CN103809190A - Satellite calibration source detection device and implementation method thereof - Google Patents

Satellite calibration source detection device and implementation method thereof Download PDF

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Publication number
CN103809190A
CN103809190A CN201210460885.4A CN201210460885A CN103809190A CN 103809190 A CN103809190 A CN 103809190A CN 201210460885 A CN201210460885 A CN 201210460885A CN 103809190 A CN103809190 A CN 103809190A
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China
Prior art keywords
calibration source
satellite calibration
satellite
probability
differential gps
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CN201210460885.4A
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Chinese (zh)
Inventor
赵宏宇
关玉林
郭涛
李德隆
刘健
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN201210460885.4A priority Critical patent/CN103809190A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements

Abstract

The invention discloses a satellite calibration source detection device and an implementation method thereof; the device is applied to detecting a satellite calibration source; the satellite calibration source detection device comprises a computer with a side protection cover, a detection cable and a detection board card; the satellite calibration source detection device is simple in structure, good in operation performance, and convenient to detect; the implementation method of the detection device provided by the invention adopts a normal distribution 3sigma probability principle to give a detection conclusion and makes a detection report, namely the positioning function and the positioning accuracy of the satellite calibration source are rapidly verified, so that the detection efficiency is greatly improved, and detection criterion is provided for the production acceptance and the actual use of the satellite calibration source.

