CN116519020A - Inertial navigation calibration device and method for maneuvering measurement and control platform - Google Patents

Inertial navigation calibration device and method for maneuvering measurement and control platform Download PDF

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Publication number
CN116519020A
CN116519020A CN202310638132.6A CN202310638132A CN116519020A CN 116519020 A CN116519020 A CN 116519020A CN 202310638132 A CN202310638132 A CN 202310638132A CN 116519020 A CN116519020 A CN 116519020A
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China
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measurement
antenna
inertial navigation
calibration
control
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CN202310638132.6A
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Inventor
曾彭
刘胜利
蔡文炳
习靖
田佳雨
朱明明
邵文波
华维盘
吕青
李云利
刘何帅
廖小虎
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CETC 54 Research Institute
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CETC 54 Research Institute
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Priority to CN202310638132.6A priority Critical patent/CN116519020A/en
Publication of CN116519020A publication Critical patent/CN116519020A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

The invention discloses an inertial navigation calibration device and method for a maneuvering measurement and control platform, and belongs to the technical field of measurement and control and radar. The basic principle is that a far-field calibration environment of a maneuvering measurement and control platform is constructed, the accurate azimuth of a calibration antenna relative to a measurement and control antenna is determined through high-precision position measurement, the orientation of the antenna under a vehicle-mounted coordinate system is obtained through capturing and tracking of the measurement and control antenna, and an inertial navigation transfer matrix is corrected so that inertial navigation output gesture information is consistent with the vehicle-mounted gesture, the output position information is coincident with the measurement and control antenna, and high-precision calibration of the inertial navigation gesture and the position is completed. The invention can complete the high-precision inertial navigation calibration of the vehicle-mounted maneuvering measurement and control platform by only using one calibration antenna, reduces the number of calibration reference targets and the environmental requirement, can be executed in all weather, and has universality.

Description

Inertial navigation calibration device and method for maneuvering measurement and control platform
Technical Field
The invention relates to the field of measurement and control and radar, in particular to an inertial navigation calibration method of a maneuvering measurement and control platform.
Background
In the field of maneuvering measurement and control, a maneuvering measurement and control system is required to have the capability of measuring and controlling in motion, on one hand, an antenna servo control and measurement and control device has the capability of isolating vehicles from ships, and can realize stable tracking of targets under the maneuvering condition of a platform, and on the other hand, the system is required to have the capability of measuring and positioning with high precision, acquire the positions and the postures of a vehicle in real time, and correct the pointing deviation of the targets caused by maneuvering of the vehicle. The maneuvering measurement and control platform generally acquires the position and the attitude information of the platform in real time through inertial navigation, and after the inertial navigation is installed, the installation error is eliminated through calibration, so that the position and the attitude information output by the inertial navigation are consistent with the measurement and control antenna. The measurement and control technology of the vehicle-mounted maneuvering is a new technology which starts to develop in recent years, and the current method for calibrating the vehicle-mounted maneuvering platform is less in research. The inertial navigation calibration method of the vehicle-mounted mobile platform can be used for referencing the calibration method of the ship-mounted platform, and the conventional scheme is to adopt multi-star positioning to determine a transfer matrix of an inertial navigation coordinate system and a ship body coordinate system and correct inertial navigation output data. The main problems of the method are:
1) The calibration is limited by time and weather, and the star calibration is required to be performed, so that the star calibration can only work at night when the weather is clear;
2) The number of the targets is large, and more than 3 stars are generally needed to obtain an accurate transfer matrix;
3) The star calibration is affected by the atmospheric environment, and large errors are easy to generate.
