CN105841698A - AUV rudder angle precise real-time measurement system without zero setting - Google Patents
AUV rudder angle precise real-time measurement system without zero setting Download PDFInfo
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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
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
The invention discloses an AUV rudder angle precise real-time measurement system without zero setting. An inertial navigation device is arranged in a position of mass center of a supporter platform of an AUV with three axes of the inertial navigation device being coincided with the three axes of the supporter platform, thereby measuring and calculating attitude information of the supporter platform of the AUV in a geographic coordinate system. A vertical rudder attitude measurement module is arranged in the position of the mass center of a vertical rudder plate of the AUV with three axes of the vertical rudder attitude measurement module being coincided with the three axes of the vertical rudder plate. A horizontal rudder attitude measurement module is arranged in the position of the mass center of a horizontal rudder plate of the AUV with three axes of the horizontal rudder attitude measurement module being coincided with the three axes of the horizontal rudder plate. An AUV rudder angle calculation module calculates attitude information of the vertical rudder plate and the horizontal rudder plate in the geographic coordinate system. With combination of the attitude information of the supporter platform, the vertical rudder plate and the horizontal rudder plate of the AUV and a relative movement relationship among the vertical rudder plate, the horizontal rudder plate and the AUV, vertical and horizontal rudder angles can be calculated. The system achieves precise and real-time measurement of the AUV rudder angles and is free of zero setting operation.
Description
Technical field
The invention belongs to underwater robot and control technical field, a kind of AUV (autonomous underwater vehicle) rudder angle precision real time measuring system without zeroing.
Background technology
AUV, as a kind of Autonomous Underwater Vehicle, when it performs task under water, is in most cases in Autonomous Control state.In order to realize underwater autonomous navigation function, AUV be equipped with can perception self attitude and the sensor of kinestate, and the instrument of AUV self-position can be extrapolated by these sensor informations, this system is usually inertial navigation system.The autonomous navigation control system of AUV forms the motor control actuator to AUV by information such as the AUV attitude, kinestate and the positions that obtain from inertial navigation system and (includes promoting mainly motor, steering wheel etc.) closed loop control, the most independently navigate by water function realizing AUV.
For the control of rudder angle, the Heading control during directly decision AUV the most independently navigates by water and Depth control effect.AUV rudder angle control uses closed loop control.The sensor being currently used in acquisition rudder angle feedback information mainly has potentiometer, photoelectric encoder and rotary transformer.The output of these sensors is the angle of the most a certain zero-bit.And the determination for rudder angle zero-bit the most generally uses the method estimated.This most inevitably brings bigger personal error to rudder angle measurement.Thus directly influence the performance that AUV the most independently navigates by water.
Summary of the invention
In view of this, the invention provides a kind of AUV rudder angle precision real time measuring system without zeroing, it is possible to eliminate the error brought of anthropic factor during AUV rudder angle is measured, it is achieved the measurement accurate, real-time of AUV rudder angle and zeroing operation need not be carried out.
In order to achieve the above object, the technical scheme is that a kind of AUV rudder angle precision real time measuring system without zeroing, resolve module including autonomous underwater vehicle AUV inertial navigation system, vertical rudder attitude measurement module, hydroplane attitude measurement module and AUV rudder angle.
AUV inertial navigation system comprises inertial navigation device and navigational computer, wherein at the centroid position of the carrier platform that inertial navigation device is arranged at AUV and its three axle overlaps with carrier platform three axle, its measure the AUV carrier platform attitude information that obtains through navigational computer resolve obtain AUV carrier platform in geographic coordinate system under attitude information.
Centroid position and its three axle of the vertical rudder plate that vertical rudder attitude measurement module is arranged in AUV overlap with three axles of vertical rudder plate.
Centroid position and its three axle of the horizontal rudder plate that hydroplane attitude measurement module is arranged in AUV overlap with three axles of horizontal rudder plate.
AUV rudder angle resolves module by wired or wireless communication interface real-time reception AUV inertial navigation system, vertical rudder attitude measurement module and the metrical information of hydroplane attitude measurement module；By the metrical information of vertical rudder attitude measurement module, calculate vertical rudder plate attitude information under geographic coordinate system；By the metrical information of hydroplane attitude measurement module, calculate horizontal rudder plate under geographic coordinate system attitude information；In conjunction with AUV carrier platform, vertical rudder plate, the attitude information of horizontal rudder plate and vertical rudder plate, horizontal rudder plate and the relative motion relation of AUV, calculate vertical rudder angle and diving-plane angle.
