CN101769742A - Marine inertia-gravity integrated navigation device - Google Patents
Marine inertia-gravity integrated navigation device Download PDFInfo
- Publication number
- CN101769742A CN101769742A CN201010018217A CN201010018217A CN101769742A CN 101769742 A CN101769742 A CN 101769742A CN 201010018217 A CN201010018217 A CN 201010018217A CN 201010018217 A CN201010018217 A CN 201010018217A CN 101769742 A CN101769742 A CN 101769742A
- Authority
- CN
- China
- Prior art keywords
- gravity
- integrated navigation
- marine
- inertia
- platform system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a marine inertia-gravity integrated navigation device, which consists of a dual-ring inertial platform system, a gravity sensor, a Doppler log, a deep sounding apparatus, a digital gravity anomaly chart, an integrated navigation computer and a display terminal. The inertial measurement sensor of the dual-ring inertial platform system is a liquid floated gyroscope, a rate fiber optic gyroscope and a quartz flexible pendulous accelerometer. The device not only can be used to position and orient ocean motion carriers, but also can be used to measure marine gravity. Moreover, the device has the advantages of small size, high precision, good reliability, simple structure and easy maintenance, and has a wide scope of application in the technical field of navigation and control.
Description
Technical field
The present invention is a kind of marine inertia-gravity integrated navigation device, has passive navigator fix orientating function, is applicable to navigation and control and marine gravimetric survey technical field.
Background technology
The demand for development water surface of current society and sub aqua sport carrier can be realized high precision, autonomous, round-the-clock, quiet navigation.In order to realize independent navigation, generally adopt inertial navigation system, it can provide multiple navigation information such as course, speed, position and attitude etc. in real time.But the positioning error of inertial navigation system can accumulate in time, need regularly utilize external signal to proofread and correct, otherwise can cause bearing accuracy to descend.Gravity field information is compared with geomagnetic field information with starlight, landform field, and antijamming capability is strong, has advantage round-the-clock, passivity, so the gravity aided inertial navigation is significant to high precision, raising autonomous, all weather navigation technology.
The nineties in last century, american lockheed LMT delivered the patent (A.Jircitano of gravity aided inertial navigation system, D.E.Dosch, Gravity aided inertial navigation system, US5339684,1994), develop the gravity secondary navigation system afterwards again, this system is made up of inertial platform navigational system, gravity gradiometer, gravity meter, gravity gradient figure, gravimetric map and accurate sonar navigation module etc.Not only volume is big for the gravity secondary navigation system of U.S.'s development, complex structure, and also cost is very high.In order to satisfy the basic demand of passive navigation performance, the invention provides that a kind of volume is little, precision is high and the marine inertia-gravity integrated navigation device of good reliability.Apparatus of the present invention not only can be used for the positioning and directing of marine motor carrier, but also can carry out marine gravimetric survey, are with a wide range of applications in navigation and control technology field.
Summary of the invention
Technical matters: the purpose of this invention is to provide that a kind of volume is little, precision is high and the marine inertia-gravity integrated navigation device of good reliability.
Technical scheme: marine inertia-gravity integrated navigation device of the present invention comprises two ring type Inertial Platform System, gravity sensor, Doppler log, sounder, digital gravity anomaly chart, integrated navigation computer and display terminal, wherein two ring type Inertial Platform System, gravity sensor, Doppler log and sounder link to each other with integrated navigation computer, and digital gravity anomaly chart is stored in the integrated navigation computer.
The inertia measurement sensor of two ring type Inertial Platform System is two single-degree-of-freedom liquid floated gyroscopes, a single shaft speed fibre optic gyroscope and three single shaft quartz flexible pendulous accelerometers.Gravity sensor is placed on the stage body of two ring type Inertial Platform System, and the gravity sensor sensitive axes is vertical with the stage body surface level.Doppler log links to each other with integrated navigation computer by serial line interface with sounder.Integrated navigation computer comprises modules such as floating-point signal processor (DSP), programmable gate array (FPGA), microcontroller (MCU) and digital gravity anomaly chart.