Disclosure of Invention
In view of the above, the invention provides a device and a method for inertial navigation calibration of a maneuvering measurement and control platform. The design can be used for inertial navigation calibration of a vehicle-mounted maneuvering measurement and control platform, has low requirements on calibration environment, can be executed in all weather, can finish reference target alignment by only one calibration antenna, and realizes inertial navigation calibration.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the inertial navigation calibration device of the maneuvering measurement and control platform comprises a carrier vehicle, a beacon machine, a leveling mechanism 4, a shelter 5, a measurement and control antenna 6, an inertial navigation 7, a low-light television 8, measurement and control equipment and a calibration antenna 10, wherein the carrier vehicle comprises a tractor 1 and a semitrailer 2;
leveling mechanisms 4 are arranged around the chassis of the semitrailer 2; the shelter 5 is arranged on the semitrailer 2 and comprises an equipment compartment 11 and an antenna compartment 12; the measurement and control antenna 6 is arranged in the antenna cabin 12 and fixedly connected with the chassis of the semitrailer 2; the inertial navigation 7 is arranged on an inertial navigation installation platform on the side surface of the sleeve of the measurement and control antenna 6; the low-light television 8 is arranged behind the measurement and control antenna 6, and the lens faces the incoming wave direction of the antenna; the measurement and control equipment comprises a measurement and control equipment cabinet 9 and an operation table 13, and is arranged in the equipment cabin 11; the beacon and calibration antenna 10 is located in the far field region outside the vehicle.
Further, the vehicle-carrying chassis is firmly connected with the measurement and control antenna 6, and the azimuth rotating platform of the measurement and control antenna 6 is parallel to the vehicle-carrying chassis; the inertial navigation device 7 is arranged on an inertial navigation installation platform, the inertial navigation installation platform of the inertial navigation device 7 is firmly connected with the measurement and control antenna 6, and when the measurement and control antenna 6 is erected, the inertial navigation installation platform of the inertial navigation device 7 is parallel to the azimuth rotation platform of the measurement and control antenna 6.
Further, the calibration antenna 10 is placed on a vehicle-mounted calibration rod, a calibration tower or other high ground; calibration antenna10 should satisfy far field condition, i.e. distance between calibration antenna 10 and measurement and control antenna 6 is more than 2D 2 Lambda; when the calibration antenna 10 does not meet the far field condition, the distance between the calibration antenna 10 and the measurement and control antenna 6 should be not lower than D 2 2 lambda; wherein D is the diameter of the measurement and control antenna 6, and lambda is the carrier wavelength of the calibration signal;
furthermore, the position measurement of the measurement and control antenna 6 and the calibration antenna 10 adopts differential GPS, total station or other high-precision position measurement methods, and the azimuth error caused by the positioning error is lower than the inertial navigation heading precision, namely the position errorWherein L is the horizontal plane X of the calibration antenna 10 and the measurement and control antenna 6 in the navigation coordinate system n O n Y n Is phi e The unit is the angular second, which is the inertial navigation precision.
