CN114166220A - Fiber-optic gyroscope combined navigation device and method - Google Patents
Fiber-optic gyroscope combined navigation device and method Download PDFInfo
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- CN114166220A CN114166220A CN202111481331.8A CN202111481331A CN114166220A CN 114166220 A CN114166220 A CN 114166220A CN 202111481331 A CN202111481331 A CN 202111481331A CN 114166220 A CN114166220 A CN 114166220A
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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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- 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
Abstract
The embodiment of the application provides a fiber-optic gyroscope integrated navigation device, and relates to the technical field of inertial navigation. The fiber-optic gyroscope combined navigation device comprises a fiber-optic gyroscope module, a redundant inertia measurement module and a main control board; the optical fiber gyro module is electrically connected with the main control board; the redundant inertia measurement module comprises a first redundant inertia measurement module and a second redundant inertia measurement module, the first redundant inertia measurement module and the second redundant inertia measurement module are symmetrically installed on the shell of the fiber-optic gyroscope module, and the first redundant inertia measurement module and the second redundant inertia measurement module are respectively and electrically connected with the main control board. The fiber-optic gyroscope combined navigation device can achieve the technical effects of reducing the size, reducing the cost and improving the measurement stability.
Description
Technical Field
The application relates to the technical field of inertial navigation, in particular to a fiber-optic gyroscope integrated navigation device and method.
Background
At present, in order to improve the reliability of the fiber-optic gyroscope integrated navigation system, a scheme of using multiple sets of integrated navigation systems or using an integrated navigation system integrating a redundant fiber-optic gyroscope inertial measurement unit, such as a fiber-optic gyroscope inertial measurement unit integrating 6 fiber-optic gyroscopes, is generally adopted. The reliability of the integrated navigation system is improved through the schemes.
However, in the prior art, the occupied volume and the cost of the combined navigation system using a plurality of sets of combined navigation systems or a combined navigation system integrating a redundant fiber-optic gyroscope are almost multiplied, which causes the problems of large product volume and high cost.
Disclosure of Invention
An object of the embodiments of the present application is to provide an optical fiber gyro integrated navigation apparatus and method, which can achieve the technical effects of reducing the size, reducing the cost, and improving the measurement stability.
In a first aspect, an embodiment of the present application provides a fiber-optic gyroscope integrated navigation apparatus, including a fiber-optic gyroscope module, a redundant inertial measurement module, and a main control board;
the optical fiber gyro module is electrically connected with the main control board;
the redundant inertia measurement module comprises a first redundant inertia measurement module and a second redundant inertia measurement module, the first redundant inertia measurement module and the second redundant inertia measurement module are fixedly installed with the fiber-optic gyroscope module respectively, and the first redundant inertia measurement module and the second redundant inertia measurement module are electrically connected with the main control board respectively.
In the implementation process, the fiber-optic gyroscope combined navigation device is characterized in that a first redundant inertia measurement module and a second redundant inertia measurement module are symmetrically arranged on a shell of a fiber-optic gyroscope module, and the first redundant inertia measurement module, the second redundant inertia measurement module and the fiber-optic gyroscope module are respectively and electrically connected with a main control board; the first redundant inertia measurement module and the second redundant inertia measurement module can be very small in volume and light in weight, the requirements on the structural strength and the like of the shell of the fiber optic gyroscope module are not high, the shell of the fiber optic gyroscope module does not need to be changed greatly, and only 2 fixed positions are reserved for the first redundant inertia measurement module and the second redundant inertia measurement module through processing; the fault detection means of the integrated navigation can be perfected by using the independent redundant inertial measurement module, the integrated navigation can locate the specific inertial measurement unit with the fault and inform a user by comparing the data of the 3 inertial measurement units, namely the first redundant inertial measurement module, the second redundant inertial measurement module and the fiber-optic gyroscope module, and the normal redundant inertial measurement unit is used as a data input end. Therefore, the fiber-optic gyroscope integrated navigation device can achieve the technical effects of reducing the size, reducing the cost and improving the measurement stability.
Further, the axial coordinate system of the first redundant inertial measurement module, the axial coordinate system of the second redundant inertial measurement module, and the axial coordinate system of the fiber-optic gyroscope module are parallel to each other.
Further, the shell of fiber-optic gyroscope module is the cuboid shell, first redundant inertia measurement module install in on the first surface of cuboid shell, the redundant inertia measurement module of second install in on the second surface of cuboid shell, the first surface and the second surface of cuboid shell are relative.
