CN114459479A - Device and method for measuring attitude and position of rotating carrier - Google Patents
Device and method for measuring attitude and position of rotating carrier Download PDFInfo
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Abstract
The invention discloses a device and a method for measuring the attitude and the position of a rotating carrier, belonging to the technical field of high-speed spinning ammunition accurate guidance. The device comprises a motor, a conductive slip ring, an angle sensor, an inertia measuring unit, a platform outer frame and an information processor; the rotating carrier is fixed with a rolling isolation servo stable platform of the inertia measurement unit, the bottom of the platform is connected with the inertia measurement unit through a rotating shaft by a motor, and an angle sensor is arranged in the middle of the rotating shaft; the initial alignment of the carrier strapdown inertial navigation adopts self-alignment, an information processor collects real-time measurement data of an inertial measurement unit, initial values of a pitch angle, a yaw angle and a roll angle of the carrier are calculated, and strategy data of the strapdown inertial navigation and an angle sensor are calculated in real time by using a quaternion method. The invention can improve the precision of IMU measurement and attitude and navigation position calculation and provide reliable information for attitude and position measurement and guidance flight control.
Description
Technical Field
The invention belongs to the technical field of high-speed spinning ammunition accurate guidance, and particularly relates to a method and a device for measuring the attitude and the position of a rotating carrier.
Background
In order to ensure the accuracy and effectiveness of long-distance fire suppression in modern war, the conventional weapon guidance of the traditional spinning system can be realized by inertial navigation and terminal guidance. The spinning bomb is constrained by the emission environment, the volume space and the cost, and the inertial navigation of the spinning bomb puts a large amount of engineering application requirements on a gyroscope and an accelerometer.
The rotating missile inertial navigation technology adopts a strapdown inertial navigation scheme mostly, an Inertial Measurement Unit (IMU) is directly fixed on a missile body, the movement angular velocity and the acceleration of the missile body can be directly sensed, and attitude calculation and position calculation are carried out by utilizing the IMU. The strapdown inertial navigation scheme has the advantages of simple structure, strong anti-interference capability and high autonomy, and the measurement precision is determined by a gyroscope, the range of an accelerometer, the precision and a calculation algorithm.
The complex motion generated by the high-speed spinning of the spinning projectile can reduce the attitude and position measurement precision of a strapdown scheme, and the cost of the measurement device is greatly increased by adopting an inertial device with a high dynamic range.
Disclosure of Invention
In view of the above, the invention provides a device and a method for measuring the attitude and the position of a rotating carrier, the device can realize the rotation separation of an inertia measurement unit and the carrier, and the measurement method can improve the accuracy of IMU measurement and attitude and navigation position calculation after combining the device, and provide reliable information for attitude and position measurement and guided flight control.
A device for measuring the attitude and the position of a rotating carrier comprises a platform outer frame, an inertia measuring unit, an information processor, a motor, a rotating shaft, a bearing, a conductive slip ring and an angle sensor;
the platform outer frame is fixedly connected with the rotary carrier in the radial direction, the information processor is fixed on the platform outer frame and connected with the inertia measuring unit through a conductive sliding ring, the information processor is electrically connected with the stator end of the motor, and the inertia measuring unit is electrically connected with the rotor end of the conductive sliding ring; a rotor of the motor is fixedly connected with the bottom of a rotating shaft, and a cap type conductive slip ring is sleeved in the rotating shaft with a hollow structure; the outer frame of the platform is fixedly connected with the conductive slip ring, and the rotating shaft is arranged inside the outer frame of the platform through a bearing; the outer ring of the angle sensor is fixed inside the outer frame of the platform, and the inner ring of the angle sensor is fixed in the middle of the rotating shaft; the upper end of the rotating shaft is connected with an inertia measuring unit.
Furthermore, one end of the conductive slip ring is provided with a flange surface, and the flange surface of the conductive slip ring is fixed on a motor end cover of the platform outer frame through a slip ring link plate.
