A positioning and orientation device for mimu/rotating Beidou short baseline dual antennas

Abstract

The invention discloses a MIMU / rotating Beidou short-baseline dual-antenna positioning and orientation device, which includes a rotating mechanism module, a BDS module, an MIMU module, and a main control navigation module. The rotation mechanism module consists of a single-axis motor, an encoder and a bracket. The bracket rotates forward and backward 180° continuously under the control of the motor, and the encoder outputs rotation angle data; the BDS module includes two Beidou antennas and BDS boards; two The Beidou antenna is installed on the bracket driven by the motor to continuously rotate forward and backward 180°, and the BDS board outputs the original data information such as the position, velocity, ephemeris data and carrier phase of the geometric center of the two antennas; the MIMU module is placed on the On the base of the positioning and orientation device; the main control navigation module is composed of FPGA and DSP. The device of the present invention can obtain the heading angle without calculating the ambiguity of the whole circle through the short baseline dual antenna and the rotating mechanism to rotate forward and backward by 180°, so as to realize positioning and orientation. The device of the invention has the advantages of small size, low cost and high precision.

Description

technical field [0001] The invention relates to a combined navigation system realized by using a Beidou satellite navigation system, MIMU and a rotating mechanism, in particular to a MIMU / rotating Beidou short baseline dual-antenna positioning and orientation device. Background technique [0002] With the widespread application of unmanned boats, unmanned aerial vehicles and unmanned vehicles in our country, the demand for small positioning and orientation devices is very urgent. The combination of Beidou satellite navigation system and micro inertial measurement unit is a good positioning and orientation system. At present, the GNSS dual-antenna orientation device cannot obtain the heading angle when the ambiguity of the whole cycle is unknown. When the short-term signal is out of lock, the device cannot be oriented, and the real-time performance is poor. In order to solve these problems, the present invention proposes a positioning and orientation device, which can determ...

AI Technical Summary

Problems solved by technology

At present, the GNSS dual-antenna orientation device cannot obtain the heading angle when the ambiguity of the entire cycle is unknown. When the short-term signal is out of lock, the device cannot be oriented, and the real-time performance is poor.

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