In the implementation process, the first redundant inertia measurement module and the second redundant inertia measurement module are fixed on the shell of the fiber optic gyroscope module, the redundant inertia measurement module can select a 6-axis MEMS inertia measurement unit, the volume of the 6-axis MEMS inertia measurement unit can be very small, the weight is also very light, the requirements on the structural strength and the like of the shell of the fiber optic gyroscope module are not high, the shell of the fiber optic gyroscope module does not need to be greatly changed, and only 2 fixed positions are reserved for installing the 6-axis MEMS inertia measurement unit through processing. In addition, the installation positions are located on the central lines of the first surface and the second surface of the shell of the fiber-optic gyroscope module, so that the axial coordinate systems of the 2 6-axis MEMS inertial measurement units are kept parallel to the axial coordinate system of the fiber-optic gyroscope module, and the consistency of data acquisition is ensured.
Furthermore, the device further comprises a first installation kit and a second installation kit, wherein the first installation kit and the second installation kit are respectively and fixedly installed on the cuboid shell, the first redundant inertia measurement module is installed on the first installation kit, and the second redundant inertia measurement module is installed on the second installation kit.
Further, the housing of the fiber-optic gyroscope module is a cylindrical housing.
Further, the first redundant inertia measurement module is installed on the side face of the cylindrical shell, and the second redundant inertia measurement module is installed on the side face of the other side of the cylindrical shell.
Furthermore, the device further comprises a third installation kit and a fourth installation kit, wherein the third installation kit and the fourth installation kit are respectively and fixedly installed on the cylindrical shell, the first redundant inertial measurement module is installed on the fourth installation kit, and the second redundant inertial measurement module is installed on the fourth installation kit.
Further, the shell of the fiber-optic gyroscope module is a polyhedral shell.
Further, the first redundant inertia measurement module is installed on the side face of the polyhedral shell, and the second redundant inertia measurement module is installed on the side face of the other side of the polyhedral shell.
Further, the device further comprises a fifth installation kit and a sixth installation kit, wherein the fifth installation kit and the sixth installation kit are fixedly installed on the polyhedral shell respectively, the first redundant inertial measurement module is installed on the fifth installation kit, and the second redundant inertial measurement module is installed on the sixth installation kit.
Further, the first redundant inertial measurement module and the second redundant inertial measurement module each comprise a 6-axis MEMS inertial measurement unit.
Further, the first redundant inertial measurement module and the second redundant inertial measurement module each comprise a 9-axis MEMS inertial measurement unit.
Further, the fiber optic gyroscope module comprises a fiber optic gyroscope inertial measurement unit.
Further, the fiber optic gyroscope inertial measurement unit comprises a 3-axis fiber optic gyroscope and a 3-axis accelerometer, wherein the 3-axis fiber optic gyroscope is used for providing angular rate data, and the 3-axis accelerometer is used for providing acceleration data.
Furthermore, the device also comprises a positioning module, and the positioning module is electrically connected with the main control board.
In the implementation process, the positioning module can realize the positioning function, and the positioning module is combined with the fiber-optic gyroscope module and the redundant inertial measurement module to realize accurate navigation together.
Further, the positioning module is a GNSS module.
Further, the satellite system used by the GNSS module includes one or more of a beidou navigation system, a GPS navigation system, a glonass navigation system, and a galileo navigation system.
Furthermore, the device also comprises a power panel, and the power panel is respectively electrically connected with the fiber-optic gyroscope module, the positioning module, the first redundant inertia measurement module, the second redundant inertia measurement module and the main control panel.
In the implementation process, the power panel is respectively and electrically connected with the fiber-optic gyroscope module, the positioning module, the first redundant inertia measurement module, the second redundant inertia measurement module and the main control panel, so that the power supply of each module is independent, independent power supplies are respectively used, when one of the power supplies fails, all inertia measurements cannot work, and the reliability of the system is improved.
Further, the device also comprises at least one additional inertia measurement unit which is arranged on the shell of the fiber-optic gyroscope module.
Further, the additional inertial measurement unit is a 6-axis MEMS inertial measurement unit.