Further, attitude information includes course angle, the angle of pitch and roll angle.
Further, vertical rudder attitude measurement module and hydroplane attitude measurement module are the combination of micromechanical gyro MEMS gyroscope or 3 axis MEMS accelerometer and three axis magnetometer.
Further, when horizontal rudder plate is installed on AUV carrier platform, hydroplane board shaft is to parallel with AUV carrier platform dextrad, the north orientation of hydroplane attitude measurement module is consistent with the forward direction of AUV carrier platform coordinate system, the sky of hydroplane attitude measurement module to on AUV platform coordinate system to consistent, the east orientation of hydroplane attitude measurement module is consistent with the dextrad of AUV platform coordinate system.
When vertical rudder plate is installed on AUV carrier platform, vertical rudder board shaft to on AUV carrier platform to parallel；The north orientation of vertical rudder attitude measurement module is consistent with the forward direction of AUV carrier platform coordinate system, the sky of vertical rudder attitude measurement module to on AUV platform coordinate system to consistent, the east orientation of vertical rudder attitude measurement module is consistent with the dextrad of AUV platform coordinate system.
Beneficial effect:
The present invention is by being respectively provided with attitude measurement module on the carrier platform of AUV, vertical rudder plate and horizontal rudder plate, the rudder angle of AUV can be calculated by the way of enforcement resolves, this system can eliminate the error brought of anthropic factor during AUV rudder angle is measured, it is achieved the measurement accurate, real-time of AUV rudder angle and need not carry out zeroing operation.
Accompanying drawing explanation
Fig. 1 is the accurately real-time Cleaning Principle block diagram of the AUV rudder angle without zeroing:
Fig. 2 is inertial navigation set coordinate system and AUV carrier platform coordinate system relation.
Fig. 3 is the relation between geomagnetic coordinate system, geographic coordinate system and course angle Ψ, angle of pitch Θ, roll angle γ.
Fig. 4 is first kind attitude measurement modular structure, is mainly made up of three axis MEMS gyro and attitude algorithm microprocessing unit.
Fig. 5 is Equations of The Second Kind attitude measurement modular structure, is mainly made up of 3 axis MEMS accelerometer, three axis magnetometer and attitude algorithm microprocessing unit.
Fig. 6 is the 3rd class attitude measurement modular structure, is mainly made up of three axis MEMS gyro, 3 axis MEMS accelerometer, three axis magnetometer and attitude algorithm microprocessing unit.
Fig. 7 is the principle signal utilizing three axis accelerometer to solve the angle of pitch and roll angle.
Fig. 8 is that AUV carrier platform installs relation and relative motion mode with hydroplane and attitude measurement module thereof.
Fig. 9 is that AUV carrier platform installs relation and relative motion mode with vertical rudder and attitude measurement module thereof.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
Embodiment 1, a kind of AUV rudder angle precision real time measuring system without zeroing, its composition is as it is shown in figure 1, include autonomous underwater vehicle AUV inertial navigation system, and vertical rudder attitude measurement module, hydroplane attitude measurement module and AUV rudder angle resolve module.
AUV inertial navigation system comprises inertial navigation device and navigational computer, and wherein inertial navigation device is arranged at the centroid position of AUV and its three axle overlaps with AUV tri-axle, and the two coordinate relation is as shown in Figure 2.Its measure obtain AUV attitude information through navigational computer resolve obtain AUV in geographic coordinate system under attitude information.
Vertical rudder attitude measurement module is three axis angular rate measuring instruments, and centroid position and its three axle of the vertical rudder plate that this vertical rudder attitude measurement module is arranged in AUV overlap with three axles of vertical rudder plate.
Hydroplane attitude measurement module is three axis angular rate measuring instruments, and centroid position and its three axle of the horizontal rudder plate that this hydroplane attitude measurement module is arranged in AUV overlap with three axles of horizontal rudder plate.
AUV rudder angle resolves module by wired or wireless communication interface real-time reception AUV inertial navigation system, vertical rudder attitude measurement module, the metrical information of hydroplane attitude measurement module；By the metrical information of vertical rudder attitude measurement module, calculate vertical rudder plate attitude information under geographic coordinate system；By the metrical information of hydroplane attitude measurement module, calculate horizontal rudder plate under geographic coordinate system attitude information；In conjunction with AUV, vertical rudder plate, the attitude information of horizontal rudder plate and vertical rudder plate, horizontal rudder plate and the relative motion relation of AUV, calculate vertical rudder angle and diving-plane angle.Wherein the relation between geomagnetic coordinate system, geographic coordinate system and course angle Ψ, angle of pitch Θ, roll angle γ is as shown in Figure 3.
