CN103471593A - Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information - Google Patents
Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information Download PDFInfo
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- CN103471593A CN103471593A CN2013104036972A CN201310403697A CN103471593A CN 103471593 A CN103471593 A CN 103471593A CN 2013104036972 A CN2013104036972 A CN 2013104036972A CN 201310403697 A CN201310403697 A CN 201310403697A CN 103471593 A CN103471593 A CN 103471593A
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Abstract
The invention discloses a method for correcting measurement errors of an inertial navigation system based on global positioning system (GPS) information. A series control method is adopted; the external GPS position information and speed information are introduced to correct an inertial navigation error; by virtue of an appropriate controller, input signal noise can be filtered, system input can be tracked by system output, and speed and position errors of the inertial navigation system can be corrected. The method does not depend on the accuracy of a system error model and is high in operation speed and low in time cost; when the external measurement data frequency is high, the speed and position measurement errors of the inertial navigation system can be corrected; the system error model can be re-built by correcting the parameters of the controller; the workload is small.
Description
Technical field
The present invention relates to a kind of inertial navigation system measuring error modification method, relate in particular to a kind of inertial navigation system measuring error modification method based on GPS information, can be used for having the occasion of high precision navigation accuracy, fields such as Aero-Space, mapping.
Background technology
Inertial navigation system is a voyage Estimation System based on the acceleration quadratic integral, and it relies on plant equipment fully and corresponding algorithm is automatic, the complete independently navigation task, and any light, electrical communication do not occur in the external world.So good concealment, working environment is not subject to the restriction of meteorological condition.The advantage that this is unique, make it become a kind of widely used main navigational system in space flight, aviation, navigational field.But because inertial navigation system itself exists site error, Initial Alignment Error, gravity anomaly etc., when inertial navigation system works long hours, navigation error is dispersed in time, the effective way that improves the inertial navigation system performance is to adopt integrated navigation technology, by two or more non-similar navigational system, same navigation information is done to measure and resolve with formation volume and measure, calculate the error of each navigational system and proofread and correct from these measurement amounts.Adopt the system of integrated navigation technology to be called integrated navigation system, involved each system is called subsystem.
Because inertial navigation system itself exists site error, Initial Alignment Error, gravity anomaly etc., when inertial navigation system works long hours, navigation speed and site error are dispersed in time.Another importance of integrated navigation system is information fusion algorithm, is about to the different navigation system and obtains navigation information and merges and obtain high-precision navigation and export.At present common information fusion algorithm is generally based on the optimal estimation theory, for example kalman filtering theory with and derivative algorithm.Need to set up the error model of system when using Kalman filtering algorithm to carry out Design of Integrated Navigation System, in addition, Kalman filtering algorithm is a kind of recursive algorithm, need the parameters initial value during starting algorithm, the rationality of the correctness of error model and parameter initial value will have a direct impact convergence, need to rational parameter initial value be set for different product during the engineering application, debugging work load is very large.In addition, along with the raising of metric information frequency, will be difficult to calculate integrated navigation after the employing Kalman filter in one-period and calculate.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of inertial navigation system measuring error modification method based on GPS information is provided, the correction of realization to inertial navigation system speed and position, improved robustness and the navigation accuracy of integrated navigation system.
Technical solution of the present invention: a kind of inertial navigation system measuring error modification method based on GPS information comprises north orientation channel measurement error correction step and east orientation channel measurement error correction step:
North orientation channel measurement error correction step:
(1) north orientation acceleration a inertial navigation system measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
carrier true north speed v with the GPS acquisition
ndo the poor north orientation velocity error that obtains
?
(3) north orientation speed correction link controller is according to the north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) utilize latitude controlled quentity controlled variable u
vnto north orientation acceleration a
nrevised, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(6) to the latitude rate of change
carry out integration and obtain latitude
by latitude
carrier true latitude with the GPS acquisition
do the poor latitude error that obtains
?
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) utilize controlled quentity controlled variable
to the latitude rate of change
revised, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system is exported, thereby completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) east orientation acceleration a inertial navigation system measured
ecarry out integration and obtain north orientation speed
(2) by east orientation speed
the true east orientation speed v of carrier with the GPS acquisition
edo poor the east orientation velocity error that obtains
?
(3) east orientation speed correction link controller is according to the east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) utilize longitude controlled quentity controlled variable u
veto east orientation acceleration a
erevised, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(6) to the longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of carrier obtained with GPS does the poor longitude error that obtains
?
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) utilize longitude controlled quentity controlled variable u
λto the longitude rate of change
revised, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system is exported, thereby completes the correction of east orientation channel measurement error.
The transport function of described north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller is respectively:
represent respectively north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller;
Wherein v is the integral element number, v=0 or 1; The bandwidth in handicapping Buddhist nun loop is ω
c, when v=0,
When v=1,
T
1for the inertial element time constant;
T
2for the first derivative element time constant;
K is enlargement factor.
Ultimate principle of the present invention: when the actual position information (longitude λ, the latitude that obtain carrier
), velocity information (east orientation speed v
e, the north orientation speed v
n) time, can be by the positional information (longitude of inertial navigation system output
latitude
) and velocity information (east orientation speed
north orientation speed
) with actual position information and velocity information, do poorly respectively, form error signal,
this error signal formation control amount after controller is applied to respectively position integral equation and the rate integrating equation of inertial navigation, realizes the damping to INS errors.
The present invention's advantage compared with prior art is as follows:
(1) existing Kalman filtering algorithm need to be set up the error model of system, algorithm stability depends critically upon correctness and the levels of precision of navigation error model, method of the present invention does not rely on the accuracy of SYSTEM ERROR MODEL, the method that adopts series connection to control is proposed, introduce external GPS positional information, velocity information so that the inertial navigation error is revised, can complete the filtering to the input signal noise by designing suitable controller, the tracking of completion system output to the system input, complete the correction to inertial navigation system speed and site error.
(2) existing Kalman filtering algorithm time overhead is larger, and the filtering cycle is longer, method fast operation of the present invention, and time overhead is short, when outer survey data frequency is higher, also can complete the correction to inertial navigation system speed and errors in position measurement.
(3) if existing Kalman filtering algorithm information source changes, need to re-establish the error model of system, workload is larger, and the present invention only need get final product by change control device parameter.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of realizing of the present invention;
The damping circuit open-loop transfer function Bode diagram that Fig. 2 is adoption rate link controller of the present invention;
Fig. 3 is adoption rate-hysteresis-differentiation element controller damping circuit open-loop transfer function Bode diagram;
Fig. 4 is adoption rate-integration-leading-delay component controller damping circuit open-loop transfer function Bode diagram;
Fig. 5 is the Output rusults figure of the integrated navigation system of use the present invention design;
Fig. 6 is for being used the integrated navigation system position navigation curve map of the present invention's design.
Embodiment
Realization approach of the present invention is: the integrated navigation system damping circuit comprises speed damping circuit (north orientation speed damping circuit, east orientation speed damping circuit) and position damping loop (latitude damping circuit, longitude damping circuit).The ultimate principle of damping is actual position information (longitude λ, latitude when obtaining carrier
), velocity information (east orientation speed v
e, the north orientation speed v
n) time, can be by the positional information (longitude of inertial navigation system output
latitude
) and velocity information (east orientation speed
north orientation speed
) with actual position information and velocity information, do poorly respectively, form error signal,
this error signal formation control amount after controller is applied to respectively position integral equation and the rate integrating equation of inertial navigation, realizes the damping to inertial navigation system velocity error and site error.
As shown in Figure 1, modification method of the present invention comprises north orientation channel measurement error correction step and east orientation channel measurement error correction step to concrete implementation method:
North orientation channel measurement error correction step:
(1) north orientation acceleration a inertial navigation system measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
carrier true north speed v with the GPS acquisition
ndo the poor north orientation velocity error that obtains
?
(3) north orientation speed correction link controller is according to the north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) utilize latitude controlled quentity controlled variable u
vnto north orientation acceleration a
nrevised, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(6) to the latitude rate of change
carry out integration and obtain latitude
by latitude
carrier true latitude with the GPS acquisition
do the poor latitude error that obtains
?
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) utilize controlled quentity controlled variable
to the latitude rate of change
revised, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system is exported, thereby completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) east orientation acceleration a inertial navigation system measured
ecarry out integration and obtain north orientation speed
(2) by east orientation speed
the true east orientation speed v of carrier with the GPS acquisition
edo the poor east orientation velocity error that obtains
?
(3) east orientation speed correction link controller is according to the east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) utilize longitude controlled quentity controlled variable u
veto east orientation acceleration a
erevised, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(6) to the longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of carrier obtained with GPS does the poor longitude error that obtains
?
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) utilize longitude controlled quentity controlled variable u
λto the longitude rate of change
revised, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system is exported, thereby completes the correction of east orientation channel measurement error.
The transport function of described north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller is respectively:
represent respectively north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller;
Wherein v is the integral element number, v=0 or 1; The bandwidth in handicapping Buddhist nun loop is ω
c, when v=0,
When v=1,
T
1for the inertial element time constant;
T
2for the first derivative element time constant;
K is enlargement factor.
Due to controlling unit C
1(s), C
2(s), C
3and C (s)
4(s) be continuous system, when practical application, need carry out the discretize processing, discretization method is Bilinear transformation method, even
carry out discretize, the time discretization that wherein Δ T is navigational system.
