CN106092098A - A kind of carrier navigation attitude measuring method based on gyro and inclinator - Google Patents
A kind of carrier navigation attitude measuring method based on gyro and inclinator Download PDFInfo
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- CN106092098A CN106092098A CN201610727023.1A CN201610727023A CN106092098A CN 106092098 A CN106092098 A CN 106092098A CN 201610727023 A CN201610727023 A CN 201610727023A CN 106092098 A CN106092098 A CN 106092098A
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- Prior art keywords
- carrier
- current
- inclinator
- attitude
- matrix
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Classifications
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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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- 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
Abstract
The invention discloses a kind of carrier navigation attitude measuring method based on gyro and inclinator, it includes the direct carrier initial heading provided of carrier angular speed ω (t) and the external world that following step: S1 surveys according to gyro, calculate and obtain projection φ (t) under carrier system of the described carrier course, wherein, t is time variable；S2 is according to formula C3(t)=C1(t)*C2T () calculates the attitude matrix C obtaining carrier3(t), wherein, C1T () is inclinator attitude spin matrix；C2T () is the spin matrix of described φ (t)；S3 is according to the attitude matrix C of described carrier3T () calculates and obtains the course that carrier is current, use inclinator to measure and obtain the current angle of pitch of carrier and the current roll angle of carrier, the angle of pitch that the current course of described carrier, described carrier are current and the current navigation attitude of the characterized carrier of the current roll angle of described carrier.The inventive method precision is high, low cost.
Description
Technical field
The invention belongs to technical field of inertial, more particularly, to a kind of low dynamic high precision navigation attitude measuring method.
Background technology
In navigation attitude measurement system, attitude is an important parameter of reflection carrier movement.Existing navigation attitude measurement scheme
Typically use three axle gyros or use gyro, add the mode such as table, gaussmeter combination.Have a disadvantage in that (1) uses with upper type
Three axle gyro schemes can ensure that certainty of measurement, but it is relatively costly；(2) use gyro, add table, gaussmeter assembled scheme its
Low cost still cannot ensure high-acruracy survey.
Accordingly, it would be desirable to a kind of navigation attitude measuring method of exploitation, it is desirable to it can reduce system while ensureing high-acruracy survey
Cost.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides a kind of based on gyro with the load of inclinator
Body navigation attitude measuring method, it is intended that only with the most existing low-cost system of gyro and inclinator, utilize inclinator
Spin matrix carries out attitude decomposition to carrier projection under carrier system, thus obtains high-precision navigation attitude, and the inventive method is
A kind of high accuracy, the carrier navigation attitude measuring method of low cost.
For achieving the above object, according to one aspect of the present invention, it is provided that a kind of based on gyro with the carrier of inclinator
Navigation attitude measuring method, described gyro and described inclinator are arranged on carrier, and it comprises the steps:
S1: according to carrier angular speed ω (t) and the extraneous carrier initial heading directly provided of gyro actual measurement, calculate and obtain
Projection φ (t) under carrier system of the described carrier course, wherein, t is time variable；
S2: according to formula C3(t)=C1(t)*C2T () calculates the attitude matrix C obtaining carrier3(t), wherein, C1T () is for inclining
Angle instrument attitude spin matrix；C2T () is the spin matrix of described φ (t), t is time variable；
S3: according to the attitude matrix C of described carrier3T () calculates and obtains the course that carrier is current, use inclinator measurement to obtain
The current angle of pitch of carrier and the current roll angle of carrier, the angle of pitch that the current course of described carrier, described carrier are current
And the current roll angle of the described carrier current navigation attitude of characterized carrier.
Further, described step S1 specifically includes following sub-step:
S11: select locality, sky, northeast geographic coordinate system as navigational coordinate system, gather the angular speed of the carrier of gyro actual measurement
ω (t), wherein, t is time variable；
S12: according to formulaBy earth rotation angle speed ωieLocality, sky geography is sat northeastward
Projection transform under mark system is the earth rotation angular speed projection under carrier coordinate system
Wherein, ωieFor earth rotation angular speed,For attitude of carrier matrixTransposed matrix, attitude of carrier square
Battle arrayThe carrier angle of pitch and load obtained measured by carrier initial heading and inclinator that initial value directly provides according to the external world
Body roll angle obtains, and L is local geographic latitude,Middle b is carrier coordinate system,Middle n is navigational coordinate system, and navigation is sat
Mark system is locality, sky, northeast geographic coordinate system；
S13: according to formulaCalculate and obtain the throwing under carrier system of the described carrier course
Shadow φ (t),
Wherein,Project for the earth rotation angular speed under carrier coordinate systemSky to component, t be the time become
Amount, as t=0, described carrier course initial projections under carrier system is φ (0).
