CN104864874B - A kind of inexpensive single gyro dead reckoning navigation method and system - Google Patents
A kind of inexpensive single gyro dead reckoning navigation method and system Download PDFInfo
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- CN104864874B CN104864874B CN201510345399.1A CN201510345399A CN104864874B CN 104864874 B CN104864874 B CN 104864874B CN 201510345399 A CN201510345399 A CN 201510345399A CN 104864874 B CN104864874 B CN 104864874B
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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
- G01C21/20—Instruments for performing navigational calculations
Abstract
The cost that the present invention exists for traditional navigation system is higher, volume weight is larger, the problems such as course error is accumulated, there is provided a kind of inexpensive single gyro dead reckoning navigation method and system, the system utilizes course inductive pick-up (such as Magnetic Sensor, also can be polarized light sensor) course reference is provided, offer Dynamic High-accuracy course is combined with course transmitter using 1 optical gyroscope (sensitive axes refer to day to), two accelerometers are responsible for measuring attitude of carrier, one odometer provides carrier mileage increment, utilize course, posture, mileage information carries out dead reckoning, so as to calculate carrier positions, with small size, low-power consumption, inexpensive many advantages, such as.
Description
Technical field
The present invention relates to a kind of single gyro airmanship, and in particular to a kind of inexpensive single gyro dead reckoning navigation method
And system.
Background technology
In various kinds of equipment in military and civilian field, inertial navigation system is extensive as one kind modernization navigation equipment
Using.Inertial navigation system is broadly divided into gimbaled inertial navigation system and the major class of strap-down inertial navigation system two.Strapdown is used to
Property navigation system as gimbaled inertial navigation system, can accurately provide posture, ground velocity, longitude and latitude of carrier etc. navigation ginseng
Number.
Strapdown inertial navigation system has following particular advantages：The platform mechanical system of complexity is eliminated, system architecture is extremely
Simply, the volume and weight of system is reduced, while reducing cost, maintenance is simplified, improves reliability.Current navigation
System is generally made up of 3 gyros, 3 accelerometers, although the flexibility with apolegamy, but is due to be made using 3 gyros
Into the increase of cost, volume, weight etc..
Therefore, it is necessary to a kind of inexpensive single gyro dead reckoning navigation method and system be worked out, so as to solve existing
The drawbacks described above of technology.
The content of the invention
For strap-down navigation system exist cost is higher, course error accumulation, volume, larger weight the problems such as, this hair
Bright to provide a kind of inexpensive single gyro dead reckoning navigation method and system, the system utilizes course inductive pick-up (such as magnetic
Sensor, also can be polarized light sensor) course reference is provided, passed using 1 optical gyroscope (sensitive axes refer to day to) with course
Sensor combination provides Dynamic High-accuracy course, and two accelerometers are responsible for measuring attitude of carrier, and an odometer is provided in carrier
Cheng Zengliang, dead reckoning is carried out using course, posture, mileage information, so as to calculate carrier positions, with small size, low-power consumption,
Inexpensive many advantages, such as.
Present invention request provides a kind of inexpensive single gyro dead reckoning navigation method, and this method comprises the following steps：
Step S101, the course angle ψ of carrier system x-axis is calculated using Gauss meter and optical gyroscope；
Assuming that starting stage, Gauss meter is smaller by magnetic field environment disturbance, then by the inactive state of 1 minute, to magnetic strength
Accrued course angle output makees smooth, obtains initial heading angle ψ0；
Course angle calculating is carried out using optical gyroscope auxiliary Gauss meter, course angle is carried out more using optical gyroscope output
Newly：
ψi=ψi-1+Ωi-1-Ωiesin(L)cos(θ) (1)
Wherein, (i-1)-i represents a sampling period (Ts), ψiFor the course angle at i moment, Ωi-1For (i-1)-i moment
Gyro output (unit is radian), ΩieFor the earth rotation angle in a sampling period, L is local latitude, and θ is carrier
The angle of pitch；
There is drift in gyro to measure value, course angle error can be caused to be accumulated with the time, product of the Gauss meter to gyro is utilized
Tired error is compensated, and makes ψG=ψiRepresent the course angle that i moment gyro is resolved, ψMRepresent the course angle that Gauss meter is resolved；
When meeting following condition, ψ is utilizedMReplace ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift：
Condition 1:tgyro＞ T, wherein tgyroThe time is calculated for gyro, T is certain constant parameter；
Condition 2:Formula (2) is set up.
