CN105258699B - Inertial navigation method based on gravity real-Time Compensation - Google Patents

Inertial navigation method based on gravity real-Time Compensation Download PDF

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Publication number
CN105258699B
CN105258699B CN201510691503.2A CN201510691503A CN105258699B CN 105258699 B CN105258699 B CN 105258699B CN 201510691503 A CN201510691503 A CN 201510691503A CN 105258699 B CN105258699 B CN 105258699B
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acceleration
gravity
interpolation point
motion carrier
navigation
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CN105258699A (en
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杨功流
周潇
王晶
史俊
蒋杰
王丽芬
蔡庆中
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Beihang University
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Beihang University
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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The present invention provides a kind of inertial navigation method based on gravity real-Time Compensation, including: receive navigation requests；According to navigation requests, measure the acceleration obtaining motion carrier corresponding to motion carrier mark in inertial reference system, and obtain the geographical coordinate of motion carrier current time present position；The geographical coordinate of acquisition motion carrier present position subpoint on geoid, and using subpoint as interpolation point；According to interpolation point, from geoid, choose N number of interpolation point；Treat the acceleration of gravity at interpolation point according to the acceleration of gravity corresponding to N number of interpolation point and carry out interpolation, obtain the acceleration of gravity at interpolation point；According to the acceleration of gravity at interpolation point, obtain the acceleration of gravity of motion carrier position, and the acceleration measuring the motion carrier obtained is compensated process, and according to the acceleration after compensating, carry out corresponding navigation process, in the present invention, improve the navigation accuracy of inertial navigation system.

Description

Inertial navigation method based on gravity real-Time Compensation
Technical field
The present invention relates to motion carrier field of navigation technology, particularly relate to a kind of based on gravity real-Time Compensation Inertial navigation method.
Background technology
Inertial navigation system (Inertial Navigation System is called for short INS) also referred to as inertial reference system System, is a kind of not rely on external information, the most not to the autonomic navigation system of outside emittance.Its Working environment not only includes in the air, ground, it is also possible under water.The basic functional principle of INS is with ox Based on mechanics law, by measuring the motion carrier acceleration at inertial reference system, by this acceleration Time is integrated by degree, and transforms in navigational coordinate system by the integral result of this acceleration, it becomes possible to Obtaining the information such as the speed in navigational coordinate system, yaw angle and position, therefore, motion carrier is at inertia The measurement of the acceleration in frame of reference, plays an important role inertial navigation system.
In prior art, use the acceleration of accelerometer measures motion carrier, but accelerometer exports Be specific force, specific force had both included that the absolute acceleration in motion carrier relative inertness space also included harmful acceleration Degree, accordingly, it would be desirable to compensate harmful acceleration thus obtain motion and carry from the specific force of accelerometer output The absolute acceleration in body relative inertness space, wherein, harmful acceleration includes acceleration of gravity, typically adopts The normal gravity acceleration provided with Gravity Models carries out acceleration of gravity to the output result of accelerometer Compensate.
But, the normal gravity acceleration provided due to true acceleration of gravity and Gravity Models exists partially Difference, therefore, the absolute acceleration in the relative inertness space of the motion carrier that employing prior art is obtained is not Accurately, thus cause the motion carrier obtained according to this absolute acceleration speed in navigational coordinate system, Yaw angle and position inaccuracy, and then reduce the navigation accuracy of inertial navigation system.
Summary of the invention
The present invention provides a kind of inertial navigation method based on gravity real-Time Compensation, is used for solving prior art The problem of middle inertial navigation lack accuracy.
The present invention provides a kind of inertial navigation method based on gravity real-Time Compensation, including:
Receiving navigation requests, described navigation requests includes that motion carrier identifies；
According to described navigation requests, measure and obtain motion carrier corresponding to described motion carrier mark at inertia Acceleration in frame of reference, and obtain the geographical coordinate of described motion carrier current time present position, Wherein, described geographical coordinate includes latitude and longitude coordinates and the height at described motion carrier place；
Obtain the geographical coordinate of the described motion carrier present position subpoint on geoid, and will Described subpoint is as interpolation point；
According to described interpolation point, from described geoid, choose N number of interpolation point；Wherein, described N number of interpolation point is respectively less than predetermined threshold value with the distance of described interpolation point；
According to the acceleration of gravity corresponding to described N number of interpolation point, the gravity at described interpolation point is accelerated Degree carries out interpolation, obtains the acceleration of gravity at described interpolation point；
According to the acceleration of gravity at described interpolation point, obtain the gravity of described motion carrier position Acceleration；And according to the acceleration of gravity of described motion carrier position, to measuring the described fortune obtained Move motion carrier corresponding to signal of carrier acceleration in inertial reference system and compensate process, and root According to the acceleration after compensating, carry out corresponding navigation process；
Wherein, N is positive integer.
