CN105115519A - Inertial navigation system initial alignment method applied to satellite-communication-in-motion system - Google Patents
Inertial navigation system initial alignment method applied to satellite-communication-in-motion system Download PDFInfo
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- CN105115519A CN105115519A CN201510509433.4A CN201510509433A CN105115519A CN 105115519 A CN105115519 A CN 105115519A CN 201510509433 A CN201510509433 A CN 201510509433A CN 105115519 A CN105115519 A CN 105115519A
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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
- G01C25/005—Manufacturing, 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
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Abstract
The invention relates to an inertial navigation system initial alignment method applied to a satellite-communication-in-motion system. The inertial navigation system initial alignment method comprises the steps that measurement data of an accelerometer and a gyroscope of an inertial navigation system at the first position are collected; the position of the inertial navigation system is changed, and measurement data of the accelerometer and the gyroscope of the inertial navigation system at the second position are collected; a first horizontal attitude angle of the inertial navigation system at the first position and a second horizontal attitude angle of the inertial navigation system at the second position are calculated according to the measurement data of the inertial navigation system at the first position and the second position, and an initial azimuth angle of the inertial navigation system is calculated according to the first horizontal attitude angle, the second horizontal attitude angle and the measurement data of the gyroscope; a strapdown matrix is worked out through the second horizontal attitude angle and the initial azimuth angle, and thus initial alignment is achieved. By means of the method, the alignment precision is effectively improved, the requirement for the precision of the gyroscope is lowered, and the alignment time is short.
Description
Technical field
The present invention relates to mobile satellite communication technical field, be specifically related to a kind of initial Alignment of Inertial Navigation System method being applied to communication in moving system.
Background technology
Due to being showing improvement or progress day by day of mankind's activity, people oneself can only communicate in a fixing place through being no longer satisfied with, start the communication mode pursuing movement, therefore people start in densely populated erection base station, area, cover wireless signal, so just can by carrying out communicating and obtaining information in the mobile device such as machine, notebook.But because cost is with the restriction of condition, such measure just can not realize in some meagrely-populated areas and sea.Under these circumstances, people just expect overcoming with satellite communication, but the feature of satellite communication determines that land station needs to keep satelloid constantly, and deviation a little just may cause the decline of communication quality, lost data packets even disconnects.Satellite communication mode in such motion, namely the research of mobile satellite communication (abbreviation communication in moving) technology is just arisen at the historic moment.
In communication in moving system, how to carry out initial alignment to inertial navigation system is a difficult problem.Traditional initial Alignment of Inertial Navigation System method needs to design separately inertial navigation system, except middle high accuracy gyroscope instrument and accelerometer, also need at inertial navigation system indoor design rotating mechanism, gyro sensitive direction is changed, thus realize initial Alignment of Inertial Navigation System, processing technology is complicated, involves great expense.Also adopt unit to put analytic expression in prior art to aim at and two gps antenna aligning, the former generally needs high accuracy gyroscope instrument could meet alignment precision requirement, higher to the accuracy requirement of inertia device, the latter has requirement to double antenna base length, need to be arranged on same plane, install inconvenient in communication in moving system, in addition easily by Multi-Path Effects, cause azimuthal error.
Visible, provide a kind of initial Alignment of Inertial Navigation System method of aiming at the communication in moving system that is applied to that the time is short, alignment precision is high to have profound significance.
Summary of the invention
Technical matters to be solved by this invention how to provide a kind of initial Alignment of Inertial Navigation System method of aiming at the communication in moving system that is applied to that the time is short, alignment precision is high.
For this purpose, the present invention proposes a kind of initial Alignment of Inertial Navigation System method being applied to communication in moving system, comprise the following steps:
S1: gather described inertial navigation system and be in the accelerometer of primary importance and gyrostatic measurement data;
S2: the position changing described inertial navigation system, gathers described inertial navigation system and is in the accelerometer of the second place and gyrostatic measurement data;
S3: the measurement data being in primary importance and the second place according to described inertial navigation system, calculate first horizontal attitude angle of described inertial navigation system in described primary importance and the second horizontal attitude angle of the second place, and calculate the initial orientation angle of described inertial navigation system according to described first horizontal attitude angle and the second horizontal attitude angle and described gyrostatic measurement data;
S4: calculate strap-down matrix by described second horizontal attitude angle and described initial orientation angle, thus realize initial alignment.