WhereinRepresent a smoothness period TsmoothInterior ψGAverage,Represent a smoothness period
Interior ψMAverage；One smoothness period is divided into k subcycle, i.e. Tsmooth=k*Ts；δψiRepresent the ψ in i-th of subcycleGWith
ψMDifference, i.e.,J is course angle fluctuation threshold；
Section 1 reflection Gauss meter and gyro resolve the constant value deviation of course angle, Section 2 reflection magnetic strength on the left of inequality
Accrued degree of fluctuation affected by magnetic fields；When inequality is set up, show the fluctuation without exception of Gauss meter surrounding magnetic field, Ke Yiyong
ψMReplace ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift；
Step S102, carrier pitching angle theta is calculated using accelerometer A1；
The formula that accelerometer A1 calculates carrier pitching angle theta is following (see formula 3),
Wherein a1 represents accelerometer A1 measurement output quantity, and g is acceleration of gravity, defines θ angles when carrier headstock raises up
For just；
abCalculating process as shown in formula 5,6：
ab=x2 (5)
x2(k+1)=x2(k)-h*r*sat (g (k), δ) (6)
Wherein：
z1(k)=e (k)+hx2(k) (9)
δ=hr, δ1=h δ (10)
E (k)=x1(k)-v(k) (11)
x1(k+1)=x1(k)+hx2(k) (12)
x2(k) exported for acceleration, h is sampling step length, r is input regulation parameter, is artificially selected according to actual signal behavior
Take, for adjusting differentiator performance, δ is intermediate variable, is smoothness period；V (k) is speed, x1(k) predetermined speed, v are represented
(k) discrete form for being v；
By formula 6-12 simultaneous, and then pass through ab=x2, a can be obtainedb；
Carrier pitching angle theta is finally obtained by formula 3；
Step S103, the mileage increment Delta s in a sampling period is calculated using odometer；
The mileage increment in one sampling period is：
Δ s=KN (13)
Wherein, umber of pulse N is the umber of pulse in one sampling period of odometer；K is distance factor, it is necessary to demarcation, N in advance
For odometer umber of pulse；
Step S104, calculates the position (coordinate) of carrier in the process of moving；
Assuming that the initial coordinate of carrier is (X0, Y0), carrier in the process of moving, the coordinate (X at k momentk, Yk) can pass through
Formula (14) is obtained：
Wherein ψi、θi、ΔsiThe respectively course angle in ith sample cycle, the angle of pitch, mileage increment.
A kind of inexpensive single gyro dead reckoning navigation system is also claimed in the application, including：
Attitude Measuring Unit, including optical gyroscope, Gauss meter, wherein two accelerometers, Attitude Measuring Unit coordinate
Respectively as x-y-z on-a left side-before system chooses；Optical gyroscope sensitive axes overlapped with z-axis sensing day to；Two accelerometer sensitives
Axle is respectively directed to x and y-axis direction；Gauss meter zero-bit points to x-axis direction；Attitude Measuring Unit is by each optical gyroscope, magnetic strength
Accrued, the signal of two accelerometers is transferred to signal acquisition circuit；
Signal acquisition circuit, for the signal of reception to be changed by A/D, processing is sent to by serial communication interface
Device；
Odometer, for the rotation of carrier tire to be converted into pulse, processor is given by signal acquisition circuit；
Processor, receives the signal that signal acquisition circuit is sent, obtains the position of carrier, speed, posture, and calculate carrier
Position.
Further, the position that processor calculates carrier is obtained by above-mentioned air navigation aid.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the inexpensive single gyro dead reckoning navigation method of the present invention；
Fig. 2 is the structural representation of the navigation system of the present invention；
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, the present invention proposes a kind of inexpensive single gyro dead reckoning navigation method, in the method with this
Ground geographic coordinate system (east-north-day, E-N-U) comprises the following steps as navigational coordinate system (n systems)：
Step S101, the course angle ψ of carrier system (b systems) x-axis is calculated using Gauss meter and optical gyroscope；
Assuming that starting stage, Gauss meter is smaller by magnetic field environment disturbance, then by the inactive state of 1 minute, to magnetic strength
Accrued course angle output makees smooth, obtains initial heading angle ψ0。
The output of Gauss meter is easily influenceed by magnetic fluctuation, therefore the present invention is entered using optical gyroscope auxiliary Gauss meter
Row course angle is calculated, and course angle renewal (formula (1)) is carried out using optical gyroscope output,
ψi=ψi-1+Ωi-1-Ωiesin(L)cos(θ) (1)
Wherein, (i-1)-i represents a sampling period (Ts), ψiFor the course angle at i moment, Ωi-1For (i-1)-i moment
Gyro output (unit is radian), ΩieFor the earth rotation angle in a sampling period, L is local latitude, and θ is carrier
The angle of pitch.
