CN103940429A - Real-time measuring method of carrier attitude in transverse coordinate system of inertial navigation system - Google Patents

Abstract

The invention belongs to the technical field of polar region navigation of an inertial navigation system, in particular relates to a real-time measuring method of carrier attitude in a transverse coordinate system of the inertial navigation system, wherein the inertial navigation system uses the relationship of an inertial measurement unit output value in a transverse geographic coordinate system for real-time measuring of an attitude angle of a carrier relative to the transverse coordinate system. The real-time measuring method is as follows: measuring the transverse speed of the carrier; updating the transverse longitude and transverse geographic latitude of the position of a ship; obtaining a projection of earth's angular velocity in the navigation system in a polar region mode; obtaining a projection of angular velocity of a navigation coordinate system relative to an inertial coordinate system in a carrier coordinate system; obtaining angular velocity of the carrier relative to the navigation system; measuring a strapdown attitude matrix of the carrier; and measuring the attitude angle of the carrier relative to the transverse coordinate system. The real-time measuring method can realize High altitude real-time navigation, provides a mathematical model for a high latitude strapdown inertial navigation system, and avoids the problem that a common inertial navigation system cannot navigate in a high latitude region for the reason of calculation overflow.

Description

The method for real-time measurement of the lower attitude of carrier of a kind of inertial navigation system horizontal ordinate system

Technical field

The invention belongs to inertial navigation system polar navigation technical field, be specifically related to output valve that a kind of inertial navigation system the utilizes Inertial Measurement Unit relation under horizontal geographic coordinate system, measure in real time the method for real-time measurement of the lower attitude of carrier of inertial navigation system horizontal ordinate system of the attitude angle of the relative horizontal ordinate of carrier system.

Background technology

Inertial navigation system is that one is utilized gyro and the angular motion of accelerometer measures carrier and line motion, obtain the navigator of carrier transient posture, speed and position through integral operation, it relies on the Sensitive Apparatus of self to complete navigation task completely, without relying on any external information, also not to any energy of external radiation, a kind of completely autonomous navigational system, therefore have advantages of good concealment, anti-interference, be not subject to any meteorological condition restriction.Just because of above advantage, it is the requisite navigator of important sail body (as submarine, intercontinental missile, spaceship, long-range aircraft, long-haul aircraft etc.).

At present, Ship's Inertial Navigation System (SINS) generally adopts the northern mechanical layout of the fixing finger of local level, adopts geographic coordinate system as navigation system.The navigation of this mechanical layout is that y axle will point to geographical north all the time, and near boats and ships pass through limit time, geographical north changes 180 degree very soon, and now navigation is that the speed that the sensing of y axle changes will be infinitely great.In the layout of inertial navigation system machinery, navigation is that the angular velocity of the relative earth occurs singular point at geographical limit place, cannot carry out strapdown and resolve, and the inertial navigation system based under geographic coordinate system of therefore commonly using at present cannot be carried out polar navigation.

Adopting horizontal geographic coordinate system is that navigation coordinate system can solve inertial navigation system polar region this problem of cannot navigating.Horizontal geographic coordinate system is set up based on horizontal ordinate system.Horizontal ordinate system also claims contrary coordinate system, horizontal ordinate system along ground direction of principal axis, axle is under the line on plane and the intersection of meridian ellipse at the beginning of this, under the line in plane with axle forms right-handed coordinate system.Oxeyeze and the earth, because connecting, rotate with the earth.Horizontal geographic coordinate system is horizontal stroke east-horizontal stroke north-day orthogonal coordinate system of level surface definition relative to the earth, and true origin is located at the carrier loca of earth surface motion, axle points to respectively horizontal east orientation and horizontal north orientation in geographical surface level, axle with axle and axle forms right-handed coordinate system.The position of boats and ships can represent with horizontal longitude and horizontal latitude.

Summary of the invention

The object of the invention is to: while providing one to enter polar region work in order to solve boats and ships, the method for real-time measurement of the lower attitude of carrier of a kind of inertial navigation system horizontal ordinate system of the inapplicable problem of navigation calculation method of conventional inertial navigation system.

The object of the present invention is achieved like this:

Step 1: according to the attitude matrix of the output data fb of accelerometer and initial carrier measure the horizontal speed of carrier

${\stackrel{.}{v}}_e^{\stackrel{-}{n}}=C_b^{\stackrel{\‾}{n}}{f}^b-(2{\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}+{\mathrm{\ω}}_{e\stackrel{\‾}{n}}^{\stackrel{\‾}{n}})\×v_e^{\stackrel{\‾}{n}}+g^{\stackrel{\‾}{n}};$

Step 2: according to the horizontal velocity information of real-time measurement, upgrade the horizontal longitude of boats and ships position with horizontal geographic latitude

