CN101038170A - Method for online estimating inertia/satellite combined guidance system data asynchronous time - Google Patents
Method for online estimating inertia/satellite combined guidance system data asynchronous time Download PDFInfo
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Abstract
The present invention provides a method of on-line estimating the un-synchronous time that the inertia/ satellite group navigation system data, and the un-synchronous time of the data between the inertia navigation system and the satellite navigation system is used as the state of the estimator. The state equation includes two parts: the error state of the inertia and the error module of the un-synchronous time of two subsystems; the output position distance of the two systems is adopted in the measuring and the measuring module not only includes the corresponding measuring error of the two subsystems, but also includes the position difference cased by the data un-synchronous time, because the data of the two systems is not the updated date at the same time; the optimized estimating of the quantity of state including the un-synchronous time data of two systems is calculated by a filtering method according to a state equation and a measuring equation. In the present invention, the un-synchronous time of data between the inertia navigation system and the satellite navigation system can be estimated in real time, and the precision of the combining navigation system is improved effectively and the method is simple and is easy to perform without adding any hardwares.
Description
Technical field
The present invention relates to the asynchronous time method of a kind of On-line Estimation inertia/satellite combined guidance system data, belong to technical field of navigation and positioning.
Background technology
Inertial navigation system (INS) independence and good concealment, the output information of the navigational parameter (position, speed, attitude, course etc.) of multiple degree of precision can be provided continuously, bandwidth, but its error (especially site error) accumulates in time, can not bear the task of high precision navigation for a long time separately.And the location of satellite navigation system and rate accuracy height, and be not subjected to region, time restriction substantially.But when carrier was done big maneuvering flight or terrain masking is arranged, satellite navigation information might interrupt, or dynamic error is excessive, can not use; The renewal frequency of satellite receiver data is lower in addition, is difficult to satisfy the requirement of control in real time.Because inertial navigation system and satellite navigation system have complementation, inertia/satellite combined guidance system becomes present optimal navigational system, has obtained in various fields using widely.
Integrated navigation system is exactly that mode with optimum merges data from each subsystem, comprehensive their advantages separately, and provide than more accurate, the more reliable navigation output of any single subsystem.When carrying out the data fusion design, must guarantee that at first the navigation data that is used to merge is consistent in time, the design of integrated navigation just has practical significance.In fact, each subsystem in the integrated navigation system often has different data updating rates, and markers drift and calculating also are outwardness with the time delay of communicating by letter, and these all can cause the data of subsystem asynchronous.Asynchronous error is very significant to the navigational system Effect on Performance, particularly in the dynamic application environment.So in the design of integrated navigation system, research active data Time synchronization technique has very important significance.
The method that solves at present the data time stationary problem mainly is the asynchronous time of utilizing hardware or software timer to obtain inertial navigation system and satellite navigation system, utilizes the high-order retainer to obtain extrapolation data value on the synchronous points again, thereby realizes data sync.This method has not only increased the cost and the complexity of system, and needs to take more CPU time in synchronizing process.
Summary of the invention
Technical matters of the present invention is: at the deficiencies in the prior art, provide in a kind of simple and practical On-line Estimation integrated navigation system the asynchronous time method of data between the inertial navigation system and satellite navigation system.
Technical solution of the present invention: the asynchronous time method of a kind of On-line Estimation inertia/satellite combined guidance system data, its characteristics are:
(1) sets up corresponding inertial navigation system error model respectively, reach the error model of asynchronous time between inertial navigation system and the satellite navigation system;
(2) choose between described inertial navigation system and described inertial navigation system and the satellite navigation system asynchronous time error as the state variable of estimator;
(3) difference that adopts the positional information that positional information that described inertial navigation system provides and described satellite system provide is set up corresponding measurement equation as the measurement amount;
(4) adopt filtering method to estimate the asynchronous time between described ins error and described inertial navigation system and the satellite navigation system;
(5) at last the output of described inertial navigation system is proofreaied and correct, to improve the precision of integrated navigation system.
Principle of the present invention: on the asynchronous time error model based of the data of having set up inertial navigation and satellite system, adopt estimator that it is carried out On-line Estimation, the quantity of state of estimator has comprised error and two asynchronous time errors of system data of inertial navigation system; Amount is measured as position that inertial navigation system provides and the position that obtained by satellite navigation system poor; Calculate optimal estimation according to state equation and measurement equation with the method for filtering to the input state amount.
