CN102706365B - Calibration method for three-beam laser velocimeter on basis of navigation system - Google Patents

Calibration method for three-beam laser velocimeter on basis of navigation system Download PDF

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CN102706365B
CN102706365B CN201210208064.1A CN201210208064A CN102706365B CN 102706365 B CN102706365 B CN 102706365B CN 201210208064 A CN201210208064 A CN 201210208064A CN 102706365 B CN102706365 B CN 102706365B
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laser velocimeter
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CN102706365A (en
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张小跃
林志立
潘建业
张春熹
宋凝芳
尹俊杰
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北京航空航天大学
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Abstract

A calibration method for a three-beam laser velocimeter on basis of a navigation system comprises the following seven steps: 1, installing an inertial unit, a differential GPS and the laser velocimeter on a carrier, and binding initial position parameters onto a navigation computer; 2, preheating a strap down inertial unit, and collecting the output data of a gyroscope and an accelerometer; 3, preprocessing the collected output data; 4, initiating the differential GPS and the laser velocimeter, allowing the system to switch into an SINS/DGPS mode from an alignment mode, and allowing the carrier to begin moving; 5, collecting the output of the velocimeter and the output of an SINS/DGPS combination navigation system when the carrier is in different motion states at different times; 6, respectively identifying the error of three installation angles and the scale factor of the laser velocimeter by a least square method; and 7, evaluating and analyzing the calibration precision. According to the invention, the accurate calibration of the three-beam laser velocimeter is realized through utilizing the characteristics of the strap down inertial unit and the combination navigation system that the output speed precision is high. Therefore, the calibration method has a practical value in the inertial navigation technology field.

Description

A kind of three wave beam laser velocimeter scaling methods based on navigational system

Technical field:

The present invention relates to a kind of three wave beam laser velocimeter scaling methods based on navigational system, belong to inertial navigation technology/integrated navigation technology field.

Background technology:

Laser velocimeter is as a kind of speed pickup, have advantages of completely autonomous, precision is high, the wide ranges that tests the speed, dynamic property is good and non-cpntact measurement.Independent laser velocimeter does not possess navigation locating function, but can have complementary advantages with inertial navigation system combination, can realize complete autonomous, high precision navigator fix.

In the actual use of integrated navigation system, inertial navigation system and three wave beam laser velocimeters are contained in respectively the diverse location of carrier, need to demarcate knotmeter established angle, the laser velocimeter constant multiplier simultaneously recording in laboratory can change in actual use, need to demarcate scale factor error.In open source literature, the laser velocimeter for navigator fix field does not have unified scaling method at present, propose the scaling method of a kind of three wave beam laser velocimeter established angles and scale factor error herein, solved the underlying issue of laser velocimeter and inertial navigation combined system navigator fix in engineering reality.

Summary of the invention:

1, object: the object of this invention is to provide a kind of three wave beam laser velocimeter scaling methods based on navigational system, it has overcome the deficiencies in the prior art, has solved the problem that need to demarcate established angle and scale factor error when laser velocimeter installs on carrier.

2, technical scheme: a kind of three wave beam laser velocimeter scaling methods based on navigational system of the present invention, the method concrete steps are as follows:

Step 1, strapdown inertial navitation system (SINS), differential GPS and laser velocimeter are installed on carrier, bookbinding initial position parameters (comprising initial longitude, latitude and height) is to the navigational computer of inertial navigation.

Step 2, inertial navigation preheating, then gather the output data of gyro and accelerometer.

Step 3, the gyro collecting and accelerometer data are processed, theoretical according to strapdown inertial navitation system (SINS) error Propagation Property and Classical control, adopt second order leveling and orientation estimation algorithm to carry out the coarse alignment of completion system, tentatively determine attitude of carrier angle.The coarse alignment time is 1 minute.After coarse alignment, utilize Kalman Filter Technology fine alignment 5 minutes.

Step 4, startup differential GPS and laser velocimeter, inertial navigation system is switched to SINS/DGPS(strapdown inertial navitation system (SINS)/differential GPS by alignment pattern) Integrated navigation mode (Fig. 1 is shown in by combinational algorithm block diagram), switched rear carrier setting in motion.

