CN112985368B - Rapid compass alignment method of underwater vehicle before launching of mobile carrying platform - Google Patents
Rapid compass alignment method of underwater vehicle before launching of mobile carrying platform Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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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
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Abstract
The invention relates to a quick compass alignment method of an underwater vehicle before launching on a mobile carrying platform, which is suitable for a quick alignment method of an underwater vehicle strapdown inertial navigation system before launching on a mobile carrier platform. The method provides a reverse compass alignment control loop, and combines forward compass alignment and reverse compass alignment by storing inertial navigation data, and repeatedly and alternately carries out forward and reverse compass alignment until the difference between the two alignments is within a given allowable range. The algorithm effectively reduces the duration of compass alignment and reduces the emission preparation time of the underwater vehicle by repeatedly aligning the stored data on the premise of the same alignment precision.
Description
Technical Field
The invention belongs to an underwater vehicle compass alignment method, and relates to a quick compass alignment method of an underwater vehicle before the underwater vehicle is launched from a mobile carrying platform, so as to shorten initial alignment time and improve initial alignment precision.
Background
The inertial navigation system has the advantages of no interference of external signals and strong autonomy, and is an important component of underwater vehicles such as underwater vehicles and the like. In an underwater environment where GPS/Beidou signals cannot be received and geomagnetism is easily interfered, the advantage of strong autonomy of inertial navigation plays an especially obvious role in positioning an underwater carrier. On an underwater vehicle moving at a low speed, a strapdown inertial navigation system is often subjected to information fusion with a Doppler velocity meter and a depth meter to form a strapdown inertial navigation/Doppler velocity meter/depth meter combined navigation system; in an underwater vehicle moving at a high speed, a strapdown inertial navigation system is often combined with a speedometer to form a strapdown inertial navigation/speedometer/depth meter combined navigation system.
The initial alignment is the first step of navigation of the strapdown inertial navigation system, and the excellent initial alignment method is favorable for improving the precision of the integrated navigation system. Two important criteria for initial alignment are accuracy and rapidity, but in self-alignment the two are often contradictory. The conventional inertial navigation initial alignment method can be generally divided into two stages, and the latter stage is based on the analysis result of the former stage. The accuracy of the initial alignment is often only related to the accuracy of the data processing at the later stage. The compass alignment method of the conventional platform inertial navigation system is as follows.
(1) Platform inertial navigation horizontal alignment
Under the condition of a static base, after the coarse alignment stage, the horizontal misalignment angle and the azimuth misalignment angle of inertial navigation are both small values, phi E ，φ N The cross coupling between the two can be ignored, and the error equation of the platform inertial navigation horizontal channel can be expressed as
Error blocks for the east and north lanes may be plotted as shown in fig. 1 and 2.
Conventional static base platform inertial navigation uses a third order alignment loop with east and north channels as shown in fig. 3 and 4.
The meaning of each symbol in the figure is: v E And + N Zero offset for the east and north accelerometers, respectively; epsilon E And epsilon N East and north gyro drift, respectively. To enhance the dynamic response performance of the system, it is often desirable
Wherein σ is an attenuation coefficient of the alignment loop; xi is a damping ratio;
is the pull down frequency.
From FIG. 4, the output φ can be calculated according to the Merson equation E Is expressed as
According to the above formula, the alignment accuracy of the circuit is
Similarly, the alignment precision of the east channel of the horizontal alignment loop is
It can be seen that the horizontal alignment accuracy depends on the accuracy of the accelerometer.
