CN116295389B - Method, device, equipment and medium for stably switching strapdown compass system state - Google Patents

Method, device, equipment and medium for stably switching strapdown compass system state Download PDF

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Publication number
CN116295389B
CN116295389B CN202310580530.7A CN202310580530A CN116295389B CN 116295389 B CN116295389 B CN 116295389B CN 202310580530 A CN202310580530 A CN 202310580530A CN 116295389 B CN116295389 B CN 116295389B
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north
speed
compass
current moment
moment
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CN116295389A (en
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姚琪
吕善民
于文涛
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707th Research Institute of CSIC
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707th Research Institute of CSIC
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    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Abstract

The invention discloses a stable switching method, device, equipment and medium for a strapdown compass system state, wherein in the method, whenWhen the strapdown compass system is within the preset threshold range, the strapdown compass system operates in a normal state whenWhen the preset threshold value range is out, setting a first negative feedback quantity at the current moment in the strapdown compass systemIs 0; and, setting a second positive feedback amount at the current timeIs the north speed of the previous momentAnd the north-to-outer velocityDifference between them. Therefore, the system can be effectively restrained from generating navigation information overshoot due to external speed errors under the working state of the compass loop.

Description

Method, device, equipment and medium for stably switching strapdown compass system state
Technical Field
The invention relates to the technical field of inertial navigation optical gyroscopes, in particular to a method, a device, equipment and a medium for stably switching a strapdown compass system state.
Background
The optical (laser and optical fiber) gyro has the advantages of high dynamic precision, short stabilizing time, high reliability, compact structure, light weight, low power consumption and the like, and the optical gyro strapdown compass has the remarkable advantages of strong autonomy, high reliability, long continuous working time, low price and the like, so that the optical compass gradually replaces the traditional gyro compass and becomes necessary navigation equipment for various ships.
In the actual sailing process of the ship, due to the influence of external speed errors such as ocean currents and odometer errors, the system works in a compass loop to cause the overshoot phenomenon of navigation information such as speed, gesture and the like due to the change of the external speed, and the overshoot fluctuation can have adverse influence on other users on the ship. Thus, it becomes particularly important how to effectively suppress the generation of such overshoot.
Disclosure of Invention
The invention provides a stable switching method of a strapdown compass system state, which is used for effectively inhibiting the overshoot phenomenon of a compass on a ship.
In order to achieve the above purpose, the embodiment of the invention provides a stable switching method for a strapdown compass system state, which comprises the following steps:
north acceleration based on current moment through compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle +.>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
The north compass speed at the current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point, and obtaining a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
Second positive feedback quantity of the current momentAnd North compass speed at said current moment +.>Entering a third comparison point to obtain the north speed of the current moment>；
Based on the current time north compass speedAnd North compass speed at last moment +.>North-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
And when judging the condition quantityWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And north-out speed of last moment +.>And (3) a difference.
Optionally, the east direction deflection angle at the current momentThe method comprises the following steps of:
through the compass loop, the north compass speed at the current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point via the first control link +.>Generating a second negative feedback quantity at the current moment;
drift amount at current timeAnd the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment;
the currentA third positive feedback quantity of time and the north-to-north speed of the current timeGenerating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
Optionally, the north compass speed based on the current momentAnd the north compass speed at the last momentNorth-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->Comprising the following steps:
acquiring the north compass speed at the current momentAnd North compass speed at last moment +.>A first difference;
acquiring the north-to-outside speed at the current momentAnd north-out speed of last moment +.>A second difference;
obtaining the absolute value of the difference between the first difference and the second difference asFor the judgment condition amount。
Optionally, the first control linkIn (I)>。
Optionally, in the compass loop, the first integration link isThe method comprises the steps of carrying out a first treatment on the surface of the The second integration link is->The method comprises the steps of carrying out a first treatment on the surface of the The first proportion link is->The third integration is +.>；
The characteristic equation is:
；
wherein ,；/>；/>；/>is the schlempe angular frequency; />Is a damping coefficient; />Is constant (I)>And S is a differential link for the compass loop parameters.
