CN112304310A - Inertial navigation method based on gyroscope information - Google Patents
Inertial navigation method based on gyroscope information Download PDFInfo
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- CN112304310A CN112304310A CN201910674113.2A CN201910674113A CN112304310A CN 112304310 A CN112304310 A CN 112304310A CN 201910674113 A CN201910674113 A CN 201910674113A CN 112304310 A CN112304310 A CN 112304310A
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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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Abstract
The invention discloses an inertial navigation method based on gyroscope information. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position of the carrier can be resolved by using platform angle sensor information, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to an inertial reference system. The system extracts useful motion information and angle information, establishes a corresponding relation between an angle and longitude and latitude, and obtains position information of the carrier. And differentiating the time according to the distance information, and giving the speed information of the carrier through mathematical calculation. The invention overcomes the defect of nonlinear increase of errors along with time in the traditional inertial navigation scheme, is suitable for inertial navigation of a carrier which stably moves at a constant speed or at a slow speed near the earth surface and has low maneuverability, and has the characteristics of strong anti-interference capability, high long-term precision and good stability.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to an inertial navigation method based on gyroscope information.
Background
In the traditional inertial navigation technology, a gyroscope and an accelerometer are used as sensors to sense the motion information of a carrier, and the attitude, the speed and the position information of the carrier are obtained in a multi-time integration mode. Due to the adoption of multiple integrations, the position error of the inertial navigation system increases in a nonlinear manner along with the time, so that the positioning accuracy is rapidly reduced along with the increase of the navigation time, and the navigation performance is rapidly reduced. The reduction of the rapid increase of the navigation error of the carrier during long-time navigation is a deficiency of the traditional inertial navigation system and is the content of the intensive research of the invention.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention aims to provide an inertial navigation method based on gyroscope information, and provides a method for building a gyroscope stable platform by using a position gyroscope, building a three-dimensional space coordinate system, solving the problem of measuring reference of input signals, controlling the platform to be stable in a geocentric inertial system by using the stability of the gyroscope, outputting useful angle information, calculating navigation information such as carrier speed, position and the like, and overcoming the defect that navigation accuracy is sharply reduced along with time extension due to multiple integration in the traditional inertial navigation system.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
an inertial navigation system based on gyroscope information comprises a stable platform, a navigation calculation module and an input/output module; the stabilizing platform comprises a middle circular table, an inner balance frame parallel to the middle circular table and an outer balance frame vertical to the middle circular table, wherein 3 gyroscopes with mutually vertical input shafts, 3 accelerometers with mutually vertical input shafts and corresponding angle sensors are arranged on the middle circular table; the navigation calculation module is connected with the input and output module, the gyroscope, the accelerometer and the angle sensor; the input and output module is used for inputting initial parameters to the navigation calculation module and outputting and displaying navigation results calculated by the navigation calculation module; the navigation calculation module calculates speed and position information of the carrier according to data collected by the gyroscope and initial parameters, and the navigation calculation module calculates navigation information of the carrier according to data collected by the angle sensor.
The navigation method of the inertial navigation system based on the gyroscope information comprises the following steps:
step 1: a stable platform is configured using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum, wherein the accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position can be resolved by using the information of the platform angle sensor, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to the inertial reference system.
1) The gyro stabilizing platform adopted by the scheme is stable relative to the geocentric inertial system all the time, when the carrier moves from one point to another point on the ground, no control information is provided for the gyroscope, namely, no moment is applied, the stability of the gyroscope is utilized to control the platform to be stable in the geocentric inertial system, and the platform coordinate system simulates the geocentric inertial system at the moment. Fig. 3 is a schematic diagram of A, B two-point platform coordinate system relative to earth coordinate system, and fig. 4 is a schematic diagram of the stabilized platform tracking earth.
