CN103592669B - Method and system for reducing influence of speed error on integrated navigation precision in lock losing process - Google Patents

Method and system for reducing influence of speed error on integrated navigation precision in lock losing process Download PDF

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CN103592669B
CN103592669B CN201310596586.8A CN201310596586A CN103592669B CN 103592669 B CN103592669 B CN 103592669B CN 201310596586 A CN201310596586 A CN 201310596586A CN 103592669 B CN103592669 B CN 103592669B
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gps
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positioning system
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CN103592669A (en
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何健伟
吕江涛
陆俊清
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General Designing Institute of Hubei Space Technology Academy
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a method and system for reducing the influence of a speed error on integrated navigation precision in a lock losing process. The system comprises a global positioning system receiver, a micromechanical inertial measurement unit, a programmable logic controller, a digital signal processor and a CAN bus, the signal output end of the global positioning system receiver is connected with the signal input end of the programmable logic controller, the signal output end of the micromechanical inertial measurement unit is connected with the signal input end of the digital signal processor, the signal output end of the programmable logic controller is connected with the signal input end of the digital signal processor, and the signal output end of the digital signal processor is connected with the CAN bus. The method and system can obviously improve the navigation precision of an inertial navigation/global positioning satellite integrated navigation system in the lock losing state of a satellite.

Description

Reduce losing lock hourly velocity error to the method and system of integrated navigation Accuracy
Technical field
The present invention relates to integrated navigation technology field, referring to a kind of method and system improving integrated navigation precision by reducing losing lock hourly velocity error particularly.
Background technology
Inertial navigation system is a kind of autonomous navigational system, does not rely on the feature of any extraneous navigator when having work, and good concealment, data updating rate is high.But the navigation error of inertial navigation system can accumulate in time.Satellite navigation GPS(Global Positioning System, Global Positioning System (GPS)) high accuracy three-dimensional Position, Velocity and Time reference information can be provided round-the-clockly, there is the function of static immobilization, dynamic navigation and accurate time transmission, but satellite navigation is easily interfered, short-term stability is low, and turnover rate is lower.For the merits and demerits of above-mentioned inertial navigation system and satellite navigation GPS, have devised a kind of inertial navigation/global positioning satellite integrated navigation system at present.Satellite and inertial navigation system combine by this combined system, can find and measure the systematic error of inertial navigation, make up the signal deletion of satellite navigation, improve sampling rate, improve the search speed of blur level, improve the detectability of periodic data saltus step, the precision that the navigation accuracy after combination is worked independently higher than two systems, add the antijamming capability of observation redundance and system.
Carry out in the process of integrated navigation at inertial navigation/global positioning satellite integrated navigation system, when there is out-of-lock condition in satellite, due to number of satellites continuous minimizing and the data demand real-time of high dynamically Global Positioning System (GPS) is high, make the speed output of high dynamically Global Positioning System (GPS) can produce comparatively big error.And for inertial navigation/global positioning satellite integrated navigation system, inertial navigation/global positioning satellite integrated navigation system cannot differentiate this error, so the error of satellite losing lock directly can be introduced inertial navigation/global positioning satellite integrated navigation system, the precision of inertial navigation/global positioning satellite integrated navigation system is caused obviously to reduce.
Summary of the invention
Object of the present invention is exactly to provide a kind of losing lock hourly velocity error that reduces to the method and system of integrated navigation Accuracy, and the method and system can significantly improve the navigation accuracy of inertial navigation/global positioning satellite integrated navigation system under satellite out-of-lock condition.
