CN102981177B - Motion platform attitude sensing method based on synergy-source direction of arrival (DOA) information - Google Patents

Motion platform attitude sensing method based on synergy-source direction of arrival (DOA) information Download PDF

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CN102981177B
CN102981177B CN201210483494.4A CN201210483494A CN102981177B CN 102981177 B CN102981177 B CN 102981177B CN 201210483494 A CN201210483494 A CN 201210483494A CN 102981177 B CN102981177 B CN 102981177B
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motion platform
attitude
arrival
navigation signal
signal source
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CN102981177A (en
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陈广东
王学孟
张凯
何敏
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a motion platform attitude sensing method based on synergy-source DOA information and belongs to the technical field of navigation. According to the method, a fully electromagnetic vector sensor, three orthogonal electric dipoles and three orthogonal magnetic ring dipole antennas are used for receiving navigation signals at single receiving points, and DOAs of signals (polar and nonpolar) are estimated; different signal sources are distinguished according to code division or frequency division; and an attitude reference is provided for the motion platform through two crossed DOA vector structure coordinate systems, and therefore the motion platform has the attitude reference to complete attitude sensing of itself. When a plurality of satellite signal sources exist, attitude parameters are adjusted finely, and the attitude parameter with the smallest weighted sum of error spherical variances in each DOA is found out, so that a plurality of platform attitude matrixes of the DOA information are mixed. According to the method, only the single receiving points are needed on the motion platform to achieve the attitude sensing, and attitude navigators and heading navigators can be substituted.

Description

Based on collaborative source ripple, reach the motion platform attitude cognitive method of information
Technical field
The present invention relates to a kind of motion platform attitude cognitive method, relate in particular to a kind of motion platform attitude cognitive method that reaches information based on collaborative source ripple, belong to field of navigation technology.
Background technology
Motion platform attitude information is mostly from other acquisition of informations of inertial navigation sensor fusion.The motion platform attitude information system architecture of using is at present complicated, and quality volume is large, consumes energy, and failure rate is high.And developing miniature inertial navigation attitude information the measuring precision is not high.
In some aerospace applications field, attitude Navigation is had to special requirement, as fast in measuring speed, precision is high, and volume, quality, energy consumption are little, and the Chinese People's Anti-Japanese Military and Political College accelerates, radioresistance, anti-extreme temperature, anti-vibration etc.These requirements appearance navigator cost that makes to navigate is very high.
GLONASS (Global Navigation Satellite System) comprises GPS, GLONASS, the Big Dipper and GALILEO at present, satellite navigation signals is generally CDMA or frequency division multiple access source, all study at Satellite navigation system receiving end both at home and abroad, utilize multipoint reception, the method perception attitude of triangulation calculation.The shortcoming of these class methods is that volume is large, precision is low, system complex, speed are slow, has affected applying of this technology.The electromagnetic wave that satellite navigation receiver is received has comprised a plurality of satellite direction of arrival information, these information and receiving platform attitude information have close association, by direction of arrival information, be converted into receiving platform attitude information, the utilization of information is directly efficient, is not subject to flying platform attitude and motion effects thereof.Traditional direction of arrival is estimated need planar array antenna, and this antenna is exactly multipoint reception signal.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiency that existing motion platform attitude is obtained technology, and a kind of motion platform attitude cognitive method that reaches information based on collaborative source ripple is provided.
The present invention specifically solves the problems of the technologies described above by the following technical solutions:
Based on collaborative source ripple, reach the motion platform attitude cognitive method of information, comprise the following steps: the receiver that step 1, utilization are fixedly installed on described motion platform receives the signal that N different navigation signal source launched, and estimating each direction of arrival of navigation signal source under motion platform coordinate system, N is more than or equal to 2 integer; Step 2, the communication carrier information of sending according to described N different navigation signal source are determined position and each navigation signal source position of described motion platform under geographic coordinate system, calculate the direction of arrival in each navigation signal source under earth coordinates; Step 3, from described N different navigation signal source, choose two, according to the direction of arrival in these two navigation signal sources under motion platform coordinate system, calculate motion platform coordinate and be tied to constructed two the intersecting ripples and reach the transition matrix of vector structure coordinate system of these two direction of arrival; According to the direction of arrival vector meter in these two navigation signal sources under earth coordinates, calculate described two intersection ripples and reach the transition matrix that vector structure coordinate is tied to earth coordinates; And then obtaining the transition matrix that motion platform coordinate is tied to earth coordinates, this transition matrix is the attitude matrix of described motion platform.
