CN113031040A - Positioning method and system for airport ground clothes vehicle - Google Patents
Positioning method and system for airport ground clothes vehicle Download PDFInfo
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Abstract
本发明公开了一种用于机场地服车辆的定位方法及系统，利用GNSS、捷联INS和视觉匹配技术针对机场强电磁场特殊环境，可智能切换融合算法和导航工作模式。相比于其他简单组合模式，更充分利用导航信息资源，适应机场特殊电磁环境能力强，更人性化、自主化。克服捷联INS定位误差随时间积累，无法长时间单独工作，以及GNSS卫星过度依赖卫星信号等问题。能够提高机场地服车辆的定位精度，实现无缝定位。
The invention discloses a positioning method and system for airport ground service vehicles, which utilizes GNSS, strapdown INS and visual matching technology to intelligently switch fusion algorithm and navigation working mode for the special environment of strong electromagnetic field of the airport. Compared with other simple combination modes, the navigation information resources are more fully utilized, the ability to adapt to the special electromagnetic environment of the airport is strong, and it is more humanized and autonomous. Overcome the accumulation of strapdown INS positioning errors over time, the inability to work alone for a long time, and the over-reliance of GNSS satellites on satellite signals. It can improve the positioning accuracy of airport ground service vehicles and achieve seamless positioning.
Description
Technical Field
The invention relates to the field of integrated navigation, in particular to a positioning method and a positioning system for airport clothes vehicles.
Background
The airport area has strong electromagnetic interference which will affect the GNSS (global navigation satellite system) signal, and the hidden trouble brought by the electromagnetic interference to the airport safety can not be ignored. Due to the three vulnerability problems of deception, interference and shielding of the GNSS in the airport environment, even if the receiver can lock the GNSS satellite signal, the GNSS satellite signal often has the problems of low signal-to-noise ratio, multiple gross errors, wrong ambiguity fixation, multiple cycle slip and the like, and meanwhile, the GNSS cannot provide continuous positioning service in a complex environment due to the multipath effect, so that the data processing difficulty is increased. The strapdown INS (inertial navigation system) is an independent and autonomous navigation mode, has strong concealment and anti-interference capability, and can be accurately positioned in a short time. However, due to the characteristics of the strapdown INS, the accumulated error increases along with time, the positioning accuracy is poor for a long time, and accurate attitude, speed and position information of airport ground service vehicles cannot be acquired. Along with the development of image processing technology and computer vision technology, the vision positioning technology is widely applied to navigation positioning of field clothes vehicles. The principle of the airport clothes vehicle visual positioning method is that firstly, an airport area accurate fixed marking map library is constructed. The camera installed on the clothes vehicle in the field collects images in the motion process of the vehicle in real time, extracts relevant information from the images, compares the relevant information with information in the fixed marking map library, and finally realizes the positioning of the clothes vehicle. The sensitivity of the vision sensor is very high, the processing cost is low, and the image observation information is also an important way for the environment perception of the airport clothes vehicle. The visual matching technology is also used as an autonomous measurement mode like inertial navigation, can still effectively play a role under the condition that GNSS satellite signals are shielded and interfered, and has very good error accumulation inhibition capability compared with a strapdown INS. However, the vision sensor is easily affected by light, and is easily positioned and disabled under the conditions of strong exposure, night, low brightness and the like.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system for an airport ground uniform vehicle, which adopt a strapdown INS, GNSS and vision matching combination technology to improve the positioning precision and robustness of the airport ground uniform vehicle, realize the real-time positioning of the airport ground uniform vehicle and solve the problem of low usability of an airport ground uniform vehicle-mounted combined navigation algorithm in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
a method for locating an airport ground clothing vehicle, comprising:
constructing an airport area live-action feature image library;
the method comprises the steps that a CCD camera carried on an airport ground clothing vehicle is used for shooting to obtain an environment image in the driving process of the airport ground clothing vehicle, feature extraction is carried out on the environment image, and feature matching is carried out on the environment image and an airport area live-action feature image library;
receiving satellite signals by utilizing a GNSS receiver carried by an airport ground uniform vehicle;
analyzing GNSS satellite signals to obtain the number of visible satellites and a carrier-to-noise ratio;
acquiring strapdown inertial navigation data by using a gyroscope and an adding table in the strapdown inertial navigation system;
performing navigation calculation on the inertial navigation data to obtain position, speed and attitude information;
judging the quality of the GNSS satellite signals according to the number of the visible satellites and the carrier-to-noise ratio;
according to the judgment result, selecting an information fusion mode to position the airport ground service vehicles; the information fusion mode comprises a strapdown inertial navigation system/GNSS information fusion mode, a strapdown inertial navigation system/GNSS/visual matching information fusion mode and a strapdown inertial navigation system/visual matching information fusion mode.
