CN101660913A - Dynamic deformation measurement method of ship deck of strapdown inertial navigation system - Google Patents

Abstract

The invention provides a dynamic deformation measurement method of a ship deck of a strapdown inertial navigation system. The method comprises the following steps of: (1) using the inertial navigationsystem of a measurement center for outputting posture, position and speed information; (2) duplicating data of the posture information of the inertial navigation system of the center to inertial navigation of ship-mounted equipment of the local deck and using the posture data information for establishing a conversion matrix between a carrier coordinate system * for calculating the inertial navigation of the ship-mounted equipment and a navigation coordinate system n, namely an initial strapdown matrix C*<n>; (3) selecting the second-order Markov process as a model for carrier dynamic deformation; and (4) establishing a Kalman filter state equation which takes errors of misalignment angles of two inertial navigation systems and errors of dynamic deformation angles of the local deck as state variables and a Kalman filter measurement equation which takes the speed difference and the posture difference between the two as measurement variables, and estimating the dynamic deformation anglesof the deck by Kalman filtering. The method does not need to change mounting structure specially, has good reliability, does not need to increase the equipment with high cost and has great feasibility.

Description

The ship deck dynamic deformation measuring method of strapdown inertial navitation system (SINS)

(1) technical field

What the present invention relates to is a kind of ship deck deformation measurement method of strapdown inertial navitation system (SINS), particularly a kind of ship deck dynamic deformation measuring technique based on optical fibre gyro.

(2) background technology

Strap-down inertial navigation system has replaced the physical platform of conventional inertia navigational system with mathematical platform, and the design of system is greatly simplified, and cost reduces significantly, and the reliability height is convenient to safeguard, has obtained application more and more widely.The navigation accuracy of strapdown inertial navitation system (SINS) depends on the precision of initial alignment to a great extent, and the precision of various fast initial alignment methods all can be subjected to the influence at distortion angle, deck, so the problems of measurement at distortion angle, research deck is significant.

On the naval vessel of active service, high accuracy inertial navigation system or platform compass all are installed usually, are used to provide parameters such as course with certain precision, attitude, position as center boat appearance system.If the naval vessel is absolute rigid body, the deck is distortion not, and the inertial navigation system of center boat appearance system and each local weapon equipment just can be built the coordinate basis of a physics.The inertial navigation system of naval vessel local devices carries out fast initial alignment with regard to the information of utilizing the center boat appearance system of having aimed at, can improve rapidity and alignment precision that the local devices inertial navigation system is aimed at greatly.But in actual conditions, the influence of many factors such as the naval vessel is subjected to serviceable life, wave stroke, solar radiation, the operation of coming about, hull load, the capital causes the ship deck distortion, and the distortion meeting of ship deck produces very important influence to the fast initial alignment of each local inertial navigation equipment on the naval vessel.The deck distortion generally includes dynamic deformation and static deformation.Dynamic angle distortion causes by sea beat, ship motion etc., and the linear velocity that is caused by it and the lever arm effect of line angle speed will influence the Transfer Alignment precision, and its scope is that tens jiaos of branches are assigned at several angles.

Lot of domestic and foreign scholar furthers investigate this, U.S.'s military aircraft has adopted the strain compensation method, " great senior inertia net " project by the subsidy of Lai Te laboratory, Boeing and Draper participation, use and directly measurement mechanism is carried out in distortion, elongation or compression by the pressure drag silk directly measure flex motion, but need a quite complicated cover electrooptical device, cost is very expensive, be difficult to widespread use, for head it off, simultaneously scholar's research is also arranged in inertial navigation system Matching Alignment process, distortion angle, deck is estimated and following calculation.

The open report that has comprised one piece " research of ship deck dynamic deformation inertial measurement method " in the CNKI database, its main contents comprise: in conjunction with ship deck dynamic deformation actual conditions, on the basis of Kalman filtering algorithm, set up the model of ship deck dynamic deformation inertial measurement system, and this model has been carried out emulation.The result has shown the feasibility of this measuring method in practical engineering application.