Example 1., when v=0, is established T
1=T
2, have
at first, determine the shearing frequency ω of system
c, the open-loop transfer function of damping system is
wherein, ω
c=K.Fig. 2 solid line has provided ω
cthe open loop Bode diagram of damping system during=100rad/s, establishing sample frequency is 100Hz, the system open loop Bode diagram after adopting the bilinearity discretize as Fig. 2 in dotted line.
Example 2., when v=0, is established
Have
At first, determine the shearing frequency ω of system
c, get
the open-loop transfer function of damping system is
fig. 3 solid line has provided ω
c=100rad/s, T
1=1, T
2the damping system open loop Bode diagram of=0.1 o'clock.As can be seen from the figure, system is improved in the gain of low-frequency range, and its multiple is
if sample frequency is 100Hz, the system open loop Bode diagram after adopting the bilinearity discretize as Fig. 3 in dotted line.
Example 3., when v=1, is established
Have
At first, determine the shearing frequency ω of system
c, get K=T
2ω
c 2, the open-loop transfer function of damping system is
fig. 4 solid line has provided ω
c=100rad/s, T
1=0.001, T
2the open loop Bode diagram of=0.1 damping system.As can be seen from Figure 4, system is improved in the gain of low-frequency range.If sample frequency is 100Hz, the system open loop Bode diagram after adopting the bilinearity discretize as Fig. 4 in dotted line.
Can complete the inertial navigation system damping method Design of Integrated Navigation System based on external position and velocity information by said method, Fig. 5 the first row is respectively the longitude curve, latitude curve and altitude curve, the second row is respectively the east orientation rate curve, north orientation rate curve and sky are to rate curve, the third line is respectively the angle of pitch, roll angle and course angle, in Fig. 5, solid line is the GPS navigation result, dotted line is the integrated navigation system navigation results, can find out in the situation that GPS does not have frame losing, article two, curve almost completely overlaps, the method of the invention has realized the correction of GPS to the inertial navigation system measuring error, and the noise of integrated navigation system is less, the navigation position curve that Fig. 6 is integrated navigation system, can find out in the situation that GPS does not have frame losing integrated navigation system position navigation results to conform to actual.
The present invention not detailed description is known to the skilled person technology.
Claims (2)
1. the inertial navigation system measuring error modification method based on GPS information is characterized in that comprising north orientation channel measurement error correction step and east orientation channel measurement error correction step:
North orientation channel measurement error correction step:
(1) north orientation acceleration a inertial navigation system measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
carrier true north speed v with the GPS acquisition
ndo the poor north orientation velocity error that obtains
?
(3) north orientation speed correction link controller is according to the north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) utilize latitude controlled quentity controlled variable u
vnto north orientation acceleration a
nrevised, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(6) to the latitude rate of change
carry out integration and obtain latitude
by latitude
carrier true latitude with the GPS acquisition
do the poor latitude error that obtains
?
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) utilize controlled quentity controlled variable
to the latitude rate of change
revised, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system is exported, thereby completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) east orientation acceleration a inertial navigation system measured
ecarry out integration and obtain north orientation speed
(2) by east orientation speed
the true east orientation speed v of carrier with the GPS acquisition
edo the poor east orientation velocity error that obtains
?
(3) east orientation speed correction link controller is according to the east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) utilize longitude controlled quentity controlled variable u
veto east orientation acceleration a
erevised, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(6) to the longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of carrier obtained with GPS does the poor longitude error that obtains
?
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) utilize longitude controlled quentity controlled variable u
λto the longitude rate of change
revised, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system is exported, thereby completes the correction of east orientation channel measurement error.
2. a kind of inertial navigation system measuring error modification method based on GPS information according to claim 1, it is characterized in that: the transport function of described north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller is respectively:
represent respectively north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller;
Wherein v is the integral element number, v=0 or 1; The bandwidth in handicapping Buddhist nun loop is ω
c, when v=0,
When v=1,
T
1for the inertial element time constant;
T
2for the first derivative element time constant;
K is enlargement factor.
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Cited By (3)
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CN105241319A (en) * | 2015-08-27 | 2016-01-13 | 北京航天控制仪器研究所 | High-speed self-rotation guided cartridge aerial real-time alignment method |
CN106595709A (en) * | 2016-12-07 | 2017-04-26 | 北京航天控制仪器研究所 | Inertial navigation system measuring error correction method based on external measuring information |
CN111457921A (en) * | 2020-04-10 | 2020-07-28 | 江西驰宇光电科技发展有限公司 | Tunnel structure safety monitoring device and method based on laser inertial navigation system |
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CN111457921A (en) * | 2020-04-10 | 2020-07-28 | 江西驰宇光电科技发展有限公司 | Tunnel structure safety monitoring device and method based on laser inertial navigation system |
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