CN117146810A - Combined positioning system based on satellite navigation and MEMS inertial navigation - Google Patents
Combined positioning system based on satellite navigation and MEMS inertial navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application relates to a combined positioning system based on satellite navigation and MEMS inertial navigation; comprising the following steps: the GNSS receiver is used for outputting satellite signal observation data in real time; the INS inertial navigation module is used for detecting and outputting inertial measurement data by utilizing a built-in MEMS sensor, receiving an error compensation value and correcting the inertial measurement data; the first data processing module is configured to calculate attitude information according to the inertial measurement data, calculate and feed back an error compensation value to the INS inertial navigation module for correction, and combine the inertial measurement data and satellite signal observation data for positioning calculation to obtain combined navigation positioning information; the second data processing module is configured to receive a positioning request of the external device at the target moment, acquire the combined navigation positioning information and the attitude information of the target moment, and return the real-time navigation positioning information to the external device through fusion calculation. According to the technical scheme, the combined navigation with low cost and high precision is realized, and the positioning precision is improved under the conditions of low positioning frequency and low MEMS inertial navigation precision.
Description
Technical Field
The application relates to the technical field of navigation and positioning, in particular to a combined positioning system based on satellite navigation and MEMS inertial navigation.
Background
Currently, satellite high-precision positioning techniques are widely used in various fields and carriers, such as personnel, vehicles, aircraft, watercraft, etc. In some application fields, it is necessary to determine the precise position of the carrier at a certain point in time, and as a main positioning navigation means, the positioning frequency of the global satellite navigation system (Global Navigation Satellite System, GNSS) is about 10Hz, and the corresponding time precision is 100ms.
In order to improve the positioning accuracy, a combined navigation mode is generally adopted, and satellite navigation and inertial navigation (Inertial Navigation System, INS) are two common positioning means of a combined navigation system, so that the positioning accuracy and stability of a carrier can be improved. The inertial navigation can adopt optical fiber inertial navigation and MEMS (Microelectro Mechanical Systems, micro-electromechanical system) inertial navigation, and compared with high-cost optical fiber inertial navigation, the MEMS inertial navigation adopts MEMS inertial positioning devices with lower cost, the sampling rate can basically reach more than 200Hz, and the time precision can reach more than 5 ms.
The common integrated navigation based on satellite navigation and MEMS has the positioning frequency of 100Hz and the precision of about 10 ms; for some application scenarios, especially for high-speed carriers with flight control according to trajectories, a positioning frequency around 10ms is far from sufficient; it is difficult to meet the flight control accuracy requirements of high-speed carriers.
Disclosure of Invention
Aiming at one of the technical defects, the application provides a combined positioning system based on satellite navigation and MEMS inertial navigation, which improves the positioning precision of the combined navigation based on satellite navigation and MEMS inertial navigation, and improves the flight control precision of a high-speed carrier on the basis of effectively reducing the positioning cost.
A combined positioning system based on satellite navigation and MEMS inertial navigation, comprising: the system comprises a GNSS receiver, an INS inertial navigation module, a first data processing module and a second data processing module;
the GNSS receiver is used for outputting satellite signal observation data to the first data processing module in real time;
the INS inertial navigation module utilizes a built-in MEMS sensor to detect and output inertial measurement data to the first data processing module, receives an error compensation value fed back by the first data processing module and corrects the output inertial measurement data;
the first data processing module is configured to calculate attitude information according to the inertial measurement data, calculate and feed back an error compensation value to an INS inertial navigation module for correction, and combine the inertial measurement data and the satellite signal observation data for positioning calculation to obtain combined navigation positioning information;
the second data processing module is synchronously operated with the first data processing module, and is configured to receive a positioning request of external equipment at a target moment and acquire combined navigation positioning information and attitude information at the target moment from the first data processing module; and carrying out fusion calculation on the real-time navigation positioning information according to the combined navigation positioning information and the gesture information of the target moment, and returning to external equipment for calculation to obtain the real-time navigation positioning information and the real-time gesture information of the target moment.
In one embodiment, the GNSS receiver outputs satellite signal observations to the first data processing module in real time at a maximum frequency; the INS inertial navigation module detects and outputs inertial measurement data to the first data processing module at a maximum frequency by utilizing a built-in MEMS sensor.