For realizing this object, the reduction losing lock hourly velocity error designed by the present invention is to the method for integrated navigation Accuracy, and it is characterized in that, it comprises the steps:
Step 1: the number of satellites information of GPS receiver Real-Time Monitoring Global Positioning System (GPS), obtained real-time position information and the real time speed information of GPS receiver self by Global Positioning System (GPS) simultaneously, further, the real-time position information of number of satellites information real-time for Global Positioning System (GPS), GPS receiver self and real time speed information are transferred to digital signal processor by programmable logic controller (PLC);
Step 2: micromechanics is used to group and the real-time position information of self, real time speed information and real-time attitude information are also transferred to digital signal processor;
Step 3: obtain micromechanics and be used to organize the real-time position information of self and the difference between the real-time position information of real time speed information and GPS receiver self and real time speed information in digital signal processor, and this difference being input to conventional Kalman filtering algorithm, the real-time attitude information being simultaneously used to micromechanics organize self is also input to conventional Kalman filtering algorithm;
Now digital signal processor judges the number of satellites information that Global Positioning System (GPS) is real-time, when obtaining number of satellites >=5 star of Global Positioning System (GPS), when Global Positioning System (GPS) speed noise component in nonintervention Kalman filtering algorithm measurement noise, the real-time attitude information being used to the difference obtained in Global Positioning System (GPS) speed noise component and step 3 and micromechanics to organize self substitutes into the optimal estimation algorithm in existing Kalman filtering algorithm, thus obtain the real-time position information error that micromechanics is used to organize self, real time speed information error and real-time attitude information error, and above-mentioned micromechanics is used to organize self real-time position information error, real time speed information error and in real time attitude information error input micromechanical be used to group and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When comprising the 5th second within 5 seconds that the number of satellites obtaining Global Positioning System (GPS) to be started from 5 stars to become 4 stars, Global Positioning System (GPS) speed noise component in regular extended Kalman filter measurement noise is adjusted to the Global Positioning System (GPS) speed noise component of twice, then the difference obtained in the Global Positioning System (GPS) speed noise component of twice and step 3 and micromechanics are used to the optimal estimation algorithm organized in the real-time attitude information substitution regular extended Kalman filter of self, thus obtain the real-time position information error that micromechanics is used to organize self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to organize the real-time position information error of self, real time speed information error and in real time attitude information error input micromechanical be used to group and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When the number of satellites obtaining Global Positioning System (GPS) remain on more than 4 star 5 seconds or number of satellites return to 5 stars and above time, by twice Global Positioning System (GPS) speed noise component, return to original Global Positioning System (GPS) speed noise component, then the difference obtained in original Global Positioning System (GPS) speed noise component and step 3 and micromechanics are used to the optimal estimation algorithm organized in the real-time attitude information substitution regular extended Kalman filter of self, thus obtain the real-time position information error that micromechanics is used to organize self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to organize the real-time position information error of self, real time speed information error and in real time attitude information error input micromechanical be used to group and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When obtaining number of satellites < 4 stars of Global Positioning System (GPS), now Global Positioning System (GPS) is countless according to output, and regular extended Kalman filter is now by the process of Global Positioning System (GPS) losing lock.
The system of losing lock velocity error to integrated navigation Accuracy can be reduced designed by the present invention, it comprises GPS receiver and group is used to by micromechanics, it is characterized in that: it also comprises programmable logic controller (PLC), digital signal processor and CAN(ControllerArea Network, controller local area network) bus, wherein, the signal output part of described GPS receiver connects the signal input part of programmable logic controller (PLC), the signal input part of the signal output part linking number word signal processor organized is used to by micromechanics, the signal input part of the signal output part linking number word signal processor of described programmable logic controller (PLC), the signal output part of described digital signal processor connects CAN.
Further, Kalman filtering algorithm is embedded with in described digital signal processor.
Beneficial effect of the present invention:
1) the present invention is by judging the number of satellites that Global Positioning System (GPS) is real-time, and carry out the Global Positioning System (GPS) speed noise component in corresponding adjustment Kalman filtering algorithm measurement noise according to number of satellites, thus final realization reduces Global Positioning System (GPS) losing lock velocity error to the impact of integrated navigation precision.
2) real-time of the present invention is good, precision is high, can meet dynamic completely and require higher occasion.
3) the present invention effectively solves high dynamically Global Positioning System (GPS) at present in losing lock process, introduces the problem of Global Positioning System (GPS) velocity error to Kalman filtering algorithm, the present invention is according to the concrete condition of satellite losing lock, in Kalman filtering algorithm, be provided with corresponding compensation, significantly improve the precision of integrated navigation system in losing lock process like this.
4) Kalman filtering algorithm that the present invention adopts is existing ripe algorithm, utilizes this algorithm compensation micromechanics to be used to the method mature and reliable of grouping error.
