CN102706361B - A kind of high precision many inertial navigation systems attitude accuracy assessment method - Google Patents

A kind of high precision many inertial navigation systems attitude accuracy assessment method Download PDF

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Publication number
CN102706361B
CN102706361B CN201210156278.9A CN201210156278A CN102706361B CN 102706361 B CN102706361 B CN 102706361B CN 201210156278 A CN201210156278 A CN 201210156278A CN 102706361 B CN102706361 B CN 102706361B
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attitude
laser
inertial navigation
accuracy
inertial
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CN201210156278.9A
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CN102706361A (en
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陶冶
袁书明
杜红松
陈晶
贾珂
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中国人民解放军92537部队
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Abstract

A kind of high precision many inertial navigation systems attitude accuracy assessment method, adopt a set of laser tracker and attitude gauge head (TMAC), transit, tilter (or turntable) and synchrodata recording device, by accuracy Initial Alignment Calibration, oscillating motion and synchronous data collection, evaluation while realizing many cover high accuracy inertial navigation system attitude accuracies.Tilter (or turntable) provides dynamic rocking environment, can carry out the swing in pitching, roll and course according to period demand and amplitude.Laser tracker and attitude gauge head (TMAC) thereof can measure three attitude angle of tilter under Department of Geography in real time.The signal generator of synchrodata recording device send simultaneously TTL sync level to laser tracker with overlap high accuracy inertial navigation system more, data for triggering synchronization export, again by laser tracker with overlap the synchronization attitude that high accuracy inertial navigation system exports more and be stored into recording device, after off-test, export attitude for benchmark with laser tracker, statistics obtains the attitude accuracy of many cover high accuracy inertial navigation system respectively.The present invention is specially adapted to the attitude accuracy evaluation of Laser-gym Inertial Navigation System, the present invention can complete and evaluate the attitude accuracy of many cover High Accuracy Inertial Navigation Systems simultaneously, present invention achieves with the simplest apparatus assembly, simultaneously the dynamic accuracy of evaluation many covers inertial navigation system attitude.

Description

A kind of high precision many inertial navigation systems attitude accuracy assessment method

Technical field

The invention belongs to inertial navigation attitude dynamic accuracy assessment technology field, in particular to measuring equipments such as high precision high accuracy inertial navigation system, laser tracker, tilter, electrolevel, transits, be applicable to evaluate many cover inertial navigation system attitude accuracies simultaneously.

Background technology

Laser-gym Inertial Navigation System has the high advantage of precision, the Laser-gym Inertial Navigation System precision on naval vessel is made to have remarkable lifting by rotation modulation technology in recent years, attitude accuracy can reach 1.7 ' (RMS), course precision 2 ' (RMS), in order to verify that whether the actual dynamically attitude accuracy of Laser-gym Inertial Navigation System touches the mark requirement, needs the precision of test macro to be better than laser inertial precision more than 3 times.The low precision inertial navigation attitude dynamic evaluation method of tradition is: choose a kind of High Accuracy Inertial and compare as attitude reference with GPS integrated navigation, because measured laser inertial navigation precision is enough high, be difficult to find more high-precision inertial navigation as attitude reference again, the method must seeking other principles carries out dynamic attitude accuracy evaluation to high-precision laser inertial navigation.

At present, domesticly generally to be evaluated high-precision laser inertial navigation attitude accuracy by two kinds of approach, a kind of is the dynamic accuracy of the turntable evaluation laser inertial utilizing superhigh precision, and another kind is evaluated laser inertial dynamic accuracy by astronomical equipment.Because high precision turntable load capacity is limited, be generally no more than 80kg, and have buffering pedestal high-precision laser inertial navigation generally at more than 100kg, be not suitable for waving for a long time use; Stellar equipment is generally at sea evaluated owing to grabbing the problems such as star difficulty.

The attitude accuracy assessment method based on laser tracker and tilter that this patent proposes overcomes above-mentioned deficiency, be specially adapted to the dynamic attitude accuracy evaluation of multiple stage laser inertial, and rigors is not proposed to tilter precision, what be particularly suitable for more than multiple stage laser inertial 24h waves evaluation continuously, frequency acquisition can reach 50Hz, has the advantage that additive method is incomparable.

In sum, current inertial navigation system attitude accuracy assessment method, also exists following deficiency:

(1) high accuracy inertial navigation system two-forty attitude accuracy evaluation requirement cannot be met;

(2) dynamic accuracy evaluation cannot be carried out to many cover laser inertial simultaneously;

(3) requirement that is round-the-clock, real-time accuracy evaluation can not be met.