The present invention provides a kind of inertial navigation method based on gravity real-Time Compensation, including, receiving navigation please Asking, navigation requests includes that motion carrier identifies；According to navigation requests, measure and obtain motion carrier mark Corresponding motion carrier acceleration in inertial reference system, and obtain residing for motion carrier current time The geographical coordinate of position, wherein, geographical coordinate includes latitude and longitude coordinates and the height at motion carrier place； The geographical coordinate of acquisition motion carrier present position subpoint on geoid, and subpoint is made For interpolation point；According to interpolation point, from geoid, choose N number of interpolation point；Wherein, N number of Interpolation point is respectively less than predetermined threshold value with the distance of interpolation point；Add according to the gravity corresponding to N number of interpolation point Speed is treated the acceleration of gravity at interpolation point and is carried out interpolation, obtains the acceleration of gravity at interpolation point； According to the acceleration of gravity at interpolation point, obtain the acceleration of gravity of motion carrier position；And root According to the acceleration of gravity of motion carrier position, the motion corresponding to measuring the motion carrier mark obtained Carrier acceleration in inertial reference system compensates process, and according to the acceleration after compensating, enters The corresponding navigation of row processes, as such, it is possible to according to the position of motion carrier, obtain motion in real time The acceleration of gravity of carrier position, and the motion carrier corresponding to measuring the motion carrier mark obtained Acceleration in inertial reference system compensates process, according to the acceleration after compensating, carries out corresponding Navigation process, improve the navigation accuracy of inertial navigation system.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under, Accompanying drawing during face describes is some embodiments of the present invention, for those of ordinary skill in the art, On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The flow process of the inertial navigation method embodiment one based on gravity real-Time Compensation that Fig. 1 provides for the present invention Figure；
The flow process of the inertial navigation method embodiment two based on gravity real-Time Compensation that Fig. 2 provides for the present invention Figure；
The flow process of the inertial navigation method embodiment three based on gravity real-Time Compensation that Fig. 3 provides for the present invention Figure；
The structure of the inertial navigation unit embodiment one based on gravity real-Time Compensation that Fig. 4 provides for the present invention Schematic diagram；
The structure of the inertial navigation unit embodiment two based on gravity real-Time Compensation that Fig. 5 provides for the present invention Schematic diagram；
The structure of the inertial navigation unit embodiment three based on gravity real-Time Compensation that Fig. 6 provides for the present invention Schematic diagram.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise The every other embodiment obtained, broadly falls into the scope of protection of the invention.
The flow process of the inertial navigation method embodiment one based on gravity real-Time Compensation that Fig. 1 provides for the present invention Figure, as it is shown in figure 1, the method includes:
Step 101, reception navigation requests, navigation requests includes that motion carrier identifies.
In the present embodiment, motion carrier can include, but are not limited to following several: automobile, aircraft, Submarines etc., wherein, each motion carrier has unique mark.
Step 102, according to navigation requests, measure and obtain motion carrier corresponding to motion carrier mark used Acceleration in property frame of reference, and obtain the geographical coordinate of motion carrier current time present position, its In, geographical coordinate includes latitude and longitude coordinates and the height at motion carrier place.
In the present embodiment, specifically, use accelerometer measures motion carrier in inertial reference system Acceleration, and obtained by global positioning system (Global Positioning System, be called for short GPS) Take the geographical coordinate of motion carrier current time present position.
Step 103, obtain the geographical coordinate subpoint on geoid of motion carrier present position, And using subpoint as interpolation point.
Step 104, according to interpolation point, from geoid, choose N number of interpolation point, wherein, N Individual interpolation point is respectively less than predetermined threshold value with the distance of interpolation point.
In the present embodiment, N is positive integer, additionally, want navigation accuracy according to inertial navigation system Ask and predetermined threshold value is set.
Step 105, the gravity treated at interpolation point according to the acceleration of gravity corresponding to N number of interpolation point add Speed carries out interpolation, obtains the acceleration of gravity at interpolation point.
Step 106, according to the acceleration of gravity at interpolation point, obtain the weight of motion carrier position Power acceleration；And according to the acceleration of gravity of motion carrier position, to measuring the motion carrier obtained The motion carrier of mark correspondence acceleration in inertial reference system compensates process, and according to compensation After acceleration, carry out corresponding navigation process.