In a second aspect, an embodiment of the present application provides a fiber-optic gyroscope integrated navigation method, which is applied to the fiber-optic gyroscope integrated navigation apparatus described in any one of the first aspects, and the method includes:
acquiring measurement data acquired by the fiber-optic gyroscope module, first redundant measurement data acquired by the first redundant inertial measurement module and second redundant measurement data acquired by the second redundant inertial measurement module;
comparing the measurement data, the first redundant measurement data and the second redundant measurement data to detect a failed module and a non-failed module;
and navigating according to the data collected by the module without the fault.
Further, the fiber optic gyroscope module, the first redundant inertial measurement module, and the second redundant inertial measurement module are independently powered, and before the step of navigating according to the data collected by the module without fault, the method further includes:
and generating power supply fault information when the fiber optic gyroscope module, the first redundant inertia measurement module and the second redundant inertia measurement module have power supply faults.
Further, after the step of navigating according to the data collected by the module without the fault, the method further includes:
and generating navigation fault information corresponding to the module with the fault.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a fiber-optic gyroscope integrated navigation apparatus provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a fiber-optic gyroscope module and a redundant inertial measurement module provided in an embodiment of the present application;
FIG. 3 is a front view of a fiber optic gyroscope module and a redundant inertial measurement module according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a fiber-optic gyroscope integrated navigation method according to an embodiment of the present application;
fig. 5 is a schematic flowchart of another fiber-optic gyroscope integrated navigation method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
The embodiment of the application provides a fiber-optic gyroscope integrated navigation device which can be applied to inertial navigation equipment; the fiber-optic gyroscope combined navigation device is characterized in that a first redundant inertia measurement module and a second redundant inertia measurement module are symmetrically arranged on a shell of a fiber-optic gyroscope module, and the first redundant inertia measurement module, the second redundant inertia measurement module and the fiber-optic gyroscope module are respectively and electrically connected with a main control board; the first redundant inertia measurement module and the second redundant inertia measurement module can be very small in volume and light in weight, the requirements on the structural strength and the like of the shell of the fiber optic gyroscope module are not high, the shell of the fiber optic gyroscope module does not need to be changed greatly, and only 2 fixed positions are reserved for the first redundant inertia measurement module and the second redundant inertia measurement module through processing; the fault detection means of the integrated navigation can be perfected by using the independent redundant inertial measurement module, the integrated navigation can locate the specific inertial measurement unit with the fault and inform a user by comparing the data of the 3 inertial measurement units, namely the first redundant inertial measurement module, the second redundant inertial measurement module and the fiber-optic gyroscope module, and the normal redundant inertial measurement unit is used as a data input end. Therefore, the fiber-optic gyroscope integrated navigation device can achieve the technical effects of reducing the size, reducing the cost and improving the measurement stability.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a fiber-optic gyroscope integrated navigation device provided in an embodiment of the present application, where the fiber-optic gyroscope integrated navigation device includes a fiber-optic gyroscope module 100, a redundant inertial measurement module 200, and a main control board 300.
Illustratively, the fiber optic gyroscope module 100 is electrically connected to the main control board 300.
Illustratively, the redundant inertial measurement module 200 includes a first redundant inertial measurement module 210 and a second redundant inertial measurement module 220, the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220 are respectively and fixedly mounted with the fiber-optic gyroscope module 100, and the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220 are respectively and electrically connected with the main control board 300.
Illustratively, the fiber optic gyroscope module 100 includes a fiber optic gyroscope inertial measurement unit, i.e., a fiber optic angular velocity sensor, which is a fiber optic sensor for inertial navigation, and is also referred to as a solid-state gyroscope because of its no moving parts, the high-speed rotor. The novel all-solid-state gyroscope becomes a leading product in the future and has wide development prospect and application prospect. It is one of various optical fiber sensors which is hopeful to be popularized and applied. The fiber-optic gyroscope has the advantages of no mechanical moving part, no preheating time, insensitive acceleration, wide dynamic range, digital output, small volume and the like, as well as the annular laser gyroscope. In addition, the fiber-optic gyroscope overcomes the fatal defects of high cost, locking phenomenon and the like of the ring-shaped laser gyroscope. The working principle of the fiber-optic gyroscope is based on the Sagnac (Sagnac) effect. The sagnac effect is a common correlation effect of light propagating in a closed-loop optical path rotating relative to an inertial space, that is, two beams of light with equal characteristics emitted from the same light source in the same closed-loop optical path propagate in opposite directions and finally converge to the same detection point. If there is a rotation angular velocity around the axis perpendicular to the plane of the closed optical path relative to the inertial space, the optical paths traveled by the light beams propagating in the forward and reverse directions are different, and an optical path difference is generated, which is proportional to the angular velocity of the rotation. Therefore, the angular velocity of rotation can be obtained by only knowing the optical path difference and the information on the phase difference corresponding thereto.
