CN102003967A - Compass principle-based strapdown inertial navigation bearing alignment method for rotary ship - Google Patents
Compass principle-based strapdown inertial navigation bearing alignment method for rotary ship Download PDFInfo
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- CN102003967A CN102003967A CN 201010270695 CN201010270695A CN102003967A CN 102003967 A CN102003967 A CN 102003967A CN 201010270695 CN201010270695 CN 201010270695 CN 201010270695 A CN201010270695 A CN 201010270695A CN 102003967 A CN102003967 A CN 102003967A
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Abstract
The invention aims to provide a compass principle-based strapdown inertial navigation bearing alignment method for a rotary ship. The method comprises the following steps of: setting a rotary frequency, selecting a system undamped frequency and a system damping coefficient to obtain the required alignment time; carrying out coarse alignment initialization to obtain a posture array and a posture quaternion; horizontally placing a strapdown inertial navigation for the rotary ship on a ship; ensuring that an IMU (Inertial Measurement Unit) rotates by using a turntable; simultaneously measuring an acceleration of an IMU system by utilizing an accelerometer; measuring the projection of the IMU system relative to an angular rate of an inertial system under the IMU system; transforming the acceleration of a carrier system to a platform system through a posture matrix; updating and calculating the posture matrix of the current moment by utilizing a quaternion method to obtain a pitching angle, a roll angle and a yaw angle of the system; repeating the steps and entering the cycle of the next time; outputting the posture of a carrier in each system period until the time obtained by calculation is reached; and completing the alignment.
Description
Technical field
What the present invention relates to is a kind of alignment methods of navigation field.
Background technology
The initial alignment technology is one of gordian technique of inertial navigation system, and it directly influences the navigation performance of system.The high precision initial alignment is a navigation field, particularly the difficult problem in marine navigation field.Improving the simplest method of alignment precision is to improve the device precision, yet improves precision by increasing the hardware input, is difficult to obtain in a short time remarkable effect.Therefore, how the mode by system optimization improves the research direction that alignment precision becomes to attach most importance to.Mode with estimation of error and compensation improves the hot topic that alignment precision becomes research now.Yet device estimation of error technology need be set up device error model accurately, and this method increased the calculated amount of system greatly, is subjected to certain limitation in actual applications.
The alignment of orientation of compass method is a kind of inertial navigation system Alignment Method, and the precision of its aligning is main to be determined by precision of gyroscope.The main factor that influences the alignment of orientation precision is the gyroscopic drift on the geographical east orientation, has a bigger normal value deviation because east orientation often is worth the federation that has alignment of orientation of gyroscopic drift.The rotation modulation technique can automatically be modulated the gyroscope constant value drift and the accelerometer error of zero, becomes the deviation that normal value deviation changed into the cycle.Strapdown inertial navitation system (SINS) is carrying out the normal value gyroscopic drift of east orientation to be changed into the drift that the cycle changes under the state of single shaft rotation to axle around the sky.
Summary of the invention
The object of the present invention is to provide a kind of inertial navigation alignment of orientation method rotary peculiar to vessel that under the prerequisite that does not improve the device precision, can significantly improve the alignment of orientation precision.
