CN112781614B - Rocket double-strapdown inertial measurement unit reference consistency compensation method - Google Patents
Rocket double-strapdown inertial measurement unit reference consistency compensation method Download PDFInfo
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Abstract
The invention relates to a rocket double strapdown inertial measurement unit reference consistency compensation method, which comprises the following steps: measuring potential difference of a master-slave inertial group; collecting master-slave inertial data; obtaining the out-of-level degree through the measurement of the master-slave inertial unit, and respectively calculating the out-of-level degree of the master-slave inertial unit and the out-of-level degree of the master-slave inertial unit by adopting the data output by the accelerometers measured by the master-slave inertial unit and the slave-slave inertial unit to obtain the out-of-level degree difference of the slave inertial unit relative to the master inertial unit; calculating a reference conversion matrix of the slave inertial measurement unit relative to the master inertial measurement unit so as to obtain an installation error compensation matrix of the slave inertial measurement unit; the slave inertial set navigation datum and the master inertial set can be unified through the slave inertial set relative to the master inertial set datum conversion matrix, the datum deviation of the master inertial navigation datum and the slave inertial navigation datum is eliminated, the flight control accuracy of the carrier is guaranteed, and the rocket double strapdown inertial set datum consistency compensation is completed. According to the method, the non-horizontality difference and the azimuth difference of the slave inertial set relative to the master inertial set are obtained and used for calculating the slave inertial set installation error compensation matrix, the reference deviation of master-slave inertial navigation data is eliminated, and the flight control accuracy of the carrier is guaranteed.
Description
Technical Field
The invention relates to a rocket double strapdown inertial measurement unit reference consistency compensation method, and belongs to the technical field of carrier rocket control.
Background
The carrier rocket is provided with two sets of inertial units, and the inertial units are used for navigation control by redundant judgment. The two sets of inertial sets are installed on the same support, and the two sets of inertial sets are inconsistent in reference due to deformation of the support, so that navigation information is discontinuous when the inertial sets are switched in flight, large deviation is brought, and a consistency relation between the two sets of inertial sets needs to be established.
For the problem, two sets of inertial unit initial benchmarks can be established to complete respective navigation calculation, the method is simple, but two sets of aiming and benchmark establishing systems are needed, the system is complex, and the method is not suitable for establishing the rocket strapdown inertial unit system benchmarks with limited space.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method is characterized in that the difference between a main inertial unit and a backup inertial unit is calculated through the measurement information of an autocollimator and the respective adding table sensitive information of the two sets of inertial units, so that the reference relation between the main inertial unit and the backup inertial unit is obtained, and the double-inertial-unit reference compensation is completed.
The technical scheme of the invention is as follows:
a rocket double strapdown inertial measurement unit reference consistency compensation method comprises the following specific steps:
s1, measuring potential difference of master-slave inertia group
Fixedly mounting the master inertia unit and the slave inertia unit on a mounting base, respectively aiming the master inertia unit and the slave inertia unit to obtain the azimuth difference delta theta between the slave inertia unit and the master inertia unit x21 ；
S2, collecting the master-slave inertial data after powering up the master-slave inertial data;
s3, obtaining the non-levelness through the measurement of the master-slave inertial set, respectively calculating the non-levelness of the master-slave inertial set by adopting the output data of the accelerometers measured by the master-slave inertial set, and obtaining the non-levelness difference delta theta between the slave inertial set and the master inertial set z21 、Δθ y21 ：
S4, calculating a reference conversion matrix of the slave inertial measurement unit relative to the master inertial measurement unit so as to obtain an installation error compensation matrix of the slave inertial measurement unit;
and S5, the slave inertial set navigation datum and the master inertial set can be unified through the slave inertial set relative to the master inertial set datum conversion matrix, the datum deviation of the master inertial navigation datum and the slave inertial navigation datum is eliminated, the flight control accuracy of the carrier is ensured, and the rocket double strapdown inertial set datum consistency compensation is completed.
Further, in S2, master-slave inertial data acquisition is carried out on output data information of the accelerometer and the gyroscope.
Further, in S3, the first step,
wherein, theta y1 Combining the degrees of pitch imbalance, θ, for a first set of inertial measurements z1 Combining yaw non-horizontality for the first set of inertial measurements; theta y2 For the second set of inertial measurements combined with pitch imbalance, θ z2 Yaw misalignment is combined for the second set of inertial measurements.
Further, in the above-mentioned case,
wherein T is the cumulative time, g 0 Is the local gravitational acceleration, δ W y1 The output data of the y-axis accelerometer is combined for the first set of inertial measurements.
Further, in the above-mentioned case,
wherein T is the cumulative time, g 0 Is the local gravitational acceleration, δ W z1 And combining the output data of the Z-axis accelerometer for the first set of main inertial measurement units.
