CN105588562B - The method of carrier angular movement is isolated in a kind of rotation modulation inertial navigation system - Google Patents
The method of carrier angular movement is isolated in a kind of rotation modulation inertial navigation system Download PDFInfo
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- CN105588562B CN105588562B CN201510945920.5A CN201510945920A CN105588562B CN 105588562 B CN105588562 B CN 105588562B CN 201510945920 A CN201510945920 A CN 201510945920A CN 105588562 B CN105588562 B CN 105588562B
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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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- 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
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of methods that carrier angular movement is isolated in rotation modulation inertial navigation system comprising: the angular velocity of rotation of k-th of control moment rotating platform Relative Navigation coordinate system is calculated according to the rotation approach of rotating platform；Rotating platform rotation is controlled, so that IMU coordinate system p is overlapped with carrier coordinate system b；Rotation modulation inertial navigation system enters navigational state, obtains the control angular speed of rotating platform inner axle, outer annulate shaft in first control period；The rotation of the angular velocity of satellite motion and rotating platform opposite carrier coordinate system of carrier Relative Navigation coordinate system controls angular speed in kth+1 control period of prediction；Acquire the control angular speed of rotating platform inner axle, outer annulate shaft；The control angular speed of inner axle, outer annulate shaft is controlled, the influence of carrier angular movement is eliminated, realizes the isolation of carrier angular movement.This invention ensures that the effect of rotation modulation, improves the precision of navigation system.
Description
Technical field
The present invention relates to a kind of methods that carrier angular movement is isolated in rotation modulation inertial navigation system, belong to rotation modulation
Inertial navigation system field.
Background technique
Inertial navigation system is complicated high-precision electrical and mechanical comprehensive system, is widely used because of its independence and passivity
In land, sea and air day field.However the error of inertial navigation system can be accumulated constantly at any time, positioning accuracy tends not to meet
The required precision of long endurance navigation.The error of inertia sensitive element is the main determining factor of INS errors.From work
The precision of inertia sensitive element is improved in skill, technical difficulty is big, the period is long, at high cost.Therefore, in the precision of inertia sensitive element
After reaching certain requirement, systems technology compensating element, error is generallyd use, and rotation modulation technology is exactly a kind of effective
Method.Rotation modulation technology is rotated by the period of rotating platform, and inertial device error is made to be modulated into the period of mean value zero
Variable quantity is realized to inertia device constant value drift and the slow effective inhibition for becoming error, to improve inertial navigation system positioning accurate
Degree.The design of rotation approach is one of the research hotspot in rotation modulation inertial navigation system field, many rotation approach quilt in succession
It proposes.However the rotation that these rotation approach are all the rotating platforms premised on assuming carrier stationary, that is, designed is all phase
To carrier coordinate system rotation.But in Practical Project utilization, carrier is to lead in movement so that rotating platform is opposite
Difference designed by the rotational case and rotation approach of boat coordinate system, the influence that can not ignore is caused to the effect of rotation modulation.
Therefore making rotating platform relative to the error compensating method that carrier coordinate system rotates, there are limitations, to guarantee that rotation modulation needs
The scheme of the corresponding isolation carrier angular movement of design.
If increasing independent position servomechanism to realize the tracking to navigational coordinate system, carrier angle is transported to realize
Dynamic isolation can then improve the software and hardware complexity of navigation system, reduce the robustness of system, increase the cost of system.
Summary of the invention
The purpose of the invention is to overcome deficiency existing for prior art, a kind of rotation modulation inertial navigation system is proposed
The method of middle isolation carrier angular movement has the angular movement of isolation carrier, reduces carrier angular movement to the shadow of rotation modulation effect
Loud advantage.
The purpose of the present invention is what is be achieved through the following technical solutions.
