张天, 张智刚, 罗锡文, 等. 低功耗BDS-SPP/INS融合定位系统的设计与试验[J]. 华南农业大学学报, 2024, 45(3): 437-445. DOI: 10.7671/j.issn.1001-411X.202305028
    引用本文: 张天, 张智刚, 罗锡文, 等. 低功耗BDS-SPP/INS融合定位系统的设计与试验[J]. 华南农业大学学报, 2024, 45(3): 437-445. DOI: 10.7671/j.issn.1001-411X.202305028
    ZHANG Tian, ZHANG Zhigang, LUO Xiwen, et al. Design and experiment of low-power BDS-SPP/INS fusion positioning system[J]. Journal of South China Agricultural University, 2024, 45(3): 437-445. DOI: 10.7671/j.issn.1001-411X.202305028
    Citation: ZHANG Tian, ZHANG Zhigang, LUO Xiwen, et al. Design and experiment of low-power BDS-SPP/INS fusion positioning system[J]. Journal of South China Agricultural University, 2024, 45(3): 437-445. DOI: 10.7671/j.issn.1001-411X.202305028

    低功耗BDS-SPP/INS融合定位系统的设计与试验

    Design and experiment of low-power BDS-SPP/INS fusion positioning system

    • 摘要:
      目的 融合定位设备大多依赖于BDS-RTK,而BDS-RTK功耗大,在网络信号不佳的区域无法获取差分链路,只能使用标准单点定位(Standard point positioning,SPP),而SPP定位系统存在定位误差大、抗干扰能力弱的问题。本研究致力于解决这些问题。
      方法 提出一种惯性导航系统(Inertial navigation system,INS)和BDS-SPP传感器信息融合卡尔曼滤波方法,基于该方法开发了低功耗融合定位系统。采用BDS-RTK作为基准,测试了BDS-SPP的低功耗模块静态和动态的误差、航姿参考系统(Attitude and heading reference system,AHRS)零偏和噪声,同时进行滤波器融合定位试验,检测在单天线BDS受到干扰时AHRS的断点续航情况。
      结果 BDS定位的静态误差为0.4726 m,BDS-SPP/INS融合定位系统动态平均标准差小于1.9137 m,相较于融合前减少0.1652 m。断点续航试验结果表明,融合定位系统偏移距离平均标准差为3.6365 m,相较于融合前减少了2.5900 m。BDS-SPP/INS融合定位系统比BDS-RTK定位系统功率降低了33.3 W;融合后的输出频率较单独采用BDS-SPP情况提高了3倍。
      结论 本文的融合定位装置提高了BDS-SPP的抗干扰能力,减少了定位误差,可以在缺少RTK链路的情况下为农业机器人提供定位,可以为农业机器人导航研究提供了技术基础。

       

      Abstract:
      Objective Most fusion positioning devices rely on BDS-RTK, which has high power consumption. In areas with poor network signals, differential links cannot be obtained, and only standard point positioning (SPP) can be used. SPP system has problems such as large positioning errors and weak anti-interference ability. This study is committed to addressing these issues.
      Method This study proposed a low-power fusion positioning device that used inertial navigation system (INS) and BDS-SPP sensors based on the Kalman filter fusion method. The device was tested using BDS-RTK as a benchmark to evaluate the static and dynamic errors of the BDS-SPP low-power module, the attitude and heading reference system (AHRS) zero bias and noise. Additionally, filtering fusion positioning experiments were conducted to test the AHRS breakpoint continuation in the case of BDS interference with a single antenna.
      Result The static error of BDS positioning was 0.4726 m, the average standard deviation of the dynamic BDS-SPP/INS fusion positioning system was less than 1.9137 m, and the average standard deviation reduced by 0.1652 m compared to before fusion. The breakpoint continuation experiment showed that the average standard deviation of the offset distance of the fusion positioning system was 3.6365 m, which decreased by 2.5900 m compared to before fusion. The BDS-SPP/INS fusion positioning system reduced the power consumption by 33.3 W compared to the BDS-RTK positioning system, and increased the output frequency by three times.
      Conclusion The fusion positioning device in this article improves the anti-interference capability of BDS-SPP and reduces positioning errors. It can provide positioning for agricultural robots in the absence of an RTK link, and provide a technical basis for agricultural robot navigation research.

       

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