CN106123917B - Consider the Strapdown Inertial Navigation System compass alignment methods of outer lever arm effect - Google Patents
Consider the Strapdown Inertial Navigation System compass alignment methods of outer lever arm effect Download PDFInfo
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- CN106123917B CN106123917B CN201610415831.4A CN201610415831A CN106123917B CN 106123917 B CN106123917 B CN 106123917B CN 201610415831 A CN201610415831 A CN 201610415831A CN 106123917 B CN106123917 B CN 106123917B
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- speed
- inertial navigation
- tachometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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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
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
-
- 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
Abstract
The present invention discloses a kind of moving base Strapdown Inertial Navigation System compass alignment methods peculiar to vessel of outer lever arm effect of consideration.This method is to consider between tachometer and Strapdown Inertial Navigation System outer lever arm effect caused by installation site in the case where ship pitching, rolling and turning, and thus bring tachometer tests the speed and deviation and is compensated in moving base compass alignment procedures.Relative to conventional moving base compass alignment methods, method of the invention can be calculated effectively to test the speed caused by outer lever arm and deviation and is compensated, and solved outer lever arm and caused influence of the deviation for alignment performance of testing the speed.
Description
(1) technical field
The present invention relates to a kind of Initial Alignment Method of inertial navigation system under the conditions of moving base, especially one kind is deposited
In the moving base Strapdown Inertial Navigation System compass alignment methods of outer lever arm effect.
(2) background technique
Inertial navigation system is before carrying out normal navigation work, it is necessary to is initially aligned.It is a kind of from right that compass, which is directed at method,
Quasi- method is based on " compass effect ", and the initial alignment of inertial navigation is realized in conjunction with classical control theory.The compass pair of Strapdown Inertial Navigation System
Application of the quasi- technology on quiet pedestal is mature, in order to meet the needs of marine strapdown inertial navigation system sea starting, promotes ship
The quick-reaction capability of oceangoing ship, moving base compass are directed at one of the research hotspot for already having become navigation field in recent years.
Pertinent literature about the alignment of inertial navigation system compass is more, but most of document all thinks the speed that tachometer provides
Information is consistent with the velocity information at present position inertial measurement combination (IMU) of Strapdown Inertial Navigation System.Wherein, typical document
There is " research of naval vessel strap-down inertial system Initial Alignment Technique " (Harbin Engineering University, 2012) of Zhang Yi et al., is based on quiet base
The realization principle of seat compass alignment provides speed and the position of quiet pedestal compass alignment using tachometer as assisting navigation equipment
Set increment compensation scheme, i.e. moving base compass alignment methods.The Error Analysis and of Bo Xu et al.
Compensation of Gyrocompass Alignment for SINS on Moving Base,(Mathematical
Problems in Engineering, 2014), reverse navigation calculation is introduced into the alignment of moving base compass, declares in this way may be used
The time is directed to shorten.Above-mentioned two document adds in angular velocity of rotation of the computed geographical coordinates with respect to terrestrial coordinate system and nocuousness
It is directly the velocity information of Strapdown Inertial Navigation System position by the output speed information equivalence of tachometer when speed, to
Complete compass alignment.Zhang Jun et al. is in " the moving base self-aligned technology of strapdown compass " (Chinese inertial technology journal, 2009)
Inertial sensor output calibration method when proposing a kind of alignment of strapdown compass, the method can will be generated because of carrier movement
Gyro and accelerometer output signal filter out, complete moving base under compass autoregistration.But to gyro signal and acceleration
Output signal gives timing, has also directlyed adopt the velocity information of tachometer offer.And in actual operation, it is based on sensor
The requirement of itself working principle and ship attitude measurement, tachometer is generally mounted to boat bottom, and Strapdown Inertial Navigation System is installed on
, there is mounting distance in ship center of gravity, that is, there is outer lever arm effect between the two.Outer lever arm effect will be so that tachometer be inertial navigation
There are errors for the velocity information that system provides, and then have an impact to compass alignment.Therefore, moving there are outer lever arm effect is studied
Pedestal inertial navigation compass alignment methods have important practical significance.
(3) summary of the invention
The purpose of the present invention is to provide a kind of marine strapdown inertial navigation system moving base compass pair of lever arm effect outside consideration
Quasi- method.