Summary of the invention

The object of the invention is: overcome existing inertial navigation system attitude accuracy assessment method precision low, the deficiency that cost is high, provide a kind of and be simply suitable for, assessment method that precision is high.By the evaluation utilizing laser tracker, signal generator, tilter or turntable and date collection system just can complete the dynamic attitude accuracy of many cover laser inertial.

Technical solution of the present invention is: for inertial navigation system attitude accuracy evaluation requirement, tilter is utilized to provide dynamic rocking environment, mathematical way is utilized the system of axis of laser tracker and each laser inertial to be evened up, by the synchronous triggering of signal generator, directly gather the attitude accuracy calculating laser inertial.

The core that the evaluation of high precision many inertial navigation systems attitude accuracy realizes be utilize laser tracker to respond fast, the advantage of high-acruracy survey, its attitude gauge head is alignd in the time and space with laser inertial, laser tracker measures its gauge head attitude, as the standard value of the output valve of laser inertial, calculate attitude accuracy.

Concrete high precision many inertial navigation systems attitude accuracy assessment method, comprises the following steps:

(1) in the space that tilter is contiguous, set up 5 reference mark, utilize a high-precision transit to aim at reference mark, measure its orientation and elevation angle;

(2) use laser tracker to measure 5 reference mark, utilize the phasor coordinate of 5 relative transit centre in reference mark, the instrument coordinates system of laser tracker is transformed into geographic coordinate system;

(3) laser tracker measurement is fixed on the attitude gauge head on tilter or turntable, exports the initial attitude of gauge head under Department of Geography;

(4) after laser inertial has been aimed at, utilize the initial attitude of laser tracker gauge head, calculate the transition matrix between attitude gauge head and laser inertial, this matrix is bound into laser inertial, complete numeral bookbinding.

(5) tilter or turntable are opened, and wave according to certain cycle and amplitude, not high for the position accuracy demand of waving, only for providing a kind of dynamic environment.

(6) signal generator sends 1 ~ 50 hertz of fixing TTL synchronizing signal, and laser inertial and laser tracker accept this signal simultaneously, at the rising edge of signal, and triggering collection data, and data are sent to date collection system by RS232 interface.

(7) reject the outlier existed in data, when occurring that laser tracker data are imperfect, all data in this moment neither participate in calculating.When certain moment, rough error all appearred in many covers laser inertial, judge that these moment laser tracker data are as invalid, all data in this moment do not participate in calculating.The rough error occurred for laser inertial self reason carries out retaining and participating in accuracy computation.

Principle of the present invention is: utilize math matrix to rotate spatial attitude, realizes each equipment and exports the spatially unification of attitude numerical value.With Eulerian angle Φ 1, θ 1, Ψ 1represents that the stable state that inertial navigation is sat down in local Department of Geography exports, with Eulerian angle Φ 2, θ 2, Ψ 2represents that the stable state that laser tracker gauge head is sat down in local Department of Geography exports, and inertial navigation to the rotation matrix of laser tracker gauge head coordinate system is

C t b = cos θ 1 cos ψ 1 cos θ 1 sin ψ 1 - sin θ 1 sin θ 1 sin φ 1 cos ψ 1 - cos φ 1 sin ψ 1 sin θ 1 sin φ 1 sin ψ 1 + cos φ 1 cos ψ 1 sin φ 1 cos θ 1 sin θ 1 cos φ 1 cos ψ 1 + sin φ 1 sin ψ 1 - sin φ 1 cos ψ 1 sin θ 1 cos φ 1 sin ψ 1 cos φ 1 cos θ 1

* cos θ 2 cos ψ 2 cos θ 2 sin ψ 2 - sin θ 2 sin θ 2 sin φ 2 cos ψ 2 - cos φ 2 sin ψ 2 sin θ 2 sin φ 2 sin ψ 2 + cos φ 2 cos ψ 2 sin φ 2 cos θ 2 sin θ 2 cos φ 2 cos ψ 2 + sin φ 2 sin ψ 2 - sin φ 2 cos ψ 2 sin θ 2 cos φ 2 sin ψ 2 cos φ 2 cos θ 2 - 1

Before starting test, the stable state gathering one section of laser inertial and laser tracker gauge head respectively exports attitude data, will after draw be bound in the initial binding menu of laser inertial, in process of the test, this transition matrix is constant.Laser tracker measures the attitude of gauge head by photogrammetric principle, and at synchronization, the attitude of gauge head is the standard value of laser inertial.Utilize the rising edge triggering laser tracker controller of synchronizing signal and overlap laser inertial more and send attitude data simultaneously, realize the synchronous of time.

