CN104596512A - Mileometer data modeling method for combined navigation semi-physical simulation - Google Patents

Abstract

The invention discloses a mileometer data modeling method for combined navigation semi-physical simulation. The method comprises the six steps of 1, installing an inertial navigation/mileometer combined system on a carrier and starting the system by power, 2, setting initial parameters in a navigation computer, 3, keeping a carrier static state and carrying out static initial alignment on the inertial navigation unit for 5min, 4, after alignment, moving the carrier, carrying out inertial navigation calculation in movement, and acquiring and storing inertial navigation output rate values and a mileometer output speed in 50s after motion, 5, calculating a carrier rate reference value by the inertial navigation rate value, and calculating the difference of the mileometer output speed and the carrier rate reference value to obtain a noise value of the mileometer output speed, and 6, setting a simulation locus, calculating a mileometer speed standard value and a standard error value by the carrier movement rate, carrying data fusion on the speed standard value, standard error value and the noise value of the mileometer output speed obtained by the step 5 so that the mileometer rate for the combined navigation semi-physical simulation is obtained.

Description

A kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation

Technical field

The present invention relates to a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation, belong to inertial navigation technique field.

Background technology

Odometer is a kind of sensor of measuring vehicle travel speed and distance, has the advantage that the wide ranges that tests the speed, dynamic property are good, measuring error is not dispersed in time, combines can have complementary advantages with inertial navigation system, can realize complete autonomous, high precision navigator fix.

When carrying out inertial navigation/odometer integrated navigation simulation study, general setting simulation track (comprising the movement velocity of carrier, position, attitude), the speed standard value of odometer is calculated by the movement velocity of carrier in setting simulation track, and the Calibration errors value of given odometer and noise, obtain the odometer data for integrated navigation emulation.Vehicle is environment more complicated in actual travel process, and given simulator and noise can not reflect the noisiness of odometer comprehensively, causes integrated navigation simulation result can not reflect actual conditions all sidedly.In order to carry out inertial navigation/odometer integrated navigation research better, present patent application proposes a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation.

Summary of the invention

The object of this invention is to provide a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation, it can simulate the data that odometer exports better.

Implementation of the present invention: a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation, the method concrete steps are as follows:

Step 1, inertial navigation/odometer combined system to be installed on carrier, and electrifying startup.

Step 2, bookbinding initial parameter (comprise initial longitude, latitude, highly, odometer scale value) to navigational computer.

Step 3, carrier keep static, and 5 minutes static initial alignments are carried out in inertial navigation.

Step 4, complete aim at after carrier setting in motion, in motion process, inertial navigation calculating is carried out in inertial navigation, gathers and the rate value that exports of the velocity amplitude of inertial navigation output in 50 seconds after preserving setting in motion and odometer.

Step 5, calculate bearer rate reference value by the inertial navigation velocity amplitude gathered, then the rate value that odometer is exported and bearer rate reference value poor, obtain the noise figure of odometer output speed.

Step 6, setting simulation track (comprising the movement velocity of carrier, position, attitude), calculate the speed standard value of odometer by the movement velocity of carrier in setting simulation track, and the Calibration errors value of given odometer.The noise figure of the odometer speed obtained in the speed standard value of odometer, given odometer Calibration errors value and step 5 is carried out data fusion, obtains the odometer speed for integrated navigation hardware-in-the-loop simulation.

Wherein, " noise figure of odometer output speed " described in step 5, leaching process is described as follows:

Carrier setting in motion, has collected the speed that in 50 seconds, odometer exports and the speed in the direction, sky, northeast of inertial navigation output definition bearer rate reference value is V ^m(1), V ^m(2) ... V ^mn (), the rate Noise of odometer is w _d(1), w _d(2) ... w _d(n).Bearer rate reference value computing formula is as follows:

$V^m\left(i\right)=\sqrt{{\left[V_E^n\left(i\right)\right]}^2+{\left[V_N^n\left(i\right)\right]}^2+{\left[V_U^n\left(i\right)\right]}^2},(i=1...n)$