(3) summary of the invention

The object of the present invention is to provide a kind of ship deck dynamic deformation measuring method of the strapdown inertial navitation system (SINS) of can be effectively ship deck dynamic deformation angle being measured.

The object of the present invention is achieved like this: comprise the steps:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of the carrier-borne equipment in deck and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation

And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix

, and be object with the dynamic deformation angle;

(5) select the model of second order Markov process as the carrier dynamic deformation for use, each dynamic deformation process is independently, and the dynamic deformation angle is μ _i(t) (z), it is the second order Markov process of white-noise excitation for i=x, y, and the dynamic deformation angular speed is η (t), $\mathrm{\&eta;}\left(t\right)=\stackrel{\&CenterDot;}{\mathrm{\&mu;}}\left(t\right),$ Expand into:

$\left\{\begin{array}{c}{\mathrm{\&eta;}}_x\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_x\left(t\right)\\ {\mathrm{\&eta;}}_y\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_y\left(t\right)\\ {\mathrm{\&eta;}}_z\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_z\left(t\right)\end{array}\right.---\left(1\right)$

The dynamic deformation angular speed equation of motion is:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_x\left(t\right)=-{\mathrm{\&beta;}}_x^2{\mathrm{\&mu;}}_x\left(t\right)-2{\mathrm{\&beta;}}_x{\mathrm{\&eta;}}_x\left(t\right)+w_x\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_y\left(t\right)=-{\mathrm{\&beta;}}_y^2{\mathrm{\&mu;}}_y\left(t\right)-2{\mathrm{\&beta;}}_y{\mathrm{\&eta;}}_y\left(t\right)+w_y\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_z\left(t\right)=-{\mathrm{\&beta;}}_z^2{\mathrm{\&mu;}}_z\left(t\right)-2{\mathrm{\&beta;}}_z{\mathrm{\&eta;}}_z\left(t\right)+w_z\left(t\right)\end{array}\right.---\left(2\right)$

Wherein, β _i=2.146/ τ _i(i=x, y, z), τ _iBe correlation time, β _iBe model parameter, w _i(t) be the white noise with certain variance, its variance satisfies: $Q_i=4{\mathrm{\&beta;}}_i^3{\mathrm{\&sigma;}}_i^2(i=x,y,z),$ ${\mathrm{\&sigma;}}_i^2(i=x,y,z)$

Be three dynamic deformation angle μ _x, μ _y, μ _zVariance, equation (1) and (2) have just constituted the model equation of dynamic deformation;

(6) set up to comprise that the local deck of two cover inertial navigation system misalignment sum of errors dynamic deformation angle error is the Kalman filtering state equation of state variable, with be the Kalman filtering measurement equation of measurement amount with both velocity contrasts and attitude difference, by Kalman filtering, estimate dynamic deformation angle, deck.

The present invention can also comprise:

1, described Kalman filtering state equation is

Wherein:

Be the velocity contrast of two cover inertial reference calculations, f is the specific force that the local inertial navigation in local deck records, w _IeBe the angular velocity of earth movements, w _EnNavigation be the relative earth for the kinetic angular velocity of the line of carrier on surface level, φ is And the angle between m system, ξ are the deck static deformation angle between s and m system, and η (t) is a dynamic deformation angular velocity, ω _NmThe angular velocity that the relative navigation of measuring for the center inertial navigation is; ε ^sBe the local inertial navigation gyroscopic drift in local deck measuring error.

2, described Kalman filtering measurement equation

z＝Hx+v(t)

Wherein: the measurement amount $z=\left[\begin{array}{c}\mathrm{\&delta;v}\\ \mathrm{\&phi;}\end{array}\right]={\left[\begin{array}{ccccc}\mathrm{\&delta;}{v}_x& \mathrm{\&delta;}{v}_y& {\mathrm{\&phi;}}_x& {\mathrm{\&phi;}}_y& {\mathrm{\&phi;}}_z\end{array}\right]}^T,$ H is for measuring matrix, and v is the measurement noise battle array,

Be the velocity contrast of two cover inertial reference calculations, φ is

And the angle between m system, the attitude that is considered as two cover inertial navigations here is poor.

