CN108088443B - Speed compensation method for positioning and orienting equipment - Google Patents

Speed compensation method for positioning and orienting equipment Download PDF

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CN108088443B
CN108088443B CN201611037069.7A CN201611037069A CN108088443B CN 108088443 B CN108088443 B CN 108088443B CN 201611037069 A CN201611037069 A CN 201611037069A CN 108088443 B CN108088443 B CN 108088443B
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error
speed
odometer
navigation
displacement
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CN108088443A (en
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马涛
朱红
李永峰
石志兴
王根
郭元江
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Beijing Automation Control Equipment Institute BACEI
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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
    • 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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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention belongs to the technical field of vehicle positioning and navigation, and particularly relates to a speed compensation method for positioning and orienting equipment. The speed compensation method comprises the following steps: establishing a Kalman filtering model; initializing a system; calculating the components of the vertical displacement and the horizontal displacement; east and north displacement component calculation; calculating equivalent speed, and updating Kalman filtering model information; performing Kalman filtering calculation on the system; and correcting the inertial navigation attitude array, the speed and the position error, and correcting the scale coefficient and the installation error of the odometer. The invention needs to solve the technical problems that the existing positioning and orientation equipment can accumulate positioning and orientation errors in the course maneuvering process and finally influences the navigation and positioning precision, takes the lateral speed into consideration when calculating the speed measurement information, effectively compensates the lateral speed, is beneficial to reducing the positioning and orientation error accumulation in the course maneuvering process, improves the performance of the positioning and orientation equipment and ensures the navigation precision.

Description

Speed compensation method for positioning and orienting equipment
Technical Field
The invention belongs to the technical field of vehicle positioning and navigation, and particularly relates to a speed compensation method for positioning and orienting equipment.
Background
When the land vehicle is positioned and navigated, the positioning and orientation equipment consisting of inertial navigation and an odometer is a very general means, and satisfactory performance can be obtained. Compared with a combined navigation system formed by satellite navigation, the system has the advantages of complete autonomy, all weather and no interference of external information. The method is widely applied, and simultaneously, the performance requirement on the positioning and orienting equipment is improved.
In the existing positioning and orientation method, filtering calculation is generally carried out by adopting odometer speed information and inertial navigation information, and a zero-speed correction technology is compatible so as to obtain higher positioning and orientation precision. In practice, however, unexpected positioning and orientation errors often occur in the course of navigation maneuver, and the positioning and orientation errors are gradually accumulated, and finally the accuracy of navigation positioning is affected.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: in the existing positioning and orientation method, the positioning and orientation equipment can generate the accumulation of positioning and orientation errors in the process of navigating and maneuvering, and finally the accuracy of navigation and positioning is influenced.
The technical scheme of the invention is as follows:
a speed compensation method for positioning and orienting equipment comprises the following steps:
step 1, establishing a Kalman filtering model
The coordinate system is defined as follows:
n is: navigation coordinate system oxnynznIs a northeast geographic coordinate system, xnThe axis pointing east, ynThe axis pointing north, znThe axis points to the sky;
b is: carrier coordinate system oxbybzbIs a right front-up-right coordinate system, xbThe axis pointing to the right of the carrier, ybThe axis being directed in front of the carrier, zbThe axis points above the carrier;
taking the state vector X as
X＝[δVe,δVn,δVu,φe,φn,φu,δλ,δL,δh,▽x,▽y,▽z,εx,εy,εz,φax,δKD,φaz,Δt,Rx,Ry,Rz]T
Wherein the content of the first and second substances,
[δVe,δVn,δVu]for velocity error vector, δ VeIs east speed error, delta VnIs the north velocity error, delta VuIs the speed error in the sky direction;
[φe,φn,φu]is an attitude error vector, phieIs east attitude error angle phinIs the north attitude error angle phiuIs the attitude error angle in the sky direction;
[ δ λ, δ L, δ h ] is a position error vector, δ λ is a longitude error, δ L is a latitude error, δ h is a height error;
