CN105319567B - A kind of laser gyro position attitude system method for synchronizing time - Google Patents
A kind of laser gyro position attitude system method for synchronizing time Download PDFInfo
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Abstract
A kind of laser gyro position attitude system (POS) method for synchronizing time, the present invention relates to a kind of method for being used to Inertial Measurement Unit (IMU) time in laser gyro POS and navigational computer (PCS) being time-synchronized to satellite navigation system (GNSS) time.The method for synchronizing time determines the time synchronized specified correction time by laser gyro and accelerometer precision first, then IMU and PCS clock source actual operating frequency is demarcated by GNSS pulse per second (PPS)s (PPS), IMU is time-synchronized to GNSS time finally by the mode for incrementally adjusting the IMU sampling periods, PCS is time-synchronized to GNSS time by the mode that the PCS timing time starteds are snapped to PPS pulse per second (PPS)s.The present invention solves laser gyro POS and GNSS time synchronization problem, significantly improves laser gyro POS timing tracking accuracies and stability.
Description
Technical field
The present invention relates to a kind of laser gyro position attitude system (Position and Orientation System,
POS) method for synchronizing time, laser gyro POS is can apply to, laser gyro inertia/combinations of satellites navigation can also be applied to
The time synchronized of system (INS/GNSS).
Background technology
In high-resolution air remote sensing system, a principal element for restricting remote sensing system imaging resolution is POS measurements
Precision.POS provides position and attitude benchmark for remote sensing load, while provides accurate sensing for inertially stabilized platform.No matter for
High-resolution optical camera, or airborne three-dimensional imaging laser radar, POS are the keys for improving imaging resolution, it has also become system
The about technical bottleneck of China's high-definition remote sensing System Development.POS is multi sensor combination measuring system, different sampling instants
Data can not directly carry out data fusion, and time synchronized turns into the key technology of multi-sensor combined navigation system, direct relation
To the realization of POS system function and the raising of performance.
Traditional position attitude system method for synchronizing time (number of patent application 1：200710099611.6 number of patent application
2：200710119971.8), I MU, PCS counters are reset or using GPS second pulse as base by using GPS second pulse
The time synchronized of system is realized in quasi- generation time synchronized pulse, and it is same not solve the system caused by system clock source frequency shift (FS)
Walk error, and because filter oscillation problem caused by clock amendment；Described in Chinese patent application 201010623900.3
A kind of software time synchronization method of position and orientation measurement system, its basic ideas are that Inertial Measurement Unit (IMU) is completed
After data acquisition, the time difference between GNSS pulse per second (PPS)s and IMU data is measured, is then realized by processing methods such as interpolation of datas
The synchronization of different sensors data time.Such method for IMU clock drifts and IMU filter models and True Data not
With the problem of it is helpless.GNSS pulse per second (PPS)s are incorporated into IMU systems, the disposable synchronous IMU on the basis of GNSS pulse per second (PPS)s
Although the hardware synchronization method of data acquisition sequence can eliminate IMU filter models and the unmatched problem of True Data,
The wave filter output vibration of amendment moment can be caused, have a strong impact on laser gyro POS precision.Therefore, above-mentioned traditional time synchronized
Method can not all complete laser gyro POS time synchronizeds.
The content of the invention
Present invention solves the technical problem that it is：A kind of overcome the deficiencies in the prior art, there is provided laser gyro position and attitude system
System method for synchronizing time, so as to realize laser gyro POS time synchronizeds.
The present invention technical solution be：A kind of laser gyro position attitude system method for synchronizing time, its feature exist
In determining laser gyro and accelerometer data one according to POS application environments and laser gyro, accelerometer working range first
In the secondary specified amendment sampling time, then utilize GNSS pulse per second (PPS)s (Pulse Per Second, PPS) signal scaling IMU and navigation
Computer (POS Computer System, PCS) clock source, it is then determined that IMU sampling period times of revision M and every time amendment
Work week issue K, and M clock amendment is carried out to IMU, it is individual that laser gyro and accelerometer sampling period are changed into K every time
Periodicity, and PCS timing times are synchronized to PPS signal, comprise the following steps that：
(1) laser gyro under laser gyro and accelerometer precision and POS application environments according to used in POS and plus
Speedometer working range, it is determined that not influenceing gyro and accelerometer data sampling period one under gyro and accelerometer precise manner
The secondary specified correction time.
(2) after GNSS signal capture, PPS signal starts to export, according to two neighboring PPS signal time interval, online mark
Determine IMU and PCS clock source working frequency, obtain IMU and PCS clock source actual operating frequencies.
(3) according to laser gyro and accelerometer data sampling period once specified correction time and IMU obtained by calibrating
Clock source working frequency, the work week issue K for determining IMU sampling period times of revision M and correcting every time.