Optionally, the determining the quality of the GNSS satellite signal according to the number of visible satellites and the carrier-to-noise ratio specifically includes:
when the number of the visible satellites is more than or equal to 4 and the carrier-to-noise ratio is more than or equal to 35dB/Hz, judging that the GNSS satellite signal is strong;
when the number of the visible satellites is more than or equal to 4, and the carrier-to-noise ratio is more than or equal to 20dB/Hz and less than 35dB/Hz, judging that the GNSS satellite signals are weak;
and when the number of the visible satellites is less than 4 or the carrier-to-noise ratio is less than or equal to 20dB/Hz, judging that the GNSS satellite is out of lock.
Optionally, the selecting an information fusion mode to locate the airport coverall vehicles according to the judgment result specifically includes:
when the GNSS satellite signal is strong, selecting a strapdown inertial navigation system/GNSS information fusion mode to obtain the position, speed and attitude information of the airport uniform vehicle, and outputting a positioning result;
when the GNSS satellite signal is weak, a strapdown inertial navigation system/GNSS/visual matching information fusion mode is selected, the position, speed and attitude information of the airport uniform vehicle is output, and a positioning result is output;
and when the GNSS satellite is unlocked, selecting a strapdown inertial navigation system/visual matching information fusion mode, outputting position, speed and attitude information of the airport uniform vehicle, and outputting a positioning result.
Optionally, the strapdown inertial navigation system/GNSS information fusion method specifically includes:
and fusing the positioning result output by the GNSS with the position, speed and attitude information output by the strapdown inertial navigation system, and outputting navigation positioning information.
Optionally, the strapdown inertial navigation system/GNSS/visual matching information fusion method specifically includes:
and fusing the positioning result output by the GNSS, the position, speed and attitude information output by the strapdown inertial navigation system and the characteristic matching result, and outputting navigation positioning information.
Optionally, the strapdown inertial navigation system/visual matching information fusion method specifically includes:
and fusing the position, speed and attitude information output by the strapdown inertial navigation system with the feature matching result, and outputting navigation positioning information.
The invention also provides a positioning system for airport ground clothes vehicles, comprising:
the image library construction module is used for constructing an airport area live-action feature image library;
the characteristic matching module is used for obtaining an environment image in the driving process of the airport clothing vehicle by utilizing a CCD camera carried on the airport clothing vehicle, extracting the characteristics of the environment image and performing characteristic matching with an airport area live-action characteristic image library;
the satellite signal receiving module is used for receiving satellite signals by utilizing a GNSS receiver carried by an airport uniform vehicle;
the first analysis module is used for analyzing GNSS satellite signals to obtain the number of visible satellites and a carrier-to-noise ratio;
the strapdown inertial navigation data acquisition module is used for acquiring strapdown inertial navigation data by utilizing a gyroscope and an adding meter in the strapdown inertial navigation system;
the second analysis module is used for carrying out navigation calculation on the inertial navigation data to obtain position, speed and attitude information;
the judging module is used for judging the quality of the GNSS satellite signals according to the number of the visible satellites and the carrier-to-noise ratio;
the positioning module is used for selecting an information fusion mode to position the airport ground clothes vehicles according to the judgment result; the information fusion mode comprises a strapdown inertial navigation system/GNSS information fusion mode, a strapdown inertial navigation system/GNSS/visual matching information fusion mode and a strapdown inertial navigation system/visual matching information fusion mode.