The inertial navigation calibration method of the maneuvering measurement and control platform based on the device comprises the following steps:
step 1, placing a vehicle on a hard road surface to be in a static state, and adjusting a leveling mechanism to enable a chassis of the vehicle to be horizontal, namely a vehicle coordinate system horizontal plane X b O b Y b And navigation coordinate system level X n O n Y n Parallel to make the horizontal precision of the adjusted large disc better than the preset precision
Step 2, obtaining the coordinate [ x ] of the phase center of the measurement and control antenna under an ENU coordinate system through geodetic measurement and calculation of the vehicle-carrying structural parameters n1 ,y n1 ,z n1 ]The method comprises the steps of carrying out a first treatment on the surface of the Wherein, ENU coordinate system and navigation coordinate system X n Y n Z n Overlapping;
step 3, finely leveling the level of the large disc by using a composite image level instrument so that the level precision of the large disc meets the preset precision
Step 4, performing coarse alignment and fine alignment on the inertial navigation machine to obtain an attitude matrix of an inertial navigation coordinate system and a navigation coordinate system, namely an inertial navigation heading angle phi, a pitch angle theta and a roll angle gamma;
step 5, placing the beacon machine and the calibration antenna at the far-field position of the antenna, using the low-light television to aim the measurement and control antenna at the far-field calibration antenna direction, and measuring the coordinate [ x ] of the center of the calibration antenna under an ENU coordinate system n2 ,y n2 ,z n2 ]The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, the beacon transmits a calibration signal through a far-field calibration antenna;
step 6, the measurement and control equipment is set to be in a capturing and tracking mode, the measurement and control equipment controls the measurement and control antenna to capture and track, the measurement and control antenna captures calibration signals and transfers the calibration signals to a tracking mode, and at the moment, the center of an electric axis of the measurement and control antenna is aligned with the calibration antenna; reading out the value phi of the azimuth encoder of the measurement and control antenna 1 Namely, measuring and controlling an included angle between the pointing direction of the antenna and the direction of the vehicle-mounted coordinate system by 0 degrees;
step 7, correcting the attitude matrix output by inertial navigation to enable the inertial navigation coordinate system to coincide with the vehicle-carrying coordinate system, wherein the method specifically comprises the following steps: first, the inertial navigation output pitch angle and roll angle are corrected to be 0 °, i.e., θ=0°, γ=0°, and then the inertial navigation output heading angle is corrected to be Φ 2 -φ 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein phi is 2 The vector of the connecting line of the measurement and control antenna phase center and the calibration antenna is in the horizontal plane X of the navigation coordinate system n O n Y n An included angle of 0 DEG between the projection of the navigation coordinate system and the azimuth of the navigation coordinate system,η＝atan2(y n2 -y n1 ,x n2 -x n1 )×180/π；
and 8, measuring or calculating three-dimensional coordinates of the phase center of the measurement and control antenna and the inertial navigation center, including longitude, latitude and altitude, and correcting the inertial navigation position information to enable the inertial navigation output position center to coincide with the phase center of the measurement and control antenna.
Further, the specific method in the step 3 is as follows:
placing an image integrating level meter on an azimuth rotary table platform of the measurement and control antenna, wherein a knob end of the image integrating level meter faces to an azimuth rotary center, fixing an antenna elevation angle, and rotating the antenna azimuth from 0 DEG at intervals of a set angleReading M of degree reading image-combining level meter i And measurement and control antenna azimuth encoder reading A i Once until the angle requirement is met, finding out the non-horizontal maximum inclination direction A of the large disc m And a maximum tilting amount delta i The method comprises the steps of carrying out a first treatment on the surface of the Correcting the levelness of the large disc by adjusting the leveling mechanism, and repeating the step process until the maximum value of the levelness of the large disc meets the preset precisionWherein, the maximum value of the non-levelness of the large disc is the maximum inclination amount corresponding to the maximum inclination direction.
Further, the large disc is horizontally coarse-tuned to preset precisionEqual to the leveling precision of the leveling mechanism, fine adjustment precision +.>Less than inertial navigation accuracy.
The beneficial effects generated by adopting the technical scheme are as follows:
1. the invention solves the problem of inertial navigation calibration in the automotive environment of the carrier vehicle and lays a foundation for realizing maneuvering measurement and control.
2. The invention can be executed all the time and is not influenced by the climate environment.
3. According to the invention, only 1 calibration antenna is needed as a reference, so that the constraint on the reference target condition is reduced.
4. According to the invention, the high-precision position measurement is adopted to obtain the target precision pointing information, so that higher inertial navigation calibration precision can be obtained.
Drawings
FIG. 1 is a schematic diagram of an inertial navigation calibration flow of a motorized platform of the present invention.
FIG. 2 is a schematic view of the appearance of the motorized measuring and controlling platform of the present invention.
FIG. 3 is a schematic diagram of the structure of the motorized measurement and control platform of the present invention.
FIG. 4 is a schematic diagram of the inertial navigation calibration method of the motorized platform of the present invention.
