{"id":4087,"date":"2023-02-13T16:05:32","date_gmt":"2023-02-13T08:05:32","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/02\/13\/4087\/"},"modified":"2023-02-13T16:29:10","modified_gmt":"2023-02-13T08:29:10","slug":"%e5%8f%91%e5%b8%83%e4%ba%8e-2023-02-12-1914%e3%83%bbip-%e5%b1%9e%e5%9c%b0%e4%b8%8a%e6%b5%b7%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%ae%9a%e4%bd%8d%e4%bc%a0%e6%84%9f%e5%99%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/02\/13\/4087\/","title":{"rendered":"2023-02-12\u81ea\u52a8\u9a7e\u9a76\u5b9a\u4f4d\u4f20\u611f\u5668"},"content":{"rendered":"

\u5c31\u5b9a\u4f4d\u800c\u8a00\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e0a\u6bcf\u4e00\u79cd\u5355\u4e00\u4f20\u611f\u5668\u90fd\u6709\u5176\u4f18\u70b9\u548c\u5c40\u9650\u6027\uff0c\u4e3a\u4e86\u5b89\u5168\u5197\u4f59\uff0c\u4e00\u822c\u4f1a\u88c5\u914d\u591a\u79cd\u5b9a\u4f4d\u4f20\u611f\u5668\uff0c\u7ed3\u5408\u4e0d\u540c\u4fe1\u53f7\u6e90\u878d\u5408\u5b9a\u4f4d\u3002<\/p>\n

GNSS<\/p>\n

GNSS\u5168\u79f0\u4e3aGlobal Navigation Satellite System(\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf)\uff0c\u901a\u8fc7\u63a5\u6536\u536b\u661f\u4fe1\u53f7\uff0c\u53ef\u4ee5\u786e\u5b9a\u4fe1\u53f7\u63a5\u6536\u5668\u5728\u5730\u7403\u4e0a\u7684\u4f4d\u7f6e\u3002\u76ee\u524dGNSS\u7cfb\u7edf\u5305\u62ec\u4e2d\u56fd\u5317\u6597\u3001\u7f8e\u56fdGPS\u3001\u4fc4\u7f57\u65afGLONASS\u3001\u6b27\u76df\u4f3d\u5229\u7565\u3002<\/p>\n

\u89c1\u8fc7\u81ea\u52a8\u9a7e\u9a76\u516c\u53f8\u6d4b\u8bd5\u8f66\u7684\uff0c\u5e94\u8be5\u90fd\u770b\u5230\u8fc7\u8f66\u9876\u4e0a\u50cf\u5149\u6ed1\u7684\u5c0f\u8611\u83c7\u4e00\u6837\u7684\u4e1c\u897f\uff0c\u90a3\u5c31\u662fGNSS\u7684\u5929\u7ebf\u3002<\/p>\n

<\/p>\n

GNSS\u5b9a\u4f4d\u5206\u4e3a\u5355\u70b9\u5b9a\u4f4d\u3001\u5dee\u5206\u5b9a\u4f4d\u3002\u5355\u70b9\u5b9a\u4f4d\u6307\u7684\u662f\u901a\u8fc7\u81ea\u8eab\u63a5\u6536\u5668\u63a5\u6536\u5230\u81f3\u5c11\u56db\u9897\u536b\u661f\u4fe1\u53f7\uff0c\u4ece\u800c\u8ba1\u7b97\u51fa\u81ea\u8eab\u4f4d\u7f6e\uff1b\u800c\u5dee\u5206\u5b9a\u4f4d\u5373RTK(Real Time Kinematic), \u53c8\u79f0\u76f8\u4f4d\u8f7d\u6ce2\u5dee\u5206\u5b9a\u4f4d\uff0c\u9700\u8981\u989d\u5916\u5efa\u7acb\u4e00\u4e2a\u63a5\u6536\u536b\u661f\u4fe1\u53f7\u7684\u53c2\u8003\u7ad9\uff08\u57fa\u51c6\u7ad9\uff09\uff0c \u901a\u8fc7\u7528\u6237\u7ad9\u4e0e\u57fa\u51c6\u7ad9\u76f8\u4f4d\u8f7d\u6ce2\u5dee\u5206\uff0c\u4ece\u800c\u786e\u5b9a\u7528\u6237\u7ad9\u7684\u4f4d\u7f6e\u3002\u5dee\u5206\u5b9a\u4f4d\u6280\u672fRTK\u7cbe\u5ea6\u66f4\u9ad8\uff08\u5398\u7c73\u7ea7\uff09\uff0c\u7a33\u5b9a\u6027\u4e5f\u66f4\u597d\uff0c\u4f46\u6210\u672c\u4e5f\u66f4\u9ad8\u3002<\/p>\n