Step 5, the output of taking knotmeter under carrier different motion state and the output of SINS/DGPS integrated navigation system, at least adopt three not outputs in the same time.

Step 6, utilize least square method respectively established angle and the scale factor error of three wave beams of identification laser velocimeter.

Step 7, stated accuracy evaluation analysis.

Step 1-7 are divided into three phases, and step 1-3 are the preparatory stage, and step 4-6 are laser velocimeter calibration phase (Fig. 2 is shown in by scaling method block diagram), and step 7 is calibration result evaluation phase.

Wherein, established angle and the scale factor error of the least squares identification three wave beam laser velocimeters described in step 6, specific implementation procedure declaration is as follows:

Certain wave beam in three wave beam laser velocimeters of take is introduced its established angle and scale factor error scaling method as example, and the established angle of two other wave beam and scale factor error scaling method are identical therewith.

Definition V lfor laser velocimeter output, being respectively SINS/DGPS is the output on axially of three of x, y, z at carrier, and δ K is laser velocimeter scale factor error, and it is three axial angles of x, y, z that α, β, γ are respectively laser velocimeter and carrier.Record n point (n>=3) single beam knotmeter output V l(1), V l(2) ... V land n point (n>=3) SINS/DGPS output (n)

By V L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) Can obtain

V L ( 1 ) V L ( 2 ) · · · V L ( n ) = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) cos α cos β cos γ [ 1 + δK ]

Order Z = V L ( 1 ) V L ( 2 ) · · · V L ( n ) , H = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) , X = cos α cos β cos γ [ 1 + δK ]

By least-squares estimation formula can solve the least-squares estimation of X

By cos 2α+cos 2β+cos 2γ=1

X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 = ( 1 + δK ) 2 ( cos 2 α + cos 2 β + cos 2 γ ) = 1 + δK , Therefore δK = X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 - 1

α = arccos ( X ^ ( 1 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

β = arccos ( X ^ ( 2 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

γ = arccos ( X ^ ( 3 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

Wherein, the stated accuracy evaluation analysis described in step 7, specific implementation procedure declaration is as follows:

By calibration result δ K, α, β, γ substitution

V ^ L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) , ?

By following standard deviation computing formula, calculate with knotmeter real output value V l(1), V l(2) ... V l(n) dispersion degree between, judges the degree of accuracy of calibration result thus.

σ = ( [ V L ( 1 ) - V L ( 1 ) ^ ] 2 + [ V L ( 2 ) - V L ( 2 ) ^ ] 2 + · · · + [ V L ( n ) - V L ( n ) ^ ] 2 ) / ( n - 1 ) .

3, advantage and effect: a kind of three wave beam laser velocimeter scaling methods based on navigational system of the present invention, the advantage of the method is to utilize inertial navigation and the high feature of differential GPS integrated navigation system output speed precision to realize Accurate Calibration to three wave beam laser velocimeters, solved the problem that three wave beam laser velocimeter established angles and scale error are difficult to test, for the raising of inertial navigation system/laser velocimeter integrated navigation precision provides the foundation.

Accompanying drawing explanation

Fig. 1 is SINS/DGPS combinational algorithm block diagram;

Fig. 2 is laser velocimeter scaling method block diagram;

Fig. 3 is the process flow diagram of the present invention's three wave beam laser velocimeter scaling methods.

In figure, symbol description is as follows:

DGPS: differential GPS

V t: the speed under the Department of Geography of integrated navigation system output

V b: the speed under the carrier system of integrated navigation system output

V l: the speed of laser velocimeter output

α, β, γ: laser velocimeter wave beam and carrier are three axial angles of x, y, z

δ K: laser velocimeter scale factor error

SINS/DGPS: strapdown inertial navitation system (SINS)/differential GPS

Embodiment:

See Fig. 3, a kind of three wave beam laser velocimeter scaling methods based on navigational system of the present invention, the method concrete steps are as follows:

Step 1, strapdown inertial navitation system (SINS), differential GPS and laser velocimeter are installed on carrier, bookbinding initial position parameters (comprising initial longitude, latitude and height) is to the navigational computer of inertial navigation.

