CN117570934B - GNSS wave measurement missing compensation method based on IMU - Google Patents
GNSS wave measurement missing compensation method based on IMU Download PDFInfo
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- 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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Abstract
The invention belongs to the field of marine environment monitoring, and discloses a GNSS wave measurement lack measurement compensation method based on an IMU, which comprises the following steps: the carrier carrying the GNSS is adopted to form a sea surface wave measuring device, the IMU is arranged in a carrier device cabin, and acceleration and angular acceleration are collected in real time; decoding and converting the acquired IMU data into a triaxial speed increment and a triaxial angular speed increment; when the lack of the GNSS is detected, solving the carrier gesture by using the carrier speed and the acceleration of the lack-measurement previous GNSS epoch; recursion is carried out on the carrier speed at the missing moment to obtain a carrier speed sequence in the GNSS missing period; after an IMU sampling interval, if GNSS data is still in lack of measurement, recursion is carried out on the gesture at the lack of measurement time to obtain the latest gesture information. The method disclosed by the invention can supplement the GNSS speed sequence, improves the consistency of the GNSS speed sequence and improves the integrity of wave measurement.
Description
Technical Field
The invention belongs to the field of marine environment monitoring, and particularly relates to a GNSS wave measurement lack-measurement compensation method based on an IMU.
Background
Waves play an important role in monitoring their changes and studying laws as key dynamic phenomena in the ocean. The method has important significance for offshore activities and disaster reduction and prevention work. In recent decades, with the continuous development of human beings on the ocean and the rapid development of satellite navigation technology, not only is research of ocean observation methods promoted, but also development of advanced instruments and equipment is promoted.
The GNSS wave measurement buoy utilizes a Global Navigation Satellite System (GNSS) to acquire three-dimensional space position, speed and time information of a buoy carrier, and can effectively invert wave elements. However, in some situations, the GNSS wave buoy is sometimes lack of detection (such as a seawater coverage antenna), which affects the integrity of the three-dimensional speed of the GNSS acquired buoy carrier.
An Inertial Measurement Unit (IMU) is a device that integrates multiple inertial sensors for measuring and recording acceleration and angular velocity of an object, and is autonomous, independent of external signal sources, which makes it more reliable in some GNSS rejection environments, and can provide highly accurate position and velocity information in a short time, which can effectively assist the GNSS in supplementing three-dimensional spatial position and velocity information during the absence of measurement. The MEMS (micro electro mechanical system) IMU has lower power consumption and cost, and is suitable for wave measurement by combining the MEMS IMU with GNSS.
Disclosure of Invention
In order to solve the technical problems, the invention provides the GNSS wave measurement lack measurement compensation method based on the IMU, when GNSS lack occurs, the IMU can compensate the information such as the speed and the position of the buoy into the GNSS speed and the position sequence, and the method is suitable for the scenes such as oceans, rivers, lakes and the like, can still work normally under the GNSS rejection condition, and can obtain the buoy speed compensation result with short term and high precision.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
an IMU-based GNSS wave measurement lack measurement compensation method comprises the following steps:
step 1, adopting a carrier carrying GNSS to form a sea surface wave measuring device, installing an IMU in a carrier device cabin, and collecting acceleration and angular acceleration of the current carrier relative to an inertial system in real time;
step 2, decoding and converting the acquired IMU data into a triaxial speed increment and a triaxial angular speed increment, and storing the triaxial speed increment and the triaxial angular speed increment;
step 3, detecting whether the speed time sequence of the GNSS is consistent, and when the lack of measurement phenomenon of the observation data of the GNSS is detected, using the speed and the acceleration of the lack of measurement previous GNSS epoch measured by the GNSS to solve the carrier gesture of the lack of measurement previous GNSS epoch;
step 4, recursively estimating the carrier speed from the previous GNSS epoch of the lack measurement by using the obtained carrier gesture and the three-axis speed increment and three-axis angular speed increment acquired by the IMU to obtain a speed sequence in the lack measurement period of the GNSS, and supplementing the obtained speed sequence into the speed sequence measured by the GNSS to finish the supplement of the lack speed sequence of the GNSS; if the GNSS data can be detected at the next IMU sampling time, returning to the step 1; if the GNSS data is still not detected after an IMU sampling interval, continuing to execute the step 5;
and 5, recursively estimating the carrier posture from the previous GNSS epoch of the missing measurement by using the triaxial speed increment and the triaxial angular speed increment acquired by the IMU to obtain the latest carrier posture information, and returning to the step 4.
