CN105674987B - A kind of building method of the equivalent single-shaft-rotation inertial navigation of MEMS - Google Patents

A kind of building method of the equivalent single-shaft-rotation inertial navigation of MEMS Download PDF

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Publication number
CN105674987B
CN105674987B CN201610084989.8A CN201610084989A CN105674987B CN 105674987 B CN105674987 B CN 105674987B CN 201610084989 A CN201610084989 A CN 201610084989A CN 105674987 B CN105674987 B CN 105674987B
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error
carrier
moment
coordinate system
inertial navigation
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CN105674987A (en
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杨金显
张颖
乔美英
陶慧
李冰锋
郝海明
徐功平
杨闯
蒋志涛
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Henan University of Technology
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Henan University of Technology
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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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Navigation (AREA)

Abstract

Regular rotation is done to modulate the low frequency aberration of inertia device around rotary shaft by MEMS inertia component, this is a kind of method for effectively improving system accuracy, but due to by many restrictions such as volume, power consumption, costs, whirler is not can increase to realize rotation modulation, therefore the motor-driven of carrier is made full use of, such as maneuverability of aircraft, naval vessel carrier realizes rotary motion, and then constructs equivalent rotation single-shaft-rotation modulation to reduce error.And bullet cannot move always with carrier in practice, when must projecting away, at this time during autonomous flight cannot modulating system error, it needs to need error compensation during autokinetic movement, therefore designs a kind of by systematic error that is motor-driven and moving along a straight line when estimating that error between the two estimate no rotation modulation.Since rotation modulation cannot modulate the error of axial rotary, error caused by the similarity calculation axial rotary gyroscope using MEMS gyroscope.

