CN105953797B - Utilize the combined navigation device and method of single axis gyroscope, inclinator and odometer - Google Patents
Utilize the combined navigation device and method of single axis gyroscope, inclinator and odometer Download PDFInfo
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- CN105953797B CN105953797B CN201610564309.2A CN201610564309A CN105953797B CN 105953797 B CN105953797 B CN 105953797B CN 201610564309 A CN201610564309 A CN 201610564309A CN 105953797 B CN105953797 B CN 105953797B
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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Abstract
Patent of the present invention discloses a kind of combined navigation device and method based on single axis gyroscope, inclinator and odometer, which includes single axis gyroscope, inclinator, odometer, space projection conversion module, dead-reckoning module and Kalman filtering module；Single axis gyroscope is mounted on identical carrier plane with inclinator, and single axis gyroscope provides the angular speed of own rotation, and inclinator provides pitch angle, becomes scaling method by space projection, rotation angular speed of the gyroscope on inclined-plane is projected as the angular speed on horizontal plane.Meanwhile the travel distance that odometer provides is projected as plan range；Dead reckoning algorithm is recycled to extrapolate changing coordinates and azimuth according to the position coordinates of initial point and azimuth.It is an advantage of the invention that：System structure is simple, and algorithm is succinct, realizes the navigator fix in no GNSS signal；Meanwhile equipment cost is reduced in the case where reaching certain precision.
Description
Technical field
The invention patent relates to integrated navigation system and methods, particularly, are related to a kind of comprehensive utilization single axis gyroscope, incline
The combined navigation device and method of angle instrument and odometer.
Background technology
The carriers such as conventional vehicle positioning generally use GNSS (Global Navigation Satellite System,
Global Navigation Satellite System) satellite navigation and positioning, on the ground this mode can obtain good result.But cave,
In the environment such as tunnel, Goaf Area, when can not receive GNSS satellite signal, it will usually using inertial navigation navigation mode.It is conventional
Inertial navigation system need the equipment such as three-axis gyroscope, accelerometer to realize positioning, but mechanical gyroscope precision is relatively low, three axis light
Fiber gyroscope is expensive, and substantially price is the three times or so of single axis fiber gyro instrument.
The onboard combined navigation system of Chinese patent CN201210096869.1, single axis gyroscope and single-axis accelerometer and
Positioning system disclosed in method includes GNSS module, single axis gyroscope sensor, individual axis acceleration flowmeter sensor, DR modules, patrols
Control module and Kalman filter are collected, when GNSS signal is effective, GNSS module is positioned with DR module cooperatives；Work as GNSS signal
When invalid, DR modules are individually navigated, and algorithm is extremely complex.Chinese patent CN20061011810209, using GPS and gyroscope,
The integrated positioning device of odometer is positioned when GPS signal is good using GPS signal, when GPS signal is lost, switching
It is positioned to MEMS gyroscope, odometer.Chinese patent CN201520358904.1, the crane based on accelerometer and gyroscope
It runs stroke and deflection monitoring device and linear acceleration signal is being acquired using 3-axis acceleration sensor, with MEMS three axis accelerometers
Instrument acquires the angular velocity signal of crane operation deflection；After handling again acquisition numerical value, it is converted into corresponding change in displacement
Amount and magnitude of angular velocity.
Therefore, in order to reduce production cost as far as possible in the case where reaching certain required precision, market needs a kind of can not
In the case of receiving GNSS satellite signal, cost is lower and can meet the navigation equipment of the location requirement of low-speed motion carrier.
Patent of invention content
The navigator fix of vehicle carrier etc. when in order to realize no GNSS signal, it is uniaxial that the present invention proposes a kind of comprehensive utilization
The combined navigation device and method of gyroscope, inclinator and odometer, this method algorithm is simple, and equipment cost is relatively low, energy
Enough meet the location requirement of low-speed motion carrier.