In the above scheme, in step 3, the pose matrix from the b-system to the n-system of the previous GNSS epoch is expressed asB is a carrier coordinate system, and n is a station horizon coordinate system;
the equation for solving the carrier pose is shown in the formulas (1), (2) and (3):
（1）；
（2）；
（3）；
wherein,in order to be the heading angle,in the form of a pitch angle, the pitch angle,in order to be a roll angle, the roll angle,、、respectively north, east and vertical velocity components,to promote acceleration, the concrete expression isWherein, the method comprises the steps of, wherein,is the component of acceleration along the normal vector of velocity,is the component of gravitational acceleration along the normal direction of the velocity;the composition of (2) is shown in formula (4):
（4）；
after obtaining a course angle, a roll angle and a pitch angle through GNSS, constructing a gesture matrix of the previous GNSS epoch without measurement, and constructing a gesture matrix of the previous GNSS epoch without measurementThe expression is shown as a formula (5):
（5）。
in the above scheme, in step 4, the velocity sequence recursion solution equation during the GNSS absence measurement is shown in equation (6):
（6）；
wherein,for the projection of the velocity at the previous IMU instant under the n-series,the three-dimensional acceleration obtained by the IMU at the current IMU moment is compensated by the formula (7) and then passes through the gesture matrix at the current IMU momentThe projection is made to the velocity increment obtained for the n-series,representing the projection of the velocity increase caused by the coriolis acceleration under the n-series,the calculation formula of (2) is shown as formula (8):
（7）；
（8）；
wherein,representative according to the currentThe speed increment calculated by the three-dimensional acceleration acquired by the IMU at the moment of IMU,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU time,representing the projection of the involvement angular velocity under the n-series caused by the carrier motion at the current IMU moment;representing the projection of the rotation angular velocity of the earth under an n system at the current IMU moment;representing the projection of local gravity under the n-series;representing the sampling interval of the IMU.
In the above scheme, in step 5, the recursive calculation equation of the carrier posture matrix is shown in formula (9):
（9）；
wherein,representing the pose matrix at the previous IMU instant,the pose transformation matrix representing the n-series of the previous IMU moment to the n-series of the current IMU moment is solved as shown in equation (10):
（10）；
wherein,representing a 3-order identity matrix;an equivalent rotation vector representing the angular velocity,representative vectorIs used for the matrix of the anti-symmetry of (a),the calculation formula of (2) is as follows:
（11）；
representing the projection of the implication angular velocity at the current IMU instant under the n-series,representing the projection of the rotation angular velocity of the earth under the n system at the current IMU moment,representing the sampling interval of the IMU;
the pose transformation matrix representing the b-series at the current IMU time to the b-series at the previous IMU time is solved as shown in equation (12):
（12）；
wherein,is the equivalent obtained by compensating and correcting the three-dimensional angular acceleration obtained by the IMU at the current IMU momentThe vector of the vector,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU time,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the previous IMU instant,representative vectorIs an anti-symmetric matrix of (a).
In the above aspect, the carrier comprises a drift buoy, an anchor buoy, a ship, a wave glider, or an unmanned ship.
