CN118131348B - High-precision platform control method under complex dynamic condition of unmanned platform gravity meter - Google Patents
High-precision platform control method under complex dynamic condition of unmanned platform gravity meter Download PDFInfo
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Abstract
The invention belongs to the field of high-precision measurement of inertial measurement units of unmanned platform type gravimeter, and particularly relates to a double-shaft stable platform control applied to a unmanned platform small-sized gravimeter. The high-precision platform control method can support the unmanned platform gravity meter to realize high-precision stable platform control under the high-dynamic measurement environment, establishes a basic condition for gravity information measurement, and is used for realizing high-precision stable platform control under the complex dynamic condition of the unmanned platform gravity meter. The invention utilizes the high-precision platform control method of the unmanned platform gravity meter under the complex dynamic condition, can solve the dynamic disturbance problem faced by the traditional analysis coarse alignment algorithm, can inhibit the horizontal motion acceleration coupling error under the dynamic measurement condition, and realizes the high-precision initial platform coordinate system establishment and the high-precision platform dynamic leveling of the unmanned platform gravity meter under the carrier large dynamic condition.
Description
Technical Field
The invention belongs to the field of high-precision measurement of inertial measurement units of unmanned platform type gravimeter, and particularly relates to a double-shaft stable platform control applied to a unmanned platform small-sized gravimeter. The high-precision platform control method can support the unmanned platform gravity meter to realize high-precision stable platform control under the high-dynamic measurement environment, establishes a basic condition for gravity information measurement, and is used for realizing high-precision stable platform control under the complex dynamic condition of the unmanned platform gravity meter.
Background
The body measurement portion of the gravity meter includes an inertial measurement unit and an inertial stabilization platform. The inertial measurement unit comprises three single-axis fiber optic gyroscopes, two horizontal accelerometers and a vertical gravity sensor. The gravity sensor is also used as a vertical accelerometer. In order to meet the severe requirements of small carriers such as unmanned boats, AUVs, unmanned planes and the like on the size and the weight of the instrument, the gravity meter does not adopt a three-ring inertial platform scheme, but adopts a more compact azimuth strapdown inertial platform scheme. In structural configuration, the gravity meter platform is composed of two horizontal universal ring frames, the azimuth is free of a universal ring frame structure, and the inertia measurement unit is arranged in the two horizontal universal ring frames, so that the azimuth strapdown inertia platform is formed. The platform mechanical part consists of a base, an outer frame Q and an inner frame P, wherein three gyroscopes Gx, gy, gz and three accelerometers Ax, ay, az (gravity sensors) are orthogonally arranged on the inner frame, and are integrally arranged in the inner frame of the platform body in the form of an inertial measurement unit, wherein the outer frame is a pitching ring, and the inner frame is a horizontal rolling ring. Functionally, the horizontal ring stabilizing loop of the platform realizes the inertial system stabilization of two horizontal degrees of freedom by utilizing a stabilizing loop technology based on the fiber-optic gyroscope, and isolates the horizontal angular motion of the carrier. And the correction loop controls the azimuth strapdown platform to track the local geographic level by using the navigation resolving result, so that the input shaft of the gravity sensor is strictly parallel to the direction of the geographic vertical line, and the direct measurement of the vertical acceleration, namely the measurement of the original gravity information, is completed. And in the later gravity data processing stage, carrying out carrier motion acceleration correction, standard ellipsoidal gravity correction and drift compensation on the original gravity measurement value by means of satellite navigation information such as GNSS and the like, and finally obtaining free space gravity anomaly information.