Illustratively, the axial coordinate system of the first redundant inertial measurement module 210, the axial coordinate system of the second redundant inertial measurement module 220, and the axial coordinate system of the fiber-optic gyroscope module 100 are parallel to each other.
Illustratively, the main control board 300 is responsible for acquiring data of the fiber-optic gyroscope module 100 and the redundant inertial measurement module 200, and outputting high-precision combined navigation information after processing.
In some implementation scenarios, the fiber-optic gyroscope integrated navigation device is configured by symmetrically installing the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220 on the housing of the fiber-optic gyroscope module 100, where the first redundant inertial measurement module 210, the second redundant inertial measurement module 220, and the fiber-optic gyroscope module 100 are electrically connected to the main control board 300 respectively; the first redundant inertia measurement module 210 and the second redundant inertia measurement module 220 can be very small in volume and light in weight, the requirements on the structural strength and the like of the shell of the fiber optic gyroscope module 100 are not high, the shell of the fiber optic gyroscope module 100 does not need to be changed greatly, and only 2 fixed positions are reserved for the first redundant inertia measurement module 210 and the second redundant inertia measurement module 220 through processing; the fault detection means of the integrated navigation can be completed by using the independent redundant inertial measurement module 200, the integrated navigation can locate the specific inertial measurement unit with the fault and inform a user by comparing the data of the 3 inertial measurement units, namely the first redundant inertial measurement module 210, the second redundant inertial measurement module 220 and the fiber-optic gyroscope module 100, and the normal redundant inertial measurement unit is used as a data input end. Therefore, the fiber-optic gyroscope integrated navigation device can achieve the technical effects of reducing the size, reducing the cost and improving the measurement stability.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic structural diagram of a fiber-optic gyroscope module and a redundant inertial measurement module provided in an embodiment of the present application, and fig. 3 is a front structural view of the fiber-optic gyroscope module and the redundant inertial measurement module provided in the embodiment of the present application.
Illustratively, the housing of the fiber-optic gyroscope module 100 is a rectangular parallelepiped housing.
Illustratively, the first redundant inertial measurement module 210 is mounted on a first surface of the rectangular parallelepiped housing, the second redundant inertial measurement module 220 is mounted on a second surface of the rectangular parallelepiped housing, the first surface and the second surface of the rectangular parallelepiped housing are opposite, and an axial coordinate system of the first redundant inertial measurement module 210, an axial coordinate system of the second redundant inertial measurement module 220, and an axial coordinate system of the fiber-optic gyroscope module 100 are parallel to each other.
Exemplarily, the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220 are fixed on the housing of the fiber-optic gyroscope module 100, and since the redundant inertial measurement module 200 can select a 6-axis MEMS inertial measurement unit, the volume of the 6-axis MEMS inertial measurement unit can be very small, the weight is also very light, the requirements on the structural strength of the housing of the fiber-optic gyroscope module 100 and the like are not high, the housing of the fiber-optic gyroscope module 100 does not need to be changed greatly, and only 2 fixed positions need to be reserved for installing the 6-axis MEMS inertial measurement unit after processing. As shown in fig. 3, the mounting positions are located on the central lines of the first surface and the second surface of the housing of the fiber-optic gyroscope module 100 to keep the axial coordinate systems of the 2 6-axis MEMS inertial measurement units parallel to the axial coordinate system of the fiber-optic gyroscope module, thereby ensuring the consistency of data acquisition.
Illustratively, the first and second redundant inertial measurement modules 210, 220 each comprise a 6-axis MEMS inertial measurement unit.
Illustratively, the 6-axis MEMS inertial measurement unit includes a 3-axis gyro and a 3-axis accelerometer.
Illustratively, the first and second redundant inertial measurement modules 210, 220 each comprise a 9-axis MEMS inertial measurement unit.
Illustratively, a 9-axis MEMS inertial measurement unit includes a 3-axis gyro, a 3-axis accelerometer, and a 3-axis magnetic induction sensor.
