CN108413982B - Ship dynamic alignment position lever arm compensation method - Google Patents
Ship dynamic alignment position lever arm compensation method Download PDFInfo
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- CN108413982B CN108413982B CN201711390290.5A CN201711390290A CN108413982B CN 108413982 B CN108413982 B CN 108413982B CN 201711390290 A CN201711390290 A CN 201711390290A CN 108413982 B CN108413982 B CN 108413982B
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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
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Abstract
The invention relates to a ship dynamic alignment position lever arm compensation method, which is technically characterized by comprising the following steps of: taking an inertial navigation system as a center, measuring the three-dimensional space distance between the position of a satellite navigation receiving antenna and inertial navigation; calculating the lever arm projection of the position according to the attitude matrix; compensation of the position lever arm in the kalman filter observation matrix. The invention carries out position lever arm compensation based on the relation of the position lever arm in the carrier coordinate system and the projection value of the navigation coordinate system, better solves the practical engineering application problem of the dynamic initial alignment of the inertial navigation system, ensures the dynamic adaptability of the initial alignment of the system and improves the dynamic alignment precision; meanwhile, when the error of the position lever arm is compensated, the calculation method is simple, the dynamic initial alignment error caused by the position lever arm can be effectively compensated, the maneuvering adaptability of the initial alignment carrier is improved, and the method can be widely applied to the field of ship navigation.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a ship dynamic alignment position lever arm compensation method.
Background
On a large ship, the installation positions of inertial navigation and satellite navigation receiving antennas are usually far away, and the three-dimensional space difference of the installation positions between two systems is called a lever arm. Due to the lever arm, when the carrier swings, the accelerometer of the inertial navigation system generates centrifugal acceleration and tangential acceleration, so that the accelerometer generates measurement errors, and further generates additional speed errors. The existing research on lever arm effect mostly focuses on the influence of the lever arm effect on a speed matching method, and the influence of initial alignment of position matching is rarely involved.
In fact, since the motion of the ship, especially the change of the heading, may cause the position lever arm to be changed after being projected to the navigation coordinate system, a large observation error may be introduced in the position matching observation mode, and the initial alignment effect may be deteriorated, so it is necessary to compensate the position lever arm in the position matching mode.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a ship dynamic alignment position lever arm compensation method, and solves the problem that the position lever arm has large influence on ship dynamic alignment.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a ship dynamic alignment position lever arm compensation method comprises the following steps:
step 1: taking an inertial navigation system as a center, measuring the three-dimensional space distance between the position of a satellite navigation receiving antenna and inertial navigation;
step 2, calculating the projection of the position lever arm according to the attitude matrix;
and 3, compensating the position lever arm in a Kalman filtering observation matrix.
The step 2 of calculating the position lever arm projection adopts the following formula:
xb,yb,zbcoordinates, x, defined for the inertial navigation system of the coordinates of the satellite-guided receiving antennan,yn,znTo guide the projection of the receiving antenna on the navigation coordinate system.
The step 3 adopts the following formula to compensate:
δ L is the latitude error; δ λ is the longitude error; delta h is an elevation error; l isinsIs the inertial navigation latitude; l isgnssThe latitude is led to; pi is a circumference ratio, and is taken as 3.141592653589793; lambda [ alpha ]insIs the inertial navigation longitude; lambda [ alpha ]gnssIs the guide longitude; h isinsIs the inertial navigation elevation; h isgnssFor height protection and guidance.
The invention has the advantages and positive effects that:
the invention carries out position lever arm compensation based on the relation of the position lever arm in the carrier coordinate system and the projection value of the navigation coordinate system, better solves the practical engineering application problem of the dynamic initial alignment of the inertial navigation system, ensures the dynamic adaptability of the initial alignment of the system and improves the dynamic alignment precision; meanwhile, when the error of the position lever arm is compensated, the calculation method is simple, the dynamic initial alignment error caused by the position lever arm can be effectively compensated, and the maneuvering adaptability of the initial alignment carrier is improved.
