CN102788597A - Error suppressing method of rotary strap-down inertial navigation system based on space stabilization - Google Patents
Error suppressing method of rotary strap-down inertial navigation system based on space stabilization Download PDFInfo
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Abstract
The invention provides an error suppressing method of a rotary strap-down inertial navigation system based on space stabilization. The error suppressing method comprises the following steps: determining an initial position parameter of a carrier through a GPS (global positioning system) and binding the initial position parameter of the carrier in a navigation computer; preparing to preheat a strap-down inertial navigation system, collecting data output by a fiber-optic gyroscope and a quartz accelerometer and processing the data; rotating an IMU (inertial measurement unit) and then converting the data generated by the fiber-optic gyroscope and the quartz accelerometer to be in a navigation coordinate system to obtain modulation format of constant deviation of an inertial unit; analyzing calibration factor error and installment error of the gyroscope in a modulation type inertial navigation system with steady space; and calculating attitude error caused by the calibration factor error and the installment error of the gyroscope during a conversion progress between a coordinate system of the IMU and the inertial system. With the adoption of the error suppressing method disclosed by the invention, constant deviation of inertial units in three-axis directions is modulated, and al the calibration factor error and the mounting error are also prevented from being coupled with the rotational angular velocity of the earth, consequently, the system has better stabilization, and navigation positioning precision is improved.
Description
(I) technical field
The invention relates to a measuring method, in particular to a method for suppressing errors of a rotary strapdown inertial navigation system based on space stability.
(II) background of the invention
The spatially stable inertial navigation system is also called an analytic inertial navigation system. The gyroscope is a space-stabilized inertial platform which is stable relative to an inertial space and is realized by three sets of follow-up systems by utilizing the fixed axis property of the gyroscope in the inertial space, wherein the direction of the gyroscope is kept unchanged. Three mutually perpendicular accelerometers are arranged on the stable platform. Because the inertial platform has no rotational angular velocity relative to the inertial space, the accelerometer output signal does not have to eliminate the effect of harmful acceleration. Because the platform is stabilized in the inertial space, the components of the earth gravity field vector in the inertial system change under different positions, so that the gravity acceleration component appears in the output signal of the accelerometer, and the speed and position information of the carrier is obtained through the integral action after the gravity acceleration component is compensated.
High-precision strapdown inertial navigation systems require the use of high-performance inertial sensors and advanced system technology. Due to the limitations of the processing technology and the manufacturing level in China, the difficulty in manufacturing the high-performance inertial device is high, and meanwhile, the cost of the whole strapdown inertial navigation system is increased due to the high-performance inertial device, so that the advanced system technology is always a research hotspot of the strapdown inertial navigation system. The photoelectric devices related to the fiber-optic gyroscope cannot meet the overall requirements of gyroscope design technically and quantitatively, the development of the fiber-optic gyroscope is limited, and the precision of the existing fiber-optic gyroscope cannot meet the requirements of long endurance and high precision, so that the method for improving the navigation precision under the precision condition of the existing gyroscope is important to find.
The error modulation technique is a technique for automatic compensation of inertial device errors based on a rotating Inertial Measurement Unit (IMU). The error of the inertial measurement unit is the main determinant of the inertial navigation system error. The difficulty of manufacturing a high-performance inertial device is high due to the limitation of the process manufacturing level, and the cost of the whole strapdown inertial navigation system can be increased by developing the high-performance inertial device, so that the advanced system technology is a research hotspot of the strapdown inertial navigation system all the time. The rotational error modulation technique is an advanced system technique, which is to add a rotation and control mechanism outside the inertial element or IMU and then use the rotation to average out the influence of the drift of the inertial element on the navigation performance.
Disclosure of the invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art and provides a method for suppressing the error of the rotary strapdown inertial navigation system based on space stability.