(4) M clock amendment is carried out to IMU gyros and accelerometer data sampling period, every time by gyro and acceleration
Count K periodicity of sampling period change.
(5) according to PCS clock source actual operating frequencies, when each GNSS pps pulse per second signals arrive, PCS counters are put
Zero, and counter is dimensioned to PCS clock actual operating frequency sizes, PCS is time-synchronized to GNSS time.
Wherein determine not influenceing laser gyro and accelerometer once specified amendment under gyro and accelerometer precise manner
Data sampling time method is as follows：
Wherein, Δ T is laser gyro and accelerometer once specified amendment data sampling time, GmaxShould for laser gyro
With rated output under environment, GprecesionFor laser gyro precision；AmaxFor rated output under accelerometer application environment,
AprecesionFor accelerometer precision.
Wherein determine that IMU sampling period times of revision M and the work week issue K-method corrected every time are as follows：
First, determine clock source actual operating frequency compared with time offset value in the seconds of clock source nominal operating frequency 1
It is as follows：
Wherein, F1For clock source actual operating frequency, F0For clock source nominal operating frequency, fsFor laser gyro and acceleration
Degree meter sample frequency.
Judge Δ t and Δ T relationship, if | Δ t | ＜ | Δ T |, IMU sampling period times of revision M and modifying work period
Number K is as follows：
M=1
K=Δs tF1
If | Δ t | ＞ | Δ T |, IMU sampling period times of revision M and modifying work period number K is as follows：
To gyro and accelerometer data sampling period TsM clock amendment is carried out, every time counts gyro and acceleration
Change K periodicity according to the sampling period：
Ts=Q+SNc·K
WhereinNcFor times of revision, span arrives M for 1；Q is that sampling period amendment is previous
Sample period time length is：
Q=F0·T0
Wherein, F0For clock source working frequency nominal value, T0For sampling period nominal value.
The present invention principle be：Satellite navigation system is after satellite-signal is captured, and the pps pulse per second signal of output is at intervals of essence
True one second, Inertial Measurement Unit and POS navigational computer clock sources are demarcated using PPS signal, obtains the actual work of clock source
Working frequency.According under laser gyro used in laser gyro position attitude system and accelerometer precision and POS application environments
Laser gyro and accelerometer work model
Enclose, it is determined that not influenceing volume of gyro and accelerometer data sampling period under gyro and accelerometer precise manner
The correction time is determined, to ensure to cause when carrying out time synchronized gyro and accelerometer precision to reduce.According to gyro and add
Once specified correction time and demarcation obtain IMU clock source working frequencies to speedometer data sampling period, determine the IMU sampling periods
Times of revision and the work week issue corrected every time, and be modified, to ensure the gyro and accelerometer data that are used in IMU
Filter model sample frequency is consistent with actual gyro and accelerometer data sample frequency, improves filter effect.By PCS
Timing time is synchronized to PPS signal, avoids PCS timing from improving synchronization accuracy because the frequency drift of PCS clock sources causes error.
The present invention compared with prior art the advantages of be：
(1) present invention synchronizes laser gyro in IMU and accelerometer data collection moment with GNSS pulse per second (PPS)s, will
PCS timing times are synchronized to GNSS pulse per second (PPS)s, reduce influence of the system clock source clock drift to timing tracking accuracy.
(2) present invention carries out gyro and the amendment of accelerometer sampling period by the way of progressive amendment, eliminates because adopting
Sample cycle correction is excessive to cause laser gyro and accelerometer precision reduces and laser gyro and accelerometer filter oscillation
Problem, and the sample frequency of laser gyro and accelerometer data filter model is counted with practical laser gyro and acceleration
It is consistent according to sample frequency, improves filter effect.
Brief description of the drawings
Fig. 1 is the clock synchronization flow chart of the present invention；
Fig. 2 is clock source working frequency calibration maps；
Fig. 3 is laser gyro and accelerometer sampling period correction map；
Fig. 4 is that PCS timing times are synchronously schemed.
Embodiment
Position attitude system is made up of laser gyro IMU, GPS, POS computer in the present embodiment, the specified frequency of IMU clock sources
Rate 300MHz, actual operating frequency 299.9MHz, PCS clock source rated frequency 300MHz, actual operating frequency 299.9MHz, swash
0.01 °/h of optical circulator precision, 300 °/s of rated output, accelerometer precision 10ug, rated output 10g, set laser gyro and
Accelerometer data sample frequency is 4000Hz.
The specific method of the present invention is as shown in Figure 1：
1st, the laser under laser gyro and accelerometer precision and POS application environments according to used in laser gyro POS
Gyro and accelerometer working range, counted it is determined that not influenceing gyro and acceleration under laser gyro and accelerometer precise manner
According to sampling period once specified correction time Δ T, as shown in Equation 1.
