CN104215259A - Inertial navigation error correction method based on geomagnetism modulus gradient and particle filter - Google Patents

Inertial navigation error correction method based on geomagnetism modulus gradient and particle filter Download PDF

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CN104215259A
CN104215259A CN201410416153.4A CN201410416153A CN104215259A CN 104215259 A CN104215259 A CN 104215259A CN 201410416153 A CN201410416153 A CN 201410416153A CN 104215259 A CN104215259 A CN 104215259A
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modulus gradient
earth magnetism
magnetism modulus
error
carrier
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CN104215259B (en
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黄玉
武立华
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Harbin Engineering University
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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Abstract

The invention belongs to the field of geomagnetism auxiliary navigation location, and in particular relates to an inertial navigation error correction method based on geomagnetism modulus gradient and particle filter. The method comprises the following steps: solving the position on which a carrier is arranged by adopting an inertial navigation system according to the information of an accelerometer on a submarine; predicting the position error of the carrier according to a state equation of a geomagnetism modulus gradient/inertial combination navigation system; acquiring the geomagnetism modulus gradient measurement value of the submarine on a real position in real time by utilizing a geomagnetism modulus gradient measuring device when the submarine sails underwater; obtaining a difference value between the predicted modulus gradient value and the observed modulus gradient value; estimating the system state by utilizing a particle filter estimation algorithm based on the mass point dynamics physicomimetics optimization, and carrying out the error compensation on the inertial navigation system. According to the method, the sailing track of the carrier is corrected according to an estimation result, and the drifting of the inertial navigation gyroscope is estimated and compensated. An ideal way is provided for the underwater carrier to realize the precise autonomous navigation.

Description

A kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter
Technical field
The invention belongs to geomagnetic auxiliary navigation positioning field under water, be specifically related to a kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter.
Background technology
For ensureing underwater carrier normal operation, carrier must possess long-time high precision navigator fix ability under water, and this proposes very high requirement to underwater navigation technology.As the nucleus equipment of underwater navigation system, inertial navigation system positioning error is accumulated in time, must carry out biharmonic correction.Terrestrial magnetic field is the intrinsic physical field of the earth, earth-magnetic navigation location has the feature such as passive, radiationless, round-the-clock, full region under water, be realize underwater vehicle in real time, continuously, one of desirable route of accurate independent navigation under water, the significant and actual value of the research of earth-magnetic navigation Theory and technology under water.
In recent years, domestic and international research institution and scholars have carried out the extensive research to inertial navigation system error calibration method.Relatively successfully ins error bearing calibration under water is mainly divided into two large type, i.e. flight path geometric match algorithm and Kalman Filter Estimation methods at present.Flight path geometric match algorithm such as relevant matches, ICCP etc. require little initial position error, can not adapt to the requirement of large initial error.Kalman Filter Estimation ins error method needs accurate measurement equation, and measurement equation is in non-linear stronger situation, can cause comparatively big error when gauge point carries out linear-apporximation.Other filtering methods exist also all needs measurement equation.
The present invention proposes a kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter, utilize geomagnetic anomaly data construct earth magnetism modulus gradient reference map be stored in integrated navigation computer under water, during submarine underwater navigation by earth magnetism modulus gradient measurement mechanism Real-time Obtaining on it earth magnetism modulus gradient measured value through marine site, the earth magnetism modulus gradient reference map be stored in advance in computing machine is utilized to obtain predicted value, earth magnetism modulus gradient measured value and predicted value and between difference as observation information, by particle filter technology, ins error estimation is carried out to observation information, according to estimated result, error compensation is carried out to inertial navigation system.The present invention does not need measurement equation, solves practical earth magnetism gradient former and measurement equation cannot be set up, and matched filtering algorithm, in the problems such as availability of large initial position error, realizes the high-accuracy compensation to inertial navigation system error.
Summary of the invention
The object of the present invention is to provide a kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter.
