基于WMN及RTK差分的多测控设备测角零值标定方法

doi:10.16180/j.cnki.issn1007-7820.2025.06.008

Abstract

Abstract:

Test preparation period of mobile measurement and control equipment is greatly shortened under the trend of high density of test tasks, and the angle zero calibration method suitable for a single mobile measurement and control equipment cannot meet the requirements of simultaneous deployment of multiple devices. In view of the problem, an improved method for angle zero calibration of measurement and control equipment based on WMN(Wireless Mesh Network) and RTK(Real-Time Kinematic) difference technology is proposed in the present study. The design of WMN and the research of the calibration algorithm of angle zero measurement are carried out, and the simultaneous calibration of angle zero measurement of multiple sets of measurement and control equipment are realized by the calibration system of unmanned aerial vehicle. The calibration accuracy is improved by random error smoothing, outlier removal and Ratio rate test. The test and analysis results show that the proposed method can improve the calibration efficiency on the basis of meeting the calibration accuracy requirements of the main measurement and control equipment.

Key words: angle measurement zero, UAV, WMN, RTK, measurement and control equipment, Ratio rate, data transmission, calibration accuracy

CLC Number:

TN806

PANG Yuefeng, LI Yingxiang, HUO Wenjie, MA Le. Zero Value Calibration Method of Multi-Measurement and Control Equipment Based on WMN and RTK[J].Electronic Science and Technology, 2025, 38(6): 52-57.

Figures/Tables 7

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Table 1.

Table 2.

Table 3.