Integrated navigation computer receives two ring type Inertial Platform System, gravity sensor, Doppler log and sounder information, error to accelerometer, gyroscope, Doppler log and sounder compensates, carrying out the integrated navigation of gravity coupling with the gravity coupling expanded Kalman filtration algorithm that reduces eotvos effect calculates, through the feedback modifiers module navigational parameter of two ring type Inertial Platform System is revised, at last revised navigational parameter is presented on the terminal.
Beneficial effect: characteristics of the present invention are: (1) marine inertia-gravity integrated navigation device can be realized the hi-Fix orientation of marine motor carrier; (2) marine inertia-gravity integrated navigation device can be realized marine gravimetric survey; (3) little, the good reliability of marine inertia-gravity integrated navigation device volume; (4) marine inertia-gravity integrated navigation device is simple in structure, easy to maintenance.
Description of drawings
Fig. 1 is that structure of the present invention is formed synoptic diagram;
Fig. 2 is a signal data treatment scheme synoptic diagram of the present invention;
Fig. 3 is a gravity coupling integrated navigation algorithm flow synoptic diagram of the present invention.
Embodiment
Two ring type Inertial Platform System 1 adopt the sensor of the quartz flexible pendulous accelerometer 10 of two single-degree-of-freedom liquid floated gyroscopes 8, a single shaft speed fibre optic gyroscope 9 and three single shafts as sensitive carrier angular motion and line motion, they are placed on the stage body, the sensitive axes of two single-degree-of-freedom liquid floated gyroscopes is parallel with the roll axle respectively at pitch axis, and the sensitive axes of single shaft speed fibre optic gyroscope is perpendicular to the stage body surface level.Three single shaft quartz flexible pendulous accelerometer sensitive axes parallel with the Z-axis of pitch axis, roll axle and the stage body surface level of stage body respectively.Stage body is supported by horizontal ring stand, and horizontal ring stand is supported by the ring stand that connects firmly with carrier.When stage body tilts, two single-degree-of-freedom liquid floated gyroscopes stablize the motor feed for respectively the angle of pitch and roll angle by corrective network, modulation amplifying circuit, constitute stable loop, make stage body return to surface level, this moment, the signal of attitude angle transducer output was the attitude signal of carrier.When the stage body surface level rotated, single shaft speed fibre optic gyroscope was with the azimuthal variation of sensitivity, and it just can obtain the azimuthal size of stage body by resolving integral and calculating.
Gravity sensor 2 adopts quartzy zero-initial-length spring rotational symmetry gravity sensor; Doppler log 3 adopts the phased acoustic array Doppler log; Sounder 4 adopts sounder peculiar to vessel; Numeral gravity anomaly Fig. 5 adopts digital gravity anomaly chart to comprise EGM96 gravity anomaly data and local actual measurement gravity anomaly data; Integrated navigation computer 6 mainly is made of extensive programmable gate array (FPGA) and digital signal processor (DSP).
FPGA gathers navigational parameter, gyroscope, accelerometer and the angular transducer of two ring type Inertial Platform System and the signal of gravity sensor, Doppler log and sounder; DSP reads navigational parameter and sensing data from FPGA, carry out digital signal processing, error compensation, and gravity coupling EKF is resolved, and the navigational parameter after will resolving writes FPGA, through the feedback modifiers module navigational parameter of two ring type Inertial Platform System is revised, at last revised navigational parameter is presented on the terminal.
Hardware configuration of the present invention is formed synoptic diagram as shown in Figure 1.Two ring type Inertial Platform System 1 are to navigation informations such as integrated navigation computer transmission speed, position, the angle of pitch, roll angle, course angles, and the digital signal information of gyroscope and accelerometer.Gravity sensor 2 sends the local gravity metrical information to integrated navigation computer.Doppler log 3 and sounder 4 send external speed and depth information to integrated navigation computer.Integrated navigation computer 6 carries out signal condition and error compensation by floating-point signal processor (DSP) and programmable gate array (FPGA) to the information of the transmission of two ring type Inertial Platform System 1, gravity sensor 2, Doppler log 3 and sounder 4, and digital gravity anomaly Fig. 5 that relies on inside to store, carry out gravity coupling integrated navigation calculating or marine gravimetric survey data processing, the result after will handling at last shows on terminal 7.
