49 results about "GPS/INS" patented technology

A real-time integrated vehicle positioning method and system with differential GPS can substantially solve the problems encountered in either the global positioning system-only or the inertial navigation system-only, such as loss of global positioning satellite signal, sensitivity to jamming and spoofing, and an inertial solution's drift over time. In the present invention, the velocity and acceleration from an inertial navigation processor of the integrated GPS / INS system are used to aid the code and carrier phase tracking of the global positioning system satellite signals, so as to enhance the performance of the global positioning and inertial integration system, even in heavy jamming and high dynamic environments. To improve the accuracy of the integrated GPS / INS navigation system, phase measurements are used and the idea of the differential GPS is employed. However, integer ambiguities have to be resolved for high accuracy positioning. Therefore, in the present invention a new on-the-fly ambiguity resolution technique is disclosed to resolve double difference integer ambiguities. The real-time fully-coupled GPS / IMU vehicle positioning system includes an IMU (inertial measurement unit), a GPS processor, and a data link which are connected to a central navigation processor to produce a navigation solution that is output to an I / O (input / output) interface.

An inertial (“INS”) / GPS receiver includes an INS sub-system which incorporates, into a modified Kalman filter, GPS observables and / or other observables that span previous and current times. The INS filter utilizes the observables to update position information relating to both the current and the previous times, and to propagate the current position, velocity and attitude related information. The GPS observable may be delta phase measurements, and the other observables may be, for example, wheel pick-offs (or counts of wheel revolutions) that are used to calculate along track differences, and so forth. The inclusion of the measurements in the filter together with the current and the previous position related information essentially eliminates the effect of system dynamics from the system model. A position difference can thus be formed that is directly observable by the phase difference or along track difference measured between the previous and current time epochs. Further, the delta phase measurements can be incorporated in the INS filter without having to maintain GPS carrier ambiguity states. The INS sub-system and the GPS sub-system share GPS and INS position and covariance information. The receiver time tags the INS and any other non-GPS measurement data with GPS time, and then uses the INS and GPS filters to produce INS and GPS position information that is synchronized in time. The GPS / INS receiver utilizes GPS position and associated covariance information and the GPS and / or other observables in the updating of the INS filter. The INS filter, in turn, provides updated system error information that is used to propagate inertial current position, velocity and attitude information. Further, the receiver utilizes the inertial position, velocity and covariance information in the GPS filters to speed up GPS satellite signal re-acquisition and associated ambiguity resolution operations

The invention discloses a small-size unmanned aerial vehicle landing method and system. The method comprises the steps that an unmanned aerial vehicle enters a pre-landing area by using a GPS / INS combined navigation system; after the unmanned aerial vehicle enters the pre-landing area, communication with a ground landing platform is established, simultaneously an airborne visual system searches the marker of the landing platform and transmits an instruction to the ground landing platform, and then a ground visual system searches an airborne marker light by using a relative relationship; if a detected target is obscure or the target cannot be detected, an instruction is transmitted to an airborne control module, and the ground visual system detects the marker light again to detect the unmanned aerial vehicle; and finally the accurate positioning and tracking of the unmanned aerial vehicle are completed by using a corresponding algorithm, the unmanned aerial vehicle is controlled to be landed and thereby the accurate and autonomous positioning of the unmanned aerial vehicle is realized.

A method of stabilizing an inertial navigation system (INS), includes the steps of: receiving data from an inertial navigation system; and receiving a finite number of carrier phase observables using at least one GPS receiver from a plurality of GPS satellites; calculating a phase wind up correction; correcting at least one of the finite number of carrier phase observables using the phase wind up correction; and calculating a corrected IMU attitude or velocity or position using the corrected at least one of the finite number of carrier phase observables; and performing a step selected from the steps consisting of recording, reporting, or providing the corrected IMU attitude or velocity or position to another process that uses the corrected IMU attitude or velocity or position. A GPS stabilized inertial navigation system apparatus is also described.