The method of carrier angular movement, rotation modulation inertial navigation system are isolated in a kind of rotation modulation inertial navigation system
System is made of rotating platform and inertial navigation system, and wherein inertial navigation system is located on rotating platform, and rotating platform is located at
On carrier, and rotating platform is twin shaft, respectively inner axle and outer annulate shaft；The z of initial time inner axle and carrier coordinate system
Axis is parallel, and outer annulate shaft is parallel with the x-axis of carrier coordinate system；
It is mainly characterized in that the described method comprises the following steps:
Step 1, k-th of control moment rotating platform Relative Navigation coordinate system is calculated according to the rotation approach of rotating platform
The angular velocity of rotation of nWherein, k=1,2,3 ..., the navigational coordinate system n is geography
Coordinate system；
Step 2, control rotating platform rotation, so that IMU coordinate system p is overlapped with carrier coordinate system b；Wherein, the IMU is sat
Mark system is inertial measurement component coordinate system；
Step 3, rotation modulation inertial navigation system enters navigational state, in first control period, the control of rotating platform
Angular speed processedWith the angular speed of rotation approachIt is identical, i.e., inner axle, outer annulate shaft control angular speed beWherein, the control period of rotating platform is identical as the navigation calculation period；
Step 4, according toPredict that next control period contains
The angular velocity of satellite motion of body Relative Navigation coordinate system n
Wherein,The pose transformation matrix that moment navigational coordinate system n to IMU coordinate system p is controlled for k-th, by leading
The computer that navigates is calculated according to the output of gyroscope and accelerometer to be obtained；It is opposite for k-th of control moment rotating platform
The angular velocity of rotation of carrier coordinate system b；The output of moment gyroscope is controlled for k-th；
ωieIt is rotational-angular velocity of the earth, R is earth radius, and L (k) is latitude, the V of carrierNIt (k) is the north orientation speed of carrier
Degree, VE(k) it is the east orientation speed of carrier, is calculated and obtained according to the output of gyroscope and accelerometer by navigational computer；
Step 5, according to calculating, subsequent time rotating platform is opposite to be carried
The rotation control angular speed of body coordinate system is the vector that a dimension is 3, then rotates pilot angle
Speed is expressed as:
Meanwhile according to the angle [alpha] of rotating platform inner axle rotation in next control periodz(k+1), in next control period
The control angular velocity omega of the outer annulate shaft of rotating platformx(k+1) and it is next control the period in rotating platform inner axle control angular speed
ωz(k+1) it indicates
I.e.
To which the control angular velocity omega of rotating platform inner axle, outer annulate shaft can be acquired by formula (1), (2)z(k+1)、ωx(k+
1) it is respectively
Step 6, the control angular speed of inner axle, outer annulate shaft is controlled according to the formula of step 5 (3), eliminates carrier angular movement
It influences, realizes the isolation of carrier angular movement.
Beneficial effect
(1) method of the invention can make rotary inertia guiding systems during operation not by two rotary shaft sides of rotating platform
The influence of upward carrier angular movement, guarantees the effect of rotation modulation, improves the precision of navigation system.
(2) method of the invention does not need to increase independent position servomechanism, it is only necessary to certainly using inertial navigation system
The rotating platform of band, not will increase the complexity and cost of system, and method is simply easily realized.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.
In dual-axis rotation inertial navigation system there are many mounting means of rotating platform shaft, analysis below is all based on
Outer annulate shaft is x-axis, and inner axle is the rotating platform of z-axis.For the rotation modulation inertial navigation system analysis method of other mounting means
It is identical.
The realization process that the method for carrier angular movement is isolated in a kind of rotation modulation inertial navigation system is as follows:
Step 1, k-th of control moment rotating platform Relative Navigation coordinate system is calculated according to the rotation approach of rotating platform
The angular velocity of rotation of nWherein, navigational coordinate system is geographic coordinate system；Rotating platform position
On carrier, and rotating platform is twin shaft, respectively inner axle and outer annulate shaft；Initial time, inner axle and carrier coordinate system
Z-axis it is parallel, outer annulate shaft is parallel with the x-axis of carrier coordinate system；Navigational computer controls rotating platform rotation；
Step 2, control rotating platform rotation, so that IMU coordinate system p is overlapped with carrier coordinate system b；Wherein, IMU coordinate system
In three sets of inertial measurement components be distributed in three reference axis of IMU coordinate system about the origin symmetry of the IMU coordinate system；Inertia
Measuring cell includes: gyroscope and accelerometer, is located on rotating platform, and when rotating platform rotates, IMU coordinate system revolves therewith
Turn；
Step 3, rotation modulation inertial navigation system enters navigational state, in first control period, the control of rotating platform
Angular speed processedWith the angular speed of rotation approachIt is identical, i.e., inner axle, outer annulate shaft control angular speed beWherein, the control period of rotating platform is identical as the navigation calculation period；
Step 4, navigational computer according toPredict next control
The angular velocity of satellite motion of carrier Relative Navigation coordinate system n in period processed
The pose transformation matrix that moment navigational coordinate system n to IMU coordinate system p is controlled for k-th is calculated by navigation
Machine is obtained according to the output of gyroscope and accelerometer；For k-th of control moment rotating platform opposite carrier coordinate system
The angular velocity of rotation of b；The output of moment gyroscope is controlled for k-th；
Wherein,
ωieIt is rotational-angular velocity of the earth, R is earth radius, and L (k) is latitude, the V of carrierNIt (k) is the north orientation speed of carrier
Degree, VE(k) it is the east orientation speed of carrier, is obtained by navigational computer according to the output of gyroscope and accelerometer；
Step 5, according toIt calculates next
It is 3 that the rotation control angular speed of moment rotating platform opposite carrier coordinate system, which is a dimension,
Vector, then rotate control angular velocimeter be shown as:
Meanwhile according to the angle [alpha] of rotating platform inner axle rotation in next control periodz(k+1), in next control period
The control angular velocity omega of the outer annulate shaft of rotating platformx(k+1) and it is next control the period in rotating platform inner axle control angular speed
ωz(k+1) it indicates
I.e.