In order to achieve the above objective, a second aspect of the present invention provides a stable switching device for a strapdown compass system state, which is configured to implement a stable switching method for a strapdown compass system state as described above, including:
a first acquisition module for acquiring north acceleration based on the current moment through a compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle +.>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
A second obtaining module, configured to obtain the north compass speed at the current timeAnd the north-to-outside speed at the current timeEntering a second comparison point, and obtaining a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
A third obtaining module, configured to obtain the second positive feedback amount at the current timeAnd North compass speed at said current moment +.>Entering a third comparison point to obtain the north speed of the current moment>；
A fourth obtaining module, configured to determine a north-bound compass speed based on the current timeAnd North compass speed at last moment +.>North-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
A reset module for determining the condition amountWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And north-out speed of last moment +.>And (3) a difference.
Optionally, the apparatus further comprises:
a first generation module for passing through the compass loop and determining the north compass speed at the current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point via the first control link +.>Generating a second negative feedback quantity at the current moment;
a second generation module for drift amount at current momentAnd the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment;
a third generation module for generating a third positive feedback amount at the current time and a north speed at the current timeGenerating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
Optionally, the fourth obtaining module includes:
a first obtaining unit, configured to obtain the current north compass speedAnd North compass speed at last moment +.>A first difference;
a second obtaining unit for obtaining the north-to-outside speed at the current momentAnd the north-to-outside speed at the last momentA second difference;
a third acquisition unit configured to acquire an absolute value of a difference between the first difference and the second difference as the judgment condition amount。
Optionally, the first control linkIn (I)>。
Optionally, in the compass loop, the first integration link isThe method comprises the steps of carrying out a first treatment on the surface of the The second integration link is->The method comprises the steps of carrying out a first treatment on the surface of the The first proportion link is->The third integration is +.>；
The characteristic equation is:
；
wherein ,；/>；/>；/>is the schlempe angular frequency; />Is a damping coefficient; />Is constant (I)>And S is a differential link for the compass loop parameters.
To achieve the above object, an embodiment of a third aspect of the present invention provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for smoothly switching the system state of the strapdown compass according to any embodiment of the present invention.
To achieve the above object, an embodiment of the fourth aspect of the present invention provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to make a processor execute a method for implementing a stable switching method of a strapdown compass system state according to any embodiment of the present invention.
To sum upThe method for stably switching the system state of the strapdown compass according to the embodiment of the invention is as followsWhen the strapdown compass system is within the preset threshold, the strapdown compass system operates in a normal state when +.>When the preset threshold value range is out, setting a first negative feedback quantity +_in the current moment in the strapdown compass system>Is 0; and, setting the second positive feedback amount at the current time +.>Is north speed of the previous moment +.>And north-to-outside velocity->Difference between them. Therefore, the system can be effectively restrained from generating navigation information overshoot due to external speed errors under the working state of the compass loop.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a stable switching method of strapdown compass states according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for implementing a stable handoff method of a strapdown compass state according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only 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 present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a block diagram of a stable switching method of strapdown compass states according to an embodiment of the present invention. As shown in fig. 1, the handover method includes the steps of:
north acceleration based on current moment through compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle at last moment/>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
North compass speed at current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point, and obtaining a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
Second positive feedback quantity at present timeAnd North compass speed at the current moment +.>Entering a third comparison point to obtain the north speed of the current moment>；
Based on the north compass speed at the current momentAnd North compass speed at last moment +.>North-to-outside speed at the present moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
And when judging the condition quantityWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And north-out speed of last moment +.>And (3) a difference.
Referring to FIG. 1, north accelerationIs output by the accelerometer and is the accumulated sum of the acceleration values output by the accelerometer during one execution period. Wherein one execution period is North acceleration +.>Input starts to east direction deflection angleOutput, and a first negative feedback quantity +.>And a first positive feedback amount is generated. Currently, the method is thatNorth acceleration of time->First negative feedback quantity +.>And the first positive feedback quantity enters a first comparison point, and after adding, the first positive feedback quantity is integrated through a first integration link to generate the north-direction compass speed +.>. North compass speed at the present moment +.>And north-to-outside speed at the current moment +.>Entering a second comparison point, performing a difference making, and performing gain through a first comparison link to generate a first negative feedback quantity at the current moment>And also integrating by means of a second integration element, generating a second positive feedback quantity +.>. North compass speed at the present moment +.>And a second positive feedback quantity at the present moment +.>Adding at the third comparison point to generate north speed at the current moment>. North speed at the current moment->Adding and removing the drift compass term into the fifth comparison pointGenerating east direction deflection angle +.>. East direction deflection angle at the present moment +.>The product of the gravitational acceleration g is used as the first positive feedback quantity.