Through the technical scheme, the GNSS wave measurement lack measurement compensation method based on the IMU has the following beneficial effects:
according to the invention, only a low-cost and low-power-consumption MEMS IMU is additionally mounted on the GNSS wave measurement carrier, so that the phenomenon of GNSS missing measurement caused by the occasional occurrence of GNSS wave measurement can be solved, and the information consistency and system stability of the GNSS wave measurement are increased;
the IMU used in the invention is a low-cost MEMS IMU, and has the advantages of low cost and low power consumption; according to the invention, no additional memory card is needed to store IMU information, and compared with a combined navigation algorithm, the power consumption and the memory space are reduced;
the method is suitable for being applied to GNSS wave measurement carriers under the condition that GNSS is lack of measurement, and is particularly suitable for the condition that GNSS antennas are covered by seawater or GNSS signals are seriously refused.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will make brief description of the drawings used in the description of the embodiments or the prior art.
Fig. 1 is a schematic flow chart of a GNSS wave measurement lack measurement compensation method based on IMU according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a GNSS wave measurement lack measurement compensation method based on an IMU, which is shown in figure 1 and comprises the following steps:
and 1, adopting a carrier carrying a GNSS to form a sea surface wave measuring device, installing an IMU in a carrier device cabin, and collecting the acceleration and the angular acceleration of the current carrier relative to the acceleration under an inertial system in real time.
The carrier of the invention comprises a drifting buoy, an anchor buoy, a ship, a wave glider, an unmanned ship and other carriers which can work on the water surface. The carrier carrying the GNSS has the functions of positioning and speed measurement.
The GNSS of the invention covers global navigation satellite systems such as Beidou, GPS, GLONASS, galileo and the like, and also comprises regional navigation satellite systems such as QZSS, NAVIC and the like. And acquiring the acceleration and the angular acceleration of the current buoy and other carriers under the inertial system through the IMU carried by the buoy, calculating the carrier speed and the acceleration calculated by the GNSS before the lack of measurement to obtain the attitude information of the carrier, and finally calculating the speed and the position of the buoy during the lack of measurement of the GNSS through the mechanical programming algorithm of inertial navigation. The sampling frequency of the IMU carried by the sea carrier such as the wave buoy carrying the IMU is 50Hz or more.
The IMU is connected with the processor through serial ports and the like; the processor runs embedded data processing software, acquires IMU data in real time and stores the IMU data in the temporary memory, meanwhile, the embedded system detects whether the GNSS data is in shortage, when the embedded system detects that the GNSS data is in shortage, information acquired by the IMU is read out from the temporary memory, and a result obtained by resolving the information is stored in the memory.
And 2, decoding and converting the acquired IMU data into triaxial speed increment and triaxial angular speed increment, and storing the triaxial speed increment and the triaxial angular speed increment.
Step 3, detecting whether the speed time sequence of the GNSS is consistent, and when the lack of measurement phenomenon of the observation data of the GNSS is detected, using the speed and the acceleration of the lack of measurement previous GNSS epoch measured by the GNSS to solve the carrier gesture of the lack of measurement previous GNSS epoch;
the attitude matrix from b-system to n-system of the previous GNSS epoch of the missing test is expressed asB is a carrier coordinate system, and n is a station horizon coordinate system;
the equation for solving the carrier pose is shown in the formulas (1), (2) and (3):
（1）；
（2）；
（3）；
wherein,in order to be the heading angle,in the form of a pitch angle, the pitch angle,in order to be a roll angle, the roll angle,、、respectively north, east and vertical velocity components,to promote acceleration, the concrete expression isWherein, the method comprises the steps of, wherein,is the component of acceleration along the normal vector of velocity,is the component of gravitational acceleration along the normal direction of the velocity;the composition of (2) is shown in formula (4):
（4）；
after obtaining a course angle, a roll angle and a pitch angle through GNSS, constructing a posture matrix, and missing a carrier posture matrix of a previous GNSS epochThe expression is shown as a formula (5):
（5）；
step 4, recursively estimating the carrier speed from the previous GNSS epoch of the lack measurement by using the obtained carrier gesture and the three-axis speed increment and three-axis angular speed increment acquired by the IMU to obtain a speed sequence in the lack measurement period of the GNSS, and supplementing the obtained three-dimensional speed sequence into the speed sequence measured by the GNSS to finish the supplement of the lack speed sequence of the GNSS; if the GNSS data can be detected at the next IMU sampling time, returning to the step 1; if no GNSS data is still detected after one IMU sampling interval, step 5 is continued.
