CN103308073A - Strapdown inertial/satellite integrated navigation detecting system and simulation testing method thereof - Google Patents
Strapdown inertial/satellite integrated navigation detecting system and simulation testing method thereof Download PDFInfo
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Abstract
The invention relates to a strapdown inertial/satellite integrated navigation detecting system and a simulation testing method thereof. The system comprises a strapdown inertial subsystem, a satellite navigation subsystem, a navigation module and a control and display module, wherein the control and display module is connected with the strapdown inertial subsystem and the satellite navigation subsystem respectively to transmit track information; the strapdown inertial subsystem and the satellite navigation subsystem are respectively connected with the navigation module to transmit angular speed, accelerated speed and satellite signals; the output end of the navigation module is connected with the control and display module to feed an integrated navigation result back to the control and display module to form a closed-loop system. The system has real error characteristics. According to the system, optional tracks can be generated and do not need to be carried by actual carriers, so that the research and development cycle of an integrated navigation system is shortened, and the research and development cost is reduced; the real-time dynamic simulation on carrier movement according to a preset track can be realized and finished, and the universality is very strong.
Description
Technical field
What the present invention relates to is a kind of pick-up unit and method of satellite navigation technical field, be specifically related to a kind of strap down inertial navigation/combinations of satellites navigation detection system and emulation test method thereof, be applicable to the theoretical method of strap down inertial navigation/satellite combined guidance system and the research of engineering application technology, and the performance evaluation of integrated navigation system and checking.
Background technology
Since the seventies in 20th century, the great achievement of modern control theory and improvement of computer science provide theoretical foundation and technical guarantee for the development of GNSS/INS integrated navigation technology and the development of navigational system.Over nearly 40 years, the integrated navigation technology has become one of airmanship of tool application development potentiality, and strap down inertial navigation/satellite combined guidance system is widely used in aircraft navigation and precision approach landing, guided missile precise guidance, Satellite Orbit Determination are decided aeroamphibious fields such as appearance, space flight and aviation remote sensing, ship navigation, gravimetry, intelligent transportation.
At present, during for long boat, the high precision navigation of high dynamic carrier, be difficult to utilize a kind of navigation means independently to realize.Strapdown inertial navitation system (SINS) can provide comprehensive navigation information independently, in real time, has higher navigation accuracy in short-term, but the critical defect that its error was accumulated with the working time has limited its application on the carrier when long-range, the long boat; Satellite navigation system can provide three-dimensional position, velocity information round-the-clock, in real time, has certain navigation accuracy when long, but its navigation information discontinuous, attitude information can not be provided, and system is fragile, easily disturbed.Therefore, two kinds of navigate modes are combined, can have complementary advantages, realize the high precision navigation.Strap down inertial navigation/satellite combined guidance system has become the important electronic equipment of mobile system location and navigation now, particularly height dynamically, under the strong jamming situation, strap down inertial navigation/satellite hypercompact combination navigation mode can significantly improve the signal trace ability under the noise circumstance, and shortening reacquisition search time after the satellite-signal losing lock, the hypercompact combination technique of research strap down inertial navigation/satellite is significant for the improvement of system's navigation accuracy of high speed carrier and antijamming capability.
But at present for the performance test of strap down inertial navigation/satellite combined guidance system mainly by the mode of practical flight test, testing cost is very high, and experimental data can't repeat, and is unfavorable for that the technological development of navigational system and effective performance assess.In addition, the debugging of the ground of each subsystem, the experiment test of algorithm, and the demonstration and verification of integrated navigation system and assessment can not all be finished by real-time test flight, and therefore, it is just very necessary to make up a kind of strap down inertial navigation/combinations of satellites navigation half platform in kind.It can be used for performance, device debugging, hardware-in-the-loop simulation and the navigational system demonstration and verification of check algorithm, thus the lead time of having accelerated the integrated navigation system model machine reduced cost, improved efficient.
