CN107228665A - A kind of hybrid Inertial Platform System - Google Patents
A kind of hybrid Inertial Platform System Download PDFInfo
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- CN107228665A CN107228665A CN201710324364.9A CN201710324364A CN107228665A CN 107228665 A CN107228665 A CN 107228665A CN 201710324364 A CN201710324364 A CN 201710324364A CN 107228665 A CN107228665 A CN 107228665A
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention relates to a kind of hybrid Inertial Platform System, the combination of the gyroscope of the platform uses the mixed mode of operation of the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations and the MEMS gyroscope of 3 orthogonal installations to control the motion with monitoring platform stage body relative inertness space；In addition, on each framework of platform and pedestal, 3 orthogonal MEMS gyroscopes are respectively installed, to the measurement to platform each several part posture angular movement full information, the present invention uses the hybrid working method of different type gyroscope, realize to Inertial Platform, framework, pedestal angular speed measurement, the working method of plateform system and strapdown system is effectively unified, the full attitude motion of carrier and the use requirement of high reliability can be met, and means of testing is provided for the control of plateform system Multi-information acquisition and is supported with data.
Description
Technical field
The present invention relates to a kind of hybrid Inertial Platform System, more particularly to it is a kind of adapt to the full attitude maneuver operation of carrier,
The Inertial Platform System of Multi-information acquisition control, is applicable to ballistic missile, cruise missile, fighter plane of posture to be demanded perfection etc.,
Belong to inertial survey technique field.
Background technology
On the carrier that ballistic missile or fighter plane etc. require high maneuver, the gyroscope of High Accurate Inertial Platform system is current
Main to use liquid floated gyroscope, static pressure liquid floated gyroscope, three float-type gyroscopes and dynamically tuned gyro, DTG etc., plateform frame structure is
The axle form of two framework three or the axle form of three framework four.
In Chinese Yuhang Publishing House《Inertia device》In disclosed platform scheme, platform is all accumulated using 3 single-degree-of-freedoms
Divide gyroscope scheme or 2 two-freedom dynamically tuned gyro, DTG schemes, frame structure is the axle form of two framework three or three frameworks
Four axle forms, the advantage of these schemes is that instrument arrangement is simple, and structure is uncomplicated, but its full appearance for having the disadvantage that carrier can not be met
State move, such as, and two framework three-axis platforms when interior framework angle works in 90 ° or three framework four axis platforms outer framework angle
When working in 90 °, it can all cause framework " losing lock ", so as to cause stage body relative inertness space to rotate.
To avoid the generation of framework " losing lock ", current solution is the movement locus for limiting carrier, such as, ballistic
The track of guided missile is parabola, and the change of its yaw angle is little, therefore, can make the inner frame angle sensitive carrier of two framework three-axis platforms
Yaw angle.But, the scheme of this limitation carrier track can not increasingly meet high maneuver, the development trend of quick response.
Moreover, as modern war is to inertial platform precision and the requirement more and more higher of reliability, conventional inertia is put down
Platform is more single in terms of control mode, movable information are obtained and utilized.For example, plateform system information measurement is stage body angle position
Put, by obtaining angular speed to its differential, data noise is relatively large, influence control accuracy；Platform framework and pedestal angular movement
Information can not be obtained, and control loop available information is less etc..
For this reason, it may be necessary to study the full attitude solutions that inertial platform is not influenceed by carrier movement, and increase each portion of plateform system
The measurement means of subangle movable information, meet the full posture of following inertial platform, the demand of Multi-information acquisition control.
The content of the invention
It is an object of the invention to the drawbacks described above for overcoming prior art there is provided a kind of hybrid Inertial Platform System, it is somebody's turn to do
Inertial Platform System has full posture, high maneuver, high-precision advantage, meets the full posture of following inertial platform, Multi-information acquisition
The demand of control.
