CN103512584A - Navigation attitude information output method, device and strapdown navigation attitude reference system - Google Patents

Navigation attitude information output method, device and strapdown navigation attitude reference system Download PDF

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CN103512584A
CN103512584A CN201210216234.0A CN201210216234A CN103512584A CN 103512584 A CN103512584 A CN 103512584A CN 201210216234 A CN201210216234 A CN 201210216234A CN 103512584 A CN103512584 A CN 103512584A
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attitude
observation
data
output
angle
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张方杰
唐冬冬
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Beijing Sai Baite Science And Technology Ltd
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Beijing Sai Baite Science And Technology Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

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Abstract

The invention discloses a navigation attitude information output method, a navigation attitude information output device and a strapdown navigation attitude reference system. The method is used in the strapdown navigation attitude reference system, and comprises the following steps: acquiring gyroscope data after correction, and carrying out recursion to obtain a process attitude of the next time; acquiring acceleration meter data and magnetometer data after the correction, calculating out the current observation attitude and observation heading; carrying out filtering treatment on the observation attitude and the observation heading, and outputting filtered observation attitude and observation heading; carrying out organic fusing and complementary filtering on the process attitude and the filtered observation attitude, thus obtaining the navigation attitude information and then outputting. With the adoption of the device and the method disclosed by the invention, the precision of the navigation system of the strapdown navigation attitude reference system in the prior art can be improved.

Description

Navigation attitude information output intent, device and strapdown attitude frame of reference
Technical field
The present invention relates to the communications field, in particular to a kind of navigation attitude information output intent, device and strapdown attitude frame of reference.
Background technology
Strap-down inertial technology is an integrated technology, and for to the determining of the attitude of movable body, speed and location parameter, this technology is widely used in the fields such as space flight, aviation, navigation and geodetic surveying.
SINS(Strapdown Inertial Navigation System, strapdown inertial navigation system), its principle is according to the mechanics law in the relative inertness space of newton's proposition, extract gyro, accelerometer and magnetic and calculate in real time attitude matrix to the measured value of meter, and then obtain the calculating of navigating of the attitude of motion carrier and course information from the element of attitude matrix.
The precision of inertial navigation system guidance depends on precision and the calculation method of inertia device (for example, gyroscope and accelerometer).Due to the accumulation of the drift error of MEMS device, As time goes on inertial navigation precision can reduce, and need to have GPS(Global Positioning Systems, GPS) or other outside auxiliary reference improve the precision of navigational system.
AHRS(Attitude and Haeding Reference System, strapdown attitude frame of reference) comprise and a plurality of inertia axial sensor can provide course, roll and pitching information for aircraft, and corresponding angular speed information.This type systematic is used for as aircraft provides attitude and course information accurately and reliably at present, but while applying, this system does not generally provide the navigation information of position, also can only be effective in the time in section even if provide, and the constantly accumulation of the continuous resolution error in long-term position.
The inadequate problem of precision for current existing strapdown attitude frame of reference navigational system in correlation technique, not yet proposes effective solution at present.
Summary of the invention
For the inadequate problem of precision of current existing strapdown attitude frame of reference navigational system, the invention provides a kind of navigation attitude information output intent, device and strapdown attitude frame of reference, at least to address the above problem.
According to an aspect of the present invention, provide a kind of navigation attitude information output intent, be applied to, in strapdown attitude frame of reference, comprising: obtain the gyro data after correction, recursion has gone out next process attitude constantly; Obtain accelerometer data and magnetometer data after correction, calculate current observation attitude and observation course; Described observation attitude and described observation course are carried out to filtering processing, and the observation attitude after output filtering and observation course; To described process attitude and described filtered observation attitude organically blend, complementary filter, obtain navigating attitude information and output.
Preferably, described recursion goes out next process attitude constantly, comprising: utilize Numerical solution of partial defferential equatio method recursion to go out described process attitude.
Preferably, described Numerical solution of partial defferential equatio method comprises the RK4 solution of quaternion differential equation.
Preferably, described observation attitude and described observation course are carried out to filtering processing, comprising: described observation attitude and described observation course are carried out to low-pass digital filter algorithm process.
Preferably, described observation attitude and described observation course are carried out to filtering processing, comprising: adopt RC lowpass digital filter to carry out filtering processing to described observation attitude and described observation course.
Preferably, described process attitude and described filtered observation attitude are organically blended, comprise: adopt with described process attitude tight coupling, with the couple strategy of described observation attitude loose coupling, described process attitude and described filtered observation attitude are organically blended.
