CN104596512B - A kind of odometer Data Modeling Method for integrated navigation HWIL simulation - Google Patents
A kind of odometer Data Modeling Method for integrated navigation HWIL simulation Download PDFInfo
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- CN104596512B CN104596512B CN201410538364.5A CN201410538364A CN104596512B CN 104596512 B CN104596512 B CN 104596512B CN 201410538364 A CN201410538364 A CN 201410538364A CN 104596512 B CN104596512 B CN 104596512B
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- odometer
- speed
- value
- carrier
- inertial navigation
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A kind of odometer Data Modeling Method for integrated navigation HWIL simulation, it has six big steps：First, inertial navigation/odometer combined system is installed on carrier, and electrifying startup；2nd, initial parameter to navigational computer is bound；3rd, carrier remains stationary, inertial navigation carries out 5 minutes static initial alignments；4th, carrier setting in motion after alignment is completed, inertial navigation carries out inertial navigation calculating in motion process, gathers and preserve the rate value that the velocity amplitude of inertial navigation output is exported with odometer in 50 seconds after setting in motion；5th, the inertial navigation velocity amplitude by gathering is calculated bearer rate reference value, then the rate value that odometer is exported is poor with bearer rate reference value, obtains the noise figure of odometer output speed；6th, simulation track is set, the speed standard value and Calibration errors value of odometer is calculated by the movement velocity of carrier, and data fusion is carried out with the noise figure of odometer speed that obtains in step 5, obtain the odometer speed for integrated navigation HWIL simulation.
Description
Technical field
The present invention relates to a kind of odometer Data Modeling Method for integrated navigation HWIL simulation, belong to inertial navigation technique
Field.
Background technology
Odometer is a kind of sensor of measuring vehicle travel speed and distance, with the wide ranges that test the speed, dynamic property it is good,
Not with the advantage that the time dissipates, combined with inertial navigation system to have complementary advantages measurement error, Quan it is fixed to realize that autonomous, high accuracy is navigated
Position.
When inertial navigation/odometer integrated navigation simulation study is carried out, simulation track (the motion speed comprising carrier is typically set
Degree, position, attitude), the speed standard value of odometer is calculated by the movement velocity of carrier in setting simulation track, and give
The Calibration errors value and noise of odometer, obtain being counted for the mileage of integrated navigation emulation.Vehicle is in actual travel mistake
Environment is more complicated in journey, and given simulator and noise can not comprehensively reflect the noise characteristic of odometer, cause integrated navigation to emulate
Result can not comprehensively reflect actual conditions.In order to preferably carry out inertial navigation/odometer integrated navigation research, present patent application is carried
A kind of odometer Data Modeling Method for integrated navigation HWIL simulation is gone out.
The content of the invention
It is an object of the invention to provide a kind of odometer Data Modeling Method for integrated navigation HWIL simulation, its energy
The data of enough more preferable simulation odometer output.
Implementation of the present invention：A kind of odometer Data Modeling Method for integrated navigation HWIL simulation, the method
Comprise the following steps that：
Step 1, inertial navigation/odometer combined system is installed on carrier, and electrifying startup.
Step 2, bookbinding initial parameter (including initial longitude, latitude, height, odometer scale value) are calculated to navigating
Machine.
Step 3, carrier remains stationary, inertial navigation carry out 5 minutes static initial alignments.
Carrier setting in motion after step 4, completion alignment, inertial navigation carries out inertial navigation calculating in motion process, gathers and protects
Deposit the rate value that the velocity amplitude of inertial navigation output is exported with odometer in 50 seconds after setting in motion.
Step 5, bearer rate reference value is calculated by the inertial navigation velocity amplitude for gathering, then the rate value that odometer is exported
It is poor with bearer rate reference value, obtain the noise figure of odometer output speed.
Step 6, setting simulation track (movement velocity, position, attitude comprising carrier), by carrier in setting simulation track
Movement velocity be calculated the speed standard value of odometer, and given odometer Calibration errors value.By the speed of odometer
The noise figure of the odometer speed obtained in standard value, given odometer Calibration errors value and step 5 carries out data fusion,
Obtain the odometer speed for integrated navigation HWIL simulation.