The object of the present invention is achieved like this:
Step 1, inertial navigation system resolve the position at carrier place according to accelerometer information on submarine the carrier latitude obtained is resolved in representative, the carrier longitude obtained is resolved in representative;
Step 2, site error according to the state equation of earth magnetism modulus gradient/inertia combined navigation system prediction carrier by carrier positions error, inertial navigation position is revised, obtain the predicted value of actual position the actual position of prediction is found in earth magnetism modulus gradient reference map the earth magnetism modulus gradient that place is corresponding resolve the true earth magnetism modulus gradient of value and position pass is:
E mfor earth magnetism modulus gradient reference map error;
When step 3, submarine underwater navigation by earth magnetism modulus gradient measurement mechanism Real-time Obtaining submarine on it at actual position the earth magnetism modulus gradient measured value at place true earth magnetism modulus gradient with earth magnetism modulus gradient measured value pass is:
Wherein e sit is earth magnetism modulus gradient measurement mechanism measurement noise;
Step 4, obtained predicting the difference between modulus gradient value and observation modulus gradient value by step 2,3, namely
Step 5, based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization, system state to be estimated: utilize the earth magnetism modulus gradient predicted value obtained in step 4 with earth magnetism modulus gradient observed reading between difference, more new particle weights, obtain the estimation of system state; Particle filter algorithm for estimating based on the optimization of particle dynamics mimicry physics is estimated system state:
5.1 initialization;
5.2 prediction; From middle sampling new particle collection, calculates particle weights;
5.3 optimize distribution of particles; Adopt particle dynamics mimicry physics optimizing process to optimize distribution of particles, obtain new particle collection,
5.4 iteration optimization terminate;
Calculate new particle weights, and normalization;
5.5 resampling; If number of effective particles is less than setting threshold value, carries out resampling, return
5.6 state estimation, x ^ k i = Σ i = 1 N ω ~ k i x ~ k i ;
Wave filter, by upgrading and recursion, constantly estimates inertial navigation site error, and corrective system position exports, and site error is gone to zero gradually; Estimate gyroscopic drift, filtering obtains current time drift simultaneously;
Step 6, according to the estimated result of step 5, error compensation is carried out to inertial navigation system.
Earth magnetism modulus gradient reference map builds like this: the actual measurement geomagnetic anomaly data such as existing aviation, sea are passed through a step wavenumber domain process of iteration continuation to underwater benchmark face, cosine transform is utilized to ask the frequency-domain expression of the geomagnetic anomaly obtained through continuation, the spatial domain representation that cosine inverse transformation obtains earth magnetism modulus gradient is carried out to the frequency-domain expression of geomagnetic anomaly, obtain earth magnetism modulus gradient reference map under water by the spatial domain representation of earth magnetism modulus gradient, the earth magnetism modulus gradient reference map obtained is stored in integrated navigation computer.
Beneficial effect of the present invention is: the ins error bearing calibration based on earth magnetism modulus gradient and particle filter of proposition, the method of geomagnetic anomaly conversion modulus gradient and cosine transform is adopted to build earth magnetism modulus gradient reference map, can existing geomagnetic anomaly data of development and utilization to a great extent, adopt cosine transform just drilling geomagnetic anomaly data and can reduce Gibbs boundary effect, earth magnetism modulus gradient data and magnetic map are difficult to the problem of structure under water to solve current shortage; The particle filter method for estimating state that step 5 adopts, without the need to accurate analytical expression and the system measurements equation of terrestrial magnetic field, only need discrete observed quantity data and coupling reference map, effectively solve the predicament without practical earth magnetism modulus gradient model and measurement equation in integrated navigation filtering method.The present invention can be estimated the true flight path of carrier or way point position, corrects carrier flight path, estimate simultaneously and compensate inertial navigation gyroscopic drift according to estimated result.A kind of desirable route is provided for underwater carrier realizes accurate independent navigation.
Accompanying drawing explanation
Fig. 1 plane of vision and continuation floor map;
The matched filtering process flow diagram of Fig. 2 inertia/earth magnetism modulus gradient integrated navigation system;
Fig. 3 inertia/earth magnetism modulus gradient integrated navigation system framework.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail:
A kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter of the present invention, geomagnetic anomaly data are utilized to build earth magnetism modulus gradient reference map be stored in integrated navigation computer under water in advance, by the earth magnetism modulus gradient measured value of earth magnetism modulus gradient measurement mechanism Real-time Obtaining carrier position on it during carrier underwater navigation, resolving carrier position by inertial navigation system, on earth magnetism modulus gradient reference map, finding earth magnetism modulus gradient predicted value according to resolving position.Earth magnetism modulus gradient measured value and predicted value and between difference as observation information, by particle filter technology, ins error estimation is carried out to observation information, according to estimated result, error compensation is carried out to inertial navigation system.Its concrete steps are as follows:
Step 1, inertial navigation system resolve the position at carrier place according to accelerometer information on submarine the carrier latitude obtained is resolved in representative, the carrier longitude obtained is resolved in representative.