Accompanying drawing explanation
Fig. 1 is using state structural representation of the present invention;
Wherein, 1-GPS receiver, 2-Global Positioning System (GPS), 3-digital signal processor, 4-micromechanics are used to group, 5-programmable logic controller (PLC), 6-CAN.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The system of losing lock velocity error to integrated navigation Accuracy can be reduced as shown in Figure 1, it comprises GPS receiver 1, group 4 is used to by micromechanics, programmable logic controller (PLC) 5, digital signal processor 3 and CAN 6, wherein, the signal output part of described GPS receiver 1 connects the signal input part of programmable logic controller (PLC) 5, the signal input part of the signal output part linking number word signal processor 3 of group 4 is used to by micromechanics, the signal input part of the signal output part linking number word signal processor 3 of described programmable logic controller (PLC) 5, the signal output part of described digital signal processor 3 connects CAN 6.Kalman filtering algorithm is embedded with in described digital signal processor 3.
Above-mentionedly can reduce losing lock velocity error to the system of integrated navigation Accuracy operationally, it comprises the steps:
Step 1: the number of satellites information of GPS receiver 1 Real-Time Monitoring Global Positioning System (GPS) 2, obtained real-time position information and the real time speed information of GPS receiver 1 self by Global Positioning System (GPS) 2 simultaneously, further, the real-time position information of number of satellites information real-time for Global Positioning System (GPS) 2, GPS receiver 1 self and real time speed information are transferred to digital signal processor 3 by programmable logic controller (PLC) 5;
Step 2: micromechanics is used to group 4 and the real-time position information of self, real time speed information and real-time attitude information are also transferred to digital signal processor 3;
Step 3: obtain micromechanics and be used to the real-time position information of group 4 self and the difference between the real-time position information of real time speed information and GPS receiver 1 self and real time speed information in digital signal processor 3, and this difference being input to conventional Kalman filtering algorithm, the real-time attitude information simultaneously micromechanics being used to group 4 self is also input to conventional Kalman filtering algorithm; Now in following Kalman filtering algorithm formula (4), Global Positioning System (GPS) speed noise component v (t) carries out respective settings according to following steps:
Now digital signal processor 3 judges the number of satellites information that Global Positioning System (GPS) 2 is real-time, when obtaining number of satellites >=5 star of Global Positioning System (GPS) 2, when Global Positioning System (GPS) speed noise component v (t) in nonintervention Kalman filtering algorithm measurement noise, the real-time attitude information difference obtained in Global Positioning System (GPS) speed noise component v (t) and step 3 and micromechanics being used to group 4 self substitutes into the optimal estimation algorithm in existing Kalman filtering algorithm, thus obtain the real-time position information error that micromechanics is used to group 4 self, real time speed information error and real-time attitude information error, and above-mentioned micromechanics is used to the real-time position information error of group 4 self, real time speed information error and in real time attitude information error input micromechanical be used to group 4 and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When comprising the 5th second within 5 seconds that the number of satellites obtaining Global Positioning System (GPS) 2 to be started from 5 stars to become 4 stars, (4 stars are critical conditionss that can Global Positioning System (GPS) locate, 5 seconds record the best time span of overall precision according to test is actual), Global Positioning System (GPS) speed noise component v (t) in regular extended Kalman filter measurement noise is adjusted to Global Positioning System (GPS) speed noise component v (t) of twice, then the difference obtained in Global Positioning System (GPS) speed noise component v (t) of twice and step 3 and micromechanics are used to the optimal estimation algorithm in the real-time attitude information substitution regular extended Kalman filter of group 4 self, thus obtain the real-time position information error that micromechanics is used to group 4 self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to the real-time position information error of group 4 self, real time speed information error and in real time attitude information error input micromechanical be used to group 4 and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When the number of satellites obtaining Global Positioning System (GPS) 2 remain on more than 4 star 5 seconds or number of satellites return to 5 stars and above time (because in this case, global position system has regained precise speed positional information), by twice Global Positioning System (GPS) speed noise component v (t), return to original Global Positioning System (GPS) speed noise component v (t), then the difference obtained in original Global Positioning System (GPS) speed noise component v (t) and step 3 and micromechanics are used to the optimal estimation algorithm in the real-time attitude information substitution regular extended Kalman filter of group 4 self, thus obtain the real-time position information error that micromechanics is used to group 4 self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to the real-time position information error of group 4 self, real time speed information error and in real time attitude information error input micromechanical be used to group 4 and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When obtaining number of satellites < 4 stars of Global Positioning System (GPS) 2 (as 3 stars, 4 stars are critical conditionss that can global position system locate), now Global Positioning System (GPS) 2 is countless according to output, and regular extended Kalman filter is now by the process of Global Positioning System (GPS) losing lock.