Odometer output speed noise figure computing formula is as follows:

$w_D\left(i\right)=V_D^m\left(i\right)-V^m\left(i\right),(i=1...n)$

Wherein, " the obtaining the odometer speed for integrated navigation hardware-in-the-loop simulation " described in step 6, remarks additionally as follows:

Setting simulation track (comprising the movement velocity of carrier, position, attitude), in definition simulation track, navigational coordinate system downloads speed of moving body vector is V ⁿ, under navigational coordinate system, the component in three directions is respectively calculate the speed standard value of odometer formula is as follows:

$V_{\mathrm{Dt}}^m\left(i\right)=\sqrt{{\left[v_x^n\left(i\right)\right]}^2+{\left[v_y^n\left(i\right)\right]}^2+{\left[v_z^n\left(i\right)\right]}^2},(i=1...n)$

By the speed standard value calculating odometer the Calibration errors value δ K of given odometer _d, rate Noise wD (i) of odometer, obtains the odometer speed for integrated navigation hardware-in-the-loop simulation computing formula is as follows:

$V_{\mathrm{Df}}^m\left(i\right)=(1+\mathrm{\δ}{K}_D)V_{\mathrm{Dt}}^m\left(i\right)+w_D\left(i\right),(i=1...n)$

Advantage and effect: the advantage of the method substitutes simulator and noise by the actual noise of odometer, for research inertial navigation/odometer integrated navigation provides better support.

Accompanying drawing explanation

Fig. 1 is odometer Data Modeling Method block diagram;

Fig. 2 is odometer Data Modeling Method process flow diagram of the present invention;

In figure, symbol description is as follows:

the speed in the east that inertial navigation exports, north, direction, sky

V ^m: the bearer rate that the speed exported by inertial navigation calculates

the speed that odometer exports

W _d: the rate Noise that odometer exports

the speed standard value of odometer is calculated by the movement velocity of carrier in setting simulation track

δ K _d: given odometer Calibration errors

for the odometer data of integrated navigation hardware-in-the-loop simulation

V ⁿ: the movement velocity of carrier in the simulation track of setting

Embodiment

See Fig. 1, Fig. 2, a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation of the present invention, the method concrete steps are as follows:

Step 1, inertial navigation/odometer combined system to be installed on carrier, and electrifying startup.

Step 2, bookbinding initial parameter (comprise initial longitude, latitude, highly, odometer scale value) to navigational computer.

Step 3, carrier keep static, and 5 minutes static initial alignments are carried out in inertial navigation.

Step 4, complete aim at after carrier setting in motion, in motion process, inertial navigation calculating is carried out in inertial navigation, gathers and the rate value that exports of the velocity amplitude of inertial navigation output in 50 seconds after preserving setting in motion and odometer.

Step 5, calculate bearer rate reference value by the inertial navigation velocity amplitude gathered, then the rate value that odometer is exported and bearer rate reference value poor, obtain the noise figure of odometer output speed.

Step 6, setting simulation track (comprising the movement velocity of carrier, position, attitude), calculate the speed standard value of odometer by the movement velocity of carrier in setting simulation track, and the Calibration errors value of given odometer.The noise figure of the odometer speed obtained in the speed standard value of odometer, given odometer Calibration errors value and step 5 is carried out data fusion, obtains the odometer speed for integrated navigation hardware-in-the-loop simulation.