Furthermore, the information processor comprises a power supply conversion circuit, a high-precision AD acquisition circuit, a drive control circuit and an operation processing unit; the inertial measurement unit comprises a MEMS rate gyro, an accelerometer and an AD signal processing circuit.
Furthermore, the motor adopts a split-charging type direct current brushless torque motor.
A method for measuring the attitude and the position of a rotating carrier comprises the following steps:
the method comprises the following steps: establishing a navigation coordinate system OxnynznVector coordinate system OxbybzbQuasi-carrier coordinate system OxByBzB；
Step two: the information processor collects the measurement data of the MEMS rate gyro and the accelerometer of the inertial measurement unit, and calculates the initial pitch angle of the inertial measurement unit according to the measurement value of the accelerometer
Calculating the value of an initial quaternion on the basis of the initial value of the attitude angle by using the yaw angle psi and the roll angle gamma;
step three: continuously iterating the measured value of the MEMS rate gyro and the quaternion of the previous moment to obtain the quaternion of the next moment, and calculating the attitude angle of the inertial measurement unit and the attitude angle of the carrier according to the relation between the quaternion and the attitude angle after updating the quaternion;
step four: and calculating the position information of the carrier in the navigation coordinate system by using the attitude matrix and the three-direction acceleration.
Further, the navigation coordinate system Ox in the first stepnynznThe origin O point of the coordinate system is located at the navigation start point, xnThe axis points to the target point, the direction of pointing to the target is positive, ynThe axis being in the vertical plane and co-operating with xnThe axis is vertical, and is positive upward, znThe axis is determined according to the right-hand rule;
carrier coordinate system OxbybzbThe origin O point of the coordinate system is located at the center of mass, x, of the carrierbThe axis coinciding with the longitudinal axis of the carrier, ybAxis in the longitudinal symmetry plane of the carrier and xbAxis vertical, upward positive, zbThe axis is determined according to the right-hand rule;
quasi-carrier coordinate system OxByBzBThe origin O point of the coordinate system is located at the center of mass, x, of the carrierBThe axis coinciding with the longitudinal axis of the carrier, yBThe axis being in the vertical plane with xBAxis vertical, upward positive, zBThe axes are determined according to the right hand rule.
Further, calculating the initial pitch angle of the inertial measurement unit in the second step
The course of yaw angle psi and roll angle gamma, and the initial values of quaternions includes:
the information processor collects the measurement data of the MEMS rate gyro and the accelerometer of the inertial measurement unit once every 5ms, and calculates the initial pitch angle of the inertial measurement unit according to the measurement value of the accelerometer
The calculation process of the yaw angle psi and the roll angle gamma is as follows:
ψ0＝0·············(3)
wherein:
acceleration total (W) output by inertial measurement unitx1，Wy1，Wz1) Acceleration in m/s2The conversion to delta form over Δ T time is as follows:
g0＝9.80665m/s2，
is apparent velocity in delta T (5ms) time, namely the output value of the adding table in three directions (unit is m/s)2)；
The carrier is in a static state at the initial moment, the carrier coordinate system and the quasi-carrier coordinate system are overlapped, the rolling attitude angle is calculated according to the formula (2), and the rolling interval rotation stable platform controls the motor to rotate gamma in the reverse direction0Realizing the zero return of the rolling attitude angle of the inertial measurement unit, selecting 50ms smooth processing as the initial navigation initial attitude angle and the carrier initial attitude angle to avoid the initial attitude calculation error caused by the sudden change of the tabulation measurement value during the static state
ψ＝0，γ＝0；
The value of the initial quaternion can be calculated on the basis of the initial value of the attitude angle obtained in the initial alignment:
further, the process of quaternion iteration and attitude calculation in the step three is as follows:
acquiring MEMS rate gyro measurement values of three axes of an inertial measurement unit and a quaternion of a previous moment to obtain a quaternion of the next moment, updating the quaternion, and then solving an attitude angle of each moment according to the relation between the quaternion and the attitude angle, wherein the quaternion is updated after a carrier moves according to the following formula:
wherein: delta theta0 2＝δθx1 2+δθy1 2+δθz1 2The subscript "-1" is the value of the previous sampling moment;
the output of the inertial measurement unit is the angular velocity (omega)x1，ωy1，ωz1) Angular velocity in degrees/s is converted to incremental form over time Δ T as follows:
angle increment:
relative rotation matrix D of the carrier coordinate system relative to the navigation coordinate system:
the attitude angle is calculated on the basis of the quaternion calculation described above, as follows:
initial attitude angle of carrier in motion process
ψ＝ψ0，γ＝γ0+γrWherein γ isrAnd measuring the rolling angle of the rotating shaft relative to the outer frame of the stable platform for the magnetoelectric encoder.