Further, in the above-mentioned case,
wherein T is the cumulative time g 0 Is the local gravitational acceleration, δ W y2 The second set combines the output data of the y-axis accelerometer from inertial measurements of the inertial group.
In a further aspect of the present invention,
wherein T is the cumulative time g 0 Is the local gravitational acceleration, δ W z2 The output data of the Z-axis accelerometer is combined for the second set of inertial measurements.
Further, in S4, from the mounting error compensation matrix of the inertial measurement unit:
wherein E axy2 、E axz2 、E ayx2 、E ayz2 、E azx2 、E azy2 For mounting errors from inertial group accelerometers, for guidance vector, Δ θ z21 、Δθ y21 、Δθ x21 The difference between the horizontal degree and the azimuth of the slave inertial set relative to the master inertial set.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the method, the non-horizontality difference and the azimuth difference of the slave inertial set relative to the master inertial set are obtained and used for calculating the slave inertial set installation error compensation matrix, the reference deviation of master-slave inertial navigation data is eliminated, and the flight control accuracy of the carrier is ensured;
(2) The invention realizes the effects of eliminating the inertial navigation reference deviation of the slave inertial navigation unit and improving the flight control accuracy of the carrier.
Drawings
FIG. 1 is a flow chart of the calculation of the master-slave inertial measurement unit installation error compensation matrix.
Detailed Description
The invention is further illustrated by the following examples.
Examples
Aiming at an active rocket, selecting a reference consistent compensation process of a double strapdown inertial measurement unit before launching, and then concretizing the related parameter values to carry out specific example description.
A rocket double-strapdown inertial measurement unit reference consistency compensation method is shown in figure 1 and comprises the following specific steps:
s1, measuring potential difference of master-slave inertial group
Fixedly mounting the master inertia unit and the slave inertia unit on a mounting reference plane, respectively aiming the master inertia unit and the slave inertia unit to obtain the azimuth difference delta theta between the slave inertia unit and the master inertia unit x21 ＝-20.8″＝-0.0001008rad；
S2, after the master-slave inertial unit is powered on, collecting master-slave inertial unit data, and collecting output data of an accelerometer and a gyroscope;
s3, obtaining the out-of-levelness through the measurement of the master-slave inertial measurement unit
Respectively calculating the out-of-level degree of the master inertial set and the slave inertial set by adopting the accelerometer output data measured by the master inertial set and the slave inertial set to obtain the out-of-level degree difference delta theta of the slave inertial set relative to the master inertial set z21 、Δθ y21 ：
Δθ z21 ＝θ z2 -θ z1 ＝217.6″＝0.0010550rad
Δθ y21 ＝θ y2 -θ y1 ＝67.9″＝0.0003292rad
Where T is the accumulation time, T =1s,g 0 Is the local gravitational acceleration, δ W y1 Is the output data of the main inertial group y-axis accelerometer, delta W z1 Is output data of the main inertial group Z-axis accelerometer, theta y1 Primary inertial group pitch out-of-level, θ z1 Yawing out-of-levelness of the main inertial measurement unit; δ W y2 Output data from inertial group y-axis accelerometer, δ W z2 For output data from an inertial set of Z-axis accelerometers, θ y2 To pitch from the inertial mass to yaw, θ z2 Is to yaw from the inertial set to be out of level.
S4, calculating a reference conversion matrix of the slave inertial set relative to the master inertial set
The mounting error compensation matrix from the inertial set can thus be obtained:
wherein E axy2 、E axz2 、E ayx2 、E ayz2 、E azx2 、E azy2 For mounting errors from inertial group accelerometers, for guidance vector, Δ θ z21 、Δθ y21 、Δθ x21 The difference of the out-of-level degree and the azimuth of the slave inertial set relative to the master inertial set;
and S5, the slave inertial set navigation datum and the master inertial set can be unified through the slave inertial set relative to the master inertial set datum conversion matrix, the datum deviation of the master inertial navigation datum and the slave inertial navigation datum is eliminated, the flight control accuracy of the carrier is ensured, and the rocket double strapdown inertial set datum consistency compensation is completed.
According to the method, the non-horizontality difference and the azimuth difference of the slave inertial set relative to the master inertial set are obtained and used for calculating the slave inertial set installation error compensation matrix, the reference deviation of master-slave inertial navigation data is eliminated, and the flight control accuracy of the carrier is guaranteed.
