Method for estimating measurement error of integrated navigation apparatus, and apparatus and storage medium

Abstract

Provided in the present disclosure are a method for estimating a measurement error of an integrated navigation apparatus, and an apparatus and a storage medium. The integrated navigation apparatus comprises: a GNSS module, a sensor module, a processor module and a ranging module. The method comprises the following steps: setting a measurement target point and N fixed points, arranging an integrated navigation apparatus at each fixed point, and aiming at the measurement target point; acquiring a position parameter of each fixed point and a position parameter of the measurement target point, and by means of the position parameters of each fixed point and the measurement target point, calculating an expected distance parameter; acquiring a distance parameter between each fixed point and the measurement target point, which is calculated by a sensor module; on the basis of the two distance parameters obtained for each fixed point, establishing N equations; and on the basis of the N equations, calculating an expected measurement error of the integrated navigation apparatus. By means of the method in the present disclosure, an obtained error value is closer to a true error under the effect of multiple instances of sampling and calculation.

Description

Method, device and storage medium for estimating measurement error of integrated navigation device Technical Field

[0001] The present disclosure relates to the field of satellite navigation technology, and in particular to a method for estimating measurement errors of an integrated navigation device. Background Art

[0002] The Global Navigation Satellite System (GNSS, a general term for all satellite navigation systems, such as the US GPS, Russia's Glonass, Europe's Galileo, and China's BeiDou Navigation Satellite System) uses satellites orbiting the Earth to provide signals to receivers on Earth, which then calculate their position. While existing receivers can achieve centimeter-level positioning accuracy, GNSS, due to its reliance on satellite signals, cannot provide accurate position information in many scenarios.

[0003] The integrated navigation system integrates an inertial navigation system (INS) and a global navigation satellite system (GNSS). The INS is a navigation parameter calculation system that uses gyroscopes and accelerometers as sensors. The system establishes a navigation coordinate system based on the gyroscope's output and calculates the vehicle's velocity and position within the navigation coordinate system based on the accelerometer's output. The INS employs dead reckoning navigation, which uses the continuously measured heading angle and velocity of a moving object to calculate the next known point. Because inertial navigation information is integrated, positioning errors increase over time.

[0004] In summary, the measurement results of the existing integrated navigation device have certain errors, and a method is needed to eliminate or reduce the errors.

[0005] Summary of the Invention

[0006] To solve the above-mentioned problems existing in the prior art, the present disclosure proposes a method, device and storage medium for estimating the measurement error of an integrated navigation device. The integrated navigation device includes: a GNSS module, a sensor module, a processor module, and a ranging module. The method for estimating the measurement error of the integrated navigation device includes the following steps:

[0007] (1) Initializing the integrated navigation device;

[0008] (2) Select the measurement target point and the first fixed point;

[0009] (3) placing the integrated navigation device at a first fixed point, aiming at the measurement target point, and acquiring parameters obtained by the GNSS module, the sensor module, and the ranging module;

[0010] (4) Obtain the distance parameter R0' from the first fixed point to the measurement target point obtained by the sensor module;

[0011] (5) Obtaining the position parameters of the first fixed point obtained by the GNSS module;

[0012] (6) Calculate the position parameters of the measurement target point through the integrated navigation device;

[0013] (7) calculating the distance parameter R0 between the first fixed point and the target point;

[0014] (8) Based on the above two distance parameters R0 and R0', establish the equation;

[0015] (9) Repeat the above steps, select the Nth fixed point, measure multiple times, and establish N equations;

[0016] (10) Combining the above N equations, the error parameters of the integrated navigation device are calculated.

[0017] Specifically, the position parameters of each fixed point calculated by the GNSS module include: the projection of the fixed point in the east direction of the local geographic coordinate system Projection of the fixed point in the north direction of the local geographic coordinate system And the projection of the fixed point in the sky direction of the local geographic coordinate system

[0018] The position parameters of the measurement target point calculated by the integrated navigation device include: the projection r of the measurement target point in the east direction of the local geographic coordinate system E , the projection of the target point in the north direction of the local geographic coordinate system

[0019] r N And the projection r of the target point in the sky direction of the local geographic coordinate system U .

