CN107525524A - A kind of inertial navigation system time delay based on three axle synchronization turntables determines method - Google Patents
A kind of inertial navigation system time delay based on three axle synchronization turntables determines method Download PDFInfo
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Abstract
The present invention relates to a kind of method for measuring inertial navigation system time delay, specially a kind of inertial navigation system time delay based on three axle synchronization turntables determines method；It is an object of the invention to Accurate Determining inertial navigation system time delay, by three axle synchronization turntable output angle angle value and the attitude value of inertial navigation system synchronism output, determines accurate inertial navigation system time delay by both errors, and be further compensated by；The data that the present invention can obtain according to measurement experiment, the inertial navigation system lag output time delay of relative three-axle table is quickly and accurately calculated, identical experiment is repeated, obtained curve is contrasted；Compared with uncompensated curve, it is substantially eliminated by the present invention that inertial navigation lag output time delay, the larger reliability for improving inertial navigation system accuracy test；Compared with prior art, the present invention have the advantages that cost it is low, it is easy to operate, do not limited by operating environment.
Description
Technical field
The present invention relates to measurement inertial navigation system time delay measure field, and in particular to a kind of based on three axle synchronization turntables
Inertial navigation system time delay determines method.
Background technology
Inertial navigation system (INS) is a kind of independent of external information, also do not led to the autonomous type of outside emittance
Boat system.Its working environment not only includes ground, aerial, can also be under water.The basic functional principle of inertial navigation is with Newton force
Law is learned, Ou Nuo measures carrier in the acceleration of inertial reference system, it is integrated to the time, and it is transformed to navigation and sat
In mark system, with regard to the speed in navigational coordinate system, the information such as yaw angle and position can be obtained.Modern relatively common several navigation
Technology, including celestial navigation, inertial navigation, satellite navigation, radionavigation etc., wherein, only inertial navigation is autonomous,
Thing is neither outwardly radiated, without the signal outside seeing the aerial fixed star in day or receiving, its disguise is best.
At present, can become for the method for testing of inertial navigation system precision because tested navigational parameter is different
Change.Position and velocity accuracy test to inertial navigation system, are carried out by fertilising or sport car experiment, and test base is used as by the use of GPS
It is accurate.Course and attitude information for inertial navigation system are carried out generally in high precision turntable, and measuring basis is used as using turntable.Thus
It can be seen that, it is necessary to inertial navigation output signal and high accuracy in the accuracy test for inertial navigation system course and attitude information
Turntable output signal synchronizes admission, and the two signals are carried out to data unpacking respectively and are compared, are obtained between the two
Control information.This information, which will be just used as, judges the accurate standard of inertial navigation system.Therefore, high precision turntable and inertial navigation system
The output information synchronization admission of system is the part that degree is important in inertial navigation system accuracy test.
Inertial navigation system has the following advantages：1st, because it is not dependent on any external information, also not to external radiation
The self-contained system of energy, therefore good concealment, are not also influenceed by outside electromagnetic interference；2nd, can it is round-the-clock, temporally work entirely
In aerial, earth surface or even under water；3rd, position, speed, course and attitude angle data can be provided, caused navigation information connects
Continuous property is good and noise is low；4th, data updating rate height, short-term accuracy and stability are good.Its shortcoming is：1st, because navigation information passes through
Cross integration and produce, position error increases with the time, and long-term accuracy is poor；2nd, longer initial alignment is needed before each use
Time；3rd, the price of equipment is costly；4th, temporal information can not be provided.
Nowadays traditional time delay measure is realized by laser tracker.But its using when operation requirement find standard
Directly, otherwise can malfunction.And the light that can not break renews, it is necessary to which again again, or even intermediate rays are blocked and also result in failure.Therefore
Laser tracker has the shortcomings that expensive, complex operation and limited operating environment.For the ease of convenient, exactly in an experiment
Time delay is measured, designs a kind of method that inertial navigation system time delay is measured using high-precision three-axle table.