The present invention's advantage is compared with prior art: the uncertainty of measurement of standard value is little, and indoor round-the-clock long-term stability is run, and can evaluate simultaneously overlap laser inertial more, raising efficiency, reduces costs.Be in particular in following 3 points:

(1) laser tracker dynamically measures down the root-mean-square error of attitude about 0.25 ', and relative laser inertial navigation, its uncertainty of measurement meets measurement and calibration specification.Laser tracker can respond fast, and real-time 6DOF is measured, and under output Department of Geography, course, pitching and roll attitude angle, meet the evaluation requirement of laser inertial.The trigger mechanism of synchronizing signal simultaneously, can be alignd by the time shaft of many equipment well, the attitude angle formed under same time the same space coordinate system carries out computing.

(2) when evaluating laser inertial, maximum angular rate and the linear velocity of waving environment are all among the measurement range of laser tracker, and laser tracker itself is except shaking by ground, outside air turbulence, can long-term stable operation, can be laser inertial 24h and uninterruptedly provide standard value.

(3) laser tracker is as measurement standard, can evaluate simultaneously overlap laser inertial more.Because the time of evaluation separate unit laser inertial is comparatively very long, so evaluation can save human and material resources greatly simultaneously, increase work efficiency.With under the environment waved, be also easier to tests such as contrasting, preferred.

Accompanying drawing explanation

Fig. 1 is high precision many laser inertial posture accuracy assessment method process flow diagram.

Embodiment

The present invention with laser tracker and attitude gauge head be measurement mechanism, signal generator data-triggered device, tilter or turntable for laser inertial physics mounting platform, industrial control host be date collection system, high precision many inertial navigation systems attitude accuracy evaluate.Embodiment is as follows:

(1) overlap the attitude gauge head of laser inertial, laser tracker more in the upper installation of tilter (for tilter), at tilter southern side erection laser tracker main frame, in the space that tilter is contiguous, set up 5 reference mark be evenly distributed;

(2) utilize high-precision transit (can gyro-theodolite be used without during north orientation reference mirror), aim at 5 reference mark, survey record geographic azimuth and elevation angle.Laser tracker is used again to measure the three-dimensional coordinate at 5 reference mark.Laser tracker is by the vector of self institute's having electronic level measurement gravity vertical under instrument coordinates system, and in conjunction with the vector of 5 relative transit centre in reference mark, instrument coordinates system can be transformed into geographic coordinate system by laser tracker;

(3) laser tracker measurement is fixed on the attitude gauge head on tilter, follows the tracks of gauge head, and utilize photogrammetric principle by visible laser, and the luminous sign on responsive attitude gauge head resolves the attitude angle of attitude gauge head under Department of Geography;

(4) after laser inertial startup aligning completes, utilize the initial attitude of laser tracker attitude gauge head, calculate the transition matrix between attitude gauge head and laser inertial, this matrix is bound into laser inertial, complete numeral bookbinding.It is parallel with the coordinate system of attitude gauge head that laser inertial after bookbinding exports attitude.

(5) tilter is opened, and is separately positioned on course, cycle of rolling and pitching and amplitude, waves.Purposes due to tilter is the carrier in simulated voyage, not high for the position accuracy demand of waving.Under laser inertial not off-mode, switch and wave amplitude and cycle, complete multiple comprehensive examination of waving under stress.

(6) signal generator of synchronous recording device sends 1 ~ 50 hertz of a certain fixing TTL synchronizing signal, laser inertial and laser tracker accept this signal simultaneously, at the rising edge of signal, triggering collection data, and data are sent to date collection system by RS232 interface.Recording device is Multi-serial port wait-receiving mode pattern, and within the time interval of one second, the data of arrival save as a line by respective column, are designated as null value for the data do not arrived.

(7) reject the outlier existed in data, when occurring that laser tracker data are imperfect, all data in this moment neither participate in calculating.When certain moment, rough error all appearred in many covers laser inertial, judge that these moment laser tracker data are as invalid, all data in this moment do not participate in calculating.The rough error occurred for laser inertial self reason carries out retaining and participating in accuracy computation.Final data will be divided into course, rolling, pitching three indexs to calculate, and laser tracker data of respectively controlling oneself are standard value, calculate root-mean-square error, get the fiducial interval of 99%, calculate final evaluation result.

Above-mentioned steps (1) ~ (7) step, the test procedure of high precision many inertial navigation systems attitude accuracy evaluation, relate to the mounting means of instrument and equipment, coordinate system method for building up, synchronous to trigger, the method for data acquisition and data processing.By our test, carry out the attitude accuracy evaluation and test of water surface laser inertial according to above-mentioned steps, in the evaluation result of many cover laser inertial, maximum performance at 0.015 °, the prediction in Pass Test early stage.

