CN105674987A - Construction method for MEMS equivalent single-shaft rotation inertial navigation - Google Patents
Construction method for MEMS equivalent single-shaft rotation inertial navigation Download PDFInfo
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- CN105674987A CN105674987A CN201610084989.8A CN201610084989A CN105674987A CN 105674987 A CN105674987 A CN 105674987A CN 201610084989 A CN201610084989 A CN 201610084989A CN 105674987 A CN105674987 A CN 105674987A
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
Low-frequency errors of an inertial component are modulated through regular rotation of an MEMS inertia assembly around a rotating shaft, and therefore the system precision can be effectively improved through the method. However, due to multiple limitations such as the volume, the power consumption and the cost, no rotating machine can be added for achieving rotation modulation, maneuvering of a carrier such as the maneuvering capability of carriers such as an aircraft and a ship is sufficiently utilized for achieving rotation movement, and then equivalent rotating single-shaft rotation modulation is constructed for lowering errors. However, actually, bullets will not move along with the carrier all the time and will be projected; when the bullets are projected, errors of a system will not be modulated in the autonomous flight period, and compensation for errors is needed in the autonomous flight period. Accordingly, errors are estimated through maneuvering and linear motion so as to estimate system errors with no rotation modulation. Due to the fact that rotating modulation cannot modulate rotation axial errors, the similarity of an MEMS gyroscope is utilized for calculating errors caused by a rotating axial gyroscope.
Description
Technical field
The present invention relates to rotatory inertia navigation field, particularly rotate the building method of inertial navigation.
Technical background
Development along with MEMS inertial technology, MEMS inertial measurement system is with low cost, small size, integrated, low-power consumption, anti-HI high impact, the advantage that can be mass-produced again, becomes the first-selection of various tactical weapon guidance system, but by MEMS inertia device construct Strapdown inertial measurement system, its attitude accuracy depends primarily on gyroscopic drift, and precision is relatively low.
Do regular rotation by inertia assembly (MIMU) around rotating shaft and modulate the low frequency aberration of inertia device, this rotation modulation technology has become as one of external key technology improving inertial navigation precision, when not using external information, automatically compensate gyroscopic drift and accelerometer constant value and become the systematic error that error causes slowly, also eliminating the impact of scale coefficient error and alignment error, this is a kind of effective way improving MEMS inertial measurement system precision simultaneously.
Logical rotation modulation compensates error and is different from the method that demarcation, initial alignment and calibration etc. need to estimate inertance element drift and then compensate, rotation modulation method requires no knowledge about the estimated value of inertance element drift error, but error modulation is become the form of certain mechanical periodicity, utilize integral operation automatically error on average to be offset in the process of navigation calculation.
Want in tactical weapon, introduce the thought rotating inertial navigation, cannot as naval vessel navigation system, all do not limited by its volume, power consumption etc., due to tactical weapon require it navigation system volume be little, cost is low, low in energy consumption and anti-impact force etc., if introducing rotating mechanism to realize rotating inertial navigation, precision electric motor, drive circuit and power supply etc., these requirements being all difficult to meet tactics guided weapon must be needed.
In order to also realize rotation modulation in the guidance system of tactical weapon to improve the navigation accuracy of system, it is impossible to enough realizations that self rotates with inertial navigation rotate inertial navigation, and that just realizes rotating inertial navigation by external movement, is referred to as equivalent rotary inertial navigation.
Owing to tactical weapon is generally attached on other carriers, as guided missile, bomb to hang over or in be embedded in carrier aircraft, the weapon on naval vessel is also mounted in certain position of ship, to move before transmission together with ship.
Tactical weapon generally can not directly be launched, it is generally required to Transfer Alignment before launching, it is necessary to higher initial precision, is therefore supplied to, by equivalent rotary, the parameter that inertial navigation Transfer Alignment needs.
Therefore making full use of the motor-driven of carrier, the maneuverability such as the carrier such as aircraft, naval vessel realizes rotary motion, and then structure equivalent rotary inertial navigation carries out error modulation, provides accurate parameter for carrying out Transfer Alignment in motor-driven period.
Summary of the invention
The guided weapon working time adopting MEMS inertial measurement system is extremely short, it is necessary to higher alignment precision, especially attitude accuracy, in the aligning process inertial device error can be estimated and compensate simultaneously, improves the navigation accuracy in actual working time.
Utilize the motor-driven of carrier, generally can both do course maneuvering, and pitching and the motor-driven meeting of rolling are very limited, as carrier aircraft, naval vessel and vehicle are difficulty with " turning a somersault " and " rolling about " motion.