Wherein, in the above process, the judgment condition amount can be obtained, wherein ,when->When the threshold value is out of the range, the first negative feedback quantity of the current moment by using the block diagram is jumped out>And a second positive feedback amount +.>Is calculated by the computer. The first negative feedback quantity at the present moment can be +.>Set to 0 as input for the next time. And the second positive feedback quantity at the current moment is +>Setting north speed of last moment +.>And north-out speed of last moment +.>The difference is used as the input of the current moment, thereby increasing the damping ratio of the compass system, reducing the overshoot amplitude of the system and effectively inhibiting the operation of the compass loopThe navigation information is generated to overshoot by external speed error under the working state.
Wherein, with continued reference to FIG. 1, the east direction deflection angle at the current timeThe method comprises the following steps of: north compass speed at the present moment by way of the compass loop +.>And north-to-outside speed at the current moment +.>Entering a second comparison point via the first control link +.>Generating a second negative feedback quantity at the current moment; drift amount +.>And the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment; third positive feedback quantity at present moment, north-to-north speed at present moment +.>Generating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
That is, the north compass speed at the current timeAnd north-to-outside speed at the current moment +.>After entering the second comparison point to make a difference, passing throughA control link->Generating a second negative feedback quantity at the current moment and a drift quantity at the current momentAfter the second negative feedback quantity at the current moment enters a fourth comparison point to make a difference, integrating through a third integration link and adding the second negative feedback quantity and a compass term +.>Generates a third positive feedback quantity at the current moment, the north speed at the current moment +.>Adding the first comparison point and dividing the first comparison point by the earth radius R to generate east deflection angle ++>。
It can be seen that in the compass loop, the first control linkIn (I)>. The first integration link is +.>The method comprises the steps of carrying out a first treatment on the surface of the The second integration link is->The method comprises the steps of carrying out a first treatment on the surface of the The first proportion link is->The third integration is +.>The method comprises the steps of carrying out a first treatment on the surface of the And based on the Meissen formula, the compass loop characteristic equation can be obtained as follows:
。
optionally, based on the current time of north-oriented compass speedAnd North compass speed at last moment +.>North-to-outside speed at the present moment>And north-out speed of last moment +.>Acquiring judgment condition amount->Comprising the following steps: acquiring the north compass speed at the current moment>And North compass speed at last moment +.>A first difference; acquiring the north-to-outside speed at the current momentAnd north-out speed of last moment +.>A second difference; acquiring the absolute value of the difference between the first difference and the second difference as a judgment condition amount +.>。
wherein ,，/>for the current moment +.>The last time. When judging the condition quantity->When the difference between the compass speed and the outward speed at the last moment and the difference between the compass speed and the outward speed at the current moment are smaller, the system is in a steady state, and at the moment, the values of all parameters in the characteristic equation in the compass loop are as follows:
；/>；/>；/>is the schlempe angular frequency; />Is a damping coefficient;is constant (I)>And S is a differential link for the compass loop parameters.
When judging the condition quantityWhen the threshold value is out of the range, the difference between the difference value between the compass speed and the outward speed at the last moment and the difference value between the compass speed and the outward speed at the current moment is larger, and the system enters an overshoot state. It will be appreciated that, after an outward velocity disturbance, at this point in time, the compass speed in the compass circuitThe difference between the degree and the outward velocity is +.>First negative feedback quantity generated->First negative feedback quantity +.>The variation between them becomes larger, north acceleration input for the next time +.>Has larger influence, and further has a north direction compass speed at the next moment +.>The calculation influence of (2) is larger, and finally, the overshoot phenomenon of the whole compass loop is caused.
Further, when it is detected thatWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Set to 0, the first negative feedback quantity at the current moment can be reduced>North compass speed for the next moment +.>Influence. And second positive feedback quantity->Reset to the north speed of the last moment>North-to-outside speed from the last moment +.>The damping of the system can be increased by the difference value between the two states, so that the overshoot amplitude of the whole system is reduced, the whole compass loop system can be switched from the overshoot state to the steady state steadily and in a short time, and the time of the system in the overshoot state is shortened.
