CN102435206A - Automatic calibrating and compensating method of onboard mounting deflection angle of strapdown inertial navigation system - Google Patents

Abstract

The invention belongs to an inertial navigation technology, particularly relates to an automatic calibrating and compensating method of an onboard mounting deflection angle of a strapdown inertial navigation system. By using the automatic calibrating and compensating method of the onboard mounting deflection angle of the strapdown inertial navigation system, designed by the invention, only one normal compass alignment and navigation is needed after a bracket of the strapdown inertial navigation system is firstly installed on an aircraft, the posture and the heading output by the strapdown inertial navigation system are compared with the reference posture and heading, and the coordinate system of the bracket of the strapdown inertial navigation system and the mounting deflection angle of an aircraft system are automatically calibrated and are stored in a storage unit of the strapdown inertial navigation system. The mounting deflection angle is precisely compensated in the normal working process of the strapdown system through designing a mounting deflection angle compensating algorithm in strapdown inertial navigation system software, and the requirement of the aircraft for the output display and control of the posture, the heading and other navigation parameters of the strapdown inertial navigation system is met.

Description

The automatic demarcation and the compensation method of mounting shift angle on the SINS machine

Technical field

The invention belongs to inertial navigation technology, relate to the automatic demarcation and the Compensation Design method of SINS mounting shift angle on machine.

Background technology

When SINS is installed aboard; Three axles of its installation bracket coordinate system do not overlap with three axles of airframe coordinate system; There is mounting shift angle; Therefore attitude, the course of the attitude of SINS output, course and aircraft reality are inconsistent, influence the demonstration and the control accuracy of aircraft.In order to satisfy request for utilization, need carry out the inertial navigation system carriage mechanically calibrated, and require calibration accuracy ± 3 ' in, so inertial navigation system carriage coordinate system not exclusively overlaps with the airframe coordinate system, has the alignment error angle.Inertial navigation system replaces the transition matrix of body axis system to navigation coordinate system with the transition matrix C that the carriage coordinate is tied to navigation coordinate system; And use the attitude from the carriage of C matrix extraction, the attitude course that the course replaces body, therefore causing body is attitude, course output error.

Summary of the invention

The objective of the invention is to propose a kind of automatic demarcation and compensation method of SINS mounting shift angle on machine of can be automatically mounting shift angle being demarcated automatically, compensated.Technical solution of the present invention is, when reinstalling the SINS carriage aboard, the SINS mounting shift angle demarcated automatically, the steps include:

(a) the SINS carriage is installed aboard;

(b) SINS is installed on the carriage;

(c) with the aircraft leveling;

(d) SINS energising is accomplished normal compass and is aimed at back transduction boat, and attitude, the course angle of the inertial navigation system output of record transduction boat just back;

(e) the alignment error angle, course of the survey aircraft longitudinal axis and the inertial navigation carriage longitudinal axis, and write down this alignment error angle, course.

When SINS in energising during work; At first transfer the attitude, the alignment error angle, course that obtain in the demarcating steps, after the SINS completion is aimed at and changed navigational state over to, through the compensation formula of internal system; Attitude, alignment error angle, course are compensated, and its compensation calculation procedure is:

● computer body is tied to the transition matrix C ' of navigation coordinate system:

$C^{\′}=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]\×\left[\begin{array}{ccc}{D}_{11}& D_{12}& D_{13}\\ D_{21}& D_{22}& D_{23}\\ D_{31}& D_{32}& D_{33}\end{array}\right]$

Wherein:

$C=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]$ Be tied to the transition matrix of navigation coordinate system for the carriage coordinate;