Although a degree of pitching can be done and rolling is motor-driven, but 180 can not be realizedoMotor-driven, therefore axially realize rotation modulation by carrier is motor-driven not in the two.
But there is the special carrier of some, such as submarine, it is possible to realize the motor-driven of complexity.
The carriers such as carrier aircraft, naval vessel and vehicle are easily achieved course maneuvering, therefore rotary motion is realized by carrier course maneuvering, modulate the device error of guided weapon inertial navigation system, and then reduce systematic error, estimate for Transfer Alignment and inertial device error and compensate to provide parameter.
If missile-borne inertial navigation coordinate system, carrier coordinate system, inertial coodinate system, terrestrial coordinate system, navigational coordinate system。
If initial time inertial navigation coordinate system () and carrier coordinate system () overlap, then carry out course maneuvering, i.e. inertial navigation coordinate system around z-axis direction with angular velocityRotate continuously, thenTransition matrix between moment inertial navigation coordinate system and navigational coordinate system is represented by:。
Utilize motor-driven structure rotate with directly rotate the difference is that inertial navigation coordinate system () and carrier coordinate system () overlap, namely keep the state of initial time. always
The attitude error model of MEMS strapdown translocation amount system is, it is x-axis along carrier y direction, vertical carrier is to for z-axis, by right-handed scale (R.H.scale) series structure carrier coordinate system,For calculating the attitude error between navigational coordinate system and true navigational coordinate system,WithRespectively angular velocity and angular velocity error,For strapdown attitude matrix,Represent in navigational coordinate systemIn system, navigational coordinate systemIt it is relative inertness coordinate systemThe rotational angular velocity of system.
Rotation modulation is constructed when carrying out course maneuvering,It is tied toThe Direct cosine matrix of system is, then rotate Strapdown inertial measurement posture angle error equation and become:, butFor unit battle array, so attitude matrix is still, the parameter subscript in formula represents the component value in respective coordinates system, and subscript represents the coordinate system of relative motion.
In attitude error equationsBe angular velocity error relative inertness systemExpression in system, namely, wherein,The scale coefficient error of gyro:,It is three axial gyroscope scale coefficient errors;Fix error angle for gyroscope:It is a symmetrical matrix, i.e. 3 fix error angle,,;WithThe respectively constant value drift of gyroscope and random drift.
Due to, so
, wherein comprise 4:
,,With。
Section 1
;
2nd
;
3rd;
4th。
Being known by 1-4 item, by course maneuvering, constructing rotary motion, alignment error, scale coefficient error and constant value drift can be modulated into periodic function, resolving through a cycle is 0, can reduce error significantly.
In practice owing to being subject to carrier property and the restriction of operator's operational capacity, when doing course maneuvering, matrixCan not be entirely, it may occur that pitching or the motion on rolling direction, namely can add a matrixOr, or pitching and rolling movement exist simultaneously, i.e. an additional matrix, owing to the two motion can not construct rotary motion completely, namely cannot modulation error, can increase fractional error, but whole system can be left out by the error that this part increases.
Bullet can not always with carrier movement in practice, must have when launching, during autonomous operation cannot the error of modulating system, so in order to reduce error further, a kind of error estimation of design, for carrying out error compensation during autonomic movement.
Error estimation step includes: (1) bullet flies together with carrier, enters navigational state; (2) carrier fromMoment arrivesMoment carries out course maneuvering, recordThe ins error in moment; (3) existMoment carrier carries out rectilinear motion, arrivesIn the moment, meet, recordMoment ins error; (4) within the equal time, approximately uniform motion external environment, the systematic error that the error of gyroscope causes should be the same, butMoment arrivesBetween moment, carrier has done and motor-driven has carried out rotation modulation, and error can significantly reduce, and rectilinear motion Time Duration Error can be very big, and the error caused by gyroscope in the unit interval is to utilize difference between the two to estimate:,; (4) if time and conditions permit, repeat said process, be then averaged.
Owing to MEMS gyroscope is batch production, there is higher concordance, error characteristics and x, the similarity between the error characteristics of y-axis gyroscope of contrast z-axis gyroscope can be demarcated in advance by turntable, if z-axis gyro error characteristic and x, the similarity of y-axis gyro error characteristic isWith, and then calculate the systematic error caused by the error of z-axis gyroscope, represent that similarity takes greatly that axial Error Calculation.
