CN102564420A - Inertial sensor level rotary modulation method suitable for strapdown inertial navigation system - Google Patents
Inertial sensor level rotary modulation method suitable for strapdown inertial navigation system Download PDFInfo
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- CN102564420A CN102564420A CN201110439399XA CN201110439399A CN102564420A CN 102564420 A CN102564420 A CN 102564420A CN 201110439399X A CN201110439399X A CN 201110439399XA CN 201110439399 A CN201110439399 A CN 201110439399A CN 102564420 A CN102564420 A CN 102564420A
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Abstract
An inertial sensor level rotary modulation method suitable for a strapdown inertial navigation system comprises manufacturing a rotary modulatioin device for rotary modulation, maintaining the rotation of a support precisely, collecting angular speed signals of two gyros and acceleration signals of two acceleration meters to serve as output, collecting an angular speed signal of a rotary measurement control circuit to serve as reference output; modulating the angular speed signals output by each gyro and each acceleration meter through rotation, modulating the angular speed of the gyros and the acceleration meters, not modulating drifting in the gyros and the acceleration meters so as to separate the real angular speed of the gyros and the acceleration meters from the drifting, respectively obtaining real angular speed and corresponding drifting of each gyro and each acceleration meter; demodulating the real angular speed of each gyro and each acceleration meter by means of phase sensitive detection to obtain real output vectors of the gyros and the acceleration meters with drifting removed, and enabling the output vectors to be always kept in a plane perpendicular to a rotary modulation shaft. The inertial sensor level rotary modulation method suitable for the strapdown inertial navigation system has the advantages of directly removing slow speed drifting errors from the output ends of the gyros and the acceleration meters, and being simple in construction of a multi-shaft rotary structure, high in precision and easy to achieve.
Description
Technical field
The present invention relates to a kind of inertial sensor level rotation modulation method that is applicable to strapdown inertial navigation system.
Technical background
Inertial navigation system is a kind of external information, also outside active navigational system of emittance not of not relying on.Do not rely on external information and not outwards the characteristics of emittance determined it to have high reliability and disguise.But there is fatal weakness equally in inertial navigation system: the error accumulation effect.Inertial navigation system is mainly navigated through the angular velocity and the acceleration information of gyro and accelerometer measures carrier, in resolving process, exists integral operation repeatedly.Therefore, the error of angular velocity and acceleration will be accumulated along with integration always, and particularly the slow drift of angular velocity and acceleration is particularly evident to the influence of navigation accuracy.
The key that improves navigation accuracy is to improve the output accuracy of these inertial sensors.On the one hand, can realize through using more high-precision inertial sensor.The lifting of inertial sensor precision receives the influence of levels such as theory, technology, often needs a very long process, and uses more high-precision inertial sensor, and the Cost Growth of navigational system is also very fast.On the other hand, can improve the precision of inertial sensor indirectly through the error compensation means of inertial sensor.
The rotation modulation technique is to reduce the effective means of gyro and accelerometer error.Particularly the slow drift of angle speed and acceleration has effective inhibiting effect.At present, generally all adopt the mode of the whole modulation of Inertial Measurement Unit to the rotation modulation technique of strapdown inertial navigation system.Can be divided into commentaries on classics according to the rotation mode difference stops and two kinds of continuous rotations.Wherein, change the mode of stopping and have a hypothesis, rotate in moment and accomplish, thereby can in rotation process, not cause error.Therefore change the mode of stopping and in rotary course, need very big angular acceleration.Can be divided into single shaft rotation according to turning axle quantity difference and rotate two kinds with multiaxis.The single shaft rotation can only compensate two parts inertia components and parts perpendicular with turning axle, still have the error of cover inertia components and parts to be compensated, so precision is lower.And the rotating mechanism of multiaxis rotation, control are all very complicated, are not easy to realize.
Summary of the invention
For overcoming the above-mentioned shortcoming of prior art, it is high to the invention provides a kind of precision, the inertial sensor level rotation modulation method of realizing easily that is applicable to strapdown inertial navigation system.