In the present embodiment, attitude information includes course angle, the angle of pitch and roll angle.
Three axis angular rate measuring instruments can be micromechanical gyro MEMS gyroscope or be combined with three axis magnetometer by 3 axis MEMS accelerometer.
Embodiment 2,
In the present embodiment, three axis angular rate measuring instruments can be micromechanical gyro MEMS gyroscope or be combined with three axis magnetometer by 3 axis MEMS accelerometer.
It is wherein micromechanical gyro MEMS gyroscope when three axis angular rate measuring instruments, comprises the steps:
Step 1, based on three-axis gyroscope signal, use the method such as quaternary number or rotating vector, Eulerian angles, direction cosines, try to achieve three attitude angle, such attitude measurement module primary structure is as shown in Figure 4；
(1) equivalent rotating vector method is utilized to calculate quaternary number
T=1/3h, the increment θ at each angle (angle of pitch, course angle and roll angle, all obtained) during t=2/3h, t=h (h is incremental time) is increased by gyroscope on the basis of a, respectively calculating moment T1, θ2And θ3；
B, calculating current pose angle The angle of pitch for current time；
C, it is calculated as follows increment quaternary number q (h): q (h)=C, wherein
φ0For initial value；
D, utilizationCalculate quaternary number Q (T+h) after updating, whereinRepresent quaternary number multiplication；The quaternary number that initial value is initial time of Q (T), attitude and angular velocity (gyroscope) according to initial time are calculated；
E, make Q (T)=Q (T+h), return the first step
F, calculate rotation quaternary number after, i.e. can be calculated corresponding attitude angle by below step 2.
Step 2, by rotate quaternary number calculate attitude angle
Attitude contacts carrier coordinate system and the parameter of reference frame (geographic coordinate system) Angle Position change exactly.Euler's horn cupping and Quaternion method are the conventional two ways representing rotation relation change.The vector of geographic coordinate systemVector to carrier coordinate systemBetween rotation variation relation can be expressed asWherein T is direction cosine matrix:
ψ in above formula, θ, γ are respectively the course angle of coordinate system pose conversion, the angle of pitch, roll angle.Rotational transform relation between Two coordinate system can also be expressed as follows with quaternary number:
Attitude angle can be obtained by upper two formulas and rotate the mutual relation of quaternary number:
θ=arcsin (2 (q1q3-q0q2))
Thus calculate the attitude angle obtaining current time T+h.
2, based on three axis accelerometer and three axis magnetometer, utilizing the direction cosines conversion between geographic coordinate system and AUV carrier platform coordinate system of geomagnetic field and gravitational field to carry out absolute angle resolving and obtain three attitude angle, such attitude measurement module primary structure is as shown in Figure 5；Principle is as it is shown in fig. 7, comprises following steps:
Step (1) utilizes 3-axis acceleration to count and solves the angle of pitch and roll angle；
First the acceleration of gravity measuring the earth with accelerometer respectively is f at the component of three coordinate axess of moving coordinate systemb=[fx b fy b fz b]T.Owing to the direction of course angle is orthogonal with the direction of terrestrial gravitation acceleration all the time, so the change of course angle can't affect the numerical value of attitude angle, at this moment first the size that can make course angle is 0 °, i.e. ψ=0, thus simplifies direction cosine matrix and be beneficial to calculate the attitude angle of carrier.Now attitude matrix in advance is as follows:
θ is the angle of pitch,Roll angle.
