CN105444762B - A kind of ins error rapid correction method for airborne communication in moving - Google Patents
A kind of ins error rapid correction method for airborne communication in moving Download PDFInfo
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- CN105444762B CN105444762B CN201510762311.6A CN201510762311A CN105444762B CN 105444762 B CN105444762 B CN 105444762B CN 201510762311 A CN201510762311 A CN 201510762311A CN 105444762 B CN105444762 B CN 105444762B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
A kind of ins error rapid correction method for airborne communication in moving, it is a kind of method of the MEMS inertial navigation navigation informations of the navigation information amendment antenna for satellite communication in motion using airborne High Accuracy Inertial.Airborne inses navigation data is broadcasted by airborne-bus, and precision is higher, but factor data time interval is longer, it is impossible to meets the control requirement of antenna for satellite communication in motion.MEMS inertial guidance data speed is higher, but precision is relatively low, can not meet the control requirement of communication in moving.The inventive method periodically corrects the navigation errors of MEMS inertial navigations using the navigation information of airborne inses, can meet requirement of the communication in moving to control accuracy and attitude data time interval simultaneously, while realizes the quickly calibrated of gyro zero-bit in MEMS inertial navigations.
Description
Technical field
The invention belongs to navigation field, is related to a kind of modification method of the ins error of airborne communication in moving.
Background technology
The mobile communication application of synchronous satellite is commonly called as " communication in moving ", is that the present satellites communications field is in great demand, development is fast
The application of speed." communication in moving " is except wide, reliable and stable not by landform territory restriction, transmission line with satellite communication overlay area
The advantages of outside, be truly realized broadband, the purpose of mobile communication.
Aboard, while airborne inses and communication in moving are equipped with, communication in moving itself includes a MEMS inertial navigation and used again
Controlled in the sensing of antenna.For two kinds of inertial navigations, airborne inertial navigation precision is high but attitude information renewal is slow, and MEMS inertial navigations are smart
Spend low but posture renewal is fast.Antenna pointing control only is carried out with MEMS inertial navigations, can not be independent because MEMS inertial navigation precision is poor
Complete high-precision attitude stabilization for a long time, it is necessary to which its navigation error is constantly corrected by external auxiliary information.Only with airborne
Inertial navigation control antenna for satellite communication in motion is pointed to, although pointing accuracy increases, due to the renewal rate that airborne inses are slower, antenna
The dynamic tracking of wide-angle can not be completed.
The content of the invention
Present invention solves the technical problem that it is：Overcome the deficiencies in the prior art, there is provided a kind of navigated with airborne inses is believed
The method of the MEMS inertial navigation navigation errors of breath amendment communication in moving, has taken into account MEMS inertial navigations and the respective advantage of airborne inses, has taken length
Mend short, preferably resolve that airborne inses data rate is low and the problem of MEMS inertial navigation low precisions, can quickly estimate MEMS
Gyro zero bias, and the attitude error of MEMS inertial navigations is corrected, MEMS inertial navigations is met that airborne communication in moving control requires for a long time, more
Add to be adapted to point to antenna and be accurately controlled.
