CN107883981A - Rotation type strapdown inertial navigation system angle measurement synchroballistic method based on double reading plotters - Google Patents
Rotation type strapdown inertial navigation system angle measurement synchroballistic method based on double reading plotters Download PDFInfo
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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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Abstract
The invention discloses a kind of rotation type strapdown inertial navigation system angle measurement synchroballistic method based on double reading plotters, by the basis of the photoelectric encoder of a reading plotter, increasing a reading plotter；Two reading plotters, one control for being used for indexing mechanism as benchmark, another is used for IMU angle position synchroballistic, the clock and data frequency of two reading plotters are determined by same information-processing circuit respectively, ensure in rotation modulation is initially aligned and navigated, the Angle Information of indexing mechanism and IMU metrical information is synchronous, so as to improve the initial alignment of system and navigation accuracy.The present invention realizes indexing mechanism and IMU metrical information synchronization, while improving initial alignment and the navigation accuracy of rotation type strapdown inertial navigation system, ensure that the high reliability of system by double reading plotters.
Description
【Technical field】
The invention belongs to strap down inertial navigation field, is related to a kind of rotation type strapdown inertial navigation system angle measurement based on double reading plotters
Synchroballistic method.
【Background technology】
For the high precision position demand of rotation type strapdown inertial navigation system, generally from photoelectric encoder as goniometer
Part, photoelectric encoder are divided into two kinds of absolute encoder and incremental encoder, wherein incremental photoelectric encoder according to application type
It was not know oneself definite position at upper electric initial stage, and only turned over reference signal, that is, relative zero just can be accurate
Know the position of oneself, and incremental encoder is realized by calculating pulse number, because it may lose pulse
Phenomenon, once losing pulse, measurement angle is just forbidden；And absolute encoder is determined the uniqueness of each position by mechanical location,
It, without looking for reference point, and without counting always, judges that it exports number without memory by the low and high level of each position
Value, numerical value position are unique.In order to ensure the reliability of rotation type strapdown inertial navigation system, typically using absolute encoder as angle measurement
Device.
Rotation type strapdown inertial navigation system is in initial alignment and rotation modulation navigation procedure, in order to ensure high accuracy for a long time
Locational requirement, it is necessary to indexing mechanism and IMU (inertial measuring unit) synchronization, and indexing mechanism and IMU are respectively by different
Information processing chip controls, and how to ensure synchronous between the two, is a urgent problem.Can by indexing mechanism and
The clock that IMU process chip is obtained using same crystal oscillation fractional frequency is as benchmark, but such indexing mechanism and IMU of needing
Controlling cycle is consistent, otherwise can cause have frequency dividing error between the two.Different clock references can also be respectively adopted, directly will
The data-signal after conversion of indexing mechanism gives IMU, and so because frequency between the two is asynchronous, clock is by indexing
Mechanism is provided, and data acquisition is determined by IMU, may cause frame losing in long-time communication process, so as to reduce whole system
High reliability.
【The content of the invention】
The shortcomings that it is an object of the invention to overcome above-mentioned prior art, there is provided a kind of based on the rotary of double reading plotters
SINS angle measurement synchroballistic method.
To reach above-mentioned purpose, the present invention is achieved using following technical scheme：
Rotation type strapdown inertial navigation system angle measurement synchroballistic method based on double reading plotters, comprises the following steps：
1) indexing mechanism control reading plotter angle position compensation：
First, the indexing mechanism that debugging finishes is lain in a horizontal plane on the flat board of leveling, be then placed on 24 face rib bodies
On the table top of indexing mechanism, and fixed between 24 face rib bodies and indexing mechanism using adhesive plaster；Then control indexing mechanism every
It is secondary to rotate 15 °, and record the reading value of each position light pipe；Finally, the reading plotter angle based on sin cos functionses is established
Sensor error compensation model；
2) IMU is compensated with reading plotter angle position：
Two reading plotters are installed on the rotating pan, 15 ° of indexing mechanism interval rotates whole circle, gathers each position IMU and uses
The angle information of reading plotter, then carry out the angle position compensation of IMU reading plotters；
3) indexing mechanism Angle Information and IMU measurements are synchronous：
IMU gathers gyro and accelerometer information, while gathers the IMU reading plotter angular position informations after compensation,
And increase a fixed value, make indexing mechanism and IMU measurement synchronous；Wherein fixed value be indexing mechanism control reading plotter and
IMU reading plotter differences.