Further, step S2 specifically includes following sub-step:
S21: according to formulaCalculate and obtain the throwing under carrier system of the described carrier
The spin matrix C of shadow φ (t)2(t), wherein, φ (t) is the projection under carrier system of the described carrier,
S22: according to formulaCalculate and obtain inclination angle
Instrument attitude spin matrix C1(t),
Wherein, θ (t) is that the carrier angle of pitch obtained measured by inclinator；γ (t) is that the carrier roll obtained measured by inclinator
Angle；
S23: according to formula C3(t)=C1(t)*C2T () obtains the attitude matrix C of carrier3(t)。
Further, step S3 specifically includes following sub-step:
S31: according to formulaCalculate and obtain course yaw (t) that carrier is current；
Wherein, C3T () (1,2) are the attitude matrix C of carrier3The first row Section 2 of (t), C3T () (2,2) are carrier
Attitude matrix C3The second row Section 2 of (t)；
S32: use inclinator to measure and obtain the current pitching angle theta (t) of carrier and current roll angle γ (t) of carrier, institute
State the current pitching angle theta (t) of current course yaw (t) of carrier, described carrier and current roll angle γ (t) of described carrier altogether
With characterizing the current navigation attitude of carrier.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to show under acquirement
Benefit effect:
The navigation attitude measuring method based on gyro and inclinator that the present invention provides, with single shaft gyro and dual axis inclinometer as base
Notebook data measurement apparatus, utilizes inclinator spin matrix that carrier projection under carrier system is carried out attitude decomposition, can obtain height
The course of precision resolves, and is a kind of method using low-cost system to carry out high accuracy navigation attitude measurement.The present invention is the most ingenious, symbol
Close actual demand, enter and can large-scale promotion use.
Accompanying drawing explanation
Fig. 1 is a kind of based on gyro and inclinator the carrier navigation attitude measuring method flow chart that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
The low dynamic high precision navigation attitude measuring method that the present invention provides, with single shaft gyro and dual axis inclinometer as master data
Sensor, utilizes inclinator spin matrix that the projection under carrier system of the carrier course is carried out attitude decomposition, can obtain high accuracy
Course resolve, be a kind of use low-cost system carry out high accuracy navigation attitude measure method.
As it is shown in figure 1, a kind of based on gyro and inclinator the carrier navigation attitude measuring method that the embodiment of the present invention provides, its
Including following step:
S1: according to carrier angular speed ω (t) and the extraneous carrier initial heading directly provided of gyro actual measurement, calculate and obtain
Projection φ (t) under carrier system of the described carrier, wherein, t is time variable；
S2: according to formula C3(t)=C1(t)*C2T () calculates the attitude matrix C obtaining carrier3(t), wherein, C1T () is for inclining
Angle instrument attitude spin matrix；C2T () is the spin matrix of described φ (t), t is time variable；
S3: according to the attitude matrix C of described carrier3T () calculates and obtains the course that carrier is current, use inclinator measurement to obtain
The current angle of pitch of carrier and the current roll angle of carrier, the angle of pitch that the current course of described carrier, described carrier are current
And the current roll angle of the described carrier current navigation attitude of characterized carrier.
As concretely comprising the following steps in one embodiment of the present of invention, step 1:
S11: select locality, sky, northeast geographic coordinate system as navigational coordinate system, gather the angular speed of the carrier of gyro actual measurement
ω (t), wherein, t is time variable；
S12: according to formulaBy earth rotation angle speed ωieLocality, sky geography is sat northeastward
Projection transform under mark system is the earth rotation angular speed projection under carrier coordinate system
Wherein, ωieFor earth rotation angular speed,For attitude of carrier matrixTransposed matrix, attitude of carrier square
Battle arrayThe carrier angle of pitch and load obtained measured by carrier initial heading and inclinator that initial value directly provides according to the external world
Body roll angle obtains, and L is local geographic latitude,Middle b is carrier coordinate system,Middle n is navigational coordinate system, and navigation is sat
Mark system is locality, sky, northeast geographic coordinate system；
S13: according to formulaCalculate and obtain the throwing under carrier system of the described carrier course
Shadow φ (t),
Wherein,Project for the earth rotation angular speed under carrier coordinate systemSky to component, t be the time become
Amount, as t=0, described carrier initial projections under carrier system is φ (0).
As another embodiment of the present invention, step S2 of the present invention particularly as follows:
S21: according to formulaCalculate and obtain the throwing under carrier system of the described carrier
The spin matrix C of shadow φ (t)2(t), wherein, φ (t) is the projection under carrier system of the described carrier,
S22: according to formulaCalculate and obtain inclination angle
Instrument attitude spin matrix C1(t),
Wherein, θ (t) is that the carrier angle of pitch obtained measured by inclinator；γ (t) is that the carrier roll obtained measured by inclinator
Angle；
S23: according to formula C3(t)=C1(t)*C2T () obtains the attitude matrix C of carrier3(t)。
As another embodiment of the present invention, step S3 of the present invention particularly as follows:
S31: according to formulaCalculate and obtain course yaw (t) that carrier is current；
Wherein, C3T () (1,2) are the attitude matrix C of carrier3The first row Section 2 of (t), C3T () (2,2) are carrier
Attitude matrix C3The second row Section 2 of (t)；
S32: use inclinator to measure and obtain the current pitching angle theta (t) of carrier and current roll angle γ (t) of carrier, institute
State the current pitching angle theta (t) of current course yaw (t) of carrier, described carrier and current roll angle γ (t) of described carrier altogether
With characterizing the current navigation attitude of carrier.