Fig. 5 is a schematic representation of the navigation coordinate system, the vehicle-mounted coordinate system, and the ENU coordinate system of the present invention.
FIG. 6 is a top view illustration of inertial navigation calibration of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings.
The schematic diagrams of the structure composition and the appearance of the motorized measurement and control platform are shown in figures 2 and 3,
the inertial navigation calibration device of the maneuvering measurement and control platform comprises a carrier vehicle, a beacon machine, a leveling mechanism 4, a shelter 5, a measurement and control antenna 6, an inertial navigation 7, a low-light television 8, measurement and control equipment and a calibration antenna 10, wherein the carrier vehicle comprises a tractor 1 and a semitrailer 2;
leveling mechanisms 4 are arranged around the chassis of the semitrailer 2; the shelter 5 is arranged on the semitrailer 2 and comprises an equipment compartment 11 and an antenna compartment 12; the measurement and control antenna 6 is arranged in the antenna cabin 12 and fixedly connected with the chassis of the semitrailer 2; the inertial navigation 7 is arranged on an inertial navigation installation platform on the side surface of the sleeve of the measurement and control antenna 6; the low-light television 8 is arranged behind the measurement and control antenna 6, and the lens faces the incoming wave direction of the antenna; the measurement and control equipment is arranged in the equipment cabin 11 and comprises a measurement and control equipment cabinet 9 and an operation table 13; the beacon and calibration antenna 10 is located in the far field region outside the vehicle.
The vehicle-mounted chassis is firmly connected with the measurement and control antenna 6, and the azimuth rotating platform of the measurement and control antenna 6 is parallel to the vehicle-mounted chassis; the inertial navigation device 7 is arranged on an inertial navigation installation platform, the inertial navigation installation platform of the inertial navigation device 7 is firmly connected with the measurement and control antenna 6, and when the measurement and control antenna 6 is erected, the inertial navigation installation platform of the inertial navigation device 7 is parallel to the azimuth rotation platform of the measurement and control antenna 6.
As shown in fig. 4, the beacon machine and the calibration antenna 10 are placed at the far-field position of the antenna, and can be placed on a calibration rod 3, a calibration tower or other high lands meeting calibration conditions of a vehicle head, such as mountain tops, building tops and the like;
the inertial navigation calibration principle is shown in figure 1. The method comprises the following steps:
1. and placing the carrying vehicle on a hard road surface, extinguishing the vehicle in a static state, and roughly leveling the large disc level. The chassis of the vehicle is positioned horizontally by adjusting the leveling mechanism, namely the horizontal plane of the coordinate system of the vehicleX b O b Y b And navigation coordinate system level X n O n Y n Parallel, the horizontal precision of the big disc after adjustment is better than the preset precision The leveling precision of the large disc is about 0.05 degrees (namely 180 degrees) in a certain measurement and control system;
2. the coordinate [ x ] of the phase center of the measurement and control antenna under the ENU coordinate system is obtained through geodetic measurement and calculation according to the structural parameters of the vehicle n1 ,y n1 ,z n1 ]Generally, an ENU coordinate system and a navigation coordinate system X n Y n Z n Coincidence, as shown in fig. 5;
3. fine leveling is carried out on the level of the large disc by using a composite level meter, so that the level precision of the large disc meets the preset precisionThe specific method comprises the following steps: placing an image combining level meter on an azimuth turntable platform of the measurement and control antenna, wherein a knob end of the image combining level meter faces to an azimuth rotation center, and fixing an antenna elevation angle; starting from 0 DEG, the antenna azimuth is rotated, and the reading M of the image level meter is taken every 15 DEG i And azimuth encoder reading a i Once, up to 345 °; sorting data, and finding out the non-horizontal maximum inclination direction A of the large disc m And a maximum tilting amount delta i The method comprises the steps of carrying out a first treatment on the surface of the The levelness of the large disc can be corrected by adjusting the leveling mechanism, and then the step process is repeated until the maximum value of the levelness of the large disc meets the preset precision +.>Wherein the maximum value of the non-levelness of the large disc is the maximum inclination amount corresponding to the maximum inclination direction; />Should be smaller than inertial navigation heading accuracy phi e In a measurement and control systemThe navigation heading precision is less than 20 ", the image level precision is less than 10", and the requirements can be met;