The technical solution of the invention is as follows: a method for suppressing errors of a rotary strapdown inertial navigation system based on space stability is characterized in that an inertial measurement unit is stabilized in an equatorial plane, a four-ring structure is adopted to isolate the influence of angular motion of a carrier and the rotational angular velocity of the earth on the error modulation effect of the rotary modulation type strapdown inertial navigation system, the coupling of scale factor errors and installation errors of a gyroscope and the rotational angular velocity of the earth is avoided, the system has better stability, and the system position errors tend to zero gradually. The method comprises the following specific steps:
(1) determining initial position parameters of the carrier through a GPS, and binding the initial position parameters into a navigation computer;
(2) preheating preparation is carried out by the strapdown inertial navigation system, and data output by the optical fiber gyroscope and the quartz accelerometer are collected and processed;
(3) converting data generated by the fiber optic gyroscope and the quartz accelerometer after the IMU rotates into a navigation coordinate system to obtain a modulation form of constant deviation of the inertial device;
ox of inertial measurement unit coordinate systemsysPlane parallel to the equatorial plane of the earth, ozsThe axis is parallel to the rotation axis of the earth and points to be consistent with the rotation angular velocity direction of the earth (as shown in the attached figure 3), and the conversion relation between the IMU coordinate system and the navigation coordinate system is determined:
the attitude updating process of the modulation type strapdown system based on the space stability can be summarized as a pair matrix
Andobtaining the target value. Wherein,a transformation matrix between a navigation coordinate system and a terrestrial coordinate system;
the transformation matrix between the terrestrial coordinate system and the inertial system can be determined by the longitude lambda, the latitude L and the time interval t of the position of the carrier.
Setting the initial time IMU coordinate system to coincide with the inertial coordinate system, and then enabling the IMU to wind oz of the inertial coordinate system at a constant angular velocity omegaiThe shaft rotates continuously, and the relative position relationship of the two coordinate systems is as follows:
when the inertial measurement unit continuously rotates around the inertial system, the projection form of the constant drift of the gyroscope on the navigation system can be obtained:
wherein,
the component of the constant deviation of the horizontal gyroscope on the navigation coordinate system is completely modulated after the inertia measurement unit rotates relative to the inertia space, and the effect is zero after the integral of the whole period; and the constant deviation of the gyroscope on the azimuth axis is coupled with the latitude of the position of the carrier, so that the constant deviation is generated on the azimuth axis of the navigation coordinate system.
(4) And analyzing the scale factor error and the installation error of the gyroscope in the modulation type inertial navigation system with stable space, and calculating the attitude error caused by the scale factor error and the installation error of the gyroscope in the conversion process of the IMU coordinate system and the inertial system.
1) During the continuous rotation in the forward direction of the inertial measurement unit, the attitude error due to the presence of the scale factor error is converted into an inertial coordinate system:
the same principle can be obtained that in the reverse rotation of the inertial measurement unit, the component of the attitude error caused by the gyroscope scale factor error in the inertial system is as follows:
assuming that in the continuous positive and negative rotation scheme, a rotation period is T' 2T, the projection of the attitude error angle generated by integrating the output error caused by the gyroscope scale factor error in a complete positive and negative continuous rotation period on the inertial system is:
the inertial measurement unit is adopted to continuously rotate forward and backward, the scale factor error coupled with the rotation angular velocity is cancelled positively and negatively, and the spatial stability method relative to the equatorial plane is adopted, namely the spatial stability type inertial navigation system with the four-frame structure does not have the coupling of the earth rotation angular velocity and the gyroscope scale factor error, and the attitude error of the navigation system carrier obtained by the attitude error under the inertial system through the conversion process is zero.
2) In the continuous positive rotation process of the inertial measurement unit relative to the inertial space, the component of the gyroscope output error caused by the gyroscope installation error on an inertial coordinate system is as follows:
in the same way, the output of the gyroscope caused by the installation error in the continuous reverse rotation process of the inertial measurement unit can be obtained:
and a continuous forward and reverse rotation scheme with 360-degree rotation angles in both forward and reverse directions is adopted, and the consumed time of one complete rotation period is T' 2T, wherein T represents the period of one-way complete rotation. The attitude angle error due to the gyro mounting error is:
in the scheme of continuous forward and reverse rotation of the inertial measurement unit relative to the inertial space, the installation error of the gyroscope does not cause the attitude error of the carrier.
Compared with the prior art, the invention has the advantages that: the invention breaks through the defects that the traditional rotation modulation method can not effectively isolate the motion of a carrier and the rotation angle motion of the earth and can not avoid the self-locking phenomenon of the system, and provides an error rotation modulation scheme for stabilizing an inertial measurement unit in an equatorial plane. The method can modulate the constant deviation of the inertial device in the three-axis direction, and effectively improve the navigation positioning precision.