What the above-mentioned purpose of the present invention was mainly achieved by following technical solution：
A kind of hybrid Inertial Platform System, including the gyroscope combination installed on stage body and stage body, the gyroscope group
Close the single-degree-of-freedom integrating gyroscope for including 3 orthogonal installations and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations, described 3
The single-degree-of-freedom integrating gyroscope of individual orthogonal installation controls the shaft end motor of stage body, makes stage body stable in inertial space, described 3
The single-degree-of-freedom MEMS gyroscope test desk body phase of orthogonal installation is given in real time to the angular speed of inertial space after posture renewal
Put into effect changes in coordinates matrix of the body phase for inertial coodinate system.
In above-mentioned Inertial Platform System, on each framework and pedestal of the Inertial Platform System, 3 are respectively provided with
Orthogonal single-degree-of-freedom MEMS gyroscope, the angular movement information for measuring each framework of Inertial Platform System and pedestal.
Also include accelerometer in above-mentioned Inertial Platform System, on the stage body to combine, the accelerometer combination bag
4 quartz accelerometers are included, wherein orthogonal install of 3 quartz accelerometers constitutes input axis of accelerometer coordinate system, the 4th stone
English accelerometer is tilting in the input axis of accelerometer coordinate system to be installed；The input axis of accelerometer coordinate system and stage body
Coordinate system OXYZ is overlapped.
In above-mentioned Inertial Platform System, the input shaft of the quartz accelerometer of the 4th tilting installation with other 3
The angle of the input shaft of quartz accelerometer is identical.
In above-mentioned Inertial Platform System, the absolute value of the cosine value of the angle is
In above-mentioned Inertial Platform System, the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations, wherein 1 gyro
The input shaft of instrument is parallel with the stage body axle Z in stage body coordinate system OXYZ, in addition the input shaft of 2 gyroscopes respectively with stage body axle Z
It is vertical and the two be mutually perpendicular to, constitute gyroscope combination input axis coordinate system.
In above-mentioned Inertial Platform System, the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations, one of MEMS
The input shaft of gyroscope is parallel with the stage body axle Z in stage body coordinate system OXYZ, in addition the input shaft of 2 MEMS gyroscopes respectively with
Stage body axle Z is vertical and the two is mutually perpendicular to, and constitutes MEMS gyroscope combination input axis coordinate system.
In above-mentioned Inertial Platform System, the single-degree-of-freedom MEMS gyroscope test desk body phase pair of 3 orthogonal installations
The angular speed of inertial space, the specific method for the posture for providing stage body relative inertness space in real time after posture renewal is as follows：
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stable in inertial space, hasDuring stage body relative inertness spatial rotational, have WithDrawn by single-degree-of-freedom MEMS gyroscope measurement；
Wherein：For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For stage body X-axis in stage body coordinate system OXYZ
Angular speed,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3：
(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates of the stage body relative to inertial coodinate system
MatrixIt is specific as follows：
(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3It is used as the first of quaternary number
Value, returns to step (2), circulates according to this, until navigation task terminates.
In above-mentioned Inertial Platform System, 4 quartz accelerometers on the stage body, when wherein any one quartz adds
When speedometer breaks down, remaining 3 quartz accelerometer coordinates the measurement for the apparent acceleration for realizing stage body relative inertness space.
In above-mentioned Inertial Platform System, the single-degree-of-freedom integrating gyroscopes of 3 orthogonal installations is liquid floated gyroscope,
Static pressure liquid floated gyroscope or three float-type gyroscopes.
Advantage of the present invention compared with prior art is as follows：
(1) hybrid Inertial Platform System gyroscope combination of the invention integrates top using the single-degree-of-freedom of 3 orthogonal installations
The mixed mode of operation of spiral shell instrument and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (containing rebalance loop)；In addition in inertia
On each framework of platform and pedestal, 3 orthogonal MEMS gyroscopes are respectively installed, to platform each several part posture angular movement
The measurement of full information, the present invention is realized to Inertial Platform, frame using the hybrid working method of different type gyroscope
The measurement of frame, pedestal angular speed, has effectively unified the working method of plateform system and strapdown system, can meet the full posture of carrier
Motion and the use requirement of high reliability, and provide means of testing and data support for the control of plateform system Multi-information acquisition；
(2) present invention is directed to Inertial Platform System, by introducing MEMS gyroscope, carrier speed is measured in real time, and calculate
The posture in stage body relative inertness space, at platform framework " losing lock ", using MEMS gyroscope, by working platform in strapdown side
Formula, fundamentally solves the problems, such as the full gesture stability of platform, meets the requirement of the full posture of carrier；
(3) present invention realizes the angular movement information to each framework and pedestal using the MEMS gyro on framework and pedestal
Measurement, surveys analysis and monitoring foundation that data can not only be used for platform motion state, it can also be used to realize plateform system multi information
Fused controlling, improves inertial platform precision and reliability.