Method of the present invention has following advantage: (1) directly utilizes the inertia assembly output information of center, naval vessel inertial navigation system and carrier-borne equipment, does not need special change mounting structure; (2) can utilize the Kalman Filter Technology of present research comparative maturity to carry out Filtering Estimation, adopt numerical approach, have good reliability; (3) do not need to increase the equipment that involves great expense, have more feasibility.

Beneficial effect of the present invention is verified by following emulation:

Matlab emulation

Under following simulated conditions, this method is carried out emulation experiment:

Strapdown inertial navitation system (SINS) is done the three-axis swinging motion of different amplitudes.Carrier waves to axle, pitch axis and axis of roll with sinusoidal rule deviation from voyage route, and its mathematical model is:

pitch＝pitchm·sin(ω _ψ+φ _ψ)

roll＝rollm·sin(ω _θ+φ _θ)

yaw＝yawm·sin(ω _γ+φ _γ)+yawk

Wherein: pitch, roll, yaw represent the angle variables of pitch angle, roll angle and course angle respectively; Pitchm, rollm, yawm represent to wave accordingly the angle amplitude respectively; ω _ψ, ω _θ, ω _γRepresent corresponding angle of oscillation frequency respectively; φ _ψ, φ _θ, φ _γRepresent corresponding initial phase respectively; And ω _i=2 π/T _i, i=ψ, θ, γ, T _iRepresent corresponding rolling period; Yawk is the angle, initial heading.

The correlation parameter of emulation:

Sampling period: 0.05s;

Under the orderly sea: pitchm=1 °, rollm=1.5 °, yawm=1 °;

Under the medium sea situation: pitchm=5 °, rollm=6 °, yawm=5 °;

Two kinds of sea situations all satisfy: T _ψ=6s, T _θ=9s, T _γ=8s, yawk=30 °;

Carrier initial position: 45.7796 ° of north latitude, 126.6705 ° of east longitudes;

Dynamic deformation angle, deck: 1 ° at angle, roll error angle, 1 ° at pitching error angle, 1.5 ° at azimuthal error angle;

Equatorial radius: R=6378393.0m;

Ellipsoid degree: e=3.367e-3;

Earth surface acceleration of gravity: g ₀=9.78049;

Rotational-angular velocity of the earth (radian per second): 7.2921158e-5;

The gyroscope constant value drift: 0.01 degree/hour;

Gyroscope white noise error: 0.005 degree/hour;

Accelerometer bias: 10 ^-4g ₀

Accelerometer white noise error: 5 * 10 ^-5g ₀:

The vertical dynamic deformation of orderly sea lower decks angle estimation curve, horizontal dynamic deformation angle, deck and dynamic deformation angle, course, deck estimation curve are respectively as Fig. 1, Fig. 2 and shown in Figure 3; The vertical dynamic deformation of medium sea situation lower decks angle estimation curve, horizontal dynamic deformation angle, deck and dynamic deformation angle, course, deck estimation curve are respectively as Fig. 4, Fig. 5 and shown in Figure 6.

Under orderly sea and the medium sea situation, dynamic deformation angle, the deck estimation effect of all directions is all relatively good after the 30s as can be seen.This method does not require that the naval vessel at the uniform velocity sails through to motion, only need waving of certain amplitude, and necessarily there is small size oscillating motion in the naval vessel under actual conditions, be easy to realize.The method at dynamic deformation angle, deck of the present invention has certain practical application.

