CN104180803A - Non-similar dual-redundancy integrated navigation device applied to unmanned plane - Google Patents
Non-similar dual-redundancy integrated navigation device applied to unmanned plane Download PDFInfo
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- CN104180803A CN104180803A CN201410455978.7A CN201410455978A CN104180803A CN 104180803 A CN104180803 A CN 104180803A CN 201410455978 A CN201410455978 A CN 201410455978A CN 104180803 A CN104180803 A CN 104180803A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a non-similar dual-redundancy integrated navigation device applied to an unmanned plane, comprising main and standby combined navigation systems and a difference data transmission radio, wherein a laser strapdown inertia-satellite combined navigation system is adopted as the main combined navigation system which comprises a laser strapdown inertia navigation part and a satellite receiver; an optical fiber strapdown inertia-satellite combined navigation system is adopted as the standby combined navigation system which comprises an optical fiber strapdown inertia navigation part and a satellite receiver; the satellite receivers are both used for receiving GPS difference information, carrying out difference correction resolving and outputting satellite positioning information; the strapdown inertia navigation parts are both used for receiving atmosphere information and control commands and simultaneously outputting navigation information; the main and standby combination navigation systems transmit respectively received atmosphere information and satellite positioning information via serial interfaces. The device has the advantages of high reliability, good maintenance and lowering of requirements on a power supply caused by volume, weight and cost, providing of plane shaft angular rate information, high navigation precision and practicability.
Description
Technical field
The invention belongs to Navigation of Pilotless Aircraft field, refer to a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane.
Background technology
Navigation is technology or the method that navigation carrier is guided to destination from starting point.Unmanned plane is due to unpiloted singularity, and airborne navigational system is the basic assurance that unmanned plane autonomous flight completes multinomial mission.
Inertial navigation system (Inertial Navigation System is called for short INS) is to utilize inertance element to carry out the acceleration of motion of sensing aircraft or other carrier, through integral operation, thereby obtains navigational parameter to determine carrier positions.The independence of INS is strong, and the various navigation informations including attitude, position, speed can be provided continuously, and has the characteristics such as quick, dynamic property is good, short-term accuracy is high.But the navigation error parameter that causes INS due to the error of inertance element accumulation in time increases, and long-term work precision can not be guaranteed.Satellite navigation can provide real-time, round-the-clock, global navigation information, but in dynamic environment, and the high dynamic motion of carrier can affect satellite receiver to the catching and following the tracks of of satellite-signal, and even produces the dropout of short time.In addition, the signal output frequency of satellite receiver is lower, sometimes can not meet the needs that carrier flight is controlled.Therefore, the integrated navigation system based on satellite and INS has become current important navigational system implementation.
Combined navigation device refers to be combined two kinds or two or more different navigator by rights, utilize its complementary characteristic in performance to obtain navigation performance higher when ratio is independent uses arbitrary system, to meet independence, reliability and the high-precision requirement in the world of New Times high-performance sail body and advanced precision strike munitions system.Early stage and current common UAV Navigation System is taking high performance gimbaled inertial navigation system as basis, utilize GPS (Global Positioning System) GPS or Muscovite GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM by the U.S., guide number SS) the satellite position velocity information of GPS (Global Position System) system acquisition combines with it, forms the integrated navigation system of homing capability and higher navigation accuracy while having long boat.But due to gimbaled inertial navigation system inside need to be by Electromechanical Control element by platform stable at inertial space, volume weight is large, electric power system complexity, cost is high, conventionally adopts single remaining configuration, reliability is lower.In addition; platform-type inertial navigation components only can be measured the angular speed information around its internal stability platform axle system; the angular speed information of the machine axis system of being diversion can not be provided, and therefore unmanned aerial vehicle onboard system also needs to configure extra angular rate gyroscope and completes the surveying work of this angular speed conventionally.
In recent years, along with developing rapidly of China's strapdown inertial navigation technology and BD2 (Beidou-2) satellite positioning tech, strapdown inertial navitation system (SINS), multi-mode global position system have been there is.Compared to Platform INS Inertial, strapdown inertial navitation system (SINS) volume, weight and cost all greatly reduce, and reliability greatly improves, and safeguards and use also to bring a lot of convenience; Global position system is also GPS/GLONASS/BD2 multi-mode by single GPS mode-conversion.These all provide advantage for redundance integrated navigation, for the dependable with function that further improves navigational system is laid a good foundation.