In one embodiment, the first data processing module is configured to calculate real-time attitude information from the inertial measurement data; subtracting the satellite signal observation data from the inertial measurement data to calculate a difference value, inputting the difference value into a built-in Kalman filter to estimate the measurement accumulated error of the INS inertial navigation module, and feeding back an error compensation value calculated according to the measurement accumulated error to the INS inertial navigation module; and receiving inertial measurement data corrected by the INS inertial navigation module, inputting a Kalman filter calculation measurement result, and carrying out positioning calculation by combining the inertial measurement data and satellite signal observation data to obtain combined navigation positioning information.
In one embodiment, the second data processing module is clocked with a high speed clock and is synchronized with the first data processing module;
when the first data processing module completes positioning calculation for each time to obtain combined navigation positioning information, resetting the high-speed clock, setting the high-speed clock as initial synchronization time for rescunting, and setting the calculated combined navigation positioning information as initial positioning information corresponding to the initial synchronization time of next positioning calculation.
In one embodiment, when the target moment is located, the second data processing module receives a control signal sent by the external device, responds in real time in an interrupt mode, and sends an interrupt control signal to the first data processing module to request to acquire the combined navigation locating information and gesture information of the target moment;
the first data processing module transmits the combined navigation positioning information and the real-time inertial measurement data output by the INS inertial navigation module to the second data processing module;
and the second data processing module performs data fusion processing on the combined navigation positioning information and the real-time inertial measurement data to obtain real-time attitude information and displacement information between the target moment and the initial synchronization moment, calculates the real-time navigation positioning information at the target moment according to the initial positioning information at the initial synchronization moment and the displacement information, and transmits the real-time attitude information and the real-time navigation positioning information to external equipment for calculation and use.
In one embodiment, the second data processing module integrates the acceleration and the angular acceleration measured by the MEMS sensor of the INS inertial navigation module at the target moment to obtain displacement information and real-time attitude information at the target moment, superimposes initial positioning information at the initial synchronization moment to obtain position information at the target moment, and performs coordinate transformation on the position information to obtain real-time navigation positioning information at the target moment.
In one embodiment, at the target time, when the first data processing module receives the interrupt control signal sent by the second data processing module, searching for first satellite signal observation data and first inertial measurement data of a positioning calculation time point closest to the target time, and second satellite signal observation data and second inertial measurement data of a next positioning calculation time point;
and fitting calculation is carried out according to the first satellite signal observation data and the first inertial measurement data, the second satellite signal observation data and the second inertial measurement data, and the target moment, the nearest positioning calculation moment point and the next positioning calculation moment point to obtain the integrated navigation positioning information corresponding to the target moment.
In one embodiment, the INS inertial navigation module includes: the system comprises an MEMS sensor array and a resolving unit, wherein the MEMS sensor array consists of n MEMS sensors, and n is more than or equal to 2; each MEMS sensor is respectively connected with a resolving unit;
the resolving unit is configured to respectively read first measurement data output by each MEMS sensor, perform weighted correction on the first measurement data by using independent first correction coefficients corresponding to each MEMS sensor, perform fusion processing on each corrected first measurement data to obtain second measurement data, and correct the second measurement data by using the second correction coefficients to obtain the inertial measurement data.
In one embodiment, the INS inertial navigation module connects each of the MEMS sensors using an analog parallel I2C bus;
each MEMS sensor collects first measurement data under the control of a set clock pulse signal.
In one embodiment, the resolving unit is configured to:
randomly generating random numbers among n (0, 1) as first correction coefficients according to the set value range;
obtaining error compensation values fed back by the first data processing module every time, fitting an error compensation curve according to the error compensation values, and calculating slope values of the error compensation curve;
calculating the dispersion of the first correction coefficient, and adjusting and generating a random number value of the first correction coefficient according to the slope value and the dispersion so that the slope value is in a set value range.
