CN106017452B - Double tops disturbance rejection north finding method - Google Patents
Double tops disturbance rejection north finding method Download PDFInfo
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- CN106017452B CN106017452B CN201610652040.3A CN201610652040A CN106017452B CN 106017452 B CN106017452 B CN 106017452B CN 201610652040 A CN201610652040 A CN 201610652040A CN 106017452 B CN106017452 B CN 106017452B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/728—Assemblies for measuring along different axes, e.g. triads
Abstract
The invention discloses a kind of double tops disturbance rejection north finding method, step includes: 1. to initialize north-seeking system；2. gyro/accelerometer data acquisition；3. initial binding pitch angle, roll angle construct day to virtual information, realize the building of full posture inertia device information；4. utilizing inertia technique of alignment, azimuthal information is calculated and exports, north is sought in end.The present invention still ensures that north-seeking system is working properly in the case where occurring external disturbance during seeking north, seeks that northern result is effective, is truly realized under disturbance and seeks north；The mechanical structured members such as indexing mechanism are eliminated, north-seeking system internal structure complexity is reduced, mitigates north-seeking system weight；The posture and azimuth information of carrier can also be provided in real time.
Description
Technical field
The invention belongs to inertia to seek northern technical field, and in particular to a kind of north finding method of double tops disturbance rejection.
Background technique
Gyroscope north searching system is one of the important achievement of inertial technology application, it determines north by sensitive earth rotation
To, it round-the-clock can reliably work, not influenced by external environment such as earth magnetic field, landform, weather etc., it can be not any
Automated north-seeking function is realized in the case where external azimuth information, measures local geographical north orientation.Current north-seeking system, it is most
Using single gyro, corresponding north orientation is settled accounts after realizing position rotation by indexing mechanism.Two positions can be divided by turned position
Method, four position methods, Multiple station method and continuous rotation debugging.No matter anything is used to seek northern formula, north-seeking system is in the mistake used
It is always influenced by various disturbances in journey, mainly has fitful wind, the vibration of engine, personnel for vehicle-mounted north-seeking system disturbing source
Walk about, the sedimentation of ground etc., the disturbance of pedestal can seriously reduce the north finding precision of system.In order to reduce various disturbances to seeking north
The influence of precision, currently used method are all confined to filtering and number to inertia type instrument i.e. gyro, accelerometer output valve
Processing, these methods can effectively eliminate influence of the high frequency components to north-seeking system.In practical applications, especially pedestal disturbance
In when including larger low-frequency noise, cannot often be compared using the method for directly exporting value filtering and digital processing to inertia type instrument
Comparatively ideal effect.
Summary of the invention
For deficiency of the prior art, problem solved by the invention is, how to provide one kind and disturbs in presence
It remains to work normally in the case where dynamic, output is effectively as a result, guarantee the north finding method of north finding precision.
To achieve the above object, the present invention uses following scheme:
Double tops disturbance rejection north finding method, the specific steps are as follows:
Step 1: north-seeking system is initialized；
Step 2: acquisition X-axis, Y-axis optical fibre gyro and accelerometer output information demarcate the parameter of inertia device；It is specific next
Say, 1) in a latitude it is known that and under the turntable of calibration, by acquiring the X-axis of equally distributed 12 horizontal positions, Y-axis
Gyro output data calibrates 8 parameters in double optical fibre gyro error models；2) under turntable, pass through the sensitive positive and negative earth
Acceleration of gravity information, under the conditions of 6 kinds of acquisition, X-axis, Y-axis accelerometer output data calibrate dual acceleration meter error model
In 8 parameters；
Step 3a: to two parameters of pitch angle and roll angle, whether initial binding is crossed and is judged, if being judged as NO,
Initial calculation binds two parameters of pitch angle and roll angle；If being judged as YES, joined using updated pitch angle and roll angle
Number；
Step 3b: by two pitch angle, roll angle parameters one described in demarcated in step 2 16 parameters and step 3a
With building day to virtual information, i.e., day is to gyro virtual information and day to accelerometer virtual information, to realize to full posture
The building of inertia device information；
Step 4: utilize inertial system technique of alignment, computer azimuth angle, pitch angle, roll angle information；With calculated cross
Roll angle and pitch angle information update roll angle and pitching angular dimensions described in step 3a；Calculated azimuth information is exported,
Seeking northern process terminates.
