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清华大学学报(自然科学版)  2019, Vol. 59 Issue (11): 895-901    DOI: 10.16511/j.cnki.qhdxxb.2019.22.026
  土木工程 本期目录 | 过刊浏览 | 高级检索 |
定位测姿系统室外三维动态检定场的几何设计
黎奇1, 白征东1, 黎琼2, 吴斐2, 陈波波1, 辛浩浩1, 程宇航1
1. 清华大学 土木工程系, 北京 100084;
2. 中铁十六局集团 第二工程有限公司, 天津 300162
Geometric design of an outdoor three-dimensional kinematic verification field for a position and orientation system
LI Qi1, BAI Zhengdong1, LI Qiong2, WU Fei2, CHEN Bobo1, XIN Haohao1, CHENG Yuhang1
1. Department of Civil Engineering, Tsinghua University, Beijing 100084, China;
2. The 2nd Engineering Company Limited, China Railway 16 th Bureau Group, Tianjin 300162, China
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摘要 为检测多传感器组合定位测姿系统的整体精度水平,需建立定位测姿系统室外三维动态检定场,并完善多传感器组合系统的整体精度检定方法。该文提出了定位测姿系统动态检定的基本方法,设计了室外三维动态检定场的几何模型,分析了检定场几何模型的设计指标。使用中国自主研发的某型号高精度多传感器组合定位测姿系统在检定场进行了实际检测,并与检定场静态、动态标定结果进行了对比,结果表明:该系统检测结果与检定场设计参数一致,在使用经典方差和Allan方差等方法对测距、横向、垂向等误差进行统计分析后,能较为准确地反映出该定位测姿系统整体短期精度水平。该检定技术既可作为定位测姿系统整体精度检定的一种手段,还能为行业制定相关仪器检定规范提供方案。
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黎奇
白征东
黎琼
吴斐
陈波波
辛浩浩
程宇航
关键词 定位测姿系统全球导航卫星系统(GNSS)/惯性导航系统(INS)检定场Allan方差    
Abstract:A three-dimensional test field was developed to verify the accuracy of a multi-sensor integrated position and orientation system (POS) with an improved kinematic testing method. This paper describes the POS kinematic testing method conditions, the geometric model for the outdoor three-dimensional kinematic verification field, and the limitations of the field design. Static and kinematic calibration tests of a multi-sensor integrated POS in the field are consistent with the field design parameters. Statistical analyses of the distance, horizontal and vertical errors using the classical variance, Allan variance, and other methods show that the short-term precision of the multi-sensor integrated POS is acceptable. This verification method can not only verify the position and orientation precision of the POS, but can also be used to develop specifications to improve POS designs.
Key wordsposition and orientation system (POS)    global navigation satellite system (GNSS)/inertial navigation system (INS)    verification field    Allan variance
收稿日期: 2019-01-30      出版日期: 2019-11-19
基金资助:白征东,副教授,E-mail:zbai@tsinghua.edu.cn
引用本文:   
黎奇, 白征东, 黎琼, 吴斐, 陈波波, 辛浩浩, 程宇航. 定位测姿系统室外三维动态检定场的几何设计[J]. 清华大学学报(自然科学版), 2019, 59(11): 895-901.
LI Qi, BAI Zhengdong, LI Qiong, WU Fei, CHEN Bobo, XIN Haohao, CHENG Yuhang. Geometric design of an outdoor three-dimensional kinematic verification field for a position and orientation system. Journal of Tsinghua University(Science and Technology), 2019, 59(11): 895-901.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2019.22.026  或          http://jst.tsinghuajournals.com/CN/Y2019/V59/I11/895
  图1 POS室外三维动态检定场俯视图
  图2 检定场基准轨道的局部形变示意图[12]
  图3 余弦函数模拟检定场基准轨道的局部形变[12]
  表1 基准轨道局部形变设计指标[16]
  图4 检定场基准轨道设计指标估算方法流程图[15]
  图5 (网络版彩图)基准轨道横向变化
  表2 基准轨道各轨枕点误差情况
  图6 (网络版彩图)基准轨道垂向变化
  图7 (网络版彩图)左、右轨测距误差
  图8 (网络版彩图)左、右轨横向误差
  图9 (网络版彩图)左、右轨垂向误差
  图10 (网络版彩图)Allan方差方法分析 高速铁路轨道几何不平顺曲线图
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[1] 黎奇, 白征东, 赵思浩, 戴东凯, 邢海峰. Allan方差方法分析环形激光陀螺仪噪声的性能评估[J]. 清华大学学报(自然科学版), 2019, 59(11): 887-894.
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