CN106092098B - A kind of carrier navigation attitude measurement method based on gyro and inclinator - Google Patents
A kind of carrier navigation attitude measurement method based on gyro and inclinator Download PDFInfo
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- CN106092098B CN106092098B CN201610727023.1A CN201610727023A CN106092098B CN 106092098 B CN106092098 B CN 106092098B CN 201610727023 A CN201610727023 A CN 201610727023A CN 106092098 B CN106092098 B CN 106092098B
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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
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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
Abstract
The carrier navigation attitude measurement method based on gyro and inclinator that the invention discloses a kind of, its including the following steps: the carrier angular speed ω (t) and the extraneous carrier initial heading directly provided that S1 is surveyed according to gyro, calculate the projection φ (t) for obtaining the carrier course under carrier system, wherein, t is time variable；S2 is according to formula C3(t)=C1(t)*C2(t) the attitude matrix C for obtaining carrier is calculated3(t), wherein C1It (t) is inclinator posture spin matrix；C2It (t) is the spin matrix of the φ (t)；S3 is according to the attitude matrix C of the carrier3(t) it calculates and obtains the current course of carrier, it is measured using inclinator and obtains the current current roll angle of pitch angle and carrier of carrier, the current pitch angle of the current course of the carrier, the carrier and the current navigation attitude of the characterized carrier of the current roll angle of the carrier.The method of the present invention precision is high, at 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 measurement method.
Background technique
In navigation attitude measuring system, posture is an important parameter for reflecting carrier movement.Existing navigation attitude measurement scheme
Generally using three axis accelerometer or using the modes such as gyro plus table, magnetometer combination.Have the following disadvantages: that (1) uses with upper type
Three axis accelerometer scheme can guarantee measurement accuracy, but its higher cost；(2) using gyro, plus table, magnetometer assembled scheme its
It is at low cost but not can guarantee high-acruracy survey.
Therefore, it is necessary to develop a kind of navigation attitude measurement method, it is desirable that it can reduce system while guaranteeing high-acruracy survey
Cost.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the load based on gyro and inclinator that the present invention provides a kind of
Body navigation attitude measurement method, it is intended that utilizing inclinator only with gyro and inclinator low-cost system existing in this way
Spin matrix carries out posture decomposition to projection of the carrier under carrier system, to obtain high-precision navigation attitude, the method for the present invention is
A kind of carrier navigation attitude measurement method of high-precision, low cost.
To achieve the above object, according to one aspect of the present invention, a kind of carrier based on gyro and inclinator is provided
Navigation attitude measurement method, the gyro and the inclinator are arranged on carrier comprising following steps:
S1: it according to the carrier angular speed ω (t) of gyro actual measurement and the extraneous carrier initial heading directly provided, calculates and obtains
Projection φ (t) of the carrier course under carrier system, wherein t is time variable；
S2: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C for obtaining carrier is calculated3(t), wherein C1It (t) is to incline
Angle instrument posture spin matrix；C2It (t) is the spin matrix of the φ (t), t is time variable；
S3: according to the attitude matrix C of the carrier3(t) it calculates and obtains the current course of carrier, obtained using inclinator measurement
Obtain the current current roll angle of pitch angle and carrier of carrier, the current pitch angle of the current course of the carrier, the carrier
And the current navigation attitude of the characterized carrier of the current roll angle of carrier.
Further, the step S1 specifically includes following sub-step:
S11: it selects the local geographic coordinate system in northeast day as navigational coordinate system, acquires 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 ωieIn the local geographical seat in northeast day
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
MatrixCarrier pitch angle that initial value is obtained according to the carrier initial heading that directly provides of the external world and inclinator measurement and
Carrier 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 the local geographic coordinate system in northeast day；
S13: according to formulaIt calculates and obtains the carrier course under carrier system
It projects φ (t),
Wherein,For the earth rotation angular speed projection under carrier coordinate systemDay to component, t is to become the time
Amount, as t=0, initial projections of the carrier course under carrier system are φ (0).
