CN102654582A - Combined navigation system and method - Google Patents
Combined navigation system and method Download PDFInfo
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- CN102654582A CN102654582A CN2012101094882A CN201210109488A CN102654582A CN 102654582 A CN102654582 A CN 102654582A CN 2012101094882 A CN2012101094882 A CN 2012101094882A CN 201210109488 A CN201210109488 A CN 201210109488A CN 102654582 A CN102654582 A CN 102654582A
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Abstract
The invention provides a combined navigation system. The combined navigation system comprises a satellite positioning navigation unit, a processor unit, a weight unit and a Kalman filter unit, wherein the satellite positioning navigation unit is used for periodically outputting the satellite positioning navigation information of a moving object; the processor unit is used for periodically processing and correcting the navigation information of the moving object; the weight unit is used for periodically calculating the weight relationship among the plurality of navigation information of the moving object; and the Kalman filter unit is used for periodically calculating the navigation information of the moving object, and periodically combining the navigation information according to weights to obtain the final navigation information of the moving object. The system also comprises a three-axle magnetometer and a map navigation unit, wherein the three-axle magnetometer is used for periodically measuring the magnetic field intensity information of the moving object, and the map navigation unit is used for establishing path planning information. After the technical scheme of the invention is adopted, the continuous positioning capability of the navigation system is effectively improved, the volume and power consumption of the system are reduced, and the navigation precision is obviously improved.
Description
Technical field
The present invention relates to a kind of navigational system and method, especially based on the common navigation system and the method for satellite navigation and location system.
Background technology
Airmanship growing; Especially the appearance of satellite navigation and location system and reach its maturity (like GPS, GLONASS, big-dipper satellite positioning system etc.); Because it has global covering, high precision, round-the-clock characteristics, and is applied to the every aspect of life widely.But because that satellite-signal is propagated the influence factor receive is very many, especially in the urban environment of the numerous buildings in ground, be easy to occur the situation that satellite-signal interrupts, make that difficulty has appearred in the location continuously.
To this problem; At present existing many institutes means solve; For example adopt inertial navigation as supplementary means, according to inertial navigation alignment sensor commonly used, like gyroscope, mileage gauge etc.; Obtain the angular velocity and the linear velocity of moving object, calculate locating navigation information through certain reckoning algorithm again in conjunction with initial alignment information.Yet there is the problem of the accumulation of error in inertial navigation, that is, along with the navigation time is elongated, navigation error can add up, and makes that navigation is of a specified duration more, and navigation accuracy is poor more.Even now uses the inertial navigation auxiliary satellite navigation to unite the continuous localization method that method of navigation still generally adopts, at present; Along with popularizing of airmanship; Increasing airmanship is to be applied in like mobile phone, and the navigating instrument equal-volume is little, on the strict Miniature Terminal of power consumption; And since assembly and power problems that inertial navigation needs make and have no idea at present in Miniature Terminal, well to be used.Therefore, restricting at present that to unite airmanship be that volume, power consumption, navigation time are long more toward the subject matter of Miniature Terminal development, precise decreasing is more severe.
Summary of the invention
The purpose of this invention is to provide a kind ofly based on NAVSTAR, especially the common navigation system of the Big Dipper-2 generation NAVSTAR can solve the stability of single satellite navigation; And the base area magnetic biasing to principle; Propose to use the assisting navigation means of earth-magnetic navigation, map correction etc.,, can significantly improve stability and precision that single use NAVSTAR positions navigation in conjunction with the result of NAVSTAR; And it is simple in structure; Volume is little, and is low in energy consumption, the characteristics that cost is low.
The present invention provides a kind of common navigation system, comprises the satellite positioning navigation unit, is used for the periodically satellite positioning navigation information of output movement object; Processor unit is used for the navigation information of cyclical process and correction motion object; Weight unit is used for periodically calculating the weight relationship between the multiple navigation information of moving object; The Kalman filtering unit; Be used for periodically calculating the moving object navigation information; With according to weight navigation information is periodically integrated, obtain the final navigation information of moving object, said system also comprises: three axis magnetometer and digital map navigation unit; Said three axis magnetometer is used for periodic measurement moving object magnetic field intensity information, and said digital map navigation unit is used to set up the path planning information of moving object starting point and terminal point.
Further; Said processor unit comprises error correction unit and magnetic strength navigation calculation unit; Said error correction unit is used to revise the initial alignment information that said three axis magnetometer obtains, and said magnetic strength navigation calculation unit is used for calculating earth-magnetic navigation information according to said three axis magnetometer output information.
Trigger correction operations when further, said error correction unit does not receive satellite-signal according to the satellite positioning navigation unit.
Trigger correction operations when further, said error correction unit departs from said path planning information predetermined threshold value according to said earth-magnetic navigation information.