Further, the navigation coordinate system position calculation in the fourth step uses the attitude matrix calculated by the formula (9) and the speed of the formula (6) to calculate the speed and the position of the carrier;
navigation coordinate system apparent velocity incremental calculation
Wherein: Δ Wx,ΔWy,ΔWzD, converting a vector coordinate system and a navigation coordinate system into a matrix for the navigation system apparent velocity increment within delta T;
(X) calculated by the formula (14)d,Yd,Zd) As the position of the carrier in the navigation coordinate system.
Has the advantages that:
1. the rolling isolation servo stable platform of the inertia measurement unit is arranged in the rotating carrier, the main frame of the platform is integrally formed, and double bearings and split motors are used for ensuring the rotation coaxiality; the inertia measurement unit is fixedly connected with a bearing, a motor rotor and a rotor of the conductive slip ring, and the information processor is fixedly connected with an outer frame of the servo stable platform, an outer rotor of the motor and a stator of the slip ring. The device can realize the rotation separation of the inertia measurement unit and the carrier, uses the sensitive rotation shaft roll angular velocity of the inertia measurement unit, sends and controls the motor after being processed by the controller, completely eliminates the interference of the rotating carrier to the platform, and realizes the relative inertia space stability of the roll isolation servo stable platform on the rotation shaft.
2. The rolling isolation servo stable platform control system adopts three closed loop PID control of a speed loop, a position loop and a current loop, and performs mathematical modeling and simulation on each component of the system to obtain PID control parameters. The information processor collects real-time information of the gyroscope of the inertia measurement unit to control a motor in the rolling isolation servo stable platform, so that the inertia measurement unit does not rotate or slightly rotates relative to the inertia space.
3. The strap-down inertial navigation initial alignment adopts self-alignment, the initial static state of the carrier is acquired by an information processor through measurement data of a gyroscope and an accelerometer of an inertial measurement unit, initial values of a pitch angle, a yaw angle and a roll angle of the carrier are calculated, and the calculation and the updating of the attitude and the navigation position of the high-dynamic carrier are realized by using the strategy data of the strap-down inertial navigation and an angle sensor in a quaternion method and resolving in real time.
Drawings
FIG. 1 is a front view of the overall structure of a rotary carrier attitude and position measurement device;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a top view of the rotating carrier attitude, position measurement device;
FIG. 4 is a schematic view showing the connection relationship of the rotary shafts;
FIG. 5 is a schematic block diagram of a roll isolation servo stabilization platform control.