4. coarse alignment and fine alignment are carried out on the inertial navigation machine, so that an attitude matrix of an inertial navigation coordinate system and a navigation coordinate system, namely an inertial navigation heading angle phi, a pitch angle theta and a roll angle gamma, are obtained, and at the moment, the data of the pitch angle and the roll angle are approximately 0 degrees, namely theta is approximately 0 degrees, and gamma is approximately 0 degrees;
5. as shown in fig. 4, the beacon machine and the calibration antenna are arranged at the far-field position of the antenna, and can be arranged on a calibration rod, a calibration tower or other high lands meeting calibration conditions of a vehicle head, such as mountain tops, building tops and the like; using a low-light television to align the measurement and control antenna to the far-field calibration antenna direction, and measuring the coordinate [ x ] of the center of the calibration antenna under an ENU coordinate system n2 ,y n2 ,z n2 ]The method comprises the steps of carrying out a first treatment on the surface of the Starting the beacon machine, and transmitting a calibration signal through a far-field calibration antenna;
6. the measurement and control equipment is set to capture a tracking mode, the measurement and control antenna captures a calibration signal and turns into the tracking mode, the measurement and control antenna captures the calibration signal and turns into the tracking mode, and at the moment, the center of an electric axis of the measurement and control antenna is aligned with the calibration antenna; reading out the value phi of the azimuth encoder of the measurement and control antenna 1 Namely, the angle between the pointing direction of the measurement and control antenna and the direction of the vehicle-mounted coordinate system is 0 DEG, as shown in figure 6;
7. correcting an attitude matrix of inertial navigation output to enable an inertial navigation coordinate system to coincide with a vehicle-mounted coordinate system, wherein the attitude matrix comprises the following specific steps: correcting the inertial navigation output pitch angle and roll angle to be 0 degrees, namely theta=0 degrees, gamma=0 degrees, and correcting the inertial navigation output course angle to be phi 2 -φ 1 Wherein phi is 2 The vector of the connecting line of the antenna for carrying the vehicle and calibrating is in the horizontal plane X of the navigation coordinate system n O n Y n An angle of 0 DEG (i.e. true north) from the navigation coordinate system,η＝atan2(y n2 -y n1 ,x n2 -x n1 )×180/π；
8. and measuring or calculating three-dimensional coordinates of the phase center of the measurement and control antenna and the inertial navigation center, including longitude, latitude and altitude, and correcting the inertial navigation position information to enable the inertial navigation output position center to coincide with the phase center of the measurement and control antenna.
The calibration antenna generally meets far field conditions, namely the distance between the calibration antenna and the measurement and control antenna is more than 2D 2 Wherein, D is the diameter of the measurement and control antenna, lambda is the carrier wave wavelength of the calibration signal, and the distance is not lower than D under the condition that the condition is difficult to be satisfied 2 And/2λ. The calibration antenna can be placed on a vehicle-mounted calibration rod, a calibration tower or other high places.
The position measurement of the vehicle-mounted measurement and control antenna and the calibration antenna can adopt methods such as differential GPS, total station and the like, and the azimuth error caused by the positioning error is lower than the inertial navigation course precision, namely the position errorWherein L is the horizontal plane X of the calibration antenna and the measurement and control antenna in the navigation coordinate system n O n Y n Is phi e The navigation accuracy is the inertial navigation accuracy, and the unit is an angle second.
By the method, inertial navigation high-precision calibration under the motor platform of the vehicle can be realized.