Be applicable to the inertial sensor level rotation modulation method of strapdown inertial navigation system, may further comprise the steps:
1), makes the apparatus for turning modulation of rotation modulation usefulness; Apparatus for turning modulation comprises the support that is used to install gyro and accelerometer; Be connected with support and drive the rotating mechanism of support rotation and measure the wheel measuring control circuit of gyro and the angular velocity of accelerometer in rotary course;
Support comprises the installation portion and the connecting portion that is fixedly connected with rotating mechanism that gyro and accelerometer are installed; Installation portion is regular hexahedron; Two adjacent sides of installation portion are installed a gyro respectively; Two gyros are installed on the side and an accelerometer all are installed, two gyroscope quadratures, two accelerometer quadratures;
2), through the mode of measurement of angle FEEDBACK CONTROL, the angular velocity frequency of support is accurately remained on the frequency much higher during than the practice environment; Gather the angular velocity signal of two gyro outputs and the acceleration signal of two accelerometer outputs, gather the angular velocity signal of wheel measuring control circuit and export as a reference; Respectively the angular velocity signal of each gyro and accelerometer output is modulated through rotation; The angular velocity of gyro and accelerometer is modulated and drift in gyro and the accelerometer is not modulated; Thereby the true angular velocity of gyro and accelerometer is separated with drift, obtain the true angular velocity and corresponding drift of each gyro and each accelerometer respectively;
3) mode of, utilizing phase sensitive detection is carried out demodulation to the true angular velocity and the acceleration of each gyro and each accelerometer; Obtain gyro and accelerometer elimination the true output vector of drift, this output vector remains in the plane perpendicular with rotating modulation axle.
Further, in the step 1), two other side of support installation portion is separately installed with gyro and accelerometer balances each other, makes the center of gravity of support to be positioned at the balancing weight on the turning axle, so that support steadily rotates; The side that gyro and accelerometer are installed all has depressed part to alleviate weight support frame;
Installation portion is provided with the container cavity that holds accelerometer.
Further; The angular encoder that the wheel measuring control circuit comprises the angular velocity of measuring rotating mechanism be connected with angular encoder, rotating mechanism is carried out FEEDBACK CONTROL make rotating mechanism keep the feedback control circuit of accurate rotational speed, angular encoder is installed between the stator and rotor of rotating mechanism.
Further, described connecting portion is a short cylinder, and described installation portion is covered with a metal shell outward.Metal shell not only can play a protective role to gyro and accelerometer, also can play electromagnetic shielding action.
Further, rotating mechanism is fixed on the base.
The spinning solution that adopts inertia components and parts levels of the present invention can be revised the error of these output quantities from the source of angular velocity and acceleration output.Such structure does not have coupling phenomenon when carrying out the multiaxis rotation, simple in structure.This rotation modulation method has from the output terminal of gyro and accelerometer directly to be eliminated sensor slow drift error, makes up the simple advantage of multiaxis rotational structure.
The present invention has the precision height, the advantage that realizes easily.
Description of drawings
Fig. 1 is a process flow diagram of the present invention.
Fig. 2 is the synoptic diagram of apparatus for turning modulation.
Fig. 3 is the synoptic diagram of shell.
Fig. 4 is the sensor stand synoptic diagram.
Fig. 5 is the synoptic diagram that angular velocity decomposes.
Fig. 6 is a step 2) the schematic diagram of rotation modulation.
Fig. 7 is the schematic diagram of the phase sensitive detection of step 3).
Embodiment
With reference to accompanying drawing, further specify the present invention:
Be applicable to the inertial sensor level rotation modulation method of strapdown inertial navigation system, may further comprise the steps:
1), makes the apparatus for turning modulation of rotation modulation usefulness; Apparatus for turning modulation comprises the support 1 that is used to install gyro 2 and accelerometer 3; Be connected with support 1 and drive the rotating mechanism 6 of support 1 rotation and measure gyro 2 and the wheel measuring control circuit 5 of the angular velocity of accelerometer 3 in rotary course;
2), the mode through the measurement of angle FEEDBACK CONTROL; The angular velocity frequency of support is accurately remained on the frequency much higher during than the practice environment; It is such that support keeps the frequency of accurate rotational speed: 1Hz representes to rotate for 1 second 1 circle; I.e. 2 π/s, 10Hz represent to rotate for 1 second 10 circle 20 π/s real motion frequencies and are meant when this cover system truly uses the upper frequency limit of carrier movement.