Preferably, organically blending of described process attitude and described filtered observation attitude adopts the mode of Eulerian angle, and wherein, described Eulerian angle are ZXY Eulerian angle, the X angle of pitch is defined in (90 ,+90), and Y roll angle is defined in (180, + 180), Z crab angle is defined in (180 ,+180).
Preferably, when the described angle of pitch cross-90 or+90 while spending, the output of described roll angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data; When the described angle of pitch cross-90 or+90 while spending, when described roll angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
Preferably, when the described angle of pitch cross-90 or+90 while spending, the output of described crab angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data; When the described angle of pitch cross-90 or+90 while spending, when described crab angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
Preferably, before the described gyro data of obtaining after correction, also comprise: from the sensor of described strapdown attitude frame of reference, obtain and determine the needed data of navigation attitude information.
Preferably, for the normal value output error of described sensor, automatically estimate and compensate.
Preferably, for the normal value output error of described sensor, automatically estimate and compensate, comprising: the correction form that the error correction of described gyro data and described accelerometer data is adopted to each axle measured value of sensor output; The error correction of described magnetometer data is adopted to the correction form of earth's magnetic dip angle.
Preferably, described in obtain navigating attitude information and output, comprising: by USART serial ports, the navigation attitude information obtaining is exported.
While preferably, exporting described navigation attitude information, support multiple output protocol pattern.
Preferably, described output protocol pattern comprises that the host computer based on Windows MFC+OpenGL+COMM assembly dynamically shows.
According to a further aspect in the invention, provide a kind of navigation attitude information output unit, having comprised: recursion module, for obtaining the gyro data after correction, recursion goes out next process attitude constantly; Resolve module, for obtaining accelerometer data and the magnetometer data after correction, calculate current observation attitude and observation course; Filtration module, for described observation attitude and described observation course are carried out to filtering processing, and the observation attitude after output filtering and observation course; Output module, for described process attitude and described filtered observation attitude are organically blended, complementary filter, attitude information output obtain navigating.
Preferably, described device is arranged in strapdown attitude frame of reference.
According to a further aspect in the invention, provide a kind of strapdown attitude frame of reference, having comprised: sensing measurement unit, for obtaining the data of each unit of strapdown attitude frame of reference; Data correction unit, proofreaies and correct for the data that described sensing measurement unit is obtained; Estimation of error unit, carries out estimation of error for the data after described Data correction unit is proofreaied and correct; Attitude algorithm unit, for the data of carrying out after estimation of error are carried out to attitude algorithm, obtains current navigation attitude information; Output display unit, for exporting described navigation attitude information.
In embodiments of the present invention, gyro data, accelerometer data and magnetometer data are proofreaied and correct, and obtain process attitude and filtered observation attitude, observe course according to the data of proofreading and correct, and then by process attitude with observation attitude organically blend, complementary filter, thereby obtain navigating comparatively accurately attitude information, and output.With respect to the strapdown attitude frame of reference of prior art, in navigation attitude information output intent provided by the invention, for data, constantly proofread and correct, thereby guaranteed the accuracy of navigation attitude information, avoided causing because of error accumulation the decline of navigation accuracy.And, do not need to use other outside auxiliary references such as GPS, reach the object of saving resource.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is according to the processing flow chart of the navigation attitude information output intent of the embodiment of the present invention;
Fig. 2 is according to the structural representation of the navigation attitude information output unit of the embodiment of the present invention;
Fig. 3 is according to the structural representation of the strapdown attitude frame of reference of the embodiment of the present invention;
Fig. 4 is according to the Organization Chart of each unit of the strapdown attitude frame of reference of the embodiment of the present invention;
Fig. 5 is the hardware configuration scheme schematic diagram according to the embodiment mono-of the embodiment of the present invention;
Fig. 6 is the IMU inertance element hardware configuration according to the embodiment mono-of the embodiment of the present invention;
Fig. 7 is the attitude algorithm algorithm arrangement schematic diagram according to the embodiment mono-of the embodiment of the present invention;
Fig. 8 calculates the schematic flow sheet of process attitude angle according to the embodiment tri-of the embodiment of the present invention by gyroscope;
Fig. 9 is the process flow diagram that obtains according to the observation attitude of the embodiment tri-of the embodiment of the present invention;
Figure 10 is according to the processing flow chart of the data fusion of the process attitude of the embodiment tri-of the embodiment of the present invention and observation attitude and saltus step removal;
Figure 11 is according to the structural representation of the dynamic three-dimensional display based on OpenGL and MFC of the embodiment tri-of the embodiment of the present invention.