Optionally, the fiber-optic gyroscope integrated navigation device further includes a first installation kit and a second installation kit, the first installation kit and the second installation kit are respectively and fixedly installed on the rectangular housing, the first redundant inertial measurement module 210 is installed on the first installation kit, and the second redundant inertial measurement module 220 is installed on the second installation kit. Therefore, the redundant inertial measurement module 200 can be installed without being installed with a rectangular parallelepiped housing of the fiber-optic gyroscope module 100, and the installation manner is expanded.
In some embodiments, the housing of fiber optic gyroscope module 100 is a cylindrical housing.
Illustratively, the first redundant inertial measurement module 210 is installed on the side of the cylinder housing, the second redundant inertial measurement module 220 is installed on the side of the other side of the cylinder housing, and the axial coordinate system of the first redundant inertial measurement module 210, the axial coordinate system of the second redundant inertial measurement module 220 and the axial coordinate system of the fiber-optic gyroscope module 100 are parallel to each other.
Optionally, the fiber-optic gyroscope integrated navigation device further includes a third installation kit and a fourth installation kit, the third installation kit and the fourth installation kit are respectively and fixedly installed on the cylindrical housing, the first redundant inertial measurement module 210 is installed on the fourth installation kit, and the second redundant inertial measurement module 220 is installed on the fourth installation kit. Therefore, the redundant inertial measurement module 200 can be installed without being installed with the cylindrical shell of the fiber-optic gyroscope module 100, and the installation mode is expanded.
Illustratively, the housing of the fiber optic gyroscope module 100 is a polyhedral housing.
Optionally, the first redundant inertial measurement module 210 is installed on a side surface of the polyhedral shell, the second redundant inertial measurement module 220 is installed on a side surface of the other side of the polyhedral shell, and an axial coordinate system of the first redundant inertial measurement module 210, an axial coordinate system of the second redundant inertial measurement module 220, and an axial coordinate system of the fiber-optic gyroscope module 100 are parallel to each other.
Optionally, the fiber-optic gyroscope integrated navigation device further includes a fifth installation kit and a sixth installation kit, the fifth installation kit and the sixth installation kit are respectively and fixedly installed on the polyhedral shell, the first redundant inertial measurement module 210 is installed on the fifth installation kit, and the second redundant inertial measurement module 220 is installed on the sixth installation kit.
Illustratively, the housing of the fiber optic gyroscope module 100 may be a rectangular parallelepiped housing, a cylindrical housing, or a polyhedral housing, by way of example only and not limitation herein; through an additional installation kit, the redundant inertial measurement module 200 is not attached to and fixed on the surface of the housing of the fiber-optic gyroscope module 100, so that the fiber-optic gyroscope module 100 and the redundant inertial measurement module 200 have a fixed relative position relationship, and the technical effect of combined navigation is achieved.
Illustratively, the fiber optic gyroscope module 100 includes a fiber optic gyroscope inertial measurement unit.
Illustratively, the fiber-optic gyroscope inertial measurement unit comprises a 3-axis fiber-optic gyroscope and a 3-axis accelerometer, wherein the 3-axis fiber-optic gyroscope is used for providing angular rate data, the 3-axis accelerometer is used for providing acceleration data, and the fiber-optic gyroscope inertial measurement unit is used for realizing the navigation function of the fiber-optic gyroscope.
Illustratively, the fiber-optic gyroscope integrated navigation device further comprises a positioning module 400, and the positioning module 400 is electrically connected with the main control board 300.
Illustratively, the positioning module 400 can implement a positioning function, and in combination with the fiber-optic gyroscope module 100 and the redundant inertial measurement module 200, implement precise navigation.
Illustratively, the positioning module is a GNSS module.
For example, GNSS (Global Navigation Satellite System) is an observed quantity using pseudo ranges, ephemeris, Satellite transmission time, and the like of a set of satellites, and it is necessary to know a user clock error. The global navigation satellite system is a space-based radio navigation positioning system that can provide users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or in near-earth space. Therefore, it is popular to say that if you want to know the altitude in addition to the longitude and latitude, you must receive 4 satellites to locate accurately.
Illustratively, the satellite system used by the GNSS module includes one or more of a beidou navigation system, a GPS navigation system, a glonass navigation system, and a galileo navigation system.
Illustratively, the fiber-optic gyroscope integrated navigation device further comprises a power panel 500, and the power panel 500 is electrically connected with the fiber-optic gyroscope module 100, the positioning module 400, the first redundant inertial measurement module 210, the second redundant inertial measurement module 220, and the main control panel 300, respectively.
