CN100552384C - Ground car precise positioning and directional method based on Photodetection system - Google Patents
Ground car precise positioning and directional method based on Photodetection system Download PDFInfo
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- CN100552384C CN100552384C CNB2007100636407A CN200710063640A CN100552384C CN 100552384 C CN100552384 C CN 100552384C CN B2007100636407 A CNB2007100636407 A CN B2007100636407A CN 200710063640 A CN200710063640 A CN 200710063640A CN 100552384 C CN100552384 C CN 100552384C
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Abstract
Ground car precise positioning and directional method based on Photodetection system: inertial navigation system INS or DR system and Photodetection system are housed on vehicle, stop after making vehicle enter correcting area, with the position and the initial position and the angle, initial heading that are vehicle, course of this moment INS or DR system; Utilize Photodetection system to measure the angle of three monumented points and vehicle successively, obtain the position angle of three monumented points by the angle, initial heading of vehicle; Make three straight lines by the known location of above-mentioned three monumented points and the position angle that measures, surrender a cocked hat, estimate the position and the course angle error of INS or DR system thus; At last the output of vehicle-mounted INS or DR system is proofreaied and correct, to improve the positioning and directing precision.The present invention does not rely on GPS, implements very simple, quick, and can serve many ground cars simultaneously, for the fast accurate positioning and directing of surface car before executing the task provides a new technological approaches.
Description
Technical field
The present invention relates to a kind ofly utilize vehicle-mounted Photodetection system to measure the method that angle information between three known markers points and the surface car is accurately determined the position and the course of surface car, belong to technical field of navigation and positioning.
Background technology
Modern war has proposed more and more higher requirement to the operational performance of the vehicle weapons (such as self-propelled gun, tank armor car etc.) of undertaking combat mission, should have good maneuverability and dirigibility, also need simultaneously to know at any time self residing position and right direction, thereby can realize organic joint defence and the enemy is effectively hit.Therefore, Land Navigation System (LNS, Land Navigation System) has become the modern important component part of developed country's army material in the world.LNS is the fundamental that confrontation between systems is realized in information-based battlefield, and it not only can improve the operation precision of land battlebus effectively, can also greatly improve the quick-reaction capability (QRC) of battlebus and maneuverability, the independence of operation.The key problem that ground car LNS will solve is a positioning and directing quickly and accurately.
Land battlebus LNS is that the integrated navigation system that adopts GPS and inertial navigation system INS or DR system to constitute is realized navigator fix mostly at present.The defective that this method exists is: disturbed or can not use wartime under the situation of GPS at GPS, INS or DR system can not satisfy the positioning and directing precision that the land battlebus is executed the task required owing to the error of accumulation in time.
Summary of the invention
Technical matters of the present invention is: can not satisfy the situation that particular task requires at existing Land Navigation System positioning and directing precision, a kind of method of utilizing Photodetection system to determine ground vehicle location and course fast, accurately is provided.
Technical solution of the present invention: based on the ground car precise positioning and directional method of Photodetection system, its characteristics are that step is as follows:
(1) inertial navigation system INS or DR system and Photodetection system are housed on vehicle, treat to stop after vehicle enters correcting area, with the position and the initial position and the angle, initial heading that are vehicle, course of this moment INS or DR system;
(2) utilize Photodetection system to measure the angle of three monumented points and vehicle successively, can obtain the position angle of three monumented points by the angle, initial heading of vehicle;
(3) make three straight lines by the known location of three monumented points and the position angle that measures, surrender a cocked hat, estimate the position and the course angle error of INS or DR system thus;
(4) at last the output of vehicle-mounted INS or DR system is proofreaied and correct, to improve the positioning and directing precision.
Principle of the present invention: dress inertial navigation system INS or DR system and Photodetection system on the car of ground, INS or DR system can provide the rough position and the attitude/course information of vehicle, be used for automatic rotation " optical axis ", make the visual field that enters Photodetection system apart from the monumented point of vehicle 1～2km, available artificial or automatic way is carried out target lock-on, automatically read the angle α of the relative vehicle longitudinal axis of monumented point Y, add the course angle ψ that INS or DR system provide
INS, just can obtain the position angle ψ of monumented point
mPosition λ according to monumented point
i,
With the position angle ψ that measures
Mi(i=1,2,3) can obtain three straight lines.When INS or DR system do not have the course angle error and do not have under the situation of angle error, these three straight lines will meet at a bit, i.e. the actual position of surface car.But in general, the ψ that provides of INS or DR system
INSContain error, the ψ that calculates
MiTo depart from, the straight line of such three calculating will no longer meet at a bit, but intersect in twos, meet at A, B and C point respectively, constitute a triangle ABC, be called cocked hat.Obviously, this cocked hat and course angle error are closely related, and when the course angle error reduced, cocked hat also dwindled.Therefore, cocked hat can characterize vehicle course angle error, and ideally, when cocked hat is condensed to a point, corresponding course angle error also will be zero.Therefore go out the position angle ψ of monumented point when static ground car proceeding measurement
Mi(i=1,2,3), according to corresponding cocked hat just can accurately estimate INS or the course angle error delta ψ of DR system and site error Δ λ,
Method of estimation can adopt the method for search or iteration, obtain making the angle of how much characteristic quantities of cocked hat (as area, three limit quadratic sums etc.) minimum, this angle promptly is the course angle error estimate of INS or DR system, compensate this error after, the high precision that can obtain vehicle location is helped evaluation.In addition, can also adopt the method for solving a triangle to obtain the estimated value in the position and the course of surface car.