The method comprises the following steps of 1-a platform outer frame, 2-an inertia measurement unit, 3-an information processor, 4-an inertia unit installation reference, 5-an upper end cover, 6-an angle sensor outer ring, 7-a motor stator, 8-a power supply module, 9-a bearing, 10-a rotating shaft, 11-a pressure ring, 12-an angle sensor inner ring, 13-a bearing, 14-a motor rotor, 15-a lower end cover, 16-a conductive slip ring and 17-a slip ring link plate.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a device and a method for measuring the attitude and the position of a rotary carrier, wherein the device comprises a platform outer frame 1, an inertia measuring unit 2, an information processor 3, an inertia set installation reference 4, an upper end cover 5, a motor, a power supply module 8, a bearing 9, a rotating shaft 10, a pressure ring 11, a bearing 13, a lower end cover 15, a conductive slip ring 16 and an angle sensor as shown in the attached figures 2-5. The motor comprises an electronic rotor 14 and a motor stator 7, and the angle sensor consists of an angle sensor outer ring 6 and an angle sensor inner ring 12.
The platform outer frame 1 is fixedly connected with the rotary carrier in the radial direction, the information processor 3 is fixed on the platform outer frame 1, the information processor 3 is connected with the inertia measuring unit 2 through the conductive slip ring 16, the information processor 3 is electrically connected with the motor stator 7, and the inertia measuring unit 2 is electrically connected with the rotor end of the conductive slip ring 16; the motor rotor 14 is fixedly connected with the bottom of the rotating shaft 10 through screws, and a cap type conductive slip ring 16 is sleeved in the rotating shaft 10 with a hollow structure; the flange surface of the slip ring is provided with a fixing hole, and the outer frame 1 of the platform is connected with the flange surface of the slip ring through a screw; the outer ring 6 of the angle sensor is fixed inside the outer frame 1 of the platform, and the inner ring 12 of the angle sensor is fixed in the middle of the rotating shaft 10 through a pressing ring 11; the upper end cover 5 is fixed at the upper end of the platform outer frame 1, the bearing 9 connects the inertial measurement unit installation datum 4 with the upper end cover 5 together, the inertial measurement unit installation datum 4 is connected with the upper end of the rotating shaft 10, and the inertial measurement unit 2 is installed at the upper end of the rotating shaft 10 through the inertial measurement unit installation datum; the bearing 13 is installed inside the platform outer frame 1, the bearing 13 provides a rotary support for the middle section of the rotating shaft 10, the lower end cover 15 fixes the motor stator 7 in a motor installation cavity of the platform outer frame 1, and the slip ring link plate 17 is fixedly connected to the bottom of the lower end cover 15.
The information processor 3 is a stable platform control unit and is also an attitude and navigation calculation unit, and the information processor 3 is composed of a power supply conversion circuit, a high-precision AD acquisition circuit, a drive control circuit and an operation processing unit (a DSP main processor and an FPGA coprocessor). The inertial measurement unit 2 is composed of an MEMS rate gyro, an accelerometer and an AD signal processing circuit, and the angle sensor adopts a high-precision magnetoelectric angle measurement sensor.
When the rotary carrier spins at a high speed, the information processor 3 and the platform outer frame 1 are fixedly connected with the carrier and rotate along the same direction of the carrier, the rotating shaft 10 is influenced by a bearing, a motor rotating friction moment and an interference moment to generate rotation relative to an inertia space, the MEMS rate gyroscope of the inertia measuring unit 2 outputs the measured rotating angular speed of the rotating shaft relative to the inertia space in real time, the stable platform adopts a high-precision absolute magnetoelectric encoder and is installed on a rotating shaft system linked with the motor to convert the angular displacement information of the motor in a servo system into digital output, and the information processor collects data of the inertia measuring unit and the magnetoelectric encoder every 1 ms.
The control system of the rate gyro rolling isolation servo stabilization platform is shown in fig. 1 and adopts a position rate current three-loop control structure. The feedback loop of the current loop is composed of a current sampling link, and the acquisition circuit acquires phase current information of the BLDC and performs operation processing with output information of the speed loop to generate an SVPWM control signal. After the control signal enters the inverter circuit, a control signal capable of driving the BLDC to operate is generated, and the feedback of the current is completed; the speed ring adopts an MEMS rate gyro as a measuring element to measure the speed of the rotating shaft and feeds the speed back to the input end to form feedback, and the controller compensates the speed through the deviation formed by the given speed and the feedback to keep the relative inertia stability of the visual axis; the position ring feeds back position information formed by integrating the MEMS rate gyro to an input end of the position to form angular deviation, and the accurate control of the position of the motor is ensured through compensation.