The combined positioning system based on satellite navigation and MEMS inertial navigation comprises a GNSS receiver based on satellite positioning and an INS inertial navigation module combined positioning by adopting a consumer-level MEMS sensor; the first data processing module is used for carrying out positioning calculation and inertial measurement data correction by utilizing satellite signal observation data and inertial measurement data to obtain combined navigation positioning information; and the second data processing module which runs synchronously responds to the positioning request of the external equipment, and the combined navigation positioning information and the attitude information of the target moment are acquired from the first data processing module, so that the real-time navigation positioning information and the real-time attitude information are calculated in a fusion mode and returned to the external equipment. According to the technical scheme, the combined navigation with low cost and high precision is realized, the carrier position at a certain moment can be accurately determined under the conditions of low positioning frequency and low MEMS inertial navigation precision, the positioning result of the carrier is more accurate and stable, the carrier is not easy to be interfered, and the flight control precision of the high-speed carrier is improved.
Furthermore, the INS inertial navigation module adopts a measuring mode of the MEMS sensor array, the limitation of the process conditions of the MEMS sensors is overcome, each MEMS sensor is individually weighted and calibrated through a resolving unit, and the inertial measurement data is output by integral calibration after the measurement data are fused, so that the measuring precision of the MEMS inertial navigation is improved, the random noise of the MEMS sensors is effectively improved, and the reliability of the measurement data of the INS inertial navigation module is improved.
Furthermore, the resolving unit fits an error compensation curve through the error compensation value, combines the slope value change of the error compensation curve and the dispersion of the random number, and adjusts the distribution of the generated first correction coefficient according to the error compensation curve, so that the measurement error of the MEMS sensor can be reduced, a more accurate measurement result can be output after the MEMS sensor array is corrected, and the measurement precision of MEMS inertial navigation is greatly improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an exemplary combined satellite navigation and MEMS inertial navigation based positioning system;
FIG. 2 is a timing diagram of the operation of an exemplary combined positioning system;
FIG. 3 is a schematic diagram of an exemplary real-time navigation positioning information calculation;
FIG. 4 is a schematic diagram of an INS inertial navigation module architecture of one embodiment;
FIG. 5 is a schematic diagram of an exemplary weighted correction;
FIG. 6 is a schematic diagram of an exemplary analog parallel I2C bus;
fig. 7 is a schematic diagram of first correction coefficient generation for one example.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, but do not preclude the presence or addition of one or more other features, integers, steps, operations.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an exemplary combined positioning system based on satellite navigation and MEMS inertial navigation, including: the system comprises a GNSS receiver, an INS inertial navigation module, a first data processing module and a second data processing module; as illustrated, the GNSS receiver and the INS inertial navigation module are respectively connected with the first data processing module; the second data processing module is connected with the first data processing module and connected with external equipment.
The above combined positioning system, the GNSS receiver is configured to output satellite signal observation data to the first data processing module in real time; specifically, high-precision satellite signal observation data (pseudo range and pseudo range rate) are output to the first data processing module from the GNSS receiver in real time.
The INS inertial navigation module utilizes a built-in MEMS sensor to detect and output inertial measurement data to the first data processing module, receives an error compensation value fed back by the first data processing module and corrects the output inertial measurement data; specifically, the INS inertial navigation module adopts a consumer-level MEMS sensor device, and realizes combined navigation based on lower equipment cost.
Under a normal working state, the GNSS receiver outputs satellite signal observation data to the first data processing module in real time at the maximum frequency; the INS inertial navigation module detects and outputs inertial measurement data to the first data processing module at a maximum frequency by using a built-in MEMS sensor.
The first data processing module is configured to calculate real-time attitude information according to the inertial measurement data, calculate and feed back an error compensation value to the INS inertial navigation module for correction, and combine the inertial measurement data and satellite signal observation data for positioning calculation to obtain combined navigation positioning information.
In an embodiment, the first data processing module is configured to calculate real-time attitude information from the inertial measurement data; subtracting the satellite signal observation data from the inertial measurement data to calculate a difference value, inputting the difference value into a built-in Kalman filter to estimate the measurement accumulated error of the INS inertial navigation module, and feeding back an error compensation value calculated according to the measurement accumulated error to the INS inertial navigation module; and receiving inertial measurement data corrected by the INS inertial navigation module, inputting the inertial measurement data into a Kalman filter for calculating a measurement result, and carrying out positioning calculation by combining the inertial measurement data and satellite signal observation data to obtain combined navigation positioning information.
