CN107525524B - Inertial navigation system time delay determination method based on three-axis synchronous turntable - Google Patents
Inertial navigation system time delay determination method based on three-axis synchronous turntable Download PDFInfo
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Abstract
The invention relates to a method for measuring time delay of an inertial navigation system, in particular to a method for determining time delay of the inertial navigation system based on a three-axis synchronous turntable; the invention aims to accurately measure the time delay of an inertial navigation system, determine the accurate time delay of the inertial navigation system by the error of an angle value output by a three-axis synchronous turntable and an attitude value synchronously output by the inertial navigation system and further compensate; according to the method, the output lag time delay of the inertial navigation system relative to the three-axis turntable can be accurately and quickly calculated according to data obtained by a measurement experiment, the same experiment is repeated, and the obtained curves are compared; compared with an uncompensated curve, the method basically eliminates inertial navigation output delay time, and greatly improves the reliability of the precision test of the inertial navigation system; compared with the prior art, the invention has the advantages of low cost, simple and convenient operation, no limitation of operation environment and the like.
Description
Technical Field
The invention relates to the field of measuring time delay of an inertial navigation system, in particular to a time delay determination method of the inertial navigation system based on a three-axis synchronous turntable.
Background
An Inertial Navigation System (INS) is an autonomous navigation system that does not rely on external information, nor radiates energy to the outside. The working environment of the device not only comprises the ground and the air, but also can be underwater. The basic working principle of inertial navigation is that Newton's law of mechanics, Ono measures the acceleration of carrier in inertial reference system, integrates the time, and transforms it into navigation coordinate system, so that the information of speed, yaw angle and position in navigation coordinate system can be obtained. Several navigation technologies that are relatively common in modern times include astronomical navigation, inertial navigation, satellite navigation, radio navigation, etc., wherein only the inertial navigation is autonomous, and does not radiate things to the outside, nor look at stars in the sky or receive external signals, and the concealment is the best.
At present, a test method for the accuracy of an inertial navigation system changes due to different navigation parameters to be tested. The position and speed precision of the inertial navigation system is tested through a sports car experiment, and a GPS is used as a test reference. Heading and attitude information for inertial navigation systems is typically performed on a high-precision turntable, with the turntable as a measurement reference. Therefore, in the precision test aiming at the course and attitude information of the inertial navigation system, synchronous recording needs to be carried out on the inertial navigation output signal and the high-precision turntable output signal, and the two signals are respectively subjected to data unpacking and comparison to obtain the error information between the two signals. This information will be used as a criterion for determining the accuracy of the inertial navigation system. Therefore, the synchronous recording of the output information of the high-precision turntable and the inertial navigation system is an important part of the precision test of the inertial navigation system.
The inertial navigation system has the following advantages: 1. because the system is an autonomous system which does not depend on any external information and does not radiate energy to the outside, the system has good concealment and is not influenced by external electromagnetic interference; 2. the all-weather all-time working platform can work in the air, on the earth surface or even underwater all day long; 3. the navigation system can provide position, speed, course and attitude angle data, and the generated navigation information has good continuity and low noise; 4. high data updating rate, short-term precision and good stability. The disadvantages are that: 1. the navigation information is generated through integration, so that the positioning error is increased along with the time, and the long-term accuracy is poor; 2. a long initial alignment time is required before each use; 3. the price of the equipment is expensive; 4. time information cannot be given.
Conventional time delay measurement is today implemented by means of a laser tracker. But its operation requires that alignment be found good in use, otherwise errors will occur. And cannot be interrupted for a further time, and must be repeated again, even if the intermediate light is blocked, resulting in failure. Therefore, the laser tracker has the disadvantages of high price, complex operation and limited operation environment. In order to conveniently and accurately measure the time delay in the experiment, a method for measuring the time delay of the inertial navigation system by using a high-precision three-axis turntable is designed.