And at the next moment detectWhen the preset threshold value range is out, the first negative feedback quantity +.>Set to 0 and let the second positive feedback amount +.>Reset to the north speed of the last moment>North-to-outside speed from the last moment +.>Difference between, first negative feedback quantity->And a second positive feedback quantity->The recursive solution in the original compass loop is not used. Wherein, at the moment of state transition, the system harmful acceleration is resolved by using north speed +.>And (5) resolving. Until the step is performed circularly a plurality of times, then when +.>When the preset threshold value is within the range, the first negative feedback quantity in the compass loop in fig. 1 is passed>The calculation loop of (1) performs a first negative feedback quantity +.>And by a second positive feedback amount in the compass loop in fig. 1 +.>The calculation loop of (2) calculates a second positive feedback quantity +.>Therefore, when the compass system is in an overshoot phenomenon, the system is restrained from generating navigation information overshoot due to external speed errors in the working state of the compass loop, the strapdown compass system state is stably switched to a stable state, and adverse effects of overshoot fluctuation on other users on a ship are avoided.
An embodiment of a second aspect of the present invention provides a stable switching device for a system state of a strapdown compass, which is used for implementing a stable switching method for a system state of a strapdown compass as before, including:
a first acquisition module for acquiring north acceleration based on the current moment through a compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle +.>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
A second acquisition module for north compass speed at current momentAnd north-out at the current timeSpeed->Entering a second comparison point, and obtaining a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
A third acquisition module for the second positive feedback quantity at the current momentAnd North compass speed at the current moment +.>Entering a third comparison point to obtain the north speed of the current moment>；
A fourth acquisition module for north-oriented compass speed based on the current momentAnd the north compass speed at the last momentNorth-to-outside speed at the present moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
A reset module for determining the condition amountWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And north-out speed of last moment +.>And (3) a difference.
Optionally, the apparatus further comprises:
a first generation module for determining the condition quantity at the current moment through the compass loopThrough the first control link->Generating a second negative feedback quantity at the current moment;
a second generation module for drift amount at current momentAnd the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment;
a third generation module for generating a third positive feedback quantity at the current moment and a north-to-north speed at the current momentGenerating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
Optionally, the fourth acquisition module includes:
a first acquisition unit for acquiring the north compass speed at the current momentAnd the north compass speed at the last momentA first difference;
a second acquisition unit for acquiring the north-to-outside speed at the current momentAnd north-out speed of last moment +.>A second difference;
a third acquisition unit for acquiring an absolute value of a difference between the first difference and the second difference as a judgment condition amount。
Optionally, a first control linkIn (I)>。
Optionally, in the compass loop, the first integration link isThe method comprises the steps of carrying out a first treatment on the surface of the The second integration link is->The method comprises the steps of carrying out a first treatment on the surface of the The first proportion link isThe third integration is +.>；
The characteristic equation is:
；
wherein ,；/>；/>；/>is the schlempe angular frequency; />Is a damping coefficient; />Is constant (I)>And S is a differential link for the compass loop parameters.
The stable switching device for the system state of the strapdown compass provided by the embodiment of the invention can execute the stable switching method for the system state of the strapdown compass provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method. And will not be described in detail herein.
As shown in fig. 2, an embodiment of the present invention further proposes an electronic device 10, where the electronic device 10 includes:
at least one processor 11; and
a memory communicatively coupled to the at least one processor 11; wherein,
the memory stores a computer program executable by the at least one processor 11, the computer program being executed by the at least one processor 11 to enable the at least one processor 11 to perform the method for stably switching the system state of the strapdown compass according to any of the embodiments of the present invention.
The embodiment of the invention provides a computer readable storage medium, which stores computer instructions for realizing the stable switching method of the strapdown compass system state according to any embodiment of the invention when a processor executes the computer instructions.
Fig. 2 shows a schematic diagram of the structure of an electronic device that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 2, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the strapdown compass system state transition method.
