CN102607556B - Integrated navigation method for medium-accuracy heading and attitude system on basis of torpedo speed - Google Patents

Integrated navigation method for medium-accuracy heading and attitude system on basis of torpedo speed Download PDF

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CN102607556B
CN102607556B CN201210016707.2A CN201210016707A CN102607556B CN 102607556 B CN102607556 B CN 102607556B CN 201210016707 A CN201210016707 A CN 201210016707A CN 102607556 B CN102607556 B CN 102607556B
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speed
attitude system
thunder
navigation
torpedo
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CN102607556A (en
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李延
熊建琼
赵春雨
邱宏波
周章华
黄妍妍
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Beijing Automation Control Equipment Institute BACEI
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Beijing Automation Control Equipment Institute BACEI
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Abstract

The invention belongs to the field of inertial navigation, particularly relates to an integrated navigation method for a medium-accuracy heading and attitude system on the basis of a torpedo speed and aims to overcome the defect of poor positioning accuracy of the pure inertial navigation of the medium-accuracy heading and attitude system. The method comprises the following steps of: (1) in the preparation stage of the heading and attitude system, carrying out alignment on the basis of the speed or a moving base of which the speed and the attitude are matched; (2) correcting torpedo speed information by utilizing speed information of the heading and attitude system; and (3) assisting the heading and attitude system in carrying out integrated navigation by utilizing the corrected torpedo speed information. According to the method, the medium-accuracy heading and attitude system is assisted in carrying out integrated navigation by utilizing the corrected torpedo speed information, the guidance positioning accuracy of a torpedo is greatly improved, and the defects of low integrated navigation accuracy, large amplitude of fluctuation of the combined information and the like are overcome; and novel equipment does not need to be added, the integrated navigation method has low cost and good autonomy and is simple and easy to operate, and an effectively approach is provided for improving the integrated navigation accuracy of the medium-accuracy heading and attitude system.