[0020] Furthermore, based on the position parameters of the fixed point and the position parameters of the measurement target point, the distance parameter R0 can be expressed as:

[0021] The distance parameter R0' from the fixed point to the measurement target point calculated by the sensor module can be expressed as:

[0022] Where n represents the local geographic coordinate system, with the coordinate origin located at the center of the sensor module, the x-axis parallel to the local horizontal plane pointing to the geographic north, the y-axis parallel to the local horizontal plane pointing to the geographic east, and the z-axis, x-axis, and y-axis forming a right-handed system pointing below the horizontal plane; b represents the sensor module coordinate system, with the coordinate origin located at the center of the sensor module, the x-axis perpendicular to the integrated navigation device panel pointing inward, the y-axis perpendicular to the x-axis pointing to the right of the integrated navigation device, and the z-axis, x-axis, and y-axis forming a right-handed system; Represents the coordinate transformation matrix from n system to b system; It represents the projection of the vector from the antenna phase center to the measured point in the b system, which is calculated by the sensor module.

[0023] Furthermore, based on the distance parameter R0 and the distance parameter R0' calculated by the sensor module, the following equation is established:

[0024] Furthermore, according to the equation

[0025] Linearization at a known target point yields: Where: r E0 Represents the projection of the known target point in the east direction of the local geographic coordinate system, r N0 The projection of the known target point in the north direction of the local geographic coordinate system, r U0 It represents the projection of the known target point in the sky direction of the local geographic coordinate system, dE represents the error of the integrated navigation device in the east direction of the local geographic coordinate system, dN represents the error of the integrated navigation device in the north direction of the local geographic coordinate system, and dU represents the error of the integrated navigation device in the sky direction of the local geographic coordinate system.

[0026] Furthermore, the N equations listed above for N points as measurement results can be sorted out in combination with the indirect adjustment principle to obtain:

[0027] Where: V represents the residual, B represents the design matrix, and l represents the observation vector;

[0028] in:

[0029] Where, That is the error parameter of the integrated navigation device.

[0030] In some embodiments, the present disclosure further includes: an integrated navigation device for executing the above-mentioned measurement error estimation method, the integrated navigation device including a GNSS module, a processor module, a sensor module and a ranging module.

[0031] Furthermore, the sensor module includes a 3-axis gyroscope and a 3-axis accelerometer.

[0032] Optionally, the sensor module includes an electronic compass.

[0033] Optionally, the sensor module includes an electronic compass, a 3-axis gyroscope, and a 3-axis accelerometer.

[0034] Furthermore, the processor module includes a GNSS high-precision solution module, an inertial navigation mechanical arrangement module and a Kalman filter.

[0035] Furthermore, the integrated navigation device also includes a power module, a storage module, a display module and a communication module.

[0036] Furthermore, the ranging module includes at least one of a laser ranging module and an infrared ranging module.

[0037] In some embodiments, the present disclosure further includes: a computer-readable storage medium.

[0038] Specifically, a computer program product is stored on a computer-readable storage medium. When the computer program product is executed, the method for estimating the measurement error of the integrated navigation device provided in the present disclosure is implemented.

[0039] Compared with the prior art, the method for estimating the measurement error of the integrated navigation device provided by the present disclosure has the following beneficial technical effects:

[0040] The present invention uses a multi-point measurement method, placing an integrated navigation device at multiple fixed points around a target point. The target point is measured multiple times, the distance between the target point and the fixed point is calculated, and the parameters obtained from each measurement are input into an equation. The resulting equations are then calculated using an algorithm to obtain a final error parameter, which becomes closer to the actual error as the number of measurements increases. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present disclosure will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0042] FIG1 is a schematic flow chart of a method for estimating measurement errors of an integrated navigation device in an embodiment of the present disclosure;

[0043] FIG2 is a schematic diagram of measuring a target point multiple times in an embodiment of the present disclosure.

[0044] FIG3 is a schematic structural diagram of a combined navigation device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0045] The embodiments of the present disclosure and their general principles will now be described in detail with reference to the accompanying drawings.

[0046] The present disclosure proposes a method, device and storage medium for reducing measurement errors of an integrated navigation device, wherein the integrated navigation device 10 includes: a GNSS module 20, a sensor module 30, a processor module 50 and a distance measurement module 40.

[0047] FIG3 is a schematic diagram of the structure of the combined navigation device in an embodiment of the present disclosure.

[0048] In some embodiments, the sensor module 30 includes a 3-axis gyroscope, a 3-axis accelerometer, and an electronic compass.