The object of the present invention is achieved like this:
The present invention is based on the inertial navigation alignment of orientation method rotary peculiar to vessel of compass principle, it is characterized in that:
(1) gyro frequency is set, makes the IMU rotational speed satisfy following formula
ω
z·ΔT=δψ
ω wherein
zBe system's single shaft rotational speed, Δ T is the systematic sampling cycle, and δ ψ represents the evaluation coefficient of dynamic deferred error;
(2) according to the rotational speed omega of setting in the step (1)
z, the selecting system undamped frequency
Getting system damping coefficient ξ is 0.707, obtains the required aligning time
(3) it is initial to carry out coarse alignment, obtains the attitude battle array
With corresponding attitude quaternion Q;
(4) aboard ship, with rotary inertial navigation horizontal positioned peculiar to vessel utilize turntable make IMU around the Z axle with ω
zAngular speed rotation, use acceleration measuring to measure the acceleration f of IMU system simultaneously
b, measure IMU system with respect to the projection of the angular speed under the inertial system in IMU system
Make that IMU is that b system, inertia are i system, then
(5) using the carrier that records in the step (4) is that acceleration is through attitude matrix
Being transformed into platform fastens
(6) utilize the f that obtains in the step (5)
pCalculate of the projection of correction angle speed in platform system
(8) utilize and provided in the step (7)
Use the attitude matrix in hypercomplex number method this moment of update calculation
Then with three angle modification of gained:
Revised θ, γ and ψ promptly are respectively the angle of pitch, roll angle and the crab angle of system;
(10) repeating step (4) to step (9) enters the circulation of next time, the attitude of output carrier in each system cycle, and the time T of being calculated in reaching step (2) is aimed at and is finished.
Advantage of the present invention is: adopt the single shaft spinning solution that east orientation gyroscopic drift is modulated to periodic quantity, change the frequency of error input, carrying out compass on this basis aims at, system self promptly can effectively suppress the influence of gyroscope constant value drift, need not the compensating device error and can significantly improve the alignment of orientation precision.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
The schematic diagram of Fig. 2 for realizing that rotary inertial navigation compass method peculiar to vessel is aimed at;
Fig. 3 is the schematic diagram of correction angle rate calculations part among Fig. 2;
Proof diagram in Fig. 4 specific embodiment of the invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1~3, the present invention is based on the inertial navigation alignment of orientation method rotary peculiar to vessel of compass principle, it is characterized in that:
(1) gyro frequency is set, makes the IMU rotational speed satisfy following formula
ω
z·ΔT=δψ
ω wherein
zBe system's single shaft rotational speed, Δ T is the systematic sampling cycle, and δ ψ represents the evaluation coefficient of dynamic deferred error;
(2) according to the rotational speed omega of setting in the step (1)
z, the selecting system undamped frequency
Getting system damping coefficient ξ is 0.707, obtains the required aligning time
(3) it is initial to carry out coarse alignment, obtains the attitude battle array
With corresponding attitude quaternion Q;
(4) aboard ship, with rotary inertial navigation horizontal positioned peculiar to vessel utilize turntable make IMU around the Z axle with ω
zAngular speed rotation, use acceleration measuring to measure the acceleration f of IMU system simultaneously
b, measure IMU system with respect to the projection of the angular speed under the inertial system in IMU system
Make that IMU is that b system, inertia are i system, then
(5) using the carrier that records in the step (4) is that acceleration is through attitude matrix
Being transformed into platform fastens
(6) utilize the f that obtains in the step (5)
pCalculate of the projection of correction angle speed in platform system
(8) utilize and provided in the step (7)
Use the attitude matrix in hypercomplex number method this moment of update calculation
Then with three angle modification of gained:
Revised θ, γ and ψ promptly are respectively the angle of pitch, roll angle and the crab angle of system;
(10) repeating step (4) to step (9) enters the circulation of next time, the attitude of output carrier in each system cycle, and the time T of being calculated in reaching step (2) is aimed at and is finished.
In the described step (2), computing system parameter and the process of the time of aligning are:
Step (2a), for there is very strong inhibiting effect in the full system that makes to gyroscopic drift, be unlikely to make the stabilization time of system long again, press following formula selecting system undamped frequency ω
n:
Step (2b), system damping coefficient ξ is taken as 0.707, then with ξ and ω
nThe substitution following formula calculates each systematic parameter:
k
1=k
2=2ξω
n
Wherein, R is an earth radius, and g is an acceleration of gravity, and Ω is the earth rotation angular speed,
Be local latitude.k
1, k
2, k
3, k
e, k
n, k
uBe systematic parameter.