(2) Platform inertial navigation compass alignment
And after the platform inertial navigation system is horizontally aligned, the horizontal misalignment angle reaches the second order of an angle. At this time, the compass term phi is used U ω ie North direction speed error caused by cosL uses loop feedback method to control platform to rotate around azimuth axis to make phi U Gradually decreasing to an extreme value. Based on the north channel second-order horizontal alignment loop, the compass alignment loop is shown in FIG. 5
Parameter retrievability
From FIG. 5, the output φ can be calculated according to the Merson equation U And further determining the ultimate accuracy of compass alignment as
Platform compass alignment is widely used in platform inertial navigation systems, but it is only suitable for static base alignment and the alignment time is long, and the available alignment results mainly depend on the last part of the alignment process. Platform compass alignment is difficult to adapt to rapid initial alignment of an underwater vehicle on a moving carrier platform.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a quick compass alignment method of an underwater vehicle before the launching of a mobile carrying platform, and the initial alignment speed of a strapdown inertial navigation system of the underwater vehicle is improved. The method stores the data of the gyroscope and the accelerometer, and utilizes the stored data for multiple times in a mode of alternately carrying out forward compass alignment and reverse compass alignment, thereby greatly shortening the alignment time.
Technical scheme
A rapid compass alignment method of an underwater vehicle before launching of a mobile carrying platform is characterized by comprising the following steps:
step 1: coarse attitude array bound by carrier platform to underwater vehicle to be launched
And an initial velocity v n (t s0 )；
Step 2: connecting inertial navigation system from t s From time to time until the end of alignment t e Gyro and accelerometer data of
And a reference speed provided by a carrier platform on which the underwater vehicle is located
Storing;
and 3, step 3: will be provided with
Inverse transform into
And storing;
and 4, step 4: to be provided with
As an initial value, to be stored
Carrying out compass forward horizontal alignment for input to obtain an attitude array
Velocity v n (t s1 )；
And 5: to be provided with
v n (t 1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction orientation alignment for input to obtain an attitude array
Velocity v n (t e1 )；
Step 6: to be provided with
As an initial value, with
For input, the reverse compass direction alignment is carried out to obtain
-v n (t s1 )；
And 7: to be provided with
-v n (t s1 ) As an initial value, to be stored
To input intoThe strapdown inertial navigation compass is aligned in the positive direction to obtain an attitude array
Velocity v n (t e2 )；
And 8: to be provided with
-v n (t e2 ) As an initial value, in
For input, the reverse compass direction alignment is carried out to obtain
-v n (t s2 )；
Repeating the steps 7 to 8 until
Finishing alignment; wherein | · | purple sweet max Representing the maximum of the absolute values of all the elements in the matrix, e being one fifth of the precision of the compass alignment limit, i.e.
Advantageous effects
The invention provides a rapid compass alignment method of an underwater vehicle before launching of a mobile carrying platform, which is suitable for a rapid alignment method of an underwater vehicle strapdown inertial navigation system before launching on the mobile carrying platform. The method provides a reverse compass alignment control loop, and combines forward compass alignment and reverse compass alignment by storing inertial navigation data, and repeatedly and alternately carries out forward and reverse compass alignment until the difference between the two alignments is within a given allowable range. The algorithm effectively reduces the duration of compass alignment and reduces the launch preparation time of the underwater vehicle by repeatedly aligning the stored data on the premise of the same alignment precision.
In the traditional strapdown inertial navigation solution, inertial navigation sampling data are treated as a group of time series and are processed in real time according to the time sequence. Today, the data storage capacity of a navigation computer is greatly improved, and the sampling data of a gyroscope and an accelerometer can be stored. Therefore, the data can be processed in the forward direction and the reverse direction, so that the data utilization rate is improved, and the time of the alignment task is shortened.
The existing platform compass alignment algorithm has long alignment time and large disturbance in the early stage of alignment, and the precision of the algorithm mainly depends on the later-stage calculation result. The strapdown inertial navigation system can simulate a solid platform of the platform inertial navigation system by a mathematical platform. Through reverse compass alignment, the mathematical platform can utilize the stored sampling data for multiple times, thereby shortening the compass alignment time.