(4) present invention uses quartz accelerometer redundancy approach, on the basis of original three accelerometers, increases by one
The accelerometer of tilting installation, when wherein any 1 accelerometer breaks down, remaining 3 quartz accelerometer reconstruct is matched somebody with somebody
Close realize stage body relative inertness space apparent acceleration measurement, the method achieve quartz accelerometer fault diagnosis with it is fault-tolerant
Processing, improves the reliability level of system, and the present invention gives the optimal mounting means of tilting accelerometer in addition, enters one
Step improves the Performance And Reliability of plateform system.
(5) instrument redundancy Inertial Platform System of the present invention, be applicable to the ballistic missile of posture to be demanded perfection, cruise missile,
Fighter plane etc., with wide application field and application prospect.
Brief description of the drawings
Fig. 1 is hybrid Inertial Platform System composition schematic diagram of the invention；
Fig. 2 is each gyroscope of Inertial Platform of the present invention, accelerometer polar configurations schematic diagram.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
It is hybrid Inertial Platform System composition schematic diagram of the invention, hybrid inertial platform system of the invention as shown in Figure 1
System includes the gyroscope combination installed on stage body and stage body, and gyroscope combination includes the single-degree-of-freedom integration top of 3 orthogonal installations
Spiral shell instrument and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (including rebalance loop).As shown in figure 1,3 orthogonal installations
Single-degree-of-freedom integrating gyroscope Gx、GyAnd Gz, the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations is there is also mounted on stage body, i.e.,
MEMS.The single-degree-of-freedom integrating gyroscope of 3 orthogonal installations is sensitive as the stage body angular movement of Inertial Platform System servo loop
Element, controls the shaft end motor of stage body, makes stage body stable in inertial space when stable loop works.The list of 3 orthogonal installations
Free degree MEMS gyroscope test desk body phase provides stage body relatively used in real time to the angular speed of inertial space after posture renewal
The posture in property space, i.e. changes in coordinates matrix of the stage body relative to inertial coodinate system.The single-degree-of-freedom integration top of 3 orthogonal installations
Spiral shell instrument can be liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes.
It is illustrated in figure 2 each gyroscope of Inertial Platform of the present invention, accelerometer polar configurations schematic diagram.3 orthogonal
The single-degree-of-freedom integrating gyroscope G of installationx、GyAnd Gz, wherein 1 gyroscope GzInput shaft IzWith in stage body coordinate system OXYZ
Stage body axle Z is parallel, in addition 2 gyroscope Gx、GyInput shaft Ix、IyIt is vertical with stage body axle Z respectively and the two is mutually perpendicular to, structure
Into gyroscope combination input axis coordinate system.The output of 3 single-degree-of-freedom integrating gyroscopes is acted on by uneoupled control link
The shaft end motor of platform constitutes plateform system servo loop.Single-degree-of-freedom integrating gyroscope Gx、GyAnd GzOutput shaft be respectively
Ox、OyAnd Oz.The rotation overlapping of axles of OZ axles and stage body in stage body coordinate system OXYZ.