Embodiment
Hereinafter with reference to accompanying drawing, also describe the present invention in detail in conjunction with the embodiments.It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the application can combine mutually.
In correlation technique, mention, the precision of current existing strapdown attitude frame of reference navigational system is inadequate.For solving this technical problem, the embodiment of the present invention provides a kind of navigation attitude information output intent, and as shown in Figure 1, the method is applied to, in strapdown attitude frame of reference, comprise the steps: its processing flow chart
Step S101, obtain the gyro data after correction, recursion goes out next process attitude constantly;
Step S102, obtain accelerometer data and magnetometer data after correction, calculate current observation attitude and observation course;
Step S103, to the observation attitude obtaining in step S102 and observation course carry out filtering processing, and the observation attitude after output filtering and observation course;
Step S104, to filtered observation attitude in the process attitude of recursion in step S101 and step S103 organically blend, complementary filter, obtain navigating attitude information and output.
In embodiments of the present invention, gyro data, accelerometer data and magnetometer data are proofreaied and correct, and obtain process attitude and filtered observation attitude, observe course according to the data of proofreading and correct, and then by process attitude with observation attitude organically blend, complementary filter, thereby obtain navigating comparatively accurately attitude information, and output.With respect to the strapdown attitude frame of reference of prior art, in navigation attitude information output intent provided by the invention, for data, constantly proofread and correct, thereby guaranteed the accuracy of navigation attitude information, avoided causing because of error accumulation the decline of navigation accuracy.And, do not need to use other outside auxiliary references such as GPS, reach the object of saving resource.
Flow process as shown in Figure 1, step S101, when implementing, need to go out according to the gyro data recursion after proofreading and correct next process attitude constantly, concrete, is to utilize Numerical solution of partial defferential equatio method to pass push attitude.Preferably, Numerical solution of partial defferential equatio method comprises the RK4 solution of quaternion differential equation.
Flow process as shown in Figure 1, in step S103, mention observation attitude and observation course are carried out to filtering processing, filtering processing mode herein can have multiple processing mode according to the difference of algorithm, preferred, and observation attitude and observation course are carried out to low-pass digital filter algorithm process.
In like manner, except the algorithm difference of using is processed in filtering, this processes the equipment using also may be different,, observation attitude and observation course carried out to a kind of preferred embodiment for adopting RC lowpass digital filter to carry out filtering processing to observation attitude and observation course of filtering processing that is.Certainly, also there are other polytypes in wave filter, can select as the case may be different wave filters.
In the observation attitude to current and observation course, carry out after filtering processing, the filtered observation attitude obtaining in the process attitude that the invention process regular meeting obtains recursion in step S101 and step S103 organically blends, in fusion process, need to adopt suitable couple strategy, for example, preferably, can adopt with process attitude tight coupling, with the couple strategy of observation attitude loose coupling, process attitude and filtered observation attitude are organically blended.In practical application, also can adopt other couple strategy, for example, with the loose coupling of process attitude, with observation attitude tightly coupled couple strategy.Above-mentioned is only giving an example of couple strategy, and in practical application, concrete couple strategy is determined as the case may be.
In the process that organically blends of process attitude and filtered observation attitude, preferably adopt the mode of Eulerian angle, wherein, Eulerian angle are ZXY Eulerian angle, the X angle of pitch is defined in (90 ,+90), and Y roll angle is defined in (180, + 180), Z crab angle is defined in (180 ,+180).
When the mode that adopts Eulerian angle organically blends to process attitude and filtered observation attitude, according to the value of each angle, select different operations:
When the angle of pitch cross-90 or+90 while spending, the output of roll angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data;
When the angle of pitch cross-90 or+90 while spending, when roll angle-180 and+180 between during saltus step, now forbid filtering direct output new data;
When the angle of pitch cross-90 or+90 while spending, the output of crab angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data;
When the angle of pitch cross-90 or+90 while spending, when crab angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
Flow process as shown in Figure 1, step S101 is before implementing, and before the gyro data after obtaining correction, the embodiment of the present invention is selected to obtain from the sensor of strapdown attitude frame of reference and is determined the needed data of navigation attitude information.