Signal data treatment scheme synoptic diagram of the present invention as shown in Figure 2.Two ring type Inertial Platform System are to integrated navigation computer transmission speed, position, the angle of pitch, roll angle, course angle, platform attitude error angle, gyroscope and accelerometer information; Gravity sensor sends the local gravity metrical information to integrated navigation computer; Doppler log and sounder send externally measured speed and depth information to integrated navigation computer.Integrated navigation computer is done following 3 work according to the information that two ring type Inertial Platform System send: (1) carries out gravity error compensation to the ground gravimetry information that gravity sensor sends, and promptly carrying out influence of platform error angle and eotvos effect influences the gravity correction; (2) determine near the carrier GRAVITY ANOMALIES by digital gravity anomaly chart; (3) carrying out the integrated navigation of gravity coupling with gravimetry value, externally measured velocity amplitude and depth value resolves.Integrated navigation computer at first carries out error compensation according to the information of Doppler log and sounder transmission, and the depth value after will compensating then carries out gravity reduction to the gravity measured value; Velocity amplitude after gravimetric data after the gravity reduction and compensation and depth value are done the integrated navigation of gravity coupling with the navigation information of two ring type Inertial Platform System and are resolved as the observed quantity of integrated navigation system, obtain estimation of error; At last the navigational parameter of two ring type Inertial Platform System is revised, and revised navigational parameter is presented on the terminal.
Fig. 3 is a gravity coupling integrated navigation algorithm flow synoptic diagram of the present invention.Inertia-gravity integrated navigation device at first needs initialization and initial alignment, determines initial position, speed and the initial angle of pitch, roll angle and the course angle of inertia-gravity integrated navigation, and the local gravity value.In the carrier navigation, two ring type Inertial Platform System are by the angular motion and the line motion of gyroscope and accelerometer sensitive carrier, utilize the attitude angular transducer and, obtain position, speed, attitude angle and the course angle of carrier the parsing integral operation of fibre optic gyroscope and accelerometer.When carrier is positioned at the adaptive district of gravity, the navigational parameter that then utilizes gravity sensor gravimetry value, Doppler log external speed measured value, sounder depth measurement and two ring type Inertial Platform System to provide, carrying out gravity relevant matches and EKF calculates, obtain estimation of error, the error model of two ring type Inertial Platform System navigational parameters and Doppler log and sounder is revised by error correction and feedback module.At last revised navigational parameter is presented on the terminal.Integrated navigation is not calculated if carrier not in the adaptive district of gravity, does not carry out the gravity coupling so, directly two ring type Inertial Platform System navigational parameters is sent to be presented on the terminal.
Claims (2)
1. marine inertia-gravity integrated navigation device, it is characterized in that this device comprises two ring type Inertial Platform System (1), gravity sensor (2), Doppler log (3), sounder (4), digital gravity anomaly chart (5), integrated navigation computer (6) and display terminal (7), wherein two ring type Inertial Platform System (1), gravity sensor (2), Doppler log (3) and sounder (4) link to each other with integrated navigation computer (6), and digital gravity anomaly chart (5) is stored in the integrated navigation computer (6).