The beneficial effects of the present invention are illustrated as follows:
under the VC + + simulation condition, carrying out a simulation experiment on the method:
the carrier is in a static state, and based on the error model parameters of the spatial stable IMU continuous forward and reverse rotation scheme:
the time consumed by one-way forward and reverse rotation for one week is as follows: t is 12 seconds;
in each positive and negative rotation conversion process, the acceleration and deceleration time is 4 seconds respectively;
initial position of carrier: the north latitude is 42.0124 degrees, and the east longitude is 121.6481 degrees;
initial attitude error angle: the three initial attitude error angles are all zero;
equatorial radius: re6378393.0 meters;
the degree of ellipsoid: e-3.367 e-3;
earth surface gravitational acceleration available by gravity: g0＝9.78049；
Rotational angular velocity of the earth (radians/sec): 7.2921158 e-5;
constant drift of gyroscope: 0.01 degree/hour;
zero offset of the accelerometer: 10-4g0；
Constant: pi-3.1415926;
the error curve of the position of the carrier obtained by the method of the invention is shown in figure 4. The result shows that under the condition of forward and reverse continuous rotation of the IMU based on stable space, the method can obtain higher positioning precision.
(IV) description of the drawings
FIG. 1 is a flow chart of an error suppression method for a rotary strapdown inertial navigation system based on space stabilization according to the present invention;
FIG. 2 is a schematic diagram of a rotary strapdown inertial navigation system based on space stabilization according to the present invention;
FIG. 3 is a diagram of the relative position of the coordinate system of the rotating strapdown inertial navigation system based on space stabilization according to the present invention;
fig. 4 is a comparative experimental curve of the position error of the carrier based on the spatial stable IMU forward and reverse rotation scheme and the positioning error of the carrier in the IMU static state.
(V) detailed description of the preferred embodiments
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
(1) determining initial position parameters of the carrier through a GPS, and binding the initial position parameters into a navigation computer;
(2) preheating preparation is carried out by the strapdown inertial navigation system, and data output by the optical fiber gyroscope and the quartz accelerometer are collected and processed;
(3) converting data generated by the fiber optic gyroscope and the quartz accelerometer after the IMU rotates into a navigation coordinate system to obtain a modulation form of constant deviation of the inertial device;
ox of inertial measurement unit coordinate systemsysPlane parallel to the equatorial plane of the earth, ozsThe axis is parallel to the rotation axis of the earth and points to be consistent with the rotation angular velocity direction of the earth (as shown in the attached figure 3), and the conversion relation between the IMU coordinate system and the navigation coordinate system is determined:
the attitude updating process of the modulation type strapdown system based on the space stability can be summarized as a pair matrixAnd
obtaining the target value. Wherein,
a transformation matrix between a navigation coordinate system and a terrestrial coordinate system;
the transformation matrix between the terrestrial coordinate system and the inertial system can be determined by the longitude lambda, the latitude L and the time interval t of the position of the carrier.
Setting the initial time IMU coordinate system to coincide with the inertial coordinate system, and then enabling the IMU to wind oz of the inertial coordinate system at a constant angular velocity omegaiThe shaft rotates continuously, and the relative position relationship of the two coordinate systems is as follows:
when the inertial measurement unit continuously rotates around the inertial system, the projection form of the constant drift of the gyroscope on the navigation system can be obtained:
wherein,
the component of the constant deviation of the horizontal gyroscope on the navigation coordinate system is completely modulated after the inertia measurement unit rotates relative to the inertia space, and the effect is zero after the integral of the whole period; and the constant deviation of the gyroscope on the azimuth axis is coupled with the latitude of the position of the carrier, so that the constant deviation is generated on the azimuth axis of the navigation coordinate system.
(4) And analyzing the scale factor error and the installation error of the gyroscope in the modulation type inertial navigation system with stable space, and calculating the attitude error caused by the scale factor error and the installation error of the gyroscope in the conversion process of the IMU coordinate system and the inertial system.
1) During the continuous rotation in the forward direction of the inertial measurement unit, the attitude error due to the presence of the scale factor error is converted into an inertial coordinate system:
the same principle can be obtained that in the reverse rotation of the inertial measurement unit, the component of the attitude error caused by the gyroscope scale factor error in the inertial system is as follows:
assuming that in the continuous positive and negative rotation scheme, a rotation period is T' 2T, the projection of the attitude error angle generated by integrating the output error caused by the gyroscope scale factor error in a complete positive and negative continuous rotation period on the inertial system is:
the inertial measurement unit is adopted to continuously rotate forward and backward, the scale factor error coupled with the rotation angular velocity is cancelled positively and negatively, and the spatial stability method relative to the equatorial plane is adopted, namely the spatial stability type inertial navigation system with the four-frame structure does not have the coupling of the earth rotation angular velocity and the gyroscope scale factor error, and the attitude error of the navigation system carrier obtained by the attitude error under the inertial system through the conversion process is zero.