Disclosure of Invention
The invention relates to a time delay determination method of an inertial navigation system based on a three-axis synchronous turntable, which is characterized by comprising the following steps:
(1) the inertial navigation system is placed on a high-precision three-axis rotary table, is connected with a display control device and a power supply device, and is used for providing direct current (24V) power and synchronizing output navigation data to the display control device; the display control device periodically transmits signals of a GPS device 1PPS to a PCI1750 serial port card, and simultaneously transmits attitude and course information data output by a high-precision three-axis turntable to the PCI1750 serial port card; the two data are transmitted to a notebook computer through a serial port card for analysis and comparison;
(2) the inertial navigation system starts to align and records an initial error when the alignment is finished;
(3) setting synchronous output of the high-precision three-axis turntable, and setting an axis motion mode and motion time of the high-precision three-axis turntable;
(4) collecting data transmitted to a notebook computer, processing and analyzing the data to obtain attitude and course error curves of the inertial navigation system and the high-precision three-axis turntable, and respectively putting the attitude and course curves of the turntable together with the attitude and course error curves for detailed comparison;
(5) and (3) analyzing the curve, calculating and determining the time delay appearing in the synchronous recording by using an inertial navigation system time delay determination method based on a triaxial synchronous turntable, compensating the time delay in a program, repeating the steps (3), (4) and (5), and verifying a compensation result.
The method is characterized in that the step (3) specifically comprises the following steps:
the three-axis synchronous turntable selects a single-axis sine swing in a zero state, and a synchronous recording device is used for synchronously recording the angle value output by the three-axis synchronous turntable and the attitude value synchronously output by the inertial navigation system.
The method is characterized in that the step (4) specifically comprises the following steps:
and subtracting the angle value of the shaft output by the three-shaft synchronous turntable from the attitude value of the shaft output by the inertial navigation system synchronously to obtain an error E (t) between the angle value and the attitude value.
The method is characterized in that the calculation and determination of the time delay in the step (4) are specifically as follows:
Δ T is time delay, and ω is sine angular frequency; taking two sine periods, and subtracting a negative peak value from an angle positive peak value output by the triaxial synchronous turntable by dividing by 2 to obtain a sine amplitude A; subtracting the negative peak value by 2 from the attitude positive peak value synchronously output by the inertial navigation system to obtain a sine amplitude B, and adding the negative peak value by 2 to obtain a constant offset angle C; the difference between A and B is D, namely A is B + D; phase angle of error E (t)
The time delay Delta T is inversely deduced through the phase angle of the measured error E (T); if the phase angle
If positive, the time delay is delta T; if the phase angle
Negative, the time is advanced by Δ T.
The method is characterized in that the step (5) specifically comprises the following steps:
(5.1) reducing the Asin ω t output by the triaxial synchronous turntable to A' sin ω t with the amplitude equal to the error E (t);
(5.2) removing E (t) from the constant offset-C;
(5.3) measuring E (t) and A' sin omegat is a time difference τ, the phase angle
Comprises the following steps:
(5.4) from the phase angle
The time delay Δ T can be deduced as:
drawings
FIG. 1 is a schematic diagram of phase difference measurement between a turntable output waveform and an error waveform;
FIG. 2 is a schematic diagram of a synchronous recording apparatus;
FIG. 3 is a graph of error before time delay compensation and phase shift of the turntable output;
figure 4 is a plot of delay compensated error versus phase shift of the turret output.
Detailed Description
The specific embodiment of the present invention is described with reference to fig. 2:
(1) the inertial navigation system is placed on the high-precision three-axis rotary table and connected with the display control device and the power supply device, the power supply device provides direct current 24V electricity, and meanwhile, output navigation data are synchronized to the display control device. The display control device periodically transmits signals of the GPS device 1PPS to the PCI1750 serial port card, and simultaneously transmits attitude and course information data output by the high-precision three-axis turntable to the PCI1750 serial port card. The two data are transmitted to a notebook computer through a serial port card for analysis and comparison;
(2) the inertial navigation system starts to align and records an initial error when the alignment is finished;
(3) setting synchronous output of a high-precision three-axis turntable;
(4) setting the shaft motion mode and the motion time of the high-precision three-shaft turntable;
(5) and acquiring data transmitted to the notebook computer, processing and analyzing the data to obtain attitude and course error curves of the inertial navigation system and the high-precision three-axis turntable, and respectively comparing the attitude and course curves of the turntable with the attitude and course error curves in detail. Subtracting the angle value of the shaft output by the three-shaft synchronous turntable from the attitude value of the shaft output by the inertial navigation system synchronously to obtain an error E (t) between the three-shaft synchronous turntable and the inertial navigation system;
(6) and (3) analyzing the curve, calculating and determining the time delay appearing in the synchronous recording by using the method, compensating the time delay in the program, repeating the steps (3), (4) and (5), and verifying the compensation result.