Step (2c), calculate and aim at required time T
In the 3 described steps of explanation (6), the process that obtains correction angle speed is in conjunction with the accompanying drawings:
Step (6a), separate the differential equation and calculate velocity equivalent error delta V
xWith δ V
y
δ V wherein
xWith δ V
yThe value in the first moment be zero.Its computing method adopt the single order recurrence method, k+1 point δ V constantly
xWith δ V
yComputation process is as follows:
δV
x(t
k+1)=[f
px-k
1δV
x(t
k)]ΔT+δV
x(t
k)
δV
y(t
k+1)=[f
py-k
1δV
y(t
k)]ΔT+δV
y(t
k)
Calculate the δ V of gained in step (6b), the use step (6a)
xWith δ V
y, further calculate three correction angle speed.
Wherein, east orientation correction angle speed is directly calculated by following formula
Calculate the sky and need separate the following differential equation to correction angle speed
Wherein,
The initial time value is zero.Its computing method adopt the single order recurrence method, the k+1 point moment
Computation process is as follows:
The calculating of north orientation correction angle speed is divided into two steps:
At first, utilize δ V
xSeparate the following differential equation and calculate intermediate variable d
y
Wherein, d
yThe initial time value is zero.K+1 point d constantly
yComputation process is as follows:
d
y(t
k+1)=[k
3δV
x(t
k)-k
2d
y(t
k)]ΔT+d
y(t
k)
And then utilize δ V
xWith intermediate variable d
yCalculate north orientation correction angle speed, the k+1 point moment
Algorithm is as follows:
In the described step (8), the principle of update calculation attitude matrix is:
Wherein
Its solution adopts fourth-order Runge-Kutta method, and computation process is as follows:
Step (8a), at first calculate the slope X of first point
1With value Y based on first point of this slope
1
Step (8b), calculate the slope X of second point
2With value Y based on first point of this slope
2
Step (8c), calculate the slope X of the 3rd point
3With value Y based on first point of this slope
3
Step (8d), calculate the slope X of the 4th point
4And the k+1 Q of ordering.
Step (8e), try to achieve optimum slope value X
2
Q
k+1=Q
k+XΔT
Step (8f), will calculate the normalization of gained hypercomplex number.
Use experimental verification the method for the invention below:
As shown in Figure 4, establishing three gyroscopic drifts is 0.05deg/h, and accelerometer bias is 10
-4G (g is an acceleration of gravity), Δ T got 0.01 second, 1 ° of coarse alignment course error.What wherein curve 1 showed is the azimuth angle error that quiet pedestal compass method is aimed at; Curve 2 shows is the azimuth angle error of not using the compass method alignment system employing rotary process aligning that this patent design; The azimuth angle error (δ ψ gets 0.02 °) that rotation compass method after the time process that curve 3 shows designs is aimed at.As seen after passing through the design of system, the method for designing of this patent can effectively suppress the influence of gyroscopic drift, and the alignment of orientation precision significantly improves.
Claims (1)
1. based on the inertial navigation alignment of orientation method rotary peculiar to vessel of compass principle, it is characterized in that:
(1) gyro frequency is set, makes the IMU rotational speed satisfy following formula
ω
z·ΔT=δψ
ω wherein
zBe system's single shaft rotational speed, Δ T is the systematic sampling cycle, and δ ψ represents the evaluation coefficient of dynamic deferred error;
(2) according to the rotational speed omega of setting in the step (1)
z, the selecting system undamped frequency
Getting system damping coefficient ξ is 0.707, obtains the required aligning time
(3) it is initial to carry out coarse alignment, obtains the attitude battle array
With corresponding attitude quaternion Q;
(4) aboard ship, with rotary inertial navigation horizontal positioned peculiar to vessel utilize turntable make IMU around the Z axle with ω
zAngular speed rotation, use acceleration measuring to measure the acceleration f of IMU system simultaneously
b, measure IMU system with respect to the projection of the angular speed under the inertial system in IMU system
Make that IMU is that b system, inertia are i system, then
(5) using the carrier that records in the step (4) is that acceleration is through attitude matrix
Being transformed into platform fastens
(6) utilize the f that obtains in the step (5)
pCalculate of the projection of correction angle speed in platform system
(8) utilize and provided in the step (7)
Use the attitude matrix in hypercomplex number method this moment of update calculation
Then with three angle modification of gained:
Revised θ, γ and ψ promptly are respectively the angle of pitch, roll angle and the crab angle of system;
(10) repeating step (4) to step (9) enters the circulation of next time, the attitude of output carrier in each system cycle, and the time T of being calculated in reaching step (2) is aimed at and is finished.