Further improve of the invention is：
In step 2), the method that inertial measuring unit IMU is compensated with reading plotter angle position is specific as follows：
The exponent number of an initial reading plotter angular transducer sine and cosine functional error compensation model 2-1) is set, and is set
A fixed threshold value, the threshold value of reading plotter and IMU with reading plotter difference between the two is controlled as indexing mechanism；
The sine and cosine functional error compensation model based on least square 2-2) is used, curve is carried out with reading plotter to IMU
Modeling；
2-3) control the angle value work of reading plotter poor the curve model of foundation and indexing mechanism, and by this difference and set
A fixed threshold value is compared, if it exceeds this threshold value then needs to increase reading plotter angular transducer sine and cosine functional error benefit
Repay the exponent number of model, and repeat step 2), until meeting threshold requirement.
In step 2), two reading plotters are inertial measuring unit IMU with angle-measuring equipment and control angle-measuring equipment.
Compared with prior art, the invention has the advantages that：
The present invention increases a reading plotter, proposes a kind of base on the basis of the photoelectric encoder of a reading plotter
In the rotation type strapdown inertial navigation system angle measurement synchronous method of double reading plotters, two reading plotters, one is used to turn as benchmark
The control of position mechanism, another is used for IMU angle position synchroballistic, the clock and data frequency point of two reading plotters
Do not determined by same information-processing circuit, it is ensured that in rotation modulation is initially aligned and navigated, the angle measurement of indexing mechanism is believed
Breath and IMU metrical information are synchronous, so as to improve the initial alignment of system and navigation accuracy.The present invention is filled by double readings
Put, realize indexing mechanism and IMU metrical information synchronization, improve the initial alignment and navigation of rotation type strapdown inertial navigation system
While precision, the high reliability of system ensure that.
【Brief description of the drawings】
Fig. 1 is the structured flowchart of the inventive method；
Fig. 2 is rotation type strapdown inertial navigation system schematic diagram；
Fig. 3 is the operation principle schematic diagram of photoelectric encoder；
Fig. 4 is photoelectric encoder angle compensation schematic diagram；
Fig. 5 is the scheme of installation of double reading plotters.
Wherein, 1- inertial measuring units IMU；2- indexing mechanisms；3- rotary shafts；4- reading plotters；5- rotating disks；6- light
Pipe；7-IMU angle-measuring equipments；8- control angle-measuring equipments.
【Embodiment】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-5, the rotation type strapdown inertial navigation system angle measurement synchroballistic method of the invention based on double reading plotters, bag
Include following steps：
Step 1：The angle position compensation of indexing mechanism control reading plotter：
Fig. 2 is rotation type strapdown inertial navigation system schematic diagram, and Fig. 3 is the operation principle schematic diagram of photoelectric encoder.
As shown in figure 4, angle position benefit is carried out with reading plotter to indexing mechanism control using 24 face rib bodies and light pipe 6
Repay.Finished firstly the need of indexing mechanism debugging, indexing mechanism is lain in a horizontal plane on the flat board of leveling, then put 24 face rib bodies
Put on the table top of indexing mechanism, and adhesive plaster is used between 24 face rib bodies and indexing mechanism, it is ensured that indexing mechanism is rotating
During, relative position of the 24 face rib bodies on indexing mechanism table top will not change.Then control indexing mechanism turns every time
It is dynamic 15 °, and record the reading value of each position light pipe 6.The reading plotter angular transducer based on sin cos functionses is established to miss
Poor compensation model, typically using 8 ranks and more than, can be by the angle compensation of control reading plotter to 1 " within.
Step 2：IMU is compensated with reading plotter angle position：
As shown in figure 5, two reading plotters are installed in a rotating disk 5, the control for being used for indexing mechanism, in addition
The one angle position synchroballistic for being used for IMU.Because two reading plotters are installed to by fastener the stage body of indexing mechanism
On, the position that two reading plotters rotate against disk 5 will not be converted, therefore the relative position of two reading plotters also will not
Changing, i.e., it is a fixed value that difference of reading value complement between the two, which has been repaid after 360 ° of upsets, therefore IMU reading plotters
Angle position compensates, it is not necessary to compensated with as indexing mechanism control reading plotter using third party's angle-measuring equipment, but
It is whole by the use of reading plotter as a reference value, control indexing mechanism 15 ° of interval rotation directly by the use of the indexing mechanism control that compensation finishes
Circle, the angle information of each position IMU reading plotters is gathered, then carry out the angle position compensation of IMU reading plotters, tool
Body algorithm is as follows：
1) exponent number of an initial reading plotter angular transducer sine and cosine functional error compensation model is set, and is set
One threshold value, the threshold value of reading plotter and IMU with reading plotter difference between the two is controlled as indexing mechanism；
2) the sine and cosine functional error compensation model based on least square is used, curve is carried out with reading plotter to IMU and built
Mould；
3) to control the angle value of reading plotter to make the curve model of foundation and indexing mechanism poor, and by this difference and setting
One threshold value is compared, if it exceeds this threshold value then needs to increase the compensation of reading plotter angular transducer sine and cosine functional error
The exponent number of model, and repeat step 2), until meeting threshold requirement.