The present invention technical solution be：A kind of ins error rapid correction method for airborne communication in moving, including
Following steps：
(1) when airborne inses navigation information is effective, the navigation information of airborne inses is obtained, includes the azimuth of carrier
ψp, pitching angle thetapWith roll angle γp, according to described azimuth ψp, pitching angle thetapWith roll angle γpObtain the posture of airborne inses
MatrixWith attitude quaternion Q0；
(2) by the attitude matrix of airborne insesWith attitude quaternion Q0MEMS inertial navigations are transformed into by airborne inses body series
Under body series, the attitude matrix after being convertedWith attitude quaternion Q1；The origin of described airborne inses body series is located at
The barycenter of carrier, X-axis, Y-axis, Z axis are respectively directed to the right, front and top of carrier, described MEMS inertial navigation body coordinate systems
The coordinate system formed for three sensitive axes of MEMS inertial navigations；
(3) angular speed of three-axis gyroscope output is obtained from MEMS inertial navigationsData transfer is obtained from carrier avionics system
Time delay Δ t, thus obtains rotating vectorUsing rotating vector R to attitude quaternion Q1Carry out posture more
Newly, the attitude quaternion Q after being updated4；
(4) with the attitude quaternion Q after renewal4Navigation quaternary number Q as MEMS inertial navigations2With day line traffic control quaternary number Q3
Initial value and bookbinding；
(5) step (1)~(3), the attitude quaternion Q after being updated are performed again4, and and Q4Corresponding posture square
Battle arrayWith attitude matrixCorresponding carrier azimuth ψm, pitching angle thetamWith roll angle γm, use the appearance after updating again
State quaternary number Q4Replace the navigation quaternary number Q of MEMS inertial navigations2；The three axis accelerometer output quantity collected simultaneously according to MEMS inertial navigationsAttitude algorithm is carried out, obtains azimuth ψ corresponding to MEMS inertial navigations navigation quaternary number posturen, pitching angle thetanWith
Roll angle γn, so as to obtain azimuthal error Δ ψ=ψ of MEMS inertial navigationsn-ψm, pitch error Δ θ=θn-θmWith roll error delta γ
=γn-γm；
(6) according to described azimuthal error Δ ψ, pitch error Δ θ and roll error delta γ, and the transmission of airborne inses
Time delay Δ t, obtain the gyro zero bias value ε of MEMS inertial navigationsx=Δ θ/Δ t, εy=Δ γ/Δ t, εz=Δ ψ/Δ t, utilize
Least squares filtering estimates εx、εy、εzEstimate lx、ly、lz, the MEMS inertial navigations three axis accelerometer output after being thus compensated
Amount
(7) by newest day line traffic control quaternary number Q3Navigation quaternary number Q after being updated with step (5)2Corresponding attitude angle phase
Compare, produce the instruction angular speed [ω of day line traffic control quaternary number0x ω0y ω0z]T, and obtained with step (6)Addition obtains final instruction angular speed to day line traffic control quaternary number Q3It is updated；
(8) repeat step (5)~(7), to the quaternary number Q that navigates2With day line traffic control quaternary number Q3Carry out continuous updating.
The present invention compared with prior art the advantages of be：
(1) in the inventive method, using the MEMS inertial navigations of low cost as communication in moving control unit, airborne inses are solved
Data rate is relatively low, it is impossible to the problem of meeting communication in moving realtime control；
(2) in the inventive method, using the navigation error of the navigation information amendment MEMS inertial navigations of airborne inses, ensure that
The long-time navigation accuracy of MEMS inertial navigations, while also ensure that control accuracy of the MEMS inertial navigations to antenna；
(3) in the inventive method, using the navigation error of the navigation information amendment MEMS inertial navigations of airborne inses, one is given
The method of kind estimation MEMS gyro zero bias, using the gyro zero bias estimated as the feedback quantity of control system, effectively reduces appearance
State is drifted about.
Brief description of the drawings
Fig. 1 is the FB(flow block) of the inventive method.
Embodiment
As shown in figure 1, the FB(flow block) for the inventive method.The inventive method uses the precise navigation information of airborne inses
Correct the navigation error of MEMS inertial navigations.
The key step of the inventive method is as follows：
(1) when airborne inses navigation information is effective, the navigation information of airborne inses is obtained, includes the azimuth of carrier
ψp, pitching angle thetap, roll angle γp, according to azimuth ψp, pitching angle thetap, roll angle γpObtain the attitude matrix of airborne inses
Attitude quaternion Q0。
Here the navigation information significant instant of airborne inses, the frame that communication in moving system is delivered to by airborne-bus is referred to
At the time of attitude data transmission of navigating is completed.
How by azimuth ψp, pitching angle thetap, roll angle γpObtain the attitude matrix of airborne insesAttitude quaternion
Q0, for details, reference can be made to《Inertial navigation》(Science Press, Qin Yongyuan write, in May, 2006 first edition) book.