The unmanned platform gravity meter can be arranged on an unmanned ship, has shallow draft, is quick, economical and safe, can develop a plurality of operation modes such as cooperation of a plurality of ships, synchronization with a mother ship and the like, covers a difficult-to-reach area of a conventional water surface ship, and greatly improves the operation efficiency. Compared with the strapdown gravity meter, the unmanned platform gravity meter has the greatest difference and advantages that the unmanned platform gravity meter has a physical inertia stable platform which really exists, and can always keep the sensitive axis of the gravity sensor in the geographic plumb direction under the dynamic measurement condition, so that nonlinear errors caused by the inclination of the sensor are furthest restrained. The unmanned platform gravity meter platform control can be divided into two key steps, namely, an initial platform coordinate system is established, so that the platform coordinate system is aligned with a geographic coordinate system, the sensitive axis direction of the gravity sensor is always in a geographic perpendicular line, and high-precision direct measurement of gravity information is realized, which is the basis for carrying out gravity measurement; and secondly, dynamically leveling the platform, so that the gravity meter platform keeps the error angle between the platform coordinate system and the geographic coordinate system in a controllable range in the carrier movement process, and further, dynamic continuous measurement is realized.
However, the unmanned platform has small volume, light weight and is easily influenced by wave fluctuation, so that the speed and the heading of the unmanned platform can generate maximum fluctuation, and obvious heave motion is generated along with the wave fluctuation, and the dynamic environment is worse. The high dynamic measurement condition puts very high requirements on the gravity meter platform control, however, practical experimental tests show that the control scheme of the traditional platform type gravity meter cannot meet the application requirements of the working conditions, the accuracy of establishing the initial coordinate system of the double-shaft inertial platform under the working conditions is obviously reduced, and the dynamic leveling control generates a non-negligible gravity measurement error. Therefore, a more advanced platform control method is needed to be researched, and high-precision stable platform control under complex dynamic conditions is realized.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a method for calibrating and compensating the inconsistency error between an inertial component coordinate system of an unmanned platform type gravity meter and a mechanical platform body coordinate system with high precision based on a low-precision single-axis turntable. The method can support the unmanned platform type gravity meter to calibrate and compensate the inconsistent error between the gravity meter inertial component coordinate system and the mechanical platform coordinate system by a fixed angle rotation method under the condition of a laboratory or an external field quiet ground, reduces the machining cost of the gravity meter, and ensures the long-term precision of gravity measurement under the conditions of small carrier and high dynamic.
In order to solve the technical problems, the invention adopts the following technical scheme.
A high-precision platform control method under the complex dynamic condition of an unmanned platform gravity meter comprises the following steps:
s1, establishing an initial platform coordinate system:
S2, a platform dynamic leveling process:
S21, designing and simulating the stabilized platform control of the gravity instrument by taking the originally acquired carrier sea motion acceleration as input to obtain three groups of horizontal two-axis control parameter values;
s22, calculating damping oscillation frequencies corresponding to the three sets of parameter values on the basis of obtaining the three sets of horizontal two-axis control parameter values in the step S21, and selecting two sets of parameter values with the largest damping oscillation frequency difference as alternative control parameters;
S23, acquiring output signals of the horizontal two-direction accelerometer in real time, and respectively performing acceleration spectrum analysis to obtain spectrum numerical distribution of each frequency point;
s24, obtaining a frequency point corresponding to the maximum value of the frequency spectrum according to the frequency spectrum numerical distribution of each frequency point in the step S23;
S25, selecting a control parameter with the largest frequency difference between the damped oscillation frequency and the frequency point obtained in the step S24 from two groups of alternative control parameters obtained in the step S22 as a control parameter of a dynamic leveling process;
s26, in the dynamic leveling working process of the gravity meter, the steps S23 to S25 are circularly executed at intervals to obtain platform control parameters suitable for real-time dynamic environmental conditions.
Further, in the step S1, the method for establishing the initial platform coordinate system includes:
S11, closing two horizontal axis stabilizing loops of an inertial platform of the gravity meter, wherein the inertial platform is stable relative to an inertial space;
S12, forming a negative feedback control loop by utilizing the output of the horizontal accelerometers in two directions on the platform, and leveling the platform;
S13, on the basis of the step S11 and the step S12, the platform is kept in a horizontal state under the dynamic condition.