Wherein, GmaxFor rated output under gyro application environment, GprecesionFor Gyro Precision；AmaxFor accelerometer application
Rated output under environment, AprecesionFor accelerometer precision.
2nd, after satellite navigation system (GNSS) signal capture, pulse per second (PPS) (PPS) signal output, believed according to two neighboring PPS
The clock source working frequency of number time interval, on-line proving Inertial Measurement Unit (IMU) and POS navigational computers (PCS), is obtained
IMU and PCS clock source actual operating frequencies, as shown in Fig. 2 PPS trailing edges are effective in the present embodiment, two neighboring PPS declines
The clock source number of pulses between, determines clock source actual operating frequency, as shown in Equation 2.
F1=N=299.9MHz (2)
Wherein, clock source exports umber of pulse between N is 2 PPS.
3rd, according to laser gyro and accelerometer data sampling period, once specified correction time and demarcation obtain IMU clocks
Source working frequency, the work week issue K for determining IMU sampling period times of revision M and correcting every time.Clock source actual operating frequency
It is as shown in Equation 3 compared with time offset value Δ t in the seconds of nominal operating frequency 1：
Wherein, F1For IMU clock source actual operating frequencies, F0For IMU clock source nominal operating frequencies, fsFor laser gyro
With accelerometer sample frequency.
Judge Δ t and Δ T relationship, if | Δ t | ＜ | Δ T |, IMU sampling period times of revision M and modifying work period
Number K is as shown in Equation 4：
M=1
K=Δs tF1 (4)
If | Δ t | ＞ | Δ T |, IMU sampling period times of revision M and modifying work period number K is as shown in Equation 5：
In the present embodiment | Δ t | ＞ | Δ T |,
4th, according to times of revision M and each modifying work period number K, laser gyro in IMU and accelerometer data are adopted
The sample cycle carries out M clock amendment, laser gyro and accelerometer data sampling period is changed into K cycle every time, when making IMU
Between be synchronized to GNSS time.As shown in figure 3, gyro and accelerometer data sampling period in the first behavior IMU in Fig. 3, to IMU
Gyro and accelerometer data sampling period TsM clock amendment is carried out, every time by gyro and accelerometer data sampling period
Change K clock source umber of pulse, the second behavior clock source pulse in Fig. 3, as shown in the third line in Fig. 3, the gyro after adjustment
It is as shown in Equation 6 with the accelerometer sampling period.
Ts=Q+SNc·K (6)
Wherein S=-1 (F0=300MHz ＞ F1=299.9MHz), NcFor times of revision, span arrives M for 1；Q is to adopt
The previous sample period time length of sample cycle correction is as shown in Equation 7.
Q=F0·T0=3000.00025=75000 (7)
Wherein, F0For clock source working frequency nominal value, T0For sampling period nominal value.Obtain gyro and accelerometer is adopted
The sample cycle is changed into T after correcting for the first times=Q+SK=75000+ (- 1) 3=74997, after the completion of M amendment, gyro
It is changed into the accelerometer sampling period
Ts=Q+SMK=75000+ (- 1) 103=74970.
5th, according to PCS clock source actual operating frequencies, when each GNSS pps pulse per second signals arrive, PCS counters are put
Zero, and counter is dimensioned to PCS clock actual operating frequency sizes, PCS is time-synchronized to GNSS time.Such as Fig. 4
Shown, PPS trailing edges are effective in the present embodiment, after each PPS trailing edges arrive, as shown in the rows of Fig. 4 second, with PCS timing arteries and veins
On the basis of punching, the first time falling edge of the PCS sprocket pulses after PPS trailing edges, as shown in Fig. 4 the third lines, by PCS timings
Device timing time zero setting, and counter is dimensioned to PCS clock source actual operating frequency sizes, that is, 299.9M is arranged to,
PCS is set to be time-synchronized to GNSS time.