The second data processing module is synchronously operated with the first data processing module, and is configured to receive a positioning request of external equipment at a target moment, and acquire combined navigation positioning information and attitude information at the target moment from the first data processing module; and carrying out fusion calculation on the real-time navigation positioning information according to the combined navigation positioning information and the gesture information of the target moment, and returning to the external equipment for calculation to obtain the real-time navigation positioning information and the real-time gesture information of the target moment.
In one embodiment, the second data processing module is clocked using a high-speed clock and is synchronized with the first data processing module; when the first data processing module completes positioning calculation for each time to obtain combined navigation positioning information, the high-speed clock is cleared, the high-speed clock is set to be the initial synchronization time for rescunting, and the calculated combined navigation positioning information is set to be the initial positioning information corresponding to the initial synchronization time of the next positioning calculation.
The combined positioning system based on satellite navigation and MEMS inertial navigation comprises a GNSS receiver based on satellite positioning and an INS inertial navigation module combined positioning by adopting a consumer-level MEMS sensor; the first data processing module is used for carrying out positioning calculation and inertial measurement data correction by utilizing satellite signal observation data and inertial measurement data to obtain combined navigation positioning information; and the second data processing module which runs synchronously responds to the positioning request of the external equipment, and the combined navigation positioning information and the attitude information of the target moment are acquired from the first data processing module, so that the real-time navigation positioning information and the real-time attitude information are calculated in a fusion mode and returned to the external equipment. According to the technical scheme, the combined navigation with low cost and high precision is realized, the carrier position at a certain moment can be accurately determined under the conditions of low positioning frequency and low MEMS inertial navigation precision, the positioning result of the carrier is more accurate and stable, the carrier is not easy to be interfered, and the flight control precision of the high-speed carrier is improved.
In order to make the technical solution of the combined positioning system based on satellite navigation and MEMS inertial navigation clearer, more embodiments are described below.
In one embodiment, for the combined positioning system, when positioning the target moment, the second data processing module receives a control signal sent by the external device, responds in real time in an interrupt mode, and sends an interrupt control signal to the first data processing module to request for acquiring the combined navigation positioning information and the gesture information of the target moment; the first data processing module transmits the combined navigation positioning information and the real-time inertial measurement data output by the INS inertial navigation module to the second data processing module; and the second data processing module performs data fusion processing on the combined navigation positioning information and the real-time inertial measurement data to obtain real-time attitude information and displacement information between the target moment and the initial synchronization moment, calculates the real-time navigation positioning information of the target moment according to the initial positioning information and the displacement information of the initial synchronization moment, and transmits the real-time attitude information and the real-time navigation positioning information to external equipment for calculation and use.
Further, the second data processing module integrates the acceleration and the angular acceleration measured by the MEMS sensor of the INS inertial navigation module at the target moment to obtain displacement information and real-time attitude information at the target moment, and superimposes initial positioning information at the initial synchronization moment to obtain position information at the target moment, and performs coordinate conversion on the position information to obtain real-time navigation positioning information at the target moment.
Specifically, the second data processing module adopts a high-speed clock to run and synchronize with the first data processing module, under a normal working state, the first data processing module clears the high-speed clock and rechemates each time the first data processing module completes positioning of the combined navigation positioning information, and referring to fig. 2, fig. 2 is an exemplary working timing diagram of the combined positioning system. As shown in the figure, it is assumed that the initial synchronization time is t 0 The specific time t at which the positioning is required is 1 At the moment, the first data processing module needs to calculate t 1 And the time corresponds to the combined navigation positioning information.
When the real-time navigation positioning information is provided for the external equipment, the external equipment sends a control signal to request the second data processing module, the second data processing module responds in real time in an interrupt mode, and the first data processing module requests to acquire the current combined navigation positioning information and gesture information.
At t 2 At the moment, a first data processing moduleAnd transmitting the real-time measurement data output by the combined navigation positioning information and INS inertial navigation module to a second data processing module.
