CN104697551B  A kind of inertial navigation accuracy checking method based on quaternary number angle  Google Patents
A kind of inertial navigation accuracy checking method based on quaternary number angle Download PDFInfo
 Publication number
 CN104697551B CN104697551B CN201510074098.XA CN201510074098A CN104697551B CN 104697551 B CN104697551 B CN 104697551B CN 201510074098 A CN201510074098 A CN 201510074098A CN 104697551 B CN104697551 B CN 104697551B
 Authority
 CN
 China
 Prior art keywords
 inertial navigation
 angle
 quaternary
 error
 groups
 Prior art date
Links
 241001269238 Data Species 0.000 claims description 4
 230000015572 biosynthetic process Effects 0.000 claims description 2
 238000005755 formation reactions Methods 0.000 claims description 2
 238000009434 installation Methods 0.000 abstract description 9
 238000007796 conventional methods Methods 0.000 abstract description 3
 230000001808 coupling Effects 0.000 abstract description 3
 238000010168 coupling process Methods 0.000 abstract description 3
 238000005859 coupling reactions Methods 0.000 abstract description 3
 280000600813 Arccos companies 0.000 description 6
 230000036544 posture Effects 0.000 description 4
 238000000034 methods Methods 0.000 description 2
 230000000875 corresponding Effects 0.000 description 1
 238000001514 detection method Methods 0.000 description 1
 238000005516 engineering processes Methods 0.000 description 1
 239000000686 essences Substances 0.000 description 1
 238000005070 sampling Methods 0.000 description 1
 230000000007 visual effect Effects 0.000 description 1
Classifications