The present invention relates to a radio frequency identification (RFID) tag installation system using a vehicle and method thereof. The RFID tag is installed on the road to provide a driver with position information and road information such as speed limit, road name. etc in his or her traveling region. By using our present invention, RFID tag can be installed with small manpower in short a time. The system uses two CCD cameras, two GPS receivers, an INS and a DMI, and includes: a vehicle position and yaw extractor by using the two GPS receivers; orientation extractor for the vehicle by using INS, a GPS / INS / DMI integrator for GPS outage and for INS error correction; two cameras interior / exterior orientation extractor for the CCD cameras; a target position extractor for finding 3-dimensional coordinates; a road information storage for supplying road information such as a speed limit and a rout number of a road; an RFID tag writer for inputting the information obtained from the target region position extractor and the road information storage; and an RFID tag installer for attaching the RFID tag on the road.

The invention discloses an automated vehicle longitudinal control method based on movement mode judgment. The automated vehicle longitudinal control method based on movement mode judgment is applied to an unmanned vehicle provided with an automatic driving instrument, a GPS / INS positioning system and an industrial personal computer. The automated vehicle longitudinal control method based on movement mode judgment is characterized in that the relative relation between the actual speed and the expected speed of the unmanned vehicle is firstly analyzed, and a movement mode state value of the unmanned vehicle is determined; on the basis that a movement mode of the unmanned vehicle is determined, a control algorithm corresponding to the movement mode is executed to control the vehicle speed so that longitudinal control of the unmanned vehicle can be achieved. By means of the automated vehicle longitudinal control method based on movement mode judgment, longitudinal speed control of the unmanned vehicle is smoother and more comfortable while tracking precision can be guaranteed, and the control process more conforms to the driving habit of humans.

Systems are provided to increase the robustness of a low-cost GPS system by coupling it with an INS system, and by using one-satellite attitude determination in conjunction with the traditional multiple-satellite method. The system has demonstrated accuracy and robustness approaching needed standards for automobile control systems. The applications of this system are abundant, including real-time vehicle system ID, slip angle estimation, position estimation by GPS and dead reckoning, as well as sophisticated control systems.

The invention discloses a tunnel lining defect ground-penetrating radar detection system on the basis of a wall clinging type detection vehicle. The tunnel lining defect ground-penetrating radar detection system comprises the wall clinging type detection vehicle, a GPS / INS (global positioning system / inertial navigation system) combined navigation module, a vehicular communication and transmission module, a movement controller, a ground-penetrating radar module and a ground workstation. The wall clinging type detection vehicle is used for being attached onto tunnel lining surfaces and can move according to set paths; the GPS / INS combined navigation module is used for navigating the detection vehicle; the vehicular communication and transmission module is used for being in two-way communication with the ground workstation, receiving instruction signals of the workstation and transmitting positioning signals and detection signals to the workstation; the detection vehicle can move under the control of the movement controller; the ground-penetrating radar module is used for detecting cavities in lining back surfaces; the ground workstation is used for designing and controlling the navigation paths for the wall clinging type detection vehicle, and detection data transmitted by the detection vehicle can be received, analyzed and displayed by the ground workstation; the GPS / INS combined navigation module, the vehicular communication and transmission module, the movement controller and the ground-penetrating radar module are mounted on the wall clinging type detection vehicle. The tunnel lining defect ground-penetrating radar detection system has the advantages that traffic closure can be omitted, and the tunnel lining defect ground-penetrating radar detection system is low in cost and high in precision.

The invention belongs to the technical field of laser communication pre-pointing capturing and discloses a GPS / INS-based dynamic pointing method. In a GPS / INS combined system, GPS data serve as outer input, INS system errors accumulated along with time are adjusted, and an INS is constantly amended when a carrier moves. The GPS / INS-based dynamic pointing method can solve the problem that GPS signals are lost under the dynamic condition through the INS computed data, and the signal capturing and tracking capacity of a GPS receiver is enhanced. The GPS / INS combined system plays a role in complement, the anti-interference capacity is higher and the precision is higher. The GPS / INS combined system is applied in the pre-pointing technology, the pointing angle value pointing to a target is worked out through the position information, obtained by a GPS, of a ground fixed end target, the movement platform three-axis attitude information and position information which are obtained by real-time measurement of the GPS / INS navigation system, corresponding coordinate conversion and real-time computing, and a two-dimension rotary table can rotate according to the pointing angle value to point to the target in real time.

