3 is fixedly assembled on the back of the instrument screen 1 and the display screen 2, a rotating bracket 4 is fixedly assembled on the outer edge of the connecting bracket 3, a connecting piece 5 is fixedly assembled on the outer edge of the rotating bracket 4, an active rod 6 is movably connected to the inner wall of the connecting piece 5, a connecting block 9 is movably connected to the outer edge of the active rod 6, a fixed bracket 10 is fixedly assembled on the outer edge of the connecting block 9, a mounting plate 7 is fixedly assembled on the inner wall of the rotating bracket 4, a rotating component 8 is fixedly assembled on the outer edge of the mounting plate 7, the instrument screen 1 and the display screen 2 are electrically connected to a vehicle-mounted high-precision combined navigation platform 11, and the positioning system of the device is more accurate and stable through the cooperation between the high-precision GNSS and high-performance IMU modules in the vehicle-mounted high-precision combined navigation platform 11 and the tightly coupled combined navigation component 12.

[0022] See also Figure 4 The rotating assembly 8 includes a semicircular gear 801, the outer edge of which is meshed with a driving gear 802, and the inner wall of the driving gear 802 is fixedly assembled on the power output shaft of the servo motor 803. The driving gear 802 is driven to rotate by the rotation of the servo motor 803, so that the semicircular gear 801 rotates. At this time, the connecting member 5, the rotating bracket 4, the connecting bracket 3, the instrument screen 1 and the display screen 2 rotate around the movable rod 6, so that the instrument screen 1 and the display screen 2 can be adjusted in angle.

[0023] See also Figure 2A transverse groove 91 is provided on the outer edge of the connecting block 9, and a vertical groove 92 is provided on the top of the connecting block 9. By providing the transverse groove 91 and the vertical groove 92 on the connecting block 9, the solid part of the connecting block 9 is removed, so that the weight of the connecting block 9 is reduced.

[0024] See also Figure 2 The connecting bracket 3, the rotating bracket 4, the connecting piece 5, the mounting plate 7, the connecting block 9 and the fixed bracket 10 are all made of aluminum alloy. The aluminum alloy has the characteristics of light weight and hardness, so that the entire components will not increase the weight of the car when in use. At the same time, these components have a long service life, reducing the need for later maintenance and replacement.

[0025] See also Figure 1 The vehicle-mounted high-precision integrated navigation platform 11 includes high-precision GNSS and high-performance IMU, integrating satellite positioning technology, carrier phase difference technology, and tightly coupled integrated navigation component 12. With high-precision GNSS and high-performance IMU as the core, it integrates cutting-edge technologies such as satellite positioning technology, carrier phase difference technology, tightly coupled integrated navigation technology, and vehicle dynamics model, with overall automotive-grade design and safety level ASIL B. It can provide stable, continuous, and reliable high-precision position and attitude information in harsh environments such as complex urban roads and highway signal interference, thereby improving the stability of the device.

[0026] See also Figure 5 The tightly coupled integrated navigation component 12 includes a GNSS module, an INS module, a Kalman filter and RTK positioning. The observation quantity output by the GNSS module is subtracted from the inertial measurement result output by the INS module, and the difference is output to the Kalman filter, so that the cumulative error measured by the INS module is calculated, and the calculated error compensation is fed back to the INS module. The corrected inertial measurement result of the INS module is synchronously input into the Kalman filter of the data processing module, and finally the integrated navigation solution is obtained in combination with the RTK positioning result, thereby improving the positioning accuracy and stability.

[0027] Working principle: when in use, the observed value output by the GNSS module is subtracted from the inertial measurement result output by the INS module, and the difference is output to the Kalman filter for estimating the cumulative error of the INS module measurement. The calculated error compensation is fed back to the INS module, and the corrected inertial measurement result of the INS module is synchronously input into the Kalman filter of the data processing module, and the combined navigation solution is finally obtained in combination with the RTK positioning result, thereby improving the positioning accuracy and stability. When the car is driving in the sun, the sun faces the driver, so that the driver cannot observe the information on the instrument screen 1 and the display screen 2. By controlling the vehicle computer, the servo motor 803 is started, and the servo motor 803 rotates to drive the driving gear 802 to rotate, and then the semicircular gear 801 rotates. At this time, the connecting member 5, the connecting rotating bracket 4, the connecting bracket 3, the instrument screen 1 and the display screen 2 rotate around the movable rod 6, so that the instrument screen 1 and the display screen 2 can be adjusted in angle.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision integrated navigation and positioning device, comprising an instrument screen (1), characterized in that: A display screen (2) is provided on the right side of the instrument screen (1); a connecting bracket (3) is fixedly mounted on the back of the instrument screen (1) and the display screen (2); a rotating bracket (4) is fixedly mounted on the outer edge of the connecting bracket (3); a connecting piece (5) is fixedly mounted on the outer edge of the rotating bracket (4); an inner wall of the connecting piece (5) is movably connected to a movable rod (6); an outer edge of the movable rod (6) is movably connected to a connecting block (9); an outer edge of the connecting block (9) is fixedly mounted to a fixed bracket (10); an inner wall of the rotating bracket (4) is fixedly mounted to a mounting plate (7); an outer edge of the mounting plate (7) is fixedly mounted to a rotating assembly (8); the instrument screen (1) and the display screen (2) are electrically connected to a vehicle-mounted high-precision combined navigation platform (11).

2. A high-precision integrated navigation and positioning device according to claim 1, characterized in that: The rotating assembly (8) comprises a semicircular gear (801), the outer edge of which is meshed with a driving gear (802), and the inner wall of the driving gear (802) is fixedly mounted on the power output shaft of the servo motor (803).

3. A high-precision integrated navigation and positioning device according to claim 1, characterized in that: The outer edge of the connecting block (9) is provided with a transverse groove (91), and the top of the connecting block (9) is provided with a vertical groove (92).

4. A high-precision integrated navigation and positioning device according to claim 1, characterized in that: The connecting bracket (3), the rotating bracket (4), the connecting piece (5), the mounting plate (7), the connecting block (9) and the fixing bracket (10) are all made of aluminum alloy.

5. The high-precision integrated navigation and positioning device according to claim 1, characterized in that: The vehicle-mounted high-precision integrated navigation platform (11) comprises a high-precision GNSS and a high-performance IMU, and integrates satellite positioning technology, carrier phase difference technology, and a tightly coupled integrated navigation component (12).

6. A high-precision integrated navigation and positioning device according to claim 5, characterized in that: The tightly coupled integrated navigation component (12) comprises a GNSS module, an INS module, a Kalman filter and RTK positioning.

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