CN115790590B - Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof - Google Patents
Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof Download PDFInfo
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Abstract
The invention relates to an inertial navigation and right angle prism system and a calibration method thereof, in particular to a dynamically adjustable high-precision inertial navigation and right angle prism system and an adjustment method thereof, which are used for solving the defects that the traditional right angle prism system is fixedly connected to a structural platform body of inertial navigation, the installation error of the right angle prism system is increased along with the increase of working time, the outward transmission optical reference error is increased, and the error can only be accurately and mechanically adjusted in a laboratory. The invention can flexibly adjust the course angle and the roll angle of the right-angle prism in real time, and the installation error is not required to be adjusted after leaving the factory.
Description
Technical Field
The invention relates to an inertial navigation and right angle prism system and a calibration method thereof, in particular to a high-precision inertial navigation and right angle prism system capable of being dynamically adjusted and an adjustment method thereof.
Background
Inertial navigation systems (inertial navigation) are navigation parameter resolving systems which use gyroscopes and accelerometers as sensitive devices, the systems establish a navigation coordinate system according to the output of the gyroscopes, and the speed and the position of a carrier in the navigation coordinate system are resolved according to the output of the accelerometers.
An inertial navigation system is an autonomous navigation system that does not depend on external information nor radiate energy to the outside. The working environment not only comprises the air, the ground, but also comprises the underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and information such as speed, yaw angle and position in a navigation coordinate system can be obtained by measuring acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system.
The right-angle prism system is an important component for inertial navigation orientation reference transmission, and can directly upload inertial navigation orientation information. The traditional right-angle prism system is fixedly connected to the structure platform body of inertial navigation, and along with the increase of working time, the installation error of the right-angle prism system is larger and larger, so that the optical reference error transmitted outwards is larger, and the error can only be subjected to precise mechanical adjustment in a laboratory, thereby greatly reducing maintainability.
Disclosure of Invention
The invention aims to solve the defects that the traditional right-angle prism system is fixedly connected to a structure platform body of inertial navigation, the installation error of the right-angle prism system is increased along with the increase of working time, the outward transmission optical reference error is increased, and the error can only be precisely and mechanically adjusted in a laboratory, and provides a high-precision inertial navigation and right-angle prism system capable of being dynamically adjusted and an adjusting method thereof.
In order to solve the defects existing in the prior art, the invention provides the following technical solutions:
a high-precision inertial navigation and right-angle prism system capable of being dynamically adjusted is characterized in that: the device comprises an inertial navigation device, a right-angle prism, a transverse rolling steering engine, a course steering engine, a bracket and an information processing circuit;
the inertial navigation comprises an X-direction accelerometer, a Y-direction accelerometer and a Z-direction accelerometer which are orthogonally installed;
defining an accelerometer coordinate system, wherein an X axis is a sensitive axis of the accelerometer in the X direction, a Y axis is a sensitive axis of the accelerometer in the Y direction, and a Z axis accords with a right rule of the space coordinate system;
the right-angle prism is used for transmitting the course angle, the pitch angle and the roll angle obtained by inertial navigation calculation; the right-angle prism comprises a first mirror surface and a second mirror surface, the included angles of the first mirror surface and the XY surface are 45 degrees, the side edge of the first mirror surface is connected with the side edge of the second mirror surface, and the included angle between the first mirror surface and the second mirror surface is 90 degrees;
the bracket is a parallelogram arranged on a parallel XZ surface and comprises two first support arms which are parallel to each other and two second support arms which are parallel to each other; the first support arm is arranged on a plane parallel to XY in the +Z direction of inertial navigation through the transverse rolling steering engine, the right-angle prism is arranged on the other first support arm, the other first support arm is connected with the side edge of the first mirror surface and the side edge of the second mirror surface, and the transverse rolling steering engine is used for changing the transverse rolling angle of the right-angle prism;
the course steering engine is arranged on a second support arm and is used for changing the course angle of the right-angle prism through expansion and contraction;
the information processing circuit is respectively in communication connection with the inertial navigation, the transverse rolling steering engine and the heading steering engine, is used for periodically collecting the gyroscope and the accelerometer of the inertial navigation, carrying out initial alignment calculation, collecting AD rudder angle signals of the transverse rolling steering engine and the heading steering engine, and sending DA signals to respectively control the heading steering engine and the adjustment angle of the transverse rolling steering engine.