Further, step S2 specifically includes following sub-step:
S21: according to formulaCalculate the throwing for obtaining the carrier under carrier system
The spin matrix C of shadow φ (t)2(t), wherein φ (t) is projection of the carrier under carrier system,
S22: according to formulaIt calculates and obtains inclination angle
Instrument posture spin matrix C1(t),
Wherein, θ (t) is the carrier pitch angle that inclinator measurement obtains；γ (t) is the carrier roll that inclinator measurement obtains
Angle；
S23: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C of carrier is obtained3(t)。
Further, step S3 specifically includes following sub-step:
S31: according to formulaIt calculates and obtains the current course yaw (t) of carrier；
Wherein, C3(t) (1,2) are the attitude matrix C of carrier3(t) the first row Section 2, C3(t) (2,2) are carrier
Attitude matrix C3(t) the second row Section 2；
S32: it is measured using inclinator and obtains the current current roll angle γ (t) of pitching angle theta (t) and carrier of carrier, institute
State the current pitching angle theta (t) of the current course yaw (t) of carrier, the carrier and the current roll angle γ (t) of the carrier altogether
With the characterization current navigation attitude of carrier.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
Navigation attitude measurement method provided by the invention based on gyro and inclinator, using uniaxial gyro and dual axis inclinometer as base
Notebook data measuring device carries out posture decomposition to projection of the carrier under carrier system using inclinator spin matrix, can obtain height
The course of precision resolves, and is a kind of method for carrying out the measurement of high-precision navigation attitude using low-cost system.The present invention is simply ingenious, symbol
Close actual demand, into can large-scale promotion use.
Detailed description of the invention
Fig. 1 is a kind of carrier navigation attitude measuring method flow chart based on gyro and inclinator provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Low dynamic high precision navigation attitude measurement method provided by the invention, using uniaxial gyro and dual axis inclinometer as master data
Sensor carries out posture decomposition to projection of the carrier course under carrier system using inclinator spin matrix, can obtain high-precision
Course resolve, be it is a kind of using low-cost system carry out the measurement of high-precision navigation attitude method.
As shown in Figure 1, a kind of carrier navigation attitude measurement method based on gyro and inclinator provided in an embodiment of the present invention,
Including the following steps:
S1: it according to the carrier angular speed ω (t) of gyro actual measurement and the extraneous carrier initial heading directly provided, calculates and obtains
Projection φ (t) of the carrier under carrier system, wherein t is time variable；
S2: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C for obtaining carrier is calculated3(t), wherein C1It (t) is to incline
Angle instrument posture spin matrix；C2It (t) is the spin matrix of the φ (t), t is time variable；
S3: according to the attitude matrix C of the carrier3(t) it calculates and obtains the current course of carrier, obtained using inclinator measurement
Obtain the current current roll angle of pitch angle and carrier of carrier, the current pitch angle of the current course of the carrier, the carrier
And the current navigation attitude of the characterized carrier of the current roll angle of carrier.
As an embodiment of the present invention, the specific steps in step 1 are as follows:
S11: it selects the local geographic coordinate system in northeast day as navigational coordinate system, acquires 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 ωieIn the local geographical seat in northeast day
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
MatrixCarrier pitch angle that initial value is obtained according to the carrier initial heading that directly provides of the external world and inclinator measurement and
Carrier 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 the local geographic coordinate system in northeast day；
S13: according to formulaIt calculates and obtains the carrier course under carrier system
It projects φ (t),
Wherein,For the earth rotation angular speed projection under carrier coordinate systemDay to component, t is to become the time
Amount, as t=0, initial projections of the carrier under carrier system are φ (0).
As another embodiment of the invention, step S2 of the invention specifically:
S21: according to formulaCalculate the throwing for obtaining the carrier under carrier system
The spin matrix C of shadow φ (t)2(t), wherein φ (t) is projection of the carrier under carrier system,
S22: according to formulaIt calculates and obtains inclination angle
Instrument posture spin matrix C1(t),
Wherein, θ (t) is the carrier pitch angle that inclinator measurement obtains；γ (t) is the carrier roll that inclinator measurement obtains
Angle；
S23: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C of carrier is obtained3(t)。
As another embodiment of the invention, step S3 of the invention specifically:
S31: according to formulaIt calculates and obtains the current course yaw (t) of carrier；
Wherein, C3(t) (1,2) are the attitude matrix C of carrier3(t) the first row Section 2, C3(t) (2,2) are carrier
Attitude matrix C3(t) the second row Section 2；
S32: it is measured using inclinator and obtains the current current roll angle γ (t) of pitching angle theta (t) and carrier of carrier, institute
State the current pitching angle theta (t) of the current course yaw (t) of carrier, the carrier and the current roll angle γ (t) of the carrier altogether
With the characterization current navigation attitude of carrier.