Further, Rule of judgment is arranged before seeking northern process and terminating to repeat step 2~4 to obtain in the step 4
Satisfactory it must seek northern result；If being judged as YES, seeking northern process terminates, if being judged as NO, returns to step 2.
In addition, 12 can be not limited to the acquisition position of gyro output data in step 2, it is also possible to 4,8 etc..
Since using linear regression, come fitting parameter, in the range of 0-360 °, data distribution is more uniform, then the parameter being fitted is more quasi-
Really.If increasing acquisition position, first is that it is time-consuming, second is that excessive acquisition position has little significance for fitting；If acquisition position
Very few, then the parameters precision fitted is not high.Comprehensively consider factors above, to achieve the object of the present invention, acquisition position should not
Less than 4.
Further, the specific scaling method of inertia device is as follows in the step 2:
Corresponding attitude matrix are as follows:
1) optical fibre gyro parameter calibration:
Double optical fibre gyro error models:
X-axis gyro:
Y-axis gyro:
Above in two formulas, Wbx, WbyIt is X-axis and Y-axis gyro output information, W respectively0x, W0yIt is that X-axis and Y-axis gyro are defeated respectively
Zero-bit out,It is measured value of the gyro to carrier angular speed, Kxx, KyyIt is X-axis and Y-axis gyro scale system respectively
Number, kxy, kzx, kxy, kzyIt is gyro cross-coupling coefficient respectively；
In latitude it is known that and under the conditions of horizontal stationary, have following three formula:
In above formula, ωieIt is rotational-angular velocity of the earth, is constant；It brings (4) formula into (2), (3) formula, has
Wbx=W0x+Kxx(-ωiesinψcosL)+kyx(ωiecosψcosL)+kzx(ωiesinL) (5)
Wby=W0y+kxy(-ωiesinψcosL)+Kyy(ωiecosψcosL)+kzy(ωiesinL) (6)
It demarcates during gyro, remains horizontal stationary, calibration azimuthal point is successively chosenPhase
The X-axis gyro and Y-axis gyro answered export
Following two matrixes are constructed,
8 parameters in X matrix, as double optical fibre gyro error models (2), (3) formula parameter, so in a latitude
It is known that and calibration turntable under, by acquire 12 horizontal positions gyro output data, above 8 parameters can be calibrated；
2) accelerometer is demarcated
Dual acceleration meter error model is as follows:
Above in two formulas, Vax, VayIt is X-axis and Y-axis accelerometer output information, K respectivelyax0, Kax0It is X-axis and Y-axis respectively
Accelerometer exports zero-bit,It is measured value of the accelerometer to carrier specific force, Kaxx, KayyBe respectively X-axis and
Y-axis accelerometer calibration factor, kaxy, kazx, kaxy, kazyIt is accelerometer cross-coupling coefficient respectively；
When accelerometer is demarcated, under quiescent conditions, successively chooses X-axis, Y-axis, the positive negative G of Z axis accelerometer sensitive and add
Speed, corresponding X-axis accelerometer and the output of Y-axis accelerometer are
Following two matrixes are constructed,
8 parameters in X matrix, the as parameter of dual acceleration meter error model (8) formula, so passing through under turntable
Sensitive positive and negative terrestrial gravitation acceleration information, under the conditions of 6 kinds of acquisition, X-axis Y-axis accelerometer output data can calibrate above 8
A parameter.
Further, the specific construction method of day to virtual information is as follows in the step 3b:
1) day is constructed to gyro virtual information
Had according to Eulerian equation:
Consider angular speed dynamic constrained condition, angular speed is zero in carrier orientation, i.e.,
Bringing above formula into has, and obtains attitude angular velocity constraint equation:
Arrangement obtains:
In view of there is following formula establishment
Known according to the error model in (2), (3), the output of X-axis gyro and Y-axis gyro is
(14) are brought into (15), are obtained:
Wherein
System is static in navigational coordinate system when due to seeking north, and navigational coordinate system does not turn with respect to terrestrial coordinate system
It is dynamic, soIt is zero, therefore under the coordinate system of northeast day
So that
2) day is constructed to accelerometer virtual information
Had according to specific force equation:
Consider the dynamic constrained condition of carrier line movement, the velocity and acceleration in vertical direction is zero, and level side
Upward velocity is 0, i.e.,
Bringing above formula into has
Arrange day to acceleration information are as follows:
The output of Z axis accelerometer are as follows:
Known according to the error model in (8) formula, the output of X accelerometer and Y accelerometer is
(24) are brought into (25), are obtained:
So that
According to the data that (19) above and (27) construct, complete Three Degree Of Freedom inertia device data are just constituted.