Summary of the invention
The object of this invention is to provide a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane, possess multiple navigation mode, there is high precision and high reliability, be applicable to unmanned plane and particularly grow unmanned plane while boat.
Combined navigation device of the present invention is installed on relevant position, unmanned plane airborne equipment cabin, is worked by airborne power supply system power supply; Combined navigation device and differential GPS land station, flight control and supervisory computer, air data computer equipment have the crosslinked relation of information.
Combined navigation device receives the wireless differential signal of differential GPS land station feedback, and converts GPS difference information to; Receive the atmospheric information of being sent by air data computer, comprise barometer altitude and true air speed; Control with supervisory computer and send aircraft navigation information to flight; Comprise: position, attitude, angular speed and acceleration, and reception flight is controlled and the steering order of supervisory computer;
Described combined navigation device comprises: Laser strapdown inertia-satellite combined guidance system, fiber strapdown inertia-satellite combined guidance system and difference data radio station.
Difference data radio station receives the wireless differential signal of differential GPS land station feedback, and converts GPS difference information to and send Laser strapdown inertia-satellite combined guidance system and fiber strapdown inertia-satellite combined guidance system to;
Wherein Laser strapdown inertia-satellite combined guidance system is main integrated navigation system, comprises Laser strapdown inertial navigation components and satellite receiver; Fiber strapdown inertia-satellite combined guidance system is standby integrated navigation system, comprises fiber strapdown inertial navigation parts and satellite receiver; Wherein satellite receiver is all used for receiving the GPS difference information being transmitted by difference data radio station, carries out differential corrections and resolves to realize DGPS (Differential Global Positioning System) location, output satellite locating information; Laser strapdown inertial navigation components and fiber strapdown inertial navigation parts are all used for receiving atmospheric information and navigation information, simultaneously FEEDBACK CONTROL instruction;
Main integrated navigation system and standby integrated navigation system combine and resolve according to satellite positioning information and navigation information, and the atmospheric information receiving by serial line interface resolves for the combination of main integrated navigation system and standby integrated navigation system internal height passage, finally obtain the information after combination.
Between main integrated navigation system and standby integrated navigation system, transmit by serial line interface the atmospheric information and the satellite positioning information that receive separately, exchange; Be specially: Laser strapdown inertia-satellite combined guidance system is sent to fiber strapdown inertia-satellite combined guidance system by atmospheric information and satellite positioning information by serial ports, vice versa, in the time that certain air data computer lost efficacy or when main integrated navigation system and inner certain satellite receiver of standby integrated navigation system or antenna failure, main integrated navigation system and standby integrated navigation system still keep the validity that altitude channel resolves and still possess satellite positioning navigation ability;
Main integrated navigation system and standby integrated navigation system Satellite operation of receiver frequency all adopt GPS L1, GLONASS L1, BD2B3;
Main integrated navigation system and standby integrated navigation system adopt after its corresponding inertial navigation components integrated positioning of satellite positioning information, all possess following seven kinds of navigation mode: INS/DGPS, INS/GNSS, INS/BD2, INS, DGPS, GNSS, BD2.
The invention has the advantages that:
(1) a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane, adopting Laser strapdown inertial navigation components, fiber strapdown inertial navigation parts is main navigation components and parts, there is non-similar active and standby pair of remaining configuration, greatly improve UAV Navigation System reliability;
(2) a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane, adopt strap-down inertial parts, equipment dependability is high, maintainability is good, volume, weight and cost all greatly reduce, and can export the angular speed information that is due to the machine axis that is diversion for control system by strap-down navigation algorithm, further reduce UAV Navigation System equipment needed thereby quantity and cost;
(3) be applied to a non-similar pair of remaining combined navigation device of unmanned plane, adopt strap-down inertial parts, power acquisition direct current supply mode, has reduced the requirement to UAV Navigation System Power Management Design;
(4) be applied to a non-similar pair of remaining combined navigation device of unmanned plane, have multiple navigation mode, navigation accuracy is high, practical;
(5) be applied to a non-similar pair of remaining combined navigation device of unmanned plane, between main integrated navigation system and standby integrated navigation system, by information interaction, improve UAV Navigation System reliability and security.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of combined navigation device in the present invention;
Fig. 2 is the principle of work schematic diagram of combined navigation device in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1, a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane, this combined navigation device is installed on relevant position, unmanned plane airborne equipment cabin, is worked by airborne power supply system power supply; Combined navigation device and differential GPS land station, flight control and supervisory computer, air data computer equipment have the crosslinked relation of information.