The invention has the advantages that because the strapdown inertial navigation mathematical platform is designed to replace the solid platform and the alignment method combining the forward compass alignment and the reverse compass alignment is adopted, the invention has the following advantages:
(1) introducing carrier platform reference velocity
The conventional method for aligning the compass of the static base can be expanded to the alignment before launching of an underwater vehicle on a moving carrier platform;
(2) the reverse compass alignment method is designed, combination of forward and reverse compass alignment is realized, and alignment duration of the strapdown inertial navigation system is greatly shortened on the premise of the same alignment precision.
Drawings
FIG. 1 is a horizontally aligned east channel;
FIG. 2 is a horizontally aligned north tunnel;
FIG. 3 is a horizontal alignment loop east channel;
FIG. 4 is a horizontally aligned loop northbound path;
FIG. 5 is a compass alignment loop;
FIG. 6 is a strapdown inertial navigation math platform;
FIG. 7 is a strapdown compass horizontally aligned east channel;
FIG. 8 is a strapdown compass horizontally aligned north tunnel;
FIG. 9 is a strapdown compass bearing alignment;
FIG. 10 is a strapdown inertial navigation reverse math platform;
FIG. 11 is a reverse strapdown compass bearing alignment;
FIG. 12 is a flow chart of fast compass alignment;
FIG. 13 is a graph of first alignment misalignment angle variation
FIG. 14 is a graph of angular variation of second alignment misalignment
FIG. 15 is a third alignment misalignment angle variation graph
FIG. 16 is a fourth alignment misalignment angle variation graph
FIG. 17 is a fifth alignment misalignment angle variation graph
FIG. 18 is a graph of sixth alignment misalignment angle change
FIG. 19 is a graph of the variation of the azimuthal misalignment angle over the full process of alignment
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the technical scheme adopted by the invention for solving the technical problem is as follows:
step 1: binding rough attitude array to underwater vehicle to be launched by carrier platform
And an initial velocity v n (t s0 ). The attitude matrix obtained at this time still has large errors. At the moment, the horizontal misalignment angle of the underwater vehicle can reach a plurality of angular divisions, and the azimuth misalignment angle can reach a plurality of degrees.
Step 2: from t to inertial navigation system s From time to time until the end of alignment t e Gyro and accelerometer data
And a reference speed provided by a carrier platform on which the underwater vehicle is located
And storing for data reuse.
And step 3: will be provided with
Inverse transform into
And stored for later use.
The specific inverse transformation method comprises the following steps: reversing the time sequence of the data, i.e. t s →t e Becomes t e →t s Then the gyro and reference speed data are inverted, and the accelerometer data are not changed, namely
And 4, step 4: to be provided with
v n (t s0 ) As an initial value, to be stored
Carrying out compass forward horizontal alignment for input to obtain an attitude array
Velocity v n (t s1 ). Wherein, t s ＜t 1 ＜t e ，t 1 Typically half the alignment duration, i.e. t 1 ＝(t e -t s )/2。
The compass forward horizontal alignment is realized as follows:
a physical platform of a platform inertial navigation system is simulated by a mathematical platform in a strapdown inertial navigation system, as shown in FIG. 6. To facilitate the programming calculation, the update period of the mathematical platform is set as T s Discretization of the formula in FIG. 6 into the following equation
In the formula (I), the compound is shown in the specification,
the method has the function of a mathematical platform for calculating the strapdown attitude matrix;
and
stored gyro and accelerometer measurements, respectively; omega c ＝[ω cE ω cN ω cU ] T Is the control angular rate applied to the mathematical platform;
The control laws for horizontal alignment are designed, and the east and north lanes for horizontal alignment are shown in fig. 7 and 8. Discretizing the horizontal east and north channels into the following formula according to the above figureThe refresh period is still T s
In the formula (I), the compound is shown in the specification,
k＝1,2,3...