Illustratively, the power board 500 is electrically connected to the fiber-optic gyroscope module 100, the positioning module 400, the first redundant inertia measurement module 210, the second redundant inertia measurement module 220, and the main control board 300, so that power supply of each module is independent, and independent power supplies are used, when one of the power supplies fails, all inertia measurements cannot work, and reliability of the system is improved.
In some embodiments, it is an object of the present application to provide a low-cost and high-reliability dual-redundancy fiber-optic gyroscope integrated navigation system, wherein the power board 500 supplies power to the fiber-optic gyroscope module 100, the positioning module 400, the first redundancy inertial measurement module 210, the second redundancy inertial measurement module 220, and the main control board 300, and the power supply of each module is independent; the fiber optic gyroscope inertial measurement unit in the fiber optic gyroscope module 100 consists of a 3-axis fiber optic gyroscope and a 3-axis accelerometer, and provides high-precision angular rate and acceleration data for integrated navigation; a positioning module 400 providing satellite positioning information for integrated navigation; the 6-axis MEMS inertial measurement units in the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220 serve as redundant inertial measurement units and serve as fault detection and standby inertial measurement units; and the main control board 300 is responsible for acquiring data of the fiber-optic gyroscope fiber-optic measurement unit, the positioning module 400 and the 2 6-axis MEMS inertial measurement units, and outputting high-precision combined navigation information after processing.
By way of example, the application uses 2 independent 6-axis MEMS inertial measurement units as redundant inertial measurement units, which saves a lot of space and cost compared with the scheme using multi-axis redundant fiber-optic gyroscopes. The volume of the combined navigation can be increased by using the multi-axis redundant fiber-optic gyroscope, the cost of the fiber-optic gyroscope inertia measurement unit is almost multiplied, and when the internal power supply of the fiber-optic gyroscope inertia measurement unit fails, the redundant fiber-optic gyroscope cannot work normally.
Compared with the existing scheme, the 2 independent 6-axis MEMS inertia measurement units and the fiber-optic gyroscope inertia measurement unit used in the embodiment of the application respectively use independent power supplies, when one of the power supplies fails, all inertia measurement cannot work, and the reliability of the system is improved. In addition, the price of the 6-axis MEMS inertial measurement unit is much lower than that of the 6-axis fiber-optic gyroscope inertial measurement unit, so that the cost of the integrated navigation system can be reduced, and the volume of the integrated navigation system is not increased basically. In addition, the fault detection means of the combined navigation can be perfected by using 2 independent 6-axis MEMS inertial measurement units, the combined navigation can locate the specific inertial measurement unit with the fault and inform a user by comparing the data of 3 inertial measurement units (the fiber-optic gyroscope module 100, the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220), and the normal redundant inertial measurement unit is used as a data input end. However, the general multi-axis redundant fiber-optic gyroscope inertial measurement unit has only 1 redundant fiber-optic gyroscope or accelerometer per axis, and although a fault can be detected, it is difficult to locate whether the main fiber-optic gyroscope (accelerometer) or the redundant fiber-optic gyroscope (accelerometer) has a fault.
In some embodiments, the fiber-optic gyroscope integrated navigation device further comprises at least one additional inertial measurement unit mounted on the housing of the fiber-optic gyroscope module; therefore, the method is not limited to the two 6-axis MEMS inertial measurement units contained in the first redundant inertial measurement module 210 and the second redundant inertial measurement module 220, and can add and use additional inertial measurement units to form multi-redundant inertial measurement of the fiber-optic gyroscope combined navigation system, so as to further improve the precision and the stability.
Optionally, the additional inertial measurement unit is a 6-axis MEMS inertial measurement unit.
For example, an embodiment of the present application provides a fiber-optic gyroscope integrated navigation method, which is applied to the fiber-optic gyroscope integrated navigation apparatus shown in fig. 1 to 3; referring to fig. 4, fig. 4 is a schematic flow chart of a fiber optic gyroscope integrated navigation method according to an embodiment of the present application, where the method includes:
s100: acquiring measurement data acquired by a fiber-optic gyroscope module, first redundant measurement data acquired by a first redundant inertia measurement module and second redundant measurement data acquired by a second redundant inertia measurement module;
s200: comparing the measured data, the first redundant measured data and the second redundant measured data, and detecting a module with a fault and a module without the fault;
s300: and navigating according to the data collected by the module without fault.