Step 2, site error according to the state equation of earth magnetism modulus gradient/inertia combined navigation system prediction carrier by carrier positions error, inertial navigation position is revised, obtain the predicted value of actual position the actual position of prediction is found in earth magnetism modulus gradient reference map the earth magnetism modulus gradient that place is corresponding the true earth magnetism modulus gradient of this value of resolving and this position pass is:
E mfor earth magnetism modulus gradient reference map error.
Described earth magnetism modulus gradient reference map builds like this: the actual measurement geomagnetic anomaly data such as existing aviation, sea are passed through a step wavenumber domain process of iteration continuation to underwater benchmark face, cosine transform is utilized to ask the frequency-domain expression of the geomagnetic anomaly obtained through continuation, the spatial domain representation that cosine inverse transformation obtains earth magnetism modulus gradient is carried out to the frequency-domain expression of geomagnetic anomaly, obtain earth magnetism modulus gradient reference map under water by the spatial domain representation of earth magnetism modulus gradient, the earth magnetism modulus gradient reference map obtained is stored in integrated navigation computer
When step 3, submarine underwater navigation by earth magnetism modulus gradient measurement mechanism Real-time Obtaining submarine on it at actual position the earth magnetism modulus gradient measured value at place true earth magnetism modulus gradient with earth magnetism modulus gradient measured value pass is:
Wherein e sit is earth magnetism modulus gradient measurement mechanism measurement noise.
Step 4, obtained predicting the difference between modulus gradient value and observation modulus gradient value by step 2,3, namely
Step 5, based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization, system state to be estimated: utilize the earth magnetism modulus gradient predicted value obtained in step 4 with earth magnetism modulus gradient observed reading between difference, more new particle weights, obtain the estimation of system state.The concrete steps estimated system state based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization are as follows:
1. initialization.
2. predict.From middle sampling new particle collection, calculates particle weights.
3. distribution of particles is optimized.Adopt particle dynamics mimicry physics optimizing process to optimize distribution of particles, obtain new particle collection, iteration optimization terminates.
4. new particle weights are calculated, and normalization.
5. resampling.If number of effective particles is less than setting threshold value, carries out resampling, return
6. state estimation, x ^ k i = Σ i = 1 N ω ~ k i x ~ k i .
Wave filter, by upgrading and recursion, constantly estimates inertial navigation site error, and corrective system position exports, and site error is gone to zero gradually.Estimate gyroscopic drift, filtering obtains current time drift simultaneously.
Step 6, according to the estimated result of step 5, error compensation is carried out to inertial navigation system.
The invention provides a kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter be applied under water, the method need not in a large number under water earth magnetism modulus gradient data can set up earth magnetism modulus gradient reference map, particle filter method for estimating state is also without the need to setting up Geomagnetic Field Model and measurement equation, and the application of particle filter in integrated navigation system is not supposed by Gauss and the restriction of small nonlinearity, has certain advantage in integrated navigation filtering realizes.Ins error bearing calibration based on earth magnetism modulus gradient and particle filter of the present invention, efficiently solve the instability that magnetic map is under water difficult to structure, airborne magnetic survey data large distance downward continuation, the sample degeneracy of particle filter and the problem such as sample is poor, be applicable to the high precision error compensation of underwater hiding-machine inertial navigation system.
Step 1, inertial navigation system resolve the position at carrier place according to accelerometer information on submarine the carrier latitude obtained is resolved in representative, the carrier longitude obtained is resolved in representative.
Step 2, site error according to the state equation of earth magnetism modulus gradient/inertia combined navigation system prediction carrier the state equation of earth magnetism modulus gradient/inertia combined navigation system is:
X · = AX + BW - - - ( 1 )
In formula, A is state matrix, and B is system noise acoustic matrix, and W is system noise.
Choose sky, northeast (E, N, U) geographic coordinate system as navigational coordinate system (n system), system state equation is by velocity error, and attitude error and site error equation form.State variable is elected as
In formula, δ λ, for warp, latitude error; δ V e, δ V nfor east, north orientation velocity error; φ e, φ n, φ ufor attitude error; ε x, ε y, ε zfor gyroscope constant value drift; ε rx, ε ry, ε rzfor Modelling of Random Drift of Gyroscopes.