Gather the angular velocity signal of two gyros, 2 outputs and the acceleration signal of two accelerometer 3 outputs, gather the angular velocity signal of wheel measuring control circuit and export as a reference; Respectively each gyro 2 and the angular velocity signal of accelerometer 3 outputs are modulated through rotation; The angular velocity of gyro 2 and accelerometer 3 is modulated and gyro 2 is not modulated with the drift in the accelerometer 3; Thereby the true angular velocity of gyro 2 and accelerometer 3 is separated with drift with acceleration; Obtain the true angular velocity and the acceleration of each gyro 2 and each accelerometer 3 respectively, and corresponding drift;
Like Fig. 5 and shown in Figure 6, be output as example with gyro, a real angular velocity vector is arranged
ω, can resolve into and rotating shaft parallel and two vertical vectors
ω z With
ω Xy The sensitive axes of 2 gyros 2 is vertical with turning axle, so its responsive vector has only angular velocity vector
ωVertical vector
ω Xy Will
ω Xy Decompose on 2 gyros 2 and obtain
ω x With
ω y Two real angular velocity vectors.Be not rotated when modulation, because there is drift error ε in gyro 2 outputs, so truly being output as of gyro:
Be output as through rotation modulation back gyro:
Real angular motion is modulated, and that the drift of gyro 2 does not have is modulated.This is because gyro 2 can only be responsive to the component of a true angular velocity on its sensitive axes, therefore along with its responsive component of rotation is changing always.And drift is only relevant with gyro itself, can be not modulated along with rotation.On frequency domain, the true angular velocity of gyro just has been separated with drift like this.Be further noted that; In the formula (2);
and
all might exist approaching or equal 0 situation, but can not occur this situation simultaneously.Notice, when
With
Near 0 o'clock,
ω Mx With
ω Ym Can trend towards 0 respectively, thereby output is degenerated, if only adopt the sensor-level rotation modulation of 1 gyro this situation will occur.And adopt the situation of 2 gyros, and when 1 output was degenerated, 1 output must not can be degenerated in addition, and this has just solved this problem.
3), the mode of utilizing phase sensitive detection carries out demodulation to the true angular velocity and the acceleration of each gyro 2 and each accelerometer 3, uses the angular velocity signal of wheel measuring control circuit to export as a reference during phase sensitive detection; Obtain gyro 2 and accelerometer 3 elimination the true output vector of drift, this output vector clock remains in the plane perpendicular with rotating the modulation axle.
The principle of demodulation is as shown in Figure 7.Output through rotation modulation back gyro 2 according to reference signal r, can get through phase sensitive detection:
Behind LPF:
Through after the rotation modulation and demodulation, the low frequency wonder signal of gyro 2 will well be eliminated like this.Can find out that from formula this rotation modulation method is accomplished the rotation modulation at the front end of inertial sensor output, the navigation algorithm of rear end etc. need not carry out any change.The modulated process of acceleration and the modulated process of gyro are similar.
In the step 1), two other side of support installation portion 1a is separately installed with gyro 2 and accelerometer 3 balances each other, makes the center of gravity of support 1 to be positioned at the balancing weight 4 on the turning axle, so that support 1 steadily rotates; The side that gyro 2 and accelerometer 3 are installed all has depressed part 1c to alleviate weight support frame;
Installation portion is provided with the container cavity 1b that holds accelerometer.
The angular encoder that wheel measuring control circuit 5 comprises the angular velocity of measuring rotating mechanism 6 be connected with angular encoder, rotating mechanism 6 is carried out FEEDBACK CONTROL make rotating mechanism 6 keep the feedback control circuit of accurate rotational speed, angular encoder is installed between the stator and rotor of rotating mechanism 6.
Described connecting portion 1d is a short cylinder, and described installation portion is covered with a metal shell outward.Metal shell 8 not only can play a protective role to gyro 2 and accelerometer 3, also can play electromagnetic shielding action.
The spinning solution that adopts inertia components and parts levels of the present invention can directly be revised the error of these output quantities at the output terminal of gyro and accelerometer.Such structure does not have coupling phenomenon when carrying out the multiaxis rotation, simple in structure.This rotation modulation method has from the source elimination sensor slow drift error, makes up the simple advantage of multiaxis rotational structure.
The present invention has the precision height, the advantage that realizes easily.
The described content of this instructions embodiment only is enumerating the way of realization of inventive concept; Protection scope of the present invention should not be regarded as and only limit to the concrete form that embodiment states, protection scope of the present invention also reach in those skilled in the art conceive according to the present invention the equivalent technologies means that can expect.