 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
 G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or startingup of inertial devices
Abstract
Description
Technical field
The present invention relates to attitude measurement and the technical field of processing, and in particular to a kind of inertial navigation essence based on quaternary number angle Spend detection method.
Background technology
Due to the different gyros that different inertial navigations is used, while the algorithm of processing is also different, so that output Attitude data error also have different changes.The method that precision evaluation is traditionally carried out to inertial navigation is mainly compared using Eulerian angles Error statistics method (flow as shown in Figure 1) afterwards, mainly there is two kinds of forms：
First, inertial navigation is fixed on highprecision tilter, the rotation relationship between demarcation inertial navigation and tilter.It is then turned on The attitude data of tilter, record tilter and inertial navigation output.Afterwards, by demarcation relation before, by two kinds of attitude datas Unify into the same coordinate system.Finally, contrasted by Eulerian angles, the error shape of Eulerian angles course, pitching and roll is calculated respectively Condition；
2nd, the inertial navigation and High Accuracy Inertial that will be compared all are fixed on tilter, demarcate the data relationship of two inertial navigations； Then tilter, the attitude data of two inertial navigation output of record are rotated.Afterwards, it is by the relation of demarcating that two attitude datas are unified Into same coordinate system.Finally, by the way that Eulerian angles are compared, three Eulerian angles courses, pitching and roll are calculated respectively Error condition.
In order to obtain accurate believable error comparison data, the mark of inertial navigation installation site is required in both the above form Determining precision can reach that requirement, i.e. stated accuracy will be much smaller than the error amount of Eulerian angles.Otherwise calibrated error will be coupling in three Among Eulerian angles  so that error increases, and then influence the accuracy detection to inertial navigation.But in reality, to the demarcation phase of inertial navigation To more difficulty, in the case of especially being influenceed by tilter installation or other factorses.Missed simultaneously using three Eulerian angles Difference assesses the precision of inertial navigation, although relatively directly perceived, but lacks globality assessment concept.I.e. when the error of some Eulerian angles It is relatively large, when other two error angles are smaller, it is impossible to the precision magnitude or error range of intuitive judgment inertial navigation equipment.
The content of the invention
The technical problem to be solved in the present invention is：For the relatively difficult situation of inertial navigation Accurate Calibration installation site, Accuracy detection is carried out using the method directly calculated.The present invention can make full use of traditional test form, but need not pair The installation site of inertial navigation equipment carries out Accurate Calibration, thus will not bring the coupling error produced because of calibrated error.
The technical solution adopted by the present invention is：A kind of inertial navigation accuracy checking method based on quaternary number angle, is implemented Step is：
Step (1), tested inertial navigation is fixed on swaying platform；
Step (2), rotation tilter, record the attitude data of synchronization tilter and the attitude data of inertial navigation output；
Step (3), the attitude data of the attitude data of tilter (or High Accuracy Inertial) and tested inertial navigation is converted to Two groups of quaternion algebra evidences；
Angle between step (4), two groups of two quaternary numbers of calculating, forms angle sequence；Quaternary number angle sequence is asked Mean square error, is used as the precision index of inertial navigation；
Step (5), the angle for calculating every group of quaternion algebra evidence and respective first quaternion algebra evidence, form two groups of angle sequences Row；Two groups of angle sequences, which subtract each other, seeks error angle, and seeks mean square error as the precision index of inertial navigation.
Wherein, in described (3) step, tested inertial navigation mutually in the same time and the attitude data of tilter are converted to two group four First number numerical value.
Wherein, it is necessary to calculate mutually in the same time representated by two attitude datas of tilter and tested inertial navigation in described (4) step Quaternary number angle, formation sequence is used as the precision index of inertial navigation using the mean square error of angle sequence data.
Wherein, in described (5) step, angle, shape all are asked with its first quaternion algebra evidence using two groups of quaternion algebras evidences Into angle sequence, two groups of angle sequences, which subtract each other, seeks error angle, and the precision index of inertial navigation is used as using the mean square error of error angle.
The principle of the present invention is：
The principle that the present invention is utilized be in tilter rotation process, due to inertial navigation and tilter or High Accuracy Inertial it Between relation be fixed  the demarcation relation between them, i.e., in the case where not considering tilter deformation, between them Relation will not change with the change of tilter posture.Although traditionally using 3 Euler's angle errors as precision index, But three Eulerian angles are always used when in use simultaneously.If thus can represent that precision refers to using an angular values Mark, then can more intuitively reflect the precision of this inertial navigation.
Using the method for quaternary number angle, the inertial navigation installation site calibration process of complexity can be not only reduced, easily operation, And the evaluating data of error has globality.The error condition and error order magnitude range of inertial navigation can fully be reflected.Wherein step (4) in, it is to connect firmly with respect to tilter that the principle of the method used, which is tested inertial navigation, no matter that is, how tilter rotates, from four Said in first number physical significance, their angle is fixed all the time.Wherein in step (5), the principle of the method used is from four Said in first number physical significance, the tilter amount of waving and the tested inertial navigation amount of waving theoretically identical, the difference of generation is all by by mistake Poor item is brought.
The advantage of the present invention compared with prior art is：
(1) dependence condition of the present invention is small：Conventional method needs the installation requirement to tested inertial navigation higher, i.e., accurately to measure Relation between three attitude angles of installation and tilter of tested inertial navigation, and this method need not be measured accurately；
(2) visual result of the present invention：Because the device that inertial navigation is used is different, the algorithm of calculating is different so that three postures The magnitude of angle error is different, so that conventional method is not directly perceived, and only a numerical value is smart to represent to detect for methods described herein Degree, data are directly perceived.
Brief description of the drawings
Fig. 1 is the flow chart of traditional accuracy checking method；
Fig. 2 is the flow chart of the accuracy checking method based on quaternary number angle.
Embodiment
The following is the specific implementation method of the present invention.But following embodiment is only limitted to explain the present invention, guarantor of the invention Shield scope should include the full content of claim, and be to realize to person skilled in art by following examples The full content of the claims in the present invention.
In specific examples below, it is therefore an objective to the attitude data that measurement is obtained, the precision of tested inertial navigation is calculated.Assuming that After tilter is waved, Euler's angular data of the tilter posture of record is：Course angle ψ_{pi}, pitching angle theta_{pi}With roll angle γ_{pi}.Its Middle subscript p represents tilter, and i represents data amount check.Euler's angular data of the posture of the tested inertial navigation of record is：Course angle ψ_{i}, bow Elevation angle theta_{i}With roll angle γ_{i}.The data that synchronization is collected are represented when wherein subscript i is identical.By formula below by Eulerian angles Attitude data is converted to quaternion algebra evidence：
Obtaining two groups of Quaternion Sequences is：
Tilter Quaternion Sequence：Q_{pi}={ q_{pi0},q_{pi1},q_{pi2},q_{pi3}, wherein i represents that data sequence is numbered；Wherein i= 1,2 ..., n；
Being tested inertial navigation Quaternion Sequence is：Q_{i}={ q_{i0},q_{i1},q_{i2},q_{i3}, wherein i represents that data sequence is numbered；With wave The corresponding i of platform Quaternion Sequence represents identical sampling instant；
Method one：The angle of wherein two groups Quaternion Sequences is：
A_{i}=arccos (Q_{pi}·Q_{i})=arccos (q_{pi0}q_{i0}+q_{pi1}q_{i1}+q_{pi2}q_{i2}+q_{pi3}q_{i3}) (5)
Wherein i=1,2 ..., n；
Then the accuracy of detection of tested inertial navigation is：
WhereinThe average of angle sequence is represented, i.e.,：
Method two：The angle of wherein two groups quaternary numbers and first quaternary number is：
A_{pi}=arccos (Q_{pi}·Q_{p0})=arccos (q_{pi0}q_{p00}+q_{pi1}q_{p01}+q_{pi2}q_{p02}+q_{pi3}q_{p03}) (8)
A_{Ii}=arccos (Q_{i}·Q_{0})=arccos (q_{i0}q_{00}+q_{i1}q_{01}+q_{i2}q_{02}+q_{i3}q_{03}) (9)
Wherein i=1,2 ..., n；
Then the difference of two groups of sequence angles is：
A_{Ei}=A_{pi}A_{Ii} (10)
Then the accuracy of detection of tested inertial navigation is：
WhereinThe average of angle sequence is represented, i.e.,：
Claims (1)
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