(4) description of drawings

Fig. 1 is the vertical dynamic deformation of an orderly sea lower decks angle estimation curve;

Fig. 2 is the horizontal dynamic deformation of an orderly sea lower decks angle estimation curve;

Fig. 3 is dynamic deformation angle, an orderly sea lower decks course estimation curve;

Fig. 4 is the vertical dynamic deformation of a medium sea situation lower decks angle estimation curve;

Fig. 5 is the horizontal dynamic deformation of a medium sea situation lower decks angle estimation curve;

Fig. 6 is dynamic deformation angle, a medium sea situation lower decks course estimation curve.

(5) embodiment

For example the present invention is done in more detail below and describes:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, this moment, the attitude difference of two cover inertial navigations was very little low-angles, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of carrier-borne equipment and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation

And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix

The attitude information that is duplicated by the center inertial navigation not exclusively is the attitude of the inertial navigation of carrier-borne equipment also, both carrier coordinate system are not in full accord, consider this moment because the dynamic deformation angle that sea beat etc. cause, need to revise the misalignment between the two cover inertial navigation coordinate systems this moment, comprise dynamic deformation angle, deck and static deformation angle, we are research object with the dynamic deformation angle here.

(5) in the research on the naval vessel of reality, the dynamic deformation modeling on deck is extremely difficult work, is subjected to all multifactor influences such as type, material behavior, service condition and the magnitude of load on naval vessel and distribution situation.The dynamic deformation of ship deck is the stochastic variable that random perturbation is disturbed.The second order Markov process that white noise drives is exactly this type, therefore selects the model of second order Markov process as the carrier dynamic deformation below for use, and thinks that each dynamic deformation process is independently.Find that by emulation the second order Markov process can obtain gratifying result in application.

Suppose that the dynamic deformation angle is μ (t), it is the second order Markov process of white-noise excitation, and establishing the dynamic deformation angular speed is η (t), promptly has: $\mathrm{\&eta;}\left(t\right)=\stackrel{\&CenterDot;}{\mathrm{\&mu;}}\left(t\right),$ Expand into:

$\left\{\begin{array}{c}{\mathrm{\&eta;}}_x\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_x\left(t\right)\\ {\mathrm{\&eta;}}_y\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_y\left(t\right)\\ {\mathrm{\&eta;}}_z\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_z\left(t\right)\end{array}\right.$

The dynamic deformation angular speed equation of motion is:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_x\left(t\right)=-{\mathrm{\&beta;}}_x^2{\mathrm{\&mu;}}_x\left(t\right)-2{\mathrm{\&beta;}}_x{\mathrm{\&eta;}}_x\left(t\right)+w_x\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_y\left(t\right)=-{\mathrm{\&beta;}}_y^2{\mathrm{\&mu;}}_y\left(t\right)-2{\mathrm{\&beta;}}_y{\mathrm{\&eta;}}_y\left(t\right)+w_y\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_z\left(t\right)=-{\mathrm{\&beta;}}_z^2{\mathrm{\&mu;}}_z\left(t\right)-2{\mathrm{\&beta;}}_z{\mathrm{\&eta;}}_z\left(t\right)+w_z\left(t\right)\end{array}\right.$

Wherein, β _i=2.146/ τ _i(i=x, y, z), τ _iBe correlation time, β _iBe the parameter of dynamic model, can decide w on concrete carrier situation _i(t) be commonly considered as having the white noise of certain variance, its variance satisfies: $Q_i=4{\mathrm{\&beta;}}_i^3{\mathrm{\&sigma;}}_i^2(i=x,y,z),$ ${\mathrm{\&sigma;}}_i^2(i=x,y,z)$ Be three dynamic deformation angle μ _x, μ _y, μ _zVariance.

(6) set up to comprise that two cover inertial navigation system misalignment sum of errors deck dynamic deformation angle errors are the Kalman filtering state equation of state variable, with be the measurement equation of the Kalman filtering of measurement amount with both velocity contrasts and attitude difference, by Kalman filtering, estimate dynamic deformation angle, deck:

At first provide the coordinate system that need use: i represents inertial coordinates system, e represents terrestrial coordinate system, and n represents navigation coordinate system (local level refers to backlands reason coordinate system), and m represents center inertial navigation carrier coordinate system, s represents the inertial navigation carrier coordinate system of the carrier-borne equipment in local deck

The inertial navigation carrier coordinate system of the carrier-borne equipment in contemporary deck that expression is calculated.