By carrier positions error, inertial navigation position is revised, obtain the predicted value of actual position the actual position of prediction is found in earth magnetism modulus gradient reference map the earth magnetism modulus gradient that place is corresponding this value of resolving and true earth magnetism modulus gradient pass is:
E mfor earth magnetism modulus gradient reference map error.
Described earth magnetism modulus gradient reference map construction method is as follows: utilize existing marine site Aeromagnetic data and Sea Surface Ship geodetic magnetic anomaly data construct earth magnetism modulus gradient figure under water, need by Aeromagnetic data downward continuation to underwater benchmark face, continuation process is as follows:
Adopt a step wavenumber domain process of iteration to carry out downward continuation to Aeromagnetic data and Sea Surface Ship geodetic magnetic anomaly data, iterative process employs potential field upward continuation, and Fig. 1 gives plane of vision and continuation floor map.Plane Γ aand Γ (z=h) b(z=0) be between passive null between, Δ T 0(x, y) is Γ bon geomagnetic anomaly data, be known observed quantity, Δ T h(x, y) is Γ aon geomagnetic anomaly, be amount to be asked.Continuation process is as follows:
(1) by Δ T 0the Fourier transform S of (x, y) 0(k x, k y) vertical projection is to Γ aon face, as Γ ashangdi, face magnetic anomalies initial value S h ( 1 ) ( k x , k y ) ;
(2) Γ is worked as a, Γ bbetween when there is no a field source, potential field meets Laplace's equation c, with upward continuation WAVENUMBER RESPONSE function S ( k x , k y ) = e - h k x 2 + k y 2 By calculate Γ bon potential field wave spectrum
(3) S is used 0(k x, k y) with difference correct λ is step-length, generally gets 0 < λ < 1.
(4) the 2nd step and the 3rd step is repeated, when ε tbe very little number, or reach iteration maximum times, iteration terminates.
(5) magnetic anomalies over the ground do inverse transformation, obtain the geomagnetic anomaly Δ T in downward continuation plane h(x, y),
Because cosine transform has higher energy compression performance, in single order Markov process, foundation least square criterion is closest to Karhunen-Loeve property, can reduce Gibbs boundary effect.So to the geomagnetic anomaly Δ T obtained h(x, y) carries out cosine transform and obtains its frequency-domain expression
ΔT C(u,v)＝C[ΔT h(x,y)] (4)
Here C () represents cosine transform.Earth magnetism modulus gradient Δ T on three direction in spaces x, Δ T ywith Δ T zwith geomagnetic anomaly Δ T hbetween relation:
&Delta;T x = C - 1 [ 2 &pi;iu&Delta; T C ( u , v ) ] &Delta;T y = C - 1 [ 2 &pi;iv &Delta;T C ( u , v ) ] &Delta;T z = C - 1 [ 2 &pi; u 2 + v 2 &Delta;T C ( u , v ) ] - - - ( 5 )
Wherein, C -1() represents cosine inverse transformation.According to earth magnetism modulus gradient Δ T on three direction in spaces obtained x, Δ T ywith Δ T zexpression formula draws earth magnetism modulus gradient reference map under water.
When step 3, carrier underwater navigation by earth magnetism modulus gradient measurement mechanism Real-time Obtaining submarine on it at actual position the earth magnetism modulus gradient measured value at place true earth magnetism modulus gradient with earth magnetism modulus gradient measured value pass is:
Wherein e sit is earth magnetism modulus gradient measurement mechanism measurement noise.
Step 4, obtained predicting the difference between modulus gradient value and observation modulus gradient value by step 2,3, namely
Step 5, based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization, system state to be estimated: utilize the earth magnetism modulus gradient predicted value obtained in step 4 with earth magnetism modulus gradient observed reading between difference, more new particle weights, obtain the estimation of system state.Fig. 2 is the matched filtering process flow diagram of inertia/earth magnetism modulus gradient integrated navigation system.
The concrete steps estimated system state based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization are as follows:
(1) initialization.
(2) predict.From middle sampling new particle collection, calculates particle weights.
(3) distribution of particles is optimized.Adopt particle dynamics mimicry physics optimizing process to optimize distribution of particles, obtain new particle collection, iteration optimization terminates.
(4) new particle weights are calculated, and normalization.