CN201510074098.XA CN104697551B (en)  20150212  20150212  A kind of inertial navigation accuracy checking method based on quaternary number angle 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

CN201510074098.XA CN104697551B (en)  20150212  20150212  A kind of inertial navigation accuracy checking method based on quaternary number angle 
Publications (2)
Publication Number  Publication Date 

CN104697551A CN104697551A (en)  20150610 
CN104697551B true CN104697551B (en)  20171020 
Family
ID=53344919
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

CN201510074098.XA CN104697551B (en)  20150212  20150212  A kind of inertial navigation accuracy checking method based on quaternary number angle 
Country Status (1)
Country  Link 

CN (1)  CN104697551B (en) 
Families Citing this family (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN107255475B (en) *  20170703  20200925  中国科学院光电技术研究所  Symmetric structure accelerometer north finder and dynamic differential north finding method 
Family Cites Families (2)
Publication number  Priority date  Publication date  Assignee  Title 

CN102706361B (en) *  20120518  20150909  中国人民解放军92537部队  A kind of high precision many inertial navigation systems attitude accuracy assessment method 
CN103206966B (en) *  20130412  20150429  哈尔滨工业大学  Precision measurement error correction method for singleaxis air bearing table 

2015
 20150212 CN CN201510074098.XA patent/CN104697551B/en active IP Right Grant
Also Published As
Publication number  Publication date 

CN104697551A (en)  20150610 
Similar Documents
Publication  Publication Date  Title 

CN103363949B (en)  Mixed measurement analysis method for satellite antenna  
CN104374385B (en)  A kind of new method of seabed array of magnetic sensors target positioning  
CN100538275C (en)  A kind of online calibration method of the shield machine automatic guiding system based on gyroscope total stationlaser target  
CN103776516B (en)  Ultrasonic flow metering system with upstream pressure transducer  
CN104197934B (en)  A kind of localization method based on earth magnetism, apparatus and system  
CN107885219A (en)  For monitoring the flight monitoring system and method for unmanned plane during flying  
JP4783394B2 (en)  Sensor failure adaptation method  
EP2482033B1 (en)  Geomagnetism detection device  
CN101871767A (en)  System and method for detecting form and position tolerance of components  
Jafari  Optimal redundant sensor configuration for accuracy increasing in space inertial navigation system  
KR20080092879A (en)  Information processing apparatus and information processing method  
CN103471619B (en)  A kind of laser strapdown inertial navigation system prism ridge orientation installation error calibration  
KR101485142B1 (en)  Method and system for a selfcalibrated multimagnetometer platform  
CN103389434B (en)  The method and apparatus of the leakage current of detection resistance temperature detector  
EP2331908A2 (en)  Methods for processing measurements from an accelerometer  
CN105205824A (en)  Multicamera global calibration method based on highprecision auxiliary cameras and ball targets  
CN102662083A (en)  Accelerometer calibration method based on GPS velocity information  
CN106023156B (en)  The method for registering of point cloud model and CAD model based on detection feature  
CN102413563B (en)  Method and system for wirelessly positioning signal source  
CN104198973B (en)  Calibration device of vector magnetometer  
CN103925842B (en)  Electrooptic theodolite is utilized to measure method and the device of Tank Gun Barrel spatial direction  
CN104897061A (en)  Total station and threedimensional laser scanning combined largescale maritime work equipment measuring method  
CN101806595B (en)  Twodimensional electronic compass calibration algorithm  
CN104406607A (en)  Multivisual field composite optical sensor calibration device and method  
CN103983278B (en)  A kind of measure the method affecting Satellite Attitude Determination System precision 
Legal Events
Date  Code  Title  Description 

C06  Publication  
PB01  Publication  
C10  Entry into substantive examination  
SE01  Entry into force of request for substantive examination  
GR01  Patent grant  
GR01  Patent grant 