Further, said earth-magnetic navigation information departs from said path planning information predetermined threshold value and is meant that with this moment path planning information point be the center of circle, with 15 meters be the circle of radius, if the earth-magnetic navigation information point promptly exceeds predetermined threshold value not in this circle.
Further, after the said error correction unit triggers, produce initial navigation information according to the path planning information point, and upgrade original initial navigation information.
Further, said NAVSTAR output navigation information through said Kalman filtering unit, periodically outputs to said magnetic strength navigation calculation unit, as initial alignment information.
Further, said weight unit coupling and satellite positioning navigation unit are used to calculate the weight of said satellite positioning navigation information and the weight of earth-magnetic navigation information.
Further, said satellite positioning navigation unit is meant the Big Dipper-2 generation satellite positioning navigation unit.
The present invention also provides a kind of associating air navigation aid, and said method comprises:
Step 1, the satnav unit at terminal positions, the output locating navigation information; The digital map navigation software at terminal is set up path planning information according to starting point and terminal point;
Step 2, the three axis magnetometer outputting measurement value at terminal resolves and exports earth-magnetic navigation information in conjunction with the initial navigation information of outside input;
Step 3, whether satnav unit judges satellite-signal disappears, and/or whether said earth-magnetic navigation information depart from said path planning information, is, then produces new initial navigation information according to the path planning information point, jumps to step 2; , then do not jump to step 4;
Step 4, the said locating navigation information of said satnav unit output is integrated according to weight with said earth-magnetic navigation information, obtains final navigation information
After adopting technical scheme of the present invention, can effectively improve the continuous station-keeping ability of navigational system, reduce the volume and the power consumption of system, and can significantly improve the precision of navigation.
Description of drawings
Fig. 1 is the co-located navigational system synoptic diagram of the embodiment of the invention;
Fig. 2 is the co-located schematic flow sheet of the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Accompanying drawing 1 is the co-located navigational system synoptic diagram of the embodiment of the invention.In the present embodiment, common navigation system comprises three axis magnetometer, can measure geomagnetic field intensity three-component data; Be input to processor unit 103; Processor unit 103 comprises error correction unit 104, be used to receive the error correction information that digital map navigation unit 102 feeds back, and path planning information can be set up according to navigation starting point and terminal point in digital map navigation unit 102; Processor unit 103 also comprises magnetic strength navigation calculation unit; Be used to receive the initial alignment information of outside input or the error correction information that the error correction unit transmits, resolve the data that three axis magnetometer 101 transmits, obtain earth-magnetic navigation and separate.Satellite positioning navigation unit output navigation information; The noise that process Kalman filtering unit 107 filters out in the navigation information; And output to magnetic strength navigation calculation unit 105 as initial locating information; Weight unit 108 is calculated satellite positioning navigation and is separated the weight of separating with earth-magnetic navigation in addition; And in Kalman filtering unit 109, according to weight unit 108 calculate satellite positioning navigation separate the weight of separating satellite positioning navigation information and earth-magnetic navigation information integrated with earth-magnetic navigation, export final associating navigation results.
In the formula (1), U1 representes the weighted value that satellite positioning navigation is separated, and U2 representes the weighted value that earth-magnetic navigation is separated, and PDOP is the Position Dilution of Precision that clearing are come out after the satnav cell location.
Accompanying drawing 2 is co-located schematic flow sheets of the embodiment of the invention.In the present embodiment, satellite positioning navigation unit 106 receives satellite and begins the location, and locating information is sent to three axis magnetometer as initial alignment information, and simultaneously, the path planning information point is set up according to starting point and terminal point in digital map navigation unit 102.The three axis magnetometer outputting measurement value, and separate output earth-magnetic navigation information through calculating earth-magnetic navigation; Because the earth-magnetic navigation error of separating is can accumulation, therefore, earth-magnetic navigation information can be elongated and become inaccurate along with the time; When earth-magnetic navigation information deflection path planning information arrives predetermined threshold value, for example, be the center of circle with this moment path planning information point; With 15 meters be the circle of radius, reach predetermined threshold if the earth-magnetic navigation information point not in this circle, is; Simultaneously, because satellite-signal can be because ground obstacle blocks or satellite distribution, satellite health situation etc. are former thereby appear at this moment or this situation that place satellite-signal disappears or signal is weak; If above-mentioned appearance either way or appearance are wherein a kind of; System can produce initial alignment information according to pre-set path planning information point so; That is, use the path planning information point in this moment to be initial alignment information, and with this initial alignment information updating in three axis magnetometer; As new initial alignment information, thereby revise the earth-magnetic navigation precision of information.If above-mentioned two kinds of situation are not, then all export its locating navigation information separately, system integrates satellite positioning navigation information and earth-magnetic navigation information according to weight, exports the more navigation information of high position precision.