At t 3 At the moment, the second data processing module completes the data fusion processing process of the combined navigation positioning information and the real-time measurement data, and calculates attitude information and t 1 -t 0 Displacement information within a time period, combined with t 0 Time initial positioning information can be used for calculating t 1 Real-time navigation positioning information at the moment. Referring to FIG. 3, FIG. 3 is a schematic diagram of an exemplary calculation of real-time navigation positioning information by measuring t 1 The acceleration and the angular acceleration of the INS inertial navigation module at moment can be obtained after twice integration 1 Time displacement information and attitude information are added with t 0 Initial position information P of time 0 T can be obtained 1 Time position information P 1 Then coordinate conversion is carried out on the position information to obtain t 1 Combined navigation positioning information of time, in the figure, let t be 1 The position information of the time is P 1 The included angle is theta, and the displacement information is P 0 P 1 Corresponding to the integral to obtain result dP 1 ＝(dx 1 ，dy 1 ，dz 1 ) Finally obtain P 1 Is (x) 1 ，y 1 ，z 1 )。
At t 4 At the moment, the real-time attitude information and the real-time navigation positioning information are transmitted to the external equipment, and the external equipment calculates the real-time attitude information and the real-time navigation positioning information.
At t 5 At moment, the external equipment completes the resolving process of the real-time attitude information and the real-time navigation positioning information to obtain t 1 Positioning information and attitude information of time.
In the technical solution of the above embodiment, t 0 The time is the synchronous time of the conventional combined navigation positioning and is a timing reference point of the second data processing module; t is t 1 The second data processing module determines t by an internal high-speed clock for the target moment of the external device to be positioned 1 Relative to t 0 Is a specific time value of (a); t is t 2 -t 1 The time period is the time (usually a fixed value) required by the first data processing module to transmit the combined navigation positioning information and read the real-time measurement data output by the INS inertial navigation module; t is t 3 -t 2 The time period is the time (which can be considered as fixed within the error range) required by the second data processing module to perform data fusion processing on the combined navigation positioning information and the real-time measurement data; t is t 4 -t 3 The time period is the transmission time (usually a fixed value) required by the real-time attitude information and the real-time navigation positioning information from the second data processing module to the external equipment; t is t 5 -t 4 The time period is the time (usually a fixed value) required for the external device to decode the real-time attitude information and the real-time navigation positioning information.
According to the technical scheme of the embodiment, under the conventional working state, the first data processing module can calculate the combined navigation positioning information and the attitude information in real time, the second data processing module is synchronous with the first data processing module by utilizing the high-speed clock, when the specific target moment needs to be positioned, the second data processing module receives the positioning request of the external device and acquires the combined navigation positioning information and the inertial measurement data from the first data processing module, so that the real-time navigation positioning information and the real-time attitude information of the target moment are calculated and returned to the external device for use, the real-time navigation positioning information and the real-time attitude information of the target moment can be accurately determined, and the position positioning of the carrier is more accurate and stable and is not easy to be disturbed.
In one embodiment, in a normal working state, the first data processing module may calculate the combined navigation positioning information and the gesture information in real time, and since the target time when the external device needs to be positioned may be located at t 0 -t 1 In the time period, when the first data processing module receives the interrupt control signal sent by the second data processing module, the first data processing module searches for the first satellite signal observation data and the first inertial measurement data of the positioning calculation time point closest to the target time point and the second satellite signal observation data of the next positioning calculation time pointAnd second inertial measurement data; and performing fitting calculation on the second satellite signal observation data and the second inertial measurement data as well as the target time, the closest positioning calculation time point and the next positioning calculation time point according to the first satellite signal observation data and the first inertial measurement data to obtain combined navigation positioning information corresponding to the target time.
