Title:
RTG CART POSITIONING AND ATTITUDE-DETERMINING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/093684
Kind Code:
A1
Abstract:
An RTG cart positioning and attitude-determining system, comprising a reference station subsystem and a mobile station subsystem, wherein the reference station subsystem comprises a GNSS receiver, a differential information generating module, and a communication broadcasting module; the mobile station subsystem comprises a positioning module, an inertial measurement module, and a positioning and attitude-determining module; the positioning module comprises two GNSS receivers, each of which is connected to two three-system omnidirectional antennas; the positioning and attitude-determining module performs fusion calculation using the position information of the four three-system omnidirectional antennas and the angular speed and acceleration information of an RTG, so as to obtain accurate position and attitude information of the RTG. Compared with the prior art, the system has the positive effect that even if an individual antenna is temporarily disabled (such as being blocked), the positioning and attitude-determining effect of the RTG is not affected, so that the redundancy of the system is greatly increased, thereby ensuring the continuity of high-precision positioning and attitude-determining of an RTG cart.
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Inventors:
KONG LINGYUN (CN)
HOU LIPENG (CN)
CHEN YUNFENG (CN)
FENG BINYAN (CN)
HOU LIPENG (CN)
CHEN YUNFENG (CN)
FENG BINYAN (CN)
Application Number:
PCT/CN2019/088457
Publication Date:
May 14, 2020
Filing Date:
May 26, 2019
Export Citation:
Assignee:
BEIJING CATHAY NEBULA SCIENCE & TECH CO LTD (CN)
International Classes:
G01S19/41
Foreign References:
| CN109307874A | 2019-02-05 | |||
| CN1425601A | 2003-06-25 | |||
| CN106516985A | 2017-03-22 | |||
| US20120179305A1 | 2012-07-12 |
Other References:
CHEN, CHANGJUN: "The Research on Key Technique of Mobile Mapping System Intergration", CHINESE DOCTORAL DISSERTATIONS FULL-TEXT DATABASE (ELECTRONIC JOURNAL) BASIC SCIENCES, 31 August 2017 (2017-08-31), ISSN: 1674-022X
GUO, WANLU ET AL.: "Attitude Parameter Measurement Method Based on Double Antenna GPS Receiver System", RADIO ENGINEERING, vol. 42, no. 5, 31 May 2012 (2012-05-31), pages 49 - 52, ISSN: 1003-3106
GUO, WANLU ET AL.: "Attitude Parameter Measurement Method Based on Double Antenna GPS Receiver System", RADIO ENGINEERING, vol. 42, no. 5, 31 May 2012 (2012-05-31), pages 49 - 52, ISSN: 1003-3106
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