According to technical solution provided by the invention, a kind of integrated navigation based on single axis gyroscope, inclinator and odometer
Device, including horizontal plane angular speed computing module 1, dead-reckoning module 2, odometer 3, starting point coordinate and orientation Corner Block List Representation 4,
Kalman filter 5；
The horizontal plane angular speed computing module 1 includes single axis gyroscope 11, inclinator 12, space projection conversion module
13；Space projection conversion module 13 obtain rotation angle in the unit interval that is measured on arbitrary plane of single axis gyroscope 11 and
The pitch angle that inclinator 12 measures obtains the angle rotated in the unit interval on horizontal plane；
The space projection conversion module 13, the starting point coordinate and orientation Corner Block List Representation 4, the odometer 3 with boat
Position calculates that module 2 connects；The unit interval inner horizontal that dead-reckoning module 2 is obtained using horizontal plane angular speed computing module 1
Mileage information and starting point coordinate that the angle of interior rotation, odometer 3 provide and the starting point coordinate that orientation Corner Block List Representation 4 provides
And azimuth, extrapolate the position coordinates of current point；
The dead-reckoning module 2 is connect with the Kalman filter 5.
Preferably：The single axis gyroscope 11 is single axis fiber gyro instrument.
Preferably：Kalman filter 5 carries out calculated position coordinates smooth.
Preferably：Single axis gyroscope 11, inclinator 12 are mounted in the plane of a certain carrier, and the pitch angle of inclinator turns
Moving axis is perpendicular to carrier longitudinal axis.
Disclosed herein as well is the Combinated navigation methods using combinations of the above navigation device, including step：
Space projection conversion module 13 obtains the rotation in the unit interval that single axis gyroscope 11 measures on arbitrary plane
The pitch angle that angle and inclinator 12 measure obtains the angle rotated in the unit interval on horizontal plane；
It is rotated in the unit interval inner horizontal that dead-reckoning module 2 is obtained using horizontal plane angular speed computing module 1
Mileage information and starting point coordinate that angle, odometer 3 provide and starting point coordinate and orientation that orientation Corner Block List Representation 4 provides
The position coordinates of current point are extrapolated at angle.
The application comprehensively utilizes single axis gyroscope, the combined navigation device of inclinator and odometer include single axis gyroscope,
Inclinator, odometer, space projection transformation, dead reckoning, Kalman filter etc..Single axis gyroscope, inclinator are mounted on vehicle
On the certain level face of carrier, rigid motion is done with carrier.And the rotary shaft of inclinator pitch angle is perpendicular to bearer plane
The longitudinal axis.Odometer provides the mileage information of vehicle, i.e., how many distance is travelled relative to initial position.
Vehicle carrier makees low-speed motion, either linear motion or curvilinear motion, in sufficiently small time interval expert
It can be considered as straight line into route.Single axis gyroscope measures the angle that bearer plane turns in the time interval, and inclinator carries
For the pitch angle at a certain moment of carrier.
Steps are as follows for the Combinated navigation method of this programme comprehensive utilization single axis gyroscope, inclinator and odometer：
The first step：Obtain the carrier pitch angle α of previous moment record1With mileage information S1。
Second step：Obtain the carrier pitch angle α of current time record2With mileage information S2。
Third walks：By single axis gyroscope, the angle ω of carrier Plane Rotation in time interval is obtained.Pass through space projection
The angle ω that carrier rotates on arbitrary inclined-plane is projected in the horizontal plane, obtains angle, θ by transformation.
4th step：Starting point plane coordinates is (x0,y0,h0), initial azimuth A0.It can get current point coordinates (x1,
y1,h1) and azimuth A1For：
A1=A0+θ
x1=x0+S*Cosα2Cos A1
y1=y0+S*Cosα2Sin A1
h1=h0+S*Sinα2
5th step：It repeats the above steps, constantly obtains position coordinates and the azimuth of carrier.
Compared with prior art, the beneficial effects of the invention are as follows：
Fibre optic gyroscope with high accuracy is made full use of, it is hereby achieved that relatively accurate equipment level attitudes vibration value,
Meanwhile being assisted using inclinator and odometer, in the case of no GNSS satellite signal, accurately obtain current position coordinates.
Entire algorithm is relatively easy, and corresponding equipment manufacturing cost is relatively low.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding patent of the present invention, patent of the present invention
Illustrative embodiments and their description do not constitute the improper restriction to patent of the present invention for explaining patent of the present invention.In attached drawing
In：
Fig. 1 is the overall structure diagram of the present patent application；
Fig. 2 is the inclinator pitch angle direction schematic diagram of the present patent application；
Fig. 3 is the schematic diagram used in formulation process of the present invention；
Fig. 4 is the right view of Fig. 3；
Fig. 5 is the round schematic diagram for cutting into polygon；
Fig. 6 is the track schematic diagram of motion carrier；
Fig. 7 is the direction change schematic diagram of motion carrier；
Wherein, 1, horizontal plane angular speed computing module, 11, single axis gyroscope, 12, inclinator, 13, space projection become mold changing
Block,
2, dead-reckoning module, 3, odometer, 4, starting point coordinate and orientation Corner Block List Representation, 5, Kalman filter；6, it transports
Dynamic load body, 7, wheel.