The method for measuring and calculating the attitude and the position of the rotating carrier comprises the following steps:
the method comprises the following steps: determining a coordinate system for attitude and position measurements
Navigation coordinate system OxnynznThe origin O point of the coordinate system is located at the navigation start point, xnThe axis points to the target point, the direction of pointing to the target is positive, ynThe axis being in the vertical plane and co-operating with xnThe axis is vertical, and is positive upward, znThe axes are determined according to the right hand rule.
Carrier coordinate system OxbybzbThe origin O point of the coordinate system is located at the center of mass, x, of the carrierbThe axis coinciding with the longitudinal axis of the carrier, ybAxis in the longitudinal symmetry plane of the carrier and xbAxis vertical, upward positive, zbThe axes are determined according to the right hand rule.
Quasi-carrier coordinate system OxByBzBThe origin O point of the coordinate system is located at the center of mass, x, of the carrierBThe axis coinciding with the longitudinal axis of the carrier, yBThe axis is located in the vertical plane and xBAxis vertical, upward positive, zBThe axes are determined according to the right hand rule.
Step two: calculating initial attitude angle and initial value of quaternion
The use preparation time of the rotary carrier system is short, the strap-down inertial navigation initial alignment adopts a self-alignment algorithm, the carrier is in a static state at the initial moment, the information processor collects the measurement data of the rate gyro and the accelerometer of the inertial measurement unit once every 5ms, and the software calculates the initial pitch angle of the inertial measurement unit according to the measurement value of the accelerometer
Yaw angle psi and roll angle gamma. The calculation flow is as follows:
ψ0＝0············(13)
wherein:
acceleration total (W) output by inertial measurement unitx1，Wy1，Wz1) Acceleration in m/s2Converted to incremental form over time Δ T as follows:
g0＝9.80665m/s2，
is apparent velocity in delta T (5ms) time, namely the output value of the adding table in three directions (unit is m/s)2)；
The carrier is in a static state at the initial moment, and the carrier coordinate system and the quasi-carrier coordinate system are overlapped. Calculating a rolling attitude angle according to the formula (2), and controlling the motor to reversely rotate gamma by the rolling rotation-separation stable platform0And the rolling attitude angle of the inertia measurement unit returns to zero. In order to avoid initial attitude calculation errors caused by sudden change of the added meter measurement value during static state, 50ms smoothing processing is selected as an initial navigation initial attitude angle and a carrier initial attitude angle
ψ＝0，γ＝0；
The value of the initial quaternion can be calculated on the basis of the initial value of the attitude angle obtained in the initial alignment:
step three: quaternion iteration and attitude calculation
Acquiring gyro measurement values of three axes of an inertial measurement unit and a quaternion at the previous moment to obtain a quaternion at the next moment, updating the quaternion, and then solving an attitude angle at each moment according to the relation between the quaternion and the attitude angle, wherein the quaternion is updated after a carrier moves according to the following formula:
wherein: delta theta0 2＝δθx1 2+δθy1 2+δθz1 2The subscript "-1" indicates the value of the previous sampling instant.
The output of the inertial measurement unit is the angular velocity (omega)x1，ωy1，ωz1) Angular velocity in degrees/s is converted to incremental form over time Δ T as follows:
angle increment:
a relative rotation matrix D of the carrier coordinate system relative to the navigation coordinate system,
the attitude angle is calculated on the basis of the quaternion calculation described above, as follows:
initial attitude angle of carrier in motion process
ψ＝ψ0，γ＝γ0+γr. Wherein, γrAnd measuring the rolling angle of the rotating shaft relative to the outer frame of the stable platform for the magnetoelectric encoder.