C ₁₁＝cos(γ)·cos(ψ)+sin(γ)·sin(θ)·sin(ψ)；

C ₁₂＝cos(θ)·sin(ψ)；

C ₁₃＝sin(γ)·cos(ψ)-cos(γ)·sin(θ)·sin(ψ)；

C ₂₁＝-cos(γ)·sin(ψ)+sin(γ)·sin(θ)·cos(ψ)；

C ₂₂＝cos(θ)·cos(ψ)；

C ₂₃＝-sin(γ)·sin(ψ)-cos(γ)·sin(θ)·cos(ψ)；

C ₃₁＝-cosθ·sinγ；

C ₃₂＝sinθ；

C ₃₃＝cosθ·cosγ；

D ₁₁＝cos(δψ)·cos(δγ)+sin(δψ)·sin(δθ)·sin(δγ)；

D ₁₂＝-sin(δψ)·cos(δγ)+cos(δψ)·sin(δθ)·sin(δγ)；

D ₁₃＝-cos(δθ)·sin(δγ)；

D ₂₁＝sin(δψ)·cos(δθ)；

D ₂₂＝cos(δψ)·cos(δθ)；

D ₂₃＝sin(δθ)；

D ₃₁＝cos(δψ)·sin(δγ)-sin(δψ)·sin(δθ)·cos(δγ)；

D ₃₂＝-sin(δψ)·sin(δγ)-cos(δψ)·sin(δθ)·cos(δγ)；

D ₃₃＝cos(δθ)·cos(δγ)；

θ, γ, ψ are respectively pitching, roll, the course angle of compensation mounting shift angle inertial navigation system calculating before;

δ θ, δ γ, δ ψ are respectively pitching, roll, the course mounting shift angle of the relative body axis system of inertial navigation system carriage coordinate system;

● utilize C ' calculating compensation mounting shift angle pitching θ ', roll γ ', course angle ψ ' afterwards

θ′＝sin ^-1(C′ ₃₂)

γ ' _{Main value}=tg ^-1(C ' ₃₁/ C ' ₃₃)

The value of γ ' is confirmed by table 1.

Table 1 γ ' confirms method

Wherein: E ₁=1.7 * 10 ^-6For judge roll angle whether be 0.5 π or-0.5 π door limit value,

ψ ' computing formula is following:

ψ ' _{Main value}=tg ^-1(C ' ₁₂/ C ' ₂₂), the ψ value is confirmed by table 2

Table 2 ψ confirms method

Wherein: E ₂=5 * 10 ^-6For judging whether course angle is the threshold value of 0.5 π or 1.5 π

Advantage and beneficial effect that the present invention has are that the present invention only need do a subnormal compass aligning and a transduction boat after the SINS carriage is installed aboard first.Attitude, course and reference attitude, the course of strapdown system output are compared, calculate the mounting shift angle of SINS carriage coordinate system and airframe system automatically, and it is kept in the SINS storage unit.Through design and installation deflection angle compensate algorithm in system software, in the SINS course of normal operation, the above-mentioned mounting shift angle of fine compensation.

Mounting shift angle of the present invention is demarcated automatically, the compensation method precision high; And saved the SINS installation bracket has been carried out accurately mechanically calibrated requirement; It is simple, convenient that engineering is used; Shortened the debugging that inertial navigation system uses, calibration cycle on machine, improved SINS attitude, course, and body be the externally precision of output information such as speed, angular velocity.

Description of drawings

Mounting shift angle is demarcated process flow diagram automatically on Fig. 1 SINS machine;

Mounting shift angle compensation process flow diagram on Fig. 2 SINS machine.

The practical implementation method

Mounting shift angle is demarcated, is compensated in two steps and accomplish on the SINS machine.Respectively the practical implementation method that mounting shift angle on the SINS machine is demarcated, the SINS mounting shift angle compensates is described respectively below.

1. mounting shift angle is demarcated implementation method automatically on the SINS machine

Mounting shift angle is demarcated process flow diagram automatically and is seen Fig. 1 on the SINS machine.The staking-out work of mounting shift angle is carried out on machine on the SINS machine.After demarcating end the mounting shift angle that calibrates is stored.As long as the inertial navigation system installation bracket is dismounting again not, then need not to demarcate again this mounting shift angle.

