CN112697166A - Self-alignment method of strapdown inertial navigation system in motion state - Google Patents

Self-alignment method of strapdown inertial navigation system in motion state Download PDF

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CN112697166A
CN112697166A CN202011218434.0A CN202011218434A CN112697166A CN 112697166 A CN112697166 A CN 112697166A CN 202011218434 A CN202011218434 A CN 202011218434A CN 112697166 A CN112697166 A CN 112697166A
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velocity
increment
angular displacement
attitude
alignment
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CN112697166B (en
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牛亚辉
姜校亮
李健一
黄科
段明月
可伟
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Hebei Hanguang Heavy Industry Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention discloses a self-alignment method of a strapdown inertial navigation system in a motion state, which comprises the steps of collecting angular displacement increment of a gyroscope output, speed increment of an accelerometer output line and corresponding time and resolving to obtain an initial moment attitude; resolving again by utilizing the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain the velocity of each moment; calculating a control angular velocity by taking the velocity as a reference velocity, carrying out compass alignment by using the control angular velocity and combining the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain an end moment attitude, and recording the velocity obtained in the compass alignment process; resolving again by utilizing the tail moment attitude, the angular displacement increment and the linear velocity increment to obtain an initial moment attitude; and calculating a control angular velocity by taking the velocity in the compass alignment process as a reference velocity, and performing compass alignment by combining the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain and output the tail moment attitude. The invention can improve the navigation precision of the inertial navigation system.

Description

Self-alignment method of strapdown inertial navigation system in motion state
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a self-alignment method of a strapdown inertial navigation system in a motion state.
Background
The inertial navigation system must perform initial alignment before entering a navigation state, and the quality of the initial alignment directly affects the navigation result. The compass alignment method is a self-alignment method, does not depend on external input, and therefore has good reliability and concealment. The compass alignment does not require an accurate mathematical model, the algorithm is simple and has small calculation amount, and the extreme alignment accuracy can be achieved, so that the compass alignment method is an ideal self-alignment method. However, when there is movement of the carrier, the alignment result is greatly affected, and a large error is generated.
Under the condition of carrier motion, the angular velocity of the carrier caused by disturbance of the ground speed can be contained in the output of the gyroscope, the involved acceleration caused by the ground speed and the acceleration of the carrier can be contained in the output of the accelerometer, and the disturbance can cause the reduction of the alignment precision and even generate great errors. It is common practice to compensate by adding an external speed measurement device (e.g. GPS) and introducing external speed measurement information. The introduction of an external speed measuring device increases the complexity of the system, reduces the reliability of the system, and does not allow the introduction of external speed information in some special environments.
Therefore, the self-alignment method for researching the strapdown inertial navigation system in the motion state has important significance.
Disclosure of Invention
In view of this, the invention provides a self-alignment method of a strapdown inertial navigation system in a motion state, which can improve the navigation accuracy of the inertial navigation system.
The technical scheme adopted by the invention is as follows:
a self-alignment method of a strap-down inertial navigation system in a motion state comprises the following steps:
acquiring gyroscope output angular displacement increment, accelerometer output line speed increment and corresponding time;
resolving according to the angular displacement increment and the linear velocity increment acquired in the step one to obtain an initial moment attitude;
resolving again by utilizing the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain the velocity of each moment; calculating a control angular velocity by taking the velocity as a reference velocity, carrying out compass alignment by using the control angular velocity and combining the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain an end moment attitude, and recording the velocity obtained in the compass alignment process;
resolving again by using the tail moment attitude, the angular displacement increment and the linear velocity increment to obtain an initial moment attitude; and calculating a control angular velocity by taking the velocity in the compass alignment process in the third step as a reference velocity, and performing compass alignment by combining the initial moment attitude, the angular displacement increment and the linear velocity increment in the fourth step to obtain and output an end moment attitude.
Further, the method for obtaining the initial time posture in the second step specifically comprises the following steps:
step 201, carrying out coarse alignment according to the angular displacement increment and the linear velocity increment acquired in the step one to obtain the posture of the tail moment;
202, performing reverse pure inertia calculation by utilizing the tail moment attitude, the angular displacement increment and the linear velocity increment to obtain an initial moment attitude;
step 203, carrying out compass method alignment by using the initial time posture of the step 202 and the angular displacement increment and linear velocity increment acquired in the step one to obtain a new tail time posture;
and 204, substituting the new tail time posture in the step 203 into the step 202, repeating the step 202 and the step 203 until the absolute difference value between the tail time posture of the last cycle and the last tail time posture is smaller than a set threshold, entering the step three, and taking the initial time posture of the last cycle as the initial time posture in the step three.