[0049] In some embodiments, the processor module includes a GNSS high-precision solution module, an inertial navigation mechanical arrangement module, and a Kalman filter. The integrated navigation device also includes a power module, a storage module, a display module, and a communication module. The ranging module includes at least one of a laser ranging module and an infrared ranging module.

[0050] As shown in FIG1-2 , the method for estimating the measurement error of the integrated navigation device proposed in the present disclosure includes the following steps:

[0051] S101: Initializing the integrated navigation device;

[0052] S102: Select the measurement target point P0 and the first fixed point D1;

[0053] S103: placing the integrated navigation device 10 at the first fixed point D1, aiming at the measurement target point P0, and obtaining parameters of the GNSS module 20, the sensor module 30, and the distance measurement module 40;

[0054] The position parameters of each fixed point calculated by the GNSS module 20 include: the projection of the first fixed point D1 in the east direction of the local geographic coordinate system Projection of the first fixed point D1 in the north direction of the local geographic coordinate system And the projection of the first fixed point D1 in the sky direction of the local geographic coordinate system

[0055] The position parameters of the measurement target point P0 calculated by the integrated navigation device include: the projection r of the measurement target point P0 in the east direction of the local geographic coordinate system E , the projection r of the target point P0 in the north direction of the local geographic coordinate system N And the projection r of the target point P0 in the sky direction of the local geographic coordinate system U .

[0056] S104: Obtain the distance parameter R0' from the first fixed point to the measurement target point obtained by the sensor module 30. Wherein n represents the local geographic coordinate system, the coordinate origin is located at the center of the sensor module 30, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis, and the y-axis form a right-handed system pointing below the horizontal plane; b represents the sensor module coordinate system, the coordinate origin is located at the center of the sensor module 30, the x-axis is perpendicular to the panel of the integrated navigation device 10 and points inward, the y-axis is perpendicular to the x-axis and points to the right of the integrated navigation device 10, and the z-axis, the x-axis, and the y-axis form a right-handed system; Represents the coordinate transformation matrix from n system to b system; It represents the projection of the vector from the antenna phase center to the measured point in the b system, which is calculated by the sensor module.

[0057] S105: Obtain the position parameters of the first fixed point obtained by the GNSS module 20; calculate the position parameters of the measurement target point through the integrated navigation device 10, and calculate the distance parameter R between the position parameters of the first fixed point and the position parameters of the measurement target point. 0，1 ,

[0058] S106: Based on the distance parameter R0 and the distance parameter R0′ calculated by the sensor module 30, the following equation is established:

[0059] Linearize the above equation at the known target point to obtain:

[0060] in:

[0061] r E0 Represents the projection of the known target point in the east direction of the local geographic coordinate system, r N0 The projection of the known target point in the north direction of the local geographic coordinate system, r U0 It represents the projection of the known target point in the sky direction of the local geographic coordinate system, dE1 represents the error of the integrated navigation device 10 in the east direction of the local geographic coordinate system, dN1 represents the error of the integrated navigation device in the north direction of the local geographic coordinate system, and dU1 represents the error of the integrated navigation device 10 in the sky direction of the local geographic coordinate system.

[0062] S107: Select the second fixed point D2, the third fixed point D3, ... to the Nth fixed point DN, and repeat steps S103-S106 to obtain N equations;

[0063] S108: The N equations obtained can be sorted out by combining the indirect adjustment principle to obtain:

[0064] Where: V represents the residual, B represents the design matrix, and l represents the observation vector;

[0065] in:

[0066] Where, That is the error parameter of the integrated navigation device.

[0067] Some embodiments of the present disclosure further provide a computer-readable storage medium having a computer program product stored thereon. When the computer program product is executed, the method for estimating the measurement error of the integrated navigation device provided by the present disclosure is implemented.

[0068] So far, this is a detailed description of the embodiments of the present disclosure. It should be noted that the terms "first", "second", etc. in the specification and claims and drawings of the present disclosure are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0069] The above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit the same. Although the present disclosure has been described in detail with reference to preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solutions of the present disclosure, which should all be included in the scope of the technical solutions claimed for protection in the present disclosure.