The velocity sequence recurrence equation during GNSS missing measurement is shown in equation (6):
（6）；
wherein,in order to lack the projection of the velocity at the previous IMU instant in the n-series,the three-dimensional acceleration obtained by the IMU at the current IMU moment is compensated by the formula (7) and then passes through the gesture matrix at the current IMU momentThe projection is made to the velocity increment obtained for the n-series,representing the projection of the velocity increase caused by the coriolis acceleration under the n-series,the calculation formula of (2) is shown as formula (8):
（7）；
（8）；
wherein,representing the velocity increment calculated from the three-dimensional acceleration acquired by the IMU at the current IMU time,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU time,representing the projection of the involvement angular velocity under the n-series caused by the carrier motion at the current IMU moment;representing the rotation angular velocity of the earth at the current IMU momentProjection under n;representing the projection of local gravity under the n-series;representing the sampling interval of the IMU.
And 5, recursively estimating the carrier posture from the previous GNSS epoch of the missing measurement by using the triaxial speed increment and the triaxial angular speed increment acquired by the IMU to obtain the latest carrier posture information, and returning to the step 4.
The recursive calculation equation of the carrier posture matrix is shown in the formula (9):
（9）；
wherein,representing the pose matrix at the previous IMU instant,the pose transformation matrix representing the n-series of the previous IMU moment to the n-series of the current IMU moment is solved as shown in equation (10):
（10）；
wherein,representing a 3-order identity matrix;an equivalent rotation vector representing the angular velocity,representative vectorIs used for the matrix of the anti-symmetry of (a),the calculation formula of (2) is as follows:
（11）；
representing the projection of the implication angular velocity at the current IMU instant under the n-series,representing the projection of the rotation angular velocity of the earth under the n system at the current IMU moment,representing the sampling interval of the IMU;
the pose transformation matrix representing the b-series at the current IMU time to the b-series at the previous IMU time is solved as shown in equation (12):
（12）；
wherein,is an equivalent vector obtained by compensating and correcting the three-dimensional angular acceleration obtained by the IMU at the current IMU moment,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU time,representing the angular velocity increment calculated from the three-dimensional angular acceleration acquired by the IMU at the previous IMU instant,representative vectorIs an anti-symmetric matrix of (a).
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The GNSS wave measurement lack measurement compensation method based on the IMU is characterized by comprising the following steps of:
step 1, adopting a carrier carrying GNSS to form a sea surface wave measuring device, installing an IMU in a carrier device cabin, and collecting acceleration and angular acceleration of the current carrier relative to an inertial system in real time;
step 2, decoding and converting the acquired IMU data into a triaxial speed increment and a triaxial angular speed increment, and storing the triaxial speed increment and the triaxial angular speed increment;
step 3, detecting whether the speed time sequence of the GNSS is consistent, and when the lack of measurement phenomenon of the observation data of the GNSS is detected, using the speed and the acceleration of the lack of measurement previous GNSS epoch measured by the GNSS to solve the carrier gesture of the lack of measurement previous GNSS epoch;
step 4, recursively estimating the carrier speed from the previous GNSS epoch of the lack measurement by using the obtained carrier gesture and the three-axis speed increment and three-axis angular speed increment acquired by the IMU to obtain a speed sequence in the lack measurement period of the GNSS, and supplementing the obtained speed sequence into the speed sequence measured by the GNSS to finish the supplement of the lack speed sequence of the GNSS; if the GNSS data can be detected at the next IMU sampling time, returning to the step 1; if the GNSS data is still not detected after an IMU sampling interval, continuing to execute the step 5;
and 5, recursively estimating the carrier posture from the previous GNSS epoch of the missing measurement by using the triaxial speed increment and the triaxial angular speed increment acquired by the IMU to obtain the latest carrier posture information, and returning to the step 4.