By above step, can judge that the velocity error of Global Positioning System (GPS) in losing lock process is estimated according to satellite number situation, thus correct Global Positioning System (GPS) speed noise component parameter is set, estimate speed, site error, guarantee that Kalman filtering is all in Linear Estimation state in whole losing lock process, obtain optimum navigation results.If in losing lock process, use original Global Positioning System (GPS) speed noise component parameter, and the estimation of error of speed is change, linearly equation parameter is estimated the nonlinear state of whole losing lock process by Kalman filtering, and navigation results just there will be deviation.
In technique scheme, the navigational parameter obtaining integrated navigation system after correction exports to CAN 6 by digital signal processor 3.
Choosing sky, northeast coordinate during concrete enforcement is navigational coordinate system, the above-mentioned device of losing lock hourly velocity error to integrated navigation Accuracy that can reduce is installed on instruction carriage, be that carrier coordinate system sets up attitude matrix with the right front upper coordinate of car body, micromechanics is used to group 4 attitude algorithm that navigates and is adopted Shuangzi sample algorithm, carries out speed renewal and location updating simultaneously.The state vector of Kalman filtering algorithm is elected as:
x = &phi; nT &delta; nT &delta;p T &epsiv; b bT &dtri; b bT T - - - ( 1 )
Wherein, x is Kalman filtering algorithm state vector, φ nTfor attitude error, δ v nTfor velocity error, δ p tfor site error, for gyroscope constant value drift, biased for adding table, T is matrix transpose symbol.
Correlated error model is as follows:
&phi; &CenterDot; n = - ( &omega; in n &times; ) &phi; n + &delta;&omega; in n - C b n ( &epsiv; b b + w g b ) &delta; v &CenterDot; n = ( f sf n &times; ) &phi; n - ( 2 &omega; ie n + &omega; en n ) &times; &delta;v n + v n ( 2 &delta;&omega; ie n + &delta;&omega; en n ) + C b n ( &dtri; b b + w a b ) &delta; p &CenterDot; = &delta;v n - - - ( 2 )
Wherein, φ n, be respectively attitude error, velocity error, site error differential, φ nfor current pose, for earth rate under different coordinates, for earth rate deviation under different coordinates, for attitude transition matrix, represent that micromechanics is used to group 4 gyro noise and Jia Biao noise respectively, for acceleration exports, for accelerometer deviation, δ v nfor velocity error.
Kalman filtering algorithm measurement matrix is:
H(t)=[0 6×3I 6×60 6×6] T（3）
Wherein, H (t) is measurement matrix, 0 6 × 3, 0 6 × 6for full null matrix, I 6 × 6for diagonal unit matrix.
Then Kalman filtering algorithm state space equation is:
x &CenterDot; = F ( t ) x + w ( t ) z ( t ) = H ( t ) x + v ( t ) - - - ( 4 )
Wherein, F (t) is state matrix, calculates by sky, northeast coordinate system, and x is identical with meaning in formula (1), for the differential of x, w (t) represents integrated navigation system noise, and H (t) is identical with meaning in formula (3), and v (t) represents Global Positioning System (GPS) speed noise component respectively, z (t) is filter result, velocity error, site error.
The content that this instructions is not described in detail belongs to the known prior art of professional and technical personnel in the field.