Input shaft definition and the 3 single-degree-of-freedom integrating gyroscopes one of the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations
Cause.The single-degree-of-freedom MEMS gyroscope of i.e. 3 orthogonal installations, the input shaft I of one of MEMS gyroscopez' and stage body coordinate
It is stage body axle Z in OXYZ parallel, the input shaft I of 2 MEMS gyroscopes in additionx'、Iy' it is vertical with stage body axle Z respectively and the two
It is mutually perpendicular to, constitutes MEMS gyroscope combination input axis coordinate system.Angle speed of the MEMS gyroscope test desk body phase to inertial space
Degree, provides the posture in stage body relative inertness space, that is, provides stage body relative to inertial coodinate system in real time after posture renewal
Changes in coordinates matrix, specific method is as follows：
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stable in inertial space, hasDuring stage body relative inertness spatial rotational, haveWithDrawn by single-degree-of-freedom MEMS gyroscope measurement；
Wherein：For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For stage body X-axis in stage body coordinate system OXYZ
Angular speed,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3：
(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates of the stage body relative to inertial coodinate system
MatrixIt is specific as follows：
(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3It is used as the first of quaternary number
Value, returns to step (2), i.e. repeat step (2)~(4), obtains another group of new quaternary number ρ0、ρ1、ρ2、ρ3, further
To changes in coordinates matrix of next navigation moment stage body relative to inertial coodinate systemStep (2) is returned again to afterwards, is followed according to this
Ring, until navigation task terminates, obtains coordinate of the different navigation moment stage body relative to inertial coodinate system during navigation task
Transformation matrices.
If above-mentioned steps (2) stage body is stable in inertial space, haveThen in loop calculation
Quaternary number ρ0、ρ1、ρ2、ρ3Be always the initial value of setting, i.e., all navigation moment, ρ0、ρ1、ρ2、ρ3It is constant for initialization, stage body
Relative to the changes in coordinates matrix R of inertial coodinate systemi pUniquely determine.
As described in Figure 1, hybrid Inertial Platform System includes stage body, each framework and pedestal.Each framework of inertial platform and
3 orthogonal single-degree-of-freedom MEMS gyroscopes are respectively installed, for measuring each framework of Inertial Platform System and base on pedestal
3 orthogonal single-degree-of-freedoms are respectively installed on 3 frameworks and 1 pedestal in the angular movement information of seat, the embodiment of the present invention
Group orthogonal single-degree-of-freedom MEMS gyroscope of MEMS gyroscope, i.e., four.Its working method and one group of MEMS gyroscope on stage body
Similar, by rebalance loop, the angular movement information to each framework and pedestal is measured respectively, is surveyed data and is reached platform master
Circuit board is controlled, analysis and the monitoring foundation of platform motion state are can not only be used for, while can also be inputted as control loop with mending
Repay, realize that plateform system Multi-information acquisition is controlled.
Also include accelerometer on stage body to combine, accelerometer combines the acceleration information for measuring stage body, the present invention
Middle accelerometer combination includes 4 quartz accelerometers, wherein 3 quartz accelerometer Ax、AyAnd AzOrthogonal install constitutes acceleration
Degree meter input axis coordinate system, the 4th quartz accelerometer AdIt is tilting in the input axis of accelerometer coordinate system to install, such as Fig. 1
It is shown.The input axis of accelerometer coordinate system is overlapped with stage body coordinate system OXYZ.The quartz accelerometer A of tilting installationdCan
Monitoring function is realized, when the accelerometer of orthogonal installation has failure, phenomenon of the failure is judged in time and is installed using tilting
Quartz accelerometer AdCompare force information instead of the output of failure accelerometer, it is ensured that the continual and steady output of carrier navigation information.