Preferably, described gyrostatic measurement data is the mean value of repetitive measurement.
Preferably, step S3 also comprises: the initial position parameters determining inertial navigation system, and is stored in navigational computer.
Preferably, the initial position parameters of described inertial navigation system comprises initial latitude.
Preferably, also comprise before step S1: make described inertial navigation system keep the stationary state of first threshold duration in described primary importance;
Preferably, also comprise before step S2: make described inertial navigation system keep the stationary state of Second Threshold duration in the described second place.
Preferably, calculate the first horizontal attitude angle of described inertial navigation system in step S3 according to described measurement data, computing formula is as follows:
Calculate the second horizontal attitude angle of described inertial navigation system in step S3 according to described measurement data, computing formula is as follows:
Wherein,
for the acceleration measuring value of primary importance, g is local gravitational acceleration,
for the acceleration measuring value of the second place, θ
1be first angle of pitch, θ
2be second angle of pitch, γ
1be the first roll angle, γ
2it is the second roll angle.
Preferably, the initial orientation angle of described calculating inertial navigation system, computing formula is as follows:
Wherein, ω b1 is gyrostatic first measurement mean value, and ω b2 is gyrostatic second measurement mean value, and ω ie is earth rotation acceleration, θ
1be first angle of pitch, θ
2be second angle of pitch, H is the initial orientation angle of inertial navigation system,
for local latitude, ε is gyroscope constant value drift.
Preferably, described inertial navigation system is arranged on the antenna rotating platform of described communication in moving system.
Preferably, the longitudinal axis of described gyrostatic sensitive axes and described antenna rotating platform.
The ingenious antenna rotating platform system that make use of in communication in moving system of the present invention, define the rotating mechanism needed for initial Alignment of Inertial Navigation System, thus effectively carry out initial alignment, be applied to the initial Alignment of Inertial Navigation System method of communication in moving system by the present invention, reduce cost, improve precision, and the time of aligning is shorter, within 1 ~ 2 minute, alignment precision is less than 0.2 degree, reduces the accuracy requirement to inertia device, realizes the quick to star with accurately to star of communication in moving system.
Accompanying drawing explanation
Can understanding the features and advantages of the present invention clearly by reference to accompanying drawing, accompanying drawing is schematic and should not be construed as and carry out any restriction to the present invention, in the accompanying drawings:
Fig. 1 shows the schematic flow sheet that the present invention is applied to the initial Alignment of Inertial Navigation System method of communication in moving system;
Fig. 2 shows inertial navigation system of the present invention and is arranged on antenna for satellite communication in motion turntable schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention is described in detail.
As shown in Figure 1, the invention provides a kind of initial Alignment of Inertial Navigation System method being applied to communication in moving system, comprise the following steps:
S1: gather described inertial navigation system and be in the accelerometer of primary importance and gyrostatic measurement data;
S2: the position changing described inertial navigation system, gathers described inertial navigation system and is in the accelerometer of the second place and gyrostatic measurement data;
S3: the measurement data being in primary importance and the second place according to described inertial navigation system, calculate first horizontal attitude angle of described inertial navigation system in described primary importance and the second horizontal attitude angle of the second place, and calculate the initial orientation angle of described inertial navigation system according to described first horizontal attitude angle and the second horizontal attitude angle and described gyrostatic measurement data;
S4: calculate strap-down matrix by described second horizontal attitude angle and described initial orientation angle, thus realize initial alignment.
Launch to describe in detail to the initial Alignment of Inertial Navigation System method being applied to communication in moving system provided by the invention below.
Inertial navigation system is arranged on the antenna rotating platform of communication in moving system, can rotate with antenna rotating platform; Inertial navigation system can adopt model to be the integrated navigation system of ALPHA300, this integrated navigation system is made up of precision optical fiber gyroscope, three axle quartz accelerometers, the Big Dipper or GPS, navigational computer in three axles, can measure the information such as the course of inertial navigation system, pitching, rolling, speed, position.As shown in Figure 2, inertial navigation system 3 is arranged on the antenna rotating platform 2 of the antenna surface 1 of communication in moving system.
S1: described communication in moving system energization, drives described antenna rotating platform to make the longitudinal axis of described inertial navigation system be in primary importance; Make described inertial navigation system keep the stationary state of first threshold duration in described primary importance, such as, make inertial navigation system keep 30 seconds in primary importance.
