CN105241474B - A kind of tilting configuration inertial navigation system scaling method - Google Patents

A kind of tilting configuration inertial navigation system scaling method Download PDF

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CN105241474B
CN105241474B CN201410326080.XA CN201410326080A CN105241474B CN 105241474 B CN105241474 B CN 105241474B CN 201410326080 A CN201410326080 A CN 201410326080A CN 105241474 B CN105241474 B CN 105241474B
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accelerometer
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CN105241474A (en
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王迪
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Beijing Automation Control Equipment Institute BACEI
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Abstract

The invention belongs to field of navigation technology, are related to a kind of scaling method of the tilting inertial navigation system of sensitive axes.Technical solution of the present invention by using orthonormalization method, tilting gyro, accelerometer sensitive axis are transformed by direction cosine matrix on body axis, so that virtual gyro coordinate system, accelerometer coordinate system are overlapped with true body system, so as to which method solves the problems, such as the parameter identification of the tilting inertial navigation system of sensitive axes.

Description

A kind of tilting configuration inertial navigation system scaling method
Technical field
The invention belongs to field of navigation technology, are related to a kind of scaling method of the tilting inertial navigation system of sensitive axes.
Background technology
Strapdown Inertial Navigation System generally use redundancy technology improves the reliability and precision of system, and inertial sensor part uses more It is arranged obliquely.And for the inertial navigation system of nonredundancy, Sensitive Apparatus can also use tilting, and the advantage is that can expand The angular speed and acceleration analysis range of three axis directions of larger vector save the installation space of inertia device.But this installation Mode brings difficulty to the calibration of inertial measurement unit.Conventional scaling method requires inertia device to pacify along orthogonal carrier coordinate system Dress by position test on turntable, speed trial, recognizes the parameters of inertia device.
It therefore, both can be in Strapdown Inertial Navigation System or non-superfluous there is an urgent need for developing a kind of tilting configuration inertial navigation system scaling method Be arranged obliquely inertial sensor part in remaining inertial navigation system, but can accurately, the tilting inertial navigation system of Fast Identification sensitive axes The parameters of system, it is convenient that inertial navigation system is demarcated.
Invention content
The purpose of the present invention is to provide a kind of tilting configuration inertial navigation system scaling method, so as to it is accurate, Fast Identification is quick Feel the parameters of the tilting inertial navigation system of axis.
In order to realize the purpose, the technical solution that the present invention takes is as follows：
A kind of tilting configuration inertial navigation system scaling method, specifically includes following steps：
First, inertial navigation system gyroscope, accelerometer are configured
It is respectively G to set three non-orthogonal gyroscopes of inertial navigation system1、G2、G3, three orthogonal body axis are respectively OXb、OYb、OZb；Three input shaft OG of gyroscope1、OG2、OG3It is evenly distributed on+OYbCentered on, with+OYbThe angle of axis is On the circular conical surface of α, two input shafts of adjacent gyroscope are in OXbZbProjection angle in plane is 120 °, wherein, OG1 OXbZbProjection and+OX in planebIt overlaps；
Three non-orthogonal accelerometers are respectively A1、A2、A3, three input shaft OA of accelerometer1、OA2、OA3Uniformly It is distributed in+OYbCentered on, with+OYbAxle clamp angle is on the circular conical surface of β, and two input shafts of adjacent accelerometer are in OXbZb Projection angle in plane is 120 °, wherein, OA1In OXbZbProjection and+OX in planebIt overlaps；
Wherein, alpha+beta=90 °；In this embodiment：α is 54.73 °, and β is 35.27 °.
2nd, respectively to gyroscope, accelerometer output normalization
Set gyroscope G1、G2、G3, accelerometer A1、A2、A3The dimension of output is LSB/s；