\u8be6\u7ec6GNSS\u5b9a\u4f4d\u7684\u6280\u672f\u539f\u7406\u53c2\u8003\uff1a\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\uff08GNSS\uff0c\u542bGPS\u3001\u5317\u6597\u3001GLONASS\u3001\u4f3d\u5229\u7565\u7b49\u7cfb\u7edf\uff09\u5b9a\u4f4d\u7684\u539f\u7406\u662f\u4ec0\u4e48\uff1f<\/p>\n

GNSS\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u5c24\u5176\u662fRTK\uff0c\u5728\u536b\u661f\u4fe1\u53f7\u597d\u7684\u8def\u6bb5\u8868\u73b0\u8fd8\u662f\u6bd4\u8f83\u7a33\u7684\uff0c\u80fd\u591f\u76f4\u63a5\u63d0\u4f9b\u7edd\u5bf9\u4f4d\u59ff\u4fe1\u606f\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u53ef\u4ee5\u8bf4\u5fc5\u4e0d\u53ef\u5c11\u3002<\/p>\n

\u4f46\u5176\u7f3a\u70b9\u4e5f\u5f88\u660e\u663e\uff1a\u5728\u536b\u661f\u4fe1\u53f7\u4e0d\u597d\u7684\u5730\u65b9\u6548\u679c\u5c31\u4f1a\u4e0d\u7a33\u5b9a\uff0c\u751a\u81f3\u76f4\u63a5Fail\u3002\u56e0\u6b64\uff0c\u5728\u96a7\u9053\u3001\u5730\u4e0b\u8f66\u5e93\u7b49\u573a\u666f\uff0c\u5c31\u5b8c\u5168\u5fd8\u6389 GNSS\u5427\uff0c\u800c\u5728\u9ad8\u67b6\u6865\u4e0b\u3001\u9ad8\u697c\u5927\u53a6\u811a\u4e0b\u3001\u8302\u5bc6\u6811\u6728\u4e0b\u7b49\u573a\u666f\uff0cGNSS\u53ef\u80fd\u4e0d\u4f1a\u76f4\u63a5\u5931\u6548\uff0c\u4f46\u5b9a\u4f4d\u7ed3\u679c\u4f1a\u975e\u5e38\u4e0d\u7a33\u5b9a\u3002<\/p>\n

\u5f53\u7136\uff0cGNSS\u4f1a\u7ed9\u7528\u6237\u53d1\u9001\u72b6\u6001\u76f8\u5173\u6807\u5fd7\u4f4d\uff0c\u5176\u4e2d\u5305\u62ec\u4e86\u4fe1\u53f7\u4e22\u5931\u3001\u89e3\u7b97\u4e0d\u597d\u7b49\u72b6\u6001\u3002\u4f46\u5728\u5b9e\u8df5\u4e2d\uff0c\u7ecf\u5e38\u9047\u5230GNSS\u6807\u5fd7\u4f4d\u6b63\u5e38\uff0c\u4f46\u8f68\u8ff9\u8bef\u5dee\u5f88\u5927\u7684\u60c5\u51b5\uff0c\u5373GNSS\u5bf9\u81ea\u8eab\u72b6\u6001\u7684\u5224\u65ad\u53ef\u80fd\u4e0d\u51c6\u786e\uff0c\u7ed9\u4e0b\u6e38\u7b97\u6cd5\u5e26\u6765\u4e00\u5b9a\u56f0\u96be\u3002<\/p>\n