The present invention compared with prior art has following advantage: the present invention utilizes estimator asynchronous time of data between On-line Estimation inertial navigation system and the satellite navigation system in anabolic process, can improve the precision of inertia/satellite combined guidance system greatly, simple and practical, and do not need to increase any hardware burden.
Description of drawings
Fig. 1 is the model of enforcement On-line Estimation of the present invention system;
Fig. 2 is for implementing flight path of the present invention (warp-latitude-altitude curve)
Fig. 3 is the estimation curve (beginning to estimate from taking off) of asynchronous time behind enforcement the present invention;
Fig. 4 is position estimation error curve behind enforcement the present invention (beginning to estimate from taking off);
Fig. 5 is the estimation curve (beginning to estimate from turning round) of asynchronous time behind enforcement the present invention;
Fig. 6 is position estimation error curve behind enforcement the present invention (beginning to estimate from turning round).
Embodiment
Flight course with an airplane is that example is set forth specific implementation process of the present invention below.
Fig. 1 is the model of enforcement On-line Estimation of the present invention system, and the core of this system is state equation and the measurement equation that makes up estimator.The present invention when estimating states such as inertial navigation system position, velocity error, also estimates the state of asynchronous time of the data between inertial navigation system and the satellite navigation system as estimator with it.Therefore state equation is made up of two parts, and a part is the error state of inertial navigation system, and another part is the error model of two asynchronous times of subsystem.
The main error of inertial navigation system comprises the error of velocity error, attitude error, site error and inertia device.Select the geographical coordinate system in sky, northeast as the frame of reference of setting up kinetics equation, establish δ V
E, δ V
N, δ V
URepresent the velocity error of Yan Dong, north, day direction respectively; φ
E, φ
N, φ
UBe the platform error angle; δ L, δ λ, δ h represents latitude, longitude and height error, ε respectively
x, ε
y, ε
zBe gyroscopic drift,
x,
y,
zBe the accelerometer error of zero, and hypothesis is identical along the error model of three gyros of axially installing of body axis system and accelerometer, is first-order Markov process, then the error equation of inertial navigation is expressed as:
(1) velocity error equation
(2) mesa corners error equation
(3) site error equation
(4) gyroscopic drift error equation
(5) accelerometer drift error equation
It is as follows to be write as matrix form:
X wherein
I(t) be the system state vector, W
I(t) be the system noise vector, F
I(t) be system matrix, G
I(t) be the system noise matrix.
The establishment step or the method for two asynchronous time error models of subsystem are as follows:
(1) the asynchronous time is set up mathematical model:
The data updating rate of inertial navigation system and satellite receiver is different, and in general, the inertial navigation data updating rate is 50～100Hz, and the Data Update frequency of satellite is 1Hz.Although in theory, the information updating frequency of these subsystems is fixed, and in the navigation procedure of reality, because factor affecting such as temperature characterisitics, drift can appear in the frequency marking of inertial navigation system.The gps satellite system carries out the measurement of pseudo-square exactly when synchronizing pulse second (1PPS, pulse of per second) arrives, but must be noted that navigation information updating is not the data output time constantly.In each navigation subsystem, after navigation information updating is finished, also to could finally export navigation data through calculating with communicating by letter.In general, the variation in the Data Update cycle that causes owing to frequency marking drift is slow and trickle, and be the main asynchronous time retardation time of the relative inertial navigation of satellite output information.Based on above analysis, the asynchronous time between inertial navigation system and the satellite navigation system comprises two parts, and one is two differences between the system time reference, and the 2nd, the size that the relative clock of clock floats, the former can be expressed as an arbitrary constant, and the latter can describe with first-order Markov process:
τ
a＝τ
c+τ
r+w
a
τ in the formula
cBe arbitrary constant; τ
rBe first-order Markov process; w
aBe white noise.
(2) to the mathematical model differentiate of asynchronous time of being set up, can obtain corresponding error model:
β in the formula
τBe correlation time.
The matrix form of asynchronous time error model is:
The method for building up of the measurement equation of estimator is as follows:
(1) difference of the position of two systems' outputs of employing is as the measurement amount;
(2) from the influence of asynchronous time between two systems of kinematics angle consideration, and with its part as the measurement model to alternate position spike.When the speed of carrier changes (direction or size), the observability of asynchronous time is good more;
(3) comprehensive two system's measuring error are separately set up complete measurement equation.
Adopt the method for filtering to calculate the optimal estimation of each quantity of state according to state equation of setting up and measurement equation, comprise two asynchronous times of system data.
After the estimated value that obtains position, velocity error, the corresponding output of inertial navigation system is proofreaied and correct, and with the output of the information after proofreading and correct, thereby improved the precision of integrated navigation system as integrated navigation system.
