基于GINav的GNSS RTK/INS组合桥梁变形监测软件设计与实现

doi:10.13474/j.cnki.11-2246.2024.0801

测绘通报 ›› 2024, Vol. 0 ›› Issue (8): 1-7.doi: 10.13474/j.cnki.11-2246.2024.0801

• 第八届测绘科学前沿技术论坛获奖论文 •

基于GINav的GNSS RTK/INS组合桥梁变形监测软件设计与实现

马维豪, 戴吾蛟, 余文坤, 李鑫

中南大学地球科学与信息物理学院, 湖南长沙 410083

收稿日期:2024-04-01 发布日期:2024-09-03
作者简介:马维豪(1999—),男,硕士生,研究方向为大地测量学与测量工程。E-mail:235011009@csu.edu.cn
基金资助:
国家自然科学基金(42388102);湖南省国土自然资源厅项目(HNGTCH-2023-05)

Design and implementation of the GNSS/INS integrated software for bridge monitoring based on GINav

MA Weihao, DAI Wujiao, YU Wenkun, LI Xin

School of Geosciences and Info-physics, Central South University, Changsha 410083, China

Received:2024-04-01 Published:2024-09-03

摘要/Abstract

摘要： 大型桥梁监测中,受桥梁吊索、桥塔、围栏遮挡,以及过往车辆反射等环境因素的影响,GNSS定位精度和可靠性严重受限。惯性导航系统(INS)技术在初始对准后完全处于自主状态,可消除外界环境的影响。通过组合GNSS和INS技术,可有效提高GNSS的抗干扰能力和定位精度。为此,本文面向桥梁变形监测要求和应用特点,基于组合导航开源软件GINav,设计并实现了具有监测站点可视化、原始数据自动匹配、IMU降采样、GNSS RTK/INS组合解算、结果分析与评估等功能的GNSS RTK/INS的桥梁变形监测软件。振动台模拟桥梁振动试验结果表明,与GNSS RTK技术相比,GNSS RTK/INS组合精度有明显提升,中误差可达到变形监测允许变形值的1/20,可满足桥梁变形监测的精度要求。

关键词: 全球卫星导航系统, 惯性导航系统, 组合导航, 桥梁变形监测, 软件开发

Abstract: In large-scale bridge monitoring,the accuracy and reliability of GNSS positioning are severely affected by environmental factors such as obstruction from bridge cables,towers,fences,and reflections from passing vehicles.INS technology operates autonomously after initial alignment,eliminating the influence of external environmental factors.By combining GNSS and INS technologies,GNSS's resistance to interference and positioning accuracy can be significantly improved.Therefore,targeting the requirements and characteristics of bridge deformation monitoring,we have designed and implemented GNSS/INS bridge deformation monitoring software based on the open-source navigation software GINav.This software includes features such as visualization of monitoring sites,automatic matching of raw data,IMU downsampling,GNSS/INS combined solution computation,and result analysis and evaluation.Vibration table simulations of bridge vibrations show that compared to GNSS-RTK technology,the GNSS-RTK/INS combination achieves significantly improved accuracy,with a mean error reaching 1/20 of the allowable deformation value for deformation monitoring,meeting the precision requirements of bridge deformation monitoring.

Key words: GNSS, inertial navigation system, integrated navigation, bridge monitoring, software development

中图分类号:

P228

马维豪, 戴吾蛟, 余文坤, 李鑫. 基于GINav的GNSS RTK/INS组合桥梁变形监测软件设计与实现[J]. 测绘通报, 2024, 0(8): 1-7.

MA Weihao, DAI Wujiao, YU Wenkun, LI Xin. Design and implementation of the GNSS/INS integrated software for bridge monitoring based on GINav[J]. Bulletin of Surveying and Mapping, 2024, 0(8): 1-7.

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基于GINav的GNSS RTK/INS组合桥梁变形监测软件设计与实现

Design and implementation of the GNSS/INS integrated software for bridge monitoring based on GINav

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