The content of the invention
The present invention determines method for a kind of inertial navigation system time delay based on three axle synchronization turntables, it is characterised in that tool
Body comprises the following steps：
(1) inertial navigation system is positioned on high-precision three-axle table, be connected with display control device and supply unit, filled by power supply
Put and direct current 24V electricity is provided, while the navigation data of output is synchronized to display control device；Show control under GPS device 1PPS signal
Device is periodically transferred to PCI1750 serial port boards, and simultaneous transmission to PCI1750 serial port boards also has high-precision three-axle table defeated
Posture, the course information data gone out；The two data are passed to by serial port board and com-parison and analysis are carried out in notebook computer；
(2) inertial navigation system starts to be aligned, and initial error is recorded at the end of alignment；
(3) high-precision three-axle table synchronism output is configured, to the axle motion mode and fortune of high-precision three-axle table
The dynamic time is configured；
(4) data for being transferred to notebook are acquired, and Treatment Analysis are carried out to it, obtain inertial navigation system with it is high-precision
Posture, the course error curve of three-axle table are spent, the posture of turntable, course curve are put with posture, course error curve respectively
Detailed comparisons together；
(5) curve is analyzed, determines method to same with the inertial navigation system time delay based on three axle synchronization turntables
The time delay occurred in step admission carries out calculating determination, and it is compensated in a program, repeats (3), (4), (5) step, tests
Demonstrate,prove compensation result.
Characterized in that, described step (3) specifically includes：
Three axle synchronization turntables choose single shaft sinusoidal wobble in zero-bit state, and with synchronous recording device, synchronously three axles of admission are synchronous
The angle value of turntable output and the attitude value of inertial navigation system synchronism output.
Characterized in that, described step (4) specifically includes：
The angle value that three axle synchronization turntables are exported to the axle subtracts the inertial navigation system synchronism output axle attitude value, obtains
Error E (t) between the two.
Characterized in that, time delay is carried out calculating determination in described step (4) be specially：
Δ T is time delay, and ω is sinusoidal angular frequency；Take sinusoidal two cycles, the angle posivtive spike exported by three axle synchronization turntables
Value subtracts negative peak except 2 obtain sine amplitude A；Negative peak is subtracted except 2 by the posture positive peak of inertial navigation system synchronism output
Sine amplitude B is obtained, and negative peak is added except 2 obtain constant value deviation angle C by positive peak；The difference that A subtracts B is D, i.e. A=B+D；
The phase angle of error E (t)Phase angle by measuring error E (t) is counter to release time delay Δ T；If phase angleFor just, then time delayses Δ T；If phase angleIt is negative, then time lead Δ T.
Characterized in that, described step (5) specifically includes：
(5.1) the Asin ω t that three axle synchronization turntables export are reduced to the A ' sin ω t equal with error E (t) amplitude；
(5.2) E (t) is removed into constant value skew-C；
(5.3) E (t) and A ' sin ω t time difference τ are measured, then phase angleFor：
(5.4) by phase angleTime delay Δ T, which can be released, is：
Brief description of the drawings
Fig. 1 measures phase difference schematic diagram by turntable output waveform and error waveform；
Fig. 2 synchronization recording device schematic diagrames；
Error and the phase-shift curve of turntable output before Fig. 3 delay compensations；
Error and the phase-shift curve of turntable output after Fig. 4 delay compensations.
Embodiment
Illustrate the embodiment of the present invention with reference to accompanying drawing 2：
(1) inertial navigation system is positioned on high-precision three-axle table, be connected with display control device and supply unit, filled by power supply
Put and direct current 24V electricity is provided, while the navigation data of output is synchronized to display control device.Show control under GPS device 1PPS signal
Device is periodically transferred to PCI1750 serial port boards, and simultaneous transmission to PCI1750 serial port boards also has high-precision three-axle table defeated
Posture, the course information data gone out.The two data are passed to by serial port board and com-parison and analysis are carried out in notebook computer；
(2) inertial navigation system starts to be aligned, and initial error is recorded at the end of alignment；
(3) high-precision three-axle table synchronism output is configured；
(4) the axle motion mode and run duration of high-precision three-axle table are configured；
(5) data for being transferred to notebook are acquired, and Treatment Analysis are carried out to it, obtain inertial navigation system with it is high-precision
Posture, the course error curve of three-axle table are spent, the posture of turntable, course curve are put with posture, course error curve respectively
Detailed comparisons together.The angle value that three axle synchronization turntables are exported to the axle subtracts the inertial navigation system synchronism output axle posture
Value, obtains error E (t) between the two；
(6) curve is analyzed, the time delay occurred in synchronous enroll calculate really with the method in the present invention
It is fixed, and it is compensated in a program, (3), (4), (5) step are repeated, verifies compensation result.