<\/p>\n

\u60ef\u6027\u5bfc\u822aIMU<\/p>\n

IMU\u5168\u79f0Inertial Measurement Unit\uff0c\u7531\u9640\u87ba\u4eea\u63d0\u4f9b\u89d2\u901f\u5ea6\uff0c\u52a0\u901f\u5ea6\u8ba1\u63d0\u4f9b\u52a0\u901f\u5ea6\uff0c\u901a\u8fc7\u5bf9\u89d2\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u8fdb\u884c\u79ef\u5206\uff0c\u80fd\u591f\u5f97\u5230\u4e24\u4e2a\u65f6\u523b\u4e4b\u95f4\u7684\u76f8\u5bf9\u65cb\u8f6c\u548c\u5e73\u79fb\u3002<\/p>\n

IMU\u80fd\u591f\u83b7\u5f97\u9ad8\u9891(100hz)\u4e14\u51c6\u786e\u76846Dof\u76f8\u5bf9\u8fd0\u52a8\u4fe1\u606f\uff0c\u6709\u6bd4\u8f83\u6210\u719f\u7684\u6807\u5b9a\u65b9\u6848\u3001\u79ef\u5206\u7406\u8bba\uff0c\u5728\u65e0\u4eba\u673a\u9886\u57df\u5e94\u7528\u975e\u5e38\u5e7f\u6cdb\u3002<\/p>\n

IMU\u6700\u5927\u7684\u4e0d\u8db3\u5c31\u5728\u4e8e\u5b58\u5728\u7d2f\u8ba1\u8bef\u5dee(AccumulatedError)\uff0c\u5373\u4f7f\u77ed\u65f6\u95f4\u5185\u76f8\u5bf9\u4f4d\u59ff\u662f\u51c6\u7684\uff0c\u53ef\u80fd\u79ef\u5206\u4e00\u6bb5\u65f6\u95f4\u540e\u7edd\u5bf9\u4f4d\u59ff\u5c31\u6f02\u7684\u5389\u5bb3\u3002\u800c\u6f02\u7684\u7a0b\u5ea6\u53d6\u51b3\u4e8eIMU\u81ea\u8eab\u6027\u80fd\uff0c\u4e3b\u8981\u5173\u6ce8\u96f6\u504f\u4e0d\u7a33\u5b9a\u6027\uff0c\u4e00\u822c\u8d8a\u8d35\u8d8a\u597d(\u5e9f\u8bdd)\u3002\u4e00\u822c\u4f1a\u8003\u8651\u501f\u52a9GNSS\u6216\u89c6\u89c9SLAM\u95ed\u73af\u68c0\u6d4b\u6765\u77eb\u6b63IMU\u7684\u7d2f\u8ba1\u8bef\u5dee\uff0c\u6bd4\u8f83\u6210\u719f\u7684\u6846\u67b6\u4f8b\u5982ESKF\u3002<\/p>\n

\u53e6\u5916\uff0cIMU\u53c2\u6570\u590d\u6742\uff0c\u76f8\u5173\u7406\u8bba\u4e5f\u6bd4\u8f83\u6666\u6da9\u96be\u61c2\uff0c\u662f\u4e2a\u5f88\u8003\u7814\u5de5\u7a0b\u5e08\u7ecf\u9a8c\u548c\u7406\u8bba\u529f\u5e95\u7684\u4eea\u5668\u3002\u5c31\u662f\u628a\u96f6\u504f\u3001\u968f\u673a\u6e38\u8d70\u3001Allan\u65b9\u5dee\u7b49\u57fa\u672c\u6982\u5ff5\u641e\u61c2\u4e5f\u8981\u6389\u70b9\u5934\u53d1\u624d\u884c\uff0c\u771f\u6b63\u8981\u7528\u597dIMU\u66f4\u662f\u9700\u8981\u5404\u79cd\u7384\u5b66\u8c03\u53c2\u7ecf\u9a8c\u3002\u5982\u679c\u5de5\u7a0b\u5e08\u7ecf\u9a8c\u4e0d\u8db3\u6216\u6ca1\u6709\u8db3\u591f\u7684\u6570\u5b66\u529f\u5e95\uff0c\u53ef\u80fd\u8fde\u4ecb\u7ecd\u6587\u6863\u90fd\u770b\u4e0d\u61c2\uff0c\u5373\u4f7f\u62ff\u7740\u5f88\u6210\u719f\u7684\u6807\u5b9a\u5de5\u5177\uff08Kalibr\uff09\u6216\u7b97\u6cd5\u6846\u67b6(VINS)\u4e5f\u4e0d\u4e00\u5b9a\u80fd\u7528\u597d\u3002\u800c\u5982\u679c\u6807\u5b9a\u53c2\u6570\u4e0d\u51c6\uff0c\u5f88\u8d35\u7684IMU\u7528\u8d77\u6765\u4e5f\u53ef\u80fd\u6548\u679c\u5f88\u5dee\u3002\u7136\u800c\uff0c\u73b0\u5728IMU\u4f9b\u5e94\u5546\u4e00\u822c\u53ef\u4ee5\u63d0\u4f9b\u6bd4\u8f83\u5b8c\u6574\u7684\u6ee4\u6ce2\u7b97\u6cd5\uff0c\u751a\u81f3\u63d0\u4f9bGNSS\u3001\u8f6e\u901f\u7684\u63a5\u53e3\uff0c\u7ed9\u8f93\u51fa\u7b97\u6cd5\u6821\u6b63\u540e\u76846Dof\u4f4d\u59ff\uff0c\u7528\u6237\u76f4\u63a5\u62ff\u6765\u7528\u5c31\u884c\u3002<\/p>\n