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CN102538821A (en) * | 2011-12-17 | 2012-07-04 | 东南大学 | Fast and parameter sectional type self-alignment method for strapdown inertial navigation system |
CN102636664A (en) * | 2012-04-23 | 2012-08-15 | 北京航天控制仪器研究所 | Method for dynamically estimating accelerometer resolution |
CN103162686A (en) * | 2013-02-22 | 2013-06-19 | 哈尔滨工程大学 | Compass alignment latitude-estimation method |
CN103591960A (en) * | 2013-11-13 | 2014-02-19 | 北京理工大学 | Rotating modulation based coarse alignment method of static base inertial navigation system |
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CN103900568A (en) * | 2014-03-08 | 2014-07-02 | 哈尔滨工程大学 | Improved fast damping method of strapdown inertial navigation system |
CN104834316A (en) * | 2015-04-10 | 2015-08-12 | 北京航天自动控制研究所 | Attitude holding method of strapdown inertial measurement unit in long-time standby process under vehicular environment |
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CN106441357A (en) * | 2016-09-12 | 2017-02-22 | 东南大学 | Damping network based single-axial rotation SINS axial gyroscopic drift correction method |
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CN102538821B (en) * | 2011-12-17 | 2014-11-26 | 东南大学 | Fast and parameter sectional type self-alignment method for strapdown inertial navigation system |
CN102538821A (en) * | 2011-12-17 | 2012-07-04 | 东南大学 | Fast and parameter sectional type self-alignment method for strapdown inertial navigation system |
CN102636664A (en) * | 2012-04-23 | 2012-08-15 | 北京航天控制仪器研究所 | Method for dynamically estimating accelerometer resolution |
CN102636664B (en) * | 2012-04-23 | 2013-11-13 | 北京航天控制仪器研究所 | Method for dynamically estimating accelerometer resolution |
CN103162686A (en) * | 2013-02-22 | 2013-06-19 | 哈尔滨工程大学 | Compass alignment latitude-estimation method |
CN103591960A (en) * | 2013-11-13 | 2014-02-19 | 北京理工大学 | Rotating modulation based coarse alignment method of static base inertial navigation system |
CN103900568A (en) * | 2014-03-08 | 2014-07-02 | 哈尔滨工程大学 | Improved fast damping method of strapdown inertial navigation system |
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CN104978476A (en) * | 2014-04-14 | 2015-10-14 | 李巍岳 | Method for carrying out on-site supplementary survey of indoor map by smartphone |
CN104834316A (en) * | 2015-04-10 | 2015-08-12 | 北京航天自动控制研究所 | Attitude holding method of strapdown inertial measurement unit in long-time standby process under vehicular environment |
CN104834316B (en) * | 2015-04-10 | 2018-12-21 | 北京航天自动控制研究所 | Posture keeping method under vehicle environment in strapdown inertial measurement unit long-time standby |
CN106441357A (en) * | 2016-09-12 | 2017-02-22 | 东南大学 | Damping network based single-axial rotation SINS axial gyroscopic drift correction method |
CN106441357B (en) * | 2016-09-12 | 2019-07-26 | 东南大学 | A kind of single-shaft-rotation SINS axial direction gyroscopic drift bearing calibration based on damping network |
CN110985593A (en) * | 2019-11-18 | 2020-04-10 | 中国空空导弹研究院 | Design method of integral vibration damper based on elastic damping element inertial navigation system |
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