Claims

1. A method for estimating the measurement error of a combined navigation device, the combined navigation device comprising: A GNSS module, a sensor module, a processor module, and a ranging module, characterized by comprising the following steps: Initialize the combined navigation device; Select a measurement target point and a first fixed point; Place the combined navigation device at the first fixed point, aim at the measurement target point, and obtain the parameters obtained by the GNSS module, the sensor module, and the ranging module; Obtain the distance parameter R0' from the first fixed point to the measurement target point calculated according to the parameters of the sensor module; Obtain the position parameter of the first fixed point calculated according to the parameters of the GNSS module; Calculate the position parameter of the measurement target point through the combined navigation device; Calculate the distance parameter R0 between the two by calculating the position parameter of the first fixed point and the position parameter of the measurement target point; Establish an equation based on the above two distance parameters R0 and R0'; Repeat the above steps, select the Nth fixed point, measure multiple times, and establish N equations; Combine the above N equations to calculate the error parameter of the combined navigation device.

2. The method for estimating the measurement error of a combined navigation device according to claim 1, wherein: The position parameters of each fixed point resolved by the GNSS module include: the projection of the fixed point in the east direction of the local geodetic coordinate system the projection of the fixed point in the north direction of the local geodetic coordinate system and the projection of the fixed point in the sky direction of the local geodetic coordinate system 3. The method for estimating the measurement error of a combined navigation device according to claim 2, wherein: The position parameters of the measured target point calculated by the combined navigation device include: the projection r of the measured target point in the east direction of the local geodetic coordinate system E , the projection r of the measured target point in the north direction of the local geodetic coordinate system N and the projection r of the measured target point in the sky direction of the local geodetic coordinate system U .

4. The method for estimating the measurement error of a combined navigation device according to claim 3, wherein: According to the position parameter of the fixed point and the position parameter of the measured target point, the distance parameter R0 between the measured target point and the fixed point can be expressed as:

5. The method for estimating the measurement error of a combined navigation device according to claim 4, wherein: The distance parameter R0' from the fixed point to the measurement target point calculated by the sensor module can be expressed as: Where n represents the local geographic coordinate system, the origin of coordinates is located at the center of the sensor module, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis forms a right-handed system with the x-axis and y-axis and points downward from the horizontal plane; b represents the sensor module coordinate system, the origin of coordinates is located at the center of the sensor module, the x-axis is perpendicular to the panel of the integrated navigation device and points inward, the y-axis is perpendicular to the x-axis and points to the right side of the integrated navigation device, and the z-axis forms a right-handed system with the x-axis and y-axis; Represents the coordinate transformation matrix from the n - system to the b - system; It represents the projection of the vector pointing from the antenna phase center to the point to be measured in the b system.

6. The method for estimating the measurement error of a combined navigation device according to claim 5, wherein: Based on the distance parameter R0 and the distance parameter R0' from the fixed point to the measurement target point calculated by the sensor module, the following equation is established:

7. The method for estimating the measurement error of a combined navigation device according to claim 6, wherein: According to the equation Linearization is performed at the known target point to obtain: where: r E0 represents the projection of the known target point in the east direction of the local geodetic coordinate system, r N0 represents the projection of the known target point in the north direction of the local geodetic coordinate system, r U0 represents the projection of the known target point in the sky direction of the local geodetic coordinate system, dE represents the error in the east direction of the local geodetic coordinate system, dN represents the error in the north direction of the local geodetic coordinate system, and dU represents the error in the sky direction of the local geodetic coordinate system.

8. The method for estimating the measurement error of a combined navigation device according to claim 7, wherein: The steps of calculating the expected measurement error of the integrated navigation device further include: N equations established with the measurement results of N points can be sorted out by combining the principle of indirect adjustment as follows: Where: V represents the residual, B represents the design matrix, and l represents the observation vector; where: Wherein, That is the error parameter of the combined navigation device.

9. A combined navigation device, characterized in that: For performing the measurement error estimation method according to any one of claims 1-8, the combined navigation device includes a GNSS module, a processor module, a sensor module, and a ranging module.

10. The combined navigation device according to claim 9, characterized in that: The sensor module includes a 3-axis gyroscope and a 3-axis accelerometer.

11. The combined navigation device according to claim 9, characterized in that: The processor module includes a GNSS high-precision solution module, an inertial navigation mechanical arrangement module, and a Kalman filter.

12. The combined navigation device according to claim 9, characterized in that: It further includes a power module, a storage module, a display module, and a communication module.

13. The combined navigation device according to claim 9, characterized in that: The ranging module includes at least one of a laser ranging module and an infrared ranging module.

14. A computer-readable storage medium, characterized in that, It stores a computer program product, and when the computer program product is executed, it realizes the method for estimating the measurement error of the combined navigation device according to any one of claims 1-8.

Images