Step 2, inertial navigation preheating, then gather the output data of gyro and accelerometer.

Step 3, the gyro collecting and accelerometer data are processed, theoretical according to strapdown inertial navitation system (SINS) error Propagation Property and Classical control, adopt second order leveling and orientation estimation algorithm to carry out the coarse alignment of completion system, tentatively determine attitude of carrier angle.The coarse alignment time is 1 minute.After coarse alignment, utilize Kalman Filter Technology fine alignment 5 minutes.

Step 4, startup differential GPS and laser velocimeter, inertial navigation system is switched to SINS/DGPS Integrated navigation mode (Fig. 1 is shown in by combinational algorithm block diagram) by alignment pattern, has switched rear carrier setting in motion.

Step 5, the output of taking knotmeter under carrier different motion state and the output of SINS/DGPS integrated navigation system, at least adopt three not outputs in the same time.

Step 6, utilize least square method respectively established angle and the scale factor error of three wave beams of identification laser velocimeter.

Step 7, stated accuracy evaluation analysis.

Step 1-7 can be divided into three phases, step 1-3 are the preparatory stage, and step 4-6 are laser velocimeter calibration phase (Fig. 2 is shown in by scaling method block diagram), and step 7 is calibration result evaluation phase.

Wherein, established angle and the scale factor error of the least squares identification three wave beam laser velocimeters described in step 6, specific implementation procedure declaration is as follows:

Certain wave beam in three wave beam laser velocimeters of take is introduced its established angle and scale factor error scaling method as example, and the established angle of two other wave beam and scale factor error scaling method are identical therewith.

Definition V lfor laser velocimeter output, being respectively SINS/DGPS is the output on axially of three of x, y, z at carrier, and δ K is laser velocimeter scale factor error, and it is three axial angles of x, y, z that α, β, γ are respectively laser velocimeter and carrier.

Record n point (n>=3) single beam knotmeter output V l(1), V l(2) ... V land n point (n>=3) SINS/DGPS output (n) by V L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) Can obtain

V L ( 1 ) V L ( 2 ) · · · V L ( n ) = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) cos α cos β cos γ [ 1 + δK ]

Order Z = V L ( 1 ) V L ( 2 ) · · · V L ( n ) , H = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) , X = cos α cos β cos γ [ 1 + δK ]

By least-squares estimation formula can solve the least-squares estimation of X

By cos 2α+cos 2β+cos 2γ=1

X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 = ( 1 + δK ) 2 ( cos 2 α + cos 2 β + cos 2 γ ) = 1 + δK , Therefore δK = X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 - 1

α = arccos ( X ^ ( 1 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

β = arccos ( X ^ ( 2 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

γ = arccos ( X ^ ( 3 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )

Wherein, the stated accuracy evaluation analysis described in step 7, specific implementation procedure declaration is as follows:

By calibration result δ K, α, β, γ substitution

V ^ L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) , ?

By standard deviation computing formula (following formula), calculate the velocity amplitude that knotmeter should responsive arrive with knotmeter real output value V l(1), V l(2) ... V l(n) dispersion degree between, judges the degree of accuracy of calibration result thus.

σ = ( [ V L ( 1 ) - V L ( 1 ) ^ ] 2 + [ V L ( 2 ) - V L ( 2 ) ^ ] 2 + · · · + [ V L ( n ) - V L ( n ) ^ ] 2 ) / ( n - 1 ) .

Claims (1)