2. marine inertia-gravity integrated navigation device according to claim 1 is characterized in that: the inertia measurement sensor of two ring type Inertial Platform System (1) is two single-degree-of-freedom liquid floated gyroscopes (8), a single shaft speed fibre optic gyroscope (9) and three single shaft quartz flexible pendulous accelerometers (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010018217A CN101769742A (en) | 2010-01-19 | 2010-01-19 | Marine inertia-gravity integrated navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010018217A CN101769742A (en) | 2010-01-19 | 2010-01-19 | Marine inertia-gravity integrated navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101769742A true CN101769742A (en) | 2010-07-07 |
Family
ID=42502743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010018217A Pending CN101769742A (en) | 2010-01-19 | 2010-01-19 | Marine inertia-gravity integrated navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101769742A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102571273A (en) * | 2011-12-16 | 2012-07-11 | 浙江大学 | Communication method of inertial navigation system |
| CN103245346A (en) * | 2013-05-15 | 2013-08-14 | 重庆华渝电气仪表总厂 | High-reliability inertia azimuth keeping method |
| CN103256930A (en) * | 2013-05-15 | 2013-08-21 | 重庆华渝电气仪表总厂 | High-reliability inertia bearing keeping system |
| CN103775077A (en) * | 2014-02-07 | 2014-05-07 | 河南理工大学 | Multifunctional detection device while drilling and prediction method |
| CN103808319A (en) * | 2014-02-26 | 2014-05-21 | 上海交通大学 | Indoor hybrid positioning system and method based on inertial positioning and VLC (Visible Light Communication) technique |
| CN104567876A (en) * | 2015-01-09 | 2015-04-29 | 哈尔滨工程大学 | Semispherical heavy-type ship-borne medical stable platform based on fiber-optic gyroscope |
| CN107478219A (en) * | 2017-06-27 | 2017-12-15 | 河北汉光重工有限责任公司 | A kind of deep-sea compass system and its air navigation aid |
| CN111722295A (en) * | 2020-07-04 | 2020-09-29 | 东南大学 | Underwater strapdown gravity measurement data processing method |
| CN111735442A (en) * | 2020-06-17 | 2020-10-02 | 东南大学 | Underwater gravity passive navigation system |
| CN111812737A (en) * | 2020-06-17 | 2020-10-23 | 东南大学 | Integrated system for underwater navigation and gravity measurement |
| CN112304310A (en) * | 2019-07-23 | 2021-02-02 | 南京航空航天大学 | Inertial navigation method based on gyroscope information |
| CN113252041A (en) * | 2021-05-11 | 2021-08-13 | 大连理工大学 | Combined navigation method suitable for small underwater robot |
| US11268813B2 (en) | 2020-01-13 | 2022-03-08 | Honeywell International Inc. | Integrated inertial gravitational anomaly navigation system |
-
2010
- 2010-01-19 CN CN201010018217A patent/CN101769742A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102571273A (en) * | 2011-12-16 | 2012-07-11 | 浙江大学 | Communication method of inertial navigation system |
| CN103245346A (en) * | 2013-05-15 | 2013-08-14 | 重庆华渝电气仪表总厂 | High-reliability inertia azimuth keeping method |
| CN103256930A (en) * | 2013-05-15 | 2013-08-21 | 重庆华渝电气仪表总厂 | High-reliability inertia bearing keeping system |
| CN103256930B (en) * | 2013-05-15 | 2015-06-17 | 重庆华渝电气仪表总厂 | High-reliability inertia bearing keeping system |
| CN103245346B (en) * | 2013-05-15 | 2015-07-01 | 重庆华渝电气仪表总厂 | High-reliability inertia azimuth keeping method |
| CN103775077A (en) * | 2014-02-07 | 2014-05-07 | 河南理工大学 | Multifunctional detection device while drilling and prediction method |
| CN103775077B (en) * | 2014-02-07 | 2016-03-30 | 河南理工大学 | A kind of multi-functional with brill sniffer and Forecasting Methodology |
| CN103808319A (en) * | 2014-02-26 | 2014-05-21 | 上海交通大学 | Indoor hybrid positioning system and method based on inertial positioning and VLC (Visible Light Communication) technique |
| CN104567876A (en) * | 2015-01-09 | 2015-04-29 | 哈尔滨工程大学 | Semispherical heavy-type ship-borne medical stable platform based on fiber-optic gyroscope |
| CN104567876B (en) * | 2015-01-09 | 2017-10-03 | 哈尔滨工程大学 | A kind of medical stabilized platform of heavy boat-carrying of the hemispherical based on optical fibre gyro |