In some embodiments, the strapdown compass system state plateau switching method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the strapdown compass system state stable handoff method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the strapdown compass system state smooth handoff method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
In summary, the system state of the strapdown compass provided by the embodiment of the invention is flatStable switching method, whenWhen the strapdown compass system is within the preset threshold, the strapdown compass system operates in a normal state when +.>When the preset threshold value range is out, setting a first negative feedback quantity +_in the current moment in the strapdown compass system>Is 0; and, setting the second positive feedback amount at the current time +.>Is north speed of the previous moment +.>And north-to-outside velocity->Difference between them. Therefore, the system can be effectively restrained from generating navigation information overshoot due to external speed errors under the working state of the compass loop.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (8)

1. The stable switching method for the strapdown compass system state is characterized by comprising the following steps:
north acceleration based on current moment through compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle +.>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
The north compass speed at the current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point, and obtaining a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
Second positive feedback quantity of the current momentAnd North compass speed at said current moment +.>Entering a third comparison point to obtainTaking the north speed of the current moment>；
Based on the current time north compass speedAnd North compass speed at last moment +.>North-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
And when judging the condition quantityWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And the north-to-outside speed at the last momentA difference between;
the north compass speed based on the current momentAnd North compass speed at last moment +.>North-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->Comprising the following steps:
acquiring the north compass speed at the current momentAnd North compass speed at last moment +.>A first difference;
acquiring the north-to-outside speed at the current momentAnd north-out speed of last moment +.>A second difference;
acquiring an absolute value of a difference between the first difference and the second difference as the judgment condition amount。
2. The method for stably switching the system state of the strapdown compass according to claim 1, wherein the east direction deflection angle at the current moment
The method comprises the following steps of:
through the compass loop, the north compass speed at the current momentAnd north-to-outside speed at the current moment +.>After entering the second comparison point, the first control link is used for +.>Generating a second negative feedback quantity at the current moment;
drift amount at current timeAnd the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment;
a third positive feedback quantity at the current moment and a north speed at the current momentGenerating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
3. The method for stably switching the system state of the strapdown compass according to claim 2, wherein the first control linkIn (I)>，/>And S is a differential link, and R is the earth radius for the compass loop parameters.
4. The method for stably switching the system state of the strapdown compass according to claim 3, wherein in the compass circuit, the first integration link isThe method comprises the steps of carrying out a first treatment on the surface of the The second integration link is->The method comprises the steps of carrying out a first treatment on the surface of the The first proportion link is->The third integration is +.>；
The characteristic equation is:
；
wherein ,；/>；/>；/>is Shule (a Chinese character)Angular frequency; />Is a damping coefficient; />Is constant (I)>And S is a differential link for the compass loop parameters.
5. A steady state switching device for a strapdown compass system, which is used for implementing the steady state switching method for the strapdown compass system according to any one of claims 1-4, and comprises the following steps:
a first acquisition module for acquiring north acceleration based on the current moment through a compass loopFirst negative feedback quantity of last moment +.>East direction deflection angle +.>The first positive feedback quantity generated by the gravity acceleration g enters a first comparison point, and the north-direction compass speed +_f at the current moment is obtained through a first integration link>；
A second obtaining module, configured to obtain the north compass speed at the current timeAnd north-to-outside speed at the current moment +.>Enter the second comparison point through the firstA proportional link obtains a first negative feedback quantity +.>The second positive feedback quantity of the current moment is also obtained through a second integration link>；
A third obtaining module, configured to obtain the second positive feedback amount at the current timeAnd the north compass speed at the current momentEntering a third comparison point to obtain the north speed of the current moment>；
A fourth obtaining module, configured to determine a north-bound compass speed based on the current timeAnd the north compass speed at the last momentNorth-to-outside speed at the current moment>And north-out speed of last moment +.>Acquiring judgment condition amount->；
A reset module for determining the condition amountWhen the preset threshold value range is out, the first negative feedback quantity of the current moment is +.>Setting to 0; and the second positive feedback amount at the present moment +.>Setting north speed of last moment +.>And north-out speed of last moment +.>A difference between;
the fourth acquisition module includes:
a first obtaining unit, configured to obtain the current north compass speedAnd the north compass speed at the last momentA first difference;
a second obtaining unit for obtaining the north-to-outside speed at the current momentAnd north-out speed of last moment +.>A second difference;
a third acquisition unit configured to acquire an absolute value of a difference between the first difference and the second difference as the judgment condition amount。
6. The strapdown compass system state stable switching device as claimed in claim 5, further comprising:
a first generation module for passing through the compass loop and determining the north compass speed at the current momentAnd north-to-outside speed at the current moment +.>Entering a second comparison point via the first control link +.>Generating a second negative feedback quantity at the current moment;
a second generation module for drift amount at current momentAnd the second negative feedback quantity at the current moment enters a fourth comparison point and passes through a third integration link and a compass term +.>Generating a third positive feedback quantity at the current moment;
a third generation module for generating a third positive feedback amount at the current time and a north speed at the current timeGenerating east direction deflection angle of current moment by calculating with earth radius R after entering fifth comparison point>。
7. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the strapdown compass system state transition method as in any of claims 1-4.
8. A computer readable storage medium storing computer instructions for causing a processor to implement the strapdown compass system state transition method of any of claims 1-4 when executed.
CN202310580530.7A 2023-05-23 2023-05-23 Method, device, equipment and medium for stably switching strapdown compass system state Active CN116295389B (en)

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