Specific implementation mode
The embodiment of patent of the present invention is described in detail below in conjunction with attached drawing, but patent of the present invention can be according to power
Profit requires to limit and the multitude of different ways of covering is implemented.
Embodiment 1：
A kind of combined navigation device comprehensively utilizing single axis gyroscope, inclinator and odometer, including horizontal plane angular speed
Computing module 1, dead-reckoning module 2, odometer 3, starting point coordinate and orientation Corner Block List Representation 4, Kalman filter 5.Horizontal plane
Angular speed computing module 1 includes single axis gyroscope 11, inclinator 12, space projection conversion module 13；Space projection conversion module
The pitching that rotation angle and inclinator 12 in the 13 acquisition unit interval that are measured on arbitrary plane of single axis gyroscopes 11 measure
Angle obtains the angle rotated in the unit interval on horizontal plane.
Space projection conversion module 13, the starting point coordinate and orientation Corner Block List Representation 4, the odometer 3 are pushed away with boat position
Module 2 is calculated to connect；The unit interval inner horizontal inward turning that dead-reckoning module 2 is obtained using horizontal plane angular speed computing module 1
The starting point coordinate and side of the angle, the mileage information that odometer 3 provides and starting point coordinate and the offer of orientation Corner Block List Representation 4 that turn
Parallactic angle extrapolates the position coordinates of current point.Dead-reckoning module 2 is connect with the Kalman filter 5.
Single axis gyroscope, inclinator are mounted on the certain level face of vehicle carrier, and rigid motion is done with motion carrier 6.
And the rotary shaft of 12 pitch angle of inclinator is perpendicular to the longitudinal axis of 6 place plane of motion carrier, referring to Fig. 2, the placement of inclinator 12
Direction is consistent with the direction that the wheel 7 of motion carrier 6 is advanced, and pitching angular direction is shown in figure upward arrow, is rotation with X-axis
Axis is rotated from paper to paper rear.Odometer provide vehicle mileage information, i.e., relative to initial position travel how much away from
From.
The plane coordinates that current time is obtained in initial point position is (x0,y0,h0), carrier longitudinal axis initial azimuth is A0。
The setting sampling interval is 50Hz, ensures time synchronization when obtaining angular speed, pitch angle, mileage value.
Vehicle carrier makees low-speed motion, either linear motion or curvilinear motion, in sufficiently small time interval expert
It can be considered as straight line into route.
Single axis gyroscope can be single axis fiber gyro instrument.Single axis fiber gyro instrument provides the angular speed of carrier in real time
In time interval dt, angle that carrier rotates on arbitrary inclined-planeFor the time interval, what previous moment obtained
Carrier pitch angle is α1, the pitch angle at current time is α2, the chamfer distance of traveling is S, and the figure formed to it carries out geometry point
Analysis, is converted by space projection, the angle that can will be rotated in angular transformation to plane that carrier rotates on inclined-plane
Current point coordinates (x1,y1,h1) and azimuth A1It can be calculate by the following formula to obtain：
A1=A0+θ
x1=x0+S*Cosα2Cos A1
y1=y0+S*Cosα2Sin A1
h1=h0+S*Sinα2
The position coordinates of subsequent time can be by repeating the above steps to obtain.
The derivation of above formula can be found in Fig. 3 and Fig. 4, and by taking a universal process as an example, previous moment movement exists
Position is in O points, and the direction of traveling is OA, and subsequent time carrier drives to B points along OB, due to when time interval is as small as possible
Straight line can be considered as by waiting the form track of carrier, therefore assumed above feasible.