Wherein, " noise figure of odometer output speed " described in step 5, extraction process is described as follows：
Carrier setting in motion, has collected the speed of odometer output in 50 secondsAnd inertial navigation is defeated
The speed in the northeast day direction for going out
It is V to define bearer rate reference valuem(1)、Vm(2)…VmN (), the rate Noise of odometer is wD(1)、wD(2)…wD(n).Carry
Body speed reference value computing formula is as follows：
Odometer output speed noise figure computing formula is as follows：
Wherein, " obtaining the odometer speed for integrated navigation HWIL simulation " described in step 6, supplementary notes are such as
Under：
Setting simulation track (movement velocity, position, attitude comprising carrier), in definition simulation track under navigational coordinate system
Carrier movement velocity vector is Vn, the component in three directions is respectively under navigational coordinate systemCalculate
Obtain the speed standard value of odometerFormula is as follows：
By the speed standard value for being calculated odometerThe Calibration errors value δ K of given odometerD, odometer
Rate Noise wD (i), obtains the odometer speed for integrated navigation HWIL simulationComputing formula is as follows：
Advantage and effect：The advantage of the method is to substitute simulator and noise with the actual noise of odometer, for research inertial navigation/inner
The integrated navigation of journey meter provides preferably support.
Brief description of the drawings
Fig. 1 is odometer Data Modeling Method block diagram；
Fig. 2 is odometer Data Modeling Method flow chart of the present invention；
Symbol description is as follows in figure：
East, north, the speed in day direction of inertial navigation output
Vm：The bearer rate that the speed exported by inertial navigation is calculated
The speed of odometer output
wD：The rate Noise of odometer output
The speed standard value of odometer is calculated by the movement velocity of carrier in setting simulation track
δKD：Given odometer Calibration errors
Mileage for integrated navigation HWIL simulation is counted
Vn：The movement velocity of carrier in the simulation track of setting
Specific embodiment
See Fig. 1, Fig. 2, a kind of odometer Data Modeling Method for integrated navigation HWIL simulation of the invention, the method
Comprise the following steps that：
Step 1, inertial navigation/odometer combined system is installed on carrier, and electrifying startup.
Step 2, bookbinding initial parameter (including initial longitude, latitude, height, odometer scale value) are calculated to navigating
Machine.
Step 3, carrier remains stationary, inertial navigation carry out 5 minutes static initial alignments.
Carrier setting in motion after step 4, completion alignment, inertial navigation carries out inertial navigation calculating in motion process, gathers and protects
Deposit the rate value that the velocity amplitude of inertial navigation output is exported with odometer in 50 seconds after setting in motion.
Step 5, bearer rate reference value is calculated by the inertial navigation velocity amplitude for gathering, then the rate value that odometer is exported
It is poor with bearer rate reference value, obtain the noise figure of odometer output speed.
Step 6, setting simulation track (movement velocity, position, attitude comprising carrier), by carrier in setting simulation track
Movement velocity be calculated the speed standard value of odometer, and given odometer Calibration errors value.By the speed of odometer
The noise figure of the odometer speed obtained in standard value, given odometer Calibration errors value and step 5 carries out data fusion, obtains
To the odometer speed for integrated navigation HWIL simulation.