Step 3：Indexing mechanism Angle Information and IMU measurements are synchronous：
IMU gathers gyro and accelerometer information, while gathers the IMU reading plotter angular position informations after compensation,
And increase a fixed value (indexing mechanism controls reading plotter and IMU reading plotter differences), this ensure that indexing mechanism
Measurement with IMU is synchronous.
Embodiment：
Condition and technical parameter is calculated as below in setting：
1) two reading plotters are consistent, and the precision before compensation is 10 "；
2) indexing mechanism is controlled the angle measurement accuracy in the whole circle of reading plotter compensate to 1 " within；
3) the reading plotter angular transducer sine and cosine functional error compensation model of 16 ranks is set, and sets indexing mechanism control
Reading plotter and IMU reading plotter processed between the two difference threshold value be 1 "；
4) the sine and cosine functional error compensation model based on least square is used, IMU is mended with reading plotter angle position
Repay, meeting 1, " threshold value requires；
5) control indexing mechanism rotates forward 10 circles, then rotates backward 10 circles, and collection respectively is rotated forward and reversely turned
Gyro and IMU reading plotter Angle Informations in dynamic, and randomly select angle and the top that IMU is turned over reading plotter Angle Information
The angle that spiral shell measurement turns over, and both are normalized on whole circle, both measurement errors are 1 ".
The technological thought of above content only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, claims of the present invention is each fallen within
Protection domain within.
Claims (3)
1. the rotation type strapdown inertial navigation system angle measurement synchroballistic method based on double reading plotters, it is characterised in that including following
Step：
1) indexing mechanism control reading plotter angle position compensation：
First, the indexing mechanism (2) that debugging finishes is lain in a horizontal plane on the flat board of leveling, then 24 face rib bodies is placed on and turned
On the table top of position mechanism (2), and fixed between 24 face rib bodies and indexing mechanism (2) using adhesive plaster；Then indexing machine is controlled
Structure (2) rotates 15 ° every time, and records the reading value of each position light pipe (6)；Finally, the reading based on sin cos functionses is established
Counting apparatus (4) angular transducer error compensation model；
2) IMU is compensated with reading plotter angle position：
Two reading plotters (4) are installed in rotating disk (5), indexing mechanism (2) is spaced 15 ° and rotates whole circle, gathers each position
The angle information of IMU reading plotters, then carry out the angle position compensation of IMU reading plotters；
3) indexing mechanism Angle Information and IMU measurements are synchronous：
IMU gathers gyro and accelerometer information, while gathers the IMU reading plotter angular position informations after compensation, and increases
Add a fixed value, make indexing mechanism and IMU measurement synchronous；Wherein fixed value is that indexing mechanism controls reading plotter and IMU
With reading plotter difference.
2. the rotation type strapdown inertial navigation system angle measurement synchroballistic method according to claim 1 based on double reading plotters,
Characterized in that, in step 2), the method that inertial measuring unit IMU is compensated with reading plotter angle position is specific as follows：
The exponent number of an initial reading plotter angular transducer sine and cosine functional error compensation model 2-1) is set, and sets one
Individual threshold value, the threshold value of reading plotter and IMU with reading plotter difference between the two is controlled as indexing mechanism；
The sine and cosine functional error compensation model based on least square 2-2) is used, curve modeling is carried out with reading plotter to IMU；
2-3) to control the angle value of reading plotter to make the curve model of foundation and indexing mechanism poor, and by this difference and sets one
Individual threshold value is compared, if it exceeds this threshold value then needs to increase reading plotter angular transducer sine and cosine functional error compensation mould
The exponent number of type, and repeat step 2), until meeting threshold requirement.
3. the rotation type strapdown inertial navigation system angle measurement synchroballistic side according to claim 1 or 2 based on double reading plotters
Method, it is characterised in that in step 2), two reading plotters (4) are that inertial measuring unit IMU angle-measuring equipments (7) and control are used
Angle-measuring equipment (8).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113624261A (en) * | 2021-09-01 | 2021-11-09 | 湖南航天机电设备与特种材料研究所 | Method for installing and calibrating angle encoder for inertial measurement unit |
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