There is drift in gyro to measure value, course angle error can be caused to be accumulated with the time, and the present invention is using Gauss meter to top
The accumulated error of spiral shell is compensated.Make ψG=ψiRepresent the course angle that i moment gyro is resolved, ψMRepresent what Gauss meter was resolved
Course angle.
When meeting following condition, ψ is utilizedMReplace ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift：
Condition 1:tgyro＞ T, wherein tgyroThe time is calculated for gyro, T is certain constant parameter；
Condition 2:Formula (2) is set up.
WhereinRepresent a smoothness period TsmoothInterior ψGAverage,Represent a smoothness period
Interior ψMAverage；One smoothness period is divided into k subcycle, i.e. Tsmooth=k*Ts；δψiRepresent the ψ in i-th of subcycleGWith
ψMDifference, i.e.,J is course angle fluctuation threshold.
Section 1 reflection Gauss meter and gyro resolve the constant value deviation of course angle, Section 2 reflection magnetic strength on the left of inequality
Accrued degree of fluctuation affected by magnetic fields.When inequality is set up, show the fluctuation without exception of Gauss meter surrounding magnetic field, Ke Yiyong
ψMReplace ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift.
Step S102, carrier pitching angle theta is calculated using accelerometer A1；
The formula that accelerometer A1 calculates carrier pitching angle theta is following (see formula 3),
Wherein a1 represents accelerometer A1 measurement output quantity, and g is acceleration of gravity, defines θ angles when carrier headstock raises up
For just.Carrier has forward acceleration abWhen, A1 acceleration is output as a1=gsin (θ)+ab, therefore need to deduct acceleration to bowing
The influence at the elevation angle.
The present invention using odometer signal by second-order differential obtain x-axis to acceleration.Odometer output signal is one
The mileage increment Delta s in individual sampling period, then speed be：
V=Δs s/Ts (4)
To obtain carrier forward acceleration ab, it is necessary to carry out differential to speed v, and reuse above formula direct differentiation meeting
Further amplify noise.V (k) is v discrete form.
abCalculating process as shown in formula 5,6：
ab=x2 (5)
x2(k+1)=x2(k)-h*r*sat (g (k), δ) (6)
Wherein：
z1(k)=e (k)+hx2(k) (9)
δ=hr, δ1=h δ (10)
E (k)=x1(k)-v(k) (11)
x1(k+1)=x1(k)+hx2(k) (12)
x2(k) exported for acceleration, h is sampling step length, r is input regulation parameter, is artificially selected according to actual signal behavior
Take, for adjusting differentiator performance, δ is intermediate variable, may be interpreted as smoothness period；V (k) is speed, x1(k) represent to test the speed in advance
Degree, v (k) is v discrete form.
By formula 6-12 simultaneous, and then pass through ab=x2, a can be obtainedb。
Carrier pitching angle theta is finally obtained by formula 3.
Step S103, the mileage increment Delta s in a sampling period is calculated using odometer；
The mileage increment in one sampling period is：
Δ s=KN (13)
Wherein, umber of pulse N is the umber of pulse in one sampling period of odometer；K is distance factor, it is necessary to demarcation, N in advance
For odometer umber of pulse.
Step S104, calculates the position (coordinate) of carrier in the process of moving；
Assuming that the initial coordinate of carrier is (X0, Y0), carrier in the process of moving, the coordinate (X at k momentk, Yk) can pass through
Formula (14) is obtained：
Wherein ψi、θi、ΔsiThe respectively course angle in ith sample cycle, the angle of pitch, mileage increment.
The navigation system of the present invention is further introduced below by Fig. 2.