The present invention as a kind of general High Accuracy Inertial attitude accuracy assessment method, can be applicable to precision 0.012 ° of (3 σ) all kinds of inertial navigation below.Equally in the design debug stage of this type of inertial navigation, also by the method, the factor affecting inertial navigation attitude accuracy can be separated, as examined the damping base error effect amount of inertial navigation.

Claims (3)

1. high precision many inertial navigation systems attitude accuracy assessment method, its feature comprises the following steps:
(1) in the space that tilter or turntable are close to, set up 5 reference mark, utilize a high-precision transit to aim at reference mark, measure its orientation and elevation angle;
(2) use laser tracker to measure 5 reference mark, utilize the phasor coordinate of 5 relative transit centre in reference mark, the instrument coordinates system of laser tracker is transformed into geographic coordinate system;
(3) laser tracker measurement is fixed on the attitude gauge head on tilter or turntable, exports the initial attitude of gauge head under Department of Geography;
(4) after laser inertial has been aimed at, utilize the initial attitude of laser tracker gauge head, calculate the transition matrix between attitude gauge head and laser inertial, this matrix is bound into laser inertial, complete numeral bookbinding; Numeral bookbinding is in an initial condition, by input transition matrix to inertial navigation system, the definition of Inertial Axis system is alignd with laser tracker attitude gauge head axle system;
(5) tilter or turntable are opened, and wave according to certain cycle and amplitude, not high for the position accuracy demand of waving, only for providing a kind of dynamic environment;
(6) signal generator sends 1 ~ 50 hertz of fixing TTL synchronizing signal, laser inertial and laser tracker accept this signal simultaneously, at the rising edge of signal, triggering collection data, and data are sent to date collection system by RS232 interface, recording device is Multi-serial port wait-receiving mode pattern, within the time interval of one second, the data arrived save as a line by respective column, are designated as null value for the data do not arrived;
(7) reject the outlier existed in data, when occurring that laser tracker data are imperfect, all data in this moment neither participate in calculating; When certain moment, rough error all appearred in many covers laser inertial, judge that these moment laser tracker data are as invalid, all data in this moment do not participate in calculating; The rough error occurred for laser inertial self reason carries out retaining and participating in accuracy computation.
2. high precision many inertial navigation systems attitude accuracy assessment method according to claim 1, it is characterized in that: described step (5) tilter or turntable wave environment according to waving spectrum generation, it waves spectrum and will set according to review approach, to the positional precision of tilter or turntable reality without rigors.
3. high precision many inertial navigation systems attitude accuracy assessment method according to claim 1, is characterized in that: described method is also applicable to laser gyro, optical fibre gyro, electrostatic gyroscope, liquid floated gyroscope inertial navigation system; For by digital bookbinding form, inertial navigation initial attitude being bound consistent with laser tracker gauge head initial attitude based on laser gyro, fiber-optic gyroscope strapdown system inertial navigation system, by zeroing position mode, inertial navigation initial attitude is bound consistent with laser tracker gauge head initial attitude for the inertial navigation of liquid floated gyroscope platform system.
CN201210156278.9A 2012-05-18 2012-05-18 A kind of high precision many inertial navigation systems attitude accuracy assessment method CN102706361B (en)

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CN103411613B (en) * 2013-07-12 2016-01-06 中北大学 Based on the missile-borne penetration attitude algorithm device of earth magnetism/micro-inertial navigation information combination
CN104567919A (en) * 2013-10-12 2015-04-29 北京航天计量测试技术研究所 Device for calibrating dynamic measurement errors of photogrammetric system and application method thereof
CN103674068B (en) * 2013-12-19 2017-04-12 哈尔滨工程大学 Laser tracker based transfer alignment verification method
CN103674067B (en) * 2013-12-19 2017-04-12 哈尔滨工程大学 Auto-collimation theodolite based transfer alignment verification method
CN104897169B (en) * 2015-02-03 2018-04-17 南京航空航天大学 A kind of dynamic accuracy test system and method for Miniature posture module
CN104697551B (en) * 2015-02-12 2017-10-20 中国科学院光电技术研究所 A kind of inertial navigation accuracy checking method based on quaternary number angle
CN106291609A (en) * 2016-07-29 2017-01-04 极翼机器人(上海)有限公司 A kind of RTK precision assessment method
CN107589431B (en) * 2017-04-24 2020-08-18 西安应用光学研究所 Target calibration method for improving target positioning accuracy of airborne photoelectric system
CN107976169B (en) * 2017-11-08 2020-05-22 中国人民解放军63686部队 Ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation

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