Before calibration, the output dimension of gyroscope is converted into °/s, the output dimension conversion g of accelerometer；
Gyroscope, the output normalization formula of accelerometer are as follows：
In formula：
--- gyroscope G1、G2、G3Original output umber of pulse, unit：LSB/s；
--- gyroscope G1、G2、G3Zero-bit, unit：LSB/s；
--- gyroscope G1、G2、G3Constant multiplier, unit：(LSB/s)/(°/s)；
Ngx1、Ng2、Ng3--- gyroscope G1、G2、G3It is exported after normalization, unit：°/s；
--- accelerometer A1、A2、A3Original output umber of pulse, unit：LSB/s；
--- accelerometer A1、A2、A3Zero-bit, unit：LSB/s；
--- accelerometer A1、A2、A3Constant multiplier, unit：(LSB/s)/g；
Na1、Na2、Na3--- accelerometer A1、A2、A3It is exported after normalization, unit：g；
After normalized, gyroscope G1、G2、G3Accelerometer A1、A2、A3Output is still non-orthogonal；
3rd, gyroscope, accelerometer output orthogonalization
(3.1) orthogonalization is exported to gyroscope
Determine O-XbYbZbWith O-G1G2G3Between transition matrix：
In formula：
O-Ng1Ng2Ng3--- the gyroscope G obtained in step 21、G2、G3It is exported after normalization；
O-NgxNgyNgz--- with body system O-XbYbZbGyro coordinate system overlap, virtual；
By as above formula, non-orthogonal gyro coordinate system O-G1G2G3Pass through transition matrix TgIt is transformed into the void being orthogonal Intend gyro coordinate system O-NgxNgyNgz；
(3.2) orthogonalization is exported to accelerometer
Determine O-XbYbZbWith O-A1A2A3Between transition matrix：
In formula：
O-Na1Na2Na3--- the accelerometer A obtained in step 21、A2、A3It is exported after normalization；
O-NaxNayNaz--- with body system O-XbYbZbAccelerometer coordinate system overlap, virtual；
By as above formula, non-orthogonal accelerometer coordinate system O-A1A2A3It is transformed into and is orthogonal by transition matrix Ta Virtual accelerometer coordinate system O-NaxNayNaz；
4th, inertial navigation system mathematical model is determined
After orthonormalization, inertial navigation system mathematical model is as follows：
In formula：
Ngx,Ngy,Ngz--- output of the gyro channel in virtual gyro coordinate system in each reference axis；
Dfx,Dfy,Dfz--- constant value drift of the gyro channel in virtual gyro coordinate system in each reference axis；
Sgx,Sgy,Sgz--- constant multiplier of the gyro channel in virtual gyro coordinate system in each reference axis；
Kgij--- i axis directions are to the installation error coefficient of j gyroscopes；
Dix--- the influence that the movement of X axis line exports gyro in X-axis；
Diy--- the influence that the movement of X axis line exports gyro in Y-axis；
Diz--- the influence that the movement of X axis line exports gyro on Z axis；
Dox--- the influence that the movement of Y-axis line exports gyro in X-axis；
Doy--- the influence that the movement of Y-axis line exports gyro in Y-axis；
Doz--- the influence that the movement of Y-axis line exports gyro on Z axis；
Dsx--- Z axis moves the influence exported to gyro in X-axis to line；
Dsy--- Z axis moves the influence exported to gyro in Y-axis to line；
Dsz--- Z axis moves the influence exported to gyro on Z axis to line；
In formula：
Nax,Nay,Naz--- pulse output of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kax0,Kay0,Kaz0--- bias of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kaij--- i axis is to the installation error coefficient of j accelerometer channels；
Ka1x,Ka1y,Ka1z--- scale of the accelerometer channel in virtual each reference axis of accelerometer coordinate system because Number.
Further, a kind of tilting configuration inertial navigation system scaling method as described above, wherein：α is 54.73 °, and β is 35.27°。
The advantageous effect of technical solution of the present invention is, by using the method for orthonormalization, tilting gyro, adds Speedometer sensitive axes are transformed by direction cosine matrix on body axis so that virtual gyro coordinate system, accelerometer coordinate System overlaps with true body system, so as to which method solves the problems, such as the parameter identification of the tilting inertial navigation system of sensitive axes.
Specific embodiment
Technical solution of the present invention is described in detail with reference to specific embodiment.
A kind of tilting configuration inertial navigation system scaling method, specifically includes following steps：
First, inertial navigation system gyroscope, accelerometer are configured
