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 PDF

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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
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China
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inertial navigation
angle
quaternary
error
groups
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CN201510074098.XA
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Chinese (zh)
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CN104697551A (en
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张涯辉
江彧
吴琼雁
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中国科学院光电技术研究所
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Abstract

The invention discloses a kind of inertial navigation accuracy checking method based on quaternary number angle, it is related to attitude measurement and error-detecting field.Error is compared using Eulerian angles carry out the method for accuracy detection, it is necessary to carry out the operation such as initial alignment or initial alignment after inertial navigation installation for traditionally inertial navigation.When demarcating inaccurate, after the platform where inertial navigation is waved, course, pitching and roll data can intercouple, and cause accuracy detection inaccurate.Go to detect the precision of inertial navigation invention describes two kinds of methods using quaternary number angle.Method can overcome the coupling phenomenon that conventional method is brought.As long as inertial navigation and platform are connected firmly, it is not necessary to carry out installation demarcation to inertial navigation, the error come without data strap.Error evaluation is carried out to inertial navigation using the method for quaternary number angle, its method is simpler, and data are more objective and more conform to actual use.

Description

A kind of inertial navigation accuracy checking method based on quaternary number angle

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 high-precision 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 ψpi, pitching angle thetapiWith roll angle γpi.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 ψi, bow Elevation angle thetaiWith roll angle γi.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:Qpi={ qpi0,qpi1,qpi2,qpi3, wherein i represents that data sequence is numbered;Wherein i= 1,2 ..., n;

Being tested inertial navigation Quaternion Sequence is:Qi={ qi0,qi1,qi2,qi3, 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:

Ai=arccos (Qpi·Qi)=arccos (qpi0qi0+qpi1qi1+qpi2qi2+qpi3qi3) (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:

Api=arccos (Qpi·Qp0)=arccos (qpi0qp00+qpi1qp01+qpi2qp02+qpi3qp03) (8)

AIi=arccos (Qi·Q0)=arccos (qi0q00+qi1q01+qi2q02+qi3q03) (9)

Wherein i=1,2 ..., n;

Then the difference of two groups of sequence angles is:

AEi=Api-AIi (10)

Then the accuracy of detection of tested inertial navigation is:

WhereinThe average of angle sequence is represented, i.e.,:

Claims (1)

1. a kind of inertial navigation accuracy checking method based on quaternary number angle, it is characterised in that realize that step is as follows:
Step (1), tested inertial navigation is fixed on swaying platform;
Step (2), rotation swaying platform, record the attitude data of synchronization swaying platform and the attitude data of tested inertial navigation;
Step (3), the attitude data of the attitude data of swaying platform and tested inertial navigation is converted to two groups of quaternion algebra evidences;
In the step (3), tested inertial navigation mutually in the same time and the attitude data of swaying platform are converted into two groups of quaternion algebras Value;
Angle between step (4), two groups of two quaternary numbers of calculating, forms angle sequence, wherein described two quaternary numbers are distinguished Belong to two groups;Mean square error is asked to quaternary number angle sequence, the precision index of inertial navigation is used as;
, it is necessary to calculate quaternary mutually in the same time representated by two attitude datas of swaying platform and tested inertial navigation in the step (4) Several angles, formation sequence is used as the precision index of inertial navigation using the mean square error of angle sequence data;
Step (5), the angle for calculating every group of quaternion algebra evidence and every group of 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;
In the step (5), according to angle is sought, angle sequence is formed according to all with its first quaternion algebra using two groups of quaternion algebras Row, 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.
CN201510074098.XA 2015-02-12 2015-02-12 A kind of inertial navigation accuracy checking method based on quaternary number angle CN104697551B (en)

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