Strap down inertial navigation/combinations of satellites is navigated half full-scale investigation platform according to the moving scene of setting, and utilizes three-axle table, accelerometer analog module and satellite signal simulator to realize true attitude, motion and satellite-signal simulation, and realizes exact time synchronization.Strap down inertial navigation/the satellite combined guidance system that is installed on the experiment porch has been realized device debugging, proof of algorithm and navigational system demonstration in the mode of semi physical.In this research, all be in the starting stage at present both at home and abroad, do not see ripe implementation as yet.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of strap down inertial navigation/combinations of satellites navigation detection system and emulation test method thereof proposed, cost is low, volume is little, easy to use, real-time, can realize the inertial navigation/overall performance of satellite navigation assembly and the test of index and hardware-in-the-loop simulation.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of strap down inertial navigation/combinations of satellites navigation detection system, comprise: the inertial navigation subsystem, the satellite navigation subsystem, navigation module and control display module, wherein: the control display module links to each other with inertial navigation subsystem and satellite navigation subsystem respectively and the transmitting moving trace information, the inertial navigation subsystem links to each other with navigation module respectively with the satellite navigation subsystem again and transmits angular velocity, acceleration and satellite-signal, the output terminal of navigation module link to each other with the control display module integrated navigation result are fed back to the control display module and constitutes closed-loop system.
Described inertial navigation subsystem comprises: three-axle table, accelerometer analog module and inertia assembly, and wherein: the inertia assembly is installed on the three-axle table, and three-axle table receives the attitude control information of display control module output and carries out corresponding the rotation.Meanwhile, the inertia assembly is gathered three-axle table rotational angular information and is exported it to navigation module.The accelerometer analog module then receives the motion track information from the output of control display module, exports acceleration information to navigation module by numerical differentiation.
Described satellite navigation subsystem comprises: satellite signal simulator and the satellite receiver that is attached thereto, wherein: the motion track information that satellite signal simulator receives display control module output also generates corresponding radiofrequency signal, and satellite receiver is gathered radiofrequency signal that satellite signal simulator generates and caught, follows the tracks of and navigate clearing back output satellite navigation result and observation data to navigation module.
Inventive principle
Generate the nominal trajectory data according to the track of setting, export to three-axle table, accelerometer analog module and satellite signal simulator, unify the standard input as the reference source of their information processings, make strap down inertial navigation, the real-time synchronous operation of satellite navigation subsystem, integrated navigation information is accurate in real time, has effectively improved integrated navigation precision and checking and quality of evaluation; The integrated navigation module is finished the high precision navigation according to the data of strapdown inertial navigation system and satellite navigation system output; Last integrated navigation result feeds back to the control display module and compares with setting track, realizes demonstration and verification and the assessment of whole half plateform system in kind.
Technique effect
Compared with prior art, advantage of the present invention comprises:
1) adopts real inertia assembly and ripe satellite signal simulator product slate inertial navigation, satellite navigation system in kind, have the true error characteristic;
2) the control computing machine contains path generator software, can generate any track, does not need the lift-launch of actual vector, has realized half object test of inertial navigation/satellite combined guidance system, has shortened the integrated navigation system R﹠D cycle, has reduced R﹠D costs;
3) inertial navigation/combinations of satellites half full-scale investigation platform that navigates can realize finishing the real time dynamic simulation of carrier movement by track in advance, has very strong versatility;
4) She Ji inertial navigation/combinations of satellites half full-scale investigation platform structure that navigates is simple to operation, and cost is lower.
Description of drawings
Fig. 1 example structure synoptic diagram.
Fig. 2 embodiment installs allocation plan.
Fig. 3 embodiment navigation performance schematic diagram.
Fig. 4 embodiment process flow diagram.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 2, the most basic configuration that present embodiment needs comprises the three-axle table that can simulate the 3 d pose motion, the satellite signal simulator that can simulate true satellite-signal, one overlaps the sensor that is used for navigation that comprises inertia assembly and satellite receiver and is used for control and the high-performance computer of data processing.