During enforcement, can there is certain error in the data that obtain from sensor, for example, is often worth output error.For reducing normal value output error, the embodiment of the present invention is automatically estimated and compensates for the normal value output error of sensor.Preferably, the kind of considering sensor is different, and the data of obtaining in different transmitters are different, the correcting mode adopting is also different, for example, the error correction of gyro data and accelerometer data is adopted to the correction form of each axle measured value of sensor output, more for example, to the error correction of magnetometer data, can adopt the correction form of earth's magnetic dip angle.
Flow process as shown in Figure 1, step S104 proposes to obtain navigating attitude information output when implementing, preferred, can the navigation attitude information obtaining be exported by USART serial ports.When further, attitude information is navigated in output, support multiple output protocol pattern.For example, the output protocol pattern that the host computer based on Windows MFC+OpenGL+COMM assembly dynamically shows.
For supporting above-mentioned any one preferred embodiment, based on same inventive concept, the embodiment of the present invention also provides a kind of navigation attitude information output unit, and its structural representation as shown in Figure 2, comprising:
Recursion module 201, for obtaining the gyro data after correction, recursion goes out next process attitude constantly;
Resolve module 202, with 201 couplings of recursion module, for obtaining accelerometer data and the magnetometer data after correction, calculate current observation attitude and observation course;
Filtration module 203, and resolves module 202 coupling, for carrying out filtering processing to resolving observation attitude and the observation course that module 202 calculates, and the observation attitude after output filtering and observation course;
Output module 204, with 203 couplings of recursion module 201, filtration module, for process attitude and the filtered observation attitude of filtration module 203 that recursion module 201 recursion are gone out organically blend, complementary filter, attitude information output obtain navigating.
In a preferred embodiment, the navigation attitude information output unit shown in Fig. 2 is arranged in strapdown attitude frame of reference.
For supporting above-mentioned any one preferred embodiment, based on same inventive concept, the embodiment of the present invention also provides a kind of strapdown attitude frame of reference, and its structural representation as shown in Figure 3, comprising:
Sensing measurement unit 301, for obtaining the data of each unit of strapdown attitude frame of reference;
Data correction unit 302, proofreaies and correct for the data that sensing measurement unit 301 is obtained;
Estimation of error unit 303, carries out estimation of error for the data that data correcting unit is proofreaied and correct after 302;
Attitude algorithm unit 304, for the data of carrying out after estimation of error are carried out to attitude algorithm, obtains current navigation attitude information;
Output display unit 305, for exporting navigation attitude information.
For the structure of strapdown attitude frame of reference that the embodiment of the present invention is provided, set forth clearer clearer more detailedly, existing Dui Ge unit is respectively specifically described, and concrete Organization Chart refers to Fig. 4.
For the navigation attitude information output intent that the embodiment of the present invention is provided, set forth clearer clearlyer, existing with specific embodiment, be described.
Embodiment mono-
It is a kind of based on MEMS inertial measurement component (IMU that the present embodiment provides, Inertial Measurement Unit) strapdown attitude frame of reference (AHRS, Attitude and Heading Reference System) and attitude algorithm and data fusion method, system comprises: 3 axle gyroscopes, common 9 axle inertia and the Geomagnetic signal measurement module forming of 3 axis accelerometers and 3 axle magnetic compasses; Based on gyrostatic system attitude recursive process Numerical solution of partial defferential equatio, calculate algorithm (RK4); Algorithm (RC low-pass filtering is removed harmful acceleration) is resolved in system attitude observation based on accelerometer and magnetic compass; The convergence strategy of process attitude and observation attitude (Eulerian angle complementary filter, directly perceived, go saltus step); The output display conceptual design of attitude algorithm result (OpenGL+MSCOMM assembly); The present invention is based on MEMS inertial sensor and Embedded design architecture cheaply, adopt simple and effective lightweight to resolve algorithm the attitude information output of navigating is accurately provided, environmental suitability is strong, realizes and easy maintenance.
Scheme based on MEMS sensor can adopt gyro and the combination of accelerometer inertia device, add meter and earth magnetism combination of devices or only adopt accelerometer pass through the quantity of each sensor of reasonable disposition and pose is installed, adopt principle of inertia to calculate attitude and the course information of the body that is connected.