The general expression of attitude of carrier matrix is：
Wherein ψ, θ, γ are respectively azimuth, the angle of pitch, roll angle.
Attitude of carrier quaternary number expression formula is：
To q0,q1,q2,q3Symbol, can be defined as the following formula
In formulaForTransposition.
(2) by the attitude matrix of airborne insesAttitude quaternion Q0MEMS inertial navigations are transformed into by airborne inses body series
Under body series, the attitude matrix after being convertedWith attitude quaternion Q1。
Airborne inses body series are the frames of reference of airborne inses, and (round dot is in barycenter, X with aircraft carrier coordinate system for it
Axle, Y-axis, Z axis are respectively directed to the right, front and top of aircraft) overlap.MEMS inertial navigation body coordinate systems are the bases of MEMS inertial navigations
Conventional coordinates, three reference axis of the coordinate system are three sensitive axes of MEMS inertial navigations, and the coordinate system is true when dispatching from the factory
It is fixed.
By attitude matrixThe specific method being transformed under MEMS inertial navigation body series is
WhereinIt is the conversion between airborne inses body coordinate system and MEMS inertial navigation body coordinate systems
Matrix, by aircraft general assembly, department provides.
By attitude matrixObtain attitude quaternion Q1Method for details, reference can be made to《Inertial navigation》(Science Press, the Qin
Member is write forever, in May, 2006 first edition) book.
3) angular speed of each axle gyroscope output is obtained from MEMS inertial navigationsData transfer is obtained from aircraft avionics system
Time delay Δ t, thus obtains rotating vectorUsing rotating vector R to attitude quaternion Q1Carry out posture more
Newly, the attitude quaternion Q after being updated4。
The form for being isThe posture of carrier in the period of delay is transported
Dynamic is approximately that the rigid body without external force effect in inertial space freely rolls, and the angular speed of each axle gyroscope output of MEMS inertial navigations is approximate
For steady state valueIt is three axle angular velocity of rotations of the MEMS inertial navigations body coordinate system that measures of MEMS inertial navigations relative to inertial system.
The time delay Δ t of transmission is the parameter that aircraft avionics system provides, and for the amount of knowing, is given by aircraft design unit
Go out.The time delay Δ t of transmission characterizes navigation information and is delivered to communication in moving system by airborne databus from airborne inses
The required time.
Rotating vector is the vector for describing finite rotation of rigid body, in the present invention, the rotation obtained with angle increment approximate calculation
Turning vector is
Using rotating vector R to attitude quaternion Q1Carry out posture renewal, the attitude quaternion Q after being updated4Method
It for details, reference can be made to《Inertial navigation》(Science Press, Qin Yongyuan write, in May, 2006 first edition) book.
(4) with the attitude quaternion Q after renewal4Navigation quaternary number Q as MEMS inertial navigations2With day line traffic control quaternary number Q3
Initial value, even also Q2=Q3=Q4。
(5) when airborne inses navigation information is effective again, step (1) (2) (3), the appearance after being updated are performed again
State quaternary number Q4, and and Q4Corresponding attitude matrixWith attitude matrixCorresponding carrier azimuth ψm, pitching angle thetam
With roll angle γm, use the attitude quaternion Q after updating again4Directly replace the navigation quaternary number Q of MEMS inertial navigations2.Due to leading
Navigate quaternary number Q2The only navigation attitude value of MEMS system, is not directly involved in the control of antenna, so in order to allow Q2Reach and to the greatest extent may be used
The high precision of energy, uses the attitude quaternion Q after updating again4It directly substituted for the navigation quaternary number Q of MEMS inertial navigations2。
The three axis accelerometer output quantity collected simultaneously according to MEMS inertial navigationsAttitude algorithm is carried out, is obtained
To azimuth ψ corresponding to MEMS inertial navigations navigation quaternary numbern, pitching angle thetanWith roll angle γn, so as to obtain the orientation of MEMS inertial navigations
Error delta ψ, pitch error Δ θ and roll error delta γ, wherein
Δ ψ=ψn-ψm, Δ γ=γn-γm, Δ θ=θn-θm
How according to three axis accelerometer output quantity progress attitude algorithm, azimuth corresponding to MEMS inertial navigations navigation quaternary number is obtained
ψn, pitching angle thetanWith roll angle γn, for details, reference can be made to《Inertial navigation》(Science Press, Qin Yongyuan write, May in 2006
One edition) book.
