CN102435206B - 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 Calibration of onboard mounting deflection angle of strapdown inertial navigation system and compensation method

Technical field

The invention belongs to inertial navigation technology, relate to automatic Calibration and the Compensation Design method of strapdown inertial navitation system (SINS) mounting shift angle on machine.

Background technology

When strapdown inertial navitation system (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 attitude, course and the aircraft reality of strapdown inertial navitation system (SINS) output are inconsistent, affect demonstration and the control accuracy of aircraft.In order to satisfy request for utilization, need to 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 body axis system to the transition matrix of 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 ofly can automatically carry out automatic Calibration and the compensation method of strapdown inertial navitation system (SINS) mounting shift angle on machine of automatic Calibration, compensation to mounting shift angle.Technical solution of the present invention is, when reinstalling aboard the strapdown inertial navitation system (SINS) carriage, the strapdown inertial navitation system (SINS) mounting shift angle carried out automatic Calibration, the steps include:

(a) the strapdown inertial navitation system (SINS) carriage is installed aboard;

(b) strapdown inertial navitation system (SINS) is installed on the carriage;

(c) with the aircraft leveling;

(d) the rear transduction boat of normal compass aligning is finished in strapdown inertial navitation system (SINS) energising, and attitude, the course angle of strapdown inertial navitation system (SINS) output after the firm boat of transduceing of record;

(e) the alignment error angle, course of the survey aircraft longitudinal axis and the strapdown inertial navitation system (SINS) carriage longitudinal axis, and record this alignment error angle, course.

When strapdown inertial navitation system (SINS) in energising during work, at first transfer the attitude, the alignment error angle, course that obtain in the demarcating steps, strapdown inertial navitation system (SINS) finish aim at change navigational state over to after, by 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 before strapdown inertial navitation system (SINS) calculating of compensation mounting shift angle;

δ θ, δ γ, δ ψ are respectively pitching, roll, the course mounting shift angle of the relative body axis system of strapdown inertial navitation system (SINS) 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 determined by table 1.

Table 1 γ ' determines method

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

ψ ' computing formula is as follows:

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

Table 2 ψ determines method

Wherein: E ₂=5 * 10 ^-6For judging that 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 to after the strapdown inertial navitation system (SINS) carriage is installed aboard first, do subnormal compass aligning and a transduction boat.Attitude, course and reference attitude, the course of strapdown system output are compared, automatically calculate the mounting shift angle of strapdown inertial navitation system (SINS) carriage coordinate system and airframe system, and it is kept in the strapdown inertial navitation system (SINS) storage unit.By design and installation deflection angle compensate algorithm in system software, in the strapdown inertial navitation system (SINS) course of normal operation, the above-mentioned mounting shift angle of fine compensation.

Mounting shift angle automatic Calibration of the present invention, compensation method precision height, and saved the strapdown inertial navitation system (SINS) installation bracket has been carried out accurately mechanically calibrated requirement, it is simple, convenient that engineering is used, shortened debugging, calibration cycle that inertial navigation system uses at machine, improved strapdown inertial navitation system (SINS) attitude, course, and body be the externally precision of output information such as speed, angular velocity.

Description of drawings

Fig. 1 onboard mounting deflection angle of strapdown inertial navigation system automatic Calibration process flow diagram;

Fig. 2 onboard mounting deflection angle of strapdown inertial navigation system compensation process flow diagram.

Specific implementation method

Onboard mounting deflection angle of strapdown inertial navigation system is demarcated, compensation is finished in two steps.The below describes respectively the specific implementation method that onboard mounting deflection angle of strapdown inertial navigation system is demarcated, the strapdown inertial navitation system (SINS) mounting shift angle compensates respectively.

1. onboard mounting deflection angle of strapdown inertial navigation system automatic Calibration implementation method

Onboard mounting deflection angle of strapdown inertial navigation system automatic Calibration process flow diagram is seen Fig. 1.The staking-out work of onboard mounting deflection angle of strapdown inertial navigation system is carried out at machine.After demarcating end the mounting shift angle that calibrates is stored.As long as the inertial navigation system installation bracket is again dismounting not, then need not to demarcate again this mounting shift angle.

2. onboard mounting deflection angle of strapdown inertial navigation system compensates implementation method

Onboard mounting deflection angle of strapdown inertial navigation system compensation process flow diagram is seen Fig. 2.The inertial navigation system work of at every turn switching on, finish aim at change navigational state over to after, the compensation software by internal system calculates attitude, course angle and the externally output after the compensation mounting shift angle, realizes the auto-compensation of inertial navigation system mounting shift angle.

Onboard mounting deflection angle of strapdown inertial navigation system 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 before inertial navigation system calculating of compensation mounting shift angle;

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 determined by table 1.

Table 1 γ ' determines method

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

ψ ' computing formula is as follows:

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

Table 2 ψ determines method

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

Claims (1)

1. aboard automatic Calibration and the compensation method of mounting shift angle of strapdown inertial navitation system (SINS) is characterized in that:

1) when reinstalling aboard the strapdown inertial navitation system (SINS) carriage, the mounting shift angle of strapdown inertial navitation system (SINS) is carried out automatic Calibration;

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

The step of mounting shift angle automatic Calibration is:

(a) the strapdown inertial navitation system (SINS) carriage is installed aboard;

(b) strapdown inertial navitation system (SINS) is installed on the carriage;

(c) with the aircraft leveling;

(d) the rear transduction boat of normal compass aligning is finished in strapdown inertial navitation system (SINS) energising, and attitude, the course angle of strapdown inertial navitation system (SINS) output after the firm boat of transduceing of record;

(e) the alignment error angle, course of the survey aircraft longitudinal axis and the strapdown inertial navitation system (SINS) carriage longitudinal axis, and record this alignment error angle, course;

The step of mounting shift angle auto-compensation is:

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

(b) strapdown inertial navitation system (SINS) finish aim at change navigational state over to after, by the compensation formula of internal system, attitude, alignment error angle, course are compensated, 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 before strapdown inertial navitation system (SINS) calculating of compensation mounting shift angle;

δ θ, δ γ, δ ψ are respectively pitching, roll, the course mounting shift angle of the relative body axis system of strapdown inertial navitation system (SINS) 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 definite by table 1,

Table 1 γ ' determines method

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

ψ ' computing formula is as follows:

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

Table 2 ψ determines method

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

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