Adopt the sensor allocation plan of gyroscope, accelerometer and magnetometer, by the gyrostatic error of data correction of accelerometer and magnetometer sensor gained, the hardware configuration scheme of taking for the embodiment of the present invention.Its hardware configuration conceptual scheme refers to Fig. 5
Resolve algorithm
The attitude algorithm of strap-down inertial mainly, by obtaining the transition matrix of coordinate system, therefrom picks up attitude and the course information of care.The acceleration and the angular speed that are about to record under the relative carrier coordinate system of carrier convert under navigation coordinate system, calculate attitude, speed and the position of carrier simultaneously.The method of describing at present moving axes relative reference coordinate system position relation mainly contains Euler's horn cupping, direction cosine method and Quaternion Method.Euler's horn cupping, owing to there being " singular point " phenomenon, is not used widely in engineering practice.Direction cosine method is attitude work entirely, there is no singular point, but calculated amount is larger, and real-time is poor, cannot meet engineering practice requirement.And the differential equation of Quaternion Method has obvious minimizing than direction cosine matrix differential equation calculated amount, therefore can meet the requirement of real-time of engineering practice.
For resolving algorithm, there is very important shortcoming in prior art: in recent years, in attitude algorithm algorithm, scholars mainly take to finish card approximatioss and Taylor expansion solves quaternion differential equation, the observation attitude that the process attitude that gyroscope is obtained and accelerometer, magnetometer obtain merges with hypercomplex number, and adopts kalman filter method to remove noise error.Complete card approximatioss and the Taylor expansion of quaternion differential equation solve, and do not reach precision and the rate request of posture renewal, will have influence on the accuracy that obtains attitude.Because hypercomplex number is directly perceived not as Eulerian angle, when the data fusion of the process of carrying out attitude and observation attitude, design and the debugging of algorithm will be unfavorable for.And for Kalman filter algorithm, it is more difficult setting up reliable and stable renewal equation for it, and its calculated amount is very large, very high to the arithmetic speed of processor and accuracy requirement.
The RK4 Numerical solution of partial defferential equatio method of launching based on quadravalence Tailor, its local truncation error is O (h 5), can reach higher calculation accuracy, simultaneously again with the mode implementation procedure attitude of complementary filter and the data fusion of observation attitude, it is less that calculated amount expense is compared in whole scheme and kalman filtering, and precision also can guarantee.
The present invention wants resist technology scheme to adopt IMU hardware plan.STM32F103CBT6 based on Cortex-M3 does its main operational and processes, the HMC5883L chip that employing is integrated with 3 axis accelerometers and the gyrostatic MPU6000MEMS motion process of 3 axles chip and is integrated with 3 axle magnetic resistance meters does respectively original inertia and magnetic information measures, and attitude algorithm outputs to by USART serial ports that upper PC dynamically shows or directly for robot platform provides attitude and course reference information.Wherein, the IMU inertance element hardware configuration that the present embodiment adopts refers to Fig. 6.
About attitude algorithm algorithm, the dynamic recursion numerical value that the embodiment of the present invention utilizes gyro data to carry out quaternion differential equation resolves (RK4-fourth order Runge-Kutta method), obtains the dynamic process attitude of the system that real-time is higher; Utilization adds the data of meter and magnetometer and carries out long-term static attitude measurement, obtains one and measures attitude; Then above two attitudes are done to data fusion and complementary filter processing, realize the instantaneous gyroscope integration output (high-pass filtering of gyroscope integration attitude) of believing, obtain good performance of dynamic tracking, believe for a long time the measurement attitude (low-pass filtering that adds the observation attitude of meter and earth magnetism) that adds meter and earth magnetism, realize the convergence of output and stablize.The attitude algorithm algorithm arrangement figure that the embodiment of the present invention adopts refers to Fig. 7.
To sum up, the MEMS inertial measurement system providing based on the present embodiment, attitude algorithm and data fusion, output display overall system structure figure refers to Fig. 4.
Embodiment bis-
The present embodiment has elaborated the resist technology scheme of wanting.
The present embodiment provides a kind of inertia boat appearance frame of reference based on MEMS sensor, it is characterized in that comprising sensing measurement, Data correction, attitude algorithm, 5 parts of estimation of error and output display.
Wherein, attitude algorithm part, comprises the following steps:
(1). obtain the gyro data after correction, adopt Numerical solution of partial defferential equatio method, recursion goes out next process attitude constantly;
(2). obtain accelerometer and magnetometer data after correction, adopt inverse trigonometric function to calculate current observation attitude and observation course;
(3). to the calculation result in step (2), adopt low-pass digital filter algorithm process, remove the impact of hazardous noise, and the observation attitude after output filtering and observation course;
(4) filtered observation attitude in the process attitude in step (1) and step (3) is organically blended, complementary filter, then output.
