CN106197413A - A kind of airborne distributed location attitude measurement system - Google Patents

Abstract

The present invention relates to a kind of airborne distributed location attitude measurement system, comprise three Inertial Measurement Units (IMU), a distributed treatment computer system (distributed PCS) and a set of differential GPS devices.First, three IMU measure the line motion of three different nodes and angular movement respectively and are sent to distributed PCS with 422 forms, and the most a set of differential GPS devices exports differential GPS in real time to distributed PCS；Then, distributed PCS completes the parallel reception of three road IMU and a road DGPS data, parallel processing, parallel memorizing and transmitted in parallel；Finally, distributed location attitude measurement system exports the position and attitude information of three nodes in real time.The distributed location attitude measurement system that the present invention realizes, it is adaptable to the most distributed inertia measurement, navigation and integrated navigation system.

Description

A kind of airborne distributed location attitude measurement system

Technical field

The present invention relates to a kind of airborne distributed POS (Position and Orientation System, position and attitude Measurement system) design and realize, can apply to the inertial navigation of multinode, inertia/GPS (Global Position System, global positioning system) integrated navigation system and distributed node measure.

Background technology

POS can be that high-resolution air remote sensing system provides high frequency, high-precision time, space reference letter in high precision Breath, improves imaging precision and efficiency by kinematic error compensation.Along with air remote sensing constantly carrying high-resolution imaging demand Height, new and effective multitask imaging load joint imaging technology, Long baselines microwave load are interfered and array technique is increasingly becoming and carries High imaging efficiency and the effective means of resolution.For the main two sub-interference SARs of flexible Long baselines one, because it is by hanging sky under wing Line gondola, it is not necessary to aircraft conversion, be easier to the features such as realization the most in widespread attention.But three sights for same carrier aircraft Survey load, use traditional single POS cannot meet the demand of high-precision motion parameter measurement of different settlements multi-load, and And because of the restriction of the factors such as volume, weight, cost, at each observation load, it is respectively mounted a high accuracy POS the most unrealistic.Cause This, measure system in the urgent need to setting up the distributed POS of high accuracy.

Distributed POS measures system and is used to solve the movable information measurement of multinode, and single POS can only measure single The movable information of node is compared, and distributed POS measures system and can complete the navigation calculation of host node and pass through Transfer Alignment in fact Time output the position of two sub-IMU, speed, attitude information.

It is to comprise three Inertial Measurement Units of gathering line speed and angular velocity, distributed PCS that distributed POS measures system (PCS represents POS Computer System) and differential GPS devices.The computer system of the most distributed POS is by distributed data Reason computer module, distributed power supply module, GPS-OEM module, distributed storage module and distributed mother matrix module, these data Process the framework that computer module uses the 8 core DSP+FPGA of TMS320C6678." a kind of distributed POS uses Chinese invention patent Data handling machine system " (number of patent application: 201410099312.2) be one may be used for distributed POS measure system A module in system, and it is the framework using FPGA+6 sheet DSP, and volume is big and data-handling capacity is limited.

Summary of the invention

The technology of the present invention solves problem: overcomes existing airborne single POS to measure system and can not carry out multinode measurement Deficiency, it is provided that a kind of airborne distributed location attitude measurement system, it is possible to high frequency exports the movable information of multinode in real time.

The technology of the present invention solution is:

The airborne distributed POS of the present invention measures system, utilizes three road Inertial Measurement Units (IMU) to measure three nodes Angular movement and line motion, and sent to the data handling machine of distributed PCS by 422 buses, meanwhile, differential GPS is with 232 Or Transistor-Transistor Logic level is also passed to the data handling machine of distributed PCS；Distributed PCS contains distributed power supply module, GPS-OEM module, distributed storage module, distributed motherboard module and distributed data processing computer module.Distributed PCS Utilize distributed data processing computer module that the three road IMU data received and a road gps data are unpacked, mend online Repaying, strapdown resolves, time synchronized, Transfer Alignment and combined filter；Finally, data handling machine module is original for three road IMU Data and a road gps data and combined filter result are sent to memory plane module, external load and monitoring computer, in order to after Process, realtime imaging and monitoring.Finally, distributed POS synchronously completes the position of three nodes, the movable information such as speed and attitude Accurate measurement.