Description

A kind of satellite calibration source pick-up unit and implementation method
Technical field
The present invention relates to a kind of satellite calibration source pick-up unit and implementation method, detection board by pick-up unit provides power supply for high-precision differential GPS and tested satellite calibration source, read DGPS data and tested satellite calibration source data by serial ports, realize the detection to tested satellite calibration source by the satellite positioning information of differential GPS and the difference of tested satellite calibration source information.
Background technology
Satellite calibration source can be applied to underwater robot, and for underwater robot provides self positioning position information, then underwater robot is passed to operator by technological means such as wireless or the underwater sounds by its positional information.Under normal circumstances, satellite calibration source needed it to detect separately before using.The satellite calibration source kind that engineering field uses is many, as common GPS, the Big Dipper/GPS double star calibration source etc.Every kind of satellite calibration source provides corresponding checkout equipment if, can cause unnecessary repetition.And the detection more complicated of general positioning precision, be subject to the restriction ratio of time, place and instrument more.
Summary of the invention
For solving above shortcomings in prior art, the problem to be solved in the present invention is that satellite calibration source detects the technical matterss such as versatility is poor, sense cycle is long, the object of the present invention is to provide that a kind of utilization factor is high, detection efficiency is high, simple operation is reliable, volume is little, be easy to mobile, can fast detecting satellite calibration source device and implementation method.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of satellite calibration source pick-up unit, is characterized in that: comprise computing machine and differential GPS with side protective cover; In its computing machine, be provided with detection board, and be connected with high-precision differential GPS and tested satellite calibration source respectively by cable, realize the positioning precision of tested satellite calibration source is detected by the satellite positioning information of differential GPS and the difference of tested satellite calibration source information, this cable comprises supply lines and RS232 Serial Port Line, and satellite calibration source is the Big Dipper/GPS double star calibration source or common differential GPS.
Detection board in computing machine comprises by single-chip microcomputer, power module and serial ports modular converter and forming, wherein, power module is given respectively single-chip microcomputer and the power supply of serial ports modular converter, also provides power supply to differential GPS and tested satellite calibration source, and by Single-chip Controlling power module Voltage-output.
An implementation method for satellite calibration source pick-up unit, is characterized in that: comprise following treatment step:
Utilize the locator data of 5 minutes differential GPSs of computer acquisition, the locator data gathering is calculated to the centre of location point of differential GPS according to averaging method;
Judge that whether calibration source locator data is effective, as the locator data of 15 minutes calibration sources of effective collection, calculate the relative position error E of the centre of location point of each collection point and differential GPS n;
Adopt normal distribution principle, to described the relative position error value E ncalculate in 1 σ (probability), 2 σ (two probability), the lower corresponding the relative position error value of 3 σ (three probability), provide test result according to 3 σ (three probability) principle, and form examining report.
Provide test result according to 3 σ (three probability) principle, if the relative position error value corresponding to 3 σ (three probability) is less than 1 meter, tested satellite calibration source precision meets the requirements, otherwise tested satellite calibration source precision is undesirable.
The present invention has following beneficial effect and advantage:
1. structure of the detecting device compactness of the present invention, little, the portable reinforcing of volume, vibrationproof are reliable.Be mainly that computer cabinet adopts ruggedized construction, respectively organize parts and all take reinforcement measure.In cabinet, board and detection cable are all reliably fixed in computing machine, and in cabinet, stube cable is effectively fixing by side protective cover.
2. highly versatile, utilization factor is high.Apparatus of the present invention can detect and be applicable to polytype satellite calibration source, comprise the Big Dipper/GPS double star calibration source or common GPS and differential GPS calibration source.
3. sense cycle is short, and detection efficiency is high.Apparatus of the present invention adopt normal distribution 3 σ (three probability) principle, fast, verifying satellites calibration source positioning function and positioning precision, have greatly improved detection efficiency; And apparatus of the present invention employing Windows operating system, man-machine interface close friend, the complete sequencing of operating process, operator can complete Detection task by system prompt, has detected the automatic output detections report of rear apparatus system, and detection efficiency is provided greatly.
Accompanying drawing explanation
Fig. 1 is for being structure of the detecting device schematic diagram of the present invention;
Fig. 2 is Computerized 3 D structural representation of the present invention;
Fig. 3 is software program overview flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As depicted in figs. 1 and 2, be a kind of satellite calibration source pick-up unit, it comprises with the computing machine of side protective cover and differential GPS; In its computing machine, being provided with check-out console cartoon crosses cable and is connected with high-precision differential GPS and tested satellite calibration source respectively, realize the positioning precision of tested satellite calibration source is detected by the satellite positioning information of differential GPS and the difference of tested satellite calibration source information, this cable comprises supply lines and RS232 Serial Port Line, and tested satellite calibration source is the Big Dipper/GPS double star calibration source or common differential GPS calibration source.
Detection board in computing machine comprises by single-chip microcomputer, power module and serial ports modular converter and forming, wherein, power module is given respectively single-chip microcomputer and the power supply of serial ports modular converter, also provides power supply to differential GPS and tested satellite calibration source, and by Single-chip Controlling power module Voltage-output.
Use operation steps and the principle of work thereof of pick-up unit of the present invention:
High-precision differential GPS and tested satellite calibration source are positioned over the spacious testing location that satellite reception is good, connect computing machine by detection streamer.
Device for opening computer power supply, starts the operating system, and operation detects software automatically.
Detect the RS232 serial ports of software by COMPUTER DETECTION cable and send instruction to detecting board, for high-precision differential GPS and tested satellite calibration source provide power supply simultaneously.
Then detect software and read DGPS data and calibration source data by the RS232 serial ports of computing machine.Computing machine is processed employing normal distribution (three kinds of probability) to detecting data, provides test result, and form examining report according to the 3rd σ (three probability) principle.
An implementation method for satellite calibration source pick-up unit, comprises following treatment step:
Utilize the locator data of 5 minutes differential GPSs of computer acquisition, the locator data gathering is calculated to the centre of location point of differential GPS according to averaging method;
Judge that whether tested satellite calibration source locator data is effective, as the locator data of 15 minutes calibration sources of effective collection, calculate the relative position error E of the centre of location point of each collection point and differential GPS n;
Adopt normal distribution principle, respectively to described the relative position error value E ncalculate in 1 σ (probability), 2 σ (two probability), the lower corresponding the relative position error value of 3 σ (three probability).Provide test result according to 3 σ principle of probability, and form examining report.
Below in conjunction with Fig. 3, the implementation method (normal distribution, three kinds of principle of probability detection methods) to above-mentioned satellite calibration source pick-up unit further describes:
(1) after DGPS data is effective, the locator data of 5 minutes differential GPSs of computer acquisition.Frequency acquisition is the one-time positioning data of adopting per second, within 5 minutes, collects altogether 300 locator datas.Adopt averaging method to calculate the centre of location point of differential GPS to collecting 300 locator datas
Figure BDA00002409818800031
if the longitude of differential GPS collection point is X 1to X 300, the latitude value of collection point is Y 1to Y 300.Differential GPS centre of location point
Figure BDA00002409818800032
in formula, longitude
Figure BDA00002409818800033
for all collection points longitude average:
Figure BDA00002409818800034
the latitude of centre of location point
Figure BDA00002409818800035
for all collection points latitude average: Y ‾ = Σ 1 300 Y 300 = Y 1 + Y 2 + . . . + Y 300 300 .
(2) then judge that whether tested satellite calibration source data are effective, satellite calibration source locator data as tested in effective collection, continues to detect downwards.If tested satellite calibration source locator data is invalid, finish this and detect, output detections report, providing test result is that tested satellite calibration source is abnormal.
(3) when judging that tested satellite calibration source data are effective, gather the locator data of 15 minutes calibration sources, frequency acquisition is the one-time positioning data of adopting per second, within 15 minutes, collects altogether 900 locator datas.If the longitude of tested satellite calibration source collection point is A 1to A 900, the latitude value of collection point is B 1to B 900.With the centre of location point of differential GPS
Figure BDA00002409818800037
for benchmark, calculate the each collection point (A of calibration source n, B n) and centre of location point
Figure BDA00002409818800038
the relative position error value E n, wherein E nn be from 1 to 900 sequence.According to distance between two points formula, the relative position error value
Figure BDA00002409818800039
(4) according to normal distribution, respectively to above-mentioned the relative position error value E ncalculate in 1 σ (probability), 2 σ (two probability), the lower corresponding the relative position error value of 3 σ (three probability).To the relative position error value E of tested satellite calibration source nsort by ascending, suppose the rear the relative position error value E of sequence nsequence order is K 1to K n, i.e. from 1 to 900 sequence, sets K 1for minimum value 1, K nfor maximal value 900.Calculating respectively 1 σ (probability) and be the relative position error value of 0.6826 is [900 × 0.6826=614.34] individual the relative position error value K 614; 2 σ (two probability) are that the relative position error value of 0.95442 is [900 × 0.9544=858.96] individual the relative position error value K 859; 3 σ (three probability) are that the relative position error value of 0.9544 is [900 × 0.9974=897.66] individual the relative position error value K 898.
Conclude according to the error amount size that described 3 σ (three probability) are corresponding whether tested satellite calibration source precision meets the demands; If the error amount that 3 σ (three probability) are corresponding is less than 1 meter, tested satellite calibration source precision meets the requirements, otherwise tested satellite calibration source precision is undesirable.
(5) provide test result according to 3 σ (three probability) principle, the relative position error value K that 1 σ (probability), 2 σ (two probability) correspondence are calculated 614, K 859for reference value; If the relative position error value K that 3 σ (three probability) are corresponding 898be less than 1 meter, tested satellite calibration source Function detection is qualified, and calibration source precision meets the requirements; Otherwise tested satellite calibration source Function detection is qualified, but tested satellite calibration source precision is undesirable.