This combined navigation device comprises: Laser strapdown inertia-satellite combined guidance system, fiber strapdown inertia-satellite combined guidance system, difference data radio station and antenna.
Described Laser strapdown inertia-satellite combined guidance system is main integrated navigation system, is made up of Laser strapdown inertial navigation components, satellite receiver and satellite earth antenna, and the working frequency points of satellite receiver adopts GPS L1, GLONASS L1 and BD2B3; Satellite receiver via satellite receiving antenna receiving satellite signal realizes satnav; Laser strapdown inertial navigation components is used for receiving the atmospheric information such as barometer altitude and true air speed that air data computer sends, control the navigation information such as position of aircraft, attitude, angular speed, acceleration that sends two remainings with supervisory computer to flight, receive by flight simultaneously and control the steering order sending with supervisory computer.
Described fiber strapdown inertia-satellite combined guidance system is standby integrated navigation system, is made up of fiber strapdown inertial navigation parts, satellite receiver and satellite earth antenna, and the working frequency points of satellite receiver also adopts GPS L1, GLONASS L1 and BD2B3; Satellite receiver via satellite receiving antenna receiving satellite signal realizes satnav; Fiber strapdown inertial navigation parts are used for receiving the atmospheric information such as barometer altitude and true air speed that air data computer sends, control the navigation information such as position of aircraft, attitude, angular speed, acceleration that sends two remainings with supervisory computer to flight, receive by flight simultaneously and control the steering order sending with supervisory computer.
Between main integrated navigation system and standby integrated navigation system, transmit by serial line interface the atmospheric information receiving separately, carry out atmospheric information exchange; Be specially: Laser strapdown inertia-satellite combined guidance system is crossed serial ports by the atmosphere data information exchange of the air data computer being directly connected with it and is sent to fiber strapdown inertia-satellite combined guidance system, vice versa, the validity that main integrated navigation system and standby integrated navigation system still all keep altitude channel to resolve in the time that certain air data computer lost efficacy;
Between main integrated navigation system and standby integrated navigation system, transmit satellite positioning information separately by serial line interface, carry out satellite positioning information exchange; Be specially: the satellite positioning information that Laser strapdown inertia-satellite combined guidance system receives its inner satellite receiver is sent to fiber strapdown inertia-satellite combined guidance system by serial ports, vice versa, and in the time of the inner satellite receiver of certain integrated navigation system or antenna failure, main integrated navigation system and standby integrated navigation system still all possess satellite positioning navigation ability.
Difference data radio station receives the wireless differential signal of differential GPS land station by radio antenna, and converts GPS difference information to and send Laser strapdown inertia-satellite combined guidance system and fiber strapdown inertia-satellite combined guidance system to;
Between combined navigation device and differential GPS land station, flight control and supervisory computer, air data computer equipment communication relation as shown in Figure 2,
First: differential GPS land station obtains the control information difference information of self positional information and positioning information of satellite navigation system in when work, and go out wireless differential signal by the difference data radio station antenna transmission of land station, send the difference data radio station in combined navigation device to.
Difference data radio station in combined navigation device receives wireless differential signal, and this wireless differential signal is transformed into GPS difference information; And be sent to the satellite receiver in main integrated navigation system and standby integrated navigation system by serial ports; The working frequency points of satellite receiver adopts GPS L1, GLONASS L1 and BD2B3, according to selected satellite information source difference, and the station-keeping mode difference of satellite receiver, the station-keeping mode of corresponding working frequency points is GPS/GLONASS and BD2 respectively.
Satellite receiver adopts gps satellite information to position, and adds differential corrections algorithm to make satellite receiver positioning precision higher through in positioning calculation, is DGPS station-keeping mode.