Inertial navigation lag output time delay determines that the principle of method is：
Sinusoidal two cycles are taken, within the time period, constant value deviation angle C change can be ignored, it is believed that be constant value, by three
The angle positive peak of axle synchronization turntable output subtracts negative peak except 2 obtain sine amplitude A；By inertial navigation system synchronism output
Posture positive peak subtracts negative peak except 2 obtain sine amplitude B, and adds negative peak except 2 obtain constant value deviation angle C by positive peak；A
The difference for subtracting B is D, i.e. A=B+D；
If time delay is Δ T, sinusoidal angular frequency is ω, then：
Due toTo be a small amount of, thereforeThen：
And due toVery little, therefore can be neglected during Vector modulation, then：
From above formula, if measuring the phase angle of error E (t)Time delay Δ T can then be calculated.
If phase angleFor just, then time delayses Δ T；If phase angleIt is negative, then time lead Δ T.
Step (5) specifically comprises the following steps：
(5.1) the Asin ω t that three axle synchronization turntables export are reduced to the A ' sin ω t equal with error E (t) amplitude；
(5.2) E (t) is removed into constant value skew-C；
(5.3) E (t) and A ' sin ω t time difference τ are measured, then phase angleFor：
(5.4) by phase angleTime delay Δ T, which can be released, is：
Invention is described in detail with reference to specific embodiment：
Inertial navigation set is placed in high precision turntable, starts initial alignment.Set high-precision three-axle table synchronous
Output, motion mode are set to axis, outer shaft transfixion, and interior axle is then sinusoidally moved and does periodic motion, amplitude around zero point
For 10 degree, period of motion 6.283s.After inertial navigation system is aligned, start three-axle table, while notebook computer starts to connect
Receive the data of inertial navigation unit and the output of high-precision three-axle table.The data received to notebook unpack, both analyses
Error curve numerical value.Inertial navigation lag output time delay is confirmed, and hysteresis time delay compensated in a program.Program is repaiied
After the completion of changing, initial Alignment of Inertial Navigation System is operated again, high-precision three-axle table is again started up after the completion of alignment, is transported with identical
Flowing mode is run, and notebook computer starts to receive the data of inertial navigation unit and the output of high-precision three-axle table.To notebook
The data of reception are unpacked, and are analyzed both error curve numerical value, are drawn error curve.It is bent with the error before delay compensation
Line contrasts.
Accompanying drawing 3 shows the phase-shift curve of error and the turntable output before the delay compensation after processing.Error curve is at
Reason, is subtracted each other to obtain by turntable and inertial navigation system roll error and roll error ensemble average value, and the size of its crest value is this
Invention proposes the D in computational methods.Because high precision turntable and the rolling curve error value of inertial navigation are too small, thus by both
Rolling curve is put together comparative effectiveness and unobvious.So by turntable interior axle curve movement reduce 100 times after and error curve
Put together and compare.To differ a data points in two curves of zero crossings, it means that the time difference τ between two curves is
0.1 second.With the method proposed in the present invention, then phase angleFor：
By phase angleTime delay Δ T, which can be released, is：
Accompanying drawing 4 shows the error after delay compensation and the phase-shift curve of turntable output.The inertial navigation that above formula is calculated is defeated
Go out to lag time delay and compensated in program.Identical experiment is repeated, obtained curve is contrasted.With uncompensated curve phase
Than it is substantially eliminated by the present invention that inertial navigation lag output time delay, larger improve the reliable of inertial navigation system accuracy test
Property.
Claims (5)
1. a kind of inertial navigation system time delay based on three axle synchronization turntables determines method, it is characterised in that specifically includes as follows
Step：
(1) inertial navigation system is positioned on high-precision three-axle table, be connected with display control device and supply unit, carried by supply unit
For direct current 24V electricity, while the navigation data of output is synchronized to display control device；The display control device under GPS device 1PPS signal
PCI1750 serial port boards are periodically transferred to, simultaneous transmission to PCI1750 serial port boards also has what high-precision three-axle table exported
Posture, course information data；The two data are passed to by serial port board and com-parison and analysis are carried out in notebook computer；
(2) inertial navigation system starts to be aligned, and initial error is recorded at the end of alignment；
(3) high-precision three-axle table synchronism output is configured, during to the axle motion mode of high-precision three-axle table and motion
Between be configured；
(4) data for being transferred to notebook are acquired, and Treatment Analysis is carried out to it, obtain inertial navigation system and high accuracy three
The posture of axle turntable, course error curve, the posture of turntable, course curve are placed on one with posture, course error curve respectively
Play detailed comparisons；
(5) curve is analyzed, determines method to synchronous record with the inertial navigation system time delay based on three axle synchronization turntables
Take the time delay of middle appearance to carry out calculating determination, and it is compensated in a program, repeat (3), (4), (5) step, checking is mended
Repay result.