Further, the method in the step 4 using inertial system alignment computer azimuth angle is as follows:
The quaternary number form formula of attitude matrix is as follows
Wherein
Initial time,It seeks during north, carrier is in opposing stationary, and without speed
Degree, at this time For the gyro data in (19) formula, i.e.,
Use the complete card solving method of quaternion differential equation that can obtain with real-time update (29) formulaWith
Due to having
(28) formula is brought into (30) formula to obtain:
Arrangement obtains:
Left kernel function and right kernel function are respectively as follows: in formula
To solveIt is converted into seeking matrixThe corresponding characteristic vector of minimal eigenvalue, will solve
After arrivingBring into (28) formula obtain it is newOrientation, pitching, roll information just can be obtained；
Orientation:
Pitching: θ=asin (2 (q2q3+q0q1)) (34)
Roll:
Wherein
Further, the method for pitch angle and the initial binding of roll angle is as follows in the step 3a:
(27) formula of control, does not consider that day to relevant parameter, has:
Pitch angle and roll angle are calculated using horizontal accelerometer output information at this time:
Technique of alignment in mature disturbance rejection Initial Alignment Technique and under inertial system, needs three axis of full posture
Gyro output information, three axis accelerometer output information, after alignment, azimuth information is exactly the final output knot of north-seeking system
Fruit.It is (equal to angular rate information and acceleration information to construct day using certain formula in double tops disturbance rejection north finding method
For virtual information), such virtual construct goes out full posture Inertia information, recycles the technique of alignment under inertial system, so that it may realize
Northern technology is sought under disturbance rejection.
Compared with the prior art, the invention has the following beneficial effects:
1, the advantage of the invention is that occurring fitful wind during seeking north, engine luggine, personnel walk about, settlement of foundation etc.
When including larger low-frequency noise in the case where disturbance, especially in pedestal disturbance, still ensures that north-seeking system is working properly, seek north
As a result effectively, it is truly realized under disturbance and seeks north；
2, in traditional north finder system, by indexing mechanism, single gyro is realized in different time period, it is sensitive mutual respectively
Rotational-angular velocity of the earth component information on orthogonal 4 positions carries out seeking northern resolving；The advantage of the invention is that eliminating indexing
The mechanical structured members such as mechanism reduce north-seeking system internal structure complexity, mitigate north-seeking system weight；
3, in traditional north finder system, azimuth information can only be provided after finally seeking north and terminating；Advantages of the present invention
It is have the posture and azimuth information that can provide carrier in real time.
Detailed description of the invention
Fig. 1 is the flow chart of double tops disturbance rejection north finding method embodiment.
Specific embodiment
In calibration and calculating process of the invention, it is all made of northeast day coordinate system, 312 turns of sequences, i.e., around-Z axis rotation ψ
(azimuth) then turns about the X axis θ (pitch angle), finally rotates γ (roll angle) around Y-axis, and inertia device demarcates the latitude of position
Degree is L.Present invention is further described in detail with reference to the accompanying drawing, and embodiments of the present invention are not limited thereto.
Embodiment:
Double tops disturbance rejection north finding method, as shown in Figure 1, the specific steps are as follows:
Step 1: north-seeking system is initialized.
Step 2: acquisition X-axis, Y-axis optical fibre gyro and accelerometer output information demarcate the parameter of inertia device；It is specific next
Say, 1) in a latitude it is known that and under the turntable of calibration, by acquiring the X-axis of equally distributed 12 horizontal positions, Y-axis
Gyro output data calibrates 8 parameters in double optical fibre gyro error models；2) under turntable, pass through the sensitive positive and negative earth
Acceleration of gravity information, under the conditions of 6 kinds of acquisition, X-axis, Y-axis accelerometer output data calibrate dual acceleration meter error mould
8 parameters in type.
Step 3a: to two parameters of pitch angle and roll angle, whether initial binding is crossed and is judged, if being judged as NO,
Initial calculation binds two parameters of pitch angle and roll angle；If being judged as YES, joined using updated pitch angle and roll angle
Number.