In the present embodiment, receiving navigation requests, navigation requests includes that motion carrier identifies；According to leading Boat request, measures the acceleration obtaining motion carrier corresponding to motion carrier mark in inertial reference system, And obtain the geographical coordinate of motion carrier current time present position, wherein, geographical coordinate includes longitude and latitude Coordinate and the height at motion carrier place；Obtain the geographical coordinate of motion carrier present position in the earth level Subpoint on face, and using subpoint as interpolation point；According to interpolation point, from geoid Choose N number of interpolation point；Wherein, N number of interpolation point is respectively less than predetermined threshold value with the distance of interpolation point；Root Treat the acceleration of gravity at interpolation point according to the acceleration of gravity corresponding to N number of interpolation point and carry out interpolation, obtain Take the acceleration of gravity at interpolation point；According to the acceleration of gravity at interpolation point, obtain motion carrier The acceleration of gravity of position；And according to the acceleration of gravity of motion carrier position, measurement is obtained The motion carrier of the motion carrier mark correspondence taken acceleration in inertial reference system compensates place Reason, and according to the acceleration after compensating, carry out corresponding navigation process, as such, it is possible to carry according to motion The position of body, obtains the acceleration of gravity of motion carrier position in real time, and obtains measuring Motion carrier corresponding to motion carrier mark acceleration in inertial reference system compensate process, According to the acceleration after compensating, carry out corresponding navigation process, improve the navigation essence of inertial navigation system Degree.
The flow process of the inertial navigation method embodiment two based on gravity real-Time Compensation that Fig. 2 provides for the present invention Figure, as in figure 2 it is shown, the method includes:
Step 201, reception navigation requests, navigation requests includes that motion carrier identifies.
Step 202, according to navigation requests, measure and obtain motion carrier corresponding to motion carrier mark used Acceleration in property frame of reference, and obtain the geographical coordinate of motion carrier current time present position, its In, geographical coordinate includes latitude and longitude coordinates and the height at motion carrier place.
Step 203, obtain the geographical coordinate subpoint on geoid of motion carrier present position, And using subpoint as interpolation point.
Step 204, according to interpolation point, from geoid, choose N number of interpolation point；Wherein, N Individual interpolation point is respectively less than predetermined threshold value with the distance of interpolation point.
Step 205, according to formula (1)
ω k = 1 / ( x 0 - x k ) 2 + ( y 0 - y k ) 2 Σ k = 1 N 1 / ( x 0 - x k ) 2 + ( y 0 - y k ) 2 - - - ( 1 )
Calculate the weight obtaining N number of interpolation point relative to interpolation point.
Wherein, ωkIt is the kth interpolation point weight relative to interpolation point, (x0,y0) it is that interpolation point exists Coordinate in plane coordinate system, (xk,yk) it is interpolation point coordinate in plane coordinate system.
Step 206, according to formula (2)
g ′ = Σ k = 1 N ω k g k - - - ( 2 )
Gravity acceleration g at calculating acquisition interpolation point '.
Wherein, gkIt is the acceleration of gravity at kth interpolation point.
Step 207, according to the acceleration of gravity at interpolation point, obtain the weight of motion carrier position Power acceleration；And according to the acceleration of gravity of motion carrier position, to measuring the motion carrier obtained The motion carrier of mark correspondence acceleration in inertial reference system compensates process, and according to compensation After acceleration, carry out corresponding navigation process.
In the present embodiment, relative with N number of interpolation point according to the acceleration of gravity corresponding to N number of interpolation point Weight in interpolation point is treated the acceleration of gravity at interpolation point and is carried out interpolation, obtains at interpolation point Acceleration of gravity, thus improve and obtain the precision of acceleration of gravity at interpolation point.
The flow process of the inertial navigation method embodiment four based on gravity real-Time Compensation that Fig. 3 provides for the present invention Figure, as it is shown on figure 3, the method includes:
Step 301, reception navigation requests, navigation requests includes that motion carrier identifies.
Step 302, according to navigation requests, measure and obtain motion carrier corresponding to motion carrier mark used Acceleration in property frame of reference, and obtain the geographical coordinate of motion carrier current time present position, its In, geographical coordinate includes latitude and longitude coordinates and the height at motion carrier place.
Step 303, obtain the geographical coordinate subpoint on geoid of motion carrier present position, And using subpoint as interpolation point.