1) Kalman filter equation:

After the inertial navigation attitude initialization of carrier-borne equipment,

$C_{\hat{s}}^n=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}\\ \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

Wherein: ψ, θ, γ are respectively pitch angle, roll angle and the course angle of center inertial navigation system.

Promptly satisfy:

$C_m^n\left(0\right)=C_{\hat{s}}^n\left(0\right)---\left(1\right)$

Initialization is φ (0)=0 constantly, calculates relative misalignment by following formula after the initialization:

$[\mathrm{\&phi;}\&times;]=I-C_m^{\hat{s}}=I-C_n^{\hat{s}}\left(t\right)C_m^n\left(t\right)---\left(2\right)$

After the initialization And between the m system a little deviation angle φ is arranged, this deviation angle is the relative attitude error angle of two cover inertial navigations of actual measurement, comprises actual dynamic deformation angle μ (t) and deck static deformation angle ξ.The differential arrangement can obtain comprising the differential equation of dynamic deformation angular velocity η (t):

$\stackrel{\&CenterDot;}{\mathrm{\&phi;}}=(\mathrm{\&phi;}\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s)-(\mathrm{\&xi;}\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s)+\mathrm{\&eta;}+{\mathrm{\&epsiv;}}^s=(\mathrm{\&phi;}-\mathrm{\&xi;})\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s+\mathrm{\&eta;}+{\mathrm{\&epsiv;}}^s---\left(3\right)$

Wherein: φ is

And the angle between m system, ξ are the deck static deformation angle between s and m system, and μ (t) is the dynamic deformation angle between s and m system, and η (t) is a dynamic deformation angular velocity, ω _Nm ^sThe projection of the angular velocity that the relative navigation of measuring for the center inertial navigation is in the local inertial navigation carrier coordinate system in local deck; ε ^sBe the local inertial navigation gyroscopic drift in local deck measuring error.

2) set up Kalman filtering state equation:

She Ji wave filter is not considered the relative attitude error that gyroscope causes under study for action, by increasing the process noise in the relative attitude error equation, to compensate the gyrostatic measuring error of not modeling.The state variable of getting system is:

X＝[δv _x?δv _y?φ _x?φ _y?φ _z?ξ _x?ξ _y?ξ _z?μ _x?μ _y?μ _z?η _x?η _y?η _z] ^T

(4)

μ=[μ wherein _xμ _yμ _z] ^TBe the dynamic deformation angle, deck of reality to be estimated, think that in filtering it is the second order Markov process, it is as follows directly to provide velocity error in addition:

$\mathrm{\&delta;}{\stackrel{\&CenterDot;}{\stackrel{\&OverBar;}{v}}}^n={\stackrel{\&OverBar;}{f}}^n\&times;\mathrm{\&phi;}-(2{\stackrel{\&OverBar;}{w}}_{\mathrm{ie}}^n+{\stackrel{\&OverBar;}{w}}_{\mathrm{en}}^n)\&times;\mathrm{\&delta;}{\stackrel{\&OverBar;}{v}}^n+\mathrm{\&xi;}---\left(5\right)$

Therefore the state equation that obtains Kalman filtering more than comprehensive is:

3) set up Kalman filtering measurement equation:

With two covers between the inertial navigation systems velocity contrast and the attitude difference as the measurement amount of Kalman filtering,

z＝Hx+v(t)

Wherein: the measurement amount $z=\left[\begin{array}{c}\mathrm{\&delta;v}\\ \mathrm{\&phi;}\end{array}\right]={\left[\begin{array}{ccccc}\mathrm{\&delta;}{v}_x& \mathrm{\&delta;}{v}_y& {\mathrm{\&phi;}}_x& {\mathrm{\&phi;}}_y& {\mathrm{\&phi;}}_z\end{array}\right]}^T,$ H is for measuring matrix, and v is the measurement noise battle array,

Be the velocity contrast of two cover inertial reference calculations, φ is

And the angle between m system, the attitude that is considered as two cover inertial navigations here is poor.