Further, the calculating method in the third step is forward pure inertia calculating, and the calculating method in the fourth step is reverse pure inertia calculating.
Further, the threshold value was set to 0.01.
Further, the angular velocity w is controlled in the third stepcThe calculation method comprises the following steps: w is ac＝[wEc,wNc,wUc]T；
wEc＝-δvN(1+KU2)/Re
Figure BDA0002761204970000031
Figure BDA0002761204970000032
Figure BDA0002761204970000033
Figure BDA0002761204970000034
Figure BDA0002761204970000035
Figure BDA0002761204970000036
Figure BDA0002761204970000037
The speed in the compass alignment process;
Figure BDA0002761204970000038
is the carrier velocity;
Figure BDA0002761204970000039
an east velocity component, a north velocity component and a sky velocity component respectively; t issCalculating a period for inertial navigation; kE1,KE2,KE3,KU1,KU2,KU3,KU4Is a fixed constant; f. ofEIs the component of the linear velocity delta in the geographic east direction; p is a radical ofEIntermediate variables, no actual meaning; reIs the radius of the earth; f. ofNThe component of the linear velocity increment in the north direction of geography, and L is the latitude of the location of inertial navigation.
Has the advantages that:
the method adopts the method of aligning for many times and estimating the carrier speed as the reference speed, can better inhibit the alignment error caused by the carrier motion, does not need to introduce additional measurement components, and improves the navigation precision, the adaptability and the reliability of the inertial navigation system.
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FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a self-alignment method of a strapdown inertial navigation system in a motion state, which comprises the following operation steps as shown in figure 1:
the method comprises the following steps: starting the inertial navigation system to enter an initial alignment state, and acquiring the output angular displacement increment of the gyroscope in real time
Figure BDA0002761204970000041
And accelerometer output line velocity increment
Figure BDA0002761204970000042
And corresponding time tiAnd storing, wherein: 1, 2., len, i represents a time sequence number, and len represents a sequence number of a final time of data collection.
Step two: by using collected
Figure BDA0002761204970000043
Performing coarse alignment to obtain tlenAttitude at time, i.e. end time
Figure BDA0002761204970000044
Step three: by posture
Figure BDA0002761204970000045
And
Figure BDA0002761204970000046
from tlenTo t1Carrying out reverse pure inertia resolving to obtain t1Attitude at time, i.e. initial time
Figure BDA0002761204970000047
Step four: posture of use
Figure BDA0002761204970000048
As initial pose, combined with step one acquisition
Figure BDA0002761204970000049
From t1To tlenCarrying out compass method alignment to obtain tlenAttitude of time R1, assigning R1 to
Figure BDA00027612049700000410
As a new pose.
Step five: repeating step three and step four until
Figure BDA00027612049700000411
R' is the last gesture at the previous time, th1 is the custom threshold, which is set to 0.01 in this embodiment.
Step six: using initial attitude during last cycle
Figure BDA00027612049700000412
And
Figure BDA00027612049700000413
from t1To tlenTo carry out positive pure inertiaResolving to obtain the speed of each time
Figure BDA00027612049700000414
Using the obtained speed
Figure BDA00027612049700000415
Calculating control angular velocity w as reference velocitycCombined with initial attitude of last cycle
Figure BDA00027612049700000416
And
Figure BDA00027612049700000417
from t1To tlenCarrying out compass alignment to obtain tlenAttitude of time R2, assigning R2 to
Figure BDA00027612049700000418
And recording the speed obtained during the course of compass alignment
Figure BDA00027612049700000419
I.e. the carrier velocity. Wherein:
Figure BDA00027612049700000420
Figure BDA00027612049700000421
an east velocity component, a north velocity component, and a sky velocity component, respectively. Controlling angular velocity wcThe calculation method comprises the following steps:
Figure BDA0002761204970000051
Figure BDA0002761204970000052
Figure BDA0002761204970000053
wEc＝-δvN(1+KU2)/Re
Figure BDA0002761204970000054
Figure BDA0002761204970000055
Figure BDA0002761204970000056
i.e. the control angular velocity at a certain moment.