Further, in step S12, the platform is leveled for 1 minute.
Further, the method of the step S13 is that,
S131, realizing high-precision self-alignment of the heading by utilizing the attitude change of the swing base, the direction change of the gravity acceleration relative to the inertial space caused by the earth rotation and the earth rotation information and through inertia solidification assumption, and obtaining heading angle information by real-time calculation, wherein the process lasts for 2 minutes;
And S132.2 minutes is finished, taking the heading angle value at the last moment as the heading value obtained in the initial platform coordinate system establishment process, and taking the heading angle value as initial heading input information of the dynamic leveling stage.
Further, the method of S21 is to optimize the design control parameter K 1、K2 by taking the statistical accuracy of the horizontal control deviation of the platform as the principle that the statistical accuracy is better than 20' to obtain 3 groups of horizontal two-axis control parameter values meeting the condition、And。
Further, in step S26, the cycle execution frequency is once at 2 hours at intervals of step S23 to step S25.
Further, in step S22, the oscillation frequency is dampedThe calculation method comprises the following steps:
Wherein Is the schlempe angular frequency.
The beneficial effects of the invention are as follows:
the invention utilizes the high-precision platform control method of the unmanned platform gravity meter under the complex dynamic condition, can solve the dynamic disturbance problem faced by the traditional analysis coarse alignment algorithm, can inhibit the horizontal motion acceleration coupling error under the dynamic measurement condition, and realizes the high-precision initial platform coordinate system establishment and the high-precision platform dynamic leveling of the unmanned platform gravity meter under the carrier large dynamic condition.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of the present invention.
FIG. 2 is a north-oriented horizontal channel control block diagram of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
The invention is described below in connection with the description of fig. 1.
The traditional platform type gravity meter control scheme is based on the analysis method coarse alignment to complete the establishment of an initial coordinate system of an inertial platform. The method comprises the steps of roughly leveling a platform by utilizing a negative feedback control loop based on a measured value of an accelerometer on an inertial platform to gravitational acceleration, completing establishment of a horizontal coordinate system, and simultaneously obtaining course information according to analysis and calculation of the measured value of an earth rotation angular rate by a gyroscope to complete course angle calculation.
Thus, the initial platform coordinate system of the gravity meter is established, a horizontal reference standard is provided for the measurement of the gravity sensor, and the heading is initialized by utilizing the calculated platform heading information so as to carry out the dynamic leveling control of the platform. In the stage of dynamic platform leveling, platform control is performed based on a traditional GPS speed damping control scheme, a northbound horizontal channel is taken as an example, a control block diagram is shown in fig. 2, and K 1、K2 is a control parameter,Zero offset of the north accelerometer, R is the earth radius,Is the error of the north-direction speed,For the east posture error angle, g is a gravity value, and 1/S is integral operation. The control loop parameters are designed based on the statistical accuracy (1σ) index of the platform level control deviation meeting the requirements. But this solution is only applicable to an aligned environment with a slight sloshing and a calm sea state measuring environment. When the unmanned platform gravity meter is arranged on a small carrier such as a water surface unmanned ship, the unmanned ship and the like have small size and weak capability of resisting stormy waves at sea, so that the unmanned platform gravity meter has more severe changes of transverse, longitudinal and heading under the same sea conditions. Under the alignment environment, horizontal coarse alignment can be automatically completed, but the signal to noise ratio in the gyroscope output information is low due to the maximum carrier angular motion interference, and the obtained carrier course angle has the maximum noise. Therefore, the course value obtained in the alignment process must be subjected to a period of average treatment to obtain the course information with certain precision, the treatment method can still meet the precision requirement under the static or slight shaking condition of the carrier, but under the complex dynamic condition, the carrier course changes in real time, the carrier course has great fluctuation, and the instantaneous course angle value of the carrier meeting the precision index cannot be obtained by the method. Meanwhile, in the unmanned platform high dynamic measurement environment, the inertial platform is always in a slight fluctuation state, and even if the statistical accuracy (1 sigma) of the platform control deviation meets the design index, the coupling of the slight fluctuation of the platform and the horizontal movement acceleration will bring about dynamic gravity measurement errors.