2) In the continuous positive rotation process of the inertial measurement unit relative to the inertial space, the component of the gyroscope output error caused by the gyroscope installation error on an inertial coordinate system is as follows:
in the same way, the output of the gyroscope caused by the installation error in the continuous reverse rotation process of the inertial measurement unit can be obtained:
and a continuous forward and reverse rotation scheme with 360-degree rotation angles in both forward and reverse directions is adopted, and the consumed time of one complete rotation period is T' 2T, wherein T represents the period of one-way complete rotation. The attitude angle error due to the gyro mounting error is:
in the scheme of continuous forward and reverse rotation of the inertial measurement unit relative to the inertial space, the installation error of the gyroscope does not cause the attitude error of the carrier.
Claims (3)
1. A method for suppressing errors of a rotary strapdown inertial navigation system based on space stability is characterized by comprising the following steps:
(1) determining initial position parameters of the carrier through a GPS, and binding the initial position parameters into a navigation computer;
(2) preheating preparation is carried out by the strapdown inertial navigation system, and data output by the optical fiber gyroscope and the quartz accelerometer are collected and processed;
(3) converting data generated by the fiber optic gyroscope and the quartz accelerometer after the IMU rotates into a navigation coordinate system to obtain a modulation form of constant deviation of the inertial device;
ox of inertial measurement unit coordinate systemsysPlane parallel to the equatorial plane of the earth, ozsThe axis is parallel to the rotation axis of the earth and points to be consistent with the rotation angular velocity direction of the earth (as shown in the attached figure 3), and the conversion relation between the IMU coordinate system and the navigation coordinate system is determined:
the attitude updating process of the modulation type strapdown system based on the space stability can be summarized as a pair matrix
And
obtaining the target value. Wherein,
a transformation matrix between a navigation coordinate system and a terrestrial coordinate system;
the transformation matrix between the terrestrial coordinate system and the inertial system can be determined by the longitude lambda, the latitude L and the time interval t of the position of the carrier.
Setting the initial time IMU coordinate system to coincide with the inertial coordinate system, and then enabling the IMU to wind oz of the inertial coordinate system at a constant angular velocity omegaiThe shaft rotates continuously, and the relative position relationship of the two coordinate systems is as follows:
when the inertial measurement unit continuously rotates around the inertial system, the projection form of the constant drift of the gyroscope on the navigation system can be obtained:
wherein,
the component of the constant deviation of the horizontal gyroscope on the navigation coordinate system is completely modulated after the inertia measurement unit rotates relative to the inertia space, and the effect is zero after the integral of the whole period; and the constant deviation of the gyroscope on the azimuth axis is coupled with the latitude of the position of the carrier, so that the constant deviation is generated on the azimuth axis of the navigation coordinate system.
(4) And analyzing the scale factor error and the installation error of the gyroscope in the modulation type inertial navigation system with stable space, and calculating the attitude error caused by the scale factor error and the installation error of the gyroscope in the conversion process of the IMU coordinate system and the inertial system.
1) During the continuous rotation in the forward direction of the inertial measurement unit, the attitude error due to the presence of the scale factor error is converted into an inertial coordinate system:
the same principle can be obtained that in the reverse rotation of the inertial measurement unit, the component of the attitude error caused by the gyroscope scale factor error in the inertial system is as follows:
assuming that in the continuous positive and negative rotation scheme, a rotation period is T' 2T, the projection of the attitude error angle generated by integrating the output error caused by the gyroscope scale factor error in a complete positive and negative continuous rotation period on the inertial system is:
the inertial measurement unit is adopted to continuously rotate forward and backward, the scale factor error coupled with the rotation angular velocity is cancelled positively and negatively, and the spatial stability method relative to the equatorial plane is adopted, namely the spatial stability type inertial navigation system with the four-frame structure does not have the coupling of the earth rotation angular velocity and the gyroscope scale factor error, and the attitude error of the navigation system carrier obtained by the attitude error under the inertial system through the conversion process is zero.
2) In the continuous positive rotation process of the inertial measurement unit relative to the inertial space, the component of the gyroscope output error caused by the gyroscope installation error on an inertial coordinate system is as follows:
in the same way, the output of the gyroscope caused by the installation error in the continuous reverse rotation process of the inertial measurement unit can be obtained:
and a continuous forward and reverse rotation scheme with 360-degree rotation angles in both forward and reverse directions is adopted, and the consumed time of one complete rotation period is T' 2T, wherein T represents the period of one-way complete rotation. The attitude angle error due to the gyro mounting error is:
in the scheme of continuous forward and reverse rotation of the inertial measurement unit relative to the inertial space, the installation error of the gyroscope does not cause the attitude error of the carrier.
