CN102589352A - Low-cost high-accuracy guidance control device - Google Patents
Low-cost high-accuracy guidance control device Download PDFInfo
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- CN102589352A CN102589352A CN2012100279754A CN201210027975A CN102589352A CN 102589352 A CN102589352 A CN 102589352A CN 2012100279754 A CN2012100279754 A CN 2012100279754A CN 201210027975 A CN201210027975 A CN 201210027975A CN 102589352 A CN102589352 A CN 102589352A
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Abstract
The invention provides a low-cost high-accuracy guidance control device, which belongs to the technical field of guidance control and comprises a strap-down inertial navigation system, an inertial measuring unit, a guidance calculating unit, a power supply module and an external interface. The inertial measuring unit comprises a serial communication control module, an analogue-digital (AD) converting module, a temperature signal processing and converting module, an inertial measuring central processing unit (CPU) and a double-port random access memory (RAM) communication module. The guidance calculating unit (IPU) comprises a signal processing unit, a bus control module, an analog quantity input-output module, a switching value input-output module and a global positioning system (GPS) interface. By adopting the CPU scheme, low-cost high-accuracy guidance control device can improve the output data updating rate, prevent navigation positioning errors from being accumulated along with the time, improve reliability and disturbance-resisting capacity and meet the requirements for general utilization, modularization and low cost.
Description
Technical field
The invention belongs to guidance control technology field, relate to a kind of guidance control package.
Background technology
Low-cost and high-precision guidance control technology is that guidance improves one of power technological transformation approach.Existing various navigation system each has its advantage and characteristic but its weak point is also arranged.Strapdown inertial navigation system (SINS) is an acceleration of motion of utilizing inertance element to come the sensing carrier, obtains navigational parameter to confirm carrier positions through integral operation; Global positioning system (GPS) adopts many stars, high rail range finding system, thereby carries out the position that range measurement calculates receiver simultaneously through multi-satellite.GPS and SINS are state-of-the-art in the world at present air navigation aids, and the two respectively has pluses and minuses, and whom who does not replace.Inertial navigation and satellite fix integrated navigation system can be given full play to advantage separately, utilize long-time stability and the moderate precision of GPS, and the error that remedies INS is propagated and the shortcoming that increases in time; Utilize the short-term high accuracy of INS to remedy the shortcoming of GPS receiver lossing signal when the time error that is interfered increases or is blocked.GPS/SINS integrated navigation technology can improve outputting data updating rate greatly, prevents that navigation positioning error from accumulating in time, has improved reliability and antijamming capability, is most advanced at present, round-the-clock, self-aid navigation location technology.Through the research of low-cost and high-precision guidance control technology being realized generalization, modularization, the seriation of guidance control system, promote combination property.
Summary of the invention
For improving outputting data updating rate, prevent that navigation positioning error from accumulating in time, improve reliability and antijamming capability, satisfy the needs of generalization, modularization, cost degradation, the present invention proposes a kind of low-cost and high-precision guidance control package.
A kind of low-cost and high-precision guidance control package of the present invention comprises: strapdown inertial navigation system, inertia measurement combination (IMU), guidance calculation combination (IPU), supply module, external interface.
Supply module is that strapdown inertial navigation system, inertia measurement make up (IMU), guidance calculation combination (IPU), external interface provides power supply; As preferably, supply module adopts secondary power supply;
Strapdown inertial navigation system comprises accelerometer and gyroscope;
As preferably, strapdown inertial navigation system comprises that 1 three axis accelerometer, 3 single axis gyroscopes and temperature sensor constitute, and perhaps, 3 single axis gyroscopes can use integrated three axis optical fibre gyro to replace; Said integrated three axis optical fibre gyro has 3 fiber optic loop, and their shared numerical control SLD light sources can effectively be practiced thrift cost.
The inertia measurement combination comprises serial communication controlling module, AD modular converter, processes temperature signal and modular converter, inertia measurement CPU, dual port RAM communication module.Said serial communication controlling module, AD modular converter, processes temperature signal are connected with inertia measurement CPU respectively with modular converter, dual port RAM communication module; Gyroscope links to each other with the serial communication controlling module, and accelerometer links to each other with the AD modular converter, and temperature sensor links to each other with modular converter with processes temperature signal; The dual port RAM communication module links to each other with guidance computer; Wherein, Gyrostatic output data send to inertia measurement CPU through the serial communication controlling module; The output data of accelerometer send to inertia measurement CPU by the collection of AD modular converter and after handling; The output data of temperature sensor send to processes temperature signal and modular converter, send to inertia measurement CPU through after the treatment conversion; Inertia measurement CPU is through dual port RAM communication module and guidance computer swap data.