Step 3b: by two pitch angle, roll angle parameters one described in demarcated in step 2 16 parameters and step 3a
With building day to virtual information, i.e., day is to gyro virtual information and day to accelerometer virtual information, to realize to full posture
The building of inertia device information.
Step 4: utilize inertia technique of alignment, computer azimuth angle, pitch angle, roll angle information；With calculated roll
Angle and pitch angle information update roll angle and pitching angular dimensions described in step 3a；Calculated azimuth information is exported, is sought
Northern process terminates；Before terminating to seek north, step 2~4 can be repeated to be met the requirements by setting Rule of judgment
Seek north as a result, such as will " seek the northern time < 3min " as Rule of judgment, if being judged as YES, the Beiliu City Ze Xun journey terminates, if judging
Be it is no, then return to step 2.
It is that the specific of data calculation formula in each step deduces and compare with the test data of the prior art below:
(1) the specific scaling method of inertia device is as follows in the step 2:
Corresponding attitude matrix are as follows:
1) optical fibre gyro parameter calibration:
Double optical fibre gyro error models:
X-axis gyro:
Y-axis gyro:
Above in two formulas, Wbx, WbyIt is X-axis and Y-axis gyro output information, W respectively0x, W0yIt is that X-axis and Y-axis gyro are defeated respectively
Zero-bit out,It is measured value of the gyro to carrier angular speed, Kxx, KyyIt is X-axis and Y-axis gyro scale system respectively
Number, kxy, kzx, kxy, kzyIt is gyro cross-coupling coefficient respectively.
In latitude it is known that and under the conditions of horizontal stationary, have following three formula:
In above formula, ωieIt is rotational-angular velocity of the earth, is constant.It brings (4) formula into (2), (3) formula, has
Wbx=W0x+Kxx(-ωiesinψcosL)+kyx(ωiecosψcosL)+kzx(ωiesinL) (5)
Wby=W0y+kxy(-ωiesinψcosL)+Kyy(ωiecosψcosL)+kzy(ωiesinL) (6)
It demarcates during gyro, remains horizontal stationary, calibration azimuthal point is successively chosenPhase
The X-axis gyro and Y-axis gyro answered export
Following two matrixes are constructed,
8 parameters in X matrix, as double optical fibre gyro error models (2), (3) formula parameter, so in a latitude
It is known that and calibration turntable under, by acquire 12 horizontal positions gyro output data, above 8 parameters can be calibrated.
2) accelerometer is demarcated
Dual acceleration meter error model is as follows:
Above in two formulas, Vax, VayIt is X-axis and Y-axis accelerometer output information, K respectivelyax0, Kax0It is X-axis and Y-axis respectively
Accelerometer exports zero-bit,It is measured value of the accelerometer to carrier specific force, Kaxx, KayyBe respectively X-axis and
Y-axis accelerometer calibration factor, kaxy, kazx, kaxy, kazyIt is accelerometer cross-coupling coefficient respectively.
When accelerometer is demarcated, under quiescent conditions, successively chooses X-axis, Y-axis, the positive negative G of Z axis accelerometer sensitive and add
Speed, corresponding X-axis accelerometer and the output of Y-axis accelerometer are
Following two matrixes are constructed,
8 parameters in X matrix, the as parameter of dual acceleration meter error model (8) formula, so passing through under turntable
Sensitive positive and negative terrestrial gravitation acceleration information, under the conditions of 6 kinds of acquisition, X-axis Y-axis accelerometer output data can calibrate above 8
A parameter.
(2) it is as follows to the specific construction method of virtual information in the step 3b:
1) day is constructed to gyro virtual information
Had according to Eulerian equation:
Consider angular speed dynamic constrained condition, angular speed is zero in carrier orientation, i.e.,
Bringing above formula into has, and obtains attitude angular velocity constraint equation:
Arrangement obtains:
In view of there is following formula establishment
Known according to the error model in (2), (3), the output of X-axis gyro and Y-axis gyro is
(14) are brought into (15), are obtained:
Wherein
System is static in navigational coordinate system when due to seeking north, and navigational coordinate system does not turn with respect to terrestrial coordinate system
It is dynamic, soIt is zero, therefore under the coordinate system of northeast day
So that
2) day is constructed to accelerometer virtual information
Had according to specific force equation:
Consider the dynamic constrained condition of carrier line movement, the velocity and acceleration in vertical direction is zero, and level side
Upward velocity is 0, i.e.,
Bringing above formula into has
Arrange day to acceleration information are as follows:
The output of Z axis accelerometer are as follows:
Known according to the error model in (8) formula, the output of X accelerometer and Y accelerometer is
(24) are brought into (25), are obtained:
So that
According to the data that (19) above and (27) construct, complete Three Degree Of Freedom inertia device data are just constituted.