Optionally, the determining module specifically includes:
the first judging unit is used for judging the GNSS satellite signal intensity when the number of the visible satellites is more than or equal to 4 and the carrier-to-noise ratio is more than or equal to 35 dB/Hz;
the second judging unit is used for judging that the GNSS satellite signals are weak when the number of the visible satellites is more than or equal to 4, and the carrier-to-noise ratio is more than or equal to 20dB/Hz and less than 35 dB/Hz;
and the second judging unit is used for judging that the GNSS satellite is unlocked when the number of the visible satellites is less than 4 or the carrier-to-noise ratio is less than or equal to 20 dB/Hz.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a positioning method and a positioning system for airport clothes vehicles, which can intelligently switch a fusion algorithm and a navigation working mode by utilizing GNSS, strapdown INS and visual matching technology aiming at the special environment of airport strong electromagnetic fields. Compared with other simple combination modes, the method has the advantages of more fully utilizing navigation information resources, being suitable for the special electromagnetic environment of the airport, and being more humanized and independent. The problems that the strapdown INS positioning error is accumulated along with time, the independent work can not be carried out for a long time, a GNSS satellite excessively depends on satellite signals and the like are solved. The positioning precision of the airport ground clothes vehicle can be improved, and seamless positioning is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 shows an embodiment of the present invention
FIG. 2 is a diagram of a GNSS satellite sky;
FIG. 3 is a satellite pseudorange observation;
FIG. 4 is a diagram of misalignment angle error simulation for east and north directions of a strapdown INS/GNSS integrated navigation system;
FIG. 5 is a velocity error simulation diagram for the east, north and sky directions of the strapdown INS/GNSS integrated navigation system;
fig. 6 is a diagram showing a simulation of position errors in the east, north and sky directions of the strapdown INS/GNSS integrated navigation system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Among the numerous navigation systems, inertial navigation and satellite navigation are two commonly used systems. The GNSS is a reference-based system and the INS is a dead reckoning system. The error rule of the satellite navigation positioning system is opposite to that of the inertial navigation system, and due to the wavelength of the inertial navigation system, the satellite navigation positioning system is easily influenced by electromagnetic wave transmission, weather and the like, and each positioning has a certain error, but the positioning error has no relation with a time interval. The combined navigation positioning system breaks through the limitation of a single navigation positioning system, makes up for the deficiencies, and provides more reliable navigation positioning information.
An inertial navigation system is an autonomous system which provides information such as position, speed and attitude based on the measurement values of inertial sensors by applying the principle of Dead Reckoning (DR). DR is the determination of its current position using the previous position of the carrier, the acceleration and angular velocity measured by the sensors. And knowing the initial direction and position, performing primary integration on the gyro observed quantity, and performing secondary integration on the apparent measurement to obtain the current direction and position of the carrier. The positioning result is obtained by time continuous integration, so that errors are accumulated continuously. Therefore, when the INS works alone, particularly a system integrating low-precision inertial devices is not suitable for the field of long-time precise navigation. The angular rate measured by the gyroscope can be processed to obtain attitude information of the mobile platform such as pitching, yawing, rolling and the like, and the navigation parameters can be converted into a local horizontal coordinate system from a carrier coordinate system by utilizing the attitude information.