Description

A kind of based on precision aviation attitude system Combinated navigation method in thunder speed
Technical field
The invention belongs to inertial navigation field, be specifically related to a kind of based on precision aviation attitude system Combinated navigation method in thunder speed.
Background technology
For adapting to modern naval battle requirement, torpedo guidance system needs to provide high-precision locating information.Some torpedoes have adopted strapdown inertial navigation system to solve boat appearance and orientation problem simultaneously, make it to become " guided missile in water ", such as " moray " torpedo of France.The raising of inertial navigation system positioning precision has vital role to guidance precision, but be limited by inertia device precision, its cost also can increase substantially thereupon, usually for gyroscopic drift be 0.1 °/h, accelerometer bias is the inertial navigation system of 0.000980147m/s2, the positioning error that navigation 40min causes is about 6km, cannot meet request for utilization.
Therefore, people start to seek precision aviation attitude system in a kind of utilization, are aided with the method that other information increase substantially positioning precision, and simultaneously in order to satisfied operation needs, its supplementary is preferably completely autonomous, and not easily exposes.Consider based on these two aspects, utilize torpedo revolution speed of propeller to carry out conversion and can obtain thunder speed information, although this precision of information is not high, completely autonomous, and do not disperse in time, be a kind of desirable supplementary for middle precision aviation attitude system.
Summary of the invention
Technical matters to be solved by this invention is the weak point overcoming middle precision aviation attitude system pure-inertial guidance positioning precision difference, provides a kind of thunder speed information that utilizes to assist middle precision aviation attitude system to carry out the method for integrated navigation.
The technical solution adopted in the present invention is:
Based on a precision aviation attitude system Combinated navigation method in thunder speed, comprise the following steps:
(1) moving alignment matched based on speed or speed and attitude is carried out in the aviation attitude system preparatory stage;
(2) aviation attitude system velocity information correction thunder speed information is utilized;
(3) revised thunder speed information is utilized to assist aviation attitude system to carry out integrated navigation.
As above based on a precision aviation attitude system Combinated navigation method in thunder speed, wherein: in described step (3), utilize revised thunder speed information to carry out course decomposition and obtain north orientation, east orientation speed; Obtain the latitude after dead reckoning, longitude again; Using aviation attitude system relative to the velocity error of thunder speed and the longitude and latitude error of relative dead reckoning as observed quantity, set up integrated navigation Kalman filter, carry out navigation and calculate.
As above based on a precision aviation attitude system Combinated navigation method in thunder speed, wherein: the method revising thunder speed information in described step (2) is as follows:
(2.1) aviation attitude system resultant velocity is calculated:
V INS = V N 2 + V E 2
Wherein, V n, V ebe respectively aviation attitude system pure-inertial guidance velocity information, V iNSfor the aviation attitude system resultant velocity calculated;
(2.2) real-time thunder speed error is calculated:
δV＝V LS-V INS
Wherein, V lSthe thunder speed information obtained for converting through torpedo revolution speed of propeller, δ V is the real-time thunder speed error calculated.
As above based on a precision aviation attitude system Combinated navigation method in thunder speed, wherein: in described step (2), adopt running mean method to estimate average thunder speed error
As above based on a precision aviation attitude system Combinated navigation method in thunder speed, wherein: with thunder speed information V lSdeduct real-time thunder speed error or average thunder speed error obtain revised thunder speed information V ' lS.
As above based on a precision aviation attitude system Combinated navigation method in thunder speed, wherein: the integrated navigation of described step (3) is specifically divided into:
(3.1) to revised thunder speed information V ' lScarry out course decomposition:
Wherein, for aviation attitude system course angle, V n2, V e2for north orientation, east orientation speed after the decomposition of course;
(3.2) dead reckoning is carried out:
L DR = L 0 + ∫ 0 n V N 2 dt / R N λ DR = λ 0 + ∫ 0 n V E 2 dt / ( R E cos L DR )
Wherein, L 0, λ 0be respectively and start dead reckoning moment latitude, longitude; R nfor along meridian radius-of-curvature; R efor the radius-of-curvature along prime vertical; L dR, λ dRbe respectively the latitude after dead reckoning, longitude, n is computing time;
(3.3) using aviation attitude system relative to the velocity error of thunder speed and the longitude and latitude error of relative dead reckoning as observed quantity set up integrated navigation Kalman filter, carry out navigation and calculate, wherein, v n, V ebe respectively north orientation, east orientation speed that inertial navigation system navigational solution calculates; L, λ are respectively latitude, the longitude that inertial navigation system navigational solution calculates.
Precision boat appearance air navigation aid in a kind of torpedo, comprises the steps: that first aviation attitude system energising carries out initial alignment, then torpedo-launching; After torpedo-launching, enter stable motion state through the motion of automobile; Carry out thunder speed estimation of error; Then at the uniform velocity direct route during adopt a kind of based on thunder speed in precision aviation attitude system Combinated navigation method carry out navigation calculation; When torpedo way point is turned, the speed of aviation attitude system is adopted to carry out dead reckoning; Way point returns to when at the uniform velocity sailing through to after turning and terminating, and adopts a kind ofly to carry out navigation calculation based on precision aviation attitude system Combinated navigation method in thunder speed.