(3) method in the step 4 using inertial system alignment computer azimuth angle is as follows:
The quaternary number form formula of attitude matrix is as follows
Wherein
Initial time,It seeks during north, carrier is in opposing stationary, and without speed
Degree, at this time For the gyro data in (19) formula, i.e.,
Use the complete card solving method of quaternion differential equation that can obtain with real-time update (29) formulaWith
Due to having
(28) formula is brought into (30) formula to obtain:
Arrangement obtains:
Left kernel function and right kernel function are respectively as follows: in formula
To solveIt is converted into seeking matrixThe corresponding characteristic vector of minimal eigenvalue.It is specific to solve
Process can be with reference to Section 3.6 in publishing house of Tsinghua University " the C algorithms most in use procedure set-second edition ": " Orthonormal Eigenvectors of Real Symmetric Matrices
The Jacobi of eigen vector reaches a standard method ".It will solve after obtainingBring into (28) formula obtain it is newIt can
Obtain orientation, pitching, roll information.
Orientation:
Pitching: θ=asin (2 (q2q3+q0q1)) (34)
Roll:
Wherein
(4) method of pitch angle and the initial binding of roll angle is as follows in the step 3a:
(27) formula of control, does not consider that day to relevant parameter, has:
Pitch angle and roll angle are calculated using horizontal accelerometer output information at this time:
Before constructing data, by (19) formula and (27) formula it is found that needing to know 8 calibrating parameters of gyro, accelerating
8 calibrating parameters and pitch angle, roll angle of meter are spent, 18 parameters are amounted to.Wherein, preceding 16 parameters are in inertia device mark
It can be calculated in fixed test；Latter two parameter (pitch angle, roll angle) needs north-seeking system initial calculation to bind, subsequent to bow
The elevation angle, roll angle can use (34) formula and (35) formula calculated result participates in later period operation.Pitch angle and roll angle initial calculation
Bookbinding is calculated using above-mentioned formula.
(5) comparison of the present invention and traditional north finding method:
In conventional method north-seeking system, northern technology is sought using 2 position of flexible gyroscope, disturbance rejection north finding method uses double tops
Double accelerometers seek north, certain comparative test result is shown in Table 1.
1 data comparison of table
Above test data show using double tops disturbance rejection north finding method of the invention not only in static test with biography
North-seeking system north finding precision of uniting is suitable；When there are in the case of external disturbance, traditional north-seeking system north finding precision is substantially reduced, defeated
Result cannot use at all out, and double tops disturbance rejection north finding method is used still can to guarantee north finding precision (1 σ < 0.1 °).
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of inventive technique scheme, should all be covered in this hair
In bright scope of the claims.