Can get from above analysis, as long as aircraft has motor-driven flight course just can estimate two asynchronous times of the data between system.Because aircraft is when normal flight, the flight course that takes off is all arranged, add the ski-running essential flare maneuvers such as flight that run, climb, even up, turn round and generally all include in the take-off process of aircraft, therefore, it is synchronous to utilize the flight course of aircraft to finish two data time between the subsystem.Consider the inertial navigation system work of generally just can switching on ground, and satellite system may just can be worked when taking off, also may be owing to reason such as blocking, needing aircraft to fly to certain altitude can operate as normal, thereby we have also considered two kinds of situations respectively.First kind of situation is that satellite system just can operate as normal when taking off, thereby can utilize whole flight course, comprises adding ski-running flare maneuver such as run, climb, even up, turn round, and estimates the asynchronous time between two system datas.
Another kind of situation is when aircraft flies to certain altitude after, and satellite system can operate as normal, and at this moment aircraft only need be done a flare maneuver that quickens to fly or turn round, and equally can estimate the asynchronous time.Since the process of quickening flight when taking off add ski-running run similar, so emulation aircraft turn round when moving the inventive method to the estimation condition of asynchronous time, combined system position.
In emulation, all suppose at identical gyroscope and the accelerometer of three usabilities of body axis system, the error characteristics unanimity, all be made as coloured noise, wherein Gyro Random Constant Drift is 0.1 °/hr, the drift of single order markov is 0.1 °/hr, and be 3600s correlation time, and white noise is 0.01 °/hr; Accelerometer bias is 10
-3G, first-order Markov process is 10
-3G, be 3600s correlation time, the white noise standard deviation is 10
-3G.And the errors in position measurement of satellite system is 20m.
Fig. 2 emulation the geometric locus of an aircraft flight process, aircraft begins to do to add ski-running and runs from static, draws high and takes off, and climbs, and evens up after certain height, turns round afterwards, flat flying to the course line of regulation.Flight path shown in Figure 2 has just been adopted in checking emulation to the inventive method.
Fig. 3 be when taking off the inventive method to the estimated result of asynchronous time, Fig. 4 be when taking off the inventive method to the evaluated error of combined system position, and under the identical simulated conditions when not estimating asynchronous time, the position estimation error of combined system.Can see from Fig. 3 and Fig. 4, implement the present invention about 10 seconds, can estimate asynchronous time and evaluated error is 0.05 second (1 σ), and position estimation error about 150 meters when not estimating asynchronous time have dropped to about 15 meters, and precision improves nearly order of magnitude.
Fig. 5 turns round when action the inventive method to the estimated result of asynchronous time at aircraft, Fig. 6 turns round when action the inventive method to the evaluated error of combined system position at aircraft, and under the identical simulated conditions when not estimating asynchronous time, the position estimation error of combined system.Can see from Fig. 5 and Fig. 6, implement the present invention about 6～7 seconds, can estimate asynchronous time and evaluated error is 0.05 second (1 σ), and position estimation error more than 100 meter when not estimating asynchronous time dropped to about 10 meters, and precision improves nearly order of magnitude equally.
From the simulation result of two kinds of situations, the method for utilizing the present invention to propose all can estimate two asynchronous times of the data between the system (greatly about about 10 seconds) very soon, and evaluated error is 0.05 second (1 σ).In addition, when estimating the asynchronous time, fusion precision and dependability is compared with the situation of not estimating the asynchronous time, and precision improves nearly order of magnitude, proves that this method is very effective.
It should be noted last that: above embodiment is the unrestricted technical scheme of the present invention in order to explanation only, and all modifications that does not break away from the spirit and scope of the present invention or local the replacement all should be encompassed in the middle of the claim scope of the present invention.
Claims (3)
1, the asynchronous time method of a kind of On-line Estimation inertia/satellite combined guidance system data is characterized in that:
(1) sets up corresponding inertial navigation system error model respectively, reach the error model of asynchronous time between inertial navigation system and the satellite navigation system;
(2) choose between described inertial navigation system and described inertial navigation system and the satellite navigation system asynchronous time error as the state variable of estimator;
(3) difference that adopts the positional information that positional information that described inertial navigation system provides and described satellite system provide is set up corresponding measurement equation as the measurement amount;
(4) adopt filtering method to estimate the asynchronous time between described ins error and described inertial navigation system and the satellite navigation system;
(5) at last the output of described inertial navigation system is proofreaied and correct, to improve the precision of integrated navigation system.