To sum up derive, the vector form that can obtain the system filter model is:

$\left\{\begin{array}{c}\stackrel{.}{X}=\mathrm{AX}+\mathrm{BW}\\ Z=\mathrm{HX}+V\end{array}\right.---\left(7\right)$

Wherein:

$A=\left[\begin{array}{ccccc}{A}_1& A_2& {-A}_2& 0_{2\&times;3}& 0_{2\&times;3}\\ 0_{3\&times;2}& A_3& {-A}_3& 0_{3\&times;3}& I_{3\&times;3}\\ 0_{3\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}\\ 0_{3\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& I_{3\&times;3}\\ 0_{3\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& A_4& A_5\end{array}\right]$

Wherein:

$A_2=\left[\begin{array}{ccc}{c}_{13}{f}_y-c_{12}{f}_z& -c_{13}{f}_x+c_{11}{f}_z& c_{12}{f}_x-c_{11}{f}_z\\ c_{23}{f}_y-c_{22}{f}_z& -c_{23}{f}_x+c_{21}{f}_z& c_{22}{f}_x-c_{21}{f}_z\end{array}\right]$

$A_3=\left[\begin{array}{ccc}0& {\mathrm{\&omega;}}_z& -{\mathrm{\&omega;}}_y\\ -{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="A2009100729540013H1.png,A2009100729540013H2.png"\; state="\{\{state\}\}">z</figure-callout>}}& 0& {\mathrm{\&omega;}}_x\\ {\mathrm{\&omega;}}_y& -{\mathrm{\&omega;}}_x& 0\end{array}\right],$ $A_4=\left[\begin{array}{ccc}-{\mathrm{\&beta;}}_x^2& 0& 0\\ 0& -{\mathrm{\&beta;}}_y^2& 0\\ 0& 0& -{\mathrm{\&beta;}}_z^2\end{array}\right]$

$A_5=\left[\begin{array}{ccc}-2{\mathrm{\&beta;}}_x& 0& 0\\ 0& -{2\mathrm{\&beta;}}_{\mathrm{<figure-callout\; id="0"\; label="y"\; filenames="A2009100729540013H1.png,A2009100729540013H2.png"\; state="\{\{state\}\}">y</figure-callout>}}& 0\\ 0& 0& -2{\mathrm{\&beta;}}_z\end{array}\right]$

$B=\left[\begin{array}{ccccc}{C}_{2\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}\\ 0_{2\&times;2}& I_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}\\ 0_{2\&times;2}& 0_{3\&times;3}& I_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}\\ 0_{2\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& I_{3\&times;3}& I_{3\&times;3}\\ 0_{2\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& I_{3\&times;3}\end{array}\right]C_{2\&times;2}=\left[\begin{array}{cc}{c}_{11}& c_{12}\\ c_{21}& c_{22}\end{array}\right]$

c _IjFor the direction cosine matrix of carrier coordinate system to navigation coordinate system calculated in sub-inertial navigation

Element.

W=[w _Vxw _Vyw _{φ x}w _{φ y}w _{φ x}w _{ξ x}w _{ξ y}w _{ξ z}w _{μ x}w _{μ y}w _{μ z}w _{η x}w _{η y}w _{η z}] ^TBe the system noise acoustic matrix, V=[w _Vxw _Vyw _{φ x}w _{φ y}w _{φ z}] ^TIt is the measurement noise battle array.Here directly get velocity contrast between boss's inertial navigation and attitude difference as the measurement amount, measure matrix and be:

$H=\left[\begin{array}{ccccc}{I}_{2\&times;2}& 0_{2\&times;3}& 0_{2\&times;3}& 0_{2\&times;3}& 0_{2\&times;3}\\ 0_{3\&times;2}& I_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}& 0_{3\&times;3}\end{array}\right]$

Given corresponding initial parameter condition can direct estimation go out dynamic deformation angle, deck by Kalman filtering, is used to revise the attitude matrix of the inertial navigation system of carrier-borne equipment.