(6) according to azimuthal error Δ ψ, the pitch error Δ θ and roll error delta γ of MEMS inertial navigations, and airborne inses
Propagation time delay Δ t, because gyro zero bias characterize the zero drift of gyro, it is exactly section at any time in practice to be reacted to
The drift value of interior gyro divided by the time span, the gyro zero bias value for obtaining MEMS inertial navigations are
εx=Δ θ/Δ t, εy=Δ γ/Δ t, εz=Δ ψ/Δ t
Then ε is estimated by least squares filteringx、εy、εzEstimate lx、ly、lz。
The measurement equation of least squares filteringIn, the observed quantity of filtering calculating every time
X=[εx εy εz]TIt is εx、εy、εzEstimate,Three rank unit matrix are taken,It is error in measurement matrix.With iterations k's
Increase, X=[εx εy εz]TIterative estimate result be：
Thus the MEMS inertial navigation three axis accelerometer output quantities after being compensated
(7) by newest day line traffic control quaternary number Q3The navigation quaternary number Q obtained with step (5)2Corresponding attitude angle is compared
Compared with generation day line traffic control quaternary number instruction angular speed [ω0x ω0y ω0z]T, and obtained with step (6)Obtained angular speed is added to be used to update day line traffic control quaternary number Q3。
How by day line traffic control quaternary number Q3With navigation quaternary number Q2Corresponding attitude angle, which compares, produces day line traffic control quaternary
The method of number instruction angular speed is entitled referring to Application No. 201410265808.2《Biquaternion based on MEMS inertial navigations moves
In exceedingly high line control method and system》Patent.Q is updated using the patented method3, day line traffic control four can be significantly reduced
Noise in the antenna attitude information of first number.
(8) when airborne inses navigation information is effective each time, step (5)~(7) are repeated, you can to the quaternary number that navigates
Q2With day line traffic control quaternary number Q3Carry out continuous updating.
The navigation error of MEMS inertial navigations is mainly the error that MEMS inertial navigation gyro zero bias are brought, in order to correct MEMS inertial navigation tops
The error that spiral shell zero bias are brought, according to navigation quaternary number Q2With day line traffic control quaternary number Q3Fusion resolves iteration, not only have modified MEMS
The navigation error of inertial navigation, also estimate the zero bias except MEMS gyro, it is real while the MEMS inertial navigations has been reached higher navigation accuracy
The smooth accurate control of antenna for satellite communication in motion is showed.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of ins error rapid correction method for airborne communication in moving, it is characterised in that comprise the following steps：
(1) when airborne inses navigation information is effective, the navigation information of airborne inses is obtained, includes the azimuth ψ of carrierp, pitching
Angle θpWith roll angle γp, according to described azimuth ψp, pitching angle thetapWith roll angle γpObtain the attitude matrix of airborne inses
With attitude quaternion Q0；
(2) by the attitude matrix of airborne insesWith attitude quaternion Q0MEMS inertial navigation bodies are transformed into by airborne inses body series
Under system, the attitude matrix after being convertedWith attitude quaternion Q1；The origin of described airborne inses body series is located at carrier
Barycenter, X-axis, Y-axis, Z axis be respectively directed to the right, front and top of carrier, and described MEMS inertial navigation body series are used to for MEMS
The coordinate system that three sensitive axes led are formed；
(3) angular speed of three-axis gyroscope output is obtained from MEMS inertial navigationsData transmission period is obtained from carrier avionics system