Plane where OCD is horizontal plane, and plane is inclined-plane where OAB, and OA length is set as S1, and OB length is set as S2, ∠ AOC
(being set as α 1) is vertical dip angle of the carrier at O points, is measured by inclinator, and ∠ BOD (being set as α 2) are that carrier is vertical in B points
Inclination angle, inclinator measure.Wherein, C points are that A points make focus obtained by vertical line to horizontal plane, and D points are similarly.E points are in ABCD planes
In, make the intersection point obtained by vertical line from B points to AC.BE⊥AC.∠ AOB (being set as ω) are the angles that carrier moves to that B points are rotated from O points
Degree, is measured by gyroscope, and ∠ COD (being set as θ) are ω projections in the horizontal plane and computer azimuth angle is the angle for needing to add
Degree.
By geometrical relationship in Fig. 3,
1 BD=S2*sin α of AC=S1*sin α, 2 OC=S1*cos α, 1 OD=S2*cos α 1
By the cosine law
It can be obtained by Fig. 3 relationships
AE=AC-BD
It can be obtained by Pythagorean theorem
CD2=AB2-AE2
Above-mentioned relation formula is substituted into, you can obtain
Above is the derivation of equation of space projection transformation.
In practical applications, if the data acquired using physical device, due to precision problem, can not verification algorithm just
True property, therefore use analogue data.
Such as：Carrier runs a circumference in the horizontal plane.Conventional circumference is a smooth arc, in actual motion
In, as much as possible it can cut into polygon, such as Fig. 5 by round.
When polygon number of edges is enough, it is believed that the track of motion carrier operation is round.
Such as the track of Fig. 6, x-axis is directed toward the north to y-axis is directed toward east to initial position is origin, and initial orientation angle is
0 °, be directed toward the north to.Assuming that the round polygon for being cut into number of edges and being 20000, then polygon interior angle and be 180* (20000-
2)=3599640 °, the supplementary angle of each interior angle is 0.018 °, as can see from Figure 7, i.e., each polygon in carrier movement
The angle of length of side rotation is 0.018 °.Assuming that each length of side is 1.
In starting point O, coordinate is that east northeast is high (0,0,0), and azimuth is 0 °, is moved at A by first moment t, by
It is converted in the plane, not needing space projection, the θ that 0.018 ° of as upper problem derives.By following formula,
A1=A0+θ
x1=x0+S*Cosα2Cos A1
y1=y0+S*Cosα2Sin A1
h1=h0+S*Sinα2
Coordinate is at A points：
A1=0+0.018=0.018 °
X1=0+1*cos0*cos0.018=0.999999
Y1=0+1*cos0*sin0.018=0.00031416
H1=0+1*sin0=0
Continue to B points：
A2=0.018+0.018=0.036 °
X2=0.999999+1*cos0*cos0.036=1.9999999
Y2=0.00094248
H2=0+1*sin0=0
It calculates always, can finally return to O points, it was demonstrated that algorithm is correct.
The foregoing is merely the preferred embodiments of patent of the present invention, are not intended to restrict the invention patent, for this
For the technical staff in field, patent of the present invention can have various modifications and variations.All spirit and principle in patent of the present invention
Within, any modification, equivalent replacement, improvement and so on should be included within the protection domain of patent of the present invention.
Claims (8)
1. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer, it is characterised in that：Including horizontal face angle
Speed calculation module (1), dead-reckoning module (2), odometer (3), starting point coordinate and orientation Corner Block List Representation (4), Kalman's filter
Wave device (5)；
The horizontal plane angular speed computing module (1) includes single axis gyroscope (11), inclinator (12), space projection conversion module
(13)；Space projection conversion module (13) obtains the rotation in the unit interval that single axis gyroscope (11) measures on arbitrary plane
The pitch angle that angle and inclinator (12) measure obtains the angle rotated in the unit interval on horizontal plane；
The space projection conversion module (13), the starting point coordinate and orientation Corner Block List Representation (4), the odometer (3) with
Dead-reckoning module (2) connects；Dead-reckoning module (2) utilizes the unit interval that horizontal plane angular speed computing module (1) obtains
The mileage information and starting point coordinate and orientation Corner Block List Representation (4) of the angle, odometer (3) offer that are rotated in inner horizontal provide
Starting point coordinate and azimuth, extrapolate the position coordinates of current point；
The dead-reckoning module (2) connect with the Kalman filter (5).
2. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer according to claim 1, special
Sign is：The single axis gyroscope (11) is single axis fiber gyro instrument.
3. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer according to claim 1, special
Sign is：Kalman filter (5) carries out calculated position coordinates smooth.
4. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer according to claim 1, special
Sign is：Single axis gyroscope (11), inclinator (12) are mounted in the plane of a certain carrier, and the pitch angle rotation axis of inclinator
Perpendicular to carrier longitudinal axis.
5. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer according to claim 1, special
Sign is：
During carrier movement, the angle of single axis gyroscope (11) interior rotation between the unit interval is ω；Inclinator (12) is surveyed
The pitch angle of carrier is respectively α before and after the unit interval of amount1, α2；
The angle rotated in carrier motion projection to horizontal plane in the unit interval is calculated according to space projection conversion module (13)
6. a kind of combined navigation device based on single axis gyroscope, inclinator and odometer according to claim 1, special
Sign is：Starting point plane coordinates is (x0,y0,h0), initial azimuth A0；The unit interval measured by odometer (3) contains
Body into row distance be S；Current point coordinates (x can get by dead-reckoning module (2)1,y1,h1) and azimuth A1For：
7. utilizing the Combinated navigation method of claim 1 to 6 any one of them combined navigation device, which is characterized in that including
Step：
Space projection conversion module (13) obtains the rotation in the unit interval that single axis gyroscope (11) measures on arbitrary plane
The pitch angle that angle and inclinator (12) measure obtains the angle rotated in the unit interval on horizontal plane；
It is rotated in the unit interval inner horizontal that dead-reckoning module (2) is obtained using horizontal plane angular speed computing module (1)
Mileage information and starting point coordinate that angle, odometer (3) provide and the starting point coordinate that orientation Corner Block List Representation (4) provides and side
Parallactic angle extrapolates the position coordinates of current point.
8. Combinated navigation method according to claim 7, which is characterized in that step is specially：
The first step：Obtain the carrier pitch angle α of previous moment record1With mileage information S1；
Second step：Obtain the carrier pitch angle α of current time record2With mileage information S2；
Third walks：By single axis gyroscope, the angle ω of carrier Plane Rotation in time interval is obtained；Become by space projection
It changes, the angle ω that carrier rotates on arbitrary inclined-plane is projected in the horizontal plane, angle, θ is obtained；
4th step：Starting point plane coordinates is (x0,y0,h0), initial azimuth A0；It can get current point coordinates (x1,y1,h1)
And azimuth A1For：
5th step：It repeats the above steps, constantly obtains position coordinates and the azimuth of carrier.
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| CN106989745A (en) * | 2017-05-31 | 2017-07-28 | 合肥工业大学 | The fusion method of inclinator and fibre optic gyroscope in push pipe attitude measurement system |
| CN108507573A (en) * | 2017-12-27 | 2018-09-07 | 中煤科工集团上海有限公司 | A kind of mine full development machine gyroscope guidance system and guidance method |
| CN108680183B (en) * | 2018-03-29 | 2020-06-09 | 中国有色金属长沙勘察设计研究院有限公司 | Navigation positioning accuracy evaluation method |
| CN109729772A (en) * | 2018-12-21 | 2019-05-10 | 江苏大学 | A kind of tractor multiple degrees of freedom electric-controlled hydraulic hanging control system and method |
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| US6205401B1 (en) * | 1995-09-19 | 2001-03-20 | Litef Gmbh | Navigation system for a vehicle, especially a land craft |
| CN102818557A (en) * | 2012-08-07 | 2012-12-12 | 三一重型装备有限公司 | Automatic pose measuring device and engineering machine |
| CN105137468A (en) * | 2015-09-24 | 2015-12-09 | 北京理工大学 | Photoelectric type automobile continuous navigation data acquiring device and method in GPS blind area environment |
| CN105333871A (en) * | 2015-10-10 | 2016-02-17 | 华东师范大学 | Single-axis gyroscope-based plane positioning method |
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| JP5057952B2 (en) * | 2007-12-06 | 2012-10-24 | アルパイン株式会社 | Angular velocity correction device, correction method thereof, and navigation device |
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| US6205401B1 (en) * | 1995-09-19 | 2001-03-20 | Litef Gmbh | Navigation system for a vehicle, especially a land craft |
| CN102818557A (en) * | 2012-08-07 | 2012-12-12 | 三一重型装备有限公司 | Automatic pose measuring device and engineering machine |
| CN105137468A (en) * | 2015-09-24 | 2015-12-09 | 北京理工大学 | Photoelectric type automobile continuous navigation data acquiring device and method in GPS blind area environment |
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