The described satellite positioning navigation of above embodiment unit can be GPS, the Big Dipper-2 generation, satellite positioning navigation unit such as Galileo and GLONASS.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a common navigation system comprises the satellite positioning navigation unit, is used for the periodically satellite positioning navigation information of output movement object; Processor unit is used for the navigation information of cyclical process and correction motion object; Weight unit is used for periodically calculating the weight relationship between the multiple navigation information of moving object; The Kalman filtering unit; Be used for periodically calculating the moving object navigation information and navigation information periodically being integrated, obtain the final navigation information of moving object according to weight; It is characterized in that; Said system also comprises: three axis magnetometer and digital map navigation unit, said three axis magnetometer are used for periodic measurement moving object magnetic field intensity information, and said digital map navigation unit is used to set up the path planning information of moving object starting point and terminal point.
2. common navigation system according to claim 1; It is characterized in that; Said processor unit comprises error correction unit and magnetic strength navigation calculation unit; Said error correction unit is used to revise the initial alignment information that said three axis magnetometer obtains, and said magnetic strength navigation calculation unit is used for calculating earth-magnetic navigation information according to said three axis magnetometer output information.
3. according to claim 1 and 2 described common navigation systems, it is characterized in that, trigger correction operations when said error correction unit does not receive satellite-signal according to the satellite positioning navigation unit.
4. according to claim 1 and 2 described common navigation systems, it is characterized in that said error correction unit triggers correction operations when departing from said path planning information predetermined threshold value according to said earth-magnetic navigation information.
5. according to claim 1; 2,4 described common navigation systems is characterized in that; Said earth-magnetic navigation information departs from said path planning information predetermined threshold value and is meant that with this moment path planning information point be the center of circle; With 15 meters be the circle of radius, if the earth-magnetic navigation information point promptly exceeds predetermined threshold value not in this circle.
6. according to the described common navigation system of claim 1 to 5, it is characterized in that, after the said error correction unit triggers, produce initial navigation information according to the path planning information point, and upgrade original initial navigation information.
7. common navigation system according to claim 1 is characterized in that, said NAVSTAR output navigation information through said Kalman filtering unit, periodically outputs to said magnetic strength navigation calculation unit, as initial alignment information.
8. common navigation system according to claim 1 is characterized in that said weight unit is coupled in the satellite positioning navigation unit, is used to calculate the weight of said satellite positioning navigation information and the weight of earth-magnetic navigation information.
9. according to the described common navigation system of claim 1 to 8, it is characterized in that said satellite positioning navigation unit is meant the Big Dipper-2 generation satellite positioning navigation unit.
10. unite air navigation aid for one kind, it is characterized in that said method comprises:
Step 1, the satnav unit at terminal positions, the output locating navigation information; The digital map navigation software at terminal is set up path planning information according to starting point and terminal point;
Step 2, the three axis magnetometer outputting measurement value at terminal resolves and exports earth-magnetic navigation information in conjunction with the initial navigation information of outside input;
Step 3, whether satnav unit judges satellite-signal disappears, and/or whether said earth-magnetic navigation information depart from said path planning information, is, then produces new initial navigation information according to the path planning information point, jumps to step 2; , then do not jump to step 4;
Step 4, the said locating navigation information of said satnav unit output is integrated according to weight with said earth-magnetic navigation information, obtains final navigation information.
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| CN104850130A (en) * | 2015-04-14 | 2015-08-19 | 深圳市华信天线技术有限公司 | Method and system for calculating flight parameters |
| CN105954782A (en) * | 2016-06-12 | 2016-09-21 | 李丹 | Combined direction finding method of multi-rotor unmanned aerial vehicle |
| CN109001789A (en) * | 2018-06-05 | 2018-12-14 | 西安交通大学 | A kind of unmanned vehicle positioning fusion method based on cross-correlation entropy registration |
| CN109407665A (en) * | 2018-09-28 | 2019-03-01 | 浙江大学 | A kind of unmanned dispensing vehicle of small semiautomatic and Distribution path planing method |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
| CN111381261A (en) * | 2018-12-29 | 2020-07-07 | 广州市泰斗电子科技有限公司 | Positioning resolving method and device and satellite navigation receiver |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104850130A (en) * | 2015-04-14 | 2015-08-19 | 深圳市华信天线技术有限公司 | Method and system for calculating flight parameters |
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| CN109407665A (en) * | 2018-09-28 | 2019-03-01 | 浙江大学 | A kind of unmanned dispensing vehicle of small semiautomatic and Distribution path planing method |
| CN111381261A (en) * | 2018-12-29 | 2020-07-07 | 广州市泰斗电子科技有限公司 | Positioning resolving method and device and satellite navigation receiver |
| CN111381261B (en) * | 2018-12-29 | 2022-05-27 | 广州市泰斗电子科技有限公司 | Positioning resolving method and device and satellite navigation receiver |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
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Application publication date: 20120905 |