(5) resampling.If number of effective particles is less than setting threshold value, carries out resampling, return
(6) state estimation, x ^ k i = &Sigma; i = 1 N &omega; ~ k i x ~ k i .
Wave filter, by upgrading and recursion, constantly estimates inertial navigation site error, and corrective system position exports, and site error is gone to zero gradually.Estimate gyroscopic drift, filtering obtains current time drift simultaneously.
Step 6, according to the estimated result of step 5, error compensation is carried out to inertial navigation system, Fig. 3 inertia/earth magnetism modulus gradient integrated navigation system frame diagram.
Beneficial effect of the present invention is described as follows:
Utilize the modulus gradient reference map of earth magnetism under water of geomagnetic anomaly data construct and particle filter technology to carry out navigator fix, the method has good disguise and measuring accuracy, can round-the-clock, independently, continuously high-accuracy compensation is carried out to ins error; Ins error bearing calibration based on earth magnetism modulus gradient and particle filter of the present invention, efficiently solve magnetic map to be under water difficult to build, earth magnetism gradient former and measurement equation cannot be set up, matched filtering algorithm, in the problems such as availability of large initial position error, is applicable to the high precision error compensation of underwater hiding-machine inertial navigation system.

Claims (2)

1., based on an ins error bearing calibration for earth magnetism modulus gradient and particle filter, it is characterized in that:
Step 1, inertial navigation system resolve the position at carrier place according to accelerometer information on submarine the carrier latitude obtained is resolved in representative, the carrier longitude obtained is resolved in representative;
Step 2, site error according to the state equation of earth magnetism modulus gradient/inertia combined navigation system prediction carrier by carrier positions error, inertial navigation position is revised, obtain the predicted value of actual position the actual position of prediction is found in earth magnetism modulus gradient reference map the earth magnetism modulus gradient that place is corresponding resolve the true earth magnetism modulus gradient of value and position pass is:
E mfor earth magnetism modulus gradient reference map error;
When step 3, submarine underwater navigation by earth magnetism modulus gradient measurement mechanism Real-time Obtaining submarine on it at actual position the earth magnetism modulus gradient measured value at place true earth magnetism modulus gradient with earth magnetism modulus gradient measured value pass is:
Wherein e sit is earth magnetism modulus gradient measurement mechanism measurement noise;
Step 4, obtained predicting the difference between modulus gradient value and observation modulus gradient value by step 2,3, namely
Step 5, based on the particle filter algorithm for estimating of particle dynamics mimicry physics optimization, system state to be estimated: utilize the earth magnetism modulus gradient predicted value obtained in step 4 with earth magnetism modulus gradient observed reading between difference, more new particle weights, obtain the estimation of system state; Particle filter algorithm for estimating based on the optimization of particle dynamics mimicry physics is estimated system state:
5.1 initialization;
5.2 prediction; From middle sampling new particle collection, calculates particle weights;
5.3 optimize distribution of particles; Adopt particle dynamics mimicry physics optimizing process to optimize distribution of particles, obtain new particle collection,
5.4 iteration optimization terminate;
Calculate new particle weights, and normalization;
5.5 resampling; If number of effective particles is less than setting threshold value, carries out resampling, return
5.6 state estimation, x ^ k i = &Sigma; i = 1 N &omega; ~ k i x ~ k i ;
Wave filter, by upgrading and recursion, constantly estimates inertial navigation site error, and corrective system position exports, and site error is gone to zero gradually; Estimate gyroscopic drift, filtering obtains current time drift simultaneously;
Step 6, according to the estimated result of step 5, error compensation is carried out to inertial navigation system.
2. a kind of ins error bearing calibration based on earth magnetism modulus gradient and particle filter according to claim 1, it is characterized in that: described earth magnetism modulus gradient reference map builds like this: by existing aviation, the actual measurement geomagnetic anomaly data such as sea pass through a step wavenumber domain process of iteration continuation to underwater benchmark face, cosine transform is utilized to ask the frequency-domain expression of the geomagnetic anomaly obtained through continuation, the spatial domain representation that cosine inverse transformation obtains earth magnetism modulus gradient is carried out to the frequency-domain expression of geomagnetic anomaly, earth magnetism modulus gradient reference map is under water obtained by the spatial domain representation of earth magnetism modulus gradient, the earth magnetism modulus gradient reference map obtained is stored in integrated navigation computer.
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