Step 304, according to interpolation point, from geoid, choose N number of interpolation point；Wherein, N Individual interpolation point is respectively less than predetermined threshold value with the distance of interpolation point.
Step 305, the gravity treated at interpolation point according to the acceleration of gravity corresponding to N number of interpolation point add Speed carries out interpolation, obtains the acceleration of gravity at interpolation point.
Step 306, according to formula (3)
G=g'-0.3086H (3)
Calculate the gravity acceleration g of motion carrier place height, and according to the gravity of motion carrier position Acceleration, motion carrier the adding in inertial reference system corresponding to measuring the motion carrier mark obtained Speed compensates process.
Wherein, g' is the acceleration of gravity at interpolation point, and H is the height at motion carrier place.
Step 307, will compensate after acceleration the time is integrated.
Step 308, will compensate after the integral result of acceleration transform in navigational coordinate system, to obtain Speed in navigational coordinate system and yaw angle and position.
The information such as step 309, speed, yaw angle and position according in navigational coordinate system, navigates Process.
In the present embodiment, add according to the gravity of formula g=g'-0.3086H calculating motion carrier place height Speed, improves acquisition efficiency and the precision of the acceleration of gravity of motion carrier place height, additionally, root According to the acceleration of gravity of motion carrier position, the motion corresponding to measuring the motion carrier mark obtained Carrier acceleration in inertial reference system compensates process, and the time is entered by the acceleration after compensating Row integration, and the integral result of acceleration after compensating transforms in navigational coordinate system, is leading to obtain Speed in boat coordinate system and yaw angle and position, according to the speed in navigational coordinate system, yaw angle and The information such as position, carry out navigation process, thus improve the navigation accuracy of inertial navigation system.
The structure of the inertial navigation unit embodiment one based on gravity real-Time Compensation that Fig. 4 provides for the present invention Schematic diagram, as shown in Figure 4, this device includes: receiver module 10, acquisition module 11 and navigation module 12。
Receiver module 10, is used for receiving navigation requests, and navigation requests includes that motion carrier identifies.
Acquisition module 11, for according to navigation requests, measures the motion obtaining motion carrier mark corresponding and carries Body acceleration in inertial reference system, and obtain the geographical seat of motion carrier current time present position Mark, wherein, geographical coordinate includes latitude and longitude coordinates and the height at motion carrier place.
Acquisition module 11, is additionally operable to obtain the geographical coordinate of motion carrier present position on geoid Subpoint, and using subpoint as interpolation point, according to interpolation point, choose from geoid N number of interpolation point；Wherein, N number of interpolation point is respectively less than predetermined threshold value with the distance of interpolation point.
In the present embodiment, N is positive integer.
Acquisition module 11, is additionally operable to treat at interpolation point according to the acceleration of gravity corresponding to N number of interpolation point Acceleration of gravity carry out interpolation, obtain the acceleration of gravity at interpolation point.
Navigation module 12, for according to the acceleration of gravity at interpolation point, obtains motion carrier institute in place The acceleration of gravity put；And according to the acceleration of gravity of motion carrier position, to measuring the fortune obtained Move motion carrier corresponding to signal of carrier acceleration in inertial reference system and compensate process, and root According to the acceleration after compensating, carry out corresponding navigation process.
Inertial navigation unit based on gravity real-Time Compensation in the present embodiment can perform method shown in Fig. 1 The technical scheme of embodiment, it realizes principle and beneficial effect is similar, and here is omitted.
The structure of the inertial navigation unit embodiment two based on gravity real-Time Compensation that Fig. 5 provides for the present invention Schematic diagram, as it is shown in figure 5, on the basis of above-described embodiment, acquisition module 11 includes:
Weight Acquisition unit 20, for according to formula (1)
ω k = 1 / ( x 0 - x k ) 2 + ( y 0 - y k ) 2 Σ k = 1 N 1 / ( x 0 - x k ) 2 + ( y 0 - y k ) 2 - - - ( 1 )
Calculate the weight obtaining N number of interpolation point relative to interpolation point.
Wherein, ωkIt is the kth interpolation point weight relative to interpolation point, (x0,y0) it is that interpolation point exists Coordinate in plane coordinate system, (xk,yk) it is interpolation point coordinate in plane coordinate system；
Acceleration of gravity acquiring unit 21, for according to formula (2)
g ′ = Σ k = 1 N ω k g k - - - ( 2 )
Gravity acceleration g at calculating acquisition interpolation point '.
Wherein, gkIt is the acceleration of gravity at kth interpolation point.