Guidance calculation combination (IPU) comprises signal processing unit, bus control module, analog quantity input/output module, switching value input/output module, GPS interface; Said bus control module, analog quantity input/output module, switching value input/output module, GPS interface are connected with signal processing unit respectively; And bus control module, analog quantity input/output module, switching value input/output module, GPS interface also link to each other with external interface; The UART interface that is used for GPS as preferred wherein GPS interface;
Ancillary equipment comprises: altimeter, data/commands transceiver, target seeker, telemetering equipment, year machine control, ground test device, steering wheel, electrical system, gps satellite receiver.
The serial communication controlling module also with ancillary equipment in altimeter, data/commands transceiver, target seeker, telemetering equipment be connected;
Bus control module also with ancillary equipment in carry machine control, ground test device, gps satellite receiver link to each other;
External interface also with ancillary equipment in ground test device, steering wheel, electrical system link to each other.
The contrast prior art the invention has the beneficial effects as follows: adopt two CPU schemes, can improve outputting data updating rate, prevent that navigation positioning error from accumulating in time, improve reliability and antijamming capability, satisfy the needs of generalization, modularization, cost degradation.
Description of drawings
Fig. 1 is a low-cost and high-precision guidance control package system block diagram;
When being used for a kind of guidance control system, Fig. 2 forms structural representation;
Fig. 3 is the SINS basic principle schematic.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further explained.
A kind of low-cost and high-precision guidance control package of the present invention comprises strapdown inertial navigation system, inertia measurement combination (IMU), guidance calculation combination (IPU), supply module, external interface; Specifically see Fig. 1, form structural representation when being used for a kind of guidance control system and see accompanying drawing 2.
The GPS module: this module adopts the GPS15-OEM plate of GARMIN company.It is the GPS receiver of 12 passages, supplies consumption little, data updating rate be per second once.
The inertial navigation module: this module is made up of the ADXL330 three axis accelerometer of an ADI company and the ADXRS150 single axis gyroscope of 3 ADI companies.ADXL330 measurement category+3g, ADXRS150 measurement category+300 °/s.
The data acquisition process relevant portion is selected the LPC2210ARM processor of PHILIPS company for use.LPC2210 adopts the ARM7TDMI microcontroller, carries 8 tunnel 10 successive approximation type a/d converters.
The maximum characteristics of Methods of Strapdown Inertial Navigation System are not have the entity platform; Gyroscope and accelerometer are directly installed on the carrier; The sensitive axes of inertance element is installed on carrier coordinate system (b system) three direction of principal axis, because all be to be connected on the carrier, so what record all is the physical quantity under the carrier coordinate system.
The height of system accuracy depends on the measure error of device to a great extent.The error model more complicated of device in the inertial navigation system, general all with temperature, vibrations, impact etc., have also relevant with magnetic field.Can reduce the influence of factors such as jerk, magnetic field through the hardware designs of guidance control package, the influence of temperature and some other factor is then set up error model and is eliminated through the way of software compensation in system.
In order to satisfy reliability, little, the lightweight requirement of volume and to account for the principle of resource less as far as possible; The present invention adopts the circuit arrangement of two CPU; A CPU is used to accomplish inertia combination function (navigation calculating); A CPU is used to realize the guidance control function (flying to control signal calculated handles) of flight control computer; Dispose a slice field programmable gate function FPGA-XQV300 again, RS422 serial communication control nuclear, spi bus control nuclear, twoport DRAM, UART nuclear and the total line traffic control nuclear of 1553B are integrated in the FPGA, can practice thrift cost and reduced volume to greatest extent.
The maximum characteristics of Methods of Strapdown Inertial Navigation System are not have the entity platform; Gyro and accelerometer are directly installed on the carrier; The sensitive axes of inertance element is installed on carrier coordinate system (b system) three direction of principal axis, because all be to be connected on the carrier, so what record all is the physical quantity under the carrier coordinate system.Gyroscope output be carrier with respect to the inertial space rotational angular in carrier system projection
accelerometer measures be that carrier is also referred to as specific force with acceleration this amount of projection
in carrier is of inertial space relatively; For strapdown inertial navigation system; Navigation calculating is not carried out in carrier system; And will be that (n system) accomplishes at navigation coordinate; Therefore,
that the transformation matrix of coordinates
that
calculating carrier coordinate system to the navigation coordinate that at first utilizes gyroscope to record is utilizes this matrix degree of will speed up instrumentation to get then transforms in the navigation coordinate system; Through twice integration, can obtain navigational parameter at last.In addition, utilize the element of transformation matrix of coordinates, can extract attitude of carrier information again, therefore be referred to as attitude matrix sometimes.Calculate attitude matrix, extract attitude angle and, replaced physical platform than these three " mathematical platform " that constituted strapdown inertial navigation system of force transformation.SINS basic principle schematic such as accompanying drawing 3.
The navigation calculating control device adopts position, north SINS, and it is the geographical coordinate system in sky, northeast that platform coordinate system is taken as navigation coordinate system.With strapdown gyroscope measures the angular velocity
and the computer calculates the angular velocity
to calculate the carrier attitude matrix
then extracted from the matrix elements of motorized vehicle attitude attitude and heading information.