Claims (3)

1. reduce losing lock hourly velocity error to a method for integrated navigation Accuracy, it is characterized in that, it comprises the steps:
Step 1: the number of satellites information of GPS receiver (1) Real-Time Monitoring Global Positioning System (GPS) (2), obtained real-time position information and the real time speed information of GPS receiver (1) self by Global Positioning System (GPS) (2) simultaneously, further, the real-time position information of number of satellites information real-time for Global Positioning System (GPS) (2), GPS receiver (1) self and real time speed information are transferred to digital signal processor (3) by programmable logic controller (PLC) (5);
Step 2: micromechanics is used to group (4) and the real-time position information of self, real time speed information and real-time attitude information are also transferred to digital signal processor (3);
Step 3: obtain micromechanics and be used to the real-time position information of group (4) self and the difference between the real-time position information of real time speed information and GPS receiver (1) self and real time speed information in digital signal processor (3), and this difference being input to conventional Kalman filtering algorithm, the real-time attitude information simultaneously micromechanics being used to group (4) self is also input to conventional Kalman filtering algorithm;
Now digital signal processor (3) judges the number of satellites information that Global Positioning System (GPS) (2) is real-time, when obtaining number of satellites >=5 star of Global Positioning System (GPS) (2), when Global Positioning System (GPS) speed noise component in nonintervention Kalman filtering algorithm measurement noise, the difference obtained in Global Positioning System (GPS) speed noise component and step 3 and micromechanics are used to the optimal estimation algorithm in the Kalman filtering algorithm of the real-time attitude information substitution routine of group (4) self, thus obtain the real-time position information error that micromechanics is used to group (4) self, real time speed information error and real-time attitude information error, and above-mentioned micromechanics is used to the real-time position information error of group (4) self, real time speed information error and in real time attitude information error input micromechanical be used to group (4) and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When comprising the 5th second within 5 seconds that the number of satellites obtaining Global Positioning System (GPS) (2) to be started from 5 stars to become 4 stars, Global Positioning System (GPS) speed noise component in regular extended Kalman filter measurement noise is adjusted to the Global Positioning System (GPS) speed noise component of twice, then the difference obtained in the Global Positioning System (GPS) speed noise component of twice and step 3 and micromechanics are used to the optimal estimation algorithm in the real-time attitude information substitution regular extended Kalman filter of group (4) self, thus obtain the real-time position information error that micromechanics is used to group (4) self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to the real-time position information error of group (4) self, real time speed information error and in real time attitude information error input micromechanical be used to group (4) and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When the number of satellites obtaining Global Positioning System (GPS) (2) remain on more than 4 star 5 seconds or number of satellites return to 5 stars and above time, by twice Global Positioning System (GPS) speed noise component, return to original Global Positioning System (GPS) speed noise component, then the difference obtained in original Global Positioning System (GPS) speed noise component and step 3 and micromechanics are used to the optimal estimation algorithm in the real-time attitude information substitution regular extended Kalman filter of group (4) self, thus obtain the real-time position information error that micromechanics is used to group (4) self, real time speed information error and real-time attitude information error, above-mentioned micromechanics is used to the real-time position information error of group (4) self, real time speed information error and in real time attitude information error input micromechanical be used to group (4) and carry out navigational parameter correction, obtain the navigational parameter of integrated navigation system after correction,
When obtaining number of satellites < 4 stars of Global Positioning System (GPS) (2), now Global Positioning System (GPS) (2) is countless according to output, and regular extended Kalman filter is now by the process of Global Positioning System (GPS) losing lock.
2. one kind for realizing method described in claim 1 and design can reduce the system of losing lock velocity error to integrated navigation Accuracy, it comprises GPS receiver (1) and group (4) is used to by micromechanics, it is characterized in that: it also comprises programmable logic controller (PLC) (5), digital signal processor (3) and CAN (6), wherein, the signal output part of described GPS receiver (1) connects the signal input part of programmable logic controller (PLC) (5), the signal input part of the signal output part linking number word signal processor (3) of group (4) is used to by micromechanics, the signal input part of the signal output part linking number word signal processor (3) of described programmable logic controller (PLC) (5), the signal output part of described digital signal processor (3) connects CAN (6).
3. the losing lock hourly velocity error that can reduce according to claim 2 is to the system of integrated navigation Accuracy, it is characterized in that: described digital signal processor is embedded with regular extended Kalman filter in (3).
CN201310596586.8A 2013-11-22 2013-11-22 Method and system for reducing influence of speed error on integrated navigation precision in lock losing process Active CN103592669B (en)

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