The present invention's advantage compared with prior art is as follows: the present invention utilizes the angle measurement information of Photodetection system, can provide high-precision positioning and directing information for surface car fast, got rid of the hidden danger that GPS is subject to disturb, significant for the success ratio that the positioning and directing precision level that improves vehicle-mounted INS or DR system, assurance are executed the task.In addition, the present invention only needs three monumented points are done course angle and the position that one-shot measurement just can accurately estimate vehicle, implements very simple, quick, and can serve many ground cars simultaneously.
Description of drawings
Fig. 1 is for implementing principle schematic of the present invention, and wherein Figure 1A is the free from error situation in angle, vehicle initial heading, and Figure 1B has the situation of error for angle, vehicle initial heading;
Fig. 2 is for implementing the time error triangle of the present invention and the length of side thereof with INS or the course angle error change figure of DR system.
Embodiment
Be that example is set forth specific implementation process of the present invention with the situation under the plane coordinate system below.
Fig. 1 has provided principle schematic of the present invention, and in Figure 1A, surface car is positioned at true origin, true course refers to north, when the angle, initial heading is error free, three straight lines being determined by the position and the position angle of three monumented points will meet at a bit, i.e. the actual position of vehicle.And when there was error at the angle, initial heading, these three straight lines no longer met at a bit, but met at three points, shown in Figure 1B.
Suppose that surface car is positioned at true origin, promptly (x, y)=(0,0), true course refers to north, i.e. ψ
T=0 °, the position of monumented point is respectively (x
Li, y
Li) (i=1,2,3), course, position that INS or DR system provide are respectively:
ψ
INS＝ψ
T+Δψ＝Δψ
x
INS＝x+Δx＝Δx
y
INS＝y+Δy＝Δy
The position angle of the monumented point of being measured by Photodetection system can be expressed as:
ψ
mi＝ψ
INS+α(i＝1，2，3)
Wherein α is the angle of Photodetection system measured vehicle and monumented point.
Can obtain three straight line L by the position of monumented point and the position angle that measures
1, L
2, L
3, they meet at A (x respectively
A, y
A), B (x
B, y
B) and C (x
C, y
C).If do not consider measuring error, when the initial heading of vehicle angle error changed, identical variation was done at the pitch angle of three straight lines, and the gained cocked hat is similar triangles, sees Fig. 2 A, so its length of side and initial heading angle error are linear, sees Fig. 2 B.Therefore, after obtaining cocked hat, utilize the method for searching for to find making the length of side is zero course angle error, with this estimated value as the initial heading angle error, and utilizes its to revise the position angle of monumented point, can also try to achieve the estimated value of vehicle location simultaneously.
The position of monumented point needs to determine accurately that in advance its positioning error will be introduced in the measuring error, and the estimated accuracy of surface car course angle and position is had certain influence.If the site error of monumented point is 0.1m, when vehicle and monumented point during apart from the 1km left and right sides, the angle error of introducing is 20 ".The mode of mapping can be adopted in the monumented point position, utilizes the static measurement of DGPS several hours to determine.Utilize DGPS method positional accuracy measurement can reach the cm level, when vehicle and monumented point during apart from the 1km left and right sides, the angle error of introducing is several rads, can ignore substantially.
Field angle at Photodetection system is 2 °, and ccd array is 500 * 500 pixels, and angle measurement error is 30 " under the condition of (1 σ), has carried out random simulation 10 times, the results are shown in Table 1.
The result of table 110 time random simulation
| Sequence number | Initial orientation angle error estimated value (') | Initial east orientation site error estimated value (m) | Initial north orientation site error estimated value (m) | Azimuth angle error evaluated error (') | East orientation site error evaluated error (m) | North orientation site error evaluated error (m) |
| 1 | -29.604 | 499.96 | -499.95 | 0.39595 | -0.035413 | 0.052704 |
| 2 | -29.892 | 499.91 | -500.06 | 0.10758 | -0.094905 | -0.058879 |
| 3 | -29.938 | 500.02 | -499.91 | 0.061875 | 0.021518 | 0.088438 |
| 4 | -29.679 | 500.02 | -499.95 | 0.32083 | 0.015519 | 0.04609 |
| 5 | -29.939 | 499.9 | -499.96 | 0.060919 | -0.10025 | 0.044609 |
| 6 | -30.067 | 499.93 | -499.97 | -0.067297 | -0.065156 | 0.027836 |
| 7 | -30.108 | 499.9 | -499.95 | -0.10849 | -0.10102 | 0.050916 |
| 8 | -30.324 | 500.07 | -499.91 | -0.3241 | 0.070098 | 0.088339 |
| 9 | -29.719 | 499.94 | -499.99 | 0.2807 | -0.061031 | 0.012495 |
| 10 | -30.192 | 499.9 | -500.05 | -0.19239 | -0.10282 | -0.048024 |
| Mean value | -29.946 | 499.95 | -499.97 | 0.053558 | -0.045345 | 0.030452 |
| Standard deviation | 0.22074 | 0.058406 | 0.047476 | 0.22074 | 0.058406 | 0.047476 |
Table 1 has provided the initial orientation angle that 10 random simulations obtain and the estimated value and the corresponding evaluated error of site error.As can be seen from the results, the site error estimated accuracy is better than 0.1m, and the azimuth angle error estimated accuracy reaches 20 " (1 σ).Simulation result has verified that method of the present invention is effectively, and can reach very high positioning and directing precision.