What process attitude algorithm adopted is the RK4 solution of quaternion differential equation, utilizes 4 rank Tailor of the differential equation to launch approximate solution attitude quaternion, compares the single order Tailor adopting in Kalman filtering attitude prediction equation and launches, and can reach higher precision.
Observation attitude algorithm has adopted RC lowpass digital filter to process and has measured attitude, the impact of effectively removing noise acceleration.
Attitude fusion has adopted a kind of and process attitude tight coupling, with the convergence strategy of observation attitude loose coupling, complementary filter (Complementary Filter).
About attitude convergence strategy, attitude merges carries out in Eulerian angle mode, and has solved attitude in the Eulerian angle fusion process problem of beating; Eulerian angle are selected ZXY Eulerian angle, the X angle of pitch is defined in (90, + 90), Y roll angle is defined in (180, + 180), Z crab angle is defined in (180 ,+180), according to the mapping relations of Eulerian angle and spatial attitude, the angle of pitch not can-90 and+cross between 90, but pitching cross-90 or+90 o'clock, can cause that roll angle increases or reduces 180, roll in addition angle and crab angle all can-180 and+have the output of leap between 180, thereby it is discontinuous to cause attitude to merge, generation attitude is beated, and has designed the strategy that corresponding removal attitude is beated, and comprises following content:
(1). remove roll and beat: when the angle of pitch cross-90 or+90 while spending, the output of roll angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data; When roll angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
(2). remove driftage and beat: when the angle of pitch cross-90 or+90 while spending, the output of crab angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data; When crab angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
About measurement parameter, proofread and correct, for the normal value output error of sensor, system can be estimated automatically online and compensate in operational process, realizes the accurate output of measuring.
For sensor, be often worth output error dynamic calibration, gyroscope and the correction form that adds meter directly adopted to the form of each axle measured value of sensor output, the correction form of magnetometer error is adopted to the form of earth's magnetic dip angle.
When calculating result, result is exported and shown, by USART serial ports output navigation data.In output and procedure for displaying, can support multiple self-defining output protocol pattern, support that the host computer based on Windows MFC+OpenGL+COMM assembly dynamically shows.
Embodiment tri-
In this example, the schematic flow sheet that calculates process attitude angle by gyroscope refers to Fig. 8.
If collective coordinate is the hypercomplex number of rotating relative to platform moving coordinate system
Q=q 0+q 1i+q 2j+q 3k
Upgrading in time of hypercomplex number Q revised and can be realized by solution quaternion differential equation below
q · 0 q · 1 q · 2 q · 3 = 1 2 0 - ω tbx b - ω tby b - ω tbz b ω tbx b 0 ω tbz b - ω tby b ω tby b - ω tbz b 0 ω tbx b ω tbz b ω tby b - ω tbx b 0 q 0 q 1 q 2 q 3
ω wherein b tbx, ω b tby, ω b tbzbe respectively the angular rate data after the correction of obtaining from gyroscope.
Utilize fourth order Runge-Kutta method RK4 to solve the above-mentioned differential equation
k 1=f(x n,Q n)
k 2 = f ( x n + T 2 , Q n + T 2 × k 1 )
k 3 = f ( x n + T 2 , Q n + T 2 × k 2 )
k 4=f(x n+T,Q n+T×k 3)
Q n + 1 = Q n + T 6 ( k 1 + 2 × k 2 + 2 × k 3 + k 4 )
According to above formula, can realize upgrading in time of strapdown matrix, wherein T is computation period.For guaranteeing that hypercomplex number norm is 1, also tackle it and standardize,
Q norm = Q n q 0 2 + q 1 2 + q 2 2 + q 3 2
According to the relation of attitude matrix and hypercomplex number
T = q 0 2 + q 1 2 - q 2 2 - q 3 2 2 ( q 1 q 2 + q 0 q 3 ) 2 ( q 1 q 3 - q 0 q 2 ) 2 ( q 1 q 2 - q 0 q 3 ) q 0 2 - q 1 2 + q 2 2 - q 3 2 2 ( q 0 q 1 + q 2 q 3 ) 2 ( q 1 q 3 + q 0 q 2 ) 2 ( q 2 q 3 - q 0 q 1 ) q 0 2 - q 1 2 - q 2 2 + q 3 2
Again according to the relation of hypercomplex number and Eulerian angle
γ = arctan ( - T 31 T 33 ) , θ=arcsin(T 32)， ψ = arctan ( T 12 T 22 )
Can recursion go out next attitude angle constantly, be process attitude angle.