In order to make full use of the ripple of multisignal source, reach information, thereby improve further attitude perceived accuracy, when the value of N is greater than 2, the inventive method also comprises:
The parameter that step 4, the motion platform coordinate that step 3 is obtained are tied in the transition matrix of earth coordinates is finely tuned repeatedly, until find out the one group of parameter that makes ripple reach error criterion minimum, the transition matrix that the motion platform coordinate that this group parameter formed of usining is tied to earth coordinates is as the final attitude matrix of described motion platform; Described ripple reaches error criterion and obtains in accordance with the following methods:
The transition matrix that is tied to earth coordinates with current motion platform coordinate is converted to each navigation signal source direction of arrival under motion platform coordinate system obtaining in step 1 under earth coordinates, and with step 2 in the direction of arrival comparison of resulting each navigation signal source under earth coordinates, obtain the direction of arrival error spherical angle variance in each navigation signal source, then calculate according to the following formula efferent echo and reach error criterion S:
S = Σ i = 1 N w i M i ,
In formula, M ithe direction of arrival error spherical angle variance that represents i navigation signal source, w ibe the weights in i navigation signal source.
Compared to existing technology, the present invention has following beneficial effect:
1) utilize existing GLONASS (Global Navigation Satellite System) (comprising at present GPS, GLONASS, the Big Dipper and GALILEO) navigation signal, or measurement and control signal, only at receiving end, carry out signal processing, just can realize the perception of motion receiving platform navigation attitude, can be arranged on the platforms such as vehicle, naval vessel, aircraft, make motion platform increase attitude measurement function, for intelligent Modern Traffic lays the foundation;
2) only need motion platform single-point to receive, be different from and need the triangulation calculation of multimetering method, system is Miniaturized, has improved navigation information utilization factor;
3) attitude measurement dynamic range is large, and all directions measurement performance is consistent, can become one with observing and controlling navigational system, and suitable minute vehicle (MAV, Micro Air Vehicles) uses;
4) electromagnetic wave, as the attitude information source of rocket, guided missile or shell, has the feature of resistance to high acceleration and rugged surroundings, and the present invention is applicable to target drone and the experimental missile of scientific research and testing and military training, can effectively reduce the cost as easily-consumed products aircraft;
5) fields such as the system such as mobile communication, satellite communication is through transformation slightly, and with regard to available this method, this method can also be applied in building, dig up mine, prevent and reduce natural disasters;
6) the present invention also can use with inertial navigation fusion, to adapt to different application scenarios.
Accompanying drawing explanation
Fig. 1 is that two intersection ripples reach vector structure coordinate system schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is elaborated:
The motion platform attitude cognitive method that reaches information based on collaborative source ripple of the present invention, specifically comprise the following steps: the receiver that step 1, utilization are fixedly installed on described motion platform receives the signal that N different navigation signal source launched, and estimating each direction of arrival of navigation signal source under motion platform coordinate system, N is more than or equal to 2 integer.
In this step, utilize full electromagnetic vector sensor, three orthogonal electrical dipoles or three quadrature magnet ring utmost point sub antennas etc. at single acceptance point, to receive navigation signal as receiver, the communication mode concrete according to each signal source, utilization code divides or frequency division method is distinguished a plurality of signal sources, and utilize the maximal possibility estimation (can be referring to document [Nehorai A., and Paldi E.Vector-sensor array processing for electromagnetic source location.[J] IEEE Transactions on Signal Processing, 42 (1994): 376-398.], [Marius P and Alex B Gershman.Maximum-likelihood direction-of-arrival estimation in the presence of unknown nonuniform noise.[J] IEEE Transactions on Signal Processing, Vol.49, No7, July 2001:1310-1324.], [Wong, K.T.Geolocation for partially polarized electromagnetic sources using multiple sparsely and uniformly spaced " spatially stretched vector sensors ".Circuits and Systems, 1999.ISCAS ' 99.Proceedings of the 1999IEEE International Symposium on Publication Year:1999, Page (s): 170-174vol.3]) or calculate Poynting vector (can be referring to document [He Min, Chen Guangdong, Zhang Kai. from three orthogonal dipole antennas, receive signals and estimate aircraft attitude parameters .[J] radar journal 2012,1 (2): 157-162.]) etc. method estimate each navigation signal source direction of arrival under motion platform coordinate system under motion platform coordinate system.