Further, the information processing circuit adopts a DSP6713 processor, the information processing circuit is respectively in communication connection with the inertial navigation, the transverse rolling steering engine and the heading steering engine through RS422, and the information processing circuit collects the inertial navigation gyroscope and the acceleration count at the frequency of 1 Hz-10 Hz and performs initial alignment calculation.
Meanwhile, the invention provides a method for adjusting the high-precision inertial navigation and right-angle prism system capable of being dynamically adjusted, which is characterized by comprising the following steps of:
step 3, placing the inertial navigation downwards according to the Y axis,taking X-Z-Y as a carrier coordinate system, firstly carrying out initial alignment according to the method in the step 1, wherein the initial alignment time is 3-5 min, and calculating to obtain a course angle
Pitch angle gamma and roll angle beta; all angle definitions conform to the right hand rule, clockwise is negative, and anticlockwise is positive; if beta is>0, sending an instruction to control the transverse rolling steering engine to rotate anticlockwise by beta through the information processing circuit; if beta is<0, sending an instruction to control the transverse rolling steering engine to rotate clockwise by beta through the information processing circuit; until beta=0, finishing the adjustment of the transverse rolling steering engine;
and 5, completing optical alignment of the optical axis of the rectangular prism and an accelerometer coordinate system.
In step 2, the information processing circuit sends an instruction to control the roll steering engine and the heading steering engine, so that the right-angle prism and the photoelectric auto-collimator are optically aligned specifically:
if the transverse axis reflected image deviates from the transverse axis of the photoelectric auto-collimator by a division difference theta, an information processing circuit sends an instruction to control the transverse steering engine to rotate clockwise by theta, and the photoelectric auto-collimator is re-aimed to obtain the transverse axis reflected image deviates from the transverse axis of the photoelectric auto-collimator by theta 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 1 <θ, the direction of adjustment is correct, and the same direction is reachedContinuing to adjust θ 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 1 >θ is adjusted in the wrong direction and θ is adjusted in the opposite direction 1 The method comprises the steps of carrying out a first treatment on the surface of the Stopping adjustment until the transverse axis reflection image and the transverse axis division of the auto-collimator completely coincide;
if the longitudinal axis reflected image deviates from the longitudinal axis division of the photoelectric auto-collimator by lambda, an information processing circuit sends an instruction to control the course steering engine to extend lambda, and the photoelectric auto-collimator is re-aimed to obtain the longitudinal axis reflected image deviates from the longitudinal axis division of the photoelectric auto-collimator by lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 <Lambda indicates that the adjustment direction is correct and continues to adjust lambda in the same direction 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 >Lambda is adjusted in the wrong direction and lambda is adjusted in the opposite direction 1 The method comprises the steps of carrying out a first treatment on the surface of the And repeatedly adjusting until the longitudinal axis reflection image and the longitudinal axis division of the auto-collimator completely coincide, and stopping adjusting.
Further, in step 1, the initial alignment is specifically: firstly, inertial system disturbance rejection coarse alignment is carried out on inertial navigation, then Kalman filtering fine alignment is carried out, and the total alignment time is not less than 5 minutes.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention relates to a high-precision inertial navigation and right-angle prism system capable of being dynamically adjusted, which comprises an inertial navigation system, a right-angle prism, a transverse rolling steering engine, a course steering engine, a bracket and an information processing circuit; according to the invention, the right-angle prism is connected with the inertial navigation through the transverse rolling steering engine, the course steering engine and the bracket, and is controlled through the information processing circuit, so that the course angle and the transverse rolling angle of the right-angle prism can be flexibly adjusted in real time, the installation error is not required to be adjusted after leaving a factory, and the problem that the installation error between the high-precision inertial navigation and the right-angle prism is increased along with time is solved.