Then: flight control and supervisory computer and main integrated navigation system and standby integrated navigation system carry out respectively information interaction, main integrated navigation system and standby integrated navigation system are controlled the navigation information such as position of aircraft, attitude, angular speed, acceleration that sends two remainings with supervisory computer to flight, receive by flight simultaneously and control the steering order sending with supervisory computer.
Last: main integrated navigation system and standby integrated navigation system combine and resolve according to the satellite positioning information of satellite receiver separately and the navigation information of Laser strapdown inertial navigation components and fiber strapdown inertial navigation parts gained, and receive by serial line interface the atmospheric information that air data computer sends and resolve for the combination of its altitude channel, finally obtain the information after combination.
Because transmit atmospheric information and satellite positioning information separately by serial line interface between main integrated navigation system and standby integrated navigation system, when inner certain satellite receiver of certain air data computer of its peripheral or combined navigation device or antenna failure, still ensure that its altitude channel resolves or the ability of satnav.
Due to the multimode station-keeping ability of satellite receiver, main integrated navigation system and standby integrated navigation system adopt after its corresponding inertial navigation components integrated positioning of satellite positioning information, possess following seven kinds of navigation modes: inertial navigation information and differential GPS information combination (INS/DGPS), inertial navigation information and GPS and GLONASS information combination (INS/GNSS), inertial navigation information and BD2 information combination (INS/BD2), pure-inertial guidance (INS), differential GPS satnav (DGPS), GPS and GLONASS satnav (GNSS), BD2 satnav (BD2).
Due to all non-affiliated China of grasp power of GPS, GLONASS positioning system, its locating effect is affected by all circles' factor easily.The BD2 station-keeping ability that combined navigation device of the present invention has still has satellite positioning capability, and then obtains high integrated navigation precision and practicality after GPS, GLONASS satellite are disturbed.In addition, inner the mutual of atmospheric information, satellite positioning information that pass through, makes full use of UAV Navigation System information, further improves system reliability and security.Therefore, combined navigation device provided by the present invention can be applicable to reliability and the higher Navigation of Pilotless Aircraft of accuracy requirement.
Claims (4)
1. be applied to a non-similar pair of remaining combined navigation device of unmanned plane, there is the crosslinked relation of information with differential GPS land station, flight control and supervisory computer, air data computer; It is characterized in that:
Described combined navigation device comprises: Laser strapdown inertia-satellite combined guidance system, fiber strapdown inertia-satellite combined guidance system and difference data radio station;
Difference data radio station receives wireless differential signal, and converts GPS difference information to and send Laser strapdown inertia-satellite combined guidance system and fiber strapdown inertia-satellite combined guidance system to;
Laser strapdown inertia-satellite combined guidance system is main integrated navigation system, comprises Laser strapdown inertial navigation components and satellite receiver; Fiber strapdown inertia-satellite combined guidance system is standby integrated navigation system, comprises fiber strapdown inertial navigation parts and satellite receiver; Wherein satellite receiver is all used for receiving the GPS difference information being transmitted by difference data radio station, carries out differential corrections and resolves to realize DGPS location, output satellite locating information; Laser strapdown inertial navigation components and fiber strapdown inertial navigation parts are all used for receiving atmospheric information and steering order, send navigation information simultaneously and control and supervisory computer to flight; Between main integrated navigation system and standby integrated navigation system, transmit the atmospheric information of reception separately and satellite positioning information separately by serial line interface;
Described main integrated navigation system and standby integrated navigation system, combine and resolve according to satellite positioning information and navigation information, and resolve by the combination that atmospheric information is carried out internal height passage, finally obtains the information after combining.
2. a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane according to claim 1, is characterized in that: described combined navigation device receives the wireless differential signal being sent by differential GPS land station, and converts GPS difference information to; Receive the atmospheric information of being sent by air data computer, comprise barometer altitude and true air speed; Control and supervisory computer transmission navigation information to flight, comprising: position, attitude, angular speed and the acceleration of aircraft, and reception flight is controlled and the steering order of supervisory computer.