Description

A kind of building method of the equivalent single-shaft-rotation inertial navigation of MEMS
Technical field
The present invention relates to rotatory inertia navigation fields, especially rotate the building method of inertial navigation.
Technical background
With the development of MEMS inertial technology, MEMS inertial measurement system is with low cost, small size, integrated, low-power consumption, Anti- HI high impact, and the advantage that can be mass-produced become the first choice of various tactical weapon guidance systems, but by MEMS inertia device The Strapdown inertial measurement system of construction, attitude accuracy depends primarily on gyroscopic drift, and precision is lower.
Around rotary shaft regular rotation is done by inertia component (MIMU) to modulate the low frequency aberration of inertia device, it is this Rotation modulation technology has become external one of the key technology for improving inertial navigation precision, in the condition for not using external information Under, it is automatic to compensate systematic error caused by gyroscopic drift and accelerometer constant value and slow change error, while can also eliminate scale system The influence of number error and installation error, this is a kind of effective way for improving MEMS inertial measurement system precision.
Logical rotation modulation come compensate error be different from calibration, initial alignment and calibration etc. need to estimate inertance element drift about into And the method compensated, rotation modulation method require no knowledge about the estimated value of inertance element drift error, but by error modulation at The form of certain mechanical periodicity is automatically averagely offset error using integral operation during navigation calculation.
To in tactical weapon introduce rotation inertial navigation thought, cannot the navigation system as naval vessel, not by Its volume, power consumption etc. all limit, since tactical weapon requires that its navigation system is small in size, at low cost, low in energy consumption and anti-impact force Deng, if introduce rotating mechanism realize rotation inertial navigation, precision electric motor, driving circuit and power supply etc. must be needed, these are all difficult Meet the requirement of tactics guided weapon.
The navigation accuracy of system is improved in order to also realize rotation modulation in the guidance system of tactical weapon, it cannot Enough to realize rotation inertial navigation with itself rotation of inertial navigation, that just realizes rotation inertial navigation, referred to as equivalent rotary by external movement Inertial navigation.
Since tactical weapon is generally attached on other carriers, as guided missile, bomb to hang over or it is interior be embedded in carrier aircraft, naval vessel On weapon be also mounted in some position of ship, to be moved together with ship before transmission.
Tactical weapon generally can not directly emit, and Transfer Alignment is generally required before transmitting, need higher initial precision, Therefore the parameter of inertial navigation Transfer Alignment needs is supplied to by equivalent rotary.
Therefore the motor-driven of carrier, such as the maneuverability of aircraft, naval vessel carrier is made full use of to realize rotary motion, in turn It constructs equivalent rotary inertial navigation and carries out error modulation, provide accurate parameter for Transfer Alignment can be carried out in motor-driven period.
Summary of the invention
It is extremely short using the working time for the guided weapon of MEMS inertial measurement system, higher alignment precision is needed, especially Its attitude accuracy, while can inertial device error be estimated and be compensated in the aligning process, it improves in actual working time Navigation accuracy.
Using the motor-driven of carrier, course maneuvering can be generally done, and pitching and rolling is motor-driven will receive considerable restraint, such as Carrier aircraft, naval vessel and vehicle are difficult to realize " turning a somersault " and " rolling about " movement.
Although a degree of pitching can be done and rolling is motor-driven, 180 can not be realizedoIt is motor-driven, therefore at the two Not enough by the motor-driven realization rotation modulation of carrier in axial direction.
But there are some special carriers, such as submarine can be realized the motor-driven of complexity.
Course maneuvering is easily achieved for the carriers such as carrier aircraft, naval vessel and vehicle, therefore real by carrier course maneuvering Existing rotary motion to modulate the device error of guided weapon inertial navigation system, and then reduces systematic error, is Transfer Alignment and inertia Device estimation error and compensation 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 () be overlapped, then carry out course machine Dynamic, i.e., inertial navigation coordinate system is around z-axis direction with angular speedContinuous rotation, thenBetween moment inertial navigation coordinate system and navigational coordinate system Transition matrix may be expressed as:。
Using motor-driven construction rotate with directly rotate unlike inertial navigation coordinate system () and carrier coordinate system () be overlapped always, that is, keep the state of initial time.
MEMS strapdown connection measuring system attitude error model be, vertical along carrier Axis direction is x-axis, and vertical carrier is to for z-axis, by right-handed scale (R.H.scale) series structure carrier coordinate system,For calculating navigational coordinate system and very Attitude error between real navigational coordinate system,WithRespectively angular speed and angular speed error,For strapdown attitude matrix,It indicates in navigational coordinate systemIn system, navigational coordinate systemIt is relative inertness coordinate systemThe rotational angular velocity of system.
Rotation modulation is constructed when carrying out course maneuvering,It is to arriveThe Direct cosine matrix of system is, then Strapdown inertial measurement is rotated Posture angle error equation becomes:, butFor unit battle array, so attitude matrix is still It is, the parameter subscript in formula indicates the component value in respective coordinates system, and subscript indicates The coordinate system of relative motion.
In attitude error equationsBe angular speed error relative inertness systemExpression in system, i.e.,, whereinThe scale coefficient error of gyro:, For the gyroscope scale coefficient error of three axial directions；For the fix error angle of gyroscope:It is one Symmetrical matrix, i.e. 3 fix error angles,,；WithRespectively the constant value drift of gyroscope and Random drift.
Due to, so
, wherein including 4:
,, With。
First item
；
2nd
；
3rd；
4th。
Known by 1-4, by course maneuvering, constructs rotary motion, it can be installation error, scale coefficient error and constant value For shift modulation at periodic function, resolving by a cycle is 0, can significantly reduce error.
In practice due to being limited by carrier property and operator's operational capacity, when doing course maneuvering, matrixCan not be entirely, it may occur that in pitching or rolling direction Movement, i.e., can add a matrixOrOr pitching and rolling Movement exists simultaneously, that is, adds a matrix, due to the two Movement cannot construct rotary motion completely, i.e., can not modulation error, will increase fractional error, but the increased error in this part is to whole It can not consider for a system.
Bullet cannot must have when launch, during autonomous operation just always with carrier movement in practice It is unable to the error of modulating system, is autokinetic movement so designing a kind of error estimation in order to further decrease error Period carries out error compensation.
Error estimation step includes: that (1) bullet and carrier fly together, into navigational state；(2) carrier fromMoment arrives Moment carries out course maneuvering, recordThe ins error at moment；(3) existMoment carrier moves along a straight line, and arrives Moment meets, recordMoment ins error；(4) within the equal time, approximately uniform fortune External environment is moved, systematic error caused by the error of gyroscope should be the same, butMoment arrivesBetween moment, carrier Done it is motor-driven carried out rotation modulation, error can be reduced significantly, and the Time Duration Error that moves along a straight line can be very big, using the two it Between difference estimation the unit time in the error as caused by gyroscope are as follows:,； (4) it if time and condition allow, repeats the above process, is then averaged.
