CN103471593B - A kind of inertial navigation system measuring error modification method based on GPS information - Google Patents
A kind of inertial navigation system measuring error modification method based on GPS information Download PDFInfo
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- CN103471593B CN103471593B CN201310403697.2A CN201310403697A CN103471593B CN 103471593 B CN103471593 B CN 103471593B CN 201310403697 A CN201310403697 A CN 201310403697A CN 103471593 B CN103471593 B CN 103471593B
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Abstract
The invention discloses a kind of inertial navigation system measuring error modification method based on GPS information, the present invention proposes the method adopting series connection to control, introduce external GPS positional information, velocity information is to revise inertial navigation error, filtering to input signal noise can be completed by designing suitable controller, completion system exports the tracking to system input, namely the correction to inertial navigation system speed and site error is completed, the method does not rely on the accuracy of SYSTEM ERROR MODEL, fast operation, time overhead is short, also the correction to inertial navigation system speed and errors in position measurement can be completed when unit discharging frequency is higher, the error model of system only need can be re-established by change control device parameter, workload is little.
Description
Technical field
The present invention relates to a kind of inertial navigation system measuring error modification method, particularly relate to a kind of inertial navigation system measuring error modification method based on GPS information, can be used for the occasion with high precision navigation accuracy, such as the field such as Aero-Space, mapping.
Background technology
Inertial navigation system is a voyage Estimation System based on acceleration quadratic integral, and it relies on plant equipment completely and corresponding algorithm is automatic, complete independently navigation task, and any optical, electrical contact does not occur in the external world.Therefore good concealment, working environment is not by the restriction of meteorological condition.The advantage of this uniqueness, becomes a kind of widely used prime navaid 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 improving inertial navigation system performance adopts integrated navigation technology, namely by two or more non-similar navigational system same navigation information measured and resolved and measure with formation volume, from these measurement amounts, calculate the error of each navigational system and correct.Adopt the system of integrated navigation technology to be called integrated navigation system, each system involved 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, carries out fusion obtain high-precision navigation output by different navigation system acquisition navigation information.Information fusion algorithm common is at present generally theoretical based on optimal estimation, such as kalman filtering theory and its derivative algorithm.The error model of system is needed to set up when using Kalman filtering algorithm to carry out Design of Integrated Navigation System, in addition, Kalman filtering algorithm is a kind of recursive algorithm, parameters initial value is needed during starting algorithm, the correctness of error model and the rationality of initial parameter values will have a direct impact convergence, need during engineer applied to arrange rational initial parameter values for different product, debugging work load is very large.In addition, along with the raising of metric information frequency, will be difficult to have calculated integrated navigation after adopting Kalman filter and calculate in one-period.
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, realize the correction to inertial navigation system speed and position, improve 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) to the north orientation acceleration a that inertial navigation system is measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
the carrier true north speed v obtained with GPS
ndo difference and obtain north orientation velocity error
namely
(3) north orientation speed correction link controller is according to north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) latitude controlled quentity controlled variable u is utilized
vnto north orientation acceleration a
nrevise, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(5) utilize
by revised north orientation speed
be converted into latitude rate of change
(6) to latitude rate of change
carry out integration and obtain latitude
by latitude
the carrier true latitude obtained with GPS
do difference and obtain latitude error
namely
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) controlled quentity controlled variable is utilized
to latitude rate of change
revise, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system exports, thus completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) to the east orientation acceleration a that inertial navigation system is measured
ecarry out integration and obtain north orientation speed
(2) by east orientation speed
the true east orientation speed v of the carrier obtained with GPS
emake it so poor that to obtain east orientation velocity error
namely
(3) east orientation speed correction link controller is according to east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) longitude controlled quentity controlled variable u is utilized
veto east orientation acceleration a
erevise, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(5) utilize
by revised east orientation speed
be converted into longitude rate of change
(6) to longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of the carrier obtained with GPS does difference and obtains longitude error
namely
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) longitude controlled quentity controlled variable u is utilized
λto longitude rate of change
revise, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system exports, thus 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 north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller respectively;
Wherein v is integral element number, v=0 or 1; If the bandwidth of damping circuit is ω
c, as v=0,
As v=1,
T
1for inertial element time constant;
T
2for first derivative element time constant;
K is enlargement factor.