2) A three-dimensional space coordinate system is established by utilizing the gyro stabilization platform, the measurement reference of an input signal is solved, the platform angle sensor provides angle information, and the information of the accelerometer is used as the basis for auxiliary judgment. Fig. 1 is a top view of a stabilization platform of the present invention, and fig. 2 is a three-dimensional perspective view of a stabilization platform of the present invention.
Step 2: and outputting information by using the platform angle sensor to obtain the position information of the carrier. The key point for solving the problem is that when the acceleration module value | a | of the carrier approaches the gravity acceleration value g, the mass pendulum pointing to the geocentric direction at the moment and the geocentric inertial coordinate system OX are outputiYiZiThe three direction cosine angles.
And step 3: and solving the horizontal speed information of the carrier based on the cosine angles in the three directions.
Adopt the beneficial effect that above-mentioned technical scheme brought:
(1) the method provided by the invention aims at the carrier which stably moves at a constant speed or a slow speed near the surface of the earth, so that the carrier can effectively keep better positioning precision and positioning effect during long-time navigation, and the defect that the navigation error of the traditional inertial navigation system increases in a nonlinear manner along with the increase of time is avoided.
(2) The platform scheme provided by the invention has the advantages of reliable principle, flexible means and stable performance, improves the applicability and effectiveness of the inertial navigation system, and provides a new thought and method for the actual work of a novel inertial navigation platform.
Drawings
FIG. 1 is a top view of a stabilization platform of the present invention;
FIG. 2 is a three-dimensional perspective view of the stabilization platform of the present invention;
FIG. 3 is a schematic representation of A, B two-point platform coordinate system relative to a terrestrial coordinate system;
FIG. 4 is a schematic illustration of the stabilized platform of the present invention tracking the earth;
FIG. 5 is a schematic view of the movement of the carrier of the system of the present invention;
fig. 6 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention provides a system scheme and an algorithm for inertial navigation by only depending on position gyro output information and using an accelerometer to assist in judging and acquiring navigation information, which reduce the complexity of the system and provide a solution for further improving the navigation precision, aiming at the problem that the navigation performance is rapidly reduced due to nonlinear rapid divergence of carrier navigation errors in long-time navigation of a traditional inertial navigation system. The flow chart of the algorithm used is shown in fig. 6. The method comprises the following steps:
step 1: a stable platform is configured using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum, wherein the accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position can be resolved by using the information of the platform angle sensor, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to the inertial reference system. The method comprises the following steps:
1) the gyro that this scheme adopted stabilizes the platform all the time relatively geocentric inertial system is stable, when the carrier removed from ground one point to another point, does not have control information to the gyroscope, does not exert moment promptly, and the gyroscope main shaft remains unchanged in geocentric inertial system, and the stability control platform that utilizes the gyroscope is stable at geocentric inertial system, through follow-up system stable platform tracking gyroscope all the time to guarantee that the platform is stabilized in inertial space, platform coordinate system simulation geocentric inertial coordinate system this moment. FIG. 1 is a schematic representation of the relative position of a stabilized platform and the earth's surface.
From the kinematic relationship, considering the carrier as a mass point, the rotation angle of the carrier relative to the inertial coordinate system (g system) includes two parts: the rotation angle of the earth coordinate system (e system) relative to the inertial coordinate system (i system) and the rotation angle of the geographic coordinate system (g system) relative to the earth coordinate system (e system) can be expressed as:
Aig＝Aie+Aeg
2) a three-dimensional space coordinate system is established by utilizing the gyro stabilization platform, the measurement reference of an input signal is solved, the platform angle sensor provides angle information, and the information of the accelerometer is used as the basis for auxiliary judgment.
Fig. 2 shows the arrangement of the novel inertial navigation platform based on gyroscope information, where the platform has three degrees of freedom, which are structurally guaranteed by the platform shaft, the inner gimbal and the outer gimbal.