Claims (7)

1. The inertial navigation calibration device of the maneuvering measurement and control platform is characterized by comprising a vehicle, a beacon machine, a leveling mechanism (4), a square cabin (5), a measurement and control antenna (6), inertial navigation (7), a low-light television (8), measurement and control equipment and a calibration antenna (10), wherein the vehicle comprises a tractor (1) and a semitrailer (2);
leveling mechanisms (4) are arranged around the chassis of the semitrailer (2); the shelter (5) is arranged on the semitrailer (2) and comprises an equipment compartment (11) and an antenna compartment (12); the measurement and control antenna (6) is arranged in the antenna cabin (12) and is fixedly connected with the chassis of the semitrailer (2); the inertial navigation (7) is arranged on an inertial navigation installation platform on the side surface of the sleeve of the measurement and control antenna (6); the low-light television (8) is arranged behind the measurement and control antenna (6), and the lens faces the incoming wave direction of the antenna; the measurement and control equipment comprises a measurement and control equipment cabinet (9) and an operation table (13) and is arranged in the equipment cabin (11); the beacon and the calibration antenna (10) are positioned in a far field area outside the vehicle.
2. The inertial navigation calibration device of the motorized measurement and control platform according to claim 1, wherein the vehicle-mounted chassis is firmly connected with the measurement and control antenna (6), and the azimuth rotation platform of the measurement and control antenna (6) is parallel to the vehicle-mounted chassis; the inertial navigation device comprises an inertial navigation device (7), a measurement and control antenna (6), a bearing rotating platform and a bearing rotating platform, wherein the inertial navigation device (7) is arranged on an inertial navigation mounting platform, the inertial navigation mounting platform of the inertial navigation device (7) is firmly connected with the measurement and control antenna (6), and when the measurement and control antenna (6) is erected, the inertial navigation mounting platform of the inertial navigation device (7) is parallel to the bearing rotating platform of the measurement and control antenna (6).
3. The inertial navigation calibration device of a motorized measurement and control platform according to claim 1, wherein the calibration antenna (10) is placed on a vehicle-mounted calibration rod, a calibration tower or other high ground; the calibration antenna (10) should meet far field conditions, i.e. the distance between the calibration antenna (10) and the measurement and control antenna (6) is more than 2D 2 Lambda; when the calibration antenna (10) does not meet far field conditions, the distance between the calibration antenna (10) and the measurement and control antenna (6) should be not lower than D 2 2 lambda; wherein D is the diameter of the measurement and control antenna (6), and lambda is the carrier wavelength of the calibration signal.
4. The inertial navigation calibration device of a maneuvering measurement and control platform according to claim 1, wherein the position measurement of the measurement and control antenna (6) and the calibration antenna (10) adopts a differential GPS, a total station or other high-precision position measurement method, and the azimuth error caused by the positioning error is lower than the inertial navigation heading precision, namely the position errorWherein L is the horizontal plane X of the calibration antenna (10) and the measurement and control antenna (6) in the navigation coordinate system n O n Y n Is phi e The unit is the angular second, which is the inertial navigation precision.