Claims (6)
1. double tops disturbance rejection north finding method, it is characterised in that specific step is as follows:
Step 1: north-seeking system is initialized；
Step 2: acquisition X-axis, Y-axis optical fibre gyro and accelerometer output information demarcate the parameter of inertia device；Specifically,
1) in a latitude it is known that and under the turntable of calibration, pass through the X-axis of equally distributed 12 horizontal positions of acquisition, the gyro of Y-axis
Output data calibrates 8 parameters in double optical fibre gyro error models, 8 ginsengs in double optical fibre gyro error models
Number is respectively W0x、W0y、Kxx、Kyy、kxy、kzx、kxyAnd kzy, wherein W0x, W0yIt is X-axis and Y-axis gyro output zero-bit, K respectivelyxx,
KyyIt is X-axis and Y-axis gyro calibration factor, k respectivelyxy, kzx, kxy, kzyIt is gyro cross-coupling coefficient respectively；2) under turntable,
By sensitive positive and negative terrestrial gravitation acceleration information, under the conditions of 6 kinds of acquisition, X-axis, Y-axis accelerometer output data are calibrated double
8 parameters in accelerometer error model, 6 kinds of conditions include X-axis accelerometer difference sensitivity ± 1g, Y-axis acceleration
Sensitivity ± 1g, the accelerometer of imaginary axis Z axis distinguish the accelerometer output information under sensitivity ± 1g, double acceleration to meter respectively
8 parameters in degree meter error model include Kax0、Kay0、Kaxx、Kayy、kaxy、kazx、kaxyAnd kazy, wherein Kax0、Kay0Respectively
It is X-axis and Y-axis accelerometer output zero-bit, Kaxx、KayyIt is X-axis and Y-axis accelerometer calibration factor, K respectivelyaxy、kazx、kaxy
And kazyIt is accelerometer cross-coupling coefficient respectively；
Double optical fibre gyro error models are as follows:
X-axis gyro:
Y-axis gyro:
The dual acceleration meter error model is as follows:
Step 3a: to two parameters of pitch angle and roll angle, whether initial binding is crossed and is judged, if being judged as NO, initially
Calculate bookbinding two parameters of pitch angle and roll angle；If being judged as YES, updated pitch angle and roll angular dimensions are used；
Step 3b: by two pitch angle, roll angle one isomorphisms of parameter described in demarcated in step 2 16 parameters and step 3a
Day is built to virtual information, the day to virtual information include day to gyro virtual information and day to accelerometer virtual information, from
And realize the building to full posture inertia device information；
Step 4: utilize inertial system technique of alignment, computer azimuth angle, pitch angle, roll angle information；With calculated roll angle
Roll angle and pitching angular dimensions described in step 3a are updated with pitch angle information；Calculated azimuth information is exported, north is sought
Process terminates.
2. double tops disturbance rejection north finding method according to claim 1, it is characterised in that: the step 4 is seeking northern process
Before end, Rule of judgment is set to repeat step 2~4 to obtain and satisfactory seek northern result；If being judged as YES, seek
Northern process terminates, if being judged as NO, returns to step 2；The Rule of judgment includes seeking the northern time < 3min.
3. double tops disturbance rejection north finding method according to claim 1, it is characterised in that: inertia device in the step 2
Specific scaling method it is as follows:
Corresponding attitude matrix are as follows:
1) optical fibre gyro parameter calibration:
Double optical fibre gyro error models:
X-axis gyro:
Y-axis gyro:
Above in two formulas, Wbx, WbyIt is X-axis and Y-axis gyro output information, W respectively0x, W0yIt is X-axis and Y-axis gyro output zero respectively
Position,It is measured value of the gyro to carrier angular speed, n=x, y, z, Kxx, KyyIt is X-axis and Y-axis gyro calibration factor respectively,
kxy, kzx, kxy, kzyIt is gyro cross-coupling coefficient respectively；
In latitude it is known that and under the conditions of horizontal stationary, have following three formula:
In above formula, ωieIt is rotational-angular velocity of the earth, is constant；It brings (4) formula into (2), (3) formula, has
Wbx=W0x+Kxx(-ωie sinψcosL)+kyx(ωie cosψcosL)+kzx(ωie sinL) (5)
Wby=W0y+kxy(-ωie sinψcosL)+Kyy(ωie cosψcosL)+kzy(ωie sinL) (6)
It demarcates during gyro, remains horizontal stationary, calibration azimuthal point is successively chosenI=0,1 ... 11, accordingly
X-axis gyro and Y-axis gyro output be
Following two matrixes are constructed,
8 parameters in X matrix are the parameter of double optical fibre gyro error models (2), (3) formula, thus in a latitude it is known that and
Under the turntable of calibration, by acquiring the gyro output data of 12 horizontal positions, above 8 parameters can be calibrated；
2) accelerometer is demarcated
Dual acceleration meter error model is as follows:
Above in two formulas, Vax, VayIt is X-axis and Y-axis accelerometer output information, K respectivelyax0, Kay0It is that X-axis and Y-axis accelerate respectively
Degree meter output zero-bit, fi bIt is measured value of the accelerometer to carrier specific force, i=x, y, z, Kaxx, KayyIt is that X-axis and Y-axis add respectively
Speedometer calibration factor, kaxy, kazx, kaxy, kazyIt is accelerometer cross-coupling coefficient respectively；
When accelerometer is demarcated, under quiescent conditions, successively chooses the positive negative G of X-axis, Y-axis, Z axis accelerometer sensitive and accelerates,
Corresponding X-axis accelerometer and the output of Y-axis accelerometer are
Following two matrixes are constructed,
8 parameters in X matrix are the parameter of dual acceleration meter error model (8) formula, so under turntable, by sensitive positive and negative
Terrestrial gravitation acceleration information, under the conditions of 6 kinds of acquisition, X-axis Y-axis accelerometer output data can calibrate above 8 parameters.