A tunnel crack repairing system based on a wall-attaching type unmanned aerial vehicle comprises the wall-attaching type unmanned aerial vehicle, a GPS / INS combined navigation module, a vehicle-mounted communication and transmission module, a motion controller, a camera shooting device, a repairing module and a ground workstation. The wall-attaching type unmanned aerial vehicle is used for being attached on the surface of a tunnel lining and moves according to a set path. The GPS / INS combined navigation module is used for navigating to the unmanned aerial vehicle. The vehicle-mounted communication and transmission module makes two-way communication with the ground workstation. The motion controller is used for controlling the unmanned aerial vehicle to move. The camera shooting device is used for determining the position of a crack and monitoring the pouring process. The repairing module is used for repairing the crack of the tunnel lining. The ground workstation is used for designing and controlling a navigating path of the wall-attaching type unmanned aerial vehicle and can receive, analyze and display detection data sent by the unmanned aerial vehicle. The GPS / INS combined navigation module, the vehicle-mounted communication and transmission module, the motion controller, the camera shooting device and the repairing module are all installed on the wall-attaching type unmanned aerial vehicle. Traffic closing is not needed, the cost is low and the efficiency is high.

The invention discloses a substation inspection robot navigation method and system based on neural network assistance. According to the method, a GPS / INS integrated navigation system is used for providing navigation and positioning services for an inspection robot, the positioning precision is higher than that of a single set of navigation equipment, error estimation and correction are conducted on the navigation and positioning system of the inspection robot through unscented Kalman filtering, and the positioning precision is improved compared with traditional linear Kalman filtering. A radial basis function neural network is introduced and used for improving the problem that the positioning accuracy of the GPS / INS integrated navigation system becomes poor under the condition that GPS signals are lost. When the GPS is not available, the system predicts the navigation error through the neural network, and the prediction result is used for error correction of the system, so that the positioning precision and reliability of the system are improved. The requirement for hardware is low, a series of algorithms can be achieved through software programming, and the cost is low.

The invention discloses an integrated navigation system based on GGI / GPS / INS. The system is composed of a sensor module, an integrated navigation resolving module and a real-time displaying module and is characterized in that the sensor module comprises an inertial sensor module and a GPS satellite signal receiver module, the integrated navigation resolving module comprises strapdown navigation module, a gravity gradient auxiliary module, an unequal-interval kalman filtering module and a position and speed correcting module, and the real-time displaying module is formed by a three-dimensional real-time display module. The integrated navigation system disclosed by the invention can improve locating precision, and the locating precision is hardly affected by environmental change.

This invention relates to one GPS / INS combination position guide system and its speed test correction method, wherein, the system comprises CPU unit, INS module, GPS receiver and touch screen control unit, wherein, the INS module generated speed impulse signals and movable rotation signal into GPS receiver impulse signal input end and angle signal input end; GPS receiver position guide signal output end is through latitude signals through signal speed impulse displacement value, speed impulse signal into position guide signal input end.

The invention discloses a poly GPS / INS and a transportation image fusion and positioning method applied to accurately position vehicles, belonging to the technical field of information fusion technology and intelligent information processing. In the invention, the poly GPS / INS and transportation image video and other traffic information are combined and fusion processing is carried out on such traffic information to obtain equivalent measured value; filtering is carried out by introducing state equations of the system; finally accurate vehicle positioning information is obtained. When datum mark information is collected by the image, the measured value of the datum mark is directly marked; so that system error returns to zero, thus improving positioning accuracy while supplementing some information on special road sections (such as the tunnel) by means of estimation.