Gather inertial navigation system and be in the accelerometer of primary importance and gyrostatic measurement data, calculate the first horizontal attitude angle of described inertial navigation system and the first measurement mean value of computing gyroscope according to described measurement data; Calculate the first horizontal attitude angle of described inertial navigation system according to described measurement data, computing formula is as follows:
Wherein,
for the acceleration measuring value of primary importance, g is local gravitational acceleration, θ
1be first angle of pitch, γ
1it is the first roll angle.
S2: driven antenna turntable rotates 180 degree, changes the position of inertial navigation system, makes the longitudinal axis of described inertial navigation system be in the second place; Make described inertial navigation system keep the stationary state of Second Threshold duration in the described second place, such as, make inertial navigation system keep 30 seconds in the second place.
Gather inertial navigation system and be in the accelerometer of the second place and gyrostatic measurement data, calculate the second horizontal attitude angle of described inertial navigation system and the second measurement mean value of computing gyroscope according to described measurement data;
for the acceleration measuring value of the second place, g is local gravitational acceleration, θ
2be second angle of pitch, γ
2it is the second roll angle.
S3: measure mean value according to first, second horizontal attitude angle described in obtaining in step S1 and step S2 and described gyrostatic first, second, calculate the initial orientation angle of described inertial navigation system; Wherein, determine the initial position parameters of inertial navigation system, and be stored in navigational computer, the initial position parameters of described inertial navigation system comprises initial latitude; The initial orientation angle of described calculating inertial navigation system, computing formula is as follows:
Wherein, ω b1 is gyrostatic first measurement mean value, and ω b2 is gyrostatic second measurement mean value, and ω ie is earth rotation acceleration, θ
1be first angle of pitch, θ
2be second angle of pitch, H is the initial orientation angle of inertial navigation system,
for local latitude, ε is gyroscope constant value drift;
Formula (5) and formula (6) subtract each other, can gyroscope constant value drift be deducted, and initial orientation angle H can be calculated, after calculating position angle, bring above-mentioned (5) or (6) into, then gyroscope constant value drift ε also can calculate.During due to initial alignment, communication in moving system is generally in horizontality, and first, second angle of pitch is low-angle, then can make sin θ
1≈ θ
1cos θ
1≈ 1, equally, sin θ
2≈ θ
2, cos θ
2≈ 1.
So position angle is approximately:
Azimuthal concrete quadrant value can determine according to result of calculation and measured value.
S4: calculate strap-down matrix by described second horizontal attitude angle and described initial orientation angle, thus realize initial alignment, wherein calculates strap-down matrix and can pass through formula (8) and calculate.
The longitudinal axis of gyrostatic sensitive axes and described antenna rotating platform, by the horizontal component of revolutions angular speed on y direction sensitively, deduction gyroscope constant value drift, can calculate the angle in the longitudinal axis and geographical geographical north, thus realize position angle initial alignment, i.e. automatically north seeking.
For middle precision optical fiber gyro, carrying out seeking in northern process, needing constant value drift item to deduct, otherwise larger Initial Alignment Error can be brought.The such as constant value drift of 0.5 °/h, will bring the initial orientation angle error of 2.5 °, can not meet communication in moving system initial alignment precision.During single position alignment, because east orientation gyroscopic drift is unobservable, so in the situation of any position angle, the gyroscopic drift in horizontal direction is difficult to by estimation accurately, thus cannot carry out effective compensation, affects alignment precision.Two positions initial alignment is adopted then can effectively to address this problem.
Adopt above-mentioned embodiment, inertial navigation is carried out two positions initial alignment in communication in moving system, and put analytic expression with unit and aim at the alignment precision comparing both.For the precision that assessment is aimed at, in each position, measure the axial true azimuth of inertial navigation system by high-precision laser inertial navigation, its precision is less than 0.05 degree, is used as reference data.Two groups of different initial orientation angles are measured in this test, and its result is as shown in the table:
Table 1 unit puts analytic expression and aims at and two positions initial alignment results contrast
The method of obvious employing two positions initial alignment can improve alignment precision greatly.