Further, by accelerometer and magnetometer, by inverse trigonometric function, obtain observing attitude angle
γ m = arcsin ( - g x / g ) θ m = arctan ( g y / g z ) ψ m = arctan h z sin γ m - h y cos γ m h x cos γ m + h y sin γ m sin θ m + h z sin θ m sin γ m
Wherein, g x, g y, g zbe respectively the acceleration on axle, g is local gravitational acceleration,
H x, h y, h zbe respectively the component of magnetic field on three axles.
The attitude angle obtaining in above formula is carried out to single order low pass RC filtering, as for θ
Figure BDA00001809287200101
wherein x, y were a upper moment and next weights constantly, can adjust the frequency characteristic of wave filter by adjusting x and y, and harmful acceleration of drawing up is to the interference of resolving.
The attitude angle of RC filtering gained is observation attitude, and concrete flow process refers to Fig. 9.
The treatment scheme that the data fusion of process attitude and observation attitude and saltus step are removed refers to Figure 10.
Process attitude and observation attitude are merged with Eulerian angle form, and the integration program adopting is complementary filter (CF, Complementary Filer), and the attitude from gyroscope integration is got straight to filtering, obtains dynamic response and tracking characteristics that gyro is good; To adding the observation attitude of meter and earth magnetism, carry out low-pass filtering, obtain both good static state and measure characteristic, by above complementation, realize the dynamic and static combination property that Output rusults is good.
In the present embodiment, Eulerian angle are selected ZXY Eulerian angle, the X angle of pitch is defined in (90 °, + 90 °), Y roll angle is defined in (180 °, + 180 °), Z crab angle is defined in (180 °, + 180 °), according to the mapping relations of Eulerian angle and spatial attitude, the angle of pitch not can-90 and+cross between 90, but pitching cross-90 or+90 o'clock, can cause that roll angle increases or reduces 180, roll in addition angle and crab angle all can-180 and+have the output of leap between 180, thereby it is discontinuous to cause attitude to merge, generation attitude is beated, designed the strategy that corresponding removal attitude is beated, comprise following content:
(1). remove roll and beat: when the angle of pitch cross-90 or+90 while spending, the output of roll angle before and after crossing will differ 180, and remains in field of definition, forbids filtering direct output new data; When roll angle-180 and+180 between during saltus step, forbid filtering direct output new data.
(2). remove driftage and beat: when the angle of pitch cross-90 or+90 while spending, the output of crab angle before and after crossing will differ 180, and remains in field of definition, forbids filtering direct output new data; When crab angle-180 and+180 between during saltus step, forbid filtering direct output new data.
In output and procedure for displaying, the present embodiment adopts the dynamic three-dimensional display based on OpenGL and MFC.
MFC window writing routine framework based on Windows, receives by AvtiveX serial ports control the attitude data that IMU module is exported, and utilizes OpenGL drawing three-dimensional attitude, and its structural representation as shown in figure 11.
The beneficial effect that embodiment of the present invention technical scheme is brought:
The embodiment of the present invention adopts MEMS inertia and geomagnetic sensor element, with minimum allocation plan, by Embedded framework, realized the hardware design of hypomegetic attitude heading reference system (AHRS) and resolved output, adopt RK4 to add the calculation method of complementary filter, with less operand and higher precision, realized system, filters solutions is to adopt the form of Eulerian angle to carry out simultaneously, has effectively removed the saltus step problem of attitude, makes system more intuitively easy.
As can be seen from the above description, the present invention has realized following technique effect:
In embodiments of the present invention, gyro data, accelerometer data and magnetometer data are proofreaied and correct, and obtain process attitude and filtered observation attitude, observe course according to the data of proofreading and correct, and then by process attitude with observation attitude organically blend, complementary filter, thereby obtain navigating comparatively accurately attitude information, and output.With respect to the strapdown attitude frame of reference of prior art, in navigation attitude information output intent provided by the invention, for data, constantly proofread and correct, thereby guaranteed the accuracy of navigation attitude information, avoided causing because of error accumulation the decline of navigation accuracy.And, do not need to use other outside auxiliary references such as GPS, reach the object of saving resource.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in memory storage and be carried out by calculation element, and in some cases, can carry out shown or described step with the order being different from herein, or they are made into respectively to each integrated circuit modules, or a plurality of modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (18)

1. a navigation attitude information output intent, is characterized in that, is applied to, in strapdown attitude frame of reference, comprising:
Obtain the gyro data after correction, recursion goes out next process attitude constantly;
Obtain accelerometer data and magnetometer data after correction, calculate current observation attitude and observation course;
Described observation attitude and described observation course are carried out to filtering processing, and the observation attitude after output filtering and observation course;
To described process attitude and described filtered observation attitude organically blend, complementary filter, obtain navigating attitude information and output.