The principle of the inertial navigation output lag time delay determination method is as follows:
taking two sine cycles, wherein the change of a constant offset angle C in the time period can be ignored and is considered as a constant value, and a sine amplitude A is obtained by subtracting a negative peak value from an angle positive peak value output by the triaxial synchronous turntable and dividing by 2; subtracting the negative peak value by 2 from the attitude positive peak value synchronously output by the inertial navigation system to obtain a sine amplitude B, and adding the negative peak value by 2 to obtain a constant offset angle C; the difference between A and B is D, namely A is B + D;
assuming the time delay is Δ T and the sine angular frequency is ω, then:
due to the fact that
Is in small quantity, therefore
Then:
and due to
Small, and therefore negligible when vector synthesized, then:
as can be seen from the above formula, if the phase angle of the error E (t) can be measured
The time delay deltat can be calculated. If the phase angle
If positive, the time delay is delta T; if the phase angle
Negative, the time is advanced by Δ T.
The step (5) specifically comprises the following steps:
(5.1) reducing the A sin ω t output by the triaxial synchronous turntable to A' sin ω t with the amplitude equal to the error E (t);
(5.2) removing E (t) from the constant offset-C;
(5.3) measuring the time difference tau between E (t) and A' sin omega t to obtain the phase angle
Comprises the following steps:
(5.4) from the phase angle
The time delay Δ T can be deduced as:
the invention is described in detail below with reference to specific examples:
the inertial navigation device is placed on the high precision turntable and initial alignment is initiated. And (3) setting synchronous output of a high-precision three-axis turntable, wherein the motion mode is that a middle shaft and an outer shaft are still, an inner shaft moves in a sine mode and makes periodic motion around a zero point, the amplitude is 10 degrees, and the motion period is 6.283 s. After the inertial navigation system is aligned, the three-axis rotary table is started, and meanwhile, the notebook computer starts to receive data output by the inertial navigation device and the high-precision three-axis rotary table. Unpacking the data received by the notebook computer and analyzing the numerical values of the error curves of the notebook computer and the notebook computer. And confirming the inertial navigation output lag time delay, and compensating the lag time delay in the program. And after the program is modified, operating the inertial navigation system again for initial alignment, starting the high-precision three-axis turntable again after the alignment is finished, operating in the same motion mode, and enabling the notebook computer to start to receive data output by the inertial navigation device and the high-precision three-axis turntable. Unpacking the data received by the notebook computer, analyzing the numerical values of the error curves of the notebook computer and the notebook computer, and drawing the error curves. Compared with the error curve before delay compensation.
Figure 3 shows the error before delay compensation after processing versus phase shift of the turret output. And processing an error curve, and subtracting the integral average value of the rolling error and the rolling error of the turntable and the inertial navigation system, wherein the size of a wave peak value is D in the calculation method provided by the invention. The rolling curve error values of the high-precision turntable and the inertial navigation are too small, so that the effect of putting the rolling curves of the high-precision turntable and the inertial navigation together is not obvious. The motion curve of the shaft in the turntable is reduced by 100 times and then compared with the error curve. The two curves differ by one data point near zero, which means that the time difference τ between the two curves is 0.1 second. By using the method proposed in the present invention, the phase angle
Comprises the following steps:
by phase angle
Can push awayThe time delay Δ T is:
figure 4 shows a delay compensated error versus phase shift of the turret output. And compensating the inertial navigation output delay time obtained by the calculation of the formula in a program. The same experiment was repeated and the resulting curves were compared. Compared with an uncompensated curve, the method basically eliminates inertial navigation output delay time, and greatly improves the reliability of the precision test of the inertial navigation system.