Illustratively, the 2 independent first redundant inertial measurement modules and second redundant inertial measurement modules can be used for perfecting a fault detection means of combined navigation, namely, the combined navigation can locate a module with a fault through comparison of measurement data, the first redundant measurement data and the second redundant measurement data, and data collected by a module without the fault is used as a data input end for navigation. In the existing scheme, each axis of an inertia measurement unit with a multi-axis redundant fiber-optic gyroscope only has 1 redundant fiber-optic gyroscope or accelerometer, and although a fault can be detected, the fault is difficult to be positioned if a main fiber-optic gyroscope (accelerometer) or a redundant fiber-optic gyroscope (accelerometer) has a fault; compared with the prior art, the fiber-optic gyroscope integrated navigation device and the method can detect specific fault modules and improve measurement stability.
Referring to fig. 5, fig. 5 is a schematic flow chart of another fiber-optic gyroscope integrated navigation method according to an embodiment of the present application.
Illustratively, the fiber-optic gyroscope module, the first redundant inertial measurement module, and the second redundant inertial measurement module are independently powered, and in S300: before the step of navigating according to the data collected by the module without fault, the method further comprises the following steps:
s210: and generating power supply fault information when the fiber-optic gyroscope module, the first redundant inertia measurement module and the second redundant inertia measurement module have power supply faults.
Illustratively, the fiber-optic gyroscope module, the first redundant inertia measurement module and the second redundant inertia measurement module respectively use independent power supplies, when one of the power supplies fails, all inertia measurements cannot work, so that the reliability of the fiber-optic gyroscope integrated navigation device is improved, and the failure can be further checked according to the power supply failure information, so that the fiber-optic gyroscope integrated navigation device can normally operate; in addition, the prices of the first redundant inertia measurement module and the second redundant inertia measurement module are lower than that of the fiber-optic gyroscope module, the volumes of the first redundant inertia measurement module and the second redundant inertia measurement module can be small, the weight of the first redundant inertia measurement module and the second redundant inertia measurement module is light, the cost of the combined navigation can be reduced, and the volume of the combined navigation cannot be increased basically.
Exemplarily, at S300: after the step of navigating according to the data collected by the module without fault, the method further comprises the following steps:
s310: and generating navigation fault information corresponding to the module with the fault.
Illustratively, the navigation fault information and the power supply fault information can be fed back to the terminal, so that a user is informed of faults of the fiber-optic gyroscope integrated navigation device, specific fault modules and fault types, and the maintenance effect of the fiber-optic gyroscope integrated navigation device is improved.
Therefore, the fiber-optic gyroscope combined navigation device provided by the embodiment of the application has the advantages of cost reduction, accuracy improvement, wide application range, stable work, efficiency improvement and the like.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (23)
1. The fiber-optic gyroscope combined navigation device is characterized by comprising a fiber-optic gyroscope module, a redundant inertia measurement module and a main control board;
the optical fiber gyro module is electrically connected with the main control board;
the redundant inertia measurement module comprises a first redundant inertia measurement module and a second redundant inertia measurement module, the first redundant inertia measurement module and the second redundant inertia measurement module are fixedly installed with the fiber-optic gyroscope module respectively, and the first redundant inertia measurement module and the second redundant inertia measurement module are electrically connected with the main control board respectively.
2. The integrated fiber-optic gyroscope navigation system of claim 1, wherein the axial coordinate system of the first redundant inertial measurement module, the axial coordinate system of the second redundant inertial measurement module, and the axial coordinate system of the fiber-optic gyroscope module are parallel to each other.
3. The fiber optic gyroscope integrated navigation device of claim 1, wherein the housing of the fiber optic gyroscope module is a cuboid housing, the first redundant inertial measurement module is mounted on a first surface of the cuboid housing, the second redundant inertial measurement module is mounted on a second surface of the cuboid housing, and the first surface and the second surface of the cuboid housing are opposite.
4. The integrated fiber optic gyroscope navigation device of claim 3, further comprising a first mounting kit and a second mounting kit, wherein the first mounting kit and the second mounting kit are respectively fixedly mounted on the cuboid housing, wherein the first redundant inertial measurement module is mounted on the first mounting kit, and wherein the second redundant inertial measurement module is mounted on the second mounting kit.