2. The method for suppressing the error of the rotary strapdown inertial navigation system based on the space stabilization as claimed in claim 1, wherein the data generated by the fiber optic gyroscope and the quartz accelerometer after the rotation of the IMU is converted into the navigation coordinate system, so as to obtain the modulation form of the constant value deviation of the inertial device, specifically comprising the following steps:
ox of inertial measurement unit coordinate systemsysPlane parallel to the equatorial plane of the earth, ozsThe axis is parallel to the rotation axis of the earth and points to be consistent with the rotation angular velocity direction of the earth (as shown in the attached figure 3), and the conversion relation between the IMU coordinate system and the navigation coordinate system is determined:
the attitude updating process of the modulation type strapdown system based on the space stability can be summarized as a pair matrixAnd
obtaining the target value. Wherein,
a transformation matrix between a navigation coordinate system and a terrestrial coordinate system;
the transformation matrix between the terrestrial coordinate system and the inertial system can be determined by the longitude lambda, the latitude L and the time interval t of the position of the carrier.
Setting the initial time IMU coordinate system to coincide with the inertial coordinate system, and then enabling the IMU to wind oz of the inertial coordinate system at a constant angular velocity omegaiThe shaft rotates continuously, and the relative position relationship of the two coordinate systems is as follows:
when the inertial measurement unit continuously rotates around the inertial system, the projection form of the constant drift of the gyroscope on the navigation system can be obtained:
wherein,
the component of the constant deviation of the horizontal gyroscope on the navigation coordinate system is completely modulated after the inertia measurement unit rotates relative to the inertia space, and the effect is zero after the integral of the whole period; and the constant deviation of the gyroscope on the azimuth axis is coupled with the latitude of the position of the carrier, so that the constant deviation is generated on the azimuth axis of the navigation coordinate system.
3. The method for suppressing the error of the rotary strapdown inertial navigation system based on the spatial stability as claimed in claim 1, wherein the gyroscope scale factor error and the installation error in the modulation type inertial navigation system based on the spatial stability are analyzed, and the attitude error caused by the gyroscope scale factor error and the installation error in the process of converting the IMU coordinate system and the inertial system is calculated, comprising the following steps:
1) during the continuous rotation in the forward direction of the inertial measurement unit, the attitude error due to the presence of the scale factor error is converted into an inertial coordinate system:
the same principle can be obtained that in the reverse rotation of the inertial measurement unit, the component of the attitude error caused by the gyroscope scale factor error in the inertial system is as follows:
assuming that in the continuous positive and negative rotation scheme, a rotation period is T' 2T, the projection of the attitude error angle generated by integrating the output error caused by the gyroscope scale factor error in a complete positive and negative continuous rotation period on the inertial system is:
the inertial measurement unit is adopted to continuously rotate forward and backward, the scale factor error coupled with the rotation angular velocity is cancelled positively and negatively, and the spatial stability method relative to the equatorial plane is adopted, namely the spatial stability type inertial navigation system with the four-frame structure does not have the coupling of the earth rotation angular velocity and the gyroscope scale factor error, and the attitude error of the navigation system carrier obtained by the attitude error under the inertial system through the conversion process is zero.
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| CN106840195A (en) * | 2016-12-19 | 2017-06-13 | 中北大学 | A kind of rotary half strapdown micro-inertial measuring system error inhibition method |
| CN106840195B (en) * | 2016-12-19 | 2019-01-29 | 中北大学 | A kind of rotary half strapdown micro-inertial measuring system error inhibition method |
| CN110736483A (en) * | 2019-10-22 | 2020-01-31 | 中国人民解放军战略支援部队航天工程大学 | Deflection modulation zero-offset compensation method for gyroscope in inertial measurement units |
| CN110736483B (en) * | 2019-10-22 | 2021-04-02 | 中国人民解放军战略支援部队航天工程大学 | Deflection modulation zero-offset compensation method for gyroscope in inertial measurement unit |
| CN111765906A (en) * | 2020-07-29 | 2020-10-13 | 三一机器人科技有限公司 | Error calibration method and device |
| CN111765906B (en) * | 2020-07-29 | 2022-06-14 | 三一机器人科技有限公司 | Error calibration method and device |
| CN113418536A (en) * | 2021-06-28 | 2021-09-21 | 北京控制工程研究所 | Gyroscope on-orbit precision evaluation method and system based on correlated signal cancellation |
| CN113418536B (en) * | 2021-06-28 | 2022-08-12 | 北京控制工程研究所 | Gyroscope on-orbit precision evaluation method and system based on correlated signal cancellation |
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