2, the asynchronous time method of a kind of On-line Estimation inertia/satellite combined guidance system data according to claim 1, its feature also is: the method for building up of asynchronous time error model is as follows between described inertial navigation system and the satellite navigation system:
(1) the asynchronous time is set up mathematical model: the asynchronous time comprises two parts, one is two differences between the system time reference, the 2nd, the size that the relative clock of clock floats, the former can be expressed as an arbitrary constant, and the latter can describe with first-order Markov process;
(2) to the mathematical model differentiate of asynchronous time of being set up, can obtain corresponding error model.
3, the asynchronous time method of a kind of On-line Estimation inertia/satellite combined guidance system data according to claim 1, its feature also is: the method for building up of described measurement equation is as follows:
(1) difference of the position of two systems' outputs of employing is as the measurement amount;
(2) from the influence of asynchronous time between two systems of kinematics angle consideration, and with its part as the measurement model to alternate position spike;
(3) comprehensive two system's measuring error are separately set up complete measurement equation.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793529A (en) * | 2010-03-03 | 2010-08-04 | 北京航空航天大学 | Double pseudo satellite aided position calibration method of inertial navigation system |
| CN102589570A (en) * | 2012-01-17 | 2012-07-18 | 北京理工大学 | Single-point offshore calibration method of marine aided inertial navigation system |
| CN106767788A (en) * | 2017-01-04 | 2017-05-31 | 北京航天自动控制研究所 | A kind of Combinated navigation method and system |
| CN109724598A (en) * | 2019-03-08 | 2019-05-07 | 哈尔滨工程大学 | A kind of estimation and compensation method of the time delay error of GNSS/INS pine combination |
| CN111256691A (en) * | 2020-02-17 | 2020-06-09 | 苏州芯智谷智能科技有限公司 | Networking hardware time reference establishing method based on GNSS/MEMS inertia combined chip |
| CN113311463A (en) * | 2020-02-26 | 2021-08-27 | 北京三快在线科技有限公司 | GPS delay time online compensation method and device, electronic equipment and storage medium |
| CN115597571A (en) * | 2022-12-15 | 2023-01-13 | 西南应用磁学研究所（中国电子科技集团公司第九研究所）（Cn） | Method for quickly calibrating and compensating error and installation error of electronic compass sensor |
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| CN1372127A (en) * | 2001-01-23 | 2002-10-02 | 林清芳 | Improved positioning and data integrating method and system thereof |
| CN1139786C (en) * | 2002-02-06 | 2004-02-25 | 何秀凤 | Autonomous positioning and directing navigator |
| CN1851407A (en) * | 2006-05-30 | 2006-10-25 | 梁保山 | High-precision micro electromechanical combined inertial nevigation apparatus |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793529A (en) * | 2010-03-03 | 2010-08-04 | 北京航空航天大学 | Double pseudo satellite aided position calibration method of inertial navigation system |
| CN101793529B (en) * | 2010-03-03 | 2012-05-23 | 北京航空航天大学 | Double pseudo satellite aided position calibration method of inertial navigation system |
| CN102589570A (en) * | 2012-01-17 | 2012-07-18 | 北京理工大学 | Single-point offshore calibration method of marine aided inertial navigation system |
| CN106767788A (en) * | 2017-01-04 | 2017-05-31 | 北京航天自动控制研究所 | A kind of Combinated navigation method and system |
| CN106767788B (en) * | 2017-01-04 | 2019-07-19 | 北京航天自动控制研究所 | A kind of Combinated navigation method and system |
| CN109724598A (en) * | 2019-03-08 | 2019-05-07 | 哈尔滨工程大学 | A kind of estimation and compensation method of the time delay error of GNSS/INS pine combination |
| CN111256691A (en) * | 2020-02-17 | 2020-06-09 | 苏州芯智谷智能科技有限公司 | Networking hardware time reference establishing method based on GNSS/MEMS inertia combined chip |
| CN113311463A (en) * | 2020-02-26 | 2021-08-27 | 北京三快在线科技有限公司 | GPS delay time online compensation method and device, electronic equipment and storage medium |
| CN115597571A (en) * | 2022-12-15 | 2023-01-13 | 西南应用磁学研究所（中国电子科技集团公司第九研究所）（Cn） | Method for quickly calibrating and compensating error and installation error of electronic compass sensor |
| CN115597571B (en) * | 2022-12-15 | 2023-03-28 | 西南应用磁学研究所(中国电子科技集团公司第九研究所) | Method for quickly calibrating and compensating error and installation error of electronic compass sensor |
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