The principle of the present invention is:

Airborne distributed POS measures system, utilize three road Inertial Measurement Units (IMU) measure three nodes angular movement and Line moves, and is sent to the data handling machine of distributed PCS by 422 buses, and meanwhile, differential GPS is with 232 or TTL Level is also passed to the data handling machine of distributed PCS；Distributed PCS contains distributed power supply module, GPS-OEM mould Block, distributed storage module, distributed motherboard module and distributed data processing computer module, distributed PCS utilizes distribution Formula data handling machine module unpacks the three road IMU data received and a road DGPS data, online compensation, Strapdown resolves, time synchronized, Transfer Alignment and combined filter；Finally, distributed data processing computer module is former for three road IMU Beginning data and a road gps data and combined filter result are sent to memory plane module, external load and monitoring computer, in order to Post processing, realtime imaging and monitoring.Finally, distributed POS measures system synchronization and completes the position of three nodes, speed and attitude Accurate measurement Deng movable information.

Present invention advantage compared with prior art is:

(1) the distributed POS of the present invention measures system and can complete three nodes by three road IMU and distributed PCS The synchronous acquisition of movable information, receives, and processes in real time and output in real time.And data operation a large amount of, high-precision, energy can be completed The real-time navigation realizing host node resolves, and exports the position of two child nodes, speed, attitude etc. in real time by Transfer Alignment simultaneously Movable information, is the premise of distributed radar imaging.

(2) the distributed POS of the present invention measures system and can complete connecing of real-time carrier phase differential signal by differential GPS Receive, resolve, be transferred to distributed data processing computer module and be combined navigation, improve the navigation essence of host node further Degree, and then high-precision Transfer Alignment benchmark is provided.

(3) the distributed POS of the present invention measures system and can realize multiple baud rate and multiple by distributed storage module The high-frequency I MU initial data receiving three nodes that distributed data processing computer module sends of transmission means, three joints The DGPS data that the high frequency integrated navigation information of point and GPS-OEM resolve, improves distributed POS and measures the spirit of system Activity and reliability, the Data Post measuring system for distributed POS is laid a good foundation.

Accompanying drawing explanation

Fig. 1 is the airborne distributed POS composition frame chart of the present invention；

Fig. 2 is the airborne distributed POS fundamental diagram of the present invention.

Detailed description of the invention

As it is shown in figure 1, the present invention includes a distributed PCS, three IMU and differential GPS devices.Wherein, distributed PCS Being the core of airborne distributed POS, it receives 422 data and the DGPS data that three IMU send parallel, is three simultaneously IMU and RTK airborne station provides 28V D.C. regulated power supply, for and provide three nodes for imaging load and monitoring computer Navigation information；Three IMU provide angular velocity and the acceleration of three nodes parallel for distributed PCS, and are sent to 422 forms The distributed motherboard module of distributed PCS, is then sent to the distributed data processing computer module of distributed PCS, completes Strapdown resolves；Differential GPS devices includes terrestrial reference station equipment and airborne rover station equipment, and terrestrial reference station equipment is by GPS base Quasi-station antenna, GPS reference station receiver, RTK base station data radio station become with RTK radio station transmission antenna group, GPS reference station antenna Receive gps signal, then resolved and be sent to RTK base station radio station by GPS reference station receiver, finally launched by RTK radio station Antenna is sent；Airborne rover station equipment includes RTK airborne antenna, RTK airborne station and GPS rover station antenna composition, and RTK is airborne The signal of antenna reception RTK radio station transmitting antenna, and send into the GPS-OEM module of distributed PCS, GPS rover station antenna simultaneously Also receive gps signal and send into the GPS-OEM module of distributed PCS, complete difference and resolve.GPS-OEM module as distributed PCS Complete difference to resolve, real time differential position and speed are sent to the distributed data processing computer module of distributed PCS, and Compensate through lever arm, and the strapdown of host node in the same time resolves and is combined filtering.The real-time navigation of two child nodes IMU is not The method using INS/GPS, and use the kalman filter method compensated based on multistage lever arm to be believed by the real-time navigation of host node Breath resolves information fusion with the strapdown of two child nodes respectively, obtains the real-time navigation result of high-precision child node；By lever arm Error in length introduces system model as quantity of state, can estimate the length of base between master/child node more accurately, carry High lever arm compensation precision；Use the matching process measuring parameter " speed+position ", it is easier to estimate the error of dynamic lever arm, And carry out error correction, the measurement noise of flex motion noise and inertia device is had preferable integral smooth effect；Pin Distributed POS is measured system, carries out time synchronizing in its data acquisition phase, it is ensured that each IMU data acquisition Synchronousness.State equation and the measurement equation of this wave filter are as follows:

System state equation is:

$\stackrel{\·}{X}=FX+W$

In formula X is 18 dimension state variables, including 3 attitude errors, 3 velocity errors, 3 site errors, 3 offset of gyroscopes, 3 acceleration Degree meter biasing and 3 lever arm length errors, F is state-transition matrix；W is system noise, and assumes that it is zero-mean Gaussian white Noise；The expression formula of F:

$F=\left[\begin{array}{cccccc}{F}_1& F_2& F_3& C_b^n& 0_{3\×3}& \begin{array}{cc}{C}_b^n& {\mathrm{\ω}}_{ib}^b\×\end{array}\\ F_4& F_5& F_6& 0_{3\×3}& C_b^n& 0_{3\×3}\\ 0_{3\×3}& F_7& F_8& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}& 0_{3\×3}\end{array}\right]$

In formula:

$F_1=\left[\begin{array}{ccc}0& {\mathrm{\ω}}_{ie}\sin L+\frac{V_x\tan L}{R_N+H}& -({\mathrm{\ω}}_{ie}\cos L+\frac{V_x}{R_N+H})\\ -({\mathrm{\ω}}_{ie}\sin L+\frac{V_x\tan L}{R_N+H})& 0& -\frac{V_y}{R_M+H}\\ {\mathrm{\ω}}_{ie}\cos L+\frac{V_x}{R_N+H}& \frac{V_y}{R_M+H}& 0\end{array}\right]$

$\begin{array}{cc}{F}_2=\left[\begin{array}{ccc}0& -\frac{1}{R_M+H}& 0\\ \frac{1}{R_N+H}& 0& 0\\ \frac{\tan L}{R_M+H}& 0& 0\end{array}\right]& F_3=\left[\begin{array}{ccc}0& 0& \frac{V_y}{{(R_M+H)}^2}\\ -{\mathrm{\ω}}_{ie}\sin L& 0& -\frac{V_x}{{(R_N+H)}^2}\\ {\mathrm{\ω}}_{ie}\cos L+\frac{V_x{\sec }^{2}L}{R_N+H}& 0& \frac{V_x\tan L}{{(R_N+H)}^2}\end{array}\right]\end{array}$

$F_5=\left[\begin{array}{ccc}\frac{V_y\tan L}{R_N+H}-\frac{V_z}{R_N+H}& 2{\mathrm{\ω}}_{ie}\sin L+\frac{V_x\tan L}{R_N+H}& -2{\mathrm{\ω}}_{ie}\cos L-\frac{V_x}{R_N+H}\\ -2({\mathrm{\ω}}_{ie}\sin L+\frac{V_x\tan L}{R_N+H})& -\frac{V_z}{R_M+H}& -\frac{V_y}{R_M+H}\\ 2({\mathrm{\ω}}_{ie}\cos L+\frac{V_x}{R_N+H})& \frac{2V_y}{R_M+H}& 0\end{array}\right]$

$\begin{array}{cc}{F}_4=\left[\begin{array}{ccc}0& -f_z& f_y\\ f_z& 0& -f_x\\ -f_y& f_x& 0\end{array}\right]& F_6=\left[\begin{array}{ccc}2{\mathrm{\ω}}_{ie}{V}_y\cos L+\frac{V_x{V}_y{\sec }^{2}L}{R_N+H}+2{\mathrm{\ω}}_{ie}{V}_z\sin L& 0& \frac{V_x{V}_z-V_x{V}_y\tan L}{{(R_N+H)}^2}\\ -(2{\mathrm{\ω}}_{ie}\cos L+\frac{V_x{\sec }^{2}L}{R_N+H})V_E& 0& \frac{V_y{V}_z+V_x^2\tan L}{{(R_N+H)}^2}\\ -2{\mathrm{\ω}}_{ie}{V}_x\sin L& 0& -\frac{V_x^2+V_y^2}{{(R_N+H)}^2}\end{array}\right]\end{array}$

$\begin{array}{cc}{F}_7=\left[\begin{array}{ccc}0& \frac{1}{R_M+H}& 0\\ \frac{\sec L}{R_N+H}& 0& 0\\ 0& 0& 1\end{array}\right]& F_8=\left[\begin{array}{ccc}0& 0& -\frac{V_y}{{(R_M+H)}^2}\\ \frac{V_x\sec L\tan L}{R_N+H}& 0& -\frac{V_x\sec L}{{(R_N+H)}^2}\\ 0& 0& 0\end{array}\right]\end{array}$

R in formula_MAnd R_NBeing respectively along meridian circle and the principal radius of curvature of prime vertical, H is carrier height, ω_ieFor the earth certainly Tarnsition velocity, f_E、f_NAnd f_UIt is respectively east orientation specific force, north orientation specific force and sky to specific force.