Inertial sensor (gyro and adder) signals in the strapdown INS are sampled in a digital form and are input into a navigation computer for calculation, so that the position, speed and attitude information of a body coordinate system relative to a specific navigation coordinate system can be given. Compared with the platform INS, the strapdown INS does not have a physically stable platform, the coordinate transformation relationship between the carrier coordinate system and the navigation reference coordinate system is described in real time in a mathematical manner, and the attitude matrix converted from the platform system to the navigation system is generally called a mathematical platform.
GNSS is a system that modulates high frequency signals emitted by a constellation of satellites to achieve position location. The GNSS adopts a ranging algorithm to realize positioning, and the ground receiver calculates position information by utilizing signal propagation time and the current space position of a satellite. The calculation of the longitude, latitude and altitude information of the phase center of the receiver antenna requires a certain number of known satellites, the theoretical minimum number is 3, and if the fourth satellite is known, the satellite clock error of the receiver can be calculated. The global navigation satellite system not only provides navigation, positioning and accurate time service information for global users, but also provides high-stability long-term use of L-band free microwave signal resources. However, in special cases, due to problems such as occlusion and multipath, GNSS users cannot navigate and position in real time. GNSS outages often occur in urban canyons, tunnels, and other GNSS screened environments. To improve the performance of GNSS in outage environments, some receivers employ improved techniques for ensuring. Receivers are often designed to be dual frequency rather than single frequency. The dual frequency receiver can estimate the ionospheric delay relative to the reference frequency and catch up this error in the pseudorange measurements.
The invention relates to a positioning method and a positioning system for an airport uniform vehicle, which can intelligently switch a fusion algorithm and a navigation working mode by utilizing strapdown INS, GNSS and visual matching technology aiming at the special environment of an airport strong electromagnetic field. The problem of among the prior art airport ground clothes vehicle can't fix a position in real time is solved, and the range of application is wide, can improve airport ground clothes vehicle positioning's precision and robustness, realizes seamless location.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a positioning method for airport ground clothes vehicles includes the steps of:
step 101: and constructing an airport area live-action feature image library.
The CCD camera is used for generating an airport ground clothes vehicle image library, and under the conditions of different illumination conditions, weather factors, shooting angles, shooting distances and the like, the airport ground clothes vehicle images shot by the CCD camera are different. Therefore, in order to obtain the required original images including the airport ground uniform vehicles under various environmental conditions to the maximum extent, the images of the airport ground uniform vehicles need to be obtained by shooting in the field under different illumination, weather, shooting distances and shooting angles; image preprocessing, wherein the intercepted airport ground service vehicle image may have serious distortion due to the influence of the environment where the airport ground service vehicle is located, so that the image needs to be preprocessed, for example, smooth filtering, illumination equalization processing and the like are adopted, and for the preprocessed original image, color space is utilized and an edge detection operator is combined to perform color detection on the original image, so that a target image, namely, a part of the airport ground service vehicle, is obtained.
Step 102: and shooting by using a CCD camera carried on the airport ground clothing vehicle to obtain an environment image in the driving process of the airport ground clothing vehicle, carrying out feature extraction on the environment image and carrying out feature matching on the environment image and an airport area live-action feature image library.
Image feature matching is the spatial alignment of two images. An image obtained in advance in image matching is called a reference map, and an airport ground service vehicle image obtained in real time in the matching process is called a real-time map. The reference map and the real-time map are approximate descriptions of the same object. Let fb(x, y) and fr(x, y) represent the reference map and the real-time map, respectively. Then there are:
fr(x,y)＝fd(x+dx(x,y),y+dy(x,y))+n(x,y)
wherein x and y are plane coordinates, and n (x, y) is highWhite noise can be filtered by a certain filtering method. dx(x, y) and dy(x, y) is frThe positional deviation of the point on (x, y) above.
Step 103: satellite signals are received by a GNSS receiver carried by an airport ground uniform vehicle.