$\stackrel{\stackrel{.}{\‾}}{L}=\frac{v_{\stackrel{\‾}{y}}}{{\stackrel{\‾}{R}}_M},\stackrel{\stackrel{.}{\‾}}{\mathrm{\λ}}=\frac{v_{\stackrel{\‾}{x}}}{{\stackrel{\‾}{R}}_N}\sec \stackrel{\‾}{L};$

Step 3: according to the horizontal longitude of boats and ships position with horizontal geographic latitude obtain the projection that in polar region pattern, earth angle speed in navigation is

${\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}=\left[\begin{array}{c}-{\mathrm{\ω}}_{\mathrm{ie}}\sin \stackrel{\‾}{\mathrm{\λ}}\\ -{\mathrm{\ω}}_{\mathrm{ie}}\cos \stackrel{\‾}{\mathrm{\λ}}\sin \stackrel{\‾}{L}\\ {\mathrm{\ω}}_{\mathrm{ie}}\cos \stackrel{\‾}{\mathrm{\λ}}\cos \stackrel{\‾}{L}\end{array}\right],$ ω _ierepresent the size of rotational-angular velocity of the earth;

Step 4: the rotational angular velocity according to navigation coordinate system with respect to the earth obtain the projection in carrier coordinate system with respect to the angular velocity of inertial coordinates system of navigation coordinate system with the attitude matrix of initial carrier

${\mathrm{\ω}}_{i\stackrel{\‾}{n}}^b=C_{\stackrel{\‾}{n}}^b({\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}+{\mathrm{\ω}}_{e\stackrel{\‾}{n}}^{\stackrel{\‾}{n}});$

Step 5: according to gyrostatic output data obtain the angular velocity of carrier with respect to navigation system

${\mathrm{\ω}}_{\stackrel{\‾}{n}b}^b={\mathrm{\ω}}_{\mathrm{ib}}^b-{\mathrm{\ω}}_{i\stackrel{\‾}{n}}^b;$

Step 6: according to the skew symmetry battle array forming measure in real time the strapdown attitude matrix of carrier

${\stackrel{.}{C}}_b^{\stackrel{\‾}{n}}=C_b^{\stackrel{\‾}{n}}{\mathrm{\Ω}}_{\stackrel{\‾}{n}b}^b;$

Step 7: according to the strapdown attitude matrix of real-time measurement carrier measure the attitude angle of the relative horizontal ordinate of carrier system with

$\stackrel{\‾}{\mathrm{\γ}}={\mathrm{tg}}^{-1}\frac{-C_{31}}{C_{33}}$

$\stackrel{\‾}{\mathrm{\θ}}={\sin }^{-1}{C}_{32}$

$\stackrel{\‾}{\mathrm{\ψ}}={\mathrm{tg}}^{-1}\frac{{-C}_{12}}{C_{22}}$

C _ij, i, j=1,2,3 is strapdown attitude matrix in each element value.

The attitude angle of the relative horizontal ordinate of carrier system in step 7 yb axle, xb axle and the zb axle that represents respectively carrier coordinate system is respectively with horizontal geographic coordinate system axle, axle and angle between axle, the true origin of horizontal geographic coordinate system is located at the carrier loca of earth surface motion, axle points to respectively horizontal east orientation and horizontal north orientation in geographical surface level, axle with axle and axle forms right-handed coordinate system.

Beneficial effect of the present invention is: the designed scheme of the present invention can realize high latitude real-time navigation, for high latitude strapdown inertial navitation system (SINS) provides mathematical model, and the problem of having avoided conventional inertial navigation system cannot navigate due to calculation overflow in high latitude area.Brief description of the drawings

Fig. 1 is horizontal geographic coordinate system ;

Fig. 2 is the measurement block diagram of the lower attitude of carrier of horizontal ordinate system.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

The problem that technology of the present invention solves is: while entering polar region work in order to solve boats and ships, the inapplicable problem of navigation calculation method of conventional inertial navigation system, the present invention proposes the method for real-time measurement that a kind of inertial navigation system horizontal ordinate is lower attitude of carrier.Ship's navigation is during to high latitude area, navigation coordinate system is converted to horizontal geographic coordinate system by geographic coordinate system, the output valve of inertial measurement component is transformed under horizontal geographic coordinate system, can measures in real time the attitude angle of the relatively horizontal geographic coordinate system of carrier by method involved in the present invention.