Ultimate principle of the present invention: when obtaining actual position information (longitude λ, the latitude of carrier
), velocity information (east orientation speed v
e, north orientation speed v
n) time, the positional information (longitude that inertial navigation system can be exported
latitude
) and velocity information (east orientation speed
north orientation speed
) do difference with actual position information and velocity information respectively, form error signal, namely
this error signal formation control amount after controller is applied to position integral equation and the rate integrating equation of inertial navigation respectively, realizes the damping to INS errors.
The present invention's advantage is compared with prior art as follows:
(1) existing Kalman filtering algorithm needs the error model setting up 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 adopting series connection to control is proposed, introduce external GPS positional information, velocity information to revise inertial navigation error, filtering to input signal noise can be completed by designing suitable controller, completion system exports the tracking to system input, namely completes the correction to inertial navigation system speed and site error.
(2) existing Kalman filtering algorithm time overhead is comparatively large, and the filtering cycle is longer, method fast operation of the present invention, and time overhead is short, also can complete the correction to inertial navigation system speed and errors in position measurement when unit discharging frequency is higher.
(3) if existing Kalman filtering algorithm information source changes, need the error model re-establishing system, workload is comparatively large, and the present invention only need by change control device parameter.
Accompanying drawing explanation
Fig. 1 of the present inventionly realizes schematic diagram;
Fig. 2 is the damping circuit open-loop transfer function Bode diagram of adoption rate Absent measures device of the present invention;
Fig. 3 is adoption rate-delayed-differentiation element controller damping circuit open-loop transfer function Bode diagram;
Fig. 4 is adoption rate-integration-advanced-delay component controller damping circuit open-loop transfer function Bode diagram;
Fig. 5 is the Output rusults figure of the integrated navigation system using the present invention's design;
Fig. 6 is the integrated navigation system position navigation curve map using the present invention's design.
Embodiment
Realization approach of the present invention is: 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, north orientation speed v
n) time, the positional information (longitude that inertial navigation system can be exported
latitude
) and velocity information (east orientation speed
north orientation speed
) do difference with actual position information and velocity information respectively, form error signal, namely
this error signal formation control amount after controller is applied to position integral equation and the rate integrating equation of inertial navigation respectively, 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) to the north orientation acceleration a that inertial navigation system is measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
the carrier true north speed v obtained with GPS
ndo difference and obtain north orientation velocity error
namely
(3) north orientation speed correction link controller is according to north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) latitude controlled quentity controlled variable u is utilized
vnto north orientation acceleration a
nrevise, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(5) utilize
by revised north orientation speed
be converted into latitude rate of change
(6) to latitude rate of change
carry out integration and obtain latitude
by latitude
the carrier true latitude obtained with GPS
do difference and obtain latitude error
namely
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) controlled quentity controlled variable is utilized
to latitude rate of change
revise, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system exports, thus completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) to the east orientation acceleration a that inertial navigation system is measured
ecarry out integration and obtain north orientation speed
(2) by east orientation speed
the true east orientation speed v of the carrier obtained with GPS
edo difference and obtain east orientation velocity error
namely
(3) east orientation speed correction link controller is according to east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) longitude controlled quentity controlled variable u is utilized
veto east orientation acceleration a
erevise, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(5) utilize
by revised east orientation speed
be converted into longitude rate of change
(6) to longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of the carrier obtained with GPS does difference and obtains longitude error
namely
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) longitude controlled quentity controlled variable u is utilized
λto longitude rate of change
revise, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system exports, thus 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 north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller respectively;
Wherein v is integral element number, v=0 or 1; If the bandwidth of damping circuit is ω
c, as v=0,
As v=1,
T
1for inertial element time constant;
T
2for first derivative element time constant;
K is enlargement factor.
Due to controlling unit C
1(s), C
2(s), C
3(s) and C
4s () is continuous system, need carry out sliding-model control when practical application, and discretization method is Bilinear transformation method, even
carry out discretize, wherein Δ T is the time discretization of navigational system.