(2) The method for adjusting the high-precision inertial navigation and right-angle prism system capable of being dynamically adjusted can realize real-time accurate adjustment and control of the right-angle prism, has operability, improves the practicability and maintainability of the right-angle prism system, and has a certain application value for reference transmission of the high-precision inertial navigation.
Drawings
FIG. 1 is a schematic diagram of a dynamically adjustable high precision inertial navigation and rectangular prism system (information processing circuit is not shown);
FIG. 2 is a schematic diagram of the operation of the information processing circuit according to the embodiment of the present invention;
FIG. 3 is a schematic diagram showing the deviation between the cross-axis reflected image and the cross-axis division of the photo-collimator in step 2 of the method for adjusting the dynamically adjustable high-precision inertial navigation and right-angle prism system according to the embodiment of the present invention;
fig. 4 is a schematic diagram showing deviation of the longitudinal axis reflected image from the longitudinal axis division of the photo-autocollimator in step 2 according to the embodiment of the present invention.
The reference numerals are explained as follows: 1-inertial navigation; 2-right angle prism, 21-first mirror, 22-second mirror; 3-bracket, 31-first support arm, 32-second support arm; 4-a transverse rolling steering engine; 5-course steering engine; 6-an information processing circuit.
Detailed Description
The invention is further described below with reference to the drawings and exemplary embodiments.
Referring to fig. 1, a dynamically adjustable high-precision inertial navigation and right-angle prism system comprises an inertial navigation 1, a right-angle prism 2, a roll steering engine 4, a course steering engine 5, a bracket 3 and an information processing circuit 6.
And defining an accelerometer coordinate system, wherein an X axis is a sensitive axis of the accelerometer in the X direction, a Y axis is a sensitive axis of the accelerometer in the Y direction, and a Z axis accords with a right rule of the space coordinate system.
The right-angle prism 2 is used for transmitting the course angle, the pitch angle and the roll angle calculated by the inertial navigation 1; the right-angle prism 2 comprises a first mirror surface 21 and a second mirror surface 22, the included angles of the first mirror surface 21 and the XY surface are 45 degrees, the side edge of the first mirror surface 21 is connected with the side edge of the second mirror surface 22, and the included angle between the first mirror surface 21 and the second mirror surface 22 is 90 degrees.
The bracket 3 is a parallelogram arranged in parallel with the XZ plane and comprises two first support arms 31 which are parallel to each other and two second support arms 32 which are parallel to each other; one first support arm 31 is arranged on a plane parallel to XY in the +Z direction of the inertial navigation 1 through the transverse rolling steering engine 4, a right-angle prism 2 is arranged on the other first support arm 31, the two first support arms 31 are parallel to the XY plane, the other first support arm 31 is connected with the side edge of the first mirror surface 21 and the side edge of the second mirror surface 22, and the transverse rolling steering engine 4 is used for changing the transverse rolling angle of the right-angle prism 2.
The course steering engine 5 is arranged on a second support arm 32 and is used for changing the course angle of the right-angle prism 2 through expansion and contraction.
Referring to fig. 2, the information processing circuit 6 is respectively in communication connection with the inertial navigation 1, the roll steering engine 4 and the heading steering engine 5; the information processing circuit 6 collects the gyro and the acceleration data of the inertial navigation 1 at the frequency of 1 Hz-10 Hz and performs initial alignment calculation; the information processing circuit 6 collects AD rudder angle signals of the transverse steering engine 4 and the heading steering engine 5, and receives an instruction of an upper computer through the RS422 to send DA signals to respectively control the heading steering engine 5 and the transverse steering engine 4 to adjust angles.
In the embodiment, the travel of the heading steering engine 5 and the roll steering engine 4 is less than 2 degrees, and the resolution is less than 3'; the information processing circuit 6 employs a DSP6713 processor, and has a duplex RS422 communication function.