To which the control angular velocity of rotation ω of rotating platform inner axle, outer annulate shaft can be acquired by formula (1), (2)z(k+1)、ωx
(k+1) it is respectively
Step 6, the control angular speed of inner axle, outer annulate shaft is controlled according to the formula of step 5 (7), eliminates carrier angular movement
It influences, realizes the isolation of carrier angular movement.
In the above method, inner axle, the control algolithm of outer annulate shaft are as follows:
A, the mathematical model of the outer annulate shaft of rotating platform, inner axle, prediction model parameter are established.
B, automatic disturbance rejection controller parameter initialization.
C, according to rotating platform inner axle, the outer annulate shaft control control angular velocity omega being calculatedz(k)、ωx(k), it uses
Inner axle, the outer annulate shaft of automatic disturbance rejection controller control rotating platform.
The Active Disturbance Rejection Control of inner axle is as follows:
(1) as follows using the tracking signal and differential signal, Nonlinear Tracking Differentiator of Nonlinear Tracking Differentiator acquisition input signal
Wherein fhan is steepest comprehensively control function, and way of realization is as follows
In formula, v1z、v2zIt is input signal ω respectivelyzTracking signal and its differential signal, be the output of Nonlinear Tracking Differentiator,
Zero is set as when initializing in step 3.H is integration step, h0It is filtering factor, can be taken as 10 times of h, it determines filter effect
Quality.r0zIt is velocity factor, determines the tracking velocity to input signal, value is bigger, and tracking velocity is faster, these parameters are in step
All assignment when being initialized in rapid three.
(2) state of extended state observer observation inner axle is utilized.Extended state observer is
In formula, z1z、z2z、z3zIt is the output of extended state observer, is set as zero, β when initializing in step 301z、β02z、
β03zFor adjustable parameter, all assignment when being initialized in step 3.It is rotated for rotating platform inner axle measured by sensor
Magnitude of angular velocity.bzFor the parameter in inner axle mathematical model, had determined that in step 1.uz(k-1) it is acted on for last moment interior
The control voltage of annulate shaft driving unit.
(3) nonlinearity erron feedback rate control is calculated, it is as follows
Wherein,
α1z、α2z、δ1z、β1z、β2zFor adjustable parameter, all assignment when being initialized in step 3.uz(k) i.e. the moment is to make
Control voltage for inner axle driving unit.
The Active Disturbance Rejection Control of outer annulate shaft is as follows:
(1) as follows using the tracking signal and differential signal, Nonlinear Tracking Differentiator of Nonlinear Tracking Differentiator acquisition input signal
In formula, v1x、v2xIt is input signal ω respectivelyxTracking signal and its differential signal, be the output of Nonlinear Tracking Differentiator,
Zero is set as when initializing in step 3.H is integration step, h0It is filtering factor, r0xIt is velocity factor.In these parameter steps three
All assignment when initialization.
(2) state of outer annulate shaft is observed using extended state observer.Extended state observer is
In formula, z1x、z2x、z3xIt is the output of extended state observer, is set as zero, β when initializing in step 301x、β02x、
β03xFor adjustable parameter, all assignment when being initialized in step 3.It is rotated for annulate shaft outside rotating platform measured by sensor
Magnitude of angular velocity.bxFor the parameter in outer ring axis mathematical model, had determined that in step 1.ux(k-1) it is acted on for last moment outer
The control voltage of annulate shaft driving unit.
