变电站环境下GNSS/INS组合导航系统设计与实现

Design and implementation of GNSS/INS integrated navigation system in substation environment

针对工程车辆在变电站环境下单一导航模式无法提供精确稳定的定位信息问题,文章围绕全球卫星导航系统/惯性导航系统(global navigation satellite system/inertial navigation system,GNSS/INS)定位原理,详细给出GNSS/INS松组合模型和卡尔曼滤波算法,研发高动态、低成本的GNSS/INS组合导航终端设备,并以2022年3月在江苏省虞城(姑苏)换流站GNSS和GNSS/INS数据为例,比较分析工程车辆静止、运动状态下GNSS和GNSS/INS组合导航定位模式下车辆的点位、姿态角偏差值大小,分析其是否满足作业要求。结果表明提出的GNSS/INS组合模型及其算法数学模型简单、易于程序设计;研发的GNSS/INS终端设备成本低、效率高;车辆在运动状态下组合导航的位置误差要小于GNSS状态下的3 cm,航向角误差小于0.5°,且系统在静态情况下比动态情况下有较高的定向精度。该文的系统设计可以满足变电站工程车辆生产作业的需要,也为变电站环境下高精度、高可靠性的工程车辆导航提供借鉴和参考。

Aiming at the problem that single navigation mode of engineering vehicles in substation environment cannot provide accurate and stable positioning information,based on the positioning principle of global navigation satellite system/inertial navigation system(GNSS/INS),this paper studies the system formed by a model of loosely coupled GNSS/INS and the Kalman filtering mechanism.A GNSS/INS integrated navigation module with better dynamics and less investment is designed.Taking the GNSS and GNSS/INS data in Yucheng(Gusu)converter station in Jiangsu Province in March 2022 as an example,the deviation values of point position and attitude angle of engineering vehicles under the GNSS and GNSS/INS integrated navigation and positioning modes in stationary and moving states are compared and analyzed.In addition,whether the operation regulations are met or not is given.The results show that the proposed GNSS/INS integrated model and its mathematical model are simple and easy to compile.The input of the whole module is not large,and the performance is better.The positioning error of the integrated navigation of the vehicle in the moving state is less than 3 cm in the GNSS mode,and the heading angle error is less than 0.5°.Moreover,the system has higher orientation accuracy in the stationary state than in the moving state.The designed system can meet the needs of substation engineering vehicle operation,and also provide reference for engineering vehicle navigation with high precision and high reliability in substation environment.