As shown in Figure 1, present embodiment comprises: inertial navigation subsystem 1, satellite navigation subsystem 2, navigation module 3 and control display module 4, wherein: inertial navigation subsystem 1, satellite navigation subsystem 2, navigation module 3 and control display module 4, wherein: inertial navigation subsystem 1 links to each other with navigation module 3 respectively and transmission acceleration with satellite navigation subsystem 2, angular velocity and satellite-signal, the output terminal of navigation module 3 links to each other with control display module 4 and transmits the integrated navigation result data, and control display module 4 links to each other with inertial navigation subsystem 1 and satellite navigation subsystem 2 respectively and transmits steering order and movement locus.
Described inertial navigation subsystem 1 comprises: three-axle table 5, accelerometer analog module 6 and inertia assembly 7, wherein: inertia assembly 7 is installed on the three-axle table 5, and three-axle table 5 receives the attitude control information of display control module output and carries out corresponding the rotation.Meanwhile, inertia assembly 7 is gathered three-axle table 5 rotational angular information and is exported it to navigation module 3.6 receptions of accelerometer analog module are exported acceleration information to navigation module 3 from the motion track information of control display module 4 outputs by numerical differentiation.
Described satellite navigation subsystem 2 comprises: satellite signal simulator 8 and the satellite receiver 9 that is attached thereto, wherein: the motion track information that satellite signal simulator 8 receives display control modules output also generates corresponding radiofrequency signal, and satellite receiver 9 is gathered radiofrequency signal that satellite signal simulators 8 generate and caught, follows the tracks of and navigate clearing back output satellite navigation result and observation data to navigation module 3.
Described navigation module 3 real-time parallels are gathered angular velocity, acceleration and the navigation data information of inertia assembly 7, accelerometer analog module 6 and satellite receiver 9 outputs, merge multi-sensor data by Kalman filtering algorithm and obtain the integrated navigation data, realize the high-precision real-time navigation of inertial navigation/satellite combined guidance system; Navigation module 3 further feeds back to control display module 4 in real time with the integrated navigation data, compare with default track by control display module 4, the demonstration and verification of realization system and navigation results assessment, and hardware design and combined filter algorithm in the inertial navigation/satellite combined guidance system of test are improved and optimize realization system optimal performance according to checking and assessment result.
Described nominal trajectory data comprise: the position of carrier, speed and attitude; Described control display module 4 is according to the rotation of default nominal trajectory data-driven three-axle table 5, the work of triggering accelerometer analog module 6, and triggering satellite signal simulator 8 sends radiofrequency signal with the residing dynamic scene of analog carrier.After the navigation results of navigation module 3 feeds back, thereby in control display module 4, compare the assessment navigation performance with the nominal trajectory data.
Described inertia assembly 7 and accelerometer analog module 6 are exported inertial sensor data according to moving scene, satellite receiver received RF signal output satellite navigation result and observation data.By digital interface these data results are sent to navigation module and carry out high-precision integrated navigation and resolve, resolve the result and finally feed back to control display module 4 and nominal trajectory data more relatively with assessment navigational system performance, thus the optimal combination navigational system.
Described three-axle table 5 is closed loop configuration, and this structure can make the inertia assembly mounted thereto 7 three-dimensional angular velocity of output in real time according to setting trace simulation carrier 3 d pose; Simultaneously, 6 ideal trajectorys according to setting of accelerometer analog module calculate desirable acceleration, are superimposed with normal value skew, random walk, the calibration factor sum of errors actual noise of accelerometer, simulate the acceleration of carrier three-dimensional.
Described satellite signal simulator 8 is closed loop configuration, and this simulator 8 can be simulated the radiofrequency signal of BD two generations B1, B3 frequency and GPS L1, L2 frequency simultaneously; But emulation comprises, and satellite clock is poor, equipment delay, relativistic effect, the satellite navigation signals of ionosphere, tropospheric error; But emulation is at static subscriber, low dynamic subscriber, high dynamic subscriber's satellite navigation signals.
As shown in Figure 3 and Figure 4, present embodiment relates to the detection method of said system, may further comprise the steps:
1) strap down inertial navigation/combinations of satellites half full-scale investigation plateform system electrifying startup that navigates, the systematic parameter initialization;
2) the initial track parameter is set, and generates the nominal trajectory data according to trajectory parameters, comprises speed, position and the attitude data of carrier;
3) drive the three-axle table rotation according to setting the TRAJECTORY CONTROL turntable controller;
4) the actual attitude information of three-axle table rotation is sent to the control display module and sets the track contrast by digital interface, determines that the turntable response time is poor, and the elimination mistiming is predicted next track constantly;
5) according to prediction locus, trigger accelerometer analog module and satellite signal simulator work, analog acceleration is counted certificate and is sent the satellite RF signal;
6) acceleration information that is installed in the simulation of inertia assembly output angle speed data on the three-axle table and accelerometer analog module constitutes the strap down inertial navigation sensing data and sends to the integrated navigation module;
Simultaneously, the satellite receiver received RF signal is handled the back and also navigation results and observation data is sent to the integrated navigation module by the USB mouth;
7) integrated navigation module adopts data anastomosing algorithm that strap down inertial navigation data and the satellite navigation data of input are merged, and obtains high-precision real-time integrated navigation result and feeds back to the control display module;
8) in the control display module, real-time integrated navigation result is compared the combined navigation system performance of assessment test with setting track;
9) according to integrated navigation system structure and the algorithm of assessment result optimization test, carry out semi-hardware type simulation test next time.
Because described three-axle table is physical construction, usually need the long response time, therefore, the attitude of surveying according to three-axle table in step 4 is determined its response delay time, adjust next moment track that is used for satellite signal simulator and accelerometer analog module, the time synchronized of time inertia subsystem and satellite subsystem is to guarantee real-time.
The three-axle table major parameter that present embodiment is selected for use is: working method has position, speed, waves and servo four kinds, load weight 0-20kg, and rotation precision is 3 rads.The major parameter of gyro is as follows: quality 5.832kg, size 208mm * 160mm * 167.5mm, measurement range ± 205 °/s, zero inclined to one side 0.1 °/h (1 σ), random walk
Proportional error 100ppm (1 σ).
Certain type satellite signal simulator that present embodiment is selected for use can be simulated two generations of BD and the full constellation of GPS, can send the radiofrequency signal of BD two generations B1, B3 frequency and GPS L1, L2 frequency, and signal power is-130dBm to have open loop and closed loop function.The selected receiver of present embodiment is the real-time software receiving machine of certain type multimode hardware receiver or independent research, horizontal location precision 10m, perpendicular positioning precision 15m.
Claims (9)
1. a strap down inertial navigation/combinations of satellites half full-scale investigation system of navigating, it is characterized in that, comprise: the inertial navigation subsystem, the satellite navigation subsystem, navigation module and control display module, wherein: the control display module links to each other with inertial navigation subsystem and satellite navigation subsystem respectively and the transmitting moving trace information, the inertial navigation subsystem links to each other with navigation module respectively with the satellite navigation subsystem again and transmits angular velocity, acceleration and satellite-signal, the output terminal of navigation module link to each other with the control display module integrated navigation result are fed back to the control display module and constitutes closed-loop system.
2. system according to claim 1, it is characterized in that, described control display module is according to the rotation of default nominal trajectory data-driven three-axle table, the work of triggering accelerometer analog module, and the triggering satellite signal simulator sends radiofrequency signal with the residing dynamic scene of analog carrier; After the navigation results of navigation module feeds back, thereby in the control display module, compare the assessment navigation performance with the nominal trajectory data;
Described nominal trajectory data comprise: the position of carrier, speed and attitude.
3. system according to claim 1, it is characterized in that, described inertial navigation subsystem comprises: three-axle table, accelerometer analog module and inertia assembly, wherein: the inertia assembly is installed on the three-axle table, and three-axle table receives the attitude control information of display control module output and carries out corresponding the rotation; The inertia assembly is gathered three-axle table rotational angular information and is exported it to navigation module simultaneously, and the accelerometer analog module then receives the motion track information from the output of control display module, exports acceleration information to navigation module by numerical differentiation.