Step four: calculating navigation coordinate system position
And (4) calculating the speed and the position of the carrier by combining the attitude matrix calculated by the expression (9) with the speed calculated by the expression (6).
1) Navigation coordinate system apparent velocity incremental calculation
Wherein: Δ Wx,ΔWy,ΔWzAnd D, converting the vector coordinate system and the navigation coordinate system into a matrix for the navigation system apparent velocity increment within delta T.
2) Navigation system position calculation
(14) Calculated by formula (X)d,Yd,Zd) As the position of the carrier in the navigation coordinate system.
The attitude and position algorithm of the carrier is simple, the speed is high, the servo control and the real-time calculation of the attitude and the position of the rolling platform can be completed by adopting one processor, and the requirement of the measurement precision of the carrier is met.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A rotating carrier attitude and position measuring device is characterized by comprising a platform outer frame, an inertia measuring unit, an information processor, a motor, a rotating shaft, a bearing, a conductive slip ring and an angle sensor;
the platform outer frame is fixedly connected with the rotary carrier in the radial direction, the information processor is fixed on the platform outer frame and connected with the inertia measuring unit through a conductive sliding ring, the information processor is electrically connected with the stator end of the motor, and the inertia measuring unit is electrically connected with the rotor end of the conductive sliding ring; a rotor of the motor is fixedly connected with the bottom of a rotating shaft, and a cap type conductive slip ring is sleeved in the rotating shaft with a hollow structure; the outer frame of the platform is fixedly connected with the conductive slip ring, and two ends of the rotating shaft are arranged in the outer frame of the platform through bearings; the outer ring of the angle sensor is fixed inside the outer frame of the platform, and the inner ring of the angle sensor is fixed in the middle of the rotating shaft; the upper end of the rotating shaft is connected with an inertia measuring unit.
2. The rotating carrier attitude, position measurement device of claim 1 wherein one end of said conductive slip ring has a flange face, the flange face of the conductive slip ring being secured to a motor end cap of the platform outer frame by a slip ring link plate.
3. The rotary carrier attitude and position measurement device according to claim 2, wherein the information processor includes a power supply conversion circuit, a high-precision AD acquisition circuit, a drive control circuit, and an arithmetic processing unit; the inertial measurement unit comprises a MEMS rate gyro, an accelerometer and an AD signal processing circuit.
4. The rotating carrier attitude and position measurement device of claim 3 wherein the motor is a split dc brushless torque motor.
5. A method for measuring the attitude and the position of a rotating carrier comprises the following steps:
the method comprises the following steps: establishing a navigation coordinate system OxnynznVector coordinate system OxbybzbQuasi-carrier coordinate system OxByBzB；
Step two: the information processor collects the measurement data of the MEMS rate gyro and the accelerometer of the inertial measurement unit, and calculates the initial pitch angle of the inertial measurement unit according to the measurement value of the accelerometer
Calculating the initial quaternion value on the basis of the initial attitude angle value by using the yaw angle psi and the roll angle gamma;
step three: continuously iterating the measured value of the MEMS rate gyro and the quaternion of the previous moment to obtain the quaternion of the next moment, and calculating the attitude angle of the inertial measurement unit and the attitude angle of the carrier according to the relation between the quaternion and the attitude angle after updating the quaternion;
step four: and calculating the position information of the carrier in the navigation coordinate system by using the attitude matrix and the three-direction acceleration.