Drawings
FIG. 1 is a process flow diagram of the present invention;
fig. 2 is a schematic diagram of a satellite navigation receiving antenna and inertial navigation position according to the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
A ship dynamic alignment position lever arm compensation method, as shown in fig. 1, comprising the following steps:
step 1, taking an inertial navigation system as a center, and measuring a three-dimensional space distance (distance between a satellite and the inertial navigation) between the position of a satellite receiving antenna and the inertial navigation.
As shown in fig. 2, taking the position of the inertial navigation system as an origin, pointing to the starboard as the forward direction of the x axis, pointing to the bow of the ship as the forward direction of the y axis, and pointing to the sky perpendicular to the ship surface as the forward direction of the z axis, according to a defined coordinate system, measuring the three-dimensional space distance between the position of the satellite navigation receiving antenna and the inertial navigation system, and then the coordinate of the satellite navigation receiving antenna in the inertial navigation system is defined as (x is the coordinate of the satellite navigation receiving antenna in the inertial navigation system)b,yb,zb)。
And 2, calculating the position lever arm projection according to the attitude matrix.
In the carrier coordinate system, the position of the guide receiving antenna relative to the inertial navigation system is unchanged, and the projection (x) of the guide receiving antenna in the navigation coordinate system is constantn,yn,zn) And the attitude and the heading of the carrier are changed. The projection relation between the satellite-guided receiving antenna coordinates in the navigation coordinate system and the carrier coordinate system is as follows:
and 3, compensating the position lever arm in a Kalman filtering observation matrix.
The invention is realized by a compensation Kalman filtering observation matrix. After a position lever arm of the satellite navigation system relative to the inertial navigation system is projected to a navigation coordinate system, xnNorth of south-pointing, affecting latitude error, ynPointing east-west, affecting longitude errors, znPointing to the sky direction, and affecting the vertical error. According to the observation equation, a position lever arm compensation method can be obtained. Because the coordinate unit of the satellite guide position is m, the coordinate unit needs to be converted into a unit rad the same as longitude and latitude, and a concrete compensation formula of the lever arm at the position of the observation equation is as follows:
δ L is the latitude error; δ λ is the longitude error; delta h is an elevation error; l isinsIs the inertial navigation latitude; l isgnssThe latitude is led to; pi is a circumference ratio, and is taken as 3.141592653589793; lambda [ alpha ]insIs the inertial navigation longitude; lambda [ alpha ]gnssIs the guide longitude; h isinsIs the inertial navigation elevation; h isgnssFor height protection and guidance.
Through the steps, the lever arm compensation function of the inertial navigation system for dynamically aligning the position can be realized, and the dynamic alignment precision is effectively improved.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (1)
1. A ship dynamic alignment position lever arm compensation method is characterized by comprising the following steps:
step 1: taking an inertial navigation system as a center, measuring the three-dimensional space distance between the position of a satellite navigation receiving antenna and inertial navigation;
step 2, calculating the projection of the position lever arm according to the attitude matrix;
step 3, compensating the position lever arm in a Kalman filtering observation matrix;
the step 2 of calculating the position lever arm projection adopts the following formula:
xb,yb,zbcoordinates, x, defined for the inertial navigation system of the coordinates of the satellite-guided receiving antennan,yn,znProjecting the satellite navigation receiving antenna on a navigation coordinate system;
the step 3 adopts the following formula to compensate:
δ L is the latitude error; δ λ is the longitude error; delta h is an elevation error; l isinsIs the inertial navigation latitude; l isgnssThe latitude is led to; pi is a circumference ratio, and is taken as 3.141592653589793; lambda [ alpha ]insIs the inertial navigation longitude; lambda [ alpha ]gnssIs the guide longitude; h isinsIs the inertial navigation elevation; h isgnssFor height protection and guidance.
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| CN110887508B (en) * | 2019-11-30 | 2023-04-28 | 航天科技控股集团股份有限公司 | Dynamic positioning function detection method for vehicle-mounted navigation product |
| CN114353792A (en) * | 2022-03-16 | 2022-04-15 | 长沙金维信息技术有限公司 | Lever arm measuring method and navigation method of inertial navigation system in vehicle-mounted integrated navigation system |
| CN115201866B (en) * | 2022-09-16 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Large-scale surface vessel inertial navigation and Beidou tight coupling scheme space correction method |
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