Since MEMS gyroscope is batch production, consistency with higher can demarcate comparison z-axis by turntable in advance The error characteristics and x of gyroscope, the similitude between the error characteristics of y-axis gyroscope, if z-axis gyro error characteristic and x, y The similarity of axis gyro error characteristic isWith, and then calculate the systematic error as caused by the error of z-axis gyroscope, indicate the error calculation that similarity takes greatly that axial.
It is an advantage of the current invention that (1) utilizing the motor-driven realization rotary motion of carrier, construction equivalent rotary modulation is eliminated and is removed Error in rotary axis direction；(2) the characteristics of utilizing MEMS gyroscope consistency can assist the error in estimation rotary axis direction； General carrier can course maneuvering, which is simply easily achieved, without adding other mechanical structures, Maintain small in size, at low cost, the advantages that low in energy consumption and resistance to shock is good.
Detailed description of the invention
Fig. 1 is that load bullet of the invention flies；
Fig. 2 is S mobile process of the invention；
The when program process of Fig. 3 construction rotation modulation.
Specific embodiment
Illustrate a specific embodiment of the invention below in conjunction with attached drawing and carrier aircraft (carrying bullet) are motor-driven.
Micro- inertia is constructed using MEMS gyroscope TL632B, accelerometer MVS6000 and DSP6713 as guidance core component Measuring system can achieve 0.1mg or more since accelerometer precision is higher, it is sufficient to the requirement of tactical weapon, and MEMS gyro Instrument precision is lower, and general tens degree of constant value drift or more, although the guidance for being more than ten seconds to more than 100 seconds to the effective time For weapon, error is also fatal, therefore precision must need height, include two aspect: one is to MEMS inertial measurement system sheet Body precision wants high, second is that initial value is accurate, especially attitude accuracy.
For carrier aircraft, it is easy to maneuvering flight before dropping a bomb, maneuvering flight is also required in reality (especially by other side When radar locks), it is certainly contemplated that actual condition (carrier aircraft performance and pilot driver ability), carrier aircraft is to be easily achieved Course maneuvering, and carrier aircraft is difficult to realize " turning a somersault " and " rolling about " movement in pitching and rolling direction, it can only achievement unit partite transport It is dynamic, such as the oscillating motion of wing, therefore rotation modulation is difficult in the two axial directions.
Such as Fig. 1, carrier aircraft hangs bullet flight, and bullet is hung over below wing.
Regardless of bullet in future hang over below wing or it is interior be embedded in cabin, rotation fortune can be constructed to missile-borne inertial navigation It is dynamic to carry out rotation modulation.
It is embedded in cabin if it is interior, when dropping a bomb, it may occur that rolling can use this rolling process construction folk prescription To rotary motion, as error modulation principle with the rotation modulation by motor-driven construction is.
Course maneuvering is done by carrier aircraft, realizes rotary motion, to modulate the error of guided weapon inertial navigation system, and then is reduced Error provides parameter for Transfer Alignment and inertial device error estimation and compensation.
If inertial navigation rotating coordinate system, carrier coordinate system, navigational coordinate system, inertial coodinate system, terrestrial coordinate system, with subscriptExpression rotating coordinate system,Indicate carrier aircraft coordinate system,Indicate navigation coordinate System,Indicate inertial coodinate system,Indicate navigational coordinate system.
If initial time inertial navigation coordinate system () and carrier aircraft coordinate system () be overlapped, then carry out such as Fig. 2 institute The S mobile process shown, i.e., inertial navigation is around z-axis direction with angular speedContinuous rotation, thenMoment inertial navigation coordinate system and navigational coordinate system Between transition matrix may be expressed as:
。
Using motor-driven construction rotate with directly rotate unlike inertial navigation coordinate system () and carrier aircraft coordinate system () be overlapped always, that is, keep the state of initial time.
MEMS strapdown connection measuring system attitude error model be, wherein as schemed Along carrier aircraft longitudinal axis it is x-axis shown in 1, vertical carrier aircraft is to for z-axis, by right-handed scale (R.H.scale) series structure carrier aircraft coordinate system),Indicate inertia Coordinate system,Indicate terrestrial coordinate system,To calculate the attitude error between navigational coordinate system and true navigational coordinate system,WithRespectively angular speed and angular speed error,For strapdown attitude matrix,It indicates in navigational coordinate systemIn system, navigation is sat Mark systemIt is relative inertness coordinate systemThe rotational angular velocity of system.
It is carrying out constructing rotation modulation when S is motor-driven,It is to arriveThe Direct cosine matrix of system is, then rotation type strapdown inertial navigation system System, attitude error equation become:, butFor unit battle array, so attitude matrix is still It is。
, the parameter subscript in formula indicates the component value in respective coordinates system, under Mark indicates the coordinate system of relative motion,The scale coefficient error of gyro are as follows:,It is three Axial gyroscope scale coefficient error；For the fix error angle of 3 gyroscopes:It is right for one Claim matrix, i.e.,,,；WithThe respectively constant value drift and random drift of gyroscope.
Due to, so
, wherein including 4:,,With。
First item
；
2nd
；
3rd；
4th。
It is by 1-4 it is found that motor-driven by S, rotary motion is constructed, it can be installation error and scale coefficient error and constant value Shift modulation periodic function, resolving by a cycle is 0, can significantly reduce error.
Although the course maneuvering of carrier aircraft can not be so perfect in reality, will necessarily introduce it is some additional motor-driven, i.e., Some errors can be introduced, but are the precision that system can be greatly improved enough for low precision inertial navigation.
Being hit by a bullet in reality to fly with carrier aircraft always, when must projecting away, during autonomous flight just not The error of energy modulating system designs a kind of error estimation in order to further decrease error, in the autonomous flight phase Between carry out error compensation.
Program process when estimation error as shown in Figure 3, which includes: that (1) bullet and carrier aircraft one are taken off Row, into navigational state；(2) carrier aircraft fromMoment arrivesMoment progress S is motor-driven, recordThe ins error at moment； (3) existMoment carrier aircraft is flown nonstop to, and is arrivedMoment meets, recordMoment ins error；(4) Within the equal time, approximate flight external environment, systematic error caused by the error of gyroscope should be the same, butMoment arrivesBetween moment, carrier aircraft done it is motor-driven carried out rotation modulation, error can be reduced significantly, and during flying nonstop to accidentally Difference can be very big, utilizes the error as caused by gyroscope in the difference estimation unit time between the two are as follows:,；(4) it if the time allows, repeats the above process, is then averaged.
Since MEMS gyroscope is batch production, consistency with higher can pass through turntable marked ratio in advance for rotation To z-axis gyro error characteristic and x, similitude between y-axis gyro error characteristic, if z-axis gyro error characteristic and x, y The similarity of axis gyro error characteristic isWith, and then calculate the systematic error as caused by the error of z-axis gyroscope, indicate the error calculation that similarity takes that axial.
Finally, it is stated that the above case study on implementation is only used to illustrate the technical scheme of the present invention rather than limits, it can be to this hair It is bright to modify or replace, without departing from the range of the technical program, it should all cover and work as in scope of the presently claimed invention In.