Such as Fig. 2, inexpensive single gyro dead reckoning navigation system 100 includes：
Attitude Measuring Unit 101, including optical gyroscope, Gauss meter, wherein two accelerometers, Attitude Measuring Unit are sat
Respectively as x-y-z on-a left side-before mark system chooses；Optical gyroscope sensitive axes overlapped with z-axis sensing day to；Two accelerometers are quick
Sense axle is respectively directed to x and y-axis direction；Gauss meter zero-bit points to x-axis direction；Attitude Measuring Unit is by each optical gyroscope, magnetic
Induction meter, the signal of two accelerometers is transferred to signal acquisition circuit 102；
Signal acquisition circuit 102, for the signal of reception to be changed by A/D, place is sent to by serial communication interface
Manage device；
Odometer 103, for the rotation of carrier tire to be converted into pulse, processor is given by signal acquisition circuit；
Processor 104, receives the signal that signal acquisition circuit is sent, obtains the position of carrier, speed, posture, and calculate
The position of carrier.
The position that processor calculates carrier is what is obtained by weighing foregoing air navigation aid.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (1)
1. a kind of inexpensive single gyro dead reckoning navigation method, it is characterised in that this method comprises the following steps：
Step S101, the course angle ψ of carrier system x-axis is calculated using Gauss meter and optical gyroscope；
Assuming that starting stage, Gauss meter is smaller by magnetic field environment disturbance, then by the inactive state of 1 minute, to Gauss meter
Course angle output make smooth, obtain initial heading angle ψ0；
Course angle calculating is carried out using optical gyroscope auxiliary Gauss meter, course angle renewal is carried out using optical gyroscope output：
ψi=ψi-1+Ωi-1-Ωiesin(L)cos(θ) (1)
Wherein, (i-1)~i represents sampling period Ts, ψiFor the course angle at i moment, Ωi-1For the gyro at (i-1)~i moment
Output, unit is radian, ΩieFor the earth rotation angle in a sampling period, L is local latitude, and θ is the carrier angle of pitch；
There is drift in gyro to measure value, course angle error can be caused to be accumulated with the time, and the accumulation of gyro is missed using Gauss meter
Difference is compensated, and makes ψG=ψiRepresent the course angle that i moment gyro is resolved, ψMRepresent the course angle that Gauss meter is resolved；
When meeting following condition, ψ is utilizedMReplace ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift：
Condition 1:tgyro＞ T, wherein tgyroThe time is calculated for gyro, T is certain constant parameter；
Condition 2:Formula (2) is set up；
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WhereinRepresent a smoothness period TsmoothInterior ψGAverage,Represent ψ in a smoothness periodM
Average；One smoothness period is divided into k subcycle, i.e. Tsmooth=k*Ts；δψiRepresent the ψ in i-th of subcycleGWith ψMDifference
Value, i.e.,J is course angle fluctuation threshold；
Section 1 reflection Gauss meter and gyro resolve the constant value deviation of course angle, Section 2 reflection Gauss meter on the left of inequality
Degree of fluctuation affected by magnetic fields；When inequality is set up, show the fluctuation without exception of Gauss meter surrounding magnetic field, ψ can be usedMReplace
Change ψiTo eliminate the course angle cumulative errors of the factors such as gyroscopic drift；
Step S102, carrier pitching angle theta is calculated using accelerometer A1；
The formula that accelerometer A1 calculates carrier pitching angle theta is as follows,
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Wherein a1 represents accelerometer A1 measurement output quantity, and g is acceleration of gravity, and it is just to define θ angles when carrier headstock raises up；
abCalculating process as shown in formula 5,6：
ab=x2 (5)
x2(k+1)=x2(k)-h*r*sat (g (k), δ) (6)
Wherein：
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x2(k) exported for acceleration, h is sampling step length, r is input regulation parameter, artificially chooses, uses according to actual signal behavior
To adjust differentiator performance, δ is intermediate variable, is smoothness period；V (k) is speed, x1(k) predetermined speed is represented, v (k) is v
Discrete form；E (k) is predetermined speed x1(k) deviation between speed v (k)；z1(k) it is revised predetermined speed；
By formula 6-12 simultaneous, and then pass through ab=x2, a can be obtainedb；
Carrier pitching angle theta is finally obtained by formula 3；
Step S103, the mileage increment Delta s in a sampling period is calculated using odometer；
The mileage increment in one sampling period is：
Δ s=KN (13)
Wherein, umber of pulse N is the umber of pulse in one sampling period of odometer；K is distance factor, it is necessary to demarcation in advance；
Step S104, calculates the position of carrier in the process of moving；
Assuming that the initial coordinate of carrier is (X0, Y0), carrier in the process of moving, the coordinate (X at k momentk, Yk) formula can be passed through
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<mn>14</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein ψi、θi、ΔsiThe respectively course angle in ith sample cycle, the angle of pitch, mileage increment.
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