<\/p>\n

\u8f66\u8f86\u8f6e\u901f\u8ba1<\/p>\n

\u8f66\u8f86\u8f6e\u901f\u8ba1\uff0c\u6216\u8005\u53eb\u91cc\u7a0b\u8ba1Odometry, \u53ef\u4ee5\u901a\u8fc7\u6d4b\u91cf\u8f66\u8f6e\u5708\u6570\uff0c\u63a8\u7b97\u51fa\u524d\u8fdb\u4e86\u591a\u5c11\u7c73\uff1b\u53e6\u5916\u901a\u8fc7\u65b9\u5411\u76d8\u8f6c\u89d2\u4fe1\u53f7\uff0c\u83b7\u5f97\u671d\u5411\u4fe1\u606f\u3002<\/p>\n

\u8f6e\u901f\u8ba1\u539f\u7406\u7b80\u5355\uff0c\u4e14\u6bd4\u8f83\u7a33\u5b9a\uff0c\u4e0d\u4f1a\u4ea7\u751f\u5927\u8df3\u53d8\u3002\u4f46\u8f6e\u901f\u8ba1\u53ea\u80fd\u5f97\u5230\u4e8c\u7ef4\u7a7a\u95f43Dof\u7684\u8fd0\u52a8\uff0c\u65e0\u6cd5\u5f97\u5230\u4e09\u7ef4\u7a7a\u95f46Dof\u8fd0\u52a8\uff0c\u5373\u53ea\u80fd\u83b7\u5f97 [X,Y,Yaw] , \u65e0\u6cd5\u83b7\u5f97 [Z, Roll, Pitch] \u3002\u56e0\u6b64\uff0c\u5728\u4e0a\u4e0b\u5761\u9053\u3001\u9053\u8def\u98a0\u7c38\u3001\u5730\u5e93\u4e0a\u4e0b\u5c42\u7b49\u573a\u666f\uff0c\u53ea\u4f7f\u7528\u8f6e\u901f\u8ba1\u4f1a\u5b58\u5728\u8f83\u5927\u8bef\u5dee\u3002\u5e76\u4e14\uff0c\u5f53\u8d1f\u91cd\u3001\u80ce\u538b\u6709\u53d8\u5316\u65f6\uff0c\u4e5f\u4f1a\u7ed9\u8f6e\u901f\u8ba1\u79ef\u5206\u5e26\u6765\u8bef\u5dee\u3002<\/p>\n

\u7ec4\u5408\u5bfc\u822a<\/p>\n

\u7ec4\u5408\u5bfc\u822a\u65b9\u6848\u4e0d\u9002\u7528\u67d0\u79cd\u5355\u4e00\u4f20\u611f\u5668\uff0c\u800c\u662f\u7ed3\u5408\u591a\u4e2a\u4f20\u611f\u5668\u7684\u8f93\u51fa\uff0c\u901a\u8fc7\u7b97\u6cd5\u878d\u5408\u5f97\u5230\u66f4\u51c6\u786e\u7684\u4f4d\u7f6e\u548c\u59ff\u6001\u3002\u4f8b\u5982\u5c06GNSS\/RTK\u548cIMU\/\u8f6e\u901f\u8ba1\u7ed3\u5408\u7684\u7ec4\u5408\u5bfc\u822a\u6280\u672f\uff0c\u878d\u5408\u4e86GNSS\/RTK\u7684\u7edd\u5bf9\u4f4d\u59ff\u548cIMU\/\u8f6e\u901f\u8ba1\u63a8\u7b97\u7684\u76f8\u5bf9\u4f4d\u59ff\uff0c\u7efc\u5408\u4e86\u4e24\u8005\u7684\u4f18\u70b9\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u4f7f\u7528\u7387\u975e\u5e38\u9ad8\u3002<\/p>\n

\u73b0\u5728\u5df2\u7ecf\u6709\u4e00\u4e9b\u6210\u719f\u7684\u4f9b\u5e94\u5546\uff0c\u4f8b\u5982\u56fd\u5916\u7684Novatel\u3001\u56fd\u5185\u7684\u5bfc\u8fdc\uff0c\u5c06\u786c\u4ef6\u548c\u878d\u5408\u7b97\u6cd5\u96c6\u6210\u4e3a\u4e00\u5957\u7ec4\u5408\u5bfc\u822a\u8bbe\u5907\uff0c\u76f4\u63a5\u7ed9\u5ba2\u6237\u8f93\u51fa\u5b9a\u4f4d\u7ed3\u679c\u3002<\/p>\n

\u5f88\u591a\u521d\u521b\u516c\u53f8\u5728demo\u9636\u6bb5\u6765\u4e0d\u53ca\u505a\u4e00\u5957\u5b9a\u4f4d\u65b9\u6848\uff0c\u5b9a\u4f4d\u7ed3\u679c\u5b9e\u9645\u4e0a\u76f4\u63a5\u7531\u8d2d\u4e70\u7684\u7ec4\u5408\u5bfc\u822a\u4eea\u5668\u63d0\u4f9b\uff0c\u5728\u5927\u90e8\u5206\u8def\u6bb5\u6548\u679c\u4e5f\u8fd8\u4e0d\u9519\uff0c\u62ff\u7ed9\u5ba2\u6237\u6f14\u793a\u6ca1\u6709\u95ee\u9898\u3002\u66f4\u7a33\u7684\u65b9\u5f0f\u662fRTK+IMU\u63d0\u4f9b\u521d\u503c\uff0c\u518d\u7528\u89c6\u89c9+\u9ad8\u7cbe\u5730\u56fe\u5bf9\u4f4d\u59ff\u8fdb\u884c\u77eb\u6b63\uff0c\u8fd9\u4e5f\u662f\u5f53\u4e0b\u81ea\u52a8\u9a7e\u9a76\u516c\u53f8\u4e3b\u6d41\u7684\u5b9a\u4f4d\u65b9\u6848\u3002<\/p>\n

<\/p>\n

\u89c6\u89c9\/\u6fc0\u5149\u5b9a\u4f4d<\/p>\n

\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u4e0d\u5c5e\u4e8e\u4f4d\u59ff\u4f20\u611f\u5668\uff0c\u4e0d\u80fd\u76f4\u63a5\u8f93\u51fa\u4f4d\u7f6e\u548c\u59ff\u6001\uff0c\u4f46\u662f\u57fa\u4e8eSLAM\u6280\u672f\uff0c\u53ef\u4ee5\u5229\u7528\u89c6\u89c9\u6216\u6fc0\u5149\u96f7\u8fbe\u7684\u89c2\u6d4b\u8ba1\u7b97\u51fa\u8fd0\u52a8\u4fe1\u606f\u3002\u8fd9\u4e00\u822c\u4e5f\u662f\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u516c\u53f8\u5b9a\u4f4d\u5efa\u56fe\u7ec4\u7684\u6838\u5fc3\u7814\u53d1\u65b9\u5411\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u5c31\u5b9a\u4f4d\u800c\u8a00\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e0a\u6bcf\u4e00\u79cd\u5355\u4e00\u4f20\u611f\u5668\u90fd\u6709 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-4087","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4087"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=4087"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4087\/revisions"}],"predecessor-version":[{"id":4177,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4087\/revisions\/4177"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=4087"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=4087"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=4087"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}