Wherein, " noise figure of odometer output speed " described in step 5, extraction process is described as follows：
Carrier setting in motion, has collected the speed of odometer output in 50 secondsAnd inertial navigation is defeated
The speed in the northeast day direction for going out
It is V to define bearer rate reference valuem(1)、Vm(2)…VmN (), the rate Noise of odometer is wD(1)、wD(2)…wD(n).Carry
Body speed reference value computing formula is as follows：
Odometer output speed noise figure computing formula is as follows：
Wherein, " obtaining the odometer speed for integrated navigation HWIL simulation " described in step 6, supplementary notes are such as
Under：
Setting simulation track (movement velocity, position, attitude comprising carrier), in definition simulation track under navigational coordinate system
Carrier movement velocity vector is Vn, the component in three directions is respectively under navigational coordinate systemCalculate
Obtain the speed standard value of odometerFormula is as follows：
By the speed standard value for being calculated odometerThe Calibration errors value δ K of given odometerD, odometer
Rate Noise wDI (), obtains the odometer speed for integrated navigation HWIL simulationComputing formula is as follows：
Claims (3)
1. a kind of odometer Data Modeling Method for integrated navigation HWIL simulation, it is characterised in that：The method is specifically walked
It is rapid as follows：
Step 1, inertial navigation/odometer combined system is installed on carrier, and electrifying startup；
Step 2, bookbinding initial parameter, including initial longitude, latitude, height, odometer scale value to navigational computer；
Step 3, carrier remains stationary, inertial navigation carry out 5 minutes static initial alignments；
Carrier setting in motion after step 4, completion alignment, inertial navigation carries out inertial navigation calculating in motion process, gathers and preserves out
The rate value that the velocity amplitude of inertial navigation output is exported with odometer in 50 seconds after beginning to move；
Step 5, bearer rate reference value is calculated by the inertial navigation velocity amplitude for gathering, then the rate value that odometer is exported with carry
Body speed reference value is poor, obtains the noise figure of odometer output speed；
Step 6, setting simulation track, movement velocity, position comprising carrier, attitude, by the fortune of carrier in setting simulation track
Dynamic speed is calculated the speed standard value of odometer, and gives the Calibration errors value of odometer；By the speed standard of odometer
The noise figure of the odometer output speed obtained in value, given odometer Calibration errors value and step 5 carries out data fusion, obtains
To the odometer speed for integrated navigation HWIL simulation.
2. a kind of odometer Data Modeling Method for integrated navigation HWIL simulation according to claim 1, it is special
Levy and be：" obtaining the noise figure of odometer output speed " described in step 5, acquisition process is described as follows：
Carrier setting in motion, has collected the speed of odometer output in 50 secondsAnd inertial navigation output
Northeast day direction speed
Defining bearer rate reference value isThe rate Noise of odometer is
Bearer rate reference value computing formula is as follows：
Wherein, i=1...n；
Odometer output speed noise figure computing formula is as follows：
Wherein, i=1...n.
3. a kind of odometer Data Modeling Method for integrated navigation HWIL simulation according to claim 1, it is special
Levy and be：" obtaining the odometer speed for integrated navigation HWIL simulation " described in step 6, remarks additionally as follows：
Setting simulation track, movement velocity, position comprising carrier, attitude, carrier under navigational coordinate system in definition simulation track
Movement velocity vector is Vn, the component in three directions is respectively under navigational coordinate systemIt is calculated
The speed standard value of odometerFormula is as follows：
Wherein, i=1...n；
By the speed standard value for being calculated odometerThe Calibration errors value δ K of given odometerD, the speed of odometer makes an uproar
Sound wDI (), obtains the odometer speed for integrated navigation HWIL simulationComputing formula is as follows：
Wherein, i=1...n.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102706365A (en) * | 2012-06-19 | 2012-10-03 | 北京航空航天大学 | Calibration method for three-beam laser velocimeter on basis of navigation system |
| CN102706367A (en) * | 2012-06-19 | 2012-10-03 | 北京航空航天大学 | Accuracy testing and calculating method of single-beam laser speedometer for combined navigation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2826447B1 (en) * | 2001-06-26 | 2003-09-19 | Sagem | HYBRID INERTIAL NAVIGATION METHOD AND DEVICE |
| GB201017288D0 (en) * | 2010-10-13 | 2010-11-24 | Univ Nottingham | Positioning system |
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2014
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102706365A (en) * | 2012-06-19 | 2012-10-03 | 北京航空航天大学 | Calibration method for three-beam laser velocimeter on basis of navigation system |
| CN102706367A (en) * | 2012-06-19 | 2012-10-03 | 北京航空航天大学 | Accuracy testing and calculating method of single-beam laser speedometer for combined navigation |
Non-Patent Citations (2)
| Title |
|---|
| 捷联惯导系统/里程计高精度紧组合导航算法;肖烜等;《兵工学报》;20120430;第33卷(第4期);第395-400页 * |
| 陆用捷联惯导系统/里程计自主式组合导航技术;缪玲娟等;《北京理工大学学报》;20040930;第24卷(第9期);第808-811页 * |
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