Claims (1)

1. a kind of error estimation of missile-borne inertial navigation, which is characterized in that along carrier y direction be x-axis, vertical carrier direction For z-axis, by right-handed scale (R.H.scale) series structure carrier coordinate system, inertial navigation coordinate system is overlapped with carrier coordinate system；The missile-borne inertial navigation x, y-axis To error estimation step include: that (1) bullet and carrier move together, into navigational state；(2) carrier is from t1Moment is to t2Moment Course maneuvering is carried out, t is recorded2The ins error at moment(3) in t2Moment carrier moves along a straight line, and arrives t3Moment, Meet t2-t1=t3-t2, record t3The ins error at moment(4) approximate to move extraneous ring within the equal time Border, ins error caused by the error of gyroscope should be the same, but in t1Moment is to t2Between moment, carrier has done course Motor-driven to have carried out rotation modulation, ins error can be reduced significantly, and ins error can be very big during moving along a straight line, and utilizes t3 The ins error and t at moment2Difference between the ins error at moment estimates the error in the unit time by x, y-axis gyroscope Caused ins error are as follows:(5) it if time and condition allow, repeats above-mentioned Step (1)~(4), are then averaged.
CN201610084989.8A 2016-02-15 2016-02-15 A kind of building method of the equivalent single-shaft-rotation inertial navigation of MEMS Expired - Fee Related CN105674987B (en)

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