The technical solution adopted by the present invention includes the following steps:
Step 1, by means of Ship Structure Graphing, measure following distances in advance: first is that Δ yb, indicate IMU installation center and meter
Along the distance of carrier system (b system) y-axis between gift of money for a friend going on a journey installation center；Second is that Δ zbIt indicates in IMU installation center and tachometer installation
Along the mounting distance of carrier system z-axis between the heart；Third is that Δ xb, indicate between IMU installation center and tachometer installation center along load
The mounting distance of system x-axis；Fourth is that L1, indicate the mounting distance between IMU installation center and hull center of gravity along carrier system z-axis；
When step 2, ship navigation, Strapdown Inertial Navigation System enters the initial alignment work state of moving base compass, tachometer into
Enter working condition, in real time velocity information of the output along carrier system
Step 3, Strapdown Inertial Navigation System enter in moving base compass initial alignment process, export pitching α, the cross on naval vessel in real time
Shake β and course γ information and pitchrateRollrateAnd turning angular speedThere are also carrier systems to ground
Manage the strapdown attitude matrix of system
Step 4, the pitchrate obtained by step 3RollrateAnd turning angular speedAnd step
Rapid 1 obtained mounting distance measures the deviation δ v that tests the speed accordingly in the case of obtaining pitching, rolling, turningα、δvβ、δvγ, and will survey
Speed deviation is superimposed to obtain total range rate error δ vb；
Step 5, the strapdown attitude matrix obtained using step 3By total range rate error δ vbIt is converted into along the total of Department of Geography
Velocity error:
Step 6, the strapdown attitude matrix obtained using step 3Tachometer is provided in real timeIt is transformed into along geography
The speed of system
Step 7, the velocity deviation obtained using step 5 are corrected tachometer output speed, obtain along Department of Geography
Speed after correction
Step 8 is incited somebody to actionMoving base compass is introduced into in quasi loop, realizes Strapdown Inertial Navigation System moving base compass time
Road is initially aligned.
Beneficial effects of the present invention are verified by Matlab l-G simulation test:
Matlab simulated conditions:
Initial position chooses latitudeLongitude λ=126.6705 °；Inertial navigation three axis accelerometer constant value drift
For 0.01 °/h；Three axis accelerometer zero bias are 10-4m/s2；Gravity acceleration g=9.78049；The alignment parameter of compass alignment
Are as follows: k1=k2=0.0113, kE=kN=9.81 × 10-6, kU=4.1 × 10-6；Ship running speed is 3m/s；Ship pitching width
6 ° of degree, 3 ° of roll amplitude, 45 ° of amplitude of turning (pitching, rolling and turning are sinusoidal form, the period be respectively 8s, 15s,
90s)；Mounting distance between inertial navigation equipment and tachometer: L1=1m, Δ xs=0.2m, Δ zb=3m, Δy s=25m；When emulation
Between be 3h.
Simulation results: Fig. 7 and Fig. 8 is the output speed and posture not compensated, and Fig. 9 and Figure 10 are compensated
Output speed and posture.From in Fig. 7~10 as can be seen that ship after driving stability, it is defeated by the compensation of external lever arm effect
Out speed and posture numerical value are all reduced, it was demonstrated that the feasibility of the invention.
(4) Detailed description of the invention
Flow chart Fig. 1 of the invention.
Fig. 2 hull pitching schematic diagram.
Fig. 3 hull rolling schematic diagram.
Fig. 4 coordinate relation schematic diagram.
Fig. 5 hull turning schematic diagram.
Fig. 6 inertial navigation compass is directed at method schematic diagram.
The output speed that Fig. 7 is not compensated.
The output posture that Fig. 8 is not compensated.
The compensated output speed of Fig. 9.
The compensated output posture of Figure 10.
(5) specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Proposed by the present invention is a kind of inertial navigation moving base compass alignment methods peculiar to vessel of outer lever arm effect of consideration, process
Figure such as attached drawing 1, schematic diagram is as shown in Fig. 6, BpFor harmful acceleration, fbFor the acceleration under carrier coordinate system,For carrier
Coordinate system (b system) arrives the transition matrix of geographic coordinate system (p system),For the transition matrix of geographic coordinate system to carrier coordinate system,For the amendment angular speed being calculated under geographic coordinate system,Angular velocity information under the carrier system exported for gyro,ForAntisymmetric matrix,Throwing of the angular speed under carrier coordinate system for carrier relative to inertial coodinate system (i system)
Shadow,For the projection from rotational acceleration under geographic coordinate system of the earth,For carrier relative to the earth angular speed on ground
Projection under reason system.
Moving base compass alignment during carrier navigation needs to compensate three parts: spin velocityMove angle
SpeedHarmful acceleration Bp.The calculation method of three it is following (wherein Ω is the spin velocity of the earth, and R is earth radius,The latitude where carrier):
If wanting three in compensation calculation above formula, tachometer is needed to provide velocity information, so outer lever arm effect causes
Tachometer measured deviation will affect moving base compass alignment.