Specifically, the GNSS receiver performs high-precision satellite positioning, the INS inertial navigation module performs high-frequency carrier attitude data acquisition, and the carrier acquires target time T to be positioned 0 Transmitting a positioning request to a second data processing module in real time in an interrupt mode, transmitting an interrupt control signal to a first data processing module by the second data processing module, and searching a time T from a target by the first data processing module 0 T nearest in time 1 Satellite signal observation data of a GNSS receiver at moment and inertial measurement data of an INS inertial navigation module, and collecting a next moment point T 2 Satellite signal observation data and inertial measurement data at time according to T 1 Time and T 2 Satellite signal observation data and inertial measurement data at moment are combined with T 1 Time of day, T 2 T between and at the moment 0 Time difference Δt of time 01 ＝T 0 -T 1 ，Δt 20 ＝T 2 -T 0 The method comprises the steps of carrying out a first treatment on the surface of the According to the time difference delta t 01 And Deltat 20 For T 0 Fitting calculation is carried out on satellite signal observation data and inertial measurement data at moment, and T is obtained by least square filtering or Kalman filtering 0 Real-time navigation positioning information and real-time posture information at moment.
According to the technical scheme of the embodiment, when the positioning request of the external equipment at the target moment is received, the satellite signal observation data and the inertial measurement data at the latest moment and the next moment are utilized for fitting calculation to obtain the real-time navigation positioning information and the real-time attitude information corresponding to the target moment required to be positioned, so that the positioning accuracy can be further improved.
In the technical scheme of the embodiment of the application, in order to effectively reduce the equipment cost, a consumer-level MEMS sensor is adopted, but because of the limitation of the process conditions of the MEMS device, the consumer-level MEMS device has the influence of quantization errors, random walk, zero offset instability noise, nonlinearity, thermal instability and the like, and is easy to have larger measurement errors.
In order to improve the measurement accuracy of the INS inertial navigation module, the embodiment further adopts the structure of the MEMS sensor array; specifically, referring to fig. 4, fig. 4 is a schematic structural diagram of an INS inertial navigation module according to an embodiment, including: the MEMS sensor array consists of n MEMS sensors and a resolving unit, wherein the MEMS sensors are MEMS1, MEMS2 and … … in the figure, and the MEMS n and n are more than or equal to 2; each MEMS sensor is respectively connected with the resolving unit; the resolving unit is configured to read the first measurement data output by each MEMS sensor respectively, perform weighted correction on the first measurement data by using independent first correction coefficients corresponding to each MEMS sensor, perform fusion processing on the corrected first measurement data to obtain second measurement data, and correct the second measurement data by using the second correction coefficients to obtain inertial measurement data.
FIG. 5 is a schematic diagram of an exemplary weighted correction, as shown in FIG. 5; assuming that the first correction coefficient corresponding to each MEMS sensor is K1, K2, … …, kn, and the second correction coefficient is K, the MEMS1, MEMS2, … …, and MEMS n are corrected by K1, K2, … …, kn, respectively, and then the fused second measurement data is corrected by K to output inertial measurement data.
Assuming that the first measurement data measured by MEMS1, MEMS2, … …, and MEMS n of each MEMS sensor is Q1, Q2, … …, and qn, respectively, and the output inertial measurement data is Q, in one example, the corresponding calculation formula may be expressed as follows:
according to the technical scheme of the embodiment, the INS inertial navigation module adopts the measuring mode of the MEMS sensor array, the limitation of the process conditions of the MEMS sensors is overcome, each MEMS sensor is individually subjected to weighted calibration through the resolving unit, the measured data are fused, then the MEMS array module is subjected to weighted calibration, and inertial measurement data are output after the integral calibration, so that the measuring precision of MEMS inertial navigation is improved, the random noise of the MEMS sensors is effectively improved, and the reliability of the measured data of the INS inertial navigation module is improved.
In order to further improve the measurement accuracy of detecting the MEMS sensors, it is ensured that each MEMS sensor is measured at the same time. The INS inertial navigation module of the embodiment of the application adopts an analog parallel I2C bus to connect each MEMS sensor; each MEMS sensor collects first measurement data under the control of a set clock pulse signal; the communication interface of the MEMS sensor adopts an I2C interface or an SPI interface; as shown in fig. 6, fig. 6 is an exemplary analog parallel I2C bus schematic diagram, as shown in the fig. 1, MEMS2, … …, and the communication interfaces corresponding to MEMS n are I2C1, I2C2, … …, and I2Cn, and under the control of the clock signal CLK, the operation timing of each communication interface is as shown in the fig. and the communication of one communication interface is performed on the rising edge of the clock signal CLK, where each I2C interface is staggered, and the communication of all the communication interfaces is completed once within a set number of clock pulses, so that the parallel I2C bus effect can be achieved.