The information that each signal source is sent comprises two parts: the communication information of carrying and signal characteristic parameter information, and the latter comprises time parameter, frequency parameter, space arrival direction parameter and polarization parameter, what in this step, use is characteristic parameter information.Navigation signal is generally circular polarisation or non-polarized signal.Non-polarized signal is the special shape of partial polarization ripple, and therefore full electromagnetic vector sensor and damaged form-tri-orthogonal electrical dipoles antenna or the three quadrature magnet ring utmost point sub antennas of energy estimating part polarized wave direction of arrival, also can estimate non-polarized signal direction of arrival.Described is to utilize full electromagnetic vector sensor, three orthogonal electrical dipoles or three quadrature magnet ring utmost point sub antennas at single acceptance point, to receive three-dimensional electric field and the Magnetic Field of navigation signal at single acceptance point reception navigation signal, estimates various polarization and non-polarized signal direction of arrival.(with spheric coordinate system, describe direction of arrival, three orthogonal electrical dipoles and three quadrature magnet ring utmost point sub antennas can estimate that the not confusion region of direction of arrival is limited to hemisphere face direction scope, the not restriction of full electromagnetic vector sensor.）
Step 2, the communication carrier information of sending according to described N different navigation signal source are determined position and each navigation signal source position of described motion platform under geographic coordinate system, calculate the direction of arrival in each navigation signal source under earth coordinates.The signal of the Satellite navigation system (or TT&C system) of take in the present invention transmitting is synergistic signal source.
Step 3, from described N different navigation signal source, choose two, according to the direction of arrival in these two navigation signal sources under motion platform coordinate system, calculate motion platform coordinate and be tied to constructed two the intersecting ripples and reach the transition matrix of vector structure coordinate system of these two direction of arrival; According to the direction of arrival vector meter in these two navigation signal sources under earth coordinates, calculate described two intersection ripples and reach the transition matrix that vector structure coordinate is tied to earth coordinates; And then obtaining the transition matrix that motion platform coordinate is tied to earth coordinates, this transition matrix is the attitude matrix of described motion platform.
It is that motion platform provides attitude reference that this step reaches vector structure coordinate by two intersection ripples, makes motion platform have attitude reference, completes self attitude perception.Two intersect ripples reaches vector structure coordinate system and by ripple, reaches vector information and determine, irrelevant with receiving platform attitude.Three coordinate axis of three-dimensional cartesian coordinate system have definite orthogonality constraint, determine that wherein two axles have just been determined coordinate system, the degree of freedom of determining three-dimensional cartesian coordinate system is 2, determines that two intersection direction of arrival information reach vector structure coordinate system with regard to determining two intersection ripples.Under motion platform coordinate system, motion platform attitude matrix is unit matrix, and the motion platform attitude matrix being transformed under earth coordinates is the transition matrix that motion platform coordinate is tied to earth coordinates.
The parameter that step 4, the motion platform coordinate that step 3 is obtained are tied in the transition matrix of earth coordinates is finely tuned repeatedly, until find out the one group of parameter that makes ripple reach error criterion minimum, the transition matrix that the motion platform coordinate that this group parameter formed of usining is tied to earth coordinates is as the final attitude matrix of described motion platform; Described ripple reaches error criterion and obtains in accordance with the following methods:
The transition matrix that is tied to earth coordinates with current motion platform coordinate is converted to each navigation signal source direction of arrival under motion platform coordinate system obtaining in step 1 under earth coordinates, and with step 2 in the direction of arrival comparison of resulting each navigation signal source under earth coordinates, obtain the direction of arrival error spherical angle variance in each navigation signal source, then calculate according to the following formula efferent echo and reach error criterion S:
S = Σ i = 1 N w i M i ,
In formula, M ithe direction of arrival error spherical angle variance that represents i navigation signal source, w ibe the weights in i navigation signal source.