2. mounting shift angle compensates implementation method on the SINS machine

Mounting shift angle compensation process flow diagram is seen Fig. 2 on the SINS machine.The inertial navigation system work of at every turn switching on, accomplish aim at change navigational state over to after, the compensation software through internal system calculates attitude, course angle and the externally output after the compensation mounting shift angle, realizes the automatic compensation of inertial navigation system mounting shift angle.

Mounting shift angle compensation calculation procedure is on the SINS machine:

● computer body is tied to the transition matrix C ' of navigation coordinate system:

$C^{\′}=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]\×\left[\begin{array}{ccc}{D}_{11}& D_{12}& D_{13}\\ D_{21}& D_{22}& D_{23}\\ D_{31}& D_{32}& D_{33}\end{array}\right]$

Wherein:

$C=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]$ Be tied to the transition matrix of navigation coordinate system for the carriage coordinate;

C ₁₁＝cos(γ)·cos(ψ)+sin(γ)·sin(θ)·sin(ψ)；

C ₁₂＝cos(θ)·sin(ψ)；

C ₁₃＝sin(γ)·cos(ψ)-cos(γ)·sin(θ)·sin(ψ)；

C ₂₁＝-cos(γ)·sin(ψ)+sin(γ)·sin(θ)·cos(ψ)；

C ₂₂＝cos(θ)·cos(ψ)；

C ₂₃＝-sin(γ)·sin(ψ)-cos(γ)·sin(θ)·cos(ψ)；

C ₃₁＝-cosθ·sinγ；

C ₃₂＝sinθ；

C ₃₃＝cosθ·cosγ；

D ₁₁＝cos(δψ)·cos(δγ)+sin(δψ)·sin(δθ)·sin(δγ)；

D ₁₂＝-sin(δψ)·cos(δγ)+cos(δψ)·sin(δθ)·sin(δγ)；

D ₁₃＝-cos(δθ)·sin(δγ)；

D ₂₁＝sin(δψ)·cos(δθ)；

D ₂₂＝cos(δψ)·cos(δθ)；

D ₂₃＝sin(δθ)；

D ₃₁＝cos(δψ)·sin(δγ)-sin(δψ)·sin(δθ)·cos(δγ)；

D ₃₂＝-sin(δψ)·sin(δγ)-cos(δψ)·sin(δθ)·cos(δγ)；

D ₃₃＝cos(δθ)·cos(δγ)；

θ, γ, ψ are respectively pitching, roll, the course angle of compensation mounting shift angle inertial navigation system calculating before;

δ θ, δ γ, δ ψ are respectively pitching, roll, the course mounting shift angle of the relative body axis system of inertial navigation system carriage coordinate system.

● utilize C ' calculating compensation mounting shift angle pitching θ ', roll γ ', course angle ψ ' afterwards

θ′＝sin ^-1(C′ ₃₂)

γ ' _{Main value}=tg ^-1(C ' ₃₁/ C ' ₃₃)

The value of γ ' is confirmed by table 1.

Table 1 γ ' confirms method

Wherein: E ₁=1.7 * 10 ^-6For whether the judgement roll angle is the threshold value of 0.5 π or-0.5 π,

ψ ' computing formula is following:

ψ ' _{Main value}=tg ^-1(C ' ₁₂/ C ' ₂₂), the ψ value is confirmed by table 2

Table 2 ψ confirms method

Wherein: E ₂=5 * 10 ^-6For judging whether course angle is the threshold value of 0.5 π or 1.5 π.