In addition, after utilizing Photodetection system to measure the angle of three monumented points and vehicle successively, also can utilize the method for solving a triangle to obtain the position and the course angle error of vehicle.Concrete steps are as follows: can determine a triangle by the position of three monumented points, the vehicle that records according to Photodetection system and the angle of monumented point can be obtained in vehicle and three monumented point lines and divide leg-of-mutton angle.The position of surface car can be obtained according to the geometric relationship at triangle edges and angle, the error at angle, initial heading can be estimated again according to vehicle course angle and the azimuthal relation of monumented point.
The Photodetection system that adopts among the present invention can use visible light detecting system, also can use infrared detection system.The visible light detecting system price is low, and precision is higher, but is subjected to meteorological condition influence big, can not round-the-clockly use; Infrared detection system can all weather operations, but price is more expensive, and it is big that volume is also wanted.It is selective that these two kinds of systems all have multiple commodity on shelf at present, can satisfy different application requirements.
It should be noted last that: above embodiment is the unrestricted technical scheme of the present invention in order to explanation only, and all modifications that does not break away from the spirit and scope of the present invention or local the replacement all should be encompassed in the middle of the claim scope of the present invention.
Claims (5)
1, based on the ground car precise positioning and directional method of Photodetection system, it is characterized in that step is as follows:
(1) inertial navigation system (INS) system and Photodetection system are housed on vehicle, or dead reckoning (DR) and Photodetection system, stop the initial position and the angle, initial heading that are vehicle with the position and the course of this moment inertial navigation system (INS) or dead reckoning (DR) system after making vehicle enter correcting area;
(2) utilize Photodetection system to measure the line of three monumented points and vehicle and the angle between the vehicle longitudinal axis successively, obtain the position angle of three monumented points by the angle, initial heading of vehicle;
(3) make three straight lines by the known location of above-mentioned three monumented points and the position angle that measures, surrender a cocked hat, estimate the position and the course angle error of inertial navigation system (INS) or dead reckoning (DR) system thus;
(4) at last the output of vehicle-mounted inertial navigation system (INS) or dead reckoning (DR) system is proofreaied and correct, to improve the positioning and directing precision.
2, the ground car precise positioning and directional method based on Photodetection system according to claim 1, it is characterized in that: described Photodetection system is a visible light detecting system, or infrared detection system.
3, the ground car precise positioning and directional method based on Photodetection system according to claim 1 and 2, it is characterized in that: the method for estimation of described step (3) adopts the method for search or iteration, obtain making the angle of cocked hat geometric feature minimum, wherein said geometric feature is area or three limit quadratic sums, and this angle promptly is the course angle error estimate of inertial navigation system (INS) or dead reckoning (DR) system.
4, the ground car precise positioning and directional method based on Photodetection system according to claim 1 and 2, it is characterized in that: vehicle location in the described step (1) and course angle obtain by the method for solving a triangle.
5, the ground car precise positioning and directional method based on Photodetection system according to claim 1 and 2 is characterized in that: the position needs of described monumented point are accurately measured in advance.
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| CN101672655B (en) * | 2009-09-25 | 2011-06-08 | 北京航空航天大学 | Measuring method for position, posture and course of car on the ground based on double shaft photoelectric measurement system |
| CN102589549B (en) * | 2011-12-22 | 2017-09-29 | 中国人民解放军海军航空工程学院 | Three station direction cross positioning track algorithm in terrestrial coordinate system space |
| CN103090860B (en) * | 2013-01-11 | 2015-07-22 | 北京邮电大学 | Method and device for obtaining movement direction |
| CN106643807A (en) * | 2017-01-16 | 2017-05-10 | 中国人民解放军军械工程学院 | Precision detection method of tube azimuth orienting device |
| CN109856990B (en) * | 2019-01-17 | 2021-09-03 | 同济大学 | In-loop simulation system of GNSS/INS combined navigation controller |
| CN111081033B (en) * | 2019-11-21 | 2021-06-01 | 北京百度网讯科技有限公司 | Method and device for determining orientation angle of vehicle |
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Non-Patent Citations (4)
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| 伪卫星/惯性/里程仪组合高精度地面车导航技术. 高文，张京娟，谢淑香，冯培德.弹箭与制导学报，第2期. 2006 |
| 伪卫星/惯性/里程仪组合高精度地面车导航技术. 高文，张京娟，谢淑香，冯培德.弹箭与制导学报，第2期. 2006 * |
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