The time from a carrier signal transmitted by a satellite to a GNSS receiver is known, pseudo-range information between the satellite and the antenna phase center of the receiver is obtained, and information such as the position, the speed and the like of the airport ground service vehicle is solved through multiple groups of information. The GNSS uses a three-sphere positioning principle, distance information between the GNSS receiver and three navigation satellites is obtained, three spherical surfaces are constructed, and the intersection point of the three spherical surfaces is a position point of the GNSS receiver. The real-time position information of each in-orbit satellite of the space GNSS constellation can be obtained through ephemeris information and is marked as { (x)i,yi,zi) Wherein i refers to a satellite PRN (pseudo random ranging code) number, and takes a value of 1, 2, 3. The civilian carrier signals transmitted by the ith GNSS satellite may be represented as:
in the formula, AciIs the amplitude of the C/A code signal; a. thepiIs the P-code signal amplitude; ci(t) represents a C/A code; pi(t) represents a P code; di(t) represents a navigation message; f is a carrier frequency; t is time;
representing the initial phase, which is mainly caused by phase noise and frequency drift.
Navigation message D continuously transmitted by satellite in airi(t) modulating on a carrier signal SiTo above, Di(t) satellite signals with time and position information, the receiver by comparing the received SiAfter demodulation, de-spread and other processing, the satellite position can be obtainedAnd so on. The distance from the satellite to the phase center of the GNSS receiver antenna can be expressed in pseudoranges, and is expressed as { (R)i) And the pseudorange is not a real distance, and contains information such as ionosphere delay, troposphere delay, satellite clock error and receiver clock error. Under the condition that the GNSS satellite and the GNSS receiver realize time synchronization, the pseudo-range value is obtained by measuring time delay and multiplying the time delay by the light speed. Setting GNSS receiver position to (x)0,y0,z0) The GNSS receiver position is an unknown. The equation can be listed:
where b is the offset of the GNSS receiver due to the clock offset. The above formula has four unknown quantities, and four equations are listed for solving. The system of equations is as follows:
when the GNSS receiver realizes one-time positioning, at least four satellites are observed, so that position information and pseudo-range information of four groups of satellites are obtained, and position information and clock deviation of the GNSS receiver installed on an airport ground service vehicle can be obtained.
Step 104: and analyzing the GNSS satellite signals to obtain the number of visible satellites and the carrier-to-noise ratio.
Satellite signals from a GNSS receiver in a complex environment of an airport are more, so that the navigation satellite signals need to be preliminarily selected, and the navigation satellite signals with larger errors are removed, so that the calculation amount of positioning calculation is reduced. The navigation satellite signal primarily takes into account errors resulting from multipath or non-line-of-sight factors that cannot be corrected. The multipath signal means that the received satellite signal contains a reflected signal besides a direct signal, and the non-line-of-sight means that the received navigation signal is a reflected satellite signal without the direct navigation signal.
Step 105: and acquiring strapdown inertial navigation data by utilizing a gyroscope and an adding table in the strapdown inertial navigation system.
The gyroscope is a main device of a strapdown inertial navigation system and is a sensor sensitive to angular motion. The traveling direction of the carrier (airport clothes vehicle) can be judged according to the positive and negative of the gyro output data. The angle change of the airport uniform vehicle can be obtained by utilizing the integration of the gyro original data. The gyro has low accuracy due to large drift, and if the requirement on the accuracy of navigation positioning is high, the direction information needs to be compensated by using an algorithm. The error model for a gyroscope may be established as:
in the formula (I), the compound is shown in the specification,
the actual output of the gyro is mounted for the x-axis direction,
the actual output of the gyro is mounted for the y-axis direction,
for mounting the actual output of the gyroscope in the z-axis direction, KyxMounting error of gyroscope for y-axis mounting with respect to x-axis, KzxMounting error of gyro mounted in z-axis direction with respect to x-axis, KxyFor mounting the gyroscope in the x-axis direction with respect to the y-axis, KzyFor mounting of gyros in the direction of the z-axis with respect to the y-axis, KxzFor mounting of gyros in the direction of the x-axis with respect to the z-axis, KyzMounting error of gyro mounted in y-axis direction with respect to z-axis, wxAs a measure of attitude in the x-axis direction, wyAs a measure of attitude in the y-axis direction, wzAs a z-axis attitude measurement, BxZero-offset for the gyroscope in the x-axis direction, ByZero-offset of the gyroscope in the y-axis direction, BzIs zero offset of the gyro in the z-axis direction, nxRandom noise error of gyro in x-axis direction, nyRandom noise for y-axis gyroscopeAcoustic error, nzIs the random noise error of the gyroscope in the z-axis direction.