It is respectively G to set three non-orthogonal gyroscopes of inertial navigation system1、G2、G3, three orthogonal body axis are respectively OXb、OYb、OZb；Three input shaft OG of gyroscope1、OG2、OG3It is evenly distributed on+OYbCentered on, with+OYbThe angle of axis is On the circular conical surface of α, two input shafts of adjacent gyroscope are in OXbZbProjection angle in plane is 120 °, wherein, OG1 OXbZbProjection and+OX in planebIt overlaps；
Three non-orthogonal accelerometers are respectively A1、A2、A3, three input shaft OA of accelerometer1、OA2、OA3Uniformly It is distributed in+OYbCentered on, with+OYbAxle clamp angle is on the circular conical surface of β, and two input shafts of adjacent accelerometer are in OXbZb Projection angle in plane is 120 °, wherein, OA1In OXbZbProjection and+OX in planebIt overlaps；
Wherein, alpha+beta=90 °；
2nd, respectively to gyroscope, accelerometer output normalization
Set gyroscope G1、G2、G3, accelerometer A1、A2、A3The dimension of output is LSB/s；
Before calibration, the output dimension of gyroscope is converted into °/s, the output dimension conversion g of accelerometer；
Gyroscope, the output normalization formula of accelerometer are as follows：
In formula：
--- gyroscope G1、G2、G3Original output umber of pulse, unit：LSB/s；
--- gyroscope G1、G2、G3Zero-bit, unit：LSB/s；
--- gyroscope G1、G2、G3Constant multiplier, unit：(LSB/s)/(°/s)；
Ngx1、Ng2、Ng3--- gyroscope G1、G2、G3It is exported after normalization, unit：°/s；
--- accelerometer A1、A2、A3Original output umber of pulse, unit：LSB/s；
--- accelerometer A1、A2、A3Zero-bit, unit：LSB/s；
--- accelerometer A1、A2、A3Constant multiplier, unit：(LSB/s)/g；
Na1、Na2、Na3--- accelerometer A1、A2、A3It is exported after normalization, unit：g；
After normalized, gyroscope G1、G2、G3Accelerometer A1、A2、A3Output is still non-orthogonal；
3rd, gyroscope, accelerometer output orthogonalization
(3.1) orthogonalization is exported to gyroscope
Determine O-XbYbZbWith O-G1G2G3Between transition matrix：
In formula：
O-Ng1Ng2Ng3--- the gyroscope G obtained in step 21、G2、G3It is exported after normalization；
O-NgxNgyNgz--- with body system O-XbYbZbGyro coordinate system overlap, virtual；
By as above formula, non-orthogonal gyro coordinate system O-G1G2G3Pass through transition matrix TgIt is transformed into the void being orthogonal Intend gyro coordinate system O-NgxNgyNgz；
(3.2) orthogonalization is exported to accelerometer
Determine O-XbYbZbWith O-A1A2A3Between transition matrix：
In formula：
O-Na1Na2Na3--- the accelerometer A obtained in step 21、A2、A3It is exported after normalization；
O-NaxNayNaz--- with body system O-XbYbZbAccelerometer coordinate system overlap, virtual；
By as above formula, non-orthogonal accelerometer coordinate system O-A1A2A3It is transformed into and is orthogonal by transition matrix Ta Virtual accelerometer coordinate system O-NaxNayNaz；
4th, inertial navigation system mathematical model is determined
After orthonormalization, inertial navigation system mathematical model is as follows：
In formula：
Ngx,Ngy,Ngz--- output of the gyro channel in virtual gyro coordinate system in each reference axis；
Dfx,Dfy,Dfz--- constant value drift of the gyro channel in virtual gyro coordinate system in each reference axis；
Sgx,Sgy,Sgz--- constant multiplier of the gyro channel in virtual gyro coordinate system in each reference axis；
Kgij--- i axis directions are to the installation error coefficient of j gyroscopes；
Dix--- the influence that the movement of X axis line exports gyro in X-axis；
Diy--- the influence that the movement of X axis line exports gyro in Y-axis；
Diz--- the influence that the movement of X axis line exports gyro on Z axis；
Dox--- the influence that the movement of Y-axis line exports gyro in X-axis；
Doy--- the influence that the movement of Y-axis line exports gyro in Y-axis；
Doz--- the influence that the movement of Y-axis line exports gyro on Z axis；
Dsx--- Z axis moves the influence exported to gyro in X-axis to line；
Dsy--- Z axis moves the influence exported to gyro in Y-axis to line；
Dsz--- Z axis moves the influence exported to gyro on Z axis to line；
In formula：
Nax,Nay,Naz--- pulse output of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kax0,Kay0,Kaz0--- bias of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kaij--- i axis is to the installation error coefficient of j accelerometer channels；
Ka1x,Ka1y,Ka1z--- scale of the accelerometer channel in virtual each reference axis of accelerometer coordinate system because Number.