[▽x,▽y,▽z]is the zero offset vector of the accelerometer +xIs xbZero offset and v of axis accelerometeryIs ybZero offset and v of axis accelerometerzIs zbZero offset of the axis accelerometer;
[εx,εy,εz]is the gyro drift vector, epsilonxIs xbDrift amount epsilon of axis gyroyIs ybDrift amount epsilon of axis gyrozIs zbThe drift amount of the axis gyro;
[φax,δKD,φaz]as an odometer error vector, phiaxIs xbShaft installation error, δ KDFor odometer scale factor error, phiazIs zbShaft installation errors;
Δ t: time delay between inertial navigation/odometer speeds;
[Rx,Ry,Rz]is lever arm vector, RxIs xbAxial direction lever arm, RyIs ybAxial direction lever arm, RzIs zbAn axial lever arm;
the state equation is:
Figure BDA0001159903510000021
wherein G is a system noise matrix, W is system noise, A is a system state matrix,
Figure BDA0001159903510000031
Figure BDA0001159903510000032
Figure BDA0001159903510000033
Figure BDA0001159903510000034
Figure BDA0001159903510000035
Figure BDA0001159903510000036
Figure BDA0001159903510000037
Figure BDA0001159903510000038
Figure BDA0001159903510000041
Figure BDA00011599035100000410
to be from a carrier coordinate system oxbybzbTo the navigation coordinate system oxnynznThe coordinate transformation matrix is obtained through navigation settlement;
ωieis the angular rate of rotation of the earth, RMAnd RNRespectively the radius of the earth meridian and the radius of the Mao-unitary circle, L is the latitude, VuIs the speed in the direction of the sky, VnIs the north velocity, VeEast speed, fe、fnAnd fuEquivalent accelerometer measurements in the northeast direction
The measurement equation is as follows:
Z＝HX+V
wherein Z is measurement quantity, H is a measurement matrix, and V is measurement noise;
Figure BDA0001159903510000042
Figure BDA0001159903510000043
Figure BDA0001159903510000044
components of the equivalent velocity in the east, north and sky directions, respectively;
Figure BDA0001159903510000045
for transforming matrices of coordinates
Figure BDA0001159903510000046
Row i and column j, i being 1,2, 3; j is 1,2, 3;
VDoutputting the equivalent speed for the odometer;
Figure BDA0001159903510000047
a gyro measurement value vector is obtained;
Figure BDA0001159903510000048
respectively, the first derivatives of the northeast speed;
step 2, system initialization
Aligning the inertial navigation system, starting inertial navigation solution to obtain attitude angles [ theta, gamma, psi]TSpeed of
Figure BDA0001159903510000049
And [ lambda, phi, h]TMeanwhile, obtaining the displacement delta S through a speedometer;
ΔS＝KD·Npluseis a scalar quantity, KDFor measuring mileageCoefficient of degree, NpluseOutputting pulses for the odometer;
the alignment method adopts a static base alignment method or a dynamic base alignment method;
step 3, calculating the components of the vertical displacement and the horizontal displacement
Coordinate transformation matrix obtained by navigation calculation according to step 2
Figure BDA00011599035100000514
Calculating the day component and the horizontal component of the displacement of the odometer;
Figure BDA0001159903510000051
for a 3 × 3 matrix, the antenna component of the output displacement of the odometer is:
Figure BDA0001159903510000052
the horizontal component is:
Figure BDA0001159903510000053
wherein
Figure BDA0001159903510000054
Is composed of
Figure BDA0001159903510000055
Row 3, column 2 elements;
step 4, calculating east and north displacement components
The speed obtained by navigation calculation according to the step 2
Figure BDA0001159903510000056
Calculating an east component and a north component of the displacement of the odometer; the specific method comprises the following steps:
Figure BDA0001159903510000057
Figure BDA0001159903510000058
wherein the content of the first and second substances,
Figure BDA0001159903510000059
is the east component of the displacement of the gauge,
Figure BDA00011599035100000510
is the north component of the gauge displacement;
step 5, calculating equivalent speed and updating Kalman filtering model information
Calculating the equivalent speed in the filtering period, wherein the specific formula is as follows:
Figure BDA00011599035100000511
wherein the content of the first and second substances,
Figure BDA00011599035100000512
to equivalent speed, Δ Sn(t) is Δ SnAt the value of the time t at which,
Figure BDA00011599035100000513
Tefor the filter period, TnResolving a period for navigation;
updating a system matrix A and an observation matrix H, and calculating a quantity measurement Z;
step 6, performing Kalman filtering calculation on the system;
step 7, correcting inertial navigation attitude arrays, speed and position errors, and correcting odometer scale coefficients and installation errors;
wherein the attitude error is phi ═ X (3) X (4) X (5)]T，
The inertial navigation attitude array error correction formula is
Figure BDA0001159903510000061
I is an identity matrix;
inertial navigation speed error is delta V ═ X (0) X (1) X (2)]T，
The velocity error correction method is Vn＝Vn-δV；
The inertial navigation position error correction method comprises
λ＝λ-X(6)
L＝L-X(7)
h＝h-X(8)
The error of the scale coefficient of the odometer is Kd＝X(15)，
The odometer scale coefficient error correction method is KODO＝KODO×(1+Kd)；
After each correction amount is used, the corresponding state quantity is set to be zero.