Wherein: t issResolving the period for inertial navigation, KE1,KE2,KE3,KU1,KU2,KU3,KU4Is a fixed constant. f. ofEIs the component of the linear velocity increment in the east geographic direction, pEIntermediate variables, no actual meaning; reIs the radius of the earth; f. ofNThe component of the linear velocity increment in the north direction of geography, and L is the latitude of the location of inertial navigation.
Step seven: using the attitude in step six
Figure BDA0002761204970000057
Namely R2,
Figure BDA0002761204970000058
And
Figure BDA0002761204970000059
from tlenTo t1Reverse pure inertia resolving is carried out to obtain t again1Attitude of time
Figure BDA00027612049700000510
Using the speed obtained in step six
Figure BDA00027612049700000511
As reference speedDegree calculation control angular velocity
Figure BDA00027612049700000512
The calculation method is the same as the sixth step and combines the initial posture of the seventh step
Figure BDA00027612049700000513
And
Figure BDA00027612049700000514
from t1To tlenObtaining t by compass alignmentlenAttitude R3 at time.
Step eight: and outputting inertial navigation attitude R3.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A self-alignment method of a strap-down inertial navigation system in a motion state is characterized by comprising the following steps:
acquiring gyroscope output angular displacement increment, accelerometer output line speed increment and corresponding time;
resolving according to the angular displacement increment and the linear velocity increment acquired in the step one to obtain an initial moment attitude;
resolving again by utilizing the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain the velocity of each moment; calculating a control angular velocity by taking the velocity as a reference velocity, carrying out compass alignment by using the control angular velocity and combining the initial moment attitude, the angular displacement increment and the linear velocity increment to obtain an end moment attitude, and recording the velocity obtained in the compass alignment process;
resolving again by using the tail moment attitude, the angular displacement increment and the linear velocity increment to obtain an initial moment attitude; and calculating a control angular velocity by taking the velocity in the compass alignment process in the third step as a reference velocity, and performing compass alignment by combining the initial moment attitude, the angular displacement increment and the linear velocity increment in the fourth step to obtain and output an end moment attitude.
2. The self-alignment method of the strapdown inertial navigation system under motion state of claim 1, wherein the method for obtaining the initial time attitude in the second step comprises the following specific steps:
step 201, carrying out coarse alignment according to the angular displacement increment and the linear velocity increment acquired in the step one to obtain the posture of the tail moment;
202, performing reverse pure inertia calculation by utilizing the tail moment attitude, the angular displacement increment and the linear velocity increment to obtain an initial moment attitude;
step 203, carrying out compass method alignment by using the initial time posture of the step 202 and the angular displacement increment and linear velocity increment acquired in the step one to obtain a new tail time posture;
and 204, substituting the new tail time posture in the step 203 into the step 202, repeating the step 202 and the step 203 until the absolute difference value between the tail time posture of the last cycle and the last tail time posture is smaller than a set threshold, entering the step three, and taking the initial time posture of the last cycle as the initial time posture in the step three.
3. The self-alignment method of the strapdown inertial navigation system under motion state of claim 1, wherein the solution method in step three is a forward pure inertial solution, and the solution method in step four is a reverse pure inertial solution.
4. The method for self-aligning the strapdown inertial navigation system in motion according to claim 2, wherein the set threshold is 0.01.
5. The method for self-aligning the strapdown inertial navigation system under motion of claim 1, wherein the angular velocity w is controlled in step threecThe calculation method comprises the following steps: w is ac＝[wEc,wNc,wUc]T；
wEc＝-δvN(1+KU2)/Re
Figure FDA0002761204960000021
Figure FDA0002761204960000022
Figure FDA0002761204960000023
Figure FDA0002761204960000024
Figure FDA0002761204960000025
Figure FDA0002761204960000026
Figure FDA0002761204960000027
The speed in the compass alignment process;
Figure FDA0002761204960000028
is the carrier velocity;
Figure FDA0002761204960000029
an east velocity component, a north velocity component and a sky velocity component respectively; t issCalculating a period for inertial navigation; kE1,KE2,KE3,KU1,KU2,KU3,KU4Is a fixed constant; f. ofEIs the component of the linear velocity delta in the geographic east direction; p is a radical ofEIntermediate variables, no actual meaning; reIs the radius of the earth; f. ofNThe component of the linear velocity increment in the north direction of geography, and L is the latitude of the location of inertial navigation.
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