Example 1. is as v=0, if T
1=T
2, then have
first, the shearing frequency ω of certainty annuity
c, then the open-loop transfer function of damping system is
wherein, ω
c=K.Fig. 2 solid line gives ω
cthe open loop Bode diagram of damping system during=100rad/s, if sample frequency is 100Hz, the system open loop Bode diagram after adopting bilinearity discretize as Fig. 2 in dotted line.
Example 2. as v=0, if
Then have
First, the shearing frequency ω of certainty annuity
c, get
then the open-loop transfer function of damping system is
fig. 3 solid line gives ω
c=100rad/s, T
1=1, T
2damping system open loop Bode diagram when=0.1.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 bilinearity discretize as Fig. 3 in dotted line.
Example 3. as v=1, if
Then have
First, the shearing frequency ω of certainty annuity
c, get K=T
2ω
c 2, then the open-loop transfer function of damping system is
fig. 4 solid line gives 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 bilinearity discretize as Fig. 4 in dotted line.
The inertial navigation system damping method Design of Integrated Navigation System based on external position and velocity information can be completed by said method, Fig. 5 the first row is respectively longitude curve, latitude curve and altitude curve, second row is respectively 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 GPS navigation result, dotted line is integrated navigation system navigation results, can find out when GPS does not have frame losing, article two, curve almost overlaps completely, the method of the invention achieves the correction of GPS to inertial navigation system measuring error, and the noise of integrated navigation system is less, Fig. 6 is the navigation position curve of integrated navigation system, can find out that integrated navigation system position navigation results conforms to actual when GPS does not have frame losing.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (2)
1., based on an inertial navigation system measuring error modification method for GPS information, it 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) to the north orientation acceleration a that inertial navigation system is measured
ncarry out integration and obtain north orientation speed
(2) by north orientation speed
the carrier true north speed v obtained with GPS
ndo difference and obtain north orientation velocity error
namely
(3) north orientation speed correction link controller is according to north orientation velocity error
generate latitude controlled quentity controlled variable u
vn;
(4) latitude controlled quentity controlled variable u is utilized
vnto north orientation acceleration a
nrevise, through revised north orientation acceleration a
nagain carry out integration and obtain revised north orientation speed;
(5) utilize
will through the revised north orientation speed of step (4)
be converted into latitude rate of change
(6) to latitude rate of change
carry out integration and obtain latitude
by latitude
the carrier true latitude obtained with GPS
do difference and obtain latitude error
namely
(7) latitude correction link controller is according to latitude error
generate controlled quentity controlled variable
(8) controlled quentity controlled variable is utilized
to latitude rate of change
revise, through revised latitude rate of change
again carry out integration and obtain revised latitude
revised latitude
north orientation passage as inertial navigation system exports, thus completes the correction of north orientation channel measurement error;
East orientation channel measurement error correction step:
(1) to the east orientation acceleration a that inertial navigation system is measured
ecarry out integration and obtain east orientation speed
(2) by east orientation speed
the true east orientation speed v of the carrier obtained with GPS
edo difference and obtain east orientation velocity error
namely
(3) east orientation speed correction link controller is according to east orientation velocity error
generate longitude controlled quentity controlled variable u
ve;
(4) longitude controlled quentity controlled variable u is utilized
veto east orientation acceleration a
erevise, through revised east orientation acceleration a
eagain carry out integration and obtain revised east orientation speed;
(5) utilize
will through the revised east orientation speed of step (4)
be converted into longitude rate of change
(6) to longitude rate of change
carry out integration and obtain longitude
by longitude
the true longitude λ of the carrier obtained with GPS does difference and obtains longitude error
namely
(7) longitude correction link controller is according to longitude error
generate longitude controlled quentity controlled variable u
λ;
(8) longitude controlled quentity controlled variable u is utilized
λto longitude rate of change
revise, through revised longitude rate of change
again carry out integration and obtain revised longitude
revised longitude
east orientation passage as inertial navigation system exports, thus 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, 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 north orientation speed correction link controller, latitude correction link controller, east orientation speed correction link controller and longitude correction link controller respectively;
Wherein v is integral element number, v=0 or 1; If the bandwidth of damping circuit is ω
c, as v=0,
as v=1,
T
1for inertial element time constant;
T
2for first derivative element time constant;
K is enlargement factor.
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