6. The method for attitude and position measurement of a rotating carrier according to claim 5 wherein the navigation coordinate system Ox of step onenynznThe origin O point of the coordinate system is located at the navigation start point, xnThe axis points to the target point, the direction of pointing to the target is positive, ynThe axis being in the vertical plane and co-operating with xnThe axis is vertical, and is positive upward, znThe axis is determined according to the right-hand rule;
carrier coordinate system OxbybzbThe origin O point of the coordinate system is located at the center of mass, x, of the carrierbThe axis coinciding with the longitudinal axis of the carrier, ybAxis in the longitudinal symmetry plane of the carrier and xbAxis vertical, upward positive, zbThe axis is determined according to the right-hand rule;
quasi-carrier coordinate system OxByBzBThe origin O point of the coordinate system is located at the center of mass, x, of the carrierBThe axis coinciding with the longitudinal axis of the carrier, yBThe axis being in the vertical plane with xBAxis vertical, upward positive, zBThe axes are determined according to the right hand rule.
7. The rotary carrier of claim 6The method for measuring the body posture and the position is characterized in that the initial pitch angle of the inertial measurement unit is calculated in the second step
The course of yaw angle psi and roll angle gamma, and the initial values of quaternions includes:
the information processor collects the measurement data of the MEMS rate gyro and the accelerometer of the inertial measurement unit once every 5ms, and calculates the initial pitch angle of the inertial measurement unit according to the measurement value of the accelerometer
The yaw angle psi and the roll angle gamma are calculated according to the following steps:
ψ0＝0·············(3)
wherein:
acceleration total (W) output by inertial measurement unitx1，Wy1，Wz1) Acceleration in m/s2The conversion to delta form over Δ T time is as follows:
g0＝9.80665m/s2，
is apparent velocity in delta T (5ms) time, namely the output value of the adding table in three directions (unit is m/s)2)；
The carrier is initially atIn a static state, the carrier coordinate system and the quasi-carrier coordinate system are superposed, a rolling attitude angle is calculated according to the formula (2), and the rolling rotation-separation stable platform controls the motor to rotate gamma in the reverse direction0Realizing the zero return of the rolling attitude angle of the inertial measurement unit, selecting 50ms smooth processing as the initial navigation initial attitude angle and the carrier initial attitude angle to avoid the initial attitude calculation error caused by the sudden change of the tabulation measurement value during the static state
ψ＝0，γ＝0；
The value of the initial quaternion can be calculated on the basis of the initial value of the attitude angle obtained in the initial alignment:
8. the rotating carrier attitude and position measurement method of claim 7 wherein the quaternion iteration and attitude calculation in step three is performed as follows:
acquiring MEMS rate gyro measurement values of three axes of an inertial measurement unit and a quaternion of a previous moment to obtain a quaternion of the next moment, updating the quaternion, and then solving an attitude angle of each moment according to the relation between the quaternion and the attitude angle, wherein the quaternion is updated after a carrier moves according to the following formula:
wherein: delta theta0 2＝δθx1 2+δθy1 2+δθz1 2The subscript "-1" is the value of the previous sampling moment;
the output of the inertial measurement unit is the angular velocity (omega)x1，ωy1，ωz1) Angular velocity in degrees/s is converted to incremental form over time Δ T as follows:
angle increment:
relative rotation matrix D of the carrier coordinate system relative to the navigation coordinate system:
the attitude angle is calculated on the basis of the quaternion calculation described above, as follows:
initial attitude angle of carrier in motion process
ψ＝ψ0，γ＝γ0+γrWherein γ isrAnd measuring the rolling angle of the rotating shaft relative to the outer frame of the stable platform for the magnetoelectric encoder.
9. The rotating carrier attitude and position measurement method according to claim 8, wherein the navigation coordinate system position calculation in the fourth step calculates the speed and position of the carrier by using the attitude matrix calculated by the formula (9) in combination with the speed calculated by the formula (6);
navigation coordinate system apparent velocity incremental calculation
Wherein: Δ Wx,ΔWy,ΔWzD, converting a vector coordinate system and a navigation coordinate system into a matrix for the navigation system apparent velocity increment within delta T;
(X) calculated by the formula (14)d,Yd,Zd) As the position of the carrier in the navigation coordinate system.
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