The course angle finally tried to achieve is based on magnetic geographic coordinate system, so writing out output valve f of Gravity accelerometer under magnetic geographic coordinate systemb=Cfn
Obtain so bringing C into above formula
Pitching angle theta, roll angle can be tried to achieve by above formulaIt is respectively as follows:
Step (2) utilizes three axis magnetometer data to solve course angle (azimuth)
The azimuth of space vehicles utilizes magnetic field strength transducer to record.Earth's magnetic field component H in carrier coordinate system is measured first with magnetic field strength transducerb=[Hx b Hy b Hz b]T。
When magnetic geographic coordinate system overlaps with carrier coordinate system when, owing to the magnetic line of force is perpendicular to OE axle (geographical east to), so the component that magnetic field is on three axles is Hn=[Hx n 0 Hz n]T, Hx nThe component produced in X-axis by earth's magnetic field when overlapping with carrier coordinate system for magnetic geographic coordinate system, Hz nThe component produced on carrier coordinate system Z axis by earth's magnetic field when overlapping with carrier for magnetic geographic coordinate system.After carrier coordinate system deflects, at component H produced by corresponding coordinate axlebFor
C is attitude matrix in advance, owing to C is that orthogonal matrix has relational expression CT=C-1, it is possible to obtain lower relation of plane:
Therefore
Hy n=cos θ Hy b-sinθHz b
Can be obtained course angle by formula above is ψ=arctan (Hy n/Hx n)
Owing to the definition territory of tan is at (-2/ π, 2/ π), in order to avoid occurring beyond definition territory scope, it is defined below:
ψ=270, (Hx n=0, Hy n＜ 0)
ψ=90, (Hx n=0, Hy n＞ 0)
ψ=180+arctan (Hy n/Hx n)*(180/π),(Hx n＜ 0)
ψ=arctan (Hy n/Hx n)*(180/π),(Hx n＞ 0, Hy n＞ 0)
ψ=360+arctan (Hy n/Hx n)*(180/π),(Hx n＞ 0, Hy n＜ 0)
Because north geographic pole differs with the arctic, magnetic field of the earth, representing geographical meridional plane and earth surface anywhere absolute force vector place vertical plane angle with magnetic declination α, this angle can be obtained by tabling look-up with longitude and latitude as reference.So, carrier can use ψ relative to the course angle of geographic northM=ψ ± α represents.
3, the 3rd class attitude measurement modular structure, is mainly made up of three axis MEMS gyro, 3 axis MEMS accelerometer, three axis magnetometer and attitude algorithm microprocessing unit.Wherein, the angular velocity of three axles of three axis MEMS gyro output；3 axis MEMS accelerometer three axial acceleration of output；Magnetic field intensity on three axis magnetometer three axles of output；Attitude algorithm microprocessing unit calculates first group of course angle, the angle of pitch and roll angle information by the output information of 3 axis MEMS gyro, second group of course angle, the angle of pitch and roll angle information is calculated by the output information of 3 axis MEMS accelerometer and three axis magnetometer, then utilize the means such as specialist system, Kalman filtering, neutral net that two groups of course angles, the angle of pitch and roll angle carry out information fusion, obtain the most accurate attitude information.
In the present embodiment, centroid position and its three axle of the horizontal rudder plate that hydroplane attitude measurement module to be ensured is arranged in AUV overlap with three axles of horizontal rudder plate, following mounting means should be used: when horizontal rudder plate is installed on AUV carrier platform, need to ensure that hydroplane board shaft is to parallel with AUV carrier platform dextrad.The north orientation of hydroplane attitude measurement module is consistent with the forward direction of AUV carrier platform coordinate system, the sky of attitude measurement module to on AUV platform coordinate system to consistent；The east orientation of attitude measurement module is consistent with the dextrad of AUV platform coordinate system.Then hydroplane can only be parallel to AUV carrier platform forward direction and on to plane in be rotated with AUV carrier platform dextrad for axle.I.e. during manipulation hydroplane, for the plane at horizontal rudder plate place is relative to AUV carrier platform, only exist the relative motion of pitch orientation.Mounting means between AUV carrier platform and hydroplane and relative position relation and relative motion mode thereof are as shown in Figure 8.
Centroid position and its three axle of the vertical rudder plate that vertical rudder attitude measurement module to be ensured is arranged in AUV overlap with three axles of vertical rudder plate, specifically can use following mounting means: when vertical rudder plate is installed on AUV carrier platform, need to ensure vertical rudder board shaft to on AUV carrier platform to parallel；In vertical rudder, the north orientation of attitude measurement module is consistent with the forward direction of AUV carrier platform coordinate system, the sky of attitude measurement module to on AUV platform coordinate system to consistent, the east orientation of attitude measurement module is consistent with the dextrad of AUV platform coordinate system.Then vertical rudder can only be rotated to for axle within being parallel to the plane of AUV carrier platform forward direction and dextrad on AUV carrier platform.I.e. during manipulation vertical rudder, for the plane at vertical rudder plate place is relative to AUV carrier platform, only exist the relative motion in direction, course.Mounting means between AUV carrier platform and vertical rudder and relative position relation and relative motion mode thereof are as shown in Figure 9.