2. a kind of inertial navigation system time delay based on three axle synchronization turntables according to claim 1 determines method, it is special
Sign is that described step (3) specifically includes：
Three axle synchronization turntables choose single shaft sinusoidal wobble in zero-bit state, and three axle synchronization turntables are synchronously enrolled with synchronous recording device
The angle value of output and the attitude value of inertial navigation system synchronism output.
3. a kind of inertial navigation system time delay based on three axle synchronization turntables according to claim 1 determines method, it is special
Sign is that described step (4) specifically includes：
The angle value that three axle synchronization turntables are exported to the axle subtracts the inertial navigation system synchronism output axle attitude value, obtains both
Between error E (t).
4. a kind of inertial navigation system time delay based on three axle synchronization turntables according to claim 1 determines method, it is special
Sign is, time delay is carried out calculating determination in described step (4) be specially：
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Δ T is time delay, and ω is sinusoidal angular frequency；Sinusoidal two cycles are taken, the angle positive peak exported by three axle synchronization turntables subtracts
Negative peak is gone to obtain sine amplitude A except 2；Negative peak is subtracted except 2 obtain by the posture positive peak of inertial navigation system synchronism output
Sine amplitude B, and negative peak is added except 2 obtain constant value deviation angle C by positive peak；The difference that A subtracts B is D, i.e. A=B+D；Error E
(t) phase anglePhase angle by measuring error E (t) is counter to release time delay Δ T；If phase angleFor
Just, then time delayses Δ T；If phase angleIt is negative, then time lead Δ T.
5. a kind of inertial navigation system time delay based on three axle synchronization turntables according to claim 1 determines method, it is special
Sign is that described step (5) specifically includes：
(5.1) the Asin ω t that three axle synchronization turntables export are reduced to the A ' sin ω t equal with error E (t) amplitude；
(5.2) E (t) is removed into constant value skew-C；
(5.3) E (t) and A ' sin ω t time difference τ are measured, then phase angleFor：
(5.4) by phase angleTime delay Δ T, which can be released, is：
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| CN111856964A (en) * | 2019-12-20 | 2020-10-30 | 北京空天技术研究所 | Semi-physical simulation environment time delay measuring system and method |
| CN112729290A (en) * | 2020-12-23 | 2021-04-30 | 重庆华渝电气集团有限公司 | Navigation attitude data synchronization error compensation method of inertial navigation equipment |
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| CN113432621A (en) * | 2021-06-24 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Time delay testing method of strapdown inertial navigation system based on swing table |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108983597A (en) * | 2018-08-23 | 2018-12-11 | 广东电网有限责任公司 | A kind of method and device of approximation purely retarded |
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| CN109724598A (en) * | 2019-03-08 | 2019-05-07 | 哈尔滨工程大学 | A kind of estimation and compensation method of the time delay error of GNSS/INS pine combination |
| CN111856964A (en) * | 2019-12-20 | 2020-10-30 | 北京空天技术研究所 | Semi-physical simulation environment time delay measuring system and method |
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| CN111537995A (en) * | 2020-05-19 | 2020-08-14 | 北京爱笔科技有限公司 | Time delay obtaining method and device and electronic equipment |
| CN113137975A (en) * | 2020-05-28 | 2021-07-20 | 西安天和防务技术股份有限公司 | Astronomical inertia combined navigation inertia correction method and device and electronic equipment |
| CN113137975B (en) * | 2020-05-28 | 2024-03-19 | 西安天和防务技术股份有限公司 | Inertial correction method and device for astronomical inertial integrated navigation and electronic equipment |
| CN112729290A (en) * | 2020-12-23 | 2021-04-30 | 重庆华渝电气集团有限公司 | Navigation attitude data synchronization error compensation method of inertial navigation equipment |
| CN113432621A (en) * | 2021-06-24 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Time delay testing method of strapdown inertial navigation system based on swing table |
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