Three gyroscopes are placed on the platform with their input axes perpendicular to each other. Gyroscope GYParallel to the OY of the platformPThe axis, angular momentum H, is perpendicular to the platform face. Gyroscope GXWith input axis parallel to the platform OXPThe axis, angular momentum H, is perpendicular to the platform face. Gyroscope GZWith the input axis parallel to the OZ of the platformPAxis (i.e., azimuth axis), angular momentum H is parallel to the platform face.
Three accelerometers A mounted on a platformXAnd AYRespectively placed along east-west and south-north directions, accelerometer AZSet of their sensitive axes, placed perpendicularly to the table-topThe three-dimensional orthogonal coordinate system is formed, the platform has no rotation angular velocity relative to the inertial space, and the output of the accelerometer does not contain a Coriolis acceleration term and a centripetal acceleration term. Because the carrier is stable relative to the inertial space, when the carrier moves, the direction of the platform coordinate system relative to the gravity acceleration g is constantly changed, so that g components appearing in output signals of the three accelerometers
At an initial time, the platform system and the inertial system coincide. A mass pendulum is suspended on the carrier, and the mass pendulum always points to the geocentric direction under the condition that the carrier does not have displacement acceleration. Assuming that the gravity acceleration g is just vertical to the platform when the platform is at the starting point A, so that the accelerometer horizontally arranged on the platform does not sense the component of the gravity acceleration g, and when the platform reaches the point B, the accelerometer measures the component g of the gravity acceleration in addition to the displacement acceleration of the carrierX、gY、gZ。
The method comprises the following steps: 2: and outputting information by using the platform angle sensor to obtain the position information of the carrier. The key point for solving the problem is that when the absolute value of theiYiZiThe cosine angles alpha, beta, gamma in three directions. FIG. 5 is a schematic diagram of the movement of the carrier of the system of the present invention.
Suppose the outputs of three accelerometers on the platform are: a isX、aY、aZThe modulus of the acceleration output of the carrier at this time is
Because the mass pendulum points to the earth center vertically when the motion acceleration of the carrier is zero, the direction cosine angle between the mass pendulum and the earth center inertia coordinate system can be obtained, when the solved | a | approaches to the gravity acceleration value g, the mass pendulum pointing to the earth center direction at the moment and the earth center inertia coordinate system OX are outputiYiZiThe cosine angles alpha, beta, gamma in three directions.
The vector latitude at the point A and the latitude at the point B are respectively obtained by the cosine angle of the direction
The longitude variation of the carrier at point A, B is obtained, that is, the included angle between the points A 'and B' projected by the points A 'and B' of the carrier at XOY and A and B is obtained.
Since the projection point coordinates are:
A′(R cosα1，R cosβ1)；B′(R cosα2，R cosβ2)
the length of a 'B', OA ', OB' can be expressed as:
according to
The longitude variation Δ λ of the carrier can be obtained. The initial longitude and latitude of the gyroscope is assumed to be lambda0The navigation time for moving to the current geographic position is t, the longitude difference between the initial geographic position and the current geographic position is delta lambda, and the rotation angular speed of the earth coordinate system relative to the inertial coordinate system is omegaieThen the latitude and longitude information of the current position can be represented as λ0+Δλ-ωieT, calculating the longitude and latitude of the carrier in real time:
the method comprises the following steps: 3: carrier horizontal velocity information is resolved based on the three directional cosine angles α, β, γ. The velocity information may be obtained by differentiating the position information with respect to time, and may be expressed as:
where R is the radius of the earth and t is the time for the carrier to travel the arc length of the earth's surface.