2. method according to claim 1, is characterized in that, described recursion goes out next process attitude constantly, comprising: utilize Numerical solution of partial defferential equatio method recursion to go out described process attitude.
3. method according to claim 2, is characterized in that, described Numerical solution of partial defferential equatio method comprises the RK4 solution of quaternion differential equation.
4. method according to claim 1, is characterized in that, described observation attitude and described observation course are carried out to filtering processing, comprising: described observation attitude and described observation course are carried out to low-pass digital filter algorithm process.
5. according to the method described in claim 1 or 4, it is characterized in that, described observation attitude and described observation course are carried out to filtering processing, comprising: adopt RC lowpass digital filter to carry out filtering processing to described observation attitude and described observation course.
6. method according to claim 1, it is characterized in that, described process attitude and described filtered observation attitude are organically blended, comprise: adopt with described process attitude tight coupling, with the couple strategy of described observation attitude loose coupling, described process attitude and described filtered observation attitude are organically blended.
7. method according to claim 6, it is characterized in that, organically blending of described process attitude and described filtered observation attitude adopts the mode of Eulerian angle, and wherein, described Eulerian angle are ZXY Eulerian angle, the X angle of pitch is defined in (90, + 90), Y roll angle is defined in (180 ,+180), Z crab angle is defined in (180 ,+180).
8. method according to claim 7, is characterized in that,
When the described angle of pitch cross-90 or+90 while spending, the output of described roll angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data;
When the described angle of pitch cross-90 or+90 while spending, when described roll angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
9. method according to claim 7, is characterized in that,
When the described angle of pitch cross-90 or+90 while spending, the output of described crab angle before and after crossing will differ 180, and remains in field of definition, now forbids filtering direct output new data; When the described angle of pitch cross-90 or+90 while spending, when described crab angle-180 and+180 between during saltus step, now forbid filtering direct output new data.
10. method according to claim 1, is characterized in that, before the described gyro data of obtaining after correction, also comprises: from the sensor of described strapdown attitude frame of reference, obtain and determine the needed data of navigation attitude information.
11. methods according to claim 10, is characterized in that, for the normal value output error of described sensor, automatically estimate and compensate.
12. methods according to claim 11, is characterized in that, for the normal value output error of described sensor, automatically estimate and compensate, and comprising:
The error correction of described gyro data and described accelerometer data is adopted to the correction form of each axle measured value of sensor output;
The error correction of described magnetometer data is adopted to the correction form of earth's magnetic dip angle.
13. methods according to claim 1, is characterized in that, described in obtain navigating attitude information and output, comprising: by USART serial ports, the navigation attitude information obtaining is exported.
14. methods according to claim 13, is characterized in that, support multiple output protocol pattern while exporting described navigation attitude information.
15. methods according to claim 14, is characterized in that, described output protocol pattern comprises that the host computer based on Windows MFC+OpenGL+COMM assembly dynamically shows.
16. 1 kinds of navigation attitude information output units, is characterized in that, comprising:
Recursion module, for obtaining the gyro data after correction, recursion goes out next process attitude constantly;
Resolve module, for obtaining accelerometer data and the magnetometer data after correction, calculate current observation attitude and observation course;
Filtration module, for described observation attitude and described observation course are carried out to filtering processing, and the observation attitude after output filtering and observation course;
Output module, for described process attitude and described filtered observation attitude are organically blended, complementary filter, attitude information output obtain navigating.
17. devices according to claim 16, is characterized in that, described device is arranged in strapdown attitude frame of reference.
18. 1 kinds of strapdown attitude frames of reference, is characterized in that, comprising:
Sensing measurement unit, for obtaining the data of each unit of strapdown attitude frame of reference;
Data correction unit, proofreaies and correct for the data that described sensing measurement unit is obtained;
Estimation of error unit, carries out estimation of error for the data after described Data correction unit is proofreaied and correct;
Attitude algorithm unit, for the data of carrying out after estimation of error are carried out to attitude algorithm, obtains current navigation attitude information; Output display unit, for exporting described navigation attitude information.
CN201210216234.0A 2012-06-26 2012-06-26 Navigation attitude information output method, device and strapdown navigation attitude reference system Pending CN103512584A (en)

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