K E1 ＝K N1 ＝3σ
wherein, for good dynamic response performance of the system, it is often taken
Because σ =2 π/T d Usually by changing T d Value of (a) in place of σ, T d The smaller the horizontal alignment, the faster the alignment can reach steady state, but the more easily the alignment results are disturbed by external noise, usually T d ＝70。
The compass is aligned forward and horizontally to
v n (t s0 ) As an initial value, to be stored
For input, the inertial navigation data update period T is taken s For the system update period, recursion calculation is performed according to the equations (6), (7) and (8) to obtainAttitude matrix
Velocity v n (t 1 )。
And 5: to be provided with
v n (t 1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction alignment for input, namely carrying out recursion operation according to an equation (6) and an equation (9) to obtain an attitude matrix
Velocity v n (t e1 )。
The forward direction orientation alignment of the strapdown inertial navigation compass is specifically realized as follows:
designing the positive azimuth alignment channel is shown in fig. 9, where,
for ease of programming, the block diagram is discretized into equation (9)
In the formula (I), the compound is shown in the specification,
k＝1,2,3...
K U1 ＝K U4 ＝2σ
wherein, because σ =2 π/T d Usually by changing T d Instead of the value of a, the value of,T d the smaller the compass azimuth alignment can reach a steady state faster, but the alignment result is more easily interfered by external noise, generally T is taken d ＝700。
And 6: to be provided with
-v n (t e1 ) As an initial value, with
For input, reverse compass azimuth alignment is performed, i.e. recursion calculation is performed according to the formula (10) and the formula (11) to obtain
-v n (t s1 )。
The reverse compass azimuth alignment is realized as follows:
and (3) performing reverse transformation on the mathematical platform shown in the figure 6 to obtain the strapdown inertial navigation reverse mathematical platform shown in the figure 10. Also expressed by T s The first-order difference discretization is carried out for the period, and a discretization recursion formula is obtained as follows
Wherein the subscript p = k-1, p-1= k;
the design compass reverse orientation alignment channel is shown in fig. 11. Also expressed by T s The first order difference discretization is carried out for the period, and the discretization recursion formula is as follows
In the formula (I), the compound is shown in the specification,
control parameter K U1 、K U2 、K U3 、K U4 The value of the alignment parameter is the same as that of the azimuth alignment parameter of the forward compass.
And 7: to be provided with
-v n (t s1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction alignment for input, namely carrying out recursion operation according to an equation (6) and an equation (9) to obtain an attitude matrix
Velocity v n (t e2 )。
And step 8: to be provided with
-v n (t e2 ) As an initial value, in
For inputting, the reverse compass orientation alignment is carried out, i.e. recursion calculation is carried out according to the formula (10) and the formula (11) to obtain
-v n (t s2 )。
Repeating the step 7 and the step 8 until
And finishing the alignment. Wherein | · | purple sweet max Representing the maximum of the absolute values of all elements in the matrix, e being usually one fifth of the precision of the compass alignment limits, i.e.
The flow diagram of the method is shown in fig. 12.
The specific embodiment is as follows:
the underwater vehicle is ready to be launched on the mobile carrying platform, and initial alignment is carried out by using the rapid alignment algorithm before launching. The platform is positioned at 34.25 degrees of north latitude and 108.91 degrees of east longitude. The carrying platform runs to the north at the speed of 20m/s, and the reference speed error of the platform is 1m/s. The alignment period is 320 seconds, i.e. t s ＝0,t e =360, algorithm update time T s =0.005s. The zero drift of a triaxial gyroscope of the strapdown inertial navigation of the underwater vehicle is 0.02 degree/h, and the zero offset of a triaxial accelerometer is 100 mu g.
Step 1: binding rough attitude array to underwater vehicle to be launched by carrier platform
And an initial velocity v n (t s0 ). At this time
With large errors, misalignment angle of
Initial velocity v n (t s0 )＝[0 21 0] T 。
Step 2: from t to inertial navigation system s From time to time until the end of alignment t e Gyro and accelerometer data
And a reference speed provided by a carrier platform on which the underwater vehicle is located
And storing for data reuse.