The accelerometer is a sensor used to measure the specific force of the carrier (airport uniform vehicle) and returns the acceleration components of three axes. The information output by the accelerometer is specific force, namely the resultant force vector of the net acceleration in the actual motion of the carrier (the airport ground clothes vehicle) and the local gravity acceleration. The net acceleration of the carrier cannot be directly measured by means of the accelerometer alone. The net acceleration of the carrier needs to be extracted in the navigation coordinate system in cooperation with the gyroscope. The tabulated error model can be expressed as:
in the formula (I), the compound is shown in the specification,
the actual output of the adding table is installed for the x-axis direction,
the actual output of the adding table is installed for the y-axis direction,
for mounting the actual output of the adder in the z-axis direction, K1yxFor mounting the add-on table in the direction of the y-axis with respect to the x-axis, K1zxFor mounting in the z-axis direction, the mounting error of the add table with respect to the x-axis, K1xyFor mounting errors of the add-table in the x-axis direction with respect to the y-axis, K1zyFor mounting the add-on table in the direction of the z-axis with respect to the mounting error of the y-axis, K1xzFor mounting of the add-table in the direction of the x-axis with respect to the z-axis, K1yzFor mounting the add-on table in the direction of the y-axis with respect to the z-axis, axIs a specific force measurement value in the x-axis direction, ayAs a specific force measurement in the y-axis direction, azAs a z-axis specific force measurement, B1xAdding zero offset of the meter to the x-axis direction, B1yAdding zero offset of the meter to the y-axis direction, B1zAdding zero offset, n, of the table to the z-axis direction1xRandom noise error, n, for x-axis direction plus table1yRandom noise error, n, for y-axis direction plus table1zThe z-axis direction plus the random noise error of the table.
Step 106: and performing navigation calculation on the inertial navigation data to obtain position, speed and attitude information.
The strapdown inertial navigation data solution is a calculation method for obtaining navigation data information of a carrier (airport ground-uniform vehicles) in a carrier coordinate system from output information of a gyroscope and an adding table, and obtaining navigation information such as positions, speeds, postures and the like of the required airport ground-uniform vehicles in the navigation coordinate system through mutual transformation of the two coordinate systems of the navigation coordinate system and the carrier coordinate system.
Step 107: and judging the quality of the GNSS satellite signals according to the number of the visible satellites and the carrier-to-noise ratio.
(a) GNSS satellite signal intensity: the number of visible satellites is more than or equal to 4, and if the carrier-to-noise ratio is more than or equal to 35 dB/Hz.
(b) GNSS satellite signals are weak: the number of visible satellites is more than or equal to 4, and if the carrier-to-noise ratio is more than or equal to 20dB/Hz and less than 35 dB/Hz.
(c) Losing lock of GNSS satellites: the number of the satellites is less than 4 or the number of the satellites is a signal blind area if the carrier-to-noise ratio is less than or equal to 20 dB/Hz.
Step 108: according to the judgment result, selecting an information fusion mode to position the airport ground service vehicles; the information fusion mode comprises a strapdown inertial navigation system/GNSS information fusion mode, a strapdown inertial navigation system/GNSS/visual matching information fusion mode and a strapdown inertial navigation system/visual matching information fusion mode.