Above-described specific descriptions; Purpose, technical scheme to invention have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; And be not used in qualification protection scope of the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a low-cost and high-precision guidance control package is characterized in that, comprising: strapdown inertial navigation system, inertia measurement combination, guidance calculation combination, supply module, external interface;
Said supply module is strapdown inertial navigation system, inertia measurement combination, guidance calculation combination, external interface power supply;
Said strapdown inertial navigation system comprises: accelerometer and gyroscope; Gyroscope and accelerometer are directly installed on the carrier, and the sensitive axes of inertance element is installed on carrier coordinate system three direction of principal axis;
Said inertia measurement combination comprises: serial communication controlling module, AD modular converter, processes temperature signal and modular converter, inertia measurement CPU, dual port RAM communication module; Said serial communication controlling module, AD modular converter, processes temperature signal are connected with inertia measurement CPU respectively with modular converter, dual port RAM communication module; Gyroscope links to each other with the serial communication controlling module, and accelerometer links to each other with the AD modular converter, and temperature sensor links to each other with modular converter with processes temperature signal; The dual port RAM communication module links to each other with guidance computer; Wherein, Gyrostatic output data send to inertia measurement CPU through the serial communication controlling module; The output data of accelerometer send to inertia measurement CPU by the collection of AD modular converter and after handling; The output data of temperature sensor send to processes temperature signal and modular converter, send to inertia measurement CPU through after the treatment conversion; Inertia measurement CPU is through dual port RAM communication module and guidance computer swap data.
Said guidance calculation combination comprises: signal processing unit, bus control module, analog quantity input/output module, switching value input/output module, GPS interface; Said bus control module, analog quantity input/output module, switching value input/output module, GPS interface are connected with signal processing unit respectively; And bus control module, analog quantity input/output module, switching value input/output module, GPS interface also link to each other with external interface;
The ancillary equipment of said device also comprises: altimeter, data/commands transceiver, target seeker, telemetering equipment, year machine control, ground test device, steering wheel, electrical system, gps satellite receiver;
The serial communication controlling module also with ancillary equipment in altimeter, data/commands transceiver, target seeker, telemetering equipment be connected;
Bus control module also with ancillary equipment in carry machine control, ground test device, gps satellite receiver link to each other;
External interface also with ancillary equipment in ground test device, steering wheel, electrical system link to each other.
2. a kind of low-cost and high-precision guidance control package according to claim 1 is characterized in that: strapdown inertial navigation system comprises that 1 three axis accelerometer, 3 single axis gyroscopes and temperature sensor constitute; Perhaps, 3 single axis gyroscopes replace with integrated three axis optical fibre gyro; Said integrated three axis optical fibre gyro has 3 fiber optic loop, their shared numerical control SLD light sources.
3. a kind of low-cost and high-precision guidance control package according to claim 1 and 2 is characterized in that: supply module adopts secondary power supply.
4. a kind of low-cost and high-precision guidance control package according to claim 1 and 2 is characterized in that: the GPS interface is used for the UART interface of GPS.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104199440A (en) * | 2014-08-20 | 2014-12-10 | 中国运载火箭技术研究院 | Four-unit three-bus redundancy heterogeneous GNC (guidance navigation control) system |
| CN105241453A (en) * | 2015-10-18 | 2016-01-13 | 上海圣尧智能科技有限公司 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
| CN106681348A (en) * | 2017-01-13 | 2017-05-17 | 西北工业大学 | Guidance and control integrated design method considering all-strapdown seeker view field constraint |
| CN113049000A (en) * | 2019-12-26 | 2021-06-29 | 航天科工惯性技术有限公司 | Navigation and guidance integrated machine test system and test method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199440A (en) * | 2014-08-20 | 2014-12-10 | 中国运载火箭技术研究院 | Four-unit three-bus redundancy heterogeneous GNC (guidance navigation control) system |
| CN104199440B (en) * | 2014-08-20 | 2017-05-03 | 中国运载火箭技术研究院 | Four-unit three-bus redundancy heterogeneous GNC (guidance navigation control) system |
| CN105241453A (en) * | 2015-10-18 | 2016-01-13 | 上海圣尧智能科技有限公司 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
| CN106681348A (en) * | 2017-01-13 | 2017-05-17 | 西北工业大学 | Guidance and control integrated design method considering all-strapdown seeker view field constraint |
| CN106681348B (en) * | 2017-01-13 | 2019-04-19 | 西北工业大学 | Consider the Guidance and control integrated design method of full strapdown seeker Field of View Constraint |
| CN113049000A (en) * | 2019-12-26 | 2021-06-29 | 航天科工惯性技术有限公司 | Navigation and guidance integrated machine test system and test method |
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Application publication date: 20120718 |