Claims (4)

1. a satellite calibration source pick-up unit, is characterized in that: comprise computing machine and differential GPS with side protective cover; In its computing machine, being provided with check-out console cartoon crosses cable and is connected with high-precision differential GPS and tested satellite calibration source respectively, realize the positioning precision of satellite calibration source is detected by the satellite positioning information of differential GPS and the difference of tested satellite calibration source information, this cable comprises supply lines and RS232 Serial Port Line, and satellite calibration source is the Big Dipper/GPS double star calibration source or common differential GPS calibration source.
2. according to a kind of satellite calibration source pick-up unit claimed in claim 1, it is characterized in that: the detection board in computing machine comprises by single-chip microcomputer, power module and serial ports modular converter and forming, wherein, power module is given respectively single-chip microcomputer and the power supply of serial ports modular converter, also provide power supply to differential GPS and tested satellite calibration source, and by Single-chip Controlling power module Voltage-output.
3. an implementation method for a kind of satellite calibration source pick-up unit claimed in claim 1, is characterized in that: comprise following treatment step:
Utilize the locator data of 5 minutes differential GPSs of computer acquisition, the locator data gathering is calculated to the centre of location point of differential GPS according to averaging method;
Judge that whether tested satellite calibration source locator data is effective, as the locator data of 15 minutes calibration sources of effective collection, calculate the relative position error value En of the centre of location point of each collection point and differential GPS;
Adopt normal distribution principle, described the relative position error value En is calculated to the relative position error value corresponding under 1 σ probability, 2 σ probability and 3 σ probability, provide test result according to 3 σ principle of probability, and form examining report.
4. according to the implementation method of a kind of satellite calibration source pick-up unit claimed in claim 3, it is characterized in that: provide test result according to 3 σ principle of probability, if the relative position error value that 3 σ probability are corresponding is less than 1 meter, for tested satellite calibration source precision meets the requirements, otherwise tested satellite calibration source precision is undesirable.
CN201210460885.4A 2012-11-15 2012-11-15 Satellite calibration source detection device and implementation method thereof Pending CN103809190A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106338747A (en) * 2016-01-27 2017-01-18 上海华测导航技术股份有限公司 Lock-losing recapturing test method based on multi-mode multi-band OEM board card
CN115144806A (en) * 2022-09-06 2022-10-04 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） Calibration method, device, equipment and system for calibration source

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CN1760686A (en) * 2005-11-16 2006-04-19 上海华东电力信息工程技术有限公司 Method for checking out phase handling unit (PHU) in site
CN202018511U (en) * 2011-02-18 2011-10-26 长江南京航道局 High-precision and dual-GPS positioning interface device for navigation mark
CN102426799A (en) * 2011-11-11 2012-04-25 中国联合网络通信集团有限公司 Road condition information prompting method and system, information control platform and vehicle-mounted front end device

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Publication number Priority date Publication date Assignee Title
FR2697088A1 (en) * 1992-10-15 1994-04-22 Lacassagne Centre Antoine Differential diagnosis of carcinoma metastases - by using new and known monoclonal antibodies recognising human cellular antigens
US5379045A (en) * 1993-09-01 1995-01-03 Trimble Navigation Limited SATPS mapping with angle orientation calibrator
CN1760686A (en) * 2005-11-16 2006-04-19 上海华东电力信息工程技术有限公司 Method for checking out phase handling unit (PHU) in site
CN202018511U (en) * 2011-02-18 2011-10-26 长江南京航道局 High-precision and dual-GPS positioning interface device for navigation mark
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106338747A (en) * 2016-01-27 2017-01-18 上海华测导航技术股份有限公司 Lock-losing recapturing test method based on multi-mode multi-band OEM board card
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CN115144806A (en) * 2022-09-06 2022-10-04 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） Calibration method, device, equipment and system for calibration source

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Application publication date: 20140521