| CN107478219A (en) * | 2017-06-27 | 2017-12-15 | 河北汉光重工有限责任公司 | A kind of deep-sea compass system and its air navigation aid |
| CN107478219B (en) * | 2017-06-27 | 2020-08-18 | 河北汉光重工有限责任公司 | Navigation method using deep sea compass system |
| CN112304310A (en) * | 2019-07-23 | 2021-02-02 | 南京航空航天大学 | Inertial navigation method based on gyroscope information |
| US11268813B2 (en) | 2020-01-13 | 2022-03-08 | Honeywell International Inc. | Integrated inertial gravitational anomaly navigation system |
| CN111735442A (en) * | 2020-06-17 | 2020-10-02 | 东南大学 | Underwater gravity passive navigation system |
| CN111812737A (en) * | 2020-06-17 | 2020-10-23 | 东南大学 | Integrated system for underwater navigation and gravity measurement |
| WO2021253488A1 (en) * | 2020-06-17 | 2021-12-23 | 东南大学 | Underwater gravity passive navigation system |
| WO2021253487A1 (en) * | 2020-06-17 | 2021-12-23 | 东南大学 | Underwater navigation and gravity measurement integrated system |
| CN111722295A (en) * | 2020-07-04 | 2020-09-29 | 东南大学 | Underwater strapdown gravity measurement data processing method |
| CN111722295B (en) * | 2020-07-04 | 2021-04-23 | 东南大学 | Underwater strapdown gravity measurement data processing method |
| WO2022006921A1 (en) * | 2020-07-04 | 2022-01-13 | 东南大学 | Data processing method for underwater strapdown gravity measurement |
| CN113252041A (en) * | 2021-05-11 | 2021-08-13 | 大连理工大学 | Combined navigation method suitable for small underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101769742A (en) | Marine inertia-gravity integrated navigation device | |
| CN111678538B (en) | Dynamic level error compensation method based on speed matching | |
| CN110031882A (en) | A kind of outer measurement information compensation method based on SINS/DVL integrated navigation system | |
| CN101424534B (en) | Inertia/gravity combined navigation semi-physical object simulating device | |
| CN105043415B (en) | Inertial system Alignment Method based on quaternion model | |
| CN101776445B (en) | Magnetically suspended gyroscope total station | |
| CN103162677B (en) | Digital geological compass and method for measuring geological occurrence | |
| CN106767787A (en) | A kind of close coupling GNSS/INS combined navigation devices | |
| CN201955092U (en) | Platform type inertial navigation device based on geomagnetic assistance | |
| CN110044378A (en) | A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph | |
| CN107037469A (en) | Based on the self-alignment double antenna combined inertial nevigation apparatus of installation parameter | |
| CN108344415A (en) | A kind of integrated navigation information fusion method | |
| CN110221332A (en) | A kind of the dynamic lever arm estimation error and compensation method of vehicle-mounted GNSS/INS integrated navigation | |
| CN101493008A (en) | Strapping inertial navigation gyroscope clinometer based on MEMS device | |
| CN101162147A (en) | Marine fiber optic gyroscope attitude heading reference system mooring extractive alignment method under the large heading errors | |
| CN109916395A (en) | A kind of autonomous Fault-tolerant Integrated navigation algorithm of posture | |
| CN101718560A (en) | Strapdown system error inhibition method based on uniaxial four-position rotation and stop scheme | |
| CN101696883A (en) | Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system | |
| CN105527642B (en) | A kind of single star positioner and method | |
| CN109916394A (en) | A kind of Integrated Navigation Algorithm merging optical flow position and velocity information | |
| CN101183004A (en) | Method for online real-time removing oscillation error of optical fibre gyroscope SINS system | |
| CN110133692A (en) | The high-precision GNSS dynamic tilt measuring system and method for inertial navigation technique auxiliary | |
| CN103900609A (en) | Real-time course precision detection system and method for inertial navigation system for ships | |
| CN103017764A (en) | Autonomous navigation and attitude measurement device for high speed train | |
| CN102706349A (en) | Carrier gesture determining method based on optical fiber strap-down compass technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100707 |