The invention has the beneficial effects that:
the method of the invention fully considers the lateral speed of the vehicle caused in the process of the aeronautical maneuver when calculating the speed measurement information, and effectively compensates the lateral speed, thereby being beneficial to reducing the accumulation of the positioning and orientation errors of the positioning and orientation equipment in the process of the aeronautical maneuver, improving the performance of the positioning and orientation equipment and ensuring the navigation precision.
Detailed Description
The coordinate system is defined as follows:
n is: navigation coordinate system oxnynznIs a northeast geographic coordinate system, xnThe axis pointing east, ynThe axis pointing north, znThe axis points to the sky;
b is: carrier coordinate system oxbybzbIs a right front-up-right coordinate system, xbThe axis pointing to the right of the carrier, ybThe axis being directed in front of the carrier, zbThe axis is directed above the carrier.
The method specifically comprises the following steps:
step 1, establishing a Kalman filtering model
Taking the state vector X as
X＝[δVe,δVn,δVu,φe,φn,φu,δλ,δL,δh,▽x,▽y,▽z,εx,εy,εz,φax,δKD,φaz,Δt,Rx,Ry,Rz]T
Wherein the content of the first and second substances,
[δVe,δVn,δVu]for velocity error vector, δ VeIs east speed error, delta VnIs the north velocity error, delta VuIs the speed error in the sky direction;
[φe,φn,φu]is an attitude error vector, phieIs east attitude error angle phinIs the north attitude error angle phiuIs the attitude error angle in the sky direction;
[ δ λ, δ L, δ h ] is a position error vector, δ λ is a longitude error, δ L is a latitude error, δ h is a height error;
[▽x,▽y,▽z]is the zero offset vector of the accelerometer +xIs xbZero offset and v of axis accelerometeryIs ybZero offset and v of axis accelerometerzIs zbZero offset of the axis accelerometer;
[εx,εy,εz]is the gyro drift vector, epsilonxIs xbDrift amount epsilon of axis gyroyIs ybDrift amount epsilon of axis gyrozIs zbThe drift amount of the axis gyro;
[φax,δKD,φaz]as an odometer error vector, phiaxIs xbShaft installation error, δ KDFor odometer scale factor error, phiazIs zbShaft installation errors;
Δ t: time delay between inertial navigation/odometer speeds;
[Rx,Ry,Rz]is lever arm vector, RxIs xbAxial direction lever arm, RyIs ybAxial direction lever arm, RzIs zbAn axial lever arm.
The state equation is:
Figure BDA0001159903510000071
wherein G is a system noise matrix, W is system noise, A is a system state matrix,
Figure BDA0001159903510000081
Figure BDA0001159903510000082
Figure BDA0001159903510000083
Figure BDA0001159903510000084
Figure BDA0001159903510000085
Figure BDA0001159903510000086
Figure BDA0001159903510000087
Figure BDA0001159903510000088
Figure BDA0001159903510000091
Figure BDA0001159903510000092
to be from a carrier coordinate system oxbybzbTo the navigation coordinate system oxnynznThe coordinate transformation matrix is obtained through navigation settlement.
ωieIs the angular rate of rotation of the earth, RMAnd RNRespectively the radius of the earth meridian and the radius of the Mao-unitary circle, L is the latitude, VuIs the speed in the direction of the sky, VnIs the north velocity, VeEast speed, fe、fnAnd fuEquivalent accelerometer measurements in the northeast direction
The measurement equation is as follows:
Z＝HX+V
wherein Z is measurement quantity, H is a measurement matrix, and V is measurement noise;
Figure BDA0001159903510000093
Figure BDA0001159903510000094
Figure BDA0001159903510000095
components of the equivalent velocity in the east, north and sky directions, respectively;
Figure BDA0001159903510000096
for transforming matrices of coordinates
Figure BDA0001159903510000097
Row i and column j, i being 1,2, 3; j is 1,2, 3.
VDOutputting the equivalent speed for the odometer;
Figure BDA0001159903510000098
a gyro measurement value vector is obtained;
Figure BDA0001159903510000099
respectively, the first derivatives of the northeast speed;
step 2, system initialization
Aligning the inertial navigation system, starting inertial navigation solution to obtain attitude angles [ theta, gamma, psi]TSpeed of
Figure BDA00011599035100000910
And [ lambda, phi, h]TWhile the displacement deltas is obtained by means of an odometer.