As shown in Fig. 23 quartz accelerometer Ax、AyAnd AzInput shaft be respectively Ix、Iy、Iz, output shaft is respectively Ox、Oy、Oz, pendulum
Axle is respectively Px、Py、Pz, quartz accelerometer AdInput shaft, output shaft and balance staff be respectively IR、OR、PR。
The quartz accelerometer A of 4th tilting installation in the present inventiondInput shaft and other 3 quartz accelerometer Ax、
AyAnd AzInput shaft angle it is identical, the absolute value of the preferably cosine value of the angle is
As shown in figure 1, being that holding station body phase is stablized to inertial space, it is necessary to utilize 3 single-degree-of-freedom integrating gyroscopes
MEMS metrical informations on output information, each framework angle information and framework and pedestal carry out signal decomposition, make system by many
Variable interlinkage coupled system is changed into independent single input output loop and realizes the compensation of dynamic error, and the controller after decoupling is made
Use the torque motor of each framework shaft end.But in frame lock timing, stage body relative inertness spatial rotational, dynamically tuned gyro, DTG is quick
Feel the angular speed rotatedThe coordinate transform square of stage body relative inertness coordinate system can be tried to achieve according to patent of the present invention
Battle array, further can try to achieve three attitude angles by transformation matrix of coordinates.Meanwhile, the specific force of 4 quartz accelerometer measurements is through fault-tolerant
With the apparent acceleration value for the three-dimensional orthogonal that stage body coordinate system is obtained after conversion, the speed for the system that must can be navigated after coordinate transform and position
Parameter is put, the guidance for missile armament.
The hybrid Inertial Platform System of the present invention, gyroscope combination uses the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations
Instrument (liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes) and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (contain
Rebalance loop) mixed mode of operation；In addition, on each framework of platform and pedestal, being respectively provided with 3 orthogonal MEMS
Gyroscope, to the measurement to platform each several part posture angular movement full information.
In the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations of stage body, the input shaft of 1 gyroscope is parallel with stage body axle,
Other 2 input shafts are vertical with stage body axle respectively and the two is mutually perpendicular to, and constitute gyroscope combination input axis coordinate system.3 lists
The output of free degree integrating gyroscope acts on the shaft end motor of platform by uneoupled control link, constitutes plateform system and stablizes back
Road, when platform not " losing lock ", keeps platform stage body stable in inertial space.
Input shaft definition and the 3 single-degree-of-freedom integrating gyroscopes of the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations of stage body
Instrument is consistent, and each MEMS gyroscope is provided with a rebalance loop, with MEMS gyroscope collective effect, real-time output table body phase
To the angular speed of inertial space, and the real-time posture for providing stage body relative inertness space after posture renewal.When platform is in
During " losing lock " state, by working platform in strapdown mode, its stage body is set to be rotated with carrier, while being exported using MEMS gyro
And posture renewal result, inertial coodinate system orientation is obtained by computer-solution, until platform exits " losing lock " state.
The need for meeting the control of inertial platform Multi-information acquisition, inertial platform precision and reliability are improved, in platform
3 MEMS gyroscopes of orthogonal installation are distinguished on each framework and pedestal, its working method is similar to gyroscope on stage body, by putting down again
Weigh loop, respectively the angular movement information to each framework and pedestal measure, survey data and can not only be used for platform motion state
Analysis and monitoring foundation, while can also input and compensate as control loop, realize that plateform system Multi-information acquisition is controlled.
The present invention solves high maneuver, full attitude tape in order to realize the function of the full gesture stability of plateform system, fundamentally and come
Platform framework " losing lock " phenomenon, make following improve to plateform system control program：
(1) output of 3 single-degree-of-freedom integrating gyroscopes of stage body acts on the shaft end electricity of platform by uneoupled control link
Machine, constitutes plateform system stable loop.In order to realize the full gesture stability of platform, set between inner frame and outer framework stable loop
Full attitude signal decomposer is counted, using Design of Digital Circuit, its effect is to arrive X, Y-direction single-degree-of-freedom gyroscopy sensitivity on stage body
Stage body rotate accurate projection to inner axle and outer annulate shaft.When platform not " losing lock ", working platform in stable inertia mode,
By single-degree-of-freedom gyroscopy and stable loop collective effect, keep platform stage body stable in inertial space.
(2) 3 MEMS gyroscopes of stage body are each provided with a rebalance loop.Rebalance loop is total to MEMS gyroscope
Same-action, real-time output table body phase provides stage body relative inertness in real time to the angular speed of inertial space after posture renewal
The posture in space.When platform is in " losing lock " state, losing lock direction stable loop no longer works, by working platform in strapdown side
Formula, makes stage body be rotated with carrier, while using MEMS gyro output and posture renewal result, being used to by computer-solution
Property coordinate system orientation, until platform exits " losing lock " state.