1. three wave beam laser velocimeter scaling methods based on navigational system, is characterized in that: the method concrete steps are as follows:
Step 1, strapdown inertial navitation system (SINS), differential GPS and laser velocimeter are installed on carrier, bookbinding initial position parameters is that initial longitude, latitude and height is to the navigational computer of inertial navigation;
Step 2, inertial navigation preheating, then gather the output data of gyro and accelerometer;
Step 3, the gyro collecting and accelerometer data are processed, theoretical according to strapdown inertial navitation system (SINS) error Propagation Property and Classical control, adopt second order leveling and orientation estimation algorithm to carry out the coarse alignment of completion system, tentatively determine attitude of carrier angle; The coarse alignment time is 1 minute, utilizes Kalman Filter Technology fine alignment 5 minutes after coarse alignment;
Step 4, startup differential GPS and laser velocimeter, it is strapdown inertial navitation system (SINS)/differential GPS Integrated navigation mode that inertial navigation system is switched to SINS/DGPS by alignment pattern, has switched rear carrier setting in motion;
Step 5, the output that gathers knotmeter under carrier different motion state and the output of SINS/DGPS integrated navigation system, at least adopt three not outputs in the same time;
Step 6, utilize least square method respectively established angle and the scale factor error of three wave beams of identification laser velocimeter;
Step 7, stated accuracy evaluation analysis;
Wherein, established angle and the scale factor error of the least squares identification three wave beam laser velocimeters described in step 6, specific implementation procedure declaration is as follows:
Certain wave beam in three wave beam laser velocimeters of take is introduced its established angle and scale factor error scaling method as example, and the established angle of two other wave beam and scale factor error scaling method are identical therewith;
Definition V lfor laser velocimeter output, being respectively SINS/DGPS is the output on axially of three of x, y, z at carrier, and δ K is laser velocimeter scale factor error, and it is three axial angles of x, y, z that α, β, γ are respectively laser velocimeter and carrier; Record n some single beam knotmeter output V l(1), V l(2) ... V land the SINS/DGPS output of n point (n) wherein, n>=3;
By V L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) ?
V L ( 1 ) V L ( 2 ) · · · V L ( n ) = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) = cos α cos β cos γ [ 1 + δK ]
Order Z = V L ( 1 ) V L ( 2 ) · · · V L ( n ) , H = V x b ( 1 ) V y b ( 1 ) V z b ( 1 ) V x b ( 2 ) V y b ( 2 ) V z b ( 2 ) · · · · · · · · · V x b ( n ) V y b ( n ) V z b ( n ) , X = cos α cos β cos γ [ 1 + δK ]
By least-squares estimation formula solve the least-squares estimation of X ;
By cos 2α+cos 2β+cos 2γ=1
X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 = ( 1 + δK ) 2 ( cos 2 α + cos 2 β + cos 2 γ ) = 1 + δK , therefore
δK = X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 - 1
α = arccos ( X ^ ( 1 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )
β = arccos ( X ^ ( 1 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 )
γ = arccos ( X ^ ( 1 ) / X ^ ( 1 ) 2 + X ^ ( 2 ) 2 + X ^ ( 3 ) 2 ) ;
Wherein, the stated accuracy evaluation analysis described in step 7, specific implementation procedure declaration is as follows:
By calibration result δ K, α, β, γ substitution
V ^ L = ( 1 + δK ) ( V x b cos α + V y b cos β + V z b cos γ ) ,
By following standard deviation computing formula, calculate with knotmeter real output value V l(1), V l(2) ... V l(n) dispersion degree between, judges the degree of accuracy of calibration result thus;
σ = ( [ V ^ L ( 1 ) - V L ( 1 ) ] 2 + [ V ^ L ( 2 ) - V L ( 2 ) ] 2 + · · · + [ V ^ L ( n ) - V L ( N ) ] 2 ) / ( n - 1 ) .
CN201210208064.1A 2012-06-19 2012-06-19 Calibration method for three-beam laser velocimeter on basis of navigation system CN102706365B (en)

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CN104165641B (en) * 2014-08-27 2017-01-25 北京航空航天大学 Milemeter calibration method based on strapdown inertial navigation/laser velocimeter integrated navigation system
CN104180821B (en) * 2014-08-27 2017-04-19 北京航空航天大学 Milemeter calibration method based on synchronous measurement and location calculation
CN104596540B (en) * 2014-10-13 2017-04-19 北京航空航天大学 Semi-physical simulation method of inertial navigation/mileometer combined navigation
CN104596512B (en) * 2014-10-13 2017-06-06 北京航空航天大学 A kind of odometer Data Modeling Method for integrated navigation HWIL simulation
CN106595715B (en) * 2016-12-30 2019-08-30 中国人民解放军信息工程大学 Based on inertial navigation and satellite combined guidance system mileage meter calibration method and device

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