Measurement equation is as follows:

Measurement Z is the velocity error after lever arm compensates and site error, and measurement matrix H is:

H=[H_V H_P]^T

$\begin{array}{cc}{H}_V=\[0_{3\×3},\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array},0_{3\×9},\begin{array}{cc}{C}_b^n& {\mathrm{\ω}}_{ib}^b\×\end{array}\]& H_P=\[0_{3\×6},\begin{array}{ccc}{R}_M+H& 0& 0\\ 0& R_N+H& 0\\ 0& 0& 1\end{array},0_{3\×9}\]\end{array}$

As in figure 2 it is shown, three IMU are angular movement and the line motions being respectively used for measuring three different nodes, in IMU After the data prediction in portion, and it is sent to distributed PCS with 422 bus forms through the distributed motherboard module of distributed PCS Distributed data processing computer module, carry out strapdown resolving.In the process, GPS rover station antenna and RTK airborne station GPS rover station information and base station information, and then GPS-OEM module is sent to the GPS-OEM module of distributed PCS at point of whole second Complete real time differential to resolve, be sent to the distributed data processing computer module of distributed PCS and host node strapdown resolves Result completes combined filter, and is completed the Transfer Alignment of two child nodes by the combined filter result of host node, exports two The combined filter result of child node.The distributed data processing computer module of distributed PCS is the combined filter of three nodes Result is sent to three imaging load with CAN or 422 bus forms.Three IMU initial datas, GPS initial data and reality Time filter result be sent to the distributed storage module of distributed PCS, in order to carry out Data Post, it is provided that higher navigation essence Degree.

There is provided above example to be only used to describe the purpose of the present invention, and be not intended to limit the scope of the present invention.This The scope of invention is defined by the following claims.Various equivalents made without departing from spirit and principles of the present invention and repairing Change, all should contain within the scope of the present invention.

Claims (4)

1. an airborne distributed location attitude measurement system, it is characterised in that: described system composition comprises three IMU, divides Cloth PCS and differential GPS devices: three IMU can measure the movable information of three different nodes simultaneously, and be sent simultaneously to point Cloth PCS；Distributed PCS can not only provide multiple constant voltage dc source, and Neng Wei tri-tunnel for each module of distributed PCS IMU, RTK airborne station provides the D.C. regulated power supply of 28V, can receive three road IMU data, real time differential GPS parallel simultaneously Data, the real-time navigation information of three nodes of parallel output；The GPS information of the datum mark that differential GPS devices is measured sends into distribution In GPS-OEM module in formula PCS, real-time for distributed data processing computer module after completing to resolve for GPS-OEM module Outgoing carrier phase difference GPS.

Airborne distributed location attitude measurement system the most according to claim 1, it is characterised in that: described each IMU bag Containing power panel, three add meter, three gyros and collection plate, complete line motion and the collection of angular movement of node, and with 422 shapes Formula is sent to distributed PCS.

Airborne distributed location attitude measurement system the most according to claim 1, it is characterised in that: described differential GPS bag Containing GPS rover station antenna, a RTK airborne station, a RTK airborne antenna, GPS reference station antenna, GPS reference station receives Machine, RTK base station data radio station and RTK radio station launch antenna, wherein GPS rover station antenna be used to obtain the position of carrier and Speed；RTK airborne station is used to receive RTK radio station and launches the datum mark GPS information that antenna sends, and GPS reference station antenna is It is used for obtaining position and the velocity information of datum mark, RTK base station data radio station and RTK radio station transmitting antenna to be used to respectively connect Receive the GPS information of the datum mark that GPS reference station receiver resolves and send the GPS information of datum mark, in order in distributed PCS GPS-OEM module complete resolving and the output of real-time carrier phase difference.

Airborne distributed location attitude measurement system the most according to claim 1, it is characterised in that: described distributed PCS Comprise distributed cabinet, distributed data processing computer module, GPS-OEM module, distributed power source plate module, distributed deposit Storage module and distributed motherboard module；Distributed cabinet is used to and external power source, IMU, gps antenna, and load and monitoring calculate Machine is mutual, indicates distributed POS duty and controls power supply；Distributed data processing module is used to receive three road IMU Initial data, real time differential GPS initial data, data process and data send；GPS-OEM module is used to resolve difference Gps signal, power panel is used to provide the voltage of 28V, 5V and 12V, and wherein 28V Shi Wei tri-road IMU powers, and 5V is for GPS- OEM module and distributed data processing module for power supply, 12V is for distributed storage module for power supply；Distributed storage module is to use Store three road IMU initial datas, a road GPS initial data, three road real-time navigation data；Motherboard completes between each module Information is mutual.