(1) according to the output data f of accelerometer ^battitude matrix with carrier the horizontal speed of measuring carrier, its measure equation is as follows:

${\stackrel{.}{v}}_e^{\stackrel{-}{n}}=C_b^{\stackrel{\‾}{n}}{f}^b-(2{\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}+{\mathrm{\ω}}_{e\stackrel{\‾}{n}}^{\stackrel{\‾}{n}})\×v_e^{\stackrel{\‾}{n}}+g^{\stackrel{\‾}{n}}---\left(1\right)$

(2) according to the horizontal velocity information of measuring in real time, the horizontal longitude of real-time update boats and ships position with horizontal geographic latitude information, its measure equation is:

$\stackrel{\stackrel{.}{\‾}}{L}=\frac{v_{\stackrel{\‾}{y}}}{{\stackrel{\‾}{R}}_M},\stackrel{\stackrel{.}{\‾}}{\mathrm{\λ}}=\frac{v_{\stackrel{\‾}{x}}}{{\stackrel{\‾}{R}}_N}\sec \stackrel{\‾}{L}---\left(2\right)$

(3) according to the horizontal longitude of boats and ships position with horizontal geographic latitude obtain the projection that in polar region pattern, earth angle speed in navigation is:

${\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}=\left[\begin{array}{c}-{\mathrm{\ω}}_{\mathrm{ie}}\sin \stackrel{\‾}{\mathrm{\λ}}\\ -{\mathrm{\ω}}_{\mathrm{ie}}\cos \stackrel{\‾}{\mathrm{\λ}}\sin \stackrel{\‾}{L}\\ {\mathrm{\ω}}_{\mathrm{ie}}\cos \stackrel{\‾}{\mathrm{\λ}}\cos \stackrel{\‾}{L}\end{array}\right]---\left(3\right)$

ω in formula _ierepresent the size of rotational-angular velocity of the earth.

(4) rotational angular velocity with respect to the earth according to navigation coordinate system with initial strapdown attitude matrix obtain the projection in carrier coordinate system with respect to the angular velocity of inertial coordinates system of navigation coordinate system

${\mathrm{\ω}}_{i\stackrel{\‾}{n}}^b=C_{\stackrel{\‾}{n}}^b({\mathrm{\ω}}_{\mathrm{ie}}^{\stackrel{\‾}{n}}+{\mathrm{\ω}}_{e\stackrel{\‾}{n}}^{\stackrel{\‾}{n}})---\left(4\right)$

(5) according to gyrostatic output data obtain the angular velocity of carrier with respect to navigation system

${\mathrm{\ω}}_{\stackrel{\‾}{n}b}^b={\mathrm{\ω}}_{\mathrm{ib}}^b-{\mathrm{\ω}}_{i\stackrel{\‾}{n}}^b---\left(5\right)$

(6) basis the skew symmetry battle array forming measure in real time the strapdown attitude matrix of carrier its measure equation is as follows:

${\stackrel{.}{C}}_b^{\stackrel{\‾}{n}}=C_b^{\stackrel{\‾}{n}}{\mathrm{\Ω}}_{\stackrel{\‾}{n}b}^b---\left(6\right)$

(7) according to the strapdown attitude matrix of measuring in real time carrier measure the attitude angle of the relative horizontal ordinate of carrier system its measure equation is as follows:

$\begin{array}{c}\stackrel{\‾}{\mathrm{\γ}}={\mathrm{tg}}^{-1}\frac{-C_{31}}{C_{33}}\\ \stackrel{\‾}{\mathrm{\θ}}={\sin }^{-1}{C}_{32}\\ \stackrel{\_}{\mathrm{\ψ}}={\mathrm{tg}}^{-1}\frac{-C_{12}}{C_{22}}\end{array}---\left(7\right)$

In formula, C _ij, i, j=1,2,3 is strapdown attitude matrix in each element value.

Claims (2)

1. a method for real-time measurement for the lower attitude of carrier of inertial navigation system horizontal ordinate system, is characterized in that:

Step 1: according to the output data f of accelerometer ^battitude matrix with initial carrier measure the horizontal speed of carrier

Step 2: according to the horizontal velocity information of real-time measurement, upgrade the horizontal longitude of boats and ships position with horizontal geographic latitude

Step 3: according to the horizontal longitude of boats and ships position with horizontal geographic latitude obtain the projection that in polar region pattern, earth angle speed in navigation is

ω _ierepresent the size of rotational-angular velocity of the earth;

Step 4: the rotational angular velocity according to navigation coordinate system with respect to the earth obtain the projection in carrier coordinate system with respect to the angular velocity of inertial coordinates system of navigation coordinate system with the attitude matrix of initial carrier

Step 5: according to gyrostatic output data obtain the angular velocity of carrier with respect to navigation system

Step 6: according to the skew symmetry battle array forming measure in real time the strapdown attitude matrix of carrier

Step 7: according to the strapdown attitude matrix of real-time measurement carrier measure the attitude angle of the relative horizontal ordinate of carrier system with

C _ij, i, j=1,2,3 is strapdown attitude matrix in each element value.

2. the method for real-time measurement of the lower attitude of carrier of a kind of inertial navigation system horizontal ordinate system according to claim 1, is characterized in that: the attitude angle of the relative horizontal ordinate of carrier system in described step 7 yb axle, xb axle and the zb axle that represents respectively carrier coordinate system is respectively with horizontal geographic coordinate system axle, axle and angle between axle, the true origin of horizontal geographic coordinate system is located at the carrier loca of earth surface motion, axle points to respectively horizontal east orientation and horizontal north orientation in geographical surface level, axle with axle and axle forms right-handed coordinate system.