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公开(公告)号：EP3364155A1
公开(公告)日：2018-08-22
申请号：EP16854771.9
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , SHEN, Xuefeng , WEI, Lilong , CUI, Guiyan
IPC分类号： G01C25/00
CPC分类号： G01C25/005 , G01C21/16 , G01C25/00
摘要： A method for initial alignment of an inertial navigation apparatus, comprising the following steps: providing an apparatus loaded with a sensor, and preprocessing the sensor; carrying out relative alignment to calculate an installation error angle of the sensor; carrying out absolute alignment to calculate an installation attitude angle error of the sensor to increase an accuracy of an error attitude angle calculated during the relative alignment. The relative alignment process calculates a relative error attitude angle, the relative error attitude angle being used as the initial value for attitude error in a stat vector in the absolute alignment process, thereby accelerating convergence of the Kalman filter. Alignment precision is further enhanced by the absolute alignment process.
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2.发明公开
公开(公告)号：EP3489721A1
公开(公告)日：2019-05-29
申请号：EP17863877.1
申请日：2017-06-20
发明人： DONG, Shengfei , WANG, Jiejun , LI, Caimeng , XIE, Huazhong , HE, Wei
IPC分类号： G01S19/48
摘要： A flight control system of an unmanned aerial vehicle with differential positioning based on a CORS network includes a MEMS sensing unit (2) for collecting data of angular velocity, linear velocity, air pressure, and magnetic field; a GNSS positioning unit (3) for acquiring GNSS positioning data; a network communication unit (4) for acquiring CORS differential data; an attitude/navigation control unit (5) for controlling the attitude and navigation of the unmanned aerial vehicle, a main control unit (1) for performing data processing, data fusion and system control operations among functional units. The 3G mobile network is used to obtain the differential data from CORS base station and realize an RTK differential positioning of the flight control system, which can satisfy the requirements of centimeter-level positioning accuracy of unmanned aerial vehicles for high-end consumer market and professional surveying and mapping. Compared with the RTK differential positioning solution in which a self-built base station is used and the differential data is transmitted by a radio station, using CORS network to obtain the differential data is faster and more efficient. Also, the deficiencies that the transmission mode of radio station has low precision for long-distance positioning and the communication distance of radio station is limited can be eliminated, and it better accords with the network-based development trend of RTK differential data in the future.
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3.发明公开
公开(公告)号：EP3489624A1
公开(公告)日：2019-05-29
申请号：EP17864219.5
申请日：2017-06-20
发明人： REN, Qiang , WANG, Jiejun , SHEN, Xuefeng , FENG, Shaoxi , DONG, Guangyang
摘要： An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine includes the following steps. Step S1: Step S1: fixing a steering wheel of the farm machine to make front wheels of a vehicle kept at a fixed angle. Step S2: collecting a plurality of pieces of current position information of the farm machine, and processing the plurality of pieces of current position information to obtain an average value. Step S3: establishing a two-wheel farm machine kinematics model based on a center of a rear axle. Step S4: performing a radius calculation to obtain a set of angle correspondences. Step S5: rotating the farm machine by a preset angle at a constant speed with the rear axle of the farm machine as a center, and performing Step S1 through Step S4;Step S6: after performing Step S5 for several times, performing an angle value fitting calculation to obtain a calibration coefficient. By applying the technique combining vehicle kinematics and high-precision GNSS, a high-precision angle sensor calibration can be realized without the external assisting apparatus and related experiential parameter input, and an automatic calibration can be realized. The present application is suitable for the precise agricultural automatic drive control systems.
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公开(公告)号：EP3364153B1
公开(公告)日：2020-11-25
申请号：EP16854770.1
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , DAI, Wending , CAO, Guangjie , DONG, Guangyang , TU, Rui
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公开(公告)号：EP3489626A1
公开(公告)日：2019-05-29
申请号：EP17891328.1
申请日：2017-06-20
发明人： SONG, Rui , ZHOU, Jin , YUAN, Benyin , WANG, Jiejun , PIAO, Dongguo
IPC分类号： G01C9/00
摘要： Atilt measurement method for an RTK measuring receiver includes the following steps: step S1: fixing the bottom of a centering rod and performing a measurement after an inclination and shake; step S2: obtaining a measurement point sequence, a measurement point tilt sequence, a length of a measuring rod, and a height of an antenna phase center based on the measurement; step S3: obtaining a positioning quality threshold and a geodetic coordinate of the to-be-measured point based on values obtained from the measurement; and step S4: determining whether the positioning quality threshold meets a requirement or not to decide whether to finish the measurement or not. In the method, the position of a to-be-measured point is calculated according to the position and the tilt angle of the antenna phase center of the receiver, and the length of the centering rod etc. during multiple tilt measurements. For a centimeter-level RTK, the position calculation with centimeter-level accuracy can be achieved when the amount of observation values is sufficient.
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6.发明公开
公开(公告)号：EP3490288A1
公开(公告)日：2019-05-29
申请号：EP17864757.4
申请日：2017-06-20
发明人： ZHUANG, Hao , FANG, Zhiqiang , WANG, Jiejun , XIE, Huazhong , ZHAO, Kangde
IPC分类号： H04W24/04
摘要： The present invention provides a method of automatically switching a mode of receiving differential data for driving test and driver training using a mobile station includes the following steps of: installing a mobile station on a training vehicle; after the mobile station is powered on, using a mode of receiving the differential data by a radio station; if the radio station of the mobile station is unable to receive the differential data within a preset time period under the mode, switching the radio station to a GPRS mode and receiving the differential data through a wireless network; if the radio station of the mobile station receives failure information, feeding the radio station failure information back to a back-end server by the mobile station; informing a technician, by the back-end server, to perform troubleshooting, after the radio station failure is eliminated, feeding information back to the mobile station through the back-end server, and switching the mobile station back to the mode of receiving the differential data by the radio station.
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7.发明公开
公开(公告)号：EP3364153A1
公开(公告)日：2018-08-22
申请号：EP16854770.1
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , DAI, Wending , CAO, Guangjie , DONG, Guangyang , TU, Rui
IPC分类号： G01C21/00
CPC分类号： G01C23/00 , A01B69/008 , A01B79/005 , G01C19/00 , G01C21/165 , G01C25/00 , G01C25/005
摘要： A method of updating an all-attitude angle of an agricultural machine based on a nine-axis MEMS sensor includes the following steps: establishing an error model of a gyroscope, an electronic compass calibration ellipse model and a seven-dimensional EKF filtering model, and setting a parameter vector corresponding to a vehicle motional attitude (S1); acquiring data including an acceleration and an angular velocity of a motion of vehicle, and an geomagnetic field intensity in real time (S2); calculating an angle, a velocity, position information, and a course angle of the vehicle by established error model of the gyroscope and the electronic compass calibration ellipse model(S3); data-fusion processing the angle, the velocity, the position information and the course angle of the vehicle by the seven-dimensional EKF filtering model, and updating a motional attitude angle of the vehicle in real time. The steps of the method have a small error, high precision, and reliability.
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