Hull direct route and turn such as attached drawing 2, attached drawing 3 and attached drawing 5 respectively, carrier coordinate system and orientation tracking coordinate system relationship
Figure such as attached drawing 4, this method key step is as follows:
Step 1, by means of Ship Structure Graphing, measure following distances in advance: first is that Δ yb, indicate IMU installation center and meter
Along the distance of carrier system (b system) y-axis between gift of money for a friend going on a journey installation center；Second is that Δ zbIt indicates in IMU installation center and tachometer installation
Along the mounting distance of carrier system z-axis between the heart；Third is that Δ xb, indicate between IMU installation center and tachometer installation center along load
The mounting distance of system x-axis；Fourth is that L1, indicate the mounting distance between IMU installation center and hull center of gravity along carrier system z-axis；
When step 2, ship navigation, Strapdown Inertial Navigation System enters the initial alignment work state of moving base compass, tachometer into
Enter working condition, in real time velocity information of the output along carrier system
Step 3, Strapdown Inertial Navigation System enter in moving base compass initial alignment process, export pitching α, the cross on naval vessel in real time
Shake β and course γ information and pitchrateRollrateAnd turning angular speedThere are also carrier systems to ground
Manage the strapdown attitude matrix of system
Export posture information always in compass circuit is initially aligned, but in alignment procedures attitude matrix information simultaneously
It is not entirely accurate.The attitude matrix that carrier coordinate system thinks geographic coordinate system conversion can be obtained in real time by posture information
Expression formula is as follows:
PitchrateRollrateAnd turning angular speedIt can be solved by following formula:
Wherein R is earth radius,For local latitude, ωieFor rotational-angular velocity of the earth, vE、vNRespectively east orientation and north orientation
Speed
Step 4, the pitchrate obtained by step 3RollrateAnd turning angular speedAnd step
Rapid 1 obtained mounting distance measures the deviation δ v that tests the speed accordingly in the case of obtaining pitching, rolling, turningα、δvβ、δvγ, and will survey
Speed deviation is superimposed to obtain total range rate error δ vb；
1. ship is at the uniform velocity sailed through to, bow stern speed is vDIf occurring pitching at this time, the angular speed of pitching isThen at this time
Range rate error is
As shown in Fig. 2, O point in pitching center is on the extended line of hull center of gravity, vαIMUFor the speed of the position of centre of gravity of IMU
Degree, Δ ybIndicate the mounting distance between IMU and tachometer along carrier system (b system) y-axis, Δ zbIndicate edge between IMU and tachometer
The mounting distance of carrier system (b system) z-axis.
2. ship is at the uniform velocity sailed through to, bow stern speed is vDIf occurring rolling at this time, the angular speed of rolling isThen at this time
Range rate error is
As shown in figure 3, rolling center O point is hull center of gravity, Δ x when ship generates rollingbIndicate IMU and tachometer it
Between along carrier system (b system) x-axis mounting distance, L1Along the mounting distance of carrier system z-axis between IMU and hull center of gravity.
3. assuming that ship ignores the influence of pitching in turning motion, the speed and turning angle of hull will be local horizontal
In face, therefore the installation error of hull and kinematic parameter are projected in orientation tracking coordinate system (s system) and are resolved by we.
Orientation tracking coordinate system (s system) indicates are as follows: the local horizontal coordinates that y-axis is rotated with course, z-axis and geographical coordinate
The z-axis of system is overlapped, as shown in Figure 4:
Transition matrix between carrier system (b system) and orientation tracking coordinate system (s system) is
Ship's navigation bow stern speed is still vDIf turning at this time, the angular speed of turning isThe then mistake that tests the speed at this time
Difference is
Δ x in formulasIndicate the mounting distance between IMU and tachometer along orientation tracking coordinate system (s system) x-axis, Δ ysIt indicates
Along the mounting distance of orientation tracking coordinate system (s system) y-axis between IMU and tachometer.
1. synthesis, 2., 3., obtains total range rate error:
Step 5, the strapdown attitude matrix obtained using step 3By total range rate error δ vbIt is converted into along the total of Department of Geography
Velocity error:
Step 6, the strapdown attitude matrix obtained using step 3Tachometer is provided in real timeIt is transformed into along geography
The speed of system
Step 7, the velocity deviation obtained using step 5 are corrected tachometer output speed, obtain along Department of Geography
Speed after correction
Step 8 is incited somebody to actionMoving base compass is introduced into in quasi loop, realizes Strapdown Inertial Navigation System moving base compass time
Road is initially aligned.