References 19

[1]	张中升, 王志辉. 雷达标校技术[M]. 北京: 国防工业出版社,2017:70-71.
	Zhang Zhongsheng, Wang Zhihui. Radar calibration technology[M]. Beijing: National Defense Industry Press, 2017:70-71.
[2]	姜来春. 高精度测量雷达动态精度分析方法研究[J]. 电子科技, 2014, 27(7):51-55.
	Jiang Laichun. Research on dynamic accuracy in high precision measurement radar[J]. Electronic Science and Technology, 2014, 27(7):51-55.
[3]	王晓光, 陈晓辉. 测量学[M]. 北京: 北京理工大学出版社,2018:120-121.
	Wang Xiaoguang, Chen Xiaohui. Metrology[M]. Beijing: Beijing Institute of Technology Press,2018:120-121.
[4]	张垚, 全录贤, 洪宇, 等. 测控天线射电星标校方法分析[J]. 电讯技术, 2017, 57(4):474-479.
	Zhang Yao, Quan Luxian, Hong Yu, et al. Analysis of radio source calibration of tracking antenna[J]. Telecommunication Engineering, 2017, 57(4):474-479.
[5]	刘利生, 赵华, 刘元. 应用标校卫星鉴定测控系统精度方法探讨[J]. 飞行器测控学报, 2014, 33(4):275-282.
	Liu Lisheng, Zhao Hua, Liu Yuan. On methods of accuracy validation for TT&C systems with a calibration satellite[J]. Journal of Spacecraft TT&C Technology, 2014, 33(4):275-282.
[6]	庞岳峰, 霍文杰, 张彬艳, 等. 一种基于RTK的遥测设备方位零位标定方法[J]. 遥测遥控, 2020, 41(2):68-73.
	Pang Yuefeng, Huo Wenjie, Zhang Binyan, et al. Azimuth zero position calibration method of telemetry equipment based on RTK surveying technology[J]. Journal of Telemetry,Tracking and Command, 2020, 41(2):68-73.
[7]	陈明剑. 星载GNSS卫星编队相对导航技术[M]. 武汉: 中国地质大学出版社, 2016, 29(11):118-121.
	Chen Mingjian. Relative navigation technology for satellite formation of GNSS[M]. Wuhan: China University of Geosciences Press, 2016, 29(11):118-121.
[8]	Liu X, Gen R, Zhang H P, et al. The GFZ real-time GNSS precise positioning service system and its adaption for compass[J]. Advances in Space Research, 2013, 51(6):1008-1018.
[9]	张宝成. GNSS非差非组合精密单点定位的理论方法与应用研究[J]. 测绘学报, 2014, 43(10):1099-1100. doi: 10.13485/j.cnki.11-2089.2014.0155
	Zhang Baocheng. Study on the theoretical methodology and applications of precise point positioning using undifferenced and uncombined GNSS data[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(10):1099-1100. doi: 10.13485/j.cnki.11-2089.2014.0155
[10]	王世进, 秘金钟, 李得海, 等. GPS/BDS的RTK定位算法研究[J]. 武汉大学学报(信息科学版), 2014, 39(5):621-625.
	Wang Shijin, Bi Jinzhong, Li Dehai, et al. Real-time kinematic positioning algorithm of GPS/BDS[J]. Geomatics and Information Science of Wuhan University, 2014, 39(5):621-625.
[11]	姚宜斌, 胡明贤, 许超钤. 基于DREAMNET的GPS/BDS/GLONASS多系统网络RTK定位性能分析[J]. 测绘学报, 2016, 45(9):1009-1018. doi: 10.11947/j.AGCS.2016.20160133
	Yao Yibin, Hu Mingxian, Xu Chaoqian. Positioning accuracy analysis of GPS/BDS/GLONASS network RTK based on DREAMNET[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(9):1009-1018. doi: 10.11947/j.AGCS.2016.20160133
[12]	何俊, 袁小玲, 曾琪, 等. GPS/BDS/GLONASS组合单点定位研究[J]. 测绘科学, 2014, 39(8):124-128.
	He Jun, Yuan Xiaoling, Zeng Qi, et al. Study on GPS/BDS/GLONASS combined single point positioning[J]. Science of Surveying and Mapping, 2014, 39(8):124-128.
[13]	李豹, 许江宁, 曹可劲, 等. 改进LAMBDA算法实现单频GPS整周模糊度快速解算[J]. 中国惯性技术学报, 2013, 21(3):365-368.
	Li Bao, Xu Jiangning, Cao Kejin, et al. Fast resolution of single frequency GPS integer ambiguity realized by improved LAMBDA algorithm[J]. Journal of Chinese Inertial Technology, 2013, 21(3): 365-368.
[14]	Willi D, Rothacher M. GNSS attitude determination with non-synchronized receivers and short baselines on board a spacecraft[J]. GNSS Solutions, 2017, 21(4):1605-1617.
[15]	张辉, 李艳东, 赵丽娜, 等. 基于无线Mesh网络的智慧你也大棚监控系统[J]. 现代电子技术, 2016, 39(16):71-74.
	Zhang Hui, Li Yandong, Zhao Lina, et al. Wisdom agricultural greenhouse monitoring system based on wireless Mesh network[J]. Modern Electronic Technique, 2016, 39(16):71-74.
[16]	李先, 汪克峰. 一种基于Mesh网结构的流媒体传输方法[J]. 现代电子技术, 2017, 40(6):62-64.
	Li Xian, Wang Kefeng. A flow media transmission method based on Mesh network structure[J]. Modern Electronic Technique, 2017, 40(6):62-64.
[17]	吴玉平, 王建华, 杨钊. 基于双天线的高精度GPS定位测向系统及其在无人水面艇上的应用[J]. 计算机测量与控制, 2015, 23(4):1330-1332.
	Wu Yuping, Wang Jianhua, Yang Zhao. High precision GPS system based on double antennas and its application in unmanned surface vessel[J]. Computer Measurement and Control, 2015, 23(4):1330-1332.
[18]	郭健, 许庆, 刘洪林, 等. 基于差分BDS的脉冲测量雷达标校设计与实现[J]. 兵器装备工程学报, 2022, 43(12): 139-144.
	Guo Jian, Xu Qing, Liu Honglin, et al. Design and implementation of radar calibration for pulse instrumentation based on different BDS techniques[J]. Journal of Ordnance Equipment Engineering, 2022, 43(12):139-144.
[19]	陈庆良, 宫福红, 梁建兴, 等. 一种测量设备的便携式动态标校方法[J]. 测控技术, 2023, 42(2):42-48.
	Chen Qingliang, Gong Fuhong, Liang Jianxing, et al. Portable dynamic calibration method for a measuring equipemnt[J]. Measurement and Control Technology, 2023, 42(2):42-48.