Claims (5)
1. A time delay determination method for an inertial navigation system based on a three-axis synchronous turntable is characterized by comprising the following steps:
(1) the inertial navigation system is placed on a high-precision three-axis rotary table, is connected with a display control device and a power supply device, and is used for providing direct current (24V) power and synchronizing output navigation data to the display control device; the display control device periodically transmits signals of a GPS device 1PPS to a PCI1750 serial port card, and simultaneously transmits attitude and course information data output by a high-precision three-axis turntable to the PCI1750 serial port card; the two data are transmitted to a notebook computer through a serial port card for analysis and comparison;
(2) the inertial navigation system starts to align and records an initial error when the alignment is finished;
(3) setting synchronous output of the high-precision three-axis turntable, and setting an axis motion mode and motion time of the high-precision three-axis turntable;
(4) collecting data transmitted to a notebook computer, processing and analyzing the data to obtain attitude and course error curves of the inertial navigation system and the high-precision three-axis turntable, and respectively putting the attitude and course curves of the turntable together with the attitude and course error curves for detailed comparison;
(5) and (3) analyzing the curve, calculating and determining the time delay appearing in the synchronous recording by using an inertial navigation system time delay determination method based on a triaxial synchronous turntable, compensating the time delay in a program, repeating the steps (3), (4) and (5), and verifying a compensation result.
2. The inertial navigation system time delay determination method based on the three-axis synchronous turntable as claimed in claim 1, wherein the step (3) specifically comprises:
the three-axis synchronous turntable selects a single-axis sine swing in a zero state, and a synchronous recording device is used for synchronously recording the angle value output by the three-axis synchronous turntable and the attitude value synchronously output by the inertial navigation system.
3. The inertial navigation system time delay determination method based on the three-axis synchronous turntable as claimed in claim 1, wherein the step (4) specifically comprises:
and subtracting the angle value of the shaft output by the three-shaft synchronous turntable from the attitude value of the shaft output by the inertial navigation system synchronously to obtain an error E (t) between the angle value and the attitude value.
4. The inertial navigation system time delay determination method based on the three-axis synchronous turntable as claimed in claim 1, wherein the time delay determination in the step (4) is specifically:
Δ T is time delay, and ω is sine angular frequency; taking two sine periods, and subtracting a negative peak value from an angle positive peak value output by the triaxial synchronous turntable by dividing by 2 to obtain a sine amplitude A; subtracting the negative peak value by 2 from the attitude positive peak value synchronously output by the inertial navigation system to obtain a sine amplitude B, and adding the negative peak value by 2 to obtain a constant offset angle C; the difference between A and B is D, namely A is B + D; phase angle of error E (t)
The time delay Delta T is inversely deduced through the phase angle of the measured error E (T); if the phase angle
If positive, the time delay is delta T; if the phase angle
Negative, the time is advanced by Δ T.
5. The inertial navigation system time delay determination method based on the three-axis synchronous turntable as claimed in claim 1, wherein the step (5) specifically comprises:
(5.1) reducing the Asin ω t output by the triaxial synchronous turntable to A' sin ω t with the amplitude equal to the error E (t);
(5.2) removing E (t) from the constant offset-C;
(5.3) measuring the time difference tau between E (t) and A' sin omega t to obtain the phase angle
Comprises the following steps:
(5.4) from the phase angle
The time delay Δ T can be deduced as:
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| CN109724598A (en) * | 2019-03-08 | 2019-05-07 | 哈尔滨工程大学 | A kind of estimation and compensation method of the time delay error of GNSS/INS pine combination |
| CN111856964B (en) * | 2019-12-20 | 2024-05-03 | 北京空天技术研究所 | Semi-physical simulation environment time delay measurement system and method |
| CN111537995B (en) * | 2020-05-19 | 2022-08-12 | 北京爱笔科技有限公司 | Time delay obtaining method and device and electronic equipment |
| CN113137975B (en) * | 2020-05-28 | 2024-03-19 | 西安天和防务技术股份有限公司 | Inertial correction method and device for astronomical inertial integrated navigation and electronic equipment |
| CN112729290B (en) * | 2020-12-23 | 2023-06-02 | 重庆华渝电气集团有限公司 | Navigation attitude data synchronization error compensation method of inertial navigation equipment |
| CN113432621A (en) * | 2021-06-24 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Time delay testing method of strapdown inertial navigation system based on swing table |
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