The invention has the beneficial effects as follows:
After the present invention utilizes aviation attitude system to aim at, in the short time, velocity accuracy this feature higher is estimated thunder speed error and revises, in utilizing revised thunder speed information auxiliary, precision aviation attitude system carries out integrated navigation, increase substantially the guidance positioning precision of torpedo, overcome integrated navigation precision low, the shortcomings such as combined information fluctuating range is large.The method is without the need to increasing new equipment, and cost is low, independence good, method is simple, provides a kind of effective way for middle precision aviation attitude system improves integrated navigation precision.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of precision boat appearance air navigation aid in a kind of torpedo.
Embodiment
A kind ofly to be introduced based on precision aviation attitude system Combinated navigation method in thunder speed provided by the invention below in conjunction with drawings and Examples:
Based on a precision aviation attitude system Combinated navigation method in thunder speed, comprise the following steps:
(1) moving alignment matched based on speed or speed and attitude is carried out in the aviation attitude system preparatory stage, aviation attitude system short time (being less than or equal to 1min) pure-inertial guidance velocity accuracy after guaranteeing torpedo-launching; Alignment methods is the common practise of those skilled in the art.
Wherein, after after torpedo-launching, namely aviation attitude system transduction is navigated, 1min pure-inertial guidance velocity error is not more than 0.12m/s.
(2) utilize aviation attitude system velocity information correction thunder speed information, obtain average thunder speed error
(2.1) first aviation attitude system resultant velocity is calculated:
V INS = V N 2 + V E 2 - - - ( 1 )
Wherein, V n, V ebe respectively aviation attitude system pure-inertial guidance velocity information, V iNSfor the aviation attitude system resultant velocity calculated.
(2.2) real-time thunder speed error is calculated:
δV＝V LS-V INS(2)
Wherein, V lSthe thunder speed information obtained for converting through torpedo revolution speed of propeller, δ V is the real-time thunder speed error calculated.In order to avoid the influence of fluctuations of thunder speed, adopt running mean method, moving window is 10s, and estimated time is 60s, and estimated result is designated as average thunder speed error
(2.3) real-time thunder speed error or average thunder speed error is utilized obtain revised thunder speed information V ' lS:
V LS ′ = V LS - δ V ‾ - - - ( 3 )
(3) revised thunder speed information is utilized to assist aviation attitude system to carry out integrated navigation.
(3.1) to revised thunder speed information V ' lScarry out course decomposition:
Wherein, for aviation attitude system course angle, V n2, V e2for north orientation, east orientation speed after the decomposition of course.
(3.2) dead reckoning is carried out:
L DR = L 0 + ∫ 0 n V N 2 dt / R N λ DR = λ 0 + ∫ 0 n V E 2 dt / ( R E cos L DR ) - - - ( 5 )
Wherein, L 0, λ 0be respectively and start dead reckoning moment latitude, longitude; R nfor along meridian radius-of-curvature; R efor the radius-of-curvature along prime vertical; L dR, λ dRbe respectively the latitude after dead reckoning, longitude, n.
(3.3) using aviation attitude system relative to the velocity error of thunder speed and the longitude and latitude error of relative dead reckoning as observed quantity set up integrated navigation Kalman filter, carry out integrated navigation calculating, wherein, v n, V ebe respectively north orientation, east orientation speed that inertial navigation system navigational solution calculates; L, λ are respectively latitude, the longitude that inertial navigation system navigational solution calculates.
As shown in Figure 1, precision boat appearance air navigation aid in a kind of torpedo, comprises the steps: that first aviation attitude system energising carries out initial alignment, then torpedo-launching; After torpedo-launching, just can complete in 1min turn to, depthkeeping, a series of motion of automobile such as acceleration, thus enter comparatively stable motion state; The 10s time is utilized to carry out thunder speed estimation of error; Then at the uniform velocity direct route during adopt provided by the invention a kind of based on thunder speed in precision aviation attitude system Combinated navigation method carry out navigation calculation, namely thunder speed dead reckoning+aviation attitude system integrated navigation; When torpedo way point is turned (being usually less than 30s), thunder speed information is inaccurate, now carries out dead reckoning by the speed of existing aviation attitude system; Way point returns to when at the uniform velocity sailing through to after turning and terminating, and adopts provided by the inventionly a kind ofly to carry out navigation calculation based on precision aviation attitude system Combinated navigation method in thunder speed.
For checking navigation accuracy, test as follows, wherein aviation attitude system inertia device canonical parameter: three gyrostatic constant value drifts are 0.1 °/h, random drift is 0.1 °/h; The constant value zero of three accelerometers is 0.000980147m/s2 partially, and random zero is 0.000980147m/s2 partially.
After initial alignment, the velocity error in aviation attitude system pure-inertial guidance 60s moment is respectively: north orientation velocity error 0.051m/s (1 σ), east orientation velocity error 0.059m/s (1 σ), be all better than 0.12m/s.
During navigation 50s ~ 60s, the thunder speed error estimated integrated navigation 8 groups test integrated positioning error is respectively 883m, 1782m, 1260m, 1462m, 1003m, 828m, 1389m, 1028m, statistics navigation accuracy should be 1248m (1 σ), be less than the 2000m of index request, complete the integrated navigation of aviation attitude system.
This method has increased substantially the guidance positioning precision of torpedo, meets request for utilization, has that cost is low, the simple feature of method, has general applicability to precision aviation attitude system in great majority.