Platform stance, which updates, uses Quaternion Algorithm：Initially it is aligned by platform first, provides quaternary number initial value ρ0、ρ1、
ρ2、ρ3, stage body rotating speed and quaternary number renewal equation are utilized afterwards
Real-time resolving is carried out to the quaternary number for describing stage body relative inertness spatial movement.
MEMS gyro is constantly in working condition in whole flight course, therefore posture renewal is carried out always.Work as stage body
Stabilization has in inertial spaceAnd when stage body relative inertness spatial rotational, haveAnd
WithIt is not zero, is drawn by MEMS gyroscope measurement, the changes in coordinates matrix for finally giving stage body relative inertness coordinate system is
(3) after platform exits " losing lock " state, platform recovers stable inertia working method, to exit before " losing lock " state
Last moment stage body is each to being oriented to new coordinate system benchmark, and it is stable to be maintained at inertial space；Surveyed using MEMS gyro before this
The stage body rotation information obtained, obtains the orientation in current stage body relative inertness space, and navigated.
It is described above, it is only an embodiment of the invention, but protection scope of the present invention is not limited thereto, and is appointed
What those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, all
It should be included within the scope of the present invention.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (10)
1. a kind of hybrid Inertial Platform System, including the gyroscope combination installed on stage body and stage body, it is characterised in that：It is described
Gyroscope combination includes the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations and the single-degree-of-freedom MEMS gyro of 3 orthogonal installations
Instrument, the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations controls the shaft end motor of stage body, makes stage body stable empty in inertia
Between, the single-degree-of-freedom MEMS gyroscope test desk body phases of 3 orthogonal installations is to the angular speed of inertial space, by posture more
Changes in coordinates matrix of the stage body relative to inertial coodinate system is provided in real time after new.
2. Inertial Platform System according to claim 1, it is characterised in that：Each framework and base of the Inertial Platform System
On seat, 3 orthogonal single-degree-of-freedom MEMS gyroscopes are respectively installed, for measuring each framework of Inertial Platform System and pedestal
Angular movement information.
3. Inertial Platform System according to claim 1, it is characterised in that：Also include accelerometer group on the stage body
Close, the accelerometer combination includes 4 quartz accelerometers, wherein orthogonal install of 3 quartz accelerometers constitutes acceleration
Meter input axis coordinate system, the 4th quartz accelerometer is tilting in the input axis of accelerometer coordinate system to be installed；It is described to accelerate
Degree meter input axis coordinate system is overlapped with stage body coordinate system OXYZ.
4. Inertial Platform System according to claim 3, it is characterised in that：The quartz acceleration of the 4th tilting installation
The input shaft for spending meter is identical with the angle of the input shaft of other 3 quartz accelerometers.
5. Inertial Platform System according to claim 4, it is characterised in that：The absolute value of the cosine value of the angle is
6. Inertial Platform System according to claim 1, it is characterised in that：The single-degree-of-freedom product of 3 orthogonal installations
Point gyroscope, wherein the input shaft of 1 gyroscope is parallel with the stage body axle Z in stage body coordinate system OXYZ, 2 gyroscopes in addition
Input shaft is vertical with stage body axle Z respectively and the two is mutually perpendicular to, and constitutes gyroscope combination input axis coordinate system.
7. Inertial Platform System according to claim 1 or 2, it is characterised in that：The single-degree-of-freedom of 3 orthogonal installations
MEMS gyroscope, the input shaft of one of MEMS gyroscope is parallel with the stage body axle Z in stage body coordinate system OXYZ, 2 in addition
The input shaft of MEMS gyroscope is vertical with stage body axle Z respectively and the two is mutually perpendicular to, and constitutes MEMS gyroscope combination input shaft and sits
Mark system.