Claims (3)

1, a kind of ship deck dynamic deformation measuring method of strapdown inertial navitation system (SINS) is characterized in that comprising the steps:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of carrier-borne equipment and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation

And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix

And with the dynamic deformation angle is object;

(5) select the model of second order Markov process as the carrier dynamic deformation for use, each dynamic deformation process is independently, and the dynamic deformation angle is μ _i(t) (z), it is the second order Markov process of white-noise excitation for i=x, y, and the dynamic deformation angular speed is η (t),

Expand into:

$\left\{\begin{array}{c}{\mathrm{\&eta;}}_x\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_x\left(t\right)\\ {\mathrm{\&eta;}}_y\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_y\left(t\right)\\ {\mathrm{\&eta;}}_z\left(t\right)={\stackrel{\&CenterDot;}{\mathrm{\&mu;}}}_z\left(t\right)\end{array}\right.---\left(1\right)$

The dynamic deformation angular speed equation of motion is:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_x\left(t\right)=-{\mathrm{\&beta;}}_x^2{\mathrm{\&mu;}}_x\left(t\right)-2{\mathrm{\&beta;}}_x{\mathrm{\&eta;}}_x\left(t\right)+w_x\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_y\left(t\right)=-{\mathrm{\&beta;}}_y^2{\mathrm{\&mu;}}_y\left(t\right)-2{\mathrm{\&beta;}}_y{\mathrm{\&eta;}}_y\left(t\right)+w_y\left(t\right)\\ {\stackrel{\&CenterDot;}{\mathrm{\&eta;}}}_z\left(t\right)=-{\mathrm{\&beta;}}_z^2{\mathrm{\&mu;}}_z\left(t\right)-2{\mathrm{\&beta;}}_z{\mathrm{\&eta;}}_z\left(t\right)+w_z\left(t\right)\end{array}\right.---\left(2\right)$

Wherein, β _i=2.146/ τ _i(i=x, y, z), τ _iBe correlation time, β _iBe model parameter, w _i(t) be the white noise with certain variance, its variance satisfies:

(i=x, y z) are three dynamic deformation angle μ _x, μ _y, μ _zVariance, equation (1) and (2) have just constituted the model equation of dynamic deformation;

(6) set up to comprise that the local deck of two cover inertial navigation system misalignment sum of errors dynamic deformation angle error is the Kalman filtering state equation of state variable, with be the Kalman filtering measurement equation of measurement amount with both velocity contrasts and attitude difference, by Kalman filtering, estimate dynamic deformation angle, deck.

2, the ship deck dynamic deformation measuring method of strapdown inertial navitation system (SINS) according to claim 1 is characterized in that described Kalman filtering state equation is:

Wherein:

Be the velocity contrast of two cover inertial reference calculations, f is the specific force that the local inertial navigation in local deck records, w _IeBe the angular velocity of earth movements, w _EnBe the angular velocity that carrier movement causes, φ is And the angle between m system, ξ are the deck static deformation angle between s and m system, and η (t) is a dynamic deformation angular velocity, ω _NmThe angular velocity that the relative navigation of measuring for the center inertial navigation is; ε ^sBe the local inertial navigation gyroscopic drift in local deck measuring error.

3, the ship deck dynamic deformation measuring method of strapdown inertial navitation system (SINS) according to claim 1 and 2 is characterized in that described Kalman filtering measurement equation:

z＝Hx+v(t)

Wherein: the measurement amount H is for measuring matrix, and v is the measurement noise battle array,

Be the velocity contrast of two cover inertial reference calculations, φ is

And the angle between m system, the attitude that is considered as two cover inertial navigations here is poor.

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