2. The method of claim 1, wherein in step 3, the posture matrix of the previous GNSS epoch from b-system to n-system is expressed asB is a carrier coordinate system, and n is a station horizon coordinate system;
the equation for solving the carrier pose is shown in the formulas (1), (2) and (3):
（1）；
（2）；
（3）；
wherein,for course angle->Is a pitch angle>Is a roll angle>、/>、/>The north, east and vertical velocity components, respectively, < >>To promote acceleration, the specific expression is +.>Wherein->Is the component of acceleration along the normal vector of velocity, +.>Is the component of gravitational acceleration along the normal direction of the velocity; />The composition of (2) is shown in formula (4):
（4）；
after obtaining a course angle, a roll angle and a pitch angle through GNSS, constructing a gesture matrix of the previous GNSS epoch without measurement, and constructing a gesture matrix of the previous GNSS epoch without measurementThe expression is shown as a formula (5):
（5）。
3. the IMU-based GNSS wave measurement missing compensation method of claim 1, wherein in step 4, a velocity sequence recursion solution equation during GNSS missing measurement is shown in formula (6):
（6）
wherein,for projection of the velocity at the previous IMU instant under the n-series, < >>The three-dimensional acceleration obtained by the IMU at the current IMU moment is compensated by the formula (7) and then passes through the gesture matrix at the current IMU moment>Projection to the n series, velocity increment, +.>Representing the projection of the velocity increase caused by the coriolis acceleration under the n-series, +.>The calculation formula of (2) is shown as formula (8):
（7）；
（8）；
wherein,representing the velocity increment calculated from the three-dimensional acceleration acquired by the IMU at the current IMU time,/->Represents the angular velocity increment,/-calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU moment>Representing the projection of the involvement angular velocity under the n-series caused by the carrier motion at the current IMU moment; />Representing the projection of the rotation angular velocity of the earth under an n system at the current IMU moment; />Representing the projection of local gravity under the n-series; />Representing the sampling interval of the IMU.
4. The IMU-based GNSS wavemeasurement missing compensation method of claim 1, wherein in step 5, a recursive calculation equation of the carrier posture matrix is shown in formula (9):
（9）；
wherein,representing the gesture matrix of the previous IMU moment, < >>The pose transformation matrix representing the n-series of the previous IMU moment to the n-series of the current IMU moment is solved as shown in equation (10):
（10）；
wherein,representing a 3-order identity matrix; />Equivalent rotation vector representing angular velocity, +.>Representative vector->Is an antisymmetric matrix of>The calculation formula of (2) is as follows:
（11）；
projection of the involvement angular velocity in the n-series representing the current IMU moment, +.>Representing the projection of the earth rotation angular velocity under the n system at the current IMU moment,/and>representing the sampling interval of the IMU;
the pose transformation matrix representing the b-series at the current IMU time to the b-series at the previous IMU time is solved as shown in equation (12):
（12）；
wherein,is an equivalent vector obtained by compensating and correcting three-dimensional angular acceleration obtained by the IMU at the current IMU moment,/I->Represents the angular velocity increment,/-calculated from the three-dimensional angular acceleration acquired by the IMU at the current IMU moment>Representing the increment of angular velocity calculated from the three-dimensional angular acceleration acquired by the IMU at the previous IMU instant, a>Representative vector->Is an anti-symmetric matrix of (a).
5. The IMU-based GNSS wave measurement defect compensation method of claim 1, wherein the carrier comprises a drift buoy, an anchor buoy, a vessel, a wave glider, or an unmanned vessel.
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