According to the technical scheme of the embodiment, the scheme of simulating the parallel I2C bus is adopted, so that the MEMS measured value at the same moment can be accurately obtained, and each MEMS sensor can simultaneously read the measured data, so that the measuring precision of MEMS inertial navigation is further improved.
In one embodiment, in the technical solution of the MEMS sensor array as described above, the first correction factor used in the MEMS sensor array is critical to its accuracy due to quantization errors of consumer-level MEMS devices, random walk, zero-bias instability noise, nonlinearity, thermal instability, etc.
Accordingly, in order to further enhance the correction effect, to obtain a better first correction coefficient to accurately correct each MEMS sensor, the resolving unit of the present embodiment may be further configured as follows:
randomly generating random numbers among n (0, 1) as first correction coefficients according to the set value range; obtaining error compensation values fed back by the first data processing module every time, fitting an error compensation curve according to the error compensation values, and calculating slope values of the error compensation curve; calculating the dispersion of the first correction coefficient, and adjusting and generating a random number value of the first correction coefficient according to the slope value and the dispersion so that the slope value is in a set value range.
Specifically, a random number set [ s ] randomly distributed is generated first n ]As first correction coefficients k1, k2, … …, kn; the first data processing module feeds back an error compensation value m each time, then fits an error compensation curve according to m, calculates a slope value x according to the error compensation curve, determines a change trend according to the slope value x, and is based on a random number set s n ]Calculating the dispersion j of the elements of the first correction coefficients k1, k2, … …, kn; in order to control the error compensation curve, the slope value x is in a set value range by combining the change trend determined by the slope value x, and the error compensation curve is more stable by adjusting the dispersion j of the random number value.
As shown in fig. 7, fig. 7 is a schematic diagram illustrating generation of a first correction coefficient, in which a resolving unit combines a fitted error compensation curve with a slope value x and a dispersion j by reading an error compensation value, and adjusts the first correction coefficient based on the error compensation curve, so that a measurement error of a MEMS sensor can be reduced, and a more accurate measurement result can be output after the MEMS sensor array is corrected, thereby greatly improving the measurement accuracy of MEMS inertial navigation.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
Claims (10)
1. A combined positioning system based on satellite navigation and MEMS inertial navigation, comprising: the system comprises a GNSS receiver, an INS inertial navigation module, a first data processing module and a second data processing module;
the GNSS receiver is used for outputting satellite signal observation data to the first data processing module in real time;
the INS inertial navigation module utilizes a built-in MEMS sensor to detect and output inertial measurement data to the first data processing module, receives an error compensation value fed back by the first data processing module and corrects the output inertial measurement data;
the first data processing module is configured to calculate attitude information according to the inertial measurement data, calculate and feed back an error compensation value to an INS inertial navigation module for correction, and combine the inertial measurement data and the satellite signal observation data for positioning calculation to obtain combined navigation positioning information;
the second data processing module is synchronously operated with the first data processing module, and is configured to receive a positioning request of external equipment at a target moment and acquire combined navigation positioning information and attitude information at the target moment from the first data processing module; and carrying out fusion calculation on the real-time navigation positioning information according to the combined navigation positioning information and the gesture information of the target moment, and returning to external equipment for calculation to obtain the real-time navigation positioning information and the real-time gesture information of the target moment.
2. The combined satellite navigation and MEMS inertial navigation based positioning system of claim 1, wherein the GNSS receiver outputs satellite signal observations to the first data processing module in real time at a maximum frequency; the INS inertial navigation module detects and outputs inertial measurement data to the first data processing module at a maximum frequency by utilizing a built-in MEMS sensor.