8. the Inertial Platform System according to one of claim 1-6, it is characterised in that：The list of 3 orthogonal installations is certainly
By angular speed of the degree MEMS gyroscope test desk body phase to inertial space, stage body relative inertness is provided in real time after posture renewal
The specific method of the posture in space is as follows：
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stable in inertial space, hasDuring stage body relative inertness spatial rotational, have WithDrawn by single-degree-of-freedom MEMS gyroscope measurement；
Wherein：For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For the angle of stage body X-axis in stage body coordinate system OXYZ
Speed,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3：
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(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates matrix of the stage body relative to inertial coodinate systemIt is specific as follows：
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(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3It is used as the initial value of quaternary number, weight
New return to step (2), is circulated according to this, until navigation task terminates.
9. the Inertial Platform System according to one of claim 3-6, it is characterised in that：4 quartz on the stage body add
Speedometer, when wherein any one quartz accelerometer breaks down, remaining 3 quartz accelerometer, which coordinates, realizes stage body phase
Measurement to the apparent acceleration of inertial space.
10. the Inertial Platform System according to one of claim 1-6, it is characterised in that：The list of 3 orthogonal installations is certainly
It is liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes by degree integrating gyroscope.
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| CN110294414A (en) * | 2019-06-21 | 2019-10-01 | 上海理工大学 | A kind of Crane control method and device for preventing shaking control algolithm based on open loop |
| CN110337624A (en) * | 2018-05-31 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Posture conversion method, posture display methods and clouds terrace system |
| CN110631580A (en) * | 2019-08-22 | 2019-12-31 | 北京航天控制仪器研究所 | Uniaxial inertial platform system based on atomic spin gyroscope |
| CN110631575A (en) * | 2019-08-22 | 2019-12-31 | 北京航天控制仪器研究所 | Strapdown system based on atomic spin gyroscope |
| CN111006665A (en) * | 2019-11-29 | 2020-04-14 | 北京航天控制仪器研究所 | Atomic spin gyroscope strapdown system based on magnetic field feedback |
| CN111006664A (en) * | 2019-11-29 | 2020-04-14 | 北京航天控制仪器研究所 | Triaxial inertial platform system based on atomic spin gyroscope |
| CN111006663A (en) * | 2019-11-28 | 2020-04-14 | 北京航天控制仪器研究所 | Three-axis inertial platform system based on SERF gyroscope and rate gyroscope |
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| CN110294414A (en) * | 2019-06-21 | 2019-10-01 | 上海理工大学 | A kind of Crane control method and device for preventing shaking control algolithm based on open loop |
| WO2021012635A1 (en) * | 2019-07-23 | 2021-01-28 | 南京航空航天大学 | Gyroscope information-based inertial navigation method |
| CN110631580A (en) * | 2019-08-22 | 2019-12-31 | 北京航天控制仪器研究所 | Uniaxial inertial platform system based on atomic spin gyroscope |
| CN110631575A (en) * | 2019-08-22 | 2019-12-31 | 北京航天控制仪器研究所 | Strapdown system based on atomic spin gyroscope |
| CN110631575B (en) * | 2019-08-22 | 2021-09-07 | 北京航天控制仪器研究所 | Strapdown system based on atomic spin gyroscope |
| CN110631580B (en) * | 2019-08-22 | 2021-10-01 | 北京航天控制仪器研究所 | Uniaxial inertial platform system based on atomic spin gyroscope |
| CN111006663A (en) * | 2019-11-28 | 2020-04-14 | 北京航天控制仪器研究所 | Three-axis inertial platform system based on SERF gyroscope and rate gyroscope |
| CN111006665A (en) * | 2019-11-29 | 2020-04-14 | 北京航天控制仪器研究所 | Atomic spin gyroscope strapdown system based on magnetic field feedback |
| CN111006664A (en) * | 2019-11-29 | 2020-04-14 | 北京航天控制仪器研究所 | Triaxial inertial platform system based on atomic spin gyroscope |
| CN111006665B (en) * | 2019-11-29 | 2021-07-13 | 北京航天控制仪器研究所 | Atomic spin gyroscope strapdown system based on magnetic field feedback |
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