A method for adjusting a dynamically adjustable high-precision inertial navigation and right-angle prism system is used for the dynamically adjustable high-precision inertial navigation and right-angle prism system and comprises the following steps:
referring to fig. 4, if the longitudinal axis reflected image (dotted line) deviates from the longitudinal axis division (solid line) of the photoelectric auto-collimator by λ, the information processing circuit 6 sends a command to control the heading steering engine 5 to extend by λ, and the photoelectric auto-collimator is re-aimed to obtain the longitudinal axis reflected image and the longitudinal axis division deviation of the photoelectric auto-collimator by λ 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 <Lambda indicates that the adjustment direction is correct and continues to extend lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 >Lambda, the direction is adjusted to be wrong, and the heading steering engine 5 is controlled to shrink lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the Repeatedly adjusting until the longitudinal axis reflection image and the longitudinal axis division of the auto-collimator completely coincide, and stopping adjusting;
through the steps, the right-angle prism 2 is optically aligned with the photoelectric auto-collimator through the adjustment of the transverse rolling steering engine 4 and the heading steering engine 5;
step 3, placing the inertial navigation 1 downwards according to a Y axis, keeping the positions of the rectangular prism 2, the roll steering engine 4, the heading steering engine 5 and the bracket 3 obtained in the step 2 unchanged, taking X-Z-Y as a carrier coordinate system, firstly carrying out initial alignment according to the method described in the step 1, wherein the initial alignment time is 5min, and calculating to obtain the heading angle
Pitch angle gamma and roll angle beta; all angle definitions conform to the right hand rule, clockwise is negative, and anticlockwise is positive; if beta is>0, sending an instruction to control the rolling steering engine 4 to rotate anticlockwise by beta through the information processing circuit 6; if beta is<0, sending an instruction to control the rolling steering engine 4 to rotate beta clockwise through the information processing circuit 6; until beta=0, the adjustment of the roll steering engine 4 is finished;
and 5, performing the steps to finish optical alignment of the optical axis of the rectangular prism 2 and the accelerometer coordinate system.
The foregoing embodiments are merely for illustrating the technical solutions of the present invention, and not for limiting the same, and it will be apparent to those skilled in the art that modifications may be made to the specific technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, without departing from the spirit of the technical solutions protected by the present invention.
Claims (5)
1. A but high accuracy inertial navigation and right angle prism system of dynamic adjustment, its characterized in that: the intelligent navigation system comprises an inertial navigation system (1), a right-angle prism (2), a transverse rolling steering engine (4), a heading steering engine (5), a bracket (3) and an information processing circuit (6);
the inertial navigation device (1) comprises an X-direction accelerometer, a Y-direction accelerometer and a Z-direction accelerometer which are orthogonally installed;
defining an accelerometer coordinate system, wherein an X axis is a sensitive axis of the accelerometer in the X direction, a Y axis is a sensitive axis of the accelerometer in the Y direction, and a Z axis accords with a right rule of the space coordinate system;
the right-angle prism (2) is used for transmitting the course angle, the pitch angle and the roll angle obtained by the inertial navigation (1); the right-angle prism (2) comprises a first mirror surface (21) and a second mirror surface (22) which have an included angle of 45 degrees with an XY surface, the side edge of the first mirror surface (21) is connected with the side edge of the second mirror surface (22), and the included angle between the first mirror surface (21) and the second mirror surface (22) is 90 degrees;
the bracket (3) is a parallelogram arranged in parallel with the XZ plane and comprises two first support arms (31) which are parallel to each other and two second support arms (32) which are parallel to each other; the first support arm (31) is arranged on a plane parallel to XY in the +Z direction of the inertial navigation device (1) through the transverse rolling steering engine (4), the right-angle prism (2) is arranged on the other first support arm (31), the other first support arm (31) is connected with the side edge of the first mirror surface (21) and the side edge of the second mirror surface (22), and the transverse rolling steering engine (4) is used for changing the transverse rolling angle of the right-angle prism (2);
the course steering engine (5) is arranged on a second support arm (32) and is used for changing the course angle of the right-angle prism (2) through expansion and contraction;
the information processing circuit (6) is respectively in communication connection with the inertial navigation (1), the transverse rolling steering engine (4) and the heading steering engine (5), is used for periodically collecting gyro and acceleration count data of the inertial navigation (1) and carrying out initial alignment calculation, is used for collecting AD rudder angle signals of the transverse rolling steering engine (4) and the heading steering engine (5), and sends DA signals to respectively control adjustment angles of the heading steering engine (5) and the transverse rolling steering engine (4).