Claims (2)

1. a kind of tilting configuration inertial navigation system scaling method, which is characterized in that specifically include following steps：
(1) inertial navigation system gyroscope, accelerometer are configured
It is respectively G to set three non-orthogonal gyroscopes of inertial navigation system1、G2、G3, three orthogonal body axis are respectively OXb、OYb、 OZb；Three input shaft OG of gyroscope1、OG2、OG3It is evenly distributed on+OYbCentered on, with+OYbThe circular cone that the angle of axis is α On face, two input shafts of adjacent gyroscope are in OXbZbProjection angle in plane is 120 °, wherein, OG1In OXbZbPlane Interior projection and+OXbIt overlaps；
Three non-orthogonal accelerometers are respectively A1、A2、A3, three input shaft OA of accelerometer1、OA2、OA3It is uniformly distributed With+OYbCentered on, with+OYbAxle clamp angle is on the circular conical surface of β, and two input shafts of adjacent accelerometer are in OXbZbPlane Interior projection angle is 120 °, wherein, OA1In OXbZbProjection and+OX in planebIt overlaps；
Wherein, alpha+beta=90 °；
(2) respectively to gyroscope, accelerometer output normalization
Set gyroscope G1、G2、G3, accelerometer A1、A2、A3The dimension of output is LSB/s；
Before calibration, the output dimension of gyroscope is converted into °/s, the output dimension of accelerometer is converted into g；
Gyroscope, the output normalization formula of accelerometer are as follows：
In formula：
--- gyroscope G1、G2、G3Original output umber of pulse, unit：LSB/s；
--- gyroscope G1、G2、G3Zero-bit, unit：LSB/s；
--- gyroscope G1、G2、G3Constant multiplier, unit：(LSB/s)/(°/s)；
Ngx1、Ng2、Ng3--- gyroscope G1、G2、G3It is exported after normalization, unit：°/s；
--- accelerometer A1、A2、A3Original output umber of pulse, unit：LSB/s；
--- accelerometer A1、A2、A3Zero-bit, unit：LSB/s；
--- accelerometer A1、A2、A3Constant multiplier, unit：(LSB/s)/g；
Na1、Na2、Na3--- accelerometer A1、A2、A3It is exported after normalization, unit：g；
After normalized, gyroscope G1、G2、G3Accelerometer A1、A2、A3Output is still non-orthogonal；
(3) gyroscope, accelerometer output orthogonalization
(3.1) orthogonalization is exported to gyroscope
Determine O-XbYbZbWith O-G1G2G3Between transition matrix：
In formula：
Ng1Ng2Ng3--- the gyroscope G obtained in step (2)1、G2、G3It is exported after normalization；
O-NgxNgyNgz--- with body system O-XbYbZbGyro coordinate system overlap, virtual；
By as above formula, non-orthogonal gyro coordinate system O-G1G2G3Pass through transition matrix TgIt is transformed into the virtual gyro being orthogonal Coordinate system O-NgxNgyNgz；
(3.2) orthogonalization is exported to accelerometer
Determine O-XbYbZbWith O-A1A2A3Between transition matrix：
In formula：
Na1Na2Na3--- the accelerometer A obtained in step (2)1、A2、A3It is exported after normalization；
O-NaxNayNaz--- with body system O-XbYbZbAccelerometer coordinate system overlap, virtual；
By as above formula, non-orthogonal accelerometer coordinate system O-A1A2A3Pass through transition matrix TaBe transformed into be orthogonal it is virtual Accelerometer coordinate system O-NaxNayNaz；
(4) inertial navigation system mathematical model is determined
After orthonormalization, inertial navigation system mathematical model is as follows：
In formula：
Ngx,Ngy,Ngz--- output of the gyro channel in virtual gyro coordinate system in each reference axis；
Dfx,Dfy,Dfz--- constant value drift of the gyro channel in virtual gyro coordinate system in each reference axis；
Sgx,Sgy,Sgz--- constant multiplier of the gyro channel in virtual gyro coordinate system in each reference axis；
Kgij--- i axis directions are to the installation error coefficient of j gyroscopes；
Dix--- the influence that the movement of X axis line exports gyro in X-axis；
Diy--- the influence that the movement of X axis line exports gyro in Y-axis；
Diz--- the influence that the movement of X axis line exports gyro on Z axis；
Dox--- the influence that the movement of Y-axis line exports gyro in X-axis；
Doy--- the influence that the movement of Y-axis line exports gyro in Y-axis；
Doz--- the influence that the movement of Y-axis line exports gyro on Z axis；
Dsx--- Z axis moves the influence exported to gyro in X-axis to line；
Dsy--- Z axis moves the influence exported to gyro in Y-axis to line；
Dsz--- Z axis moves the influence exported to gyro on Z axis to line；
In formula：
Nax,Nay,Naz--- pulse output of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kaox,Kaoy,Kaoz--- bias of the accelerometer channel in virtual each reference axis of accelerometer coordinate system；
Kaij--- i axis is to the installation error coefficient of j accelerometer channels；
Ka1x,Ka1y,Ka1z--- constant multiplier of the accelerometer channel in virtual each reference axis of accelerometer coordinate system.
2. a kind of tilting configuration inertial navigation system scaling method as described in claim 1, which is characterized in that in step (1)：α is 54.73 °, β is 35.27 °.
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