E符号	N符号	A
+	+	\|A\|
+	- -	180-\|A\|
-	-	180+\|A\|
-	+	360-\|A\|

设备	次数	方位/(°)			俯仰/(°)
设备	次数	真正值	文献[6] 方法	本文方法	真正值	文献[6] 方法	本文方法
A	1	48.562	0.049	0.031	3.301	-0.034	-0.025
	2	48.562	0.047	0.031	3.301	-0.03	-0.022
	3	48.562	-0.043	-0.032	3.301	-0.036	-0.027
B	1	112.846	0.047	0.033	3.722	-0.038	-0.027
	2	112.846	-0.046	-0.031	3.722	-0.034	-0.026
	3	112.846	0.045	0.030	3.722	-0.033	-0.027

设备	次数	方位/(°)			俯仰/(°)
设备	次数	真正值	文献[6] 方法	本文方法	真正值	文献[6] 方法	本文方法
A	1	90.562	0.015	0.011	1.442	-0.014	-0.008
	2	90.562	0.017	0.012	1.442	-0.013	-0.011
	3	90.562	0.013	0.009	1.442	-0.015	-0.010
B	1	269.846	-0.016	-0.010	1.574	-0.016	-0.011
	2	269.846	-0.016	-0.009	1.574	-0.014	-0.009
	3	269.846	-0.014	-0.012	1.574	-0.013	-0.010

Zero Value Calibration Method of Multi-Measurement and Control Equipment Based on WMN and RTK

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 7

References 19

Related Articles 15

Metrics

Comments

Recommended 0

[1]	JIN Rui, JIN Hai, MO Songnan. Research on Large Twin-Rotor UAV Based on Fuzzy PID [J]. Electronic Science and Technology, 2024, 37(8): 54-59.
[2]	LI Jing, PENG Tao. Date Communication over Mobile Voice Channel Based on Pitch Delay Steganography [J]. Electronic Science and Technology, 2024, 37(7): 66-71.
[3]	WANG Yangbin,ZHANG Wei,HU Zhi. Multi-UAV Path Planning Algorithm Based on Formation Change [J]. Electronic Science and Technology, 2023, 36(7): 39-48.
[4]	XU Ping,MA Tianyi,LIU Fei. A Novel Dual-band Conformal Antenna On Unmanned Aerial Vehicle [J]. Electronic Science and Technology, 2023, 36(12): 95-98.
[5]	ZHANG Ying,LIU Zilong,WAN Wei. UAV Vehicle Target Detection Based on Faster R-CNN [J]. Electronic Science and Technology, 2021, 34(11): 11-20.
[6]	YANG Yuwei,SONG Fang,ZHANG Wei. Interval Estimation of Sensor Fault for Attitude Control System of UAV [J]. Electronic Science and Technology, 2021, 34(10): 56-62.
[7]	ZHANG Zhenwei, ZHANG Wei, LONG Lin, YAN Chenhang. 3D Map Construction of Micro UAV Based on Depth Camera [J]. Electronic Science and Technology, 2021, 34(1): 65-70.
[8]	YUE Xiu,ZHANG Wei. UAV Path Planning Based on Intelligent Algorithm [J]. Electronic Science and Technology, 2019, 32(2): 9-13.
[9]	CHEN Cheng, LI Ruixiang, LIU Tingting, LIU Yi. Research on Wireless Data Transmission System Based on nRF24L01 [J]. , 2016, 29(11): 22-.
[10]	PANG Yuefeng, WU Xiaodong, NIU Panfeng. Measurement and Control Equipment Tracking Data Interpolation Method [J]. , 2016, 29(11): 118-.
[11]	ZUO Fengling, DIAO Jietao, LI Nan, ZHU Ce. Design and Implementation of CPFSK Demodulation Based on ZYNQ [J]. , 2016, 29(10): 18-.
[12]	LIU Ming. Key Technology of Cycle Data Transmission Based on MPC5554 [J]. , 2015, 28(7): 51-.
[13]	LIANG Luyang,MENG Wen,LI Yunxia,HAN Xiaofei. Design of Voice and IP Data Wireless Optical Communications Link Based on Ethernet [J]. , 2015, 28(11): 86-.
[14]	ZHOU Dianmiao,XU Hui,CHEN Weihua,LI Nan,SUN Zhaolin,DIAO Jietao. Design of Data Transmission Interface Based on JESD204B Protocol [J]. , 2015, 28(10): 53-.
[15]	PANG Yuefeng,DU Yong,ZHU Weiwei. Design and Implementation of Remote Electric System Based on FPGA [J]. , 2014, 27(12): 158-.