ΔS＝KD·NpluseIs a scalar quantity, KDAs odometer scale factor, NplusePulses are output for the odometer.
The alignment method adopts a static base alignment method or a dynamic base alignment method.
Step 3, calculating the components of the vertical displacement and the horizontal displacement
Coordinate transformation matrix obtained by navigation calculation according to step 2
Figure BDA0001159903510000101
The day-wise and horizontal components of the odometer displacement are calculated.
Figure BDA0001159903510000102
For a 3 × 3 matrix, the antenna component of the output displacement of the odometer is:
Figure BDA0001159903510000103
the horizontal component is:
Figure BDA0001159903510000104
wherein
Figure BDA0001159903510000105
Is composed of
Figure BDA0001159903510000106
Row 3, column 2 elements.
Step 4, calculating east and north displacement components
The speed obtained by navigation calculation according to the step 2
Figure BDA0001159903510000107
An east component and a north component of the odometer displacement are calculated. The specific method comprises the following steps:
Figure BDA0001159903510000108
Figure BDA0001159903510000109
wherein the content of the first and second substances,
Figure BDA00011599035100001010
is the east component of the displacement of the gauge,
Figure BDA00011599035100001011
the north component of the gauge displacement.
Step 5, calculating equivalent speed and updating Kalman filtering model information
Calculating the equivalent speed in the filtering period, wherein the specific formula is as follows:
Figure BDA00011599035100001012
wherein the content of the first and second substances,
Figure BDA00011599035100001013
to equivalent speed, Δ Sn(t) is Δ SnAt the value of the time t at which,
Figure BDA00011599035100001014
Tefor the filter period, TnThe cycle is solved for navigation.
And updating the system matrix A and the observation matrix H, and calculating the quantity measurement Z.
And 6, performing Kalman filtering calculation on the system.
And 7, correcting the inertial navigation attitude array, the speed and the position errors, and correcting the scale coefficient and the installation error of the odometer.
Wherein the attitude error is phi ═ X (3) X (4) X (5)]T，
The inertial navigation attitude array error correction formula is
Figure BDA0001159903510000111
And I is an identity matrix.
Inertial navigation speed error is delta V ═ X (0) X (1) X (2)]T，
The velocity error correction method is Vn＝Vn-δV。
The inertial navigation position error correction method comprises
λ＝λ-X(6)
L＝L-X(7)
h＝h-X(8)
The error of the scale coefficient of the odometer is Kd＝X(15)，
The odometer scale coefficient error correction method is KODO＝KODO×(1+Kd)。
After each correction amount is used, the corresponding state quantity is set to be zero.

Claims (1)

1. A speed compensation method for positioning and orienting equipment is characterized by comprising the following steps: the method comprises the following steps:
step 1, establishing a Kalman filtering model
The coordinate system is defined as follows:
n is: navigation coordinate system oxnynznIs a northeast geographic coordinate system, xnThe axis pointing east, ynThe axis pointing north, znThe axis points to the sky;
b is: carrier coordinate system oxbybzbIs a right front-up-right coordinate system, xbThe axis pointing to the right of the carrier, ybThe axis being directed in front of the carrier, zbThe axis points above the carrier;
taking the state vector X as
Figure FDA0002959373920000011
Wherein the content of the first and second substances,
[δVe，δVn，δVu]for velocity error vector, δ VeIs east speed error, delta VnIs the north velocity error, delta VuIs the speed error in the sky direction;
[φe，φn，φu]is an attitude error vector, phieIs east attitude error angle phinIs the north attitude error angle phiuIs the attitude error angle in the sky direction;
[ δ λ, δ L, δ h ] is a position error vector, δ λ is a longitude error, δ L is a latitude error, δ h is a height error;
Figure FDA0002959373920000012
for the accelerometer zero-offset vector,
Figure FDA0002959373920000013
is xbZero offset of the axial accelerometer,
Figure FDA0002959373920000014
Is ybZero offset of the axial accelerometer,
Figure FDA0002959373920000015
Is zbZero offset of the axis accelerometer;
[εx，εy，εz]is the gyro drift vector, epsilonxIs xbDrift amount epsilon of axis gyroyIs ybDrift amount epsilon of axis gyrozIs zbThe drift amount of the axis gyro;
[φax，δKD，φaz]as an odometer error vector, phiaxIs xbShaft installation error, δ KDFor odometer scale factor error, phiazIs zbShaft installation errors;
Δ t: time delay between inertial navigation and odometer speeds;
[Rx，Ry，Rz]is lever arm vector, RxIs xbAxial direction lever arm, RyIs ybAxial direction lever arm, RzIs zbAn axial lever arm;