The navigation attitude measuring method based on gyro and inclinator that the present invention provides, is that a kind of low dynamic high precision navigation attitude is measured
Method, with single shaft gyro and dual axis inclinometer for master data sensor, utilizes inclinator spin matrix to carrier in carrier system
Under projection carry out attitude decomposition, thus obtain high-precision course and resolve, the low kinetic measurement to navigation attitude fields of measurement has relatively
Big contribution.The present invention is the most ingenious, meets actual demand, practical, progressive notable, it is possible to large-scale promotion uses.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (4)
1. a carrier navigation attitude measuring method based on gyro and inclinator, described gyro and described inclinator are arranged at carrier
On, it is characterised in that it comprises the steps:
S1: according to carrier angular speed ω (t) and the extraneous carrier initial heading directly provided of gyro actual measurement, calculate and obtain carrier
Course projection φ (t) under carrier system, wherein, t is time variable；
S2: according to formula C3(t)=C1(t)*C2T () calculates the attitude matrix C obtaining carrier3(t), wherein, C1T () is inclinator
Attitude spin matrix；C2T () is the spin matrix of described φ (t), t is time variable；
S3: according to the attitude matrix C of described carrier3T () calculates and obtains the course that carrier is current, use inclinator to measure acquisition and carry
The angle of pitch that body is current and the current roll angle of carrier, the angle of pitch that the current course of described carrier, described carrier are current and
The current navigation attitude of the characterized carrier of the current roll angle of described carrier.
A kind of carrier navigation attitude measuring method based on gyro and inclinator, it is characterised in that described
Step S1 specifically includes following sub-step:
S11: select locality, sky, northeast geographic coordinate system as navigational coordinate system, gather the angular speed ω of the carrier of gyro actual measurement
T (), wherein, t is time variable；
S12: according to formulaBy earth rotation angle speed ωieLocality, sky geographic coordinate system northeastward
Under projection transform be under carrier coordinate system earth rotation angular speed projection
Wherein, ωieFor earth rotation angular speed,For attitude of carrier matrixTransposed matrix, attitude of carrier matrixThe carrier angle of pitch and carrier obtained measured by carrier initial heading and inclinator that initial value directly provides according to the external world
Roll angle obtains, and L is local geographic latitude,Middle b is carrier coordinate system,Middle n is navigational coordinate system, navigation coordinate
System is locality, sky, northeast geographic coordinate system；
S13: according to formulaCalculate and obtain described carrier course projection φ under carrier system
(t),
Wherein,Project for the earth rotation angular speed under carrier coordinate systemSky to component, t is time variable, when
During t=0, described carrier initial projections under carrier system is φ (0).
A kind of carrier navigation attitude measuring method based on gyro and inclinator, it is characterised in that step
S2 specifically includes following sub-step:
S21: according to formulaCalculate and obtain described carrier projection φ under carrier system
The spin matrix C of (t)2(t), wherein, φ (t) is the projection under carrier system of the described carrier,
S22: according to formulaCalculate and obtain inclinator attitude
Spin matrix C1(t),
Wherein, θ (t) is that the carrier angle of pitch obtained measured by inclinator；γ (t) is that the carrier roll angle obtained measured by inclinator；
S23: according to formula C3(t)=C1(t)*C2T () obtains the attitude matrix C of carrier3(t)。
A kind of carrier navigation attitude measuring method based on gyro and inclinator, it is characterised in that step
S3 specifically includes following sub-step:
S31: according to formulaCalculate and obtain course yaw (t) that carrier is current；
Wherein, C3T () (1,2) are the attitude matrix C of carrier3The first row Section 2 of (t), C3T () (2,2) are the attitude of carrier
Matrix C3The second row Section 2 of (t)；
S32: use inclinator to measure and obtain the current pitching angle theta (t) of carrier and current roll angle γ (t) of carrier, described load
Pitching angle theta (t) that current course yaw (t) of body, described carrier are current and the common table of current roll angle γ (t) of described carrier
Levy the current navigation attitude of carrier.
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Cited By (4)
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| CN111189473A (en) * | 2020-01-08 | 2020-05-22 | 湖北三江航天红峰控制有限公司 | Heading and attitude system gyro error compensation method based on magnetic sensor and additional meter |
| CN114001754A (en) * | 2021-10-29 | 2022-02-01 | 北京航天发射技术研究所 | Course adjusting method, course adjusting device, readable medium and north seeker |
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