Claims (2)

1., based on a precision aviation attitude system Combinated navigation method in thunder speed, comprise the following steps:
(1) moving alignment matched based on speed or speed and attitude is carried out in the aviation attitude system preparatory stage;
(2) aviation attitude system velocity information correction thunder speed information is utilized;
(3) revised thunder speed information is utilized to assist aviation attitude system to carry out integrated navigation;
In described step (3), utilize revised thunder speed information to carry out course decomposition and obtain north orientation, east orientation speed; Obtain the latitude after dead reckoning, longitude again; Using aviation attitude system relative to the velocity error of thunder speed and the longitude and latitude error of relative dead reckoning as observed quantity, set up integrated navigation Kalman filter, carry out navigation and calculate;
The method revising thunder speed information in described step (2) is as follows:
(2.1) aviation attitude system resultant velocity is calculated:
V INS = V N 2 + V E 2
Wherein, V n, V ebe respectively aviation attitude system pure-inertial guidance velocity information, V iNSfor the aviation attitude system resultant velocity calculated;
(2.2) real-time thunder speed error is calculated:
δV＝V LS-V INS
Wherein, V lSthe thunder speed information obtained for converting through torpedo revolution speed of propeller, δ V is the real-time thunder speed error calculated;
Running mean method is adopted to estimate average thunder speed error in described step (2)
With thunder speed information V lSdeduct real-time thunder speed error or average thunder speed error obtain revised thunder speed information V l' s;
The integrated navigation of described step (3) is specifically divided into:
(3.1) to revised thunder speed information V l' scarry out course decomposition:
Wherein, for aviation attitude system course angle, V n2, V e2for north orientation, east orientation speed after the decomposition of course;
(3.2) dead reckoning is carried out:
L DR = L 0 + ∫ 0 n V N 2 dt / R N λ DR = λ 0 + ∫ 0 n V E 2 dt / ( R E cos L DR )
Wherein, L 0, λ 0be respectively and start dead reckoning moment latitude, longitude; R nfor along meridian radius-of-curvature; R efor the radius-of-curvature along prime vertical; L dR, λ dRbe respectively the latitude after dead reckoning, longitude, n is computing time;
(3.3) using aviation attitude system relative to the velocity error of thunder speed and the longitude and latitude error of relative dead reckoning as observed quantity set up integrated navigation Kalman filter, carry out navigation and calculate,
Wherein, Z → k = V N - V N 2 V E - V E 2 L - L DR λ - λ DR , V n, V ebe respectively north orientation, east orientation speed that inertial navigation system navigational solution calculates; L, λ are respectively latitude, the longitude that inertial navigation system navigational solution calculates.
2. a precision boat appearance air navigation aid in torpedo, is characterized in that: comprise the steps: that first aviation attitude system energising carries out initial alignment, then torpedo-launching; After torpedo-launching, enter stable motion state through the motion of automobile; Carry out thunder speed estimation of error; Then at the uniform velocity direct route during adopt as claimed in claim 1 a kind of based on thunder speed in precision aviation attitude system Combinated navigation method carry out navigation calculation; When torpedo way point is turned, the speed of aviation attitude system is adopted to carry out dead reckoning; Way point returns to when at the uniform velocity sailing through to after turning and terminating, and adopts a kind ofly as claimed in claim 1 to carry out navigation calculation based on precision aviation attitude system Combinated navigation method in thunder speed.
CN201210016707.2A 2012-01-18 2012-01-18 Integrated navigation method for medium-accuracy heading and attitude system on basis of torpedo speed Active CN102607556B (en)

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CN104748629B (en) * 2015-04-02 2016-08-17 西北工业大学 A kind of underwater sound multiple target method of guidance based on Artificial Potential Field Method
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CN111121761B (en) * 2018-11-01 2023-02-10 北京自动化控制设备研究所 Method for determining micro-mechanical inertial navigation rolling angle based on airspeed

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CN101393025A (en) * 2008-11-06 2009-03-25 哈尔滨工程大学 AUV combined navigation system non-tracing switch method
CN101413800A (en) * 2008-01-18 2009-04-22 南京航空航天大学 Navigating and steady aiming method of navigation / steady aiming integrated system
CN102050226A (en) * 2009-10-30 2011-05-11 航天科工惯性技术有限公司 Aviation emergency instrument, and system initial alignment method and combined navigation algorithm thereof

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Publication number Priority date Publication date Assignee Title
CN101413800A (en) * 2008-01-18 2009-04-22 南京航空航天大学 Navigating and steady aiming method of navigation / steady aiming integrated system
CN101393025A (en) * 2008-11-06 2009-03-25 哈尔滨工程大学 AUV combined navigation system non-tracing switch method
CN102050226A (en) * 2009-10-30 2011-05-11 航天科工惯性技术有限公司 Aviation emergency instrument, and system initial alignment method and combined navigation algorithm thereof

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