一种顾及杆臂误差的GNSS/INS倾斜测量方法  

A GNSS/INS tilt measurement method considering lever arm error

作　　者：王献中 杨哲华 陈孔哲 孙峰 李鑫 WANG Xianzhong;YANG Zhehua;CHEN Kongzhe;SUN Feng;LI Xin(Unicore Communication,Inc.,Beijing 100094,China)

机构地区：[1]和芯星通科技(北京)有限公司,北京100094

出　　处：《中国惯性技术学报》2025年第3期219-228,共10页Journal of Chinese Inertial Technology

基　　金：科技部国家重点研发计划项目(2022YFB3903903)。

摘　　要：为提高全球导航卫星系统(GNSS)测绘一体机的作业效率和范围,提出了一种顾及杆臂误差的GNSS/惯性导航系统(INS)倾斜测量方法。首先利用测量杆顶端的实时动态差分定位(RTK)位置和杆尖的位置构成的向量建立INS航向观测方程,初始化INS航向。然后利用GNSS/INS组合算法完成INS误差估计,并计算杆尖点的位置。在首次使用时,利用两个滤波器协同工作实现对杆臂误差的估计。测试结果表明,杆臂误差标定平均耗时为27.1 s,总体标定精度为4.3 mm;倾斜测量初始化平均时间为5.5 s;在45°以内的倾斜角内,开阔场景下的水平/高程误差小于2.0 cm/1.8 cm,相比不校准杆臂误差,精度分别提升33.9%和25.8%;GNSS遮挡场景下的水平/高程误差小于2.7 cm/3.0 cm,相比不校准杆臂误差,精度分别提升23.2%和23.2%,验证了所提方法能够在杆体倾斜以及GNSS遮挡环境下实现对杆尖点的高精度测量,且无需对中操作。In order to improve efficiency and operating range of global navigation satellite system(GNSS)surveying device,a GNSS/inertial navigation system(INS) tilt measurement method considering lever arm error is proposed.Firstly,the observation equation of the INS azimuth is established by using the vector from the real time kinematic(RTK) position at the top of the rod and the position of the rod tip to initialize the INS azimuth.Then,the GNSS/INS fusion algorithm is utilized to filter INS error and output the position of rod tip.For the first time using,the measuring lever arm error is calibrated collaboratively by two filters.Results from multiple tests indicate that the average time taken for the calibration of lever arm error is 27.1 s,with total calibration accuracy of 4.3 mm;the average initialization time for tilted measurements is 5.5 s.In open scenarios with tilt angles less than 45°,horizontal/vertical position error are less than 2.0 cm/1.8 cm,compared with no lever arm error calibration,the accuracy improves 33.9% and 25.8% respectively;in GNSS-obstructed scenarios,horizontal/vertical position error are less than 2.7 cm/3.0 cm,compared with no lever arm error calibration,the accuracy improves 23.2% and 23.2% respectively,which verifies that the proposed method can achieve high-precision measurement of the rod tip in a tilted state and in GNSS-obstructed environment,without the need of centering the bubble operations.

关 键 词：GNSS/INS组合 惯导-RTK 倾斜测量 INS初始化 

分 类 号：P228[天文地球—大地测量学与测量工程]