Aiming at the defect that the navigation precision is sharply reduced along with the time extension caused by multiple times of integration in the traditional inertial navigation system, the invention researches the navigation system and the algorithm for reducing the times of integration so as to solve the problem that the traditional inertial navigation error is nonlinearly and rapidly increased along with the time and meet the requirement of long-time navigation. The invention senses the motion information of the carrier around the earth through the angle sensor arranged on the platform, extracts useful motion information and angle information, establishes the corresponding relation between the angle and the longitude and latitude, and calculates the navigation information required by the carrier through mathematical derivation, thereby realizing the purpose of reducing the navigation error during long endurance.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (5)
1. An inertial navigation system based on gyroscope information, comprising:
a stabilized platform module: the stable platform is used for placing a gyroscope, an accelerometer, an angle sensor and a mass pendulum, a main shaft of the gyroscope is kept unchanged in an inertial space, the stability of the platform in the inertial space is controlled by using the stability of the gyroscope, and the platform is stabilized through a follow-up system to track the gyroscope all the time, so that the platform is ensured to be stabilized in the inertial space;
the navigation calculation module: extracting useful information according to the three-axis included angle between the suspended mass pendulum and an inertial coordinate system, and realizing the resolving of the speed information and the position information of the carrier;
a control and display module: setting initial parameters and outputting and displaying navigation parameters.
2. The inertial navigation system according to claim 1, characterized in that said platform system module comprises:
the three-ring platform consists of three position gyroscopes, three accelerometers, three angle sensors, three moment motors for controlling the axes of the gyroscopes and a mass pendulum, and the stability of the platform in the inertial space is controlled by using the stability of the gyroscopes.
3. The inertial navigation system according to claim 1, wherein said navigation computation module comprises:
the initial condition given by the control console and the included angle between the mass pendulum and the three axes of the inertial system are used for navigation calculation, the position information of the carrier is obtained according to the cosine angles of the mass pendulum pointing to the geocentric direction and the three directions of the inertial coordinate system, the speed information of the carrier is obtained through single differentiation of the position information, and the obtained carrier motion parameters and navigation parameters are sent to the display output module.
4. The inertial navigation system according to claim 1, wherein said display output module comprises:
the device comprises an output display unit and a parameter input unit, wherein the output display unit displays and outputs speed information and position information of the carrier, and the parameter input unit receives input and binding of initial parameters and correction parameters.
5. An inertial navigation method based on gyroscope information is characterized by comprising the following steps:
(1) a stable platform is configured using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum, wherein the accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position can be resolved by using the information of the platform angle sensor, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to the inertial reference system.
1) The gyroscope stabilizing platform adopted by the scheme is always stable relative to the geocentric inertial system, and is characterized in that when the carrier moves from one point to another point on the ground, no control information is provided for the gyroscope, namely, no moment is applied, the stability of the gyroscope is utilized to control the platform to be stable in the geocentric inertial system, and the platform coordinate system simulates the geocentric inertial system at the moment. Fig. 3 is a schematic diagram of A, B two-point platform coordinate system relative to earth coordinate system, and fig. 4 is a schematic diagram of the stabilized platform tracking earth.
2) A three-dimensional space coordinate system is established by utilizing the gyro stabilization platform, the measurement reference of an input signal is solved, the platform angle sensor provides angle information, and the information of the accelerometer is used as the basis for auxiliary judgment. Fig. 1 is a top view of a stabilization platform of the present invention, and fig. 2 is a three-dimensional perspective view of a stabilization platform of the present invention.
(2) And obtaining the position information of the carrier by using the platform output information. The key point for solving the problem is that when the absolute value of alpha is close to the gravity acceleration value g, the mass pendulum pointing to the direction of the geocentric at the moment and the geocentric inertial coordinate system OX are outputiYiZiThe three direction cosine angles.
(3) And solving the horizontal speed information of the carrier based on the cosine angles in the three directions.
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| CN201910674113.2A CN112304310A (en) | 2019-07-23 | 2019-07-23 | Inertial navigation method based on gyroscope information |
| PCT/CN2020/070264 WO2021012635A1 (en) | 2019-07-23 | 2020-01-03 | Gyroscope information-based inertial navigation method |
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| CN114964191A (en) * | 2022-06-02 | 2022-08-30 | 台州宏创电力集团有限公司科技分公司 | Control gyroscope and control method thereof |
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Application publication date: 20210202 |