For the ease of public understanding, the aircraft (motion platform) of fixed wing of take is below example, and technical solution of the present invention is explained in further detail.
In fuselage platform coordinate system, x axle points to heading, and y axle points to body upper, and z axle is pressed right hand rule and pointed to right side wing direction.Aspect direction vector is unit matrix like this I = 1 0 0 0 1 0 0 0 1 Three column vectors.
If having obtained two signal sources ripple under fuselage coordinate system, receiver reaches parameter under fuselage coordinate system, two intersect vectors as shown in Figure 1,
Figure BDA00002452956200053
in figure, rectangular coordinate system three axles are x, y, and z, the intersection ripple of two signals reaches vector u 1and u 2parameter known.Two intersection ripples reach x ' axle and the u of vector structure coordinate system 1overlap, y ' axle and u 1and u 2coplanar, vertical with x ' axle, z ' axle is perpendicular to u 1and u 2place plane, x ', y ' and z ' axle meet right hand rule.By above geometric relationship, can obtain fuselage coordinate and be tied to the transition matrix that two intersection ripples reach vector structure coordinate system:
Figure BDA00002452956200054
Wherein:
Figure BDA00002452956200055
Through the conversion of transition matrix, two intersection ripples reach under vector structure coordinate system, vector of unit length u 1and u 2coordinate is 1 0 0 With cos ( ∠ u 1 u 2 ) sin ( ∠ u 1 u 2 ) 0 .
Wherein
Figure BDA00002452956200058
represent the sphere angle between two vector of unit length.
The signal of Satellite navigation system (or TT&C system) transmitting is synergistic signal source.Receiving platform is except utilizing full electromagnetic vector sensor, three orthogonal electrical dipoles or three quadrature magnet ring utmost point sub antennas, estimate outside the direction of arrival under fuselage coordinate system, the information that can also send according to synergistic signal source is determined position and the source location of receiving platform under earth coordinates, can obtain each signal source direction of arrival under earth coordinates.Under earth coordinates, electromagnetism direction of arrival represents with position angle and the elevation angle
Figure BDA00002452956200061
direction of arrival vector use-u i0represent,
Figure BDA00002452956200062
u iand u i0that the ripple of same signal source under different coordinates reaches vector, u 1and u 2it is also u that definite ripple reaches vector structure coordinate system 10and u 20determined ripple reaches vector structure coordinate system.Can obtain so again two intersection ripples and reach the transition matrix that vector structure coordinate is tied to earth coordinates:
Figure BDA00002452956200063
Wherein:
Figure BDA00002452956200064
Through two intersection ripples, reach the transmission of vector structure coordinate system, the transition matrix that fuselage coordinate is tied to earth coordinates is:
Figure BDA00002452956200065
Under fuselage coordinate system, receiver platform stance matrix is unit matrix, is transformed into receiver platform stance matrix under earth coordinates and is above formula.
When there is a plurality of satellite signal source, using spherical angle variance as the index parameter of weighing direction of arrival error, i signal wave reaches error spherical angle variance and is:
In formula
Figure BDA00002452956200067
with Δ θ idifference position angle and elevation angle error.Whole signal source ripples reach error criterion parameter-definition and are:
Figure BDA00002452956200068
W in formula ifor the weights of this signal, can set according to signal to noise ratio (S/N ratio), stability, the combined factors such as anti-interference the weights of each signal source signal.
Choose two signals, set up two intersection ripples and reach vector structure coordinate system, calculate platform initial attitude matrix in earth coordinates, this attitude matrix is turned to exponential form e 0 - φ 3 φ 2 φ 3 0 - φ 1 - φ 2 φ 1 0 . According to three dimensions spin theory, know that this exponential matrix is around single rotating vector rotation
Figure BDA000024529562000611
the rotation matrix of angle.φ wherein 1, φ 2, φ 3for rotating vector coordinate in earth coordinates.