The invention discloses a digital photography measurement image-control point-distributing method based on a GPS / INS. The method comprises the following steps: step 1, designing a measured area: comprising base station arrangement, calibration field arrangement and flight course planning; step 2, shooting the measured area in flight; step 3, arranging control points of a calibration field and control points of the measured area: arranging at least 6 flat height control points and 3 flat height inspection points at the periphery of the calibration field in arranging the control points of the calibration field; arranging 1 flat height control point at the four corners of a regular area net with at most 21 flight courses and at most 69 baselines respectively in arranging the control points ofthe measured area; and step 4, measuring the control points. The invention has simple operation and high work efficiency, can meet the accuracy requirement, can reduce the arrangement of open-air control points, quickens the imaging speed, lowers the big scale mapping cost and also solves the technical problems of image control, measurement and point distribution of digital images based on a DMC.

Tunnel primary support and secondary lining quality detection equipment based on an adsorption type unmanned aerial vehicle carrying platform comprises an adsorption type unmanned aerial vehicle usedfor being adsorbed to the surface of a tunnel lining and moving according to a set path; the GPS / INS integrated navigation module is used for navigating the unmanned aerial vehicle; the airborne communication and transmission module is used for bidirectional communication with a ground workstation; the motion controller is used for controlling the unmanned aerial vehicle to move; the camera deviceis used for confirming the crack position; the radar host is used for tunnel primary support and secondary lining quality detection; the jet engine is used for providing power adsorbed on the wall ofthe tunnel; the ground workstation is used for designing and controlling a navigation path of the adsorption type unmanned aerial vehicle and receiving, analyzing and displaying detection data returned by the unmanned aerial vehicle; the GPS / INS integrated navigation module, the vehicle-mounted communication and transmission module, the motion controller, the camera device, the jet engine and thegeological radar are all installed on the adsorption type unmanned aerial vehicle.

The invention discloses a self-adaptive vehicle-mounted integrated navigation and positioning method, which comprises the steps of performing multi-sensor information fusion on a satellite positioning system and a strapdown inertial navigation system, constructing an adjustment factor according to factors such as satellite positioning quality on the basis of a standard integrated navigation system, and performing real-time self-adaptive adjustment on a system observation noise array, that is, constructing a self-adaptive GPS / INS Kalman filtering algorithm, thereby being capable of obtaining the position, the speed, the attitude, the acceleration, the angular velocity and other information of the high-precision vehicle in any complex environment. The method is high in real-time performance and good in robustness.

The invention relates to a three-dimensional environment sensing system for large excavating equipment in a complex environment. The system comprises a system control and data fusion processing module, a synchronous data acquisition module, a GPS / INS integrated navigation module, two PSD vibration measurement modules and two single-line two-dimensional laser radars. The synchronous data acquisition module is connected with the two single-line two-dimensional laser radars, is connected with the GPS / INS integrated navigation module, is connected with the two PSD vibration measurement modules andis connected with the system control and data fusion processing module; and the two single-line two-dimensional laser radars are respectively connected with the two PSD vibration measurement modules;and the GPS / INS integrated navigation module is connected with the synchronous data acquisition module and the system control and data fusion processing module. According to the system, hard synchronization of data of the system and data of the vibration measurement module is achieved through laser radar synchronization pulses, timestamps are stamped, time synchronization is conducted on the dataand pose data with time information measured by the GPS / INS integrated navigation module, vibration compensation and coordinate transformation are conducted, and complete and accurate three-dimensional environment perception information is obtained.

The invention discloses a multi-sensor fusion vehicle-road collaborative sensing method for automatic driving. The method comprises a data enhancement module, a point cloud sensing module, an image sensing module, a multi-sensor fusion module, a V2X real-time communication module, a selective compensation module and a positioning module based on SLAM and GPS / INS fusion. Firstly, a public data set is processed through a data enhancement module; the three-dimensional information obtained in the point cloud sensing module and the two-dimensional information obtained in the image sensing module are fused through a multi-sensor fusion module; the position information of the vehicle is obtained by means of a positioning module based on SLAM and GPS / INS fusion, and the automatic driving vehicle is helped to make accurate judgment in a complex environment; meanwhile, perception information is shared through the V2X real-time communication module and vehicles or roads in the surrounding environment, shielding missing information is effectively compensated through the selective compensation module, and the real-time communication efficiency is improved; the method is high in accuracy and reliability, and can effectively solve the problems of information loss and shielding under a complex road.