1) And when the GNSS satellite signal is strong, selecting a strapdown inertial navigation system/GNSS information fusion mode to obtain the position, speed and attitude information of the airport uniform vehicle, and outputting a positioning result.
Constructing a strapdown INS/GNSS fusion model, wherein the state parameter x of the strapdown INS/GNSS combined system is as follows:
x＝[δrn δvn ψ bg ba sg sa]T
where ψ is the misalignment angle, δ vnFor the velocity error in the navigation coordinate system, δ rnTo navigate the position error in the coordinate system, baAs an acceleration scale factor, bgIs zero-offset of the gyro, saIs a gyro scale factor, sgAdding a table scale factor. The time update of the state parameter x is:
in the formula phik,k-1Is the system transfer matrix from time k-1 to time k, xk-1Is the state value at the last moment in time,
for the predicted value of the state parameter at time k,
and Pk-1Predicting variance matrix, Q, for state parameters at time k and time k-1, respectivelyk-1And the system noise variance matrix corresponding to the state parameter. The observed update of the state parameters is:
in the formula, xkIn order to be a parameter of the state,
to estimate, KkIs a Kalman filter gain matrix, zkIs a coefficient vector, HkTo design a matrix.
And fusing the position and speed information output by the GNSS and the strapdown INS through the observation and updating of the state parameters, and outputting navigation positioning information. The GNSS satellite information frequently corrects the strapdown INS error in the process of moving on-site clothes vehicles so as to control the accumulation of the strapdown INS error along with time. And the strapdown INS positioning information has higher precision in a short time period, and the problems of cycle slip and lock losing in the GNSS satellite signal dynamic environment can be well solved. In addition, the strapdown INS can also assist the GNSS receiver in increasing the anti-interference capability. The inertial navigation system provides the GNSS receiver with related initial position, speed and other information so that the receiver can rapidly acquire the pseudo-random ranging code in the GNSS carrier signal. The strapdown INS signal can be used for assisting the direction of a receiver antenna on an airport uniform vehicle to aim at a satellite, so that the influence of external interference on the work of an airport uniform vehicle navigation positioning system is reduced. The strapdown inertial navigation system can improve the tracking capability of the airport uniform vehicle receiver. The navigation positioning information output by the strapdown inertial navigation system can well reflect the movement behaviors of the airport ground-service vehicles, and the errors caused by the movement behaviors of the airport ground-service vehicles can be obviously reduced by utilizing the information to assist the GNSS tracking positioning.
2) And when the GNSS satellite signal is weak, selecting a strapdown inertial navigation system/GNSS/visual matching information fusion mode, outputting the position, speed and attitude information of the airport uniform vehicle, and outputting a positioning result.
And constructing a GNSS/strapdown INS/visual matching fusion model, fusing the GNSS and the strapdown INS with the feature matching result, and outputting navigation positioning information. The strapdown INS/GNSS/visual matching combined positioning method realizes the advantage complementation of a satellite navigation system, a strapdown inertial navigation system and a visual matching technology, has the navigation and positioning advantages which cannot be compared with a single navigation positioning system, and improves the precision and the reliability of an airport ground service vehicle navigation system.
3) And when the GNSS satellite is unlocked, selecting a strapdown inertial navigation system/visual matching information fusion mode, outputting position, speed and attitude information of the airport uniform vehicle, and outputting a positioning result.
Constructing a fusion model of a visual sensor and an inertial sensor, fusing the characteristic matching result of the CCD camera with information output by the strapdown INS, and outputting navigation positioning information; the visual matching system can be applied to airport ground clothes vehicles and other various navigation service fields. For airport clothing navigation, the camera can complete the monitoring service of the vehicle edges, lanes, transition lines and road intersections in the airport area. Although the high-precision absolute positioning of the airport uniform vehicle cannot be realized, the GNSS/INS positioning information can be assisted. The positioning method has the defects of sensitivity to light intensity all day long, image clutter and accumulated snow water on the ground, and unreliable positioning results of the visual matching positioning system under specific conditions.