It is an advantage of the current invention that and (1) utilize that carrier is motor-driven realizes rotary motion that structure equivalent rotary modulation eliminates except the error on rotating shaft direction; (2) utilize the conforming feature of MEMS gyroscope, the error estimated on rotating shaft direction can be assisted; General carrier can course maneuvering, this rotation modulation building method is simply easily achieved, and need not add other frame for movements, maintains the advantages such as volume is little, cost is low, and low in energy consumption and resistance to shock is good.
Accompanying drawing explanation
Fig. 1 is the load bullet flight of the present invention;
Fig. 2 is the S mobile process of the present invention;
Fig. 3 constructs the time program process of rotation modulation.
Detailed description of the invention
Below in conjunction with accompanying drawing with carrier aircraft (load bullet) is motor-driven that the specific embodiment of the present invention is described.
With MEMS gyroscope TL632B, accelerometer MVS6000 and DSP6713 is as guidance core component structure micro-inertial measuring system, owing to accelerometer precision is higher, more than 0.1mg can be reached, it is enough to the requirement of tactical weapon, and MEMS gyroscope precision is relatively low, general more than tens degree of constant value drift, although for the guided weapon that the effective time is tens seconds to more than 100 seconds, error is also fatal, therefore precision must need height, including two aspects: one is that the precision of MEMS inertial measurement system own wants height, two is that initial value is wanted accurately, especially attitude accuracy.
For carrier aircraft, maneuvering flight it is easy to before dropping a bomb, reality is also required to maneuvering flight (especially by when the other side's radar lock), it is certainly contemplated that the condition of reality (carrier aircraft performance and pilot driver ability), carrier aircraft is easily achieved course maneuvering, and carrier aircraft is difficulty with " turning a somersault " and " rolling about " motion in pitching and rolling direction, can only achievement unit componental movement, such as the oscillating motion of wing, therefore axially it is difficult to rotation modulation in the two.
Such as Fig. 1, carrier aircraft hangs bullet flight, and bullet hangs over below wing.
No matter in the future bullet is to hang over below wing, or in be embedded in cabin, missile-borne inertial navigation can be constructed rotary motion and rotate modulation.
If in be embedded in cabin, when dropping a bomb, it may occur that rolling, it is possible to use this rolling process structure one direction rotary motion, error modulation principle be the same by the rotation modulation of motor-driven structure.
Do course maneuvering by carrier aircraft, it is achieved rotary motion, modulate the error of guided weapon inertial navigation system, and then reduce error, estimate for Transfer Alignment and inertial device error and compensate to provide parameter.
If inertial navigation rotating coordinate system, carrier coordinate system, navigational coordinate system, inertial coodinate system, terrestrial coordinate system, with subscriptExpression rotating coordinate system,Represent carrier aircraft coordinate system,Represent navigational coordinate system,Represent inertial coodinate system,Represent navigational coordinate system.
If initial time inertial navigation coordinate system () and carrier aircraft coordinate system () overlap, then carry out S mobile process as shown in Figure 2, namely inertial navigation around z-axis direction with angular velocityRotate continuously, thenTransition matrix between moment inertial navigation coordinate system and navigational coordinate system is represented by:
。
Utilize motor-driven structure rotate with directly rotate the difference is that inertial navigation coordinate system () and carrier aircraft coordinate system () overlap, namely keep the state of initial time. always
The attitude error model of MEMS strapdown translocation amount system is, wherein, it is x-axis along carrier aircraft longitudinal axis as shown in Figure 1, vertical carrier aircraft is to for z-axis, by right-handed scale (R.H.scale) series structure carrier aircraft coordinate system),Represent inertial coodinate system,Represent terrestrial coordinate system,For calculating the attitude error between navigational coordinate system and true navigational coordinate system,WithRespectively angular velocity and angular velocity error,For strapdown attitude matrix,Represent in navigational coordinate systemIn system, navigational coordinate systemIt it is relative inertness coordinate systemThe rotational angular velocity of system.
Rotation modulation is constructed when carrying out S and being motor-driven,It is tied toThe Direct cosine matrix of system is, then rotation type strapdown inertial navigation system, attitude error equation becomes:, butFor unit battle array, so attitude matrix is still。
, the parameter subscript in formula represents the component value in respective coordinates system, and subscript represents the coordinate system of relative motion,The scale coefficient error of gyro is:,It is three axial gyroscope scale coefficient errors;It is the fix error angle of 3 gyroscopes:It is a symmetrical matrix, namely,,;WithThe respectively constant value drift of gyroscope and random drift.
Due to, so
, wherein comprise 4:,,With。
Section 1
;
2nd
;
3rd;
4th。
By 1-4 item it can be seen that motor-driven by S, construct rotary motion, can alignment error and scale coefficient error and constant value drift function modulation period, resolving through a cycle is 0, can reduce error significantly.