Claims (4)
1. the moving base Strapdown Inertial Navigation System compass alignment methods of outer lever arm effect are considered, it is characterized in that by means of Ship Structure
Figure measures inertial measurement cluster in Strapdown Inertial Navigation System, tachometer installation center, the mounting distance between naval vessel center of gravity, and ties
It closes Strapdown Inertial Navigation System itself output measurement and obtains tachometer and test the speed deviation, in Strapdown Inertial Navigation System moving base compass alignment procedures
In be corrected；The mounting distance refers to: along the locating distance of carrier system z-axis between IMU installation center and tachometer installation center
From the mounting distance and IMU installation center and hull weight between, IMU installation center and tachometer installation center along carrier system x-axis
Along the mounting distance of carrier system z-axis between the heart.
2. the moving base Strapdown Inertial Navigation System compass alignment methods of the outer lever arm effect of consideration according to claim 1, special
Sign is to comprise the following specific steps that:
Step 1, by means of Ship Structure Graphing, measure following distances in advance: first is that Δ yb, indicate IMU installation center and tachometer peace
Along the distance of carrier system (b system) y-axis between dress center；Second is that Δ zb, indicate between IMU installation center and tachometer installation center
Along the mounting distance of carrier system z-axis；Third is that Δ xb, indicate between IMU installation center and tachometer installation center along carrier system x-axis
Mounting distance；Fourth is that L1, indicate the mounting distance between IMU installation center and hull center of gravity along carrier system z-axis；
When step 2, ship navigation, Strapdown Inertial Navigation System enters the initial alignment work state of moving base compass, and tachometer enters just
Normal working condition exports the velocity information along carrier system in real time
Step 3, Strapdown Inertial Navigation System enter in moving base compass initial alignment process, export pitching α, the rolling β on naval vessel in real time
With course γ information and pitchrateRollrateAnd turning angular speedThere are also carrier systems to geography
The strapdown attitude matrix of system
Step 4, the pitchrate obtained by step 3RollrateAnd turning angular speedAnd step 1
The mounting distance arrived, measurement obtain the deviation δ v that tests the speed introduced by naval vessel pitching, rolling, turningα、δvβ、δvγ, and will test the speed partially
Difference superposition obtains total range rate error δ vb；
Step 5, the strapdown attitude matrix obtained using step 3By total range rate error δ vbIt is converted into the general speed along Department of Geography
Error:
Step 6, the strapdown attitude matrix obtained using step 3Tachometer is provided in real timeIt is transformed into along Department of Geography
Speed
Step 7, the general speed error obtained using step 5 are corrected tachometer output speed, obtain along Department of Geography school
Speed after just
Step 8 is incited somebody to actionMoving base compass is introduced into in quasi loop, at the beginning of realizing Strapdown Inertial Navigation System moving base compass circuit
Begin to be aligned.
3. the moving base Strapdown Inertial Navigation System compass alignment methods of the outer lever arm effect of consideration according to claim 2, special
Sign is that pitching described in step 4 introduces the deviation that tests the speed are as follows:
Rolling introduces the deviation that tests the speed are as follows:
The deviation that tests the speed that course variation introduces are as follows:
WhereinFor the transition matrix between orientation tracking coordinate system and carrier system, the orientation tracking coordinate system is s system, institute
Stating carrier system is b system.
4. the moving base Strapdown Inertial Navigation System compass alignment methods of the outer lever arm effect of consideration according to claim 3, special
Sign is that the transition matrix between orientation tracking coordinate system and carrier system is
The orientation tracking coordinate system is s system, and the carrier system is b system；The matrix can be by step 3 Strapdown Inertial Navigation System
Pitching α, the rolling β on output naval vessel are obtained in real time.
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| CN106885587A (en) * | 2017-04-07 | 2017-06-23 | 南京航空航天大学 | The lower outer lever arm effect errors compensation method of inertia/GPS integrated navigations of rotor disturbance |
| DE102017113337A1 (en) | 2017-06-19 | 2018-12-20 | Raytheon Anschütz Gmbh | Maintenance-free strap-down vessel gyrocompass |
| CN109059905B (en) * | 2018-06-08 | 2021-10-01 | 哈尔滨工程大学 | Method for measuring outer rod arm of ship strapdown inertial navigation system |
| CN112461071B (en) * | 2020-11-20 | 2023-12-01 | 中国人民解放军63698部队 | Method for measuring repeated installation errors of inertial navigation equipment |
| CN115201866B (en) * | 2022-09-16 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Large-scale surface vessel inertial navigation and Beidou tight coupling scheme space correction method |
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