(3) nonlinearity erron feedback rate control is calculated, it is as follows
Wherein, α1x、α2x、δ1x、β1x、β2xFor adjustable parameter, all assignment when being initialized in step 3.ux(k) when being this
Carve the control voltage for acting on outer annulate shaft driving unit.
It can be sensed at the k moment according to navigation calculation result, gyroscope output and rotating platform angle measurement by above-mentioned steps
The output of device acquires the rotation control angular speed of k+1 moment rotating platform opposite carrier coordinate system, and is utilized according to calculated result
Automatic disturbance rejection controller controls the inside and outside annulate shaft of rotating platform, makes the carrier angular movement in rotating platform isolation rotary axis direction.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (1)
1. the method for carrier angular movement, the rotation modulation inertial navigation system are isolated in a kind of rotation modulation inertial navigation system
It is made of rotating platform and inertial navigation system, wherein inertial navigation system is located on rotating platform, and rotating platform, which is located at, to be carried
On body, and rotating platform is twin shaft, respectively inner axle and outer annulate shaft；The z-axis of initial time inner axle and carrier coordinate system
In parallel, outer annulate shaft is parallel with the x-axis of carrier coordinate system；
It is characterized in that, the described method comprises the following steps:
Step 1, calculate k-th of control moment rotating platform Relative Navigation coordinate system n's according to the rotation approach of rotating platform
Angular velocity of rotation Wherein, k=1,2,3 ..., the navigational coordinate system n is geographical coordinate
System；
Step 2, control rotating platform rotation, so that IMU coordinate system p is overlapped with carrier coordinate system b；Wherein, the IMU coordinate system
For inertial measurement component coordinate system；
Step 3, rotation modulation inertial navigation system enters navigational state, in first control period, the rotation control of rotating platform
Angular speed processedWith the angular velocity of rotation of rotation approachIt is identical, i.e., inner axle, outer annulate shaft control angular speed beWherein, the control period of rotating platform is identical as the navigation calculation period；
Step 4, according toPredict carrier phase in next control period
To the angular velocity of satellite motion of navigational coordinate system n
Wherein,The pose transformation matrix that moment navigational coordinate system n to IMU coordinate system p is controlled for k-th is calculated by navigation
Machine is calculated according to the output of gyroscope and accelerometer and is obtained；It is sat for k-th of control moment rotating platform opposite carrier
The rotation of mark system b controls angular speed；The output of moment gyroscope is controlled for k-th；
ωieIt is rotational-angular velocity of the earth, R is earth radius, and L (k) is latitude, the V of carrierNIt (k) is the north orientation speed of carrier, VE
(k) it is the east orientation speed of carrier, is calculated and obtained according to the output of gyroscope and accelerometer by navigational computer；
Step 5, according toCalculate subsequent time rotating platform opposite carrier coordinate
The rotation of system controls angular speed It is the vector that a dimension is 3, then rotates control angular speedIt indicates are as follows:
Meanwhile according to the angle [alpha] of rotating platform inner axle rotation in next control periodz(k+1), it is rotated in next control period
The control angular velocity omega of the outer annulate shaft of platformx(k+1) and it is next control the period in rotating platform inner axle control angular velocity omegaz(k+
1) it indicates
I.e.
To which the control angular velocity omega of rotating platform inner axle, outer annulate shaft can be acquired by formula (1), (2)z(k+1)、ωx(k+1) divide
It is not
Step 6, the control angular speed of inner axle, outer annulate shaft is controlled according to the formula of step 5 (3), eliminates the influence of carrier angular movement,
Realize the isolation of carrier angular movement.
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| CN111964696B (en) * | 2020-09-14 | 2022-02-08 | 中国人民解放军战略支援部队航天工程大学 | Carrier angular motion isolation modulation method of biaxial rotation inertial navigation system |
| CN112611378B (en) * | 2020-10-26 | 2022-12-20 | 西安航天精密机电研究所 | Carrier attitude angular velocity measurement method based on four-ring inertial navigation platform |
| CN116048146B (en) * | 2023-03-31 | 2023-06-13 | 中国船舶集团有限公司第七〇七研究所 | Angular velocity smooth control method for inertial navigation of rotary fiber-optic gyroscope |
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