2. The dynamically adjustable high precision inertial navigation and right angle prism system of claim 1, wherein: the information processing circuit (6) adopts a DSP6713 processor, the information processing circuit (6) is respectively in communication connection with the inertial navigation (1), the transverse rolling steering engine (4) and the heading steering engine (5) through an RS422, and the information processing circuit (6) collects gyro and acceleration data of the inertial navigation (1) at the frequency of 1 Hz-10 Hz and performs initial alignment calculation.
3. The method for adjusting the dynamically adjustable high-precision inertial navigation and right-angle prism system is characterized by comprising the following steps of:
step 1, establishing an error model of the inertial navigation (1) under an accelerometer coordinate system, and performing system-level calibration on the inertial navigation (1)Obtaining tool error compensation parameters; according to the tool error compensation parameters, calling the tool error compensation parameters through an information processing circuit (6) to obtain the angular increment and the speed increment under the accelerometer coordinate system; initial alignment of the inertial navigation (1) is carried out by utilizing the angle increment and the speed increment to obtain a course angle taking an accelerometer coordinate system as a reference
Pitch angle gamma 0 Roll angle beta 0 ；
Step 2, placing the inertial navigation (1) downwards according to an X axis, and aiming at the right-angle prism (2) by using a leveled photoelectric auto-collimator to obtain a reflection image; an information processing circuit (6) sends an instruction to control a roll steering engine (4) and a course steering engine (5) so as to lead the right-angle prism (2) to be optically aligned with the photoelectric auto-collimator;
step 3, placing the inertial navigation (1) downwards according to a Y axis, keeping the positions of the rectangular prism (2), the transverse rolling steering engine (4), the heading steering engine (5) and the support (3) unchanged, taking X-Z-Y as a carrier coordinate system, firstly carrying out initial alignment according to the method in the step 1, wherein the initial alignment time is 3-5 min, and calculating to obtain the heading angle
Pitch angle gamma and roll angle beta; all angle definitions conform to the right hand rule, clockwise is negative, and anticlockwise is positive; if beta is>0, sending an instruction through an information processing circuit (6) to control the rolling steering engine (4) to rotate anticlockwise by beta; if beta is<0, sending an instruction to control the rolling steering engine (4) to rotate beta clockwise through the information processing circuit (6); until beta=0, finishing the adjustment of the roll steering engine (4);
step 4, placing the inertial navigation (1) upwards according to a Z axis, keeping the positions of the rectangular prism (2), the transverse rolling steering engine (4), the heading steering engine (5) and the support (3) unchanged, taking X-Y-Z as a carrier coordinate system, firstly carrying out initial alignment according to the method in the step 1, wherein the initial alignment time is 3-5 min, and calculating to obtain the heading angle
Pitch angle gamma 1 Roll angle beta 1 The method comprises the steps of carrying out a first treatment on the surface of the All angle definitions conform to the right hand rule, clockwise is negative, and anticlockwise is positive; if beta is 1 >0, the information processing circuit (6) sends an instruction to control the course steering engine (5) to shrink beta 1 The method comprises the steps of carrying out a first treatment on the surface of the If beta is 1 <0, the information processing circuit (6) sends an instruction to control the course steering engine (5) to extend beta 1 The method comprises the steps of carrying out a first treatment on the surface of the Up to beta 1 =0, the adjustment of the heading steering engine (5) is finished;
and 5, completing optical alignment of the optical axis of the rectangular prism (2) and an accelerometer coordinate system.