To sum up, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (4)
1. the AUV rudder angle precision real time measuring system without zeroing, it is characterised in that include under water
Autonomous aircraft AUV inertial navigation system, vertical rudder attitude measurement module, hydroplane attitude measurement module and
AUV rudder angle resolves module；
Described AUV inertial navigation system comprises inertial navigation device and navigational computer, wherein inertial navigation device
At the centroid position of the carrier platform that part is arranged at AUV and its three axle overlaps with carrier platform three axle, it is surveyed
The AUV carrier platform attitude information that amount obtains obtains AUV carrier platform through the resolving of described navigational computer and exists
Attitude information under geographic coordinate system；
The centroid position of the vertical rudder plate that described vertical rudder attitude measurement module is arranged in AUV and its three axle
Overlap with three axles of vertical rudder plate；
The centroid position of the horizontal rudder plate that described hydroplane attitude measurement module is arranged in AUV and its three axle
Overlap with three axles of horizontal rudder plate；
Described AUV rudder angle resolves module by wired or wireless communication interface real-time reception AUV inertial navigation
System, vertical rudder attitude measurement module and the metrical information of hydroplane attitude measurement module；By vertical rudder appearance
The metrical information of state measurement module, calculates vertical rudder plate attitude information under geographic coordinate system；Pass through water
The metrical information of flat rudder attitude measurement module, calculate horizontal rudder plate under geographic coordinate system attitude information；
In conjunction with AUV carrier platform, vertical rudder plate, the attitude information of horizontal rudder plate and vertical rudder plate, horizontal rudder plate with
The relative motion relation of AUV, calculates vertical rudder angle and diving-plane angle.
A kind of AUV rudder angle precision real time measuring system without zeroing the most according to claim 1,
It is characterized in that: described attitude information includes course angle, the angle of pitch and roll angle.
A kind of AUV rudder angle precision real time measuring system without zeroing the most according to claim 1,
It is characterized in that, described vertical rudder attitude measurement module and hydroplane attitude measurement module are micromechanical gyro
The combination of MEMS gyroscope or 3 axis MEMS accelerometer and three axis magnetometer.
A kind of AUV rudder angle precision real time measuring system without zeroing the most according to claim 1,
It is characterized in that, when described horizontal rudder plate is installed on AUV carrier platform, hydroplane board shaft to AUV
Carrier platform dextrad is parallel, the north orientation of hydroplane attitude measurement module and the forward direction of AUV carrier platform coordinate system
Unanimously, the sky of hydroplane attitude measurement module to on AUV platform coordinate system to consistent, hydroplane attitude
The east orientation of measurement module is consistent with the dextrad of AUV platform coordinate system；
When vertical rudder plate is installed on AUV carrier platform, vertical rudder board shaft to AUV carrier platform on to
Parallel；The north orientation of vertical rudder attitude measurement module is consistent with the forward direction of AUV carrier platform coordinate system, vertical rudder
The sky of attitude measurement module to on AUV platform coordinate system to consistent, the east of vertical rudder attitude measurement module
To consistent with the dextrad of AUV platform coordinate system.
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| CN106444809A (en) * | 2016-10-12 | 2017-02-22 | 湖南绿野航空科技有限公司 | Flight controller for unmanned plane |
| CN106527453A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship depth-keeping navigation control system and method |
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| CN108776484A (en) * | 2018-05-07 | 2018-11-09 | 约肯机器人（上海）有限公司 | Underwater direction regulating method and device |
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| CN107894775A (en) * | 2017-10-16 | 2018-04-10 | 中国科学院声学研究所 | A kind of drive lacking UAV navigation Track Pick-up and control method |
| CN108776484A (en) * | 2018-05-07 | 2018-11-09 | 约肯机器人（上海）有限公司 | Underwater direction regulating method and device |
| CN109283015A (en) * | 2018-10-09 | 2019-01-29 | 华中科技大学 | A kind of multifunctional water downsampling device of polymorphic type complex sample uniform sampling |
| CN110514200A (en) * | 2019-08-13 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of inertial navigation system and high revolving speed posture of rotator measurement method |
| CN110514200B (en) * | 2019-08-13 | 2023-03-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Inertial navigation system and high-rotation-speed rotating body attitude measurement method |
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