The invention relates to a method for detecting pipeline defects by combining magnetic flux leakage and electromagnetic ultrasonic waves, which belongs to the technical field of nondestructive testing. A satellite positioning and inertial navigation (GPS / INS) combined navigation system is adopted for positioning, and the three-axis magnetic flux leakage detection device and the electromagnetic ultrasonic detection device are driven by the supporting wheel type pipeline robot, so that the detector is ensured to have a stable operation speed; magnetic flux leakage detection is carried out on the interior of a pipeline through a three-axis magnetic flux leakage detection device in the pipeline, a magnetic flux leakage signal in the pipeline is acquired, and data processing is conducted on the acquired magnetic flux leakage signal to judge the position and size of a defect of the detected pipeline; meanwhile, electromagnetic ultrasonic detection is carried out, an electromagnetic ultrasonic probe is driven by the pipeline robot to move forwards at a slow speed, and pipeline defect signals are collected and sorted. Two detection methods are combined by utilizing different characteristics of three-axis magnetic flux leakage detection and electromagnetic ultrasonic detection, so that comprehensive detection of pipeline defects is realized.

The invention discloses a pilot ship sea test system and a ship overall performance test method thereof. The pilot ship sea test system comprises a pilot ship and an auxiliary ship system. The pilot ship comprises a ship body system, a data acquisition system and a remote control and remote measurement system. The ship body system comprises a ship body shell, a propelling device and a rudder device. The data acquisition system comprises a sensor, a data acquisition instrument and a first computer; the remote control and remote measurement system comprises a GPS / INS device, an AD module and a first radio station. The auxiliary ship system comprises a following speedboat and an environment measuring ship, and a second radio station and a second computer are installed on the following speedboat. Real and reliable data sources can be provided for ship comprehensive performance test and evaluation of stability, floatability, sinking resistance, resistance and propulsion, maneuverability andseakeeping, wave load, slamming load, underwater explosion, structural strength and the like of complete and damaged ships through the pilot ship sea test system.

The invention belongs to the technical field of integrated navigation, and particularly relates to a GPS / INS integrated navigation system clock error correction method based on satellite PPS. According to the method, an INS clock is corrected by means of a GPS atomic clock, the technical problem that a GPS / INS integrated navigation system in the prior art has clock errors, and short-term stability of INS time and long-term stability of GPS time are combined, so that the integrated system obtains higher navigation positioning precision.

The invention provides an unmanned aerial vehicle observation system for monitoring and researching carbon-water flux of a regional scale ecosystem. The unmanned aerial vehicle observation system comprises a fixed-wing unmanned aerial vehicle, scientific observation parts and a ground control monitoring station; the scientific observation parts comprise a porous turbulence probe, an open-circuit water vapor and carbon dioxide gas analyzer, a gas analyzer electronic case, a GPS / INS combined positioning and attitude determination system, an airborne control computer and a power supply battery; the scientific observation parts are all installed on a platform of the fixed-wing unmanned aerial vehicle. According to the invention, observation task requirements of most ecological systems can be met; latent heat flux and carbon dioxide flux exchange capacity of a regional ecological system can be directly observed; the invention has the advantages of low observation cost, strong expansibility,flexible and portable observation and the like, is suitable for multiple aspects such as ecological system function and current situation investigation, ecological process research, ecological environment protection and the like of a large-range space area, and provides important data support for ecological environment research and protection.

The invention relates to a navigation attitude method for a vehicle-mounted azimuth open-loop horizontal attitude angle closed loop. The method comprises the steps of: obtaining navigation parametersand navigation parameter errors of a vehicle through a GPS / INS integrated navigation system, wherein the navigation parameters comprise the attitude, the speed and the position of the vehicle; selecting one Kalman filtering mode of open-loop Kalman filtering and closed-loop Kalman filtering according to a preset threshold speed; and substituting the navigation parameters and the navigation parameter errors obtained by the GPS / INS integrated navigation system into the selected Kalman filtering mode to perform navigation calculation, outputting a navigation result, and performing navigation calculation on the GPS / INS integrated navigation system through Kalman filtering by adopting the method, so that azimuth angle small-amplitude oscillation of an unmanned navigation system during static orquasi-static or low-speed advancing is eliminated, and the navigation precision of the unmanned navigation system is improved.