Figure BDA000024529562000613
during three component individualisms, physical significance is respectively around fuselage coordinate system x, y, z axle rotation angle, i.e. said roll, pitching and course angle traditionally.With estimating under each signal receiver coordinate system of this gust of premultiplication that the ripple obtaining reaches
Figure BDA00002452956200071
be converted under earth coordinates
Figure BDA00002452956200072
calculate with u i0azimuth angle error
Figure BDA00002452956200074
with elevation angle error Δ θ i, substitution calculates
Figure BDA00002452956200075
fine setting φ 1, φ 2, φ 3, repeat above process, find out and make
Figure BDA00002452956200076
one group of minimum φ 1, φ 2, φ 3, must merge the platform stance battle array that a plurality of ripples reach information.
φ 1, φ 2, φ 3crossing decoupling, φ 1, φ 2, φ 3variation right
Figure BDA00002452956200077
impact mutually unrelated, this point calculates highly significant search.The intersection ripple that should select angle as far as possible to approach 90 ° reaches vector, can improve initial attitude precision like this, reduces fine setting number of times.
Because satellite and ground receiver distance meets far field condition, even if receiver is moving always, parameter
Figure BDA00002452956200078
also substantially remain unchanged, so parameter obtaining renewal frequency can be very low, even constant, and under fuselage coordinate system, ripple reaches parameter
Figure BDA000024529562000710
can quasi real time upgrade with signal intensity.

Claims (2)

1. based on collaborative source ripple, reach a motion platform attitude cognitive method for information, it is characterized in that, comprise the following steps:
The receiver that step 1, utilization are fixedly installed on described motion platform receives nthe signal of individual different navigation signal source transmitting, and estimate each direction of arrival of navigation signal source under motion platform coordinate system, nfor being greater than 2 integer;
Described in step 2, basis nthe communication carrier information that individual different navigation signal source is sent is determined position and each navigation signal source position of described motion platform under geographic coordinate system, calculates the direction of arrival in each navigation signal source under earth coordinates;
Step 3, from described nin individual different navigation signal source, choose two, according to the direction of arrival in these two navigation signal sources under motion platform coordinate system, calculate motion platform coordinate and be tied to the transition matrix that reaches vector structure coordinate system with two constructed intersection ripples of these two direction of arrival; According to the direction of arrival vector meter in these two navigation signal sources under earth coordinates, calculate described two intersection ripples and reach the transition matrix that vector structure coordinate is tied to earth coordinates; And then obtaining the transition matrix that motion platform coordinate is tied to earth coordinates, this transition matrix is the attitude matrix of described motion platform;
The parameter that step 4, the motion platform coordinate that step 3 is obtained are tied in the transition matrix of earth coordinates is finely tuned repeatedly, until find out the one group of parameter that makes ripple reach error criterion minimum, the transition matrix that the motion platform coordinate that this group parameter formed of usining is tied to earth coordinates is as the final attitude matrix of described motion platform; Described ripple reaches error criterion and obtains in accordance with the following methods:
The transition matrix that is tied to earth coordinates with current motion platform coordinate is converted to each navigation signal source direction of arrival under motion platform coordinate system obtaining in step 1 under earth coordinates, and with step 2 in the direction of arrival comparison of resulting each navigation signal source under earth coordinates, obtain the direction of arrival error spherical angle variance in each navigation signal source, then calculate according to the following formula efferent echo and reach error criterion s:
Figure 2012104834944100001DEST_PATH_IMAGE001
，
In formula,
Figure 154766DEST_PATH_IMAGE002
represent the ithe direction of arrival error spherical angle variance in individual navigation signal source,
Figure 2012104834944100001DEST_PATH_IMAGE003
be ithe weights in individual navigation signal source.
2. based on collaborative source ripple, reach as claimed in claim 1 the motion platform attitude cognitive method of information, it is characterized in that, the antenna of receiver described in step 1 is full electromagnetic vector sensor, three orthogonal electrical dipoles antennas or three quadrature magnet ring utmost point sub antennas.
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