5. An inertial navigation calibration method of a motorized measurement and control platform realized based on the device of any one of claims 1-4, comprising the following steps:
step 1, placing a vehicle on a hard road surface to be in a static state, and adjusting a leveling mechanism to enable a chassis of the vehicle to be horizontal, namely a vehicle coordinate system horizontal plane X b O b Y b And navigation coordinate system level X n O n Y n In parallel with each other,so that the horizontal precision of the adjusted large disc is better than the preset precision
Step 2, obtaining the coordinate [ x ] of the phase center of the measurement and control antenna under an ENU coordinate system through geodetic measurement and calculation of the vehicle-carrying structural parameters n1 ,y n1 ,z n1 ]The method comprises the steps of carrying out a first treatment on the surface of the Wherein, ENU coordinate system and navigation coordinate system X n Y n Z n Overlapping;
step 3, finely leveling the level of the large disc by using a composite image level instrument so that the level precision of the large disc meets the preset precision
Step 4, performing coarse alignment and fine alignment on the inertial navigation machine to obtain an attitude matrix of an inertial navigation coordinate system and a navigation coordinate system, namely an inertial navigation heading angle phi, a pitch angle theta and a roll angle gamma;
step 5, placing the beacon machine and the calibration antenna at the far-field position of the antenna, using the low-light television to aim the measurement and control antenna at the far-field calibration antenna direction, and measuring the coordinate [ x ] of the center of the calibration antenna under an ENU coordinate system n2 ,y n2 ,z n2 ]The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, the beacon transmits a calibration signal through a far-field calibration antenna;
step 6, the measurement and control equipment is set to be in a capturing and tracking mode, the measurement and control equipment controls the measurement and control antenna to capture and track, the measurement and control antenna captures calibration signals and transfers the calibration signals to a tracking mode, and at the moment, the center of an electric axis of the measurement and control antenna is aligned with the calibration antenna; reading out the value phi of the azimuth encoder of the measurement and control antenna 1 Namely, measuring and controlling an included angle between the pointing direction of the antenna and the direction of the vehicle-mounted coordinate system by 0 degrees;
step 7, correcting the attitude matrix output by inertial navigation to enable the inertial navigation coordinate system to coincide with the vehicle-carrying coordinate system, wherein the method specifically comprises the following steps: first, the inertial navigation output pitch angle and roll angle are corrected to be 0 °, i.e., θ=0°, γ=0°, and then the inertial navigation output heading angle is corrected to be Φ 2 -φ 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein phi is 2 The vector of the connecting line of the measurement and control antenna phase center and the calibration antenna is in the horizontal plane X of the navigation coordinate system n O n Y n An included angle of 0 DEG between the projection of the navigation coordinate system and the azimuth of the navigation coordinate system,η＝atan2(y n2 -y n1 ,x n2 -x n1 )×180/π；
and 8, measuring or calculating three-dimensional coordinates of the phase center of the measurement and control antenna and the inertial navigation center, including longitude, latitude and altitude, and correcting the inertial navigation position information to enable the inertial navigation output position center to coincide with the phase center of the measurement and control antenna.
6. The inertial navigation calibration method of the maneuvering measurement and control platform according to claim 5, wherein the specific method in the step 3 is as follows:
placing a combination level meter on an azimuth turntable platform of the measurement and control antenna, fixing the elevation angle of the antenna, starting to rotate the azimuth of the antenna from 0 degree, and reading M of the combination level meter at intervals of set angles i And measurement and control antenna azimuth encoder reading A i Once until the angle requirement is met, finding out the non-horizontal maximum inclination direction A of the large disc m And a maximum tilting amount delta i The method comprises the steps of carrying out a first treatment on the surface of the Correcting the levelness of the large disc by adjusting the leveling mechanism, and repeating the step process until the maximum value of the levelness of the large disc meets the preset precisionWherein, the maximum value of the non-levelness of the large disc is the maximum inclination amount corresponding to the maximum inclination direction.
7. The inertial navigation calibration method of the maneuvering measurement and control platform according to claim 5, wherein the large disc level coarse adjustment preset precisionEqual to the leveling precision of the leveling mechanism, fine adjustment precision +.>Less than inertial navigation accuracy.
CN202310638132.6A 2023-06-01 2023-06-01 Inertial navigation calibration device and method for maneuvering measurement and control platform Pending CN116519020A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117824712A (en) * 2024-03-01 2024-04-05 中国电子科技集团公司第五十四研究所 Inertial navigation calibration method for maneuvering platform

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117824712A (en) * 2024-03-01 2024-04-05 中国电子科技集团公司第五十四研究所 Inertial navigation calibration method for maneuvering platform

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