The invention relates to a pastoral pattern ordered planting system. The planting system comprises a walking planting mechanism and several groups of actuating mechanisms. The walking planting mechanism comprises walking wheels and a duckbilled planting unit, pot seedlings output by each actuating mechanism are received by the duckbilled planting unit through a seedling guide tube respectively, the duckbilled planting unit plants the received pot seedlings, and each group of actuating mechanism includes a seedling taking and dropping system and a control system. The seedling taking and dropping system consists of a vertical conveying mechanism, a horizontal conveying mechanism, an ejector mechanism, a grabbing mechanism and a seedling dropping mechanism, and the control system comprises amaster controller, a switch group and a GPS / INS integrated navigation system. According to the invention, the GPS / INS technology widely applied to guided weapons is extended to the agricultural machinery field, an image is input to image analysis software, then precise field positioning of a transplanting machine is realized based on GPS / INS, a travel path can be planned automatically, in the travel process of the machine, the planting order is arranged, and then ordered planting is carried out, thereby realizing mechanical and intelligent pattern planting.

The invention discloses an intelligent automobile interconnection and exchange safety system, which comprises a central data storage and processor, a big data cloud server, a vehicle-mounted sensor, adriver identity recognition system, a face recognition device, a safety monitoring system, a vehicle-mounted alarm system, a driver driving information system, a camera, an auditing system, a replacement system, a prompting system and a marking system, wherein the vehicle-mounted sensor comprises a GPS / INS integrated navigation system, a laser radar and a camera, collected vehicle driving state information is transmitted to the central data storage and processor through a CANBUS, and the face recognition device comprises a plurality of face recognition cameras with different angles. The accuracy of the information is ensured, some irrelevant information can be prevented from occupying information space or confusing information viewing of people, and when a user drives to a picture information or video information uploading road section, the user can be marked and prompted, so that the user can know the road condition information in advance, and the driving safety of the user is ensured.

The invention provides a target characteristic parameter measuring device and method. The method includes: performing image fusion on a target image obtained by an infrared camera and a target image obtained by a visible light camera to complete target identification and tracking; combining a distance value of a target obtained by a laser range finder, an azimuth angle value and a pitch angle value of the target relative to an initial zero position obtained by an azimuth turntable and a pitch turntable, and a carrier position and an attitude angle value obtained by a GPS / INS combination system together, and calculating absolute position information of the target by applying a coordinate transformation matrix, and carrying out data processing on the real-time position of a moving target to obtain the speed and attitude characteristic parameters of the target. According to the method, continuous tracking of a dynamic / static target can be completed, the position coordinates of the static target, the position coordinates of the dynamic target, the speed, the course angle, the pitch angle and other information values can be given, the requirement for target characteristic parameter measurement in the field of unmanned ship automatic driving is met, and the method has wide application prospects.

The invention relates to the technical field of mobile robot navigation positioning, and aims at providing a GPS / INS navigation system with magnetic nail positioning assistance. When a robot carries out GPS navigation, the magnetic nail positioning technology is utilized for adjusting the direction to make the navigation more precise. According to the technical scheme, the GPS / INS navigation system with magnetic nail positioning assistance comprises a GPS data receiving and processing module, and is characterized by further comprising an inertial navigation system, an inertial navigation system processing module, several magnetic nails laid on the ground, a magnetic sensor module, a servo motor, a coder module and a central processing unit controlling the servo motor; the central processing unit comprises a Kalman filtering module and a servo motor control module; the inertial navigation system and the inertial navigation system processing module are electrically connected with the Kalman filtering module of the central processing unit in sequence, and the GPS data receiving and processing module is electrically connected with the Kalman filtering module of the central processing unit.