3. The combined satellite navigation and MEMS inertial navigation based positioning system of claim 1, wherein the first data processing module is configured to calculate real-time attitude information from the inertial measurement data; subtracting the satellite signal observation data from the inertial measurement data to calculate a difference value, inputting the difference value into a built-in Kalman filter to estimate the measurement accumulated error of the INS inertial navigation module, and feeding back an error compensation value calculated according to the measurement accumulated error to the INS inertial navigation module; and receiving inertial measurement data corrected by the INS inertial navigation module, inputting a Kalman filter calculation measurement result, and carrying out positioning calculation by combining the inertial measurement data and satellite signal observation data to obtain combined navigation positioning information.
4. A combined satellite navigation and MEMS inertial navigation based positioning system according to claim 3, wherein the second data processing module is clocked with a high speed clock and synchronized with the first data processing module;
when the first data processing module completes positioning calculation for each time to obtain combined navigation positioning information, resetting the high-speed clock, setting the high-speed clock as initial synchronization time for rescunting, and setting the calculated combined navigation positioning information as initial positioning information corresponding to the initial synchronization time of next positioning calculation.
5. The combined positioning system based on satellite navigation and MEMS inertial navigation according to claim 4, wherein when positioning the target moment, the second data processing module receives the control signal sent by the external device, responds in real time in an interrupt mode, and sends an interrupt control signal to the first data processing module to request for acquiring the combined navigation positioning information and gesture information of the target moment;
the first data processing module transmits the combined navigation positioning information and the real-time inertial measurement data output by the INS inertial navigation module to the second data processing module;
and the second data processing module performs data fusion processing on the combined navigation positioning information and the real-time inertial measurement data to obtain real-time attitude information and displacement information between the target moment and the initial synchronization moment, calculates the real-time navigation positioning information at the target moment according to the initial positioning information at the initial synchronization moment and the displacement information, and transmits the real-time attitude information and the real-time navigation positioning information to external equipment for calculation and use.
6. The combined positioning system based on satellite navigation and MEMS inertial navigation according to claim 5, wherein the second data processing module integrates the acceleration and the angular acceleration measured by the MEMS sensor of the INS inertial navigation module at the target moment to obtain the displacement information and the real-time attitude information at the target moment, superimposes the initial positioning information at the initial synchronization moment to obtain the position information at the target moment, and performs coordinate transformation on the position information to obtain the real-time navigation positioning information at the target moment.
7. The combined satellite navigation and MEMS inertial navigation based positioning system of claim 6, wherein at the target time when the first data processing module receives the interrupt control signal sent by the second data processing module, first satellite signal observations and first inertial measurements at a location calculation time point closest to the target time point, and second satellite signal observations and second inertial measurements at a next location calculation time point are sought;
and fitting calculation is carried out according to the first satellite signal observation data and the first inertial measurement data, the second satellite signal observation data and the second inertial measurement data, and the target moment, the nearest positioning calculation moment point and the next positioning calculation moment point to obtain the integrated navigation positioning information corresponding to the target moment.
8. The combined satellite navigation and MEMS inertial navigation based positioning system of any one of claims 1-7, wherein the INS inertial navigation module comprises: the system comprises an MEMS sensor array and a resolving unit, wherein the MEMS sensor array consists of n MEMS sensors, and n is more than or equal to 2; each MEMS sensor is respectively connected with a resolving unit;
the resolving unit is configured to respectively read first measurement data output by each MEMS sensor, perform weighted correction on the first measurement data by using independent first correction coefficients corresponding to each MEMS sensor, perform fusion processing on each corrected first measurement data to obtain second measurement data, and correct the second measurement data by using the second correction coefficients to obtain the inertial measurement data.
9. The combined positioning system based on satellite navigation and MEMS inertial navigation according to claim 8, wherein the INS inertial navigation module connects each of the MEMS sensors using an analog parallel I2C bus;
each MEMS sensor collects first measurement data under the control of a set clock pulse signal.
10. The combined satellite navigation and MEMS inertial navigation based positioning system of claim 8, wherein the solution unit is configured to:
randomly generating random numbers among n (0, 1) as first correction coefficients according to the set value range;
obtaining error compensation values fed back by the first data processing module every time, fitting an error compensation curve according to the error compensation values, and calculating slope values of the error compensation curve;
calculating the dispersion of the first correction coefficient, and adjusting and generating a random number value of the first correction coefficient according to the slope value and the dispersion so that the slope value is in a set value range.
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