the state equation is:
Figure FDA0002959373920000021
wherein G is a system noise matrix, W is system noise, A is a system state matrix,
Figure FDA0002959373920000022
Figure FDA0002959373920000023
Figure FDA0002959373920000024
Figure FDA0002959373920000025
Figure FDA0002959373920000026
Figure FDA0002959373920000031
Figure FDA0002959373920000032
Figure FDA0002959373920000033
Figure FDA0002959373920000034
Figure FDA0002959373920000035
to be from a carrier coordinate system oxbybzbTo the navigation coordinate system oxnynznThe coordinate transformation matrix is obtained by navigation calculation;
ωieis the angular rate of rotation of the earth, RMAnd RNRespectively the radius of the earth meridian and the radius of the Mao-unitary circle, L is the latitude, VuIs the speed in the direction of the sky, VnIs the north velocity, VeEast speed, fe、fnAnd fuRespectively measuring the equivalent accelerometer in the northeast direction;
the measurement equation is as follows:
Z＝HX+V
wherein Z is measurement quantity, H is a measurement matrix, and V is measurement noise;
Figure FDA0002959373920000036
Figure FDA0002959373920000037
Figure FDA0002959373920000038
components of the equivalent velocity in the east, north and sky directions, respectively;
Figure FDA0002959373920000039
for transforming matrices of coordinates
Figure FDA00029593739200000310
Row i and column j, i being 1,2, 3; j is 1,2, 3;
VDoutputting the equivalent speed for the odometer;
Figure FDA0002959373920000041
a gyro measurement value vector is obtained;
Figure FDA0002959373920000042
respectively, the first derivatives of the northeast speed;
step 2, system initialization
Aligning the inertial navigation system, starting inertial navigation solution to obtain attitude angles [ theta, gamma, psi]TSpeed of
Figure FDA0002959373920000043
And [ lambda, phi, h]TMeanwhile, obtaining the displacement delta S through a speedometer;
ΔS＝KD·Npluseis a scalar quantity, KDAs odometer scale factor, NpluseOutputting pulses for the odometer;
the alignment method adopts a static base alignment method or a movable base alignment method;
step 3, calculating the components of the vertical displacement and the horizontal displacement
Coordinate transformation matrix obtained by navigation calculation according to step 2
Figure FDA0002959373920000044
Calculating the day component and the horizontal component of the displacement of the odometer;
Figure FDA0002959373920000045
for a 3 × 3 matrix, the antenna component of the output displacement of the odometer is:
Figure FDA0002959373920000046
the horizontal component is:
Figure FDA0002959373920000047
wherein
Figure FDA0002959373920000048
Is composed of
Figure FDA0002959373920000049
Row 3, column 2 elements;
step 4, calculating east and north displacement components
The speed obtained by navigation calculation according to the step 2
Figure FDA00029593739200000410
Calculating an east component and a north component of the displacement of the odometer; the specific method comprises the following steps:
Figure FDA00029593739200000411
Figure FDA00029593739200000412
wherein the content of the first and second substances,
Figure FDA0002959373920000051
is the east component of the displacement of the gauge,
Figure FDA0002959373920000052
is the north component of the gauge displacement;
step 5, calculating equivalent speed and updating Kalman filtering model information
Calculating the equivalent speed in the filtering period, wherein the specific formula is as follows:
Figure FDA0002959373920000053
wherein the content of the first and second substances,
Figure FDA0002959373920000054
to equivalent speed, Δ Sn(t) is Δ SnAt the value of the time t at which,
Figure FDA0002959373920000055
Tefor the filter period, TnResolving a period for navigation;
updating a system state matrix A and a measurement matrix H, and calculating a measurement Z;
step 6, performing Kalman filtering calculation on the system;
step 7, correcting inertial navigation attitude arrays, speed and position errors, and correcting odometer scale coefficients and installation errors;
wherein the attitude error is phi ═ X (3) X (4) X (5)]T，
The inertial navigation attitude array error correction formula is
Figure FDA0002959373920000056
I is unit momentArraying;
inertial navigation speed error is delta V ═ X (0) X (1) X (2)]T，
The velocity error correction method is Vn＝Vn-δV；
The inertial navigation position error correction method comprises
λ＝λ-X (6)
L＝L-X (7)
h＝h-X (8)
The scale coefficient error of the odometer is delta KD＝X(15)，
The odometer scale coefficient error correction method is KD＝KD×(1+δKD)；
After each correction amount is used, the corresponding state quantity is set to be zero.
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