The ingenious antenna rotating platform system that make use of in communication in moving system of the present invention, define the rotating mechanism needed for initial Alignment of Inertial Navigation System, thus effectively carry out initial alignment, be applied to the initial Alignment of Inertial Navigation System method of communication in moving system by the present invention, reduce cost, improve precision, and the time of aligning is shorter, within 1 ~ 2 minute, alignment precision is less than 0.2 degree, reduces the accuracy requirement to inertia device, realizes the quick to star with accurately to star of communication in moving system.
Although describe embodiments of the present invention by reference to the accompanying drawings, but those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, such amendment and modification all fall into by within claims limited range.
Claims (10)
1. be applied to an initial Alignment of Inertial Navigation System method for communication in moving system, it is characterized in that, comprise the following steps:
S1: gather described inertial navigation system and be in the accelerometer of primary importance and gyrostatic measurement data;
S2: the position changing described inertial navigation system, gathers described inertial navigation system and is in the accelerometer of the second place and gyrostatic measurement data;
S3: the measurement data being in primary importance and the second place according to described inertial navigation system, calculate first horizontal attitude angle of described inertial navigation system in described primary importance and the second horizontal attitude angle of the second place, and calculate the initial orientation angle of described inertial navigation system according to described first horizontal attitude angle and the second horizontal attitude angle and described gyrostatic measurement data;
S4: calculate strap-down matrix by described second horizontal attitude angle and described initial orientation angle, thus realize initial alignment.
2. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, described gyrostatic measurement data is the mean value of repetitive measurement.
3. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, it is characterized in that, step S3 also comprises: the initial position parameters determining described inertial navigation system, and is stored in navigational computer.
4. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 3, is characterized in that, the initial position parameters of described inertial navigation system comprises initial latitude.
5. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, also comprise before step S1: make described inertial navigation system keep the stationary state of first threshold duration in described primary importance.
6. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, also comprise before step S2: make described inertial navigation system keep the stationary state of Second Threshold duration in the described second place.
7. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, calculate the first horizontal attitude angle of described inertial navigation system in step S3 according to described measurement data, computing formula is as follows:
Calculate the second horizontal attitude angle of described inertial navigation system in step S3 according to described measurement data, computing formula is as follows:
Wherein,
for the acceleration measuring value of primary importance, g is local gravitational acceleration,
for the acceleration measuring value of the second place, θ
1be first angle of pitch, θ
2be second angle of pitch, γ
1be the first roll angle, γ
2it is the second roll angle.
8. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, the initial orientation angle of described calculating inertial navigation system, and computing formula is as follows:
Wherein, ω b1 is gyrostatic first measurement mean value, and ω b2 is gyrostatic second measurement mean value, and ω ie is earth rotation acceleration, θ
1be first angle of pitch, θ
2be second angle of pitch, H is the initial orientation angle of inertial navigation system,
for local latitude, ε is gyroscope constant value drift.
9. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 1, is characterized in that, described inertial navigation system is arranged on the antenna rotating platform of described communication in moving system.
10. the initial Alignment of Inertial Navigation System method being applied to communication in moving system according to claim 9, is characterized in that, the longitudinal axis of described gyrostatic sensitive axes and described antenna rotating platform.
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| CN107655494A (en) * | 2017-09-15 | 2018-02-02 | 哈尔滨工程大学 | Inertial navigation system coarse alignment method under the conditions of a kind of swaying base |
| CN107741240A (en) * | 2017-10-11 | 2018-02-27 | 成都国卫通信技术有限公司 | A kind of combined inertial nevigation system self-adaption Initial Alignment Method suitable for communication in moving |
| CN108061560A (en) * | 2017-12-01 | 2018-05-22 | 中国兵器装备集团自动化研究所 | A kind of hybrid navigation method of correcting inertial navigation method and its composition of antenna for satellite communication in motion |
| CN110361002A (en) * | 2019-07-15 | 2019-10-22 | 哈尔滨工程大学 | Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle |
| CN112729264A (en) * | 2020-12-24 | 2021-04-30 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107655494A (en) * | 2017-09-15 | 2018-02-02 | 哈尔滨工程大学 | Inertial navigation system coarse alignment method under the conditions of a kind of swaying base |
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| CN110361002A (en) * | 2019-07-15 | 2019-10-22 | 哈尔滨工程大学 | Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle |
| CN112729264A (en) * | 2020-12-24 | 2021-04-30 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
| CN112729264B (en) * | 2020-12-24 | 2021-11-02 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
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