Postpone Δ t, thus obtain rotating vectorUsing rotating vector R to attitude quaternion Q1Posture renewal is carried out, is obtained
Attitude quaternion Q after to renewal4；
(4) with the attitude quaternion Q after renewal4Navigation quaternary number Q as MEMS inertial navigations2With day line traffic control quaternary number Q3Just
It is worth and binds；
(5) step (1)~(3), the attitude quaternion Q after being updated are performed again4, and and Q4Corresponding attitude matrixWith attitude matrixCorresponding carrier azimuth ψm, pitching angle thetamWith roll angle γm, use the posture after updating again
Quaternary number Q4Replace the navigation quaternary number Q of MEMS inertial navigations2；The three axis accelerometer output quantity collected simultaneously according to MEMS inertial navigationsAttitude algorithm is carried out, obtains azimuth ψ corresponding to MEMS inertial navigations navigation quaternary numbern, pitching angle thetanAnd horizontal stroke
Roll angle γn, so as to obtain azimuthal error Δ ψ=ψ of MEMS inertial navigationsn-ψm, pitch error Δ θ=θn-θmWith roll error delta γ=
γn-γm；
(6) according to described azimuthal error Δ ψ, pitch error Δ θ and roll error delta γ, and the transmission time of airborne inses
Postpone Δ t, obtain the gyro zero bias value ε of MEMS inertial navigationsx=Δ θ/Δ t, εy=Δ γ/Δ t, εz=Δ ψ/Δ t, utilizes minimum
Two, which multiply filtering, estimates εx、εy、εzEstimate lx、ly、lz, the MEMS inertial navigation three axis accelerometer output quantities after being thus compensated
(7) by newest day line traffic control quaternary number Q3Navigation quaternary number Q after being updated with step (5)2Corresponding attitude angle is compared
Compared with the instruction angular speed [ω of generation day line traffic control quaternary number0x ω0y ω0z]T, and obtained with step (6)Addition obtains final instruction angular speed to day line traffic control quaternary number Q3It is updated；
(8) repeat step (5)~(7), to the quaternary number Q that navigates2With day line traffic control quaternary number Q3Carry out continuous updating.
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| CN106441361B (en) * | 2016-09-26 | 2019-07-16 | 西安坤蓝电子技术有限公司 | A kind of dynamic compensation method of movable type VSAT antenna angular rate gyroscope zero bias |
| CN110926468B (en) * | 2019-12-05 | 2022-03-01 | 中国电子科技集团公司第五十四研究所 | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment |
| CN111967125A (en) * | 2020-06-30 | 2020-11-20 | 上海航天控制技术研究所 | Mars detection ground antenna pointing correction method based on error quaternion |
| CN112665614B (en) * | 2020-12-23 | 2022-12-06 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
| CN114413886B (en) * | 2021-12-24 | 2024-01-02 | 上海航天控制技术研究所 | Combined zero compensation method for satellite-borne accelerometer |
| CN117199814A (en) * | 2022-05-30 | 2023-12-08 | 成都天锐星通科技有限公司 | Antenna tracking method, device, equipment and storage medium |
| CN115096304B (en) * | 2022-08-26 | 2022-11-22 | 中国船舶重工集团公司第七0七研究所 | Delay error correction method, device, electronic equipment and storage medium |
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| US7239976B2 (en) * | 2005-08-24 | 2007-07-03 | American Gnc Corporation | Method and system for automatic pointing stabilization and aiming control device |
| CN103972654B (en) * | 2014-05-22 | 2016-03-30 | 北京航天万达高科技有限公司 | Antenna for satellite communication in motion satellite tracking means under lifting airscrew blocks |
| CN104064869B (en) * | 2014-06-13 | 2016-10-05 | 北京航天万达高科技有限公司 | Biquaternion antenna for satellite communication in motion control method and system based on MEMS inertial navigation |
| CN104913790B (en) * | 2015-05-28 | 2017-11-28 | 北京航天控制仪器研究所 | A kind of inertial navigation system heading effect error closed loop compensation method applied to communication in moving |
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