4. The method for adjusting a dynamically adjustable high-precision inertial navigation and right-angle prism system according to claim 3, wherein in step 2, the information processing circuit (6) sends instructions to control the roll steering engine (4) and the heading steering engine (5), so that the right-angle prism (2) is optically aligned with the photoelectric auto-collimator specifically comprises:
if the transverse axis reflected image deviates from the transverse axis of the photoelectric autocollimator by a division theta, an information processing circuit (6) sends an instruction to control the transverse rolling steering engine (4) to rotate clockwise by a theta, and the photoelectric autocollimator is re-aimed to obtain the transverse axis reflected image deviates from the transverse axis of the photoelectric autocollimator by a division theta 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 1 <θ, the direction of adjustment is correct, and θ is continuously adjusted in the same direction 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 1 >θ is adjusted in the wrong direction and θ is adjusted in the opposite direction 1 The method comprises the steps of carrying out a first treatment on the surface of the Stopping adjustment until the transverse axis reflection image and the transverse axis division of the auto-collimator completely coincide;
if the longitudinal axis reflected image deviates from the longitudinal axis division of the photoelectric auto-collimator by lambda, an information processing circuit (6) sends an instruction to control the course steering engine (5) to extend lambda, and the photoelectric auto-collimator is re-aimed to obtain the longitudinal axis reflected image deviates from the longitudinal axis division of the photoelectric auto-collimator by lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 <Lambda, indicating that the adjustment direction is correct, and controlling the heading steering engine (5) to continuously extend lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the If lambda is 1 >Lambda, the direction is adjusted to be wrong, and the heading steering engine (5) is controlled to shrink lambda 1 The method comprises the steps of carrying out a first treatment on the surface of the And stopping adjustment until the longitudinal axis reflection image completely coincides with the longitudinal axis division of the autocollimator.
5. The method for adjusting a dynamically adjustable high-precision inertial navigation and right angle prism system according to claim 3 or 4, wherein in step 1, the initial alignment is specifically: firstly, inertial system anti-disturbance coarse alignment is carried out on inertial navigation (1), then Kalman filtering fine alignment is carried out, and the total alignment time is not less than 5min.
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| FR2755760B1 (en) * | 1996-11-14 | 1999-01-08 | Eurocopter France | METHOD AND TOOLS FOR DETERMINING ON A VEHICLE, IN PARTICULAR AN AIRCRAFT, THE FAILURE TO HARMONIZE AN EQUIPMENT |
| US8157375B2 (en) * | 2009-08-10 | 2012-04-17 | Cronin John V | Variable prism eyeglasses |
| JP5875893B2 (en) * | 2012-02-23 | 2016-03-02 | 鎌倉光機株式会社 | Optical device, method for adjusting optical component, and method for manufacturing optical device |
| CN104567874B (en) * | 2015-01-26 | 2018-03-13 | 湖北航天技术研究院总体设计所 | A kind of vehicle positioning orientation and self-calibration device based on laser inertial |
| CN105910624B (en) * | 2016-05-04 | 2019-12-03 | 湖北航天技术研究院总体设计所 | A kind of scaling method of used group of optical laying prism installation error |
| CN106855419B (en) * | 2016-12-30 | 2020-05-19 | 西安航天精密机电研究所 | Right-angle prism calibration test method based on accelerometer coordinate system |
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| JP7461185B2 (en) * | 2020-03-18 | 2024-04-03 | 株式会社トプコン | Surveying equipment and surveying equipment systems |
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| CN113483784B (en) * | 2021-06-29 | 2022-04-29 | 武汉虹星科技有限公司 | Optical fiber inertial measurement unit digital coordinate system and structure coordinate system error calibration test equipment and method |
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| CN103759743A (en) * | 2014-01-29 | 2014-04-30 | 西安航天精密机电研究所 | Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle |
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