4. double tops disturbance rejection north finding method according to claim 3, it is characterised in that: day is to virtual in the step 3b
The specific construction method of information is as follows:
1) day is constructed to gyro virtual information
Had according to Eulerian equation:
Consider angular speed dynamic constrained condition, angular speed in carrier orientationIt is zero,
Bringing above formula into has, and obtains attitude angular velocity constraint equation:
Arrangement obtains:
In view of there is following formula establishment
Known according to the error model in (2), (3), the output of X-axis gyro and Y-axis gyro is
(14) are brought into (15), are obtained:
Wherein
System is static in navigational coordinate system when due to seeking north, and navigational coordinate system is not rotated relative to terrestrial coordinate system, institute
WithIt is zero, therefore under the coordinate system of northeast day
So that
2) day is constructed to accelerometer virtual information
Had according to specific force equation:
Consider the dynamic constrained condition of carrier line movement, the speed in vertical directionWith acceleration be zero and horizontal direction on
Speed vnIt is 0,
Bringing above formula into has
Arrange day to acceleration information are as follows:
The output of Z axis accelerometer are as follows:
Known according to the error model in (8) formula, the output of X accelerometer and Y accelerometer is
(24) are brought into (25), are obtained:
So that
According to the data that (19) above and (27) construct, complete Three Degree Of Freedom inertia device data are just constituted.
5. double tops disturbance rejection north finding method according to claim 4, it is characterised in that: utilize inertia in the step 4
The method of system's alignment computer azimuth angle is as follows:
The quaternary number form formula of attitude matrix is as follows
Wherein
Initial time,It seeks during north, carrier is in opposing stationary, and carrier does not have speed,
At this time For the gyro data in (19) formula,
Use the complete card solving method of quaternion differential equation that can obtain with real-time update (29) formulaWith
Due to having
(28) formula is brought into (30) formula to obtain:
Arrangement obtains:
Left kernel function and right kernel function are respectively as follows: in formula
To solveIt is converted into seeking matrixThe corresponding characteristic vector of minimal eigenvalue, after solution is obtained
'sBring into (28) formula obtain it is newOrientation, pitching, roll information just can be obtained；
Orientation:
Pitching: θ=asin (2 (q2q3+q0q1)) (34)
Roll:
Wherein
6. double tops disturbance rejection north finding method according to claim 4, it is characterised in that: in the step 3a pitch angle with
The method of the initial binding of roll angle is as follows:
(27) formula of control, does not consider that day to relevant parameter, has:
Pitch angle and roll angle are calculated using horizontal accelerometer output information at this time:
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| CN108802701A (en) * | 2018-06-22 | 2018-11-13 | 安徽尼古拉电子科技有限公司 | A kind of trailer-mounted radar calibration facility based on Big Dipper technology |
| CN109084761B (en) * | 2018-08-07 | 2021-09-10 | 合肥正阳光电科技有限责任公司 | Impact-resistant north-seeking calculation method based on inertial north-seeking device |
| CN111189432B (en) * | 2020-01-10 | 2021-08-13 | 湖北三江航天红峰控制有限公司 | Calculation method of double-shaft inclinometer |
| CN111721291B (en) * | 2020-07-17 | 2021-12-07 | 河北斐然科技有限公司 | Engineering algorithm for strapdown inertial navigation under launching system |
| CN112484712B (en) * | 2020-11-23 | 2022-08-12 | 重庆华渝电气集团有限公司 | Double-gyroscope north-seeking attitude reference instrument and north-seeking method |
| CN112964241B (en) * | 2021-02-20 | 2023-04-07 | 广州导远电子科技有限公司 | Multi-position north-seeking method and device, electronic equipment and storage medium |
| CN114322970B (en) * | 2021-11-30 | 2024-01-12 | 湖南航天机电设备与特种材料研究所 | Dual gyroscope north-seeking method, system and storage medium |
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