Claims (1)
1. a kind of laser gyro position attitude system method for synchronizing time, it is characterised in that comprise the following steps：
(1) under laser gyro and accelerometer precision and POS application environments according to used in laser gyro position attitude system
Laser gyro and accelerometer working range, it is determined that do not influence under laser gyro and accelerometer precise manner laser gyro and
Once specified correction time in accelerometer data sampling period；
(2) after navigation satellite system signal acquisition, pps pulse per second signal output, according to two neighboring PPS signal time interval, online
The clock source working frequency of Inertial Measurement Unit and POS navigational computers is demarcated, obtains IMU and PCS clock sources real work frequency
Rate；
(3) laser gyro and accelerometer data sampling period once specified correction time and step determined according to step (1)
(2) the IMU clock source working frequencies determined, the work week issue K for determining IMU sampling period times of revision M and correcting every time；
(4) the times of revision M and each modifying work period number K determined according to step (3), to laser gyro in IMU and acceleration
Degree counts sampling period M clock amendment of progress, and laser gyro and accelerometer data sampling period are changed into K week every time
Phase, IMU is set to be time-synchronized to GNSS time；
(5) the PCS clock source actual operating frequencies determined according to step (2), will when each GNSS pps pulse per second signals arrive
PCS counter zero setting, and counter is dimensioned to PCS clock actual operating frequency sizes, PCS is time-synchronized to GNSS
Time；
Wherein it is determined that laser gyro and accelerometer once specified amendment data are not influenceed under gyro and accelerometer precise manner
Sampling time method is as follows：
<mrow>
<mi>&Delta;</mi>
<mi>T</mi>
<mo>=</mo>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
<mo>{</mo>
<mfrac>
<msub>
<mi>G</mi>
<mrow>
<mi>p</mi>
<mi>r</mi>
<mi>e</mi>
<mi>c</mi>
<mi>e</mi>
<mi>s</mi>
<mi>i</mi>
<mi>o</mi>
<mi>n</mi>
</mrow>
</msub>
<msub>
<mi>G</mi>
<mi>max</mi>
</msub>
</mfrac>
<mo>,</mo>
<mfrac>
<msub>
<mi>A</mi>
<mrow>
<mi>p</mi>
<mi>r</mi>
<mi>e</mi>
<mi>c</mi>
<mi>e</mi>
<mi>s</mi>
<mi>i</mi>
<mi>o</mi>
<mi>n</mi>
</mrow>
</msub>
<msub>
<mi>A</mi>
<mi>max</mi>
</msub>
</mfrac>
<mo>}</mo>
</mrow>
Wherein, Δ T is laser gyro and accelerometer once specified amendment data sampling time, GmaxFor laser gyro application ring
Rated output under border, GprecesionFor laser gyro precision；AmaxFor rated output under accelerometer application environment, AprecesionFor
Accelerometer precision；
The work week issue K-method for determining IMU sampling period times of revision M and correcting every time is as follows：
First, determine that clock source actual operating frequency is as follows compared with time offset value in the seconds of clock source nominal operating frequency 1：
<mrow>
<mi>&Delta;</mi>
<mi>t</mi>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>F</mi>
<mn>1</mn>
</msub>
<msub>
<mi>F</mi>
<mn>0</mn>
</msub>
</mfrac>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>/</mo>
<msub>
<mi>f</mi>
<mi>s</mi>
</msub>
</mrow>
Wherein, F1For clock source actual operating frequency, F0For clock source nominal operating frequency, fsFor laser gyro and accelerometer
Sample frequency；
Judge Δ t and Δ T relationship, if | Δ t | ＜ | Δ T |, IMU sampling period times of revision M and modifying work period number K are such as
Under：
M=1
K=Δs tF1
If | Δ t | ＞ | Δ T | IMU sampling period times of revision M and modifying work period number K is as follows：
To gyro and accelerometer data sampling period TsM clock amendment is carried out, every time samples gyro and accelerometer data
K periodicity of mechanical periodicity：
Ts=Q+SNc·K
WhereinNcFor times of revision, span arrives M for 1；Q is sampling period amendment previous sampling week
Phase time span is：
Q=F0·T0
Wherein, F0For clock source working frequency nominal value, T0For sampling period nominal value.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106154299A (en) * | 2016-06-22 | 2016-11-23 | 陕西宝成航空仪表有限责任公司 | A kind of GPS/SINS integrated navigation system method for synchronizing time |
| PL424012A1 (en) * | 2017-12-22 | 2019-07-01 | Piktime Systems Spółka Z Ograniczoną Odpowiedzialnością | Method and synchronization circuit of the time transfer system, compatible with CGGTSS standard |
| CN109257131A (en) * | 2018-08-27 | 2019-01-22 | 广州吉欧光学科技有限公司 | A kind of unmanned plane LIDAR clock synchronization system and method |
| CN109752738A (en) * | 2018-12-26 | 2019-05-14 | 广州中海达卫星导航技术股份有限公司 | Target IMU and GNSS data synchronous method when based on standard |
| CN110220534B (en) * | 2019-05-24 | 2021-05-04 | 湖北航天技术研究院总体设计所 | Online calibration method applied to on-missile inertial measurement unit |
| US10914588B1 (en) | 2019-12-06 | 2021-02-09 | Toyota Research Institute, Inc. | Pulse per second signal generation using a fiber optic gyroscope |
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Effective date of registration: 20240425 Address after: 100176, 7th Floor, Building 1, Courtyard 6, Kegu Second Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: BEIJING STARNETO TECHNOLOGY Corp.,Ltd. Country or region after: China Address before: Room 505, Building 1, Courtyard 6, Kegu Second Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing, 100176 Patentee before: BEIJING LANDUN DEFENSE TECHNOLOGY Co.,Ltd. Country or region before: China |
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