Wherein, " noise figure of odometer output speed " described in step 5, leaching process is described as follows:

Carrier setting in motion, has collected the speed that in 50 seconds, odometer exports and the speed in the direction, sky, northeast of inertial navigation output definition bearer rate reference value is V ^m(1), V ^m(2) ... V ^mn (), the rate Noise of odometer is w _d(1), w _d(2) ... w _d(n).Bearer rate reference value computing formula is as follows:

$V^m\left(i\right)=\sqrt{{\left[V_E^n\left(i\right)\right]}^2+{\left[V_N^n\left(i\right)\right]}^2+{\left[V_U^n\left(i\right)\right]}^2},(i=1...n)$

Odometer output speed noise figure computing formula is as follows:

$w_D\left(i\right)=V_D^m\left(i\right)-V^m\left(i\right),(i=1...n)$

Wherein, " the obtaining the odometer speed for integrated navigation hardware-in-the-loop simulation " described in step 6, remarks additionally as follows:

Setting simulation track (comprising the movement velocity of carrier, position, attitude), in definition simulation track, navigational coordinate system downloads speed of moving body vector is V ⁿ, under navigational coordinate system, the component in three directions is respectively calculate the speed standard value of odometer formula is as follows:

$V_{\mathrm{Dt}}^m\left(i\right)=\sqrt{{\left[v_x^n\left(i\right)\right]}^2+{\left[v_y^n\left(i\right)\right]}^2+{\left[v_z^n\left(i\right)\right]}^2},(i=1...n)$

By the speed standard value calculating odometer the Calibration errors value δ K of given odometer _d, the rate Noise w of odometer _di (), obtains the odometer speed for integrated navigation hardware-in-the-loop simulation computing formula is as follows:

$V_{\mathrm{Df}}^m\left(i\right)=(1+\mathrm{\δ}{K}_D)V_{\mathrm{Dt}}^m\left(i\right)+w_D\left(i\right),(i=1...n).$

Claims (3)

1. for an odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation, it is characterized in that: the method concrete steps are as follows:

Step 1, inertial navigation/odometer combined system to be installed on carrier, and electrifying startup;

Step 2, bookbinding initial parameter, comprise initial longitude, latitude, highly, odometer scale value be to navigational computer;

Step 3, carrier keep static, and 5 minutes static initial alignments are carried out in inertial navigation;

Step 4, complete aim at after carrier setting in motion, in motion process, inertial navigation calculating is carried out in inertial navigation, gathers and the rate value that exports of the velocity amplitude of inertial navigation output in 50 seconds after preserving setting in motion and odometer;

Step 5, calculate bearer rate reference value by the inertial navigation velocity amplitude gathered, then the rate value that odometer is exported and bearer rate reference value poor, obtain the noise figure of odometer output speed;

Step 6, setting simulation track, comprise the movement velocity of carrier, position, attitude, calculates the speed standard value of odometer by the movement velocity of carrier in setting simulation track, and the Calibration errors value of given odometer; The noise figure of the odometer speed obtained in the speed standard value of odometer, given odometer Calibration errors value and step 5 is carried out data fusion, obtains the odometer speed for integrated navigation hardware-in-the-loop simulation.

2. a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation according to claim 1, it is characterized in that: " the obtaining the noise figure of odometer output speed " described in step 5, leaching process is described as follows:

Carrier setting in motion, has collected the speed that in 50 seconds, odometer exports and the speed in the direction, sky, northeast of inertial navigation output definition bearer rate reference value is V ^m(1), V ^m(2) ... V ^mn (), the rate Noise of odometer is w _d(1), w _d(2) ... w _d(n), bearer rate reference value computing formula is as follows:

(i＝1...n)

Odometer output speed noise figure computing formula is as follows:

(i＝1...n)。

3. a kind of odometer Data Modeling Method for integrated navigation hardware-in-the-loop simulation according to claim 1, is characterized in that: " the obtaining the odometer speed for integrated navigation hardware-in-the-loop simulation " described in step 6, remarks additionally as follows:

Setting simulation track, comprises the movement velocity of carrier, position, attitude, and in definition simulation track, navigational coordinate system downloads speed of moving body vector is V ⁿ, under navigational coordinate system, the component in three directions is respectively calculate the speed standard value of odometer formula is as follows:

By the speed standard value calculating odometer the Calibration errors value δ K of given odometer _d, the rate Noise w of odometer _di (), obtains the odometer speed for integrated navigation hardware-in-the-loop simulation computing formula is as follows: