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11. 发明申请

US20180017390A1 METHOD OF DETERMINING GNSS-INS VEHICLE ATTITUDE BASED ON SINGLE ANTENNA 审中-公开
公开(公告)号：US20180017390A1
公开(公告)日：2018-01-18
申请号：US15547062
申请日：2016-07-04
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Xuefeng SHEN , Xianghui CHE , Qiang REN , Guangjie CAO , Guangyang DONG , Rui TU
IPC分类号： G01C21/16 , G01S19/52 , G01S19/42
摘要： The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

12. 发明申请

US20230098511A1 NAVIGATION BOARD, MULTI-SOURCE DATA FUSION METHOD FOR NAVIGATION BOARD AND TRANSPORTER 有权
公开(公告)号：US20230098511A1
公开(公告)日：2023-03-30
申请号：US17051677
申请日：2020-05-26
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Shengfei Dong , Haifeng Deng , Yan Gao , Qingqing Wang , Xiangzhen Dang , Jianbo Wang , Hanxu Luo , Jun Wang
IPC分类号： G01S19/47 , G01S19/35 , G01S19/39 , G01S19/40
摘要： Provided is a navigation board, a multi-source data fusion method for a navigation board and a transporter. The navigation board includes a printed circuit board, a global navigation satellite system module, an inertial sensor, a processor, and a data interface; the processor is configured to execute a large misalignment angle initialization algorithm, an inertial strapdown solution algorithm, and a multi-source data fusion solution; and a size of the navigation board is smaller than or equal to a size of a standard GNSS board, and the navigation board at least includes the same data interface as a data interface of the standard GNSS board.

13. 发明授权

US11598886B2 GNSS/IMU surveying and mapping system and method 有权
公开(公告)号：US11598886B2
公开(公告)日：2023-03-07
申请号：US17257021
申请日：2019-12-24
申请人： Shanghai Huace Navigation Technology LTD.
发明人： Haifeng Deng , Benyin Yuan , Xuefeng Shen
IPC分类号： G01S19/49 , G01S19/51 , G01C15/06 , G01S19/14
摘要： A GNSS/IMU-based tilt measurement system includes a GNSS/IMU receiver. The GNSS/IMU receiver includes a GNSS antenna, a GNSS positioning board, an IMU inertial sensor and a position transfer device. The GNSS antenna is configured to receive a satellite navigation positioning signal. The GNSS positioning board is configured to calculate coordinates of the phase center of the GNSS antenna according to a signal received by the GNSS antenna and use the coordinates of the phase center as reference coordinates for measuring a relative position point. The IMU inertial sensor is configured to measure the acceleration and the angular velocity of the receiver. The relative position transfer medium is configured to connect the reference coordinates and the coordinates of the relative position point to be measured. The position transfer device is configured to implement the measurement function of the relative position point.

14. 发明申请

US20190310083A1 TILT MEASUREMENT METHOD FOR RTK MEASURING RECEIVER 审中-公开
公开(公告)号：US20190310083A1
公开(公告)日：2019-10-10
申请号：US16315168
申请日：2017-06-20
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Rui SONG , Jin ZHOU , Benyin YUAN , Jiejun WANG , Dongguo PIAO
IPC分类号： G01C9/02 , G01S19/43 , G01S19/40 , G06F17/16
摘要： A tilt measurement method for an RTK measuring receiver includes the following steps: step Si: 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 the centering 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.

15. 发明申请

US20190154546A1 AUTOMATIC CALIBRATION METHOD OF AN ANGLE SENSOR FOR AN AUTOMATIC DRIVE CONTROL SYSTEM OF A FARM MACHINE 审中-公开
公开(公告)号：US20190154546A1
公开(公告)日：2019-05-23
申请号：US16314865
申请日：2017-06-20
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Qiang REN , Jiejun WANG , Xuefeng SHEN , Shaoxi FENG , Guangyang DONG
IPC分类号： G01M17/06 , G01B21/22 , G05D1/02 , B62D15/02
CPC分类号： G01M17/06 , B62D15/021 , G01B21/22 , G01C25/00 , G01C25/005 , G05D1/0278 , G05D2201/0201
摘要： An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine includes the following steps. S1: fixing a steering wheel of the farm machine to make front wheels of a vehicle kept at a fixed angle. 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. S3: establishing a two-wheel farm machine kinematics model based on a center of a rear axle. S4: performing a radius calculation to obtain a set of angle correspondences. 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 S1 through S4. S6: after performing S5 for several times, performing an angle value fitting calculation to obtain a calibration coefficient.

16. 发明申请

US20180010923A1 PRECISION CALIBRATION METHOD OF ATTITUDE MEASURING SYSTEM 审中-公开
公开(公告)号：US20180010923A1
公开(公告)日：2018-01-11
申请号：US15542931
申请日：2016-07-04
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Rui TU , Xuefeng SHEN , Wenlong ZHAO , Wending DAI , Qiang YUE
IPC分类号： G01C25/00 , G01P21/00 , G01C17/38
CPC分类号： G01C25/00 , G01C17/38 , G01C25/005 , G01P15/18 , G01P21/00
摘要： A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

17. 发明申请

US20170350721A1 Method of Updating All-Attitude Angle of Agricultural Machine Based on Nine-Axis MEMS Sensor 审中-公开
公开(公告)号：US20170350721A1
公开(公告)日：2017-12-07
申请号：US15538201
申请日：2016-07-04
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD
发明人： Qiang REN , Jiejun WANG , Wending DAI , Guangjie CAO , Guangyang DONG , Rui TU
IPC分类号： G01C23/00 , A01B69/04 , A01B79/00 , G01C25/00
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.

18. 发明申请

US20170038473A1 METHOD OF DIVIDING SATELLITE SIGNAL INTO EIGHT FREQUENCY POINTS FOR PROCESSING 有权
标题翻译：将卫星信号分解成用于处理的频率点的方法
公开(公告)号：US20170038473A1
公开(公告)日：2017-02-09
申请号：US15305352
申请日：2015-09-02
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD.
发明人： Yongtao HOU , Xiaofei ZHANG , Xianghui CHE
IPC分类号： G01S19/32 , G01S19/33
CPC分类号： G01S19/32 , G01S19/09 , G01S19/30 , G01S19/33 , G01S19/34 , G01S19/37 , G01S19/421
摘要： A method of dividing a satellite signal into eight frequency points for processing includes the following steps: amplifying a satellite signal received by an antenna (SI); dividing the amplified satellite signal into radio frequency signals that includes eight frequency points in total, GPSL1, GPSL2, GPSL5, BDB1, BDB2, BDB3, GLNL1, and GLNL2, by a power divider circuit (S2); conducting a frequency mixing processing on five signals GPSL2, CPSL5, BDB2, BDB3, and GLNL2, and filtering the radio frequency signals that include eight frequency points in total, which include five frequency-mixed signals, GPSL2, GPSL5, BDB2, BDB3, and GLNL2, and three unmixed signals, GPS1, BDB1, and GN1 (S3); down-converting and A/D converting filtered eight-frequency-point radio frequency signals, outputting the signals to a baseband portion for a baseband signal processing (S4). This method reduces the power consumption, the size and the cost of the hardware.
摘要翻译：将卫星信号划分为八个频点进行处理的方法包括以下步骤：放大由天线（SI）接收的卫星信号; 通过功率分配器电路（S2）将放大的卫星信号划分为包括总共八个频点的射频信号，GPSL1，GPSL2，GPSL5，BDB1，BDB2，BDB3，GLNL1和GLNL2; 对五个信号GPSL2，CPSL5，BDB2，BDB3和GLNL2进行频率混合处理，并对包括八个频率点的射频信号进行滤波，其中包括五个频率混合信号，GPSL2，GPSL5，BDB2，BDB3和 GLNL2和三个未混合信号，GPS1，BDB1和GN1（S3）; 下变频和A / D转换滤波的八频点射频信号，将信号输出到用于基带信号处理的基带部分（S4）。该方法降低了硬件的功耗，尺寸和成本。

19. 发明申请

US20220317310A1 METHOD AND DEVICE FOR CONVERTING STATE SPACE REPRESENTATION INFORMATION TO OBSERVATION SPACE REPRESENTATION INFORMATION 有权
公开(公告)号：US20220317310A1
公开(公告)日：2022-10-06
申请号：US17426611
申请日：2020-03-05
申请人： SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD.
发明人： Yutong HE , Xiaomeng WU , Jialin ZHANG
IPC分类号： G01S19/07
摘要： A method for converting state space representation (SSR) information to observation space representation (OSR) information includes: obtaining the SSR information, obtaining the OSR information, obtaining information of a virtual observation distance, and obtaining delay information of a troposphere and delay information of an ionosphere. A device for converting SSR information to OSR information includes: a satellite antenna, a global navigation satellite system (GNSS) board, a radio antenna, a mobile network module and antenna, a Bluetooth module and antenna, a Wi-Fi module and antenna, a status indicator light, a plurality of output interfaces, and a power supply unit. A conversion algorithm is realized for converting SSR information to OSR information, and the converted OSR information follows the international standard protocols and can be received by most GNSS receivers. A conversion device is developed based on the aforementioned method.

20. 发明申请

US20210376467A1 MODIFIED-MATERIAL-BASED HIGH-PRECISION COMBINED ANTENNA FOR SATELLITE NAVIGATION AND COMMUNICATIONS 有权
公开(公告)号：US20210376467A1
公开(公告)日：2021-12-02
申请号：US17257025
申请日：2019-12-24
申请人： Shanghai Huace Navigation Technology LTD.
发明人： Ding WU , Bo LV , Wentao ZHONG
IPC分类号： H01Q5/307 , H01Q1/38 , H01Q1/48 , H01Q1/22 , H01Q9/42 , H01Q23/00 , H03F3/19 , G01S19/33 , G01S19/36
摘要： A modified-material-based high-precision combined antenna for satellite navigation and communications includes a high-frequency satellite navigation antenna metal radiating surface, a low-frequency satellite navigation antenna metal radiating surface, a WIFI/Bluetooth antenna metal radiating surface, a PCB, a shielding metal cavity and an injection molded modified-material-based substrate. The low-frequency satellite navigation antenna metal radiating surface is located between the high-frequency satellite navigation antenna metal radiating surface and the PCB. The WIFI/Bluetooth antenna metal radiating surface is located on a side of the low-frequency satellite navigation antenna metal radiating surface. The injection molded modified-material-based substrate is made of polyphenyl ether doped with a modified material, and the modified material has a relative permittivity of 2.65 and a density of 1.06 g/cm3. The injection molded modified-material-based substrate includes a first injection molded modified-material-based substrate and a second injection molded modified-material-based substrate.

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