3. a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane according to claim 1, is characterized in that: described main integrated navigation system and standby integrated navigation system Satellite operation of receiver frequency all adopt GPS L1, GLONASS L1 and BD2B3.
4. a kind of non-similar pair of remaining combined navigation device that is applied to unmanned plane according to claim 1, it is characterized in that: described main integrated navigation system and standby integrated navigation system adopt after satellite positioning information and corresponding inertial navigation components integrated positioning, all possess following seven kinds of navigation modes: inertial navigation information and differential GPS information combination navigation mode, inertial navigation information and GPS and GLONASS information combination navigation mode, inertial navigation information and BD2 information combination navigation mode, pure-inertial guidance pattern, differential GPS satellite positioning navigation pattern, GPS and GLONASS satellite positioning navigation pattern, BD2 satellite positioning navigation pattern.
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| CN106292486A (en) * | 2016-08-12 | 2017-01-04 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of information processing method of Airborne Inertial navigation system based on double remainings |
| CN106546258A (en) * | 2015-09-16 | 2017-03-29 | 中国航空工业第六八研究所 | A kind of inertial navigation system state reporting method based on double remainings |
| WO2017084045A1 (en) * | 2015-11-18 | 2017-05-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle aircraft, and navigation method and system |
| CN108106635A (en) * | 2017-12-15 | 2018-06-01 | 中国船舶重工集团公司第七0七研究所 | Inertia defends the anti-interference posture course calibration method of long endurance for leading integrated navigation system |
| CN106093987B (en) * | 2016-08-10 | 2019-01-01 | 深圳供电局有限公司 | A kind of inexpensive differential global positioning system and its implementation applied to unmanned plane |
| CN109141409A (en) * | 2018-02-24 | 2019-01-04 | 上海华测导航技术股份有限公司 | A kind of high-precision based on radio frequency radio station, miniaturization integrated navigation system |
| CN109861700A (en) * | 2019-01-09 | 2019-06-07 | 北京高森感应技术有限公司 | A kind of GNSS antenna formula signal receiver of the integrated radio station 433MHz difference |
| CN109936405A (en) * | 2019-01-30 | 2019-06-25 | 合肥学院 | Captive unmanned plane emergency communication system based on fiber optic stretch |
| CN109931930A (en) * | 2019-03-15 | 2019-06-25 | 西北工业大学 | A kind of unmanned plane double redundancy measuring system and its control method |
| CN110045741A (en) * | 2019-04-13 | 2019-07-23 | 成都飞机工业（集团）有限责任公司 | The integrated navigation system of safety guidance unmanned vehicle glide landing |
| CN110988952A (en) * | 2019-12-25 | 2020-04-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle navigation method and system with anti-interference and high precision |
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| WO2023142793A1 (en) * | 2022-01-26 | 2023-08-03 | 中国第一汽车股份有限公司 | Navigation module and automobile |
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| CN109936405A (en) * | 2019-01-30 | 2019-06-25 | 合肥学院 | Captive unmanned plane emergency communication system based on fiber optic stretch |
| CN109936405B (en) * | 2019-01-30 | 2022-03-22 | 合肥学院 | Tethered unmanned aerial vehicle emergency communication system based on optical fiber remote |
| CN109931930A (en) * | 2019-03-15 | 2019-06-25 | 西北工业大学 | A kind of unmanned plane double redundancy measuring system and its control method |
| CN109931930B (en) * | 2019-03-15 | 2022-09-02 | 西北工业大学 | Dual-redundancy measurement system of unmanned aerial vehicle and control method thereof |
| CN110045741A (en) * | 2019-04-13 | 2019-07-23 | 成都飞机工业（集团）有限责任公司 | The integrated navigation system of safety guidance unmanned vehicle glide landing |
| CN111006659A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Navigation system with multi-navigation-source information fusion function |
| CN110988952A (en) * | 2019-12-25 | 2020-04-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle navigation method and system with anti-interference and high precision |
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| CN116124134A (en) * | 2023-04-20 | 2023-05-16 | 北京创博联航科技有限公司 | Multisource data fusion positioning navigation system |
| CN116124134B (en) * | 2023-04-20 | 2023-08-04 | 北京创博联航科技有限公司 | Multisource data fusion positioning navigation system |
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