4. system according to claim 1, it is characterized in that, described satellite navigation subsystem comprises: satellite signal simulator and the satellite receiver that is attached thereto, wherein: the motion track information that satellite signal simulator receives display control module output also generates corresponding radiofrequency signal, and satellite receiver is gathered radiofrequency signal that satellite signal simulator generates and caught, follows the tracks of and navigate clearing back output satellite navigation result and observation data to navigation module.
5. system according to claim 1, it is characterized in that, described navigation module real-time parallel is gathered angular velocity, acceleration and the navigation data information of inertia assembly, accelerometer analog module and satellite receiver output, merge multi-sensor data by Kalman filtering algorithm and obtain the integrated navigation data, realize the high-precision real-time navigation of inertial navigation/satellite combined guidance system; Navigation module further feeds back to the control display module in real time with the integrated navigation data, compare by control display module and default track, the demonstration and verification of realization system and navigation results assessment, and hardware design and combined filter algorithm in the inertial navigation/satellite combined guidance system of test are improved and optimize realization system optimal performance according to checking and assessment result.
6. system according to claim 1, it is characterized in that, described improvement and optimization refer to: by whole strap down inertial navigation/combinations of satellites navigation closed-loop experiment partly in kind system, inertial navigation/satellite combined guidance system the performance of assessment test is improved and is optimized the hardware design of this system and combined filter algorithm.
7. system according to claim 1 is characterized in that, described three-axle table is closed loop configuration, and this structure can make inertia assembly mounted thereto export three-dimensional angular velocity in real time according to the nominal trajectory digital simulation carrier 3 d pose of setting; Simultaneously, the accelerometer analog module then calculates desirable acceleration according to the ideal trajectory of setting, and is superimposed with normal value skew, random walk, the calibration factor sum of errors actual noise of accelerometer, simulates the acceleration of carrier three-dimensional.
8. system according to claim 1 is characterized in that, described satellite signal simulator is closed loop configuration, and this simulator can be simulated the radiofrequency signal of BD two generations B1, B3 frequency and GPS L1, L2 frequency simultaneously; But emulation comprises, and satellite clock is poor, equipment delay, relativistic effect, the satellite navigation signals of ionosphere, tropospheric error; But emulation is at static subscriber, low dynamic subscriber, high dynamic subscriber's satellite navigation signals.
9. one kind requires the emulation test method of arbitrary described system among the 1-8 according to aforesaid right, may further comprise the steps:
1) strap down inertial navigation/combinations of satellites half full-scale investigation plateform system electrifying startup that navigates, the systematic parameter initialization;
2) the initial track parameter is set, and generates the nominal trajectory data according to trajectory parameters, comprises speed, position and the attitude data of carrier;
3) drive the three-axle table rotation according to setting the TRAJECTORY CONTROL turntable controller;
4) the actual attitude information of three-axle table rotation is sent to the control display module and sets the track contrast by digital interface, determines that the turntable response time is poor, and the elimination mistiming is predicted next track constantly;
5) according to prediction locus, trigger accelerometer analog module and satellite signal simulator work, analog acceleration is counted certificate and is sent the satellite RF signal;
6) acceleration information that is installed in the simulation of inertia assembly output angle speed data on the three-axle table and accelerometer analog module constitutes the strap down inertial navigation sensing data and sends to the integrated navigation module;
Simultaneously, the satellite receiver received RF signal is handled the back and also navigation results and observation data is sent to the integrated navigation module by the USB mouth;
7) integrated navigation module adopts data anastomosing algorithm that strap down inertial navigation data and the satellite navigation data of input are merged, and obtains high-precision real-time integrated navigation result and feeds back to the control display module;
8) in the control display module, real-time integrated navigation result is compared the combined navigation system performance of assessment test with setting track;
9) according to integrated navigation system structure and the algorithm of assessment result optimization test, carry out emulation testing next time.
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