The following describes the implementation of the present invention in detail.
S1: the initial platform coordinate system establishment process comprises the following steps:
S11: the two horizontal axis stabilizing loops of the gravity meter inertial platform are closed-loop, and the inertial platform is stable relative to the inertial space.
S12: and (3) forming a negative feedback control loop by utilizing the outputs of the horizontal accelerometers in two directions on the platform, and roughly leveling the platform, wherein the process lasts for 1 minute.
S13: on the basis of step S11 and step S12, the platform is always kept in a rough horizontal state under the dynamic condition. At the moment, the course high-precision self-alignment is realized by utilizing the information of the change of the posture of the swinging base, the change of the direction of the gravity acceleration relative to the inertial space along with the rotation of the earth, the rotation of the earth and the like through the inertia solidification assumption, and the course angle information is obtained through real-time calculation, and the process lasts for 2 minutes. And after 2 minutes are finished, taking the heading angle value at the last moment as the heading value obtained in the initial platform coordinate system establishing process, and taking the heading angle value as initial heading input information of a dynamic leveling stage.
S2: platform dynamic leveling process:
S21: the sea motion acceleration of the carrier collected in the past is used as input to design and simulate the control of the stabilized platform of the gravity meter. Optimizing design control parameter K 1、K2 by taking statistical accuracy (1 sigma) of platform horizontal control deviation as principle that the statistical accuracy is better than 20' to obtain 3 groups of horizontal two-axis control parameter values meeting the condition 、、。
S22: on the basis of obtaining 3 groups of horizontal two-axis control parameter values in the step S21, calculating the damping oscillation frequency corresponding to the 3 groups of parameter valuesThe calculation method comprises the following steps:
Wherein Is the schlempe angular frequency.
And selecting 2 groups of parameter values with the largest difference of the damped oscillation frequencies as alternative control parameters.
S23: acquiring output signals of the accelerometers in two directions in real time, and respectively performing acceleration spectrum analysis to obtain spectrum numerical distribution of each frequency point;
s24: obtaining a frequency point corresponding to the maximum value of the frequency spectrum from the frequency spectrum numerical distribution of each frequency point in the step S23;
S25: and selecting the control parameter with the largest frequency difference between the damped oscillation frequency and the frequency point obtained in the step S24 from two groups of alternative control parameters obtained in the step S22 as the control parameter of the dynamic leveling process.
S26: in the dynamic leveling working process of the gravity meter, the steps S23 to S25 are circularly executed once every 2 hours to obtain platform control parameters suitable for real-time dynamic environmental conditions.
The invention utilizes the high-precision platform control method of the unmanned platform gravity meter under the complex dynamic condition, can solve the dynamic disturbance problem faced by the traditional analysis coarse alignment algorithm, can inhibit the horizontal motion acceleration coupling error under the dynamic measurement condition, and realizes the high-precision initial platform coordinate system establishment and the high-precision platform dynamic leveling of the unmanned platform gravity meter under the carrier large dynamic condition.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the present invention and should also be considered as being within the scope of the invention.