Although the course maneuvering of carrier aircraft can not be so perfect in reality, will necessarily introduce that some are additional motor-driven, namely can introduce some errors, but be the precision that system enough can be greatly improved for low precision inertial navigation.
It is hit by a bullet can not fly with carrier aircraft always in reality, when must project away, during autonomous flight cannot the error of modulating system, in order to reduce error further, a kind of error estimation of design, for carrying out error compensation during autonomous flight.
Program process during error estimation as shown in Figure 3, this error estimation step includes: (1) bullet flies together with carrier aircraft, enters navigational state;(2) carrier aircraft fromMoment arrivesIt is motor-driven that moment carries out S, recordThe ins error in moment; (3) existMoment carrier aircraft is flown nonstop to, and arrivesIn the moment, meet, recordMoment ins error; (4) within the equal time, approximate flight external environment, the systematic error that the error of gyroscope causes should be the same, butMoment arrivesBetween moment, carrier aircraft has been done and motor-driven has been carried out rotation modulation, and error can significantly reduce, and fly nonstop to Time Duration Error can be very big, the error caused by gyroscope in the unit interval is to utilize difference between the two to estimate:,; (4) if the time allows, repeat said process, be then averaged.
Rotate owing to MEMS gyroscope is batch production, there is higher concordance, turntable marked ratio can be passed through in advance to z-axis gyro error characteristic and x, the similarity between y-axis gyro error characteristic, if z-axis gyro error characteristic and x, the similarity of y-axis gyro error characteristic isWith, and then calculate the systematic error caused by the error of z-axis gyroscope, represent that similarity takes that axial Error Calculation.
What finally illustrate is that above case study on implementation is merely to illustrate technical scheme and unrestricted, it is possible to the present invention being modified or changes, without deviating from the scope of the technical program, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (4)
1. the building method of a MEMS equivalence single-shaft-rotation inertial navigation, it is characterized in that utilizing the course maneuvering of carrier, the course maneuvering etc. of as motor-driven in aircraft S, naval vessel and vehicle, it is rotated, structure inertial navigation equivalence single-shaft-rotation modulation process, reduce by gyroscope scale coefficient error, alignment error and constant value by mistake slow be deteriorated and etc. the systematic error that causes.
2. the building method of a MEMS equivalence single-shaft-rotation inertial navigation, it is characterised in that if bullet is embedded in cabin in being, when transmitting of dropping a bomb, it may occur that rolling movement, it is possible to use the structure equivalence single-shaft-rotation motion of this rolling process carries out error modulation.
3. an error estimation, it is characterised in that estimating step includes: (1) bullet runs together with carrier, enters navigational state; (2) carrier fromMoment arrivesMoment carries out course maneuvering, recordThe ins error in moment; (3) existMoment carrier carries out rectilinear motion, arrivesIn the moment, meet, recordMoment ins error; (4) within the equal time, approximate motion external environment, the systematic error that the error of gyroscope causes should be the same, butMoment arrivesBetween moment, carrier has done and motor-driven has carried out rotation modulation, and error can significantly reduce, and rectilinear motion Time Duration Error can be very big, and the error caused by gyroscope in the unit interval is to utilize difference between the two to estimate:,; (4) if time and conditions permit, repeat said process, be then averaged.
4. a z-axis error estimation, it is characterized in that owing to MEMS gyroscope is batch production, there is higher concordance, error characteristics and the x of contrast z-axis gyroscope can be demarcated in advance by turntable, similarity between the error characteristics of y-axis gyroscope, if z-axis gyro error characteristic and x, the similarity of y-axis gyro error characteristic isWith, and then calculate the systematic error caused by the error of z-axis gyroscope, represent that similarity takes that axial Error Calculation.
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Cited By (2)
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| CN109599674A (en) * | 2018-12-03 | 2019-04-09 | 北京遥感设备研究所 | A kind of phased array antenna angle of stability tracking based on decoupling |
| CN112648995A (en) * | 2020-12-31 | 2021-04-13 | 福建星海通信科技有限公司 | Modulation method and terminal of optical fiber gyroscope rotary inertial navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109599674A (en) * | 2018-12-03 | 2019-04-09 | 北京遥感设备研究所 | A kind of phased array antenna angle of stability tracking based on decoupling |
| CN112648995A (en) * | 2020-12-31 | 2021-04-13 | 福建星海通信科技有限公司 | Modulation method and terminal of optical fiber gyroscope rotary inertial navigation system |
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