And step 3: will be provided with
Inverse transform into
And stored for later use.
And 4, step 4: get t 1 ＝(t e -t s ) /2=160, with
v n (t s0 ) As an initial value, to be stored
Carrying out compass forward horizontal alignment for input to obtain an attitude matrix
Velocity v n (t s1 )。
And 5: to be provided with
v n (t 1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction alignment for input, namely carrying out recursion operation according to the formula (6) and the formula (9) to obtain a posture array
Velocity v n (t e1 ). Misalignment angle phi (t) at this time e1 )＝[0.0139°-0.0134°-1.4961°] T 。
The misalignment angle variation graphs of step 4 and step 5 are shown in fig. 13.
And 6: to be provided with
-v n (t e1 ) As an initial value, with
For inputting, the reverse compass orientation alignment is carried out, i.e. recursion calculation is carried out according to the formula (10) and the formula (11) to obtain
-v n (t s1 ). Misalignment angle phi (t) at this time s1 )＝[0.0073° 0.0129° 0.1877°] T . The misalignment angle variation graph of step 6 is shown in fig. 14.
And 7: to be provided with
-v n (t s1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction alignment for input, namely carrying out recursion operation according to the formula (6) and the formula (9) to obtain a posture array
Velocity v n (t e2 ). Misalignment angle phi (t) at this time e2 )＝[0.0055° 0.0023° 0.1879°] T . The misalignment angle variation graph of step 7 is shown in fig. 15.
And 8: to be provided with
-v n (t e2 ) As an initial value, with
For input, reverse compass azimuth alignment is performed, i.e. recursion calculation is performed according to the formula (10) and the formula (11) to obtain
-v n (t s2 ). Misalignment angle phi at this time(t s2 )＝[0.0060° 0.0052° 0.1228°] T . The misalignment angle variation graph of step 8 is shown in fig. 16.
Repeating the step 7 and the step 8 again, wherein the errors of the two times of calculation are met, and the misalignment angle of the two times is phi (t) e3 )＝[0.0055° 0.0019° 0.1679°] T 、φ(t s3 )＝[0.0061° 0.0053° 0.1247°] T And, by this time, the initial alignment ends. These two resolved misalignment angle variations are shown in fig. 17 and 18. The variation of the azimuthal misalignment angle throughout the alignment process is shown in figure 19.
Claims (1)
1. A rapid compass alignment method of an underwater vehicle before launching of a mobile carrying platform is characterized by comprising the following steps:
step 1: binding rough attitude array to underwater vehicle to be launched by moving carrying platform
And an initial velocity v n (t s0 )；
Step 2: from t to inertial navigation system s The time begins until the end of the alignment t e Gyro and accelerometer data of
And the reference speed provided by the mobile carrying platform where the underwater vehicle is located
Storing;
and step 3: will be provided with
Inverse transform into
And storing;
and 4, step 4: to be provided with
v n (t s0 ) As an initial value, to be stored
Carrying out compass forward horizontal alignment for input to obtain an attitude matrix
Velocity v n (t s1 )；
And 5: to be provided with
v n (t 1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction orientation alignment for input to obtain an attitude array
Velocity v n (t e1 )；
And 6: to be provided with
-v n (t e1 ) As an initial value, in
For inputting, the reverse compass orientation alignment is carried out to obtain
-v n (t s1 )；
And 7: to be provided with
-v n (t s1 ) As an initial value, to be stored
Carrying out strapdown inertial navigation compass forward direction alignment for input to obtain an attitude array
Velocity v n (t e2 )；
And step 8: to be provided with
-v n (t e2 ) As an initial value, in
For input, the reverse compass direction alignment is carried out to obtain
-v n (t s2 )；
Repeating the step 7 to the step 8 until
Finishing alignment; wherein the content of the first and second substances,
representing the maximum of the absolute values of all the elements in the matrix, e being one fifth of the precision of the compass alignment limit, i.e.
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