The invention realizes the effects of eliminating the inertial navigation reference deviation of the slave inertial navigation unit and improving the flight control accuracy of the carrier.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (6)
1. A rocket double strapdown inertial measurement unit reference consistency compensation method is characterized by comprising the following specific steps:
s1, measuring potential difference of master-slave inertial group
Fixedly mounting the master-slave inertial units on a mounting base, respectively aiming the master-slave inertial units to obtain the azimuth difference delta theta between the slave inertial units and the master inertial unit x21 ；
S2, collecting the master-slave inertial data after powering up the master-slave inertial data;
s3, obtaining the non-levelness through the measurement of the master-slave inertial set, respectively calculating the non-levelness of the master-slave inertial set by adopting the output data of the accelerometers measured by the master-slave inertial set, and obtaining the non-levelness difference delta theta between the slave inertial set and the master inertial set z21 、Δθ y21 ：
S4, calculating a reference conversion matrix of the slave inertial measurement unit relative to the master inertial measurement unit so as to obtain an installation error compensation matrix of the slave inertial measurement unit;
s5, the slave inertial set navigation datum and the master inertial set can be unified through the slave inertial set relative to the master inertial set datum conversion matrix, the datum deviation of the master inertial navigation datum and the slave inertial navigation datum is eliminated, the flight control accuracy of the carrier is guaranteed, and the rocket double strapdown inertial set datum consistency compensation is completed;
in the step S3, the step of,
wherein, theta y1 Combining the first set of inertial measurements with the pitch out-of-level, θ z1 Yaw non-horizontality is combined for the first set of inertial measurement; theta y2 For the second set of inertial measurements combined with pitch-out-of-level, θ z2 Combining yaw misalignment for the second set of inertial measurements;
in S4, the installation error compensation matrix of the slave inertial measurement unit:
wherein E axy2 、E axz2 、E ayx2 、E ayz2 、E azx2 、E azy2 For mounting errors from inertial group accelerometers, for guidance vector, Δ θ z21 、Δθ y21 、Δθ x21 The difference between the horizontal degree and the azimuth of the slave inertial set relative to the master inertial set.
2. The rocket dual-strapdown inertial measurement unit reference-consistent compensation method according to claim 1, wherein in S2, master-slave inertial measurement unit data is performed to acquire output data information of an accelerometer and a gyroscope.
3. The rocket dual strapdown inertial measurement unit reference-consistent compensation method of claim 1,
wherein T is the cumulative time g 0 Is the local gravitational acceleration，δW y1 The output data of the y-axis accelerometer is combined for the first set of inertial measurements.
4. The rocket dual strapdown inertial measurement unit reference-consistent compensation method of claim 1,
wherein T is the cumulative time g 0 Is the local gravitational acceleration, δ W z1 And combining the output data of the Z-axis accelerometer for the first set of main inertial measurement units.
5. The rocket dual strapdown inertial measurement unit reference-consistent compensation method of claim 1,
wherein T is the cumulative time g 0 Is the local gravitational acceleration, δ W y2 The second set combines the output data of the y-axis accelerometer from inertial measurements of the inertial group.
6. The rocket dual strapdown inertial measurement unit reference-consistent compensation method of claim 1,
wherein T is the cumulative time, g 0 Is the local gravitational acceleration, δ W z2 The output data of the Z-axis accelerometer is combined for the second set of inertial measurements.
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| CN106568464A (en) * | 2016-11-14 | 2017-04-19 | 北京航天自动控制研究所 | Installation reference self-calibration method among multiple inertial groups |
| CN109781146A (en) * | 2019-03-07 | 2019-05-21 | 西安微电子技术研究所 | A kind of used group of installation error compensation method of bay section assembly |
| CN111561948A (en) * | 2019-12-05 | 2020-08-21 | 北京计算机技术及应用研究所 | System-level calibration method of four-axis redundant strapdown inertial navigation |
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| US7421343B2 (en) * | 2005-10-27 | 2008-09-02 | Honeywell International Inc. | Systems and methods for reducing vibration-induced errors in inertial sensors |
| IL222221B (en) * | 2012-09-27 | 2019-03-31 | Rafael Advanced Defense Systems Ltd | Improved inertial navigation system and method |
| CN105222806B (en) * | 2015-10-10 | 2018-06-26 | 上海新跃仪表厂 | A kind of carrier rocket double strapdown is used to group azimuth deviation caliberating device and a method |
| CN106997053B (en) * | 2017-02-24 | 2019-11-12 | 北京航天自动控制研究所 | A kind of navigation Consistency test method of three strapdown inertial measurement unit of stand base altogether |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106568464A (en) * | 2016-11-14 | 2017-04-19 | 北京航天自动控制研究所 | Installation reference self-calibration method among multiple inertial groups |
| CN109781146A (en) * | 2019-03-07 | 2019-05-21 | 西安微电子技术研究所 | A kind of used group of installation error compensation method of bay section assembly |
| CN111561948A (en) * | 2019-12-05 | 2020-08-21 | 北京计算机技术及应用研究所 | System-level calibration method of four-axis redundant strapdown inertial navigation |
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