Navigation attitude measurement method provided by the invention based on gyro and inclinator is a kind of low dynamic high precision navigation attitude measurement
Method, using uniaxial gyro and dual axis inclinometer as master data sensor, using inclinator spin matrix to carrier in carrier system
Under projection carry out posture decomposition, resolved to obtain high-precision course, to the low dynamic measurement of navigation attitude fields of measurement have compared with
Big contribution.The present invention is simply ingenious, meets actual demand, practical, and progress is significant, being capable of large-scale promotion use.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (3)
1. a kind of carrier navigation attitude measurement method based on gyro and inclinator, the gyro and the inclinator are arranged at carrier
On, which is characterized in that it includes the following steps:
S1: it according to the carrier angular speed ω (t) of gyro actual measurement and the extraneous carrier initial heading directly provided, calculates and obtains carrier
Projection φ (t) of the course under carrier coordinate system, wherein t is time variable；
S2: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C for obtaining carrier is calculated3(t), wherein C1It (t) is inclinator
Posture spin matrix；C2It (t) is the spin matrix of the φ (t), t is time variable；
S3: according to the attitude matrix C of the carrier3(t) it calculates and obtains the current course of carrier, carried using inclinator measurement
The current pitch angle of body and the current roll angle of carrier, the current pitch angle of the current course of the carrier, the carrier and
The current navigation attitude of the characterized carrier of the current roll angle of carrier,
Specifically, the step S1 specifically includes following sub-step:
S11: it selects the local geographic coordinate system in northeast day as navigational coordinate system, acquires the angular speed ω of the carrier of gyro actual measurement
(t), wherein t is time variable；
S12: according to formulaBy earth rotation angular speed ωieIn the local geographical coordinate in northeast day
Projection transform under 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 matrixThe carrier pitch angle and carrier that the carrier initial heading and inclinator measurement that initial value is directly provided according to the external world obtain
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 the local geographic coordinate system in northeast day；
S13: according to formulaCalculate the throwing for obtaining the carrier course under carrier coordinate system
Shadow φ (t),
Wherein,For the earth rotation angular speed projection under carrier coordinate systemDay to component, t is time variable, when
When t=0, initial projections of the carrier course under carrier coordinate system are φ (0).
2. a kind of carrier navigation attitude measurement method based on gyro and inclinator as described in claim 1, which is characterized in that step
S2 specifically includes following sub-step:
S21: according to formulaIt calculates and obtains the carrier course under carrier coordinate system
Projection φ (t) spin matrix C2(t), wherein φ (t) is projection of the carrier course under carrier coordinate system,
S22: according to formulaIt calculates and obtains inclinator appearance
State spin matrix C1(t),
Wherein, θ (t) is the carrier pitch angle that inclinator measurement obtains；γ (t) is the carrier roll angle that inclinator measurement obtains；
S23: according to formula C3(t)=C1(t)*C2(t) the attitude matrix C of carrier is obtained3(t)。
3. a kind of carrier navigation attitude measurement method based on gyro and inclinator as claimed in claim 2, which is characterized in that step
S3 specifically includes following sub-step:
S31: according to formulaIt calculates and obtains the current course yaw (t) of carrier；
Wherein, C3(t) (1,2) are the attitude matrix C of carrier3(t) the first row Section 2, C3(t) (2,2) are the posture of carrier
Matrix C3(t) the second row Section 2；
S32: it is measured using inclinator and obtains the current current roll angle γ (t) of pitching angle theta (t) and carrier of carrier, the load
The current pitching angle theta (t) of the current course yaw (t) of body, the carrier and the common table of the current roll angle γ (t) of the carrier
Levy the current navigation attitude of carrier.
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| CN109631939B (en) * | 2018-11-08 | 2020-07-28 | 湖北三江航天红峰控制有限公司 | Rapid alignment method based on magnetometer and accelerometer |
| 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 |
| 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 |
| 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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