Claims (7)
1. The high-precision platform control method under the complex dynamic condition of the unmanned platform gravity meter is characterized by comprising the following steps of:
s1, establishing an initial platform coordinate system;
S2, a platform dynamic leveling process:
S21, designing and simulating the stabilized platform control of the gravity instrument by taking the originally acquired carrier sea motion acceleration as input to obtain three groups of horizontal two-axis control parameter values;
s22, calculating damping oscillation frequencies corresponding to the three sets of parameter values on the basis of obtaining the three sets of horizontal two-axis control parameter values in the step S21, and selecting two sets of parameter values with the largest damping oscillation frequency difference as alternative control parameters;
S23, acquiring output signals of the horizontal two-direction accelerometer in real time, and respectively performing acceleration spectrum analysis to obtain spectrum numerical distribution of each frequency point;
s24, obtaining a frequency point corresponding to the maximum value of the frequency spectrum according to the frequency spectrum numerical distribution of each frequency point in the step S23;
S25, selecting a control parameter with the largest frequency difference between the damped oscillation frequency and the frequency point obtained in the step S24 from two groups of alternative control parameters obtained in the step S22 as a control parameter of a dynamic leveling process;
s26, in the dynamic leveling working process of the gravity meter, the steps S23 to S25 are circularly executed at intervals to obtain platform control parameters suitable for real-time dynamic environmental conditions.
2. The method for controlling a platform with high precision under the complex dynamic condition of an unmanned platform gravity meter according to claim 1, wherein in the step S1, the method for establishing an initial platform coordinate system is as follows:
S11, closing two horizontal axis stabilizing loops of an inertial platform of the gravity meter, wherein the inertial platform is stable relative to an inertial space;
S12, forming a negative feedback control loop by utilizing the output of the horizontal accelerometers in two directions on the platform, and leveling the platform;
S13, on the basis of the step S11 and the step S12, the platform is kept in a horizontal state under the dynamic condition.
3. The method for controlling the platform with high precision under the complex dynamic condition of the unmanned platform gravity meter according to claim 2, wherein in the step S12, the platform is leveled for 1 minute.
4. The method for controlling the platform under the complex dynamic condition of the unmanned platform gravity meter according to claim 2, wherein the step S13 is as follows,
S131, realizing high-precision self-alignment of the heading by utilizing the attitude change of the swing base, the direction change of the gravity acceleration relative to the inertial space caused by the earth rotation and the earth rotation information and through inertia solidification assumption, and obtaining heading angle information by real-time calculation, wherein the process lasts for 2 minutes;
And S132.2 minutes is finished, taking the heading angle value at the last moment as the heading value obtained in the initial platform coordinate system establishment process, and taking the heading angle value as initial heading input information of the dynamic leveling stage.
5. The method for controlling the platform with high precision under the complex dynamic condition of the unmanned platform gravity meter according to claim 1, wherein the method of S21 is that the control parameter K 1、K2 is optimally designed by taking the statistical precision of the horizontal control deviation of the platform as a principle that the statistical precision is better than 20 "to obtain 3 groups of horizontal two-axis control parameter values meeting the condition、And。
6. The method for controlling the platform under the complex dynamic condition of the unmanned platform gravity meter according to claim 1, wherein in the step S26, the cycle execution frequency between the step S23 and the step S25 is 2 hours.
7. The method for high-precision platform control under complex dynamic conditions of unmanned platform gravity meter according to claim 5, wherein in step S22, the vibration frequency is dampedThe calculation method comprises the following steps:
; wherein the method comprises the steps of Is the schlempe angular frequency.
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| CN105527655A (en) * | 2016-03-14 | 2016-04-27 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilizing platform leveling device and method |
| CN108120377A (en) * | 2017-11-23 | 2018-06-05 | 广州广电计量检测股份有限公司 | A kind of dynamic deflection instrument calibration method |
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| CN107907915B (en) * | 2017-12-08 | 2024-03-19 | 华中科技大学 | Three-component gravity meter probe and well gravity meter system |
| CN113156539A (en) * | 2021-04-27 | 2021-07-23 | 中国科学院精密测量科学与技术创新研究院 | Vertical disturbance simulation device for marine gravimeter |
| CN115755206A (en) * | 2022-11-09 | 2023-03-07 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Digital leveling compensation system and method for land gravimeter |
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| CN105527655A (en) * | 2016-03-14 | 2016-04-27 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilizing platform leveling device and method |
| CN108120377A (en) * | 2017-11-23 | 2018-06-05 | 广州广电计量检测股份有限公司 | A kind of dynamic deflection instrument calibration method |
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