5. The integrated fiber-optic gyroscope navigation device of claim 1, wherein the housing of the fiber-optic gyroscope module is a cylindrical housing.
6. The integrated fiber optic gyroscope navigation system of claim 5, wherein the first redundant inertial measurement module is mounted to a side of the cylindrical housing and the second redundant inertial measurement module is mounted to a side of the other side of the cylindrical housing.
7. The fiber optic gyro integrated navigation device of claim 5, further comprising a third mounting kit and a fourth mounting kit, the third mounting kit and the fourth mounting kit being fixedly mounted to the cylindrical housing, respectively, the first redundant inertial measurement module being mounted to the fourth mounting kit, and the second redundant inertial measurement module being mounted to the fourth mounting kit.
8. The fiber optic gyro integrated navigation device of claim 1, wherein the housing of the fiber optic gyro module is a polyhedral housing.
9. The fiber optic gyro integrated navigation device of claim 8, wherein the first redundant inertial measurement module is mounted to a side of the polyhedral housing and the second redundant inertial measurement module is mounted to a side of the other side of the polyhedral housing.
10. The fiber optic gyro integrated navigation device of claim 8, further comprising a fifth installation kit and a sixth installation kit, the fifth installation kit and the sixth installation kit being fixedly mounted to the polyhedral housing, respectively, the first redundant inertial measurement module being mounted to the fifth installation kit and the second redundant inertial measurement module being mounted to the sixth installation kit.
11. The integrated fiber-optic gyroscope navigation system of claim 1, wherein the first and second redundant inertial measurement modules each comprise a 6-axis MEMS inertial measurement unit.
12. The integrated fiber-optic gyroscope navigation system of claim 1, wherein the first and second redundant inertial measurement modules each comprise a 9-axis MEMS inertial measurement unit.
13. The integrated fiber optic gyroscope navigation device of claim 1, wherein the fiber optic gyroscope module includes a fiber optic gyroscope inertial measurement unit.
14. The fiber optic gyro integrated navigation device of claim 13, wherein the fiber optic gyro inertial measurement unit includes a 3-axis fiber optic gyro and a 3-axis accelerometer, the 3-axis fiber optic gyro for providing angular rate data and the 3-axis accelerometer for providing acceleration data.
15. The integrated fiber-optic gyroscope navigation device of claim 1, further comprising a positioning module electrically connected to the main control board.
16. The integrated fiber-optic gyroscope navigation system according to claim 15, wherein the positioning module is a GNSS module.
17. The integrated fiber-optic gyroscope navigation system according to claim 16, wherein the satellite system used by the GNSS module comprises one or more of a beidou navigation system, a GPS navigation system, a glonass navigation system and a galileo navigation system.
18. The fiber-optic gyroscope integrated navigation device according to claim 15, further comprising a power board electrically connected to the fiber-optic gyroscope module, the positioning module, the first redundant inertial measurement module, the second redundant inertial measurement module, and the main control board, respectively.
19. The fiber optic gyro integrated navigation device of claim 1, further comprising at least one additional inertial measurement unit mounted on a housing of the fiber optic gyro module.
20. The fiber optic gyro integrated navigation device of claim 19, wherein the additional inertial measurement unit is a 6-axis MEMS inertial measurement unit.
21. A fiber-optic gyroscope integrated navigation method applied to the fiber-optic gyroscope integrated navigation device according to any one of claims 1 to 20, the method comprising:
acquiring measurement data acquired by the fiber-optic gyroscope module, first redundant measurement data acquired by the first redundant inertial measurement module and second redundant measurement data acquired by the second redundant inertial measurement module;
comparing the measurement data, the first redundant measurement data and the second redundant measurement data to detect a failed module and a non-failed module;
and navigating according to the data collected by the module without the fault.
22. The fiber-optic gyroscope integrated navigation method according to claim 21, wherein the fiber-optic gyroscope module, the first redundant inertial measurement module, and the second redundant inertial measurement module are independently powered, and before the step of navigating according to the data collected by the non-failed module, the method further comprises:
and generating power supply fault information when the fiber optic gyroscope module, the first redundant inertia measurement module and the second redundant inertia measurement module have power supply faults.
23. The fiber-optic gyroscope integrated navigation method according to claim 21, further comprising, after the step of navigating according to the data collected by the non-failed module:
and generating navigation fault information corresponding to the module with the fault.
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