Claims (1)

1. the automatic demarcation and the compensation method of SINS mounting shift angle on machine is characterized in that:

1) when reinstalling the SINS carriage aboard, the mounting shift angle of SINS is demarcated automatically;

2) in the strapdown system course of normal operation, utilize the above-mentioned mounting shift angle of system software fine compensation;

The step that mounting shift angle is demarcated automatically is:

(a) the SINS carriage is installed aboard;

(b) SINS is installed on the carriage;

(c) with the aircraft leveling;

(d) SINS energising is accomplished normal compass and is aimed at back transduction boat, and attitude, the course angle of the inertial navigation system output of record transduction boat just back;

(e) the alignment error angle, course of the survey aircraft longitudinal axis and the inertial navigation carriage longitudinal axis, and write down this alignment error angle, course;

The mounting shift angle step of compensation automatically is:

(a) SINS is at first transferred the attitude, the alignment error angle, course that obtain in the demarcating steps when energising work;

(b) after the SINS completion is aimed at and changed navigational state over to,, attitude, alignment error angle, course are compensated through the compensation formula of internal system.Its compensation calculation procedure is:

● the computer body coordinate is tied to the transition matrix C ' of navigation coordinate system

$C^{\′}=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]\×\left[\begin{array}{ccc}{D}_{11}& D_{12}& D_{13}\\ D_{21}& D_{22}& D_{23}\\ D_{31}& D_{32}& D_{33}\end{array}\right]$

Wherein:

$C=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]$ Be tied to the transition matrix of navigation coordinate system for the carriage coordinate;

C ₁₁＝cos(γ)·cos(ψ)+sin(γ)·sin(θ)·sin(ψ)；

C ₁₂＝cos(θ)·sin(ψ)；

C ₁₃＝sin(γ)·cos(ψ)-cos(γ)·sin(θ)·sin(ψ)；

C ₂₁＝-cos(γ)·sin(ψ)+sin(γ)·sin(θ)·cos(ψ)；

C ₂₂＝cos(θ)·cos(ψ)；

C ₂₃＝-sin(γ)·sin(ψ)-cos(γ)·sin(θ)·cos(ψ)；

C ₃₁＝-cosθ·sinγ；

C ₃₂＝sinθ；

C ₃₃＝cosθ·cosγ；

D ₁₁＝cos(δψ)·cos(δγ)+sin(δψ)·sin(δθ)·sin(δγ)；

D ₁₂＝-sin(δψ)·cos(δγ)+cos(δψ)·sin(δθ)·sin(δγ)；

D ₁₃＝-cos(δθ)·sin(δγ)；

D ₂₁＝sin(δψ)·cos(δθ)；

D ₂₂＝cos(δψ)·cos(δθ)；

D ₂₃＝sin(δθ)；

D ₃₁＝cos(δψ)·sin(δγ)-sin(δψ)·sin(δθ)·cos(δγ)；

D ₃₂＝-sin(δψ)·sin(δγ)-cos(δψ)·sin(δθ)·cos(δγ)；

D ₃₃＝cos(δθ)·cos(δγ)；

θ, γ, ψ are respectively pitching, roll, the course angle of compensation mounting shift angle inertial navigation system calculating before;

δ θ, δ γ, δ ψ are respectively pitching, roll, the course mounting shift angle of the relative body axis system of inertial navigation system carriage coordinate system;

● utilize C ' calculating compensation mounting shift angle pitching θ ', roll γ ', course angle ψ ' afterwards

θ′＝sin ^-1(C′ ₃₂)

γ ' _{Main value}=tg ^-1(C ' ₃₁/ C ' ₃₃)

The value of γ ' is confirmed by table 1.

Table 1 γ ' confirms method

Wherein: E ₁=1.7 * 10 ^-6For whether the judgement roll angle is the threshold value of 0.5 π or-0.5 π,

ψ ' computing formula is following:

ψ ' _{Main value}=tg ^-1(C ' ₁₂/ C ' ₂₂), the ψ value is confirmed by table 2

Table 2 ψ confirms method

Wherein: E ₂=5 * 10 ^-6For judging whether course angle is the threshold value of 0.5 π or 1.5 π.

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