Claims (5)
1. be applicable to the inertial sensor level rotation modulation method of strapdown inertial navigation system, may further comprise the steps:
1), makes the apparatus for turning modulation of rotation modulation usefulness; Apparatus for turning modulation comprises the support that is used to install gyro and accelerometer; Be connected with support and drive the rotating mechanism of support rotation and measure the wheel measuring control circuit of gyro and the angular velocity of accelerometer in rotary course;
Support comprises the installation portion and the connecting portion that is fixedly connected with rotating mechanism that gyro and accelerometer are installed; Installation portion is regular hexahedron; Two adjacent sides of installation portion are installed a gyro respectively; Two gyros are installed on the side and an accelerometer all are installed, two gyroscope quadratures, two accelerometer quadratures;
2), through the mode of measurement of angle FEEDBACK CONTROL, the angular velocity frequency of support is accurately remained on the frequency much higher during than the practice environment; The angular velocity signal of two gyros of collection and the acceleration signal of two accelerometers are gathered the angular velocity signal of wheel measuring control circuit and are exported as a reference as output; Respectively the angular velocity signal of each gyro and accelerometer output is modulated through rotation; The angular velocity of gyro and accelerometer is modulated and drift in gyro and the accelerometer is not modulated; Thereby the true angular velocity of gyro and accelerometer is separated with drift, obtain the true angular velocity and corresponding drift of each gyro and each accelerometer respectively;
3) mode of, utilizing phase sensitive detection is carried out demodulation to the true angular velocity and the acceleration of each gyro and each accelerometer; Obtain gyro and accelerometer elimination the true output vector of drift, this output vector remains in the plane perpendicular with rotating modulation axle.
2. the inertial sensor level rotation modulation method that is applicable to strapdown inertial navigation system as claimed in claim 1; It is characterized in that: in the step 1); Two other side of support installation portion is separately installed with gyro and accelerometer balances each other, makes the center of gravity of support to be positioned at the balancing weight on the turning axle, so that support steadily rotates; The side that gyro and accelerometer are installed all has depressed part to alleviate weight support frame;
Installation portion is provided with the container cavity that holds accelerometer.
3. the inertial sensor level rotation modulation method that is applicable to strapdown inertial navigation system as claimed in claim 2; It is characterized in that: the angular encoder that the wheel measuring control circuit comprises the angular velocity of measuring rotating mechanism be connected with angular encoder, rotating mechanism is carried out FEEDBACK CONTROL make rotating mechanism keep the feedback control circuit of accurate rotational speed, angular encoder is installed between the stator and rotor of rotating mechanism.
4. the inertial sensor level rotation modulation method that is applicable to strapdown inertial navigation system as claimed in claim 3, it is characterized in that: described connecting portion is a short cylinder, described installation portion is covered with a metal shell outward.
5. like the described inertial sensor level rotation modulation method that is applicable to strapdown inertial navigation system of one of claim 1-4, it is characterized in that: rotating mechanism is fixed on the base.
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| CN104453857A (en) * | 2014-11-02 | 2015-03-25 | 中国石油集团钻井工程技术研究院 | Method and device for dynamic measurement of well deflection and tool face angle under small inclination angle condition |
| CN104931054A (en) * | 2015-07-06 | 2015-09-23 | 极翼机器人(上海)有限公司 | Inertia measurement shock absorber and unmanned aerial vehicle inertia measuring module |
| CN106289324A (en) * | 2016-09-22 | 2017-01-04 | 顺丰科技有限公司 | A kind of caliberating device for Inertial Measurement Unit |
| CN108387229A (en) * | 2018-01-30 | 2018-08-10 | 南京理工大学 | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation |
| CN109460038A (en) * | 2018-12-26 | 2019-03-12 | 南京景曜智能科技有限公司 | A kind of inertial navigation heavy duty AGV system and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104453857A (en) * | 2014-11-02 | 2015-03-25 | 中国石油集团钻井工程技术研究院 | Method and device for dynamic measurement of well deflection and tool face angle under small inclination angle condition |
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| CN108387229A (en) * | 2018-01-30 | 2018-08-10 | 南京理工大学 | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation |
| CN109460038A (en) * | 2018-12-26 | 2019-03-12 | 南京景曜智能科技有限公司 | A kind of inertial navigation heavy duty AGV system and its control method |
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Application publication date: 20120711 |