Inertial navigation unit based on gravity real-Time Compensation in the present embodiment can perform method shown in Fig. 2 The technical scheme of embodiment, it realizes principle and beneficial effect is similar, and here is omitted.
The structure of the inertial navigation unit embodiment three based on gravity real-Time Compensation that Fig. 6 provides for the present invention Schematic diagram, as shown in Figure 6, on the basis of above-described embodiment one, navigation module 12 includes:
Computing unit 30, for according to formula (3)
G=g'-0.3086H (3)
Calculate the gravity acceleration g of motion carrier place height, and according to the gravity of motion carrier position Acceleration, motion carrier the adding in inertial reference system corresponding to measuring the motion carrier mark obtained Speed compensates process.
Wherein, g' is the acceleration of gravity at described interpolation point, and H is the height at motion carrier place.
Integral unit 31, the time is integrated by the acceleration after compensating.
Coordinate transformation unit 32, the integral result of the acceleration after compensating transforms to navigational coordinate system In, to obtain the speed in navigational coordinate system and yaw angle and position.
Navigation processing unit 33, is used for according to information such as the speed in navigational coordinate system, yaw angle and positions, Carry out navigation process.
Inertial navigation unit based on gravity real-Time Compensation in the present embodiment can perform method shown in Fig. 3 The technical scheme of embodiment, it realizes principle and beneficial effect is similar, and here is omitted.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, rather than right It limits；Although the present invention being described in detail with reference to foregoing embodiments, this area common Skilled artisans appreciate that the technical scheme described in foregoing embodiments still can be repaiied by it Change, or the most some or all of technical characteristic is carried out equivalent；And these are revised or replace Change, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (4)

1. an inertial navigation method based on gravity real-Time Compensation, it is characterised in that including:
Receiving navigation requests, described navigation requests includes that motion carrier identifies；
According to described navigation requests, measure and obtain motion carrier corresponding to described motion carrier mark at inertia Acceleration in frame of reference, and obtain the geographical coordinate of described motion carrier current time present position, Wherein, described geographical coordinate includes latitude and longitude coordinates and the height at described motion carrier place；
Obtain the geographical coordinate of the described motion carrier present position subpoint on geoid, and will Described subpoint is as interpolation point；
According to described interpolation point, from described geoid, choose N number of interpolation point, wherein, described N number of interpolation point is respectively less than predetermined threshold value with the distance of described interpolation point；
According to the acceleration of gravity corresponding to described N number of interpolation point, the gravity at described interpolation point is accelerated Degree carries out interpolation, obtains the acceleration of gravity at described interpolation point；
According to the acceleration of gravity at described interpolation point, obtain the gravity of described motion carrier position Acceleration；And according to the acceleration of gravity of described motion carrier position, to measuring the described fortune obtained Move motion carrier corresponding to signal of carrier acceleration in inertial reference system and compensate process, and root According to the acceleration after compensating, carry out corresponding navigation process；
Wherein, N is positive integer.
Method the most according to claim 1, it is characterised in that described according to described N number of interpolation Acceleration of gravity corresponding to Dian carries out interpolation to the acceleration of gravity at described interpolation point, obtains described Acceleration of gravity at interpolation point, including:
According to formulaCalculate and obtain described N number of interpolation point relative to institute State the weight of interpolation point；Wherein, ωkIt is the kth interpolation point weight relative to described interpolation point, (x0,y0) it is described interpolation point coordinate in plane coordinate system, (xk,yk) it is that interpolation point is at plane coordinate system In coordinate；
According to formulaGravity acceleration g at the calculating described interpolation point of acquisition ', wherein, gkIt is the acceleration of gravity at described kth interpolation point.
Method the most according to claim 1 and 2, it is characterised in that described according to described interpolation Acceleration of gravity at Dian, the acceleration of gravity obtaining described motion carrier position includes:
According to formula g=g'-0.3086H, calculate the gravity acceleration g of motion carrier place height, wherein, G' is the acceleration of gravity at described interpolation point, and H is the height at motion carrier place.
Method the most according to claim 1 and 2, it is characterised in that described according to adding after compensating Speed, carries out corresponding navigation process and includes:
Time is integrated by the acceleration after described compensation；
The integral result of the acceleration after described compensation is transformed in navigational coordinate system, to obtain described Speed in navigational coordinate system and yaw angle and position；
According to the speed in described navigational coordinate system, yaw angle and position, carry out navigation process.
CN201510691503.2A 2015-10-22 2015-10-22 Inertial navigation method based on gravity real-Time Compensation Expired - Fee Related CN105258699B (en)

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