The scheme of the invention adopts data of a certain half hour time period of 11/1/2019, a GNSS satellite sky map at a certain time in the time period is shown in figure 2, and the position of the satellite in the sky at the time can be seen from the map, wherein C represents a Beidou satellite, G represents a GPS satellite, E represents a Galileo satellite, and R represents a Glonass satellite.
Fig. 3 shows pseudo-range observations of the GPS10 satellite, 12 satellite, 15 satellite, 16 satellite, 18 satellite, 20 satellite, and the like, with time on the abscissa and corresponding pseudo-range observations at different times on the ordinate. Navigation positioning can be realized by utilizing the pseudo-range observed value, and different lines in the graph represent pseudo-range values of different satellites.
The sub-sampling number of the strapdown INS/GNSS integrated navigation system is 2, the sampling time is 0.1 second, the gyro constant value zero offset is 0.01 degrees/h, the gyro angle random walk coefficient is 0.001 degrees/v/h, the added table constant value offset is 80ug, and the simulation time is 3600 seconds. FIG. 4 is a graph of misalignment angle error simulation for east and north directions of a strapdown INS/GNSS combined navigation system, where φEIs the east component of the misalignment angle error, phiNIs the misalignment angle error north component; FIG. 5 is a graph of velocity error simulation for strapdown INS/GNSS integrated navigation system in east, north and sky directions, where Δ VEEast component of velocity error, δ VNNorth component of velocity error, δ VUA velocity error zenithal component; FIG. 6 is a diagram showing a simulation of position errors in the east, north and sky directions of a strapdown INS/GNSS integrated navigation system, where δ L is a latitude error, δ λ is a longitude error, and δ h is an altitude errorAnd (4) poor.
The invention also provides a positioning system for airport ground clothes vehicles, comprising:
and the image library construction module is used for constructing an airport area live-action feature image library.
And the characteristic matching module is used for obtaining an environment image in the driving process of the airport ground uniform vehicle by utilizing the CCD camera carried on the airport ground uniform vehicle, extracting the characteristics of the environment image and performing characteristic matching with the airport area live-action characteristic image library.
And the satellite signal receiving module is used for receiving satellite signals by utilizing a GNSS receiver carried by an airport uniform vehicle.
And the first analysis module is used for analyzing the GNSS satellite signals to obtain the number of visible satellites and the carrier-to-noise ratio.
And the strapdown inertial navigation data acquisition module is used for acquiring strapdown inertial navigation data by utilizing a gyroscope and an additional meter in the strapdown inertial navigation system.
And the second analysis module is used for carrying out navigation calculation on the inertial navigation data to obtain position, speed and attitude information.
And the judging module is used for judging the quality of the GNSS satellite signals according to the number of the visible satellites and the carrier-to-noise ratio.
The positioning module is used for selecting an information fusion mode to position the airport ground clothes vehicles according to the judgment result; the information fusion mode comprises a strapdown inertial navigation system/GNSS information fusion mode, a strapdown inertial navigation system/GNSS/visual matching information fusion mode and a strapdown inertial navigation system/visual matching information fusion mode.
Wherein, the judging module specifically comprises:
the first judging unit is used for judging the GNSS satellite signal intensity when the number of the visible satellites is more than or equal to 4 and the carrier-to-noise ratio is more than or equal to 35 dB/Hz;
the second judging unit is used for judging that the GNSS satellite signals are weak when the number of the visible satellites is more than or equal to 4, and the carrier-to-noise ratio is more than or equal to 20dB/Hz and less than 35 dB/Hz;
and the second judging unit is used for judging that the GNSS satellite is unlocked when the number of the visible satellites is less than 4 or the carrier-to-noise ratio is less than or equal to 20 dB/Hz.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
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