CN107883981B - Rotary strapdown inertial navigation system angle measurement synchronous compensation method based on double reading devices - Google Patents
Rotary strapdown inertial navigation system angle measurement synchronous compensation method based on double reading devices Download PDFInfo
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- CN107883981B CN107883981B CN201711050958.1A CN201711050958A CN107883981B CN 107883981 B CN107883981 B CN 107883981B CN 201711050958 A CN201711050958 A CN 201711050958A CN 107883981 B CN107883981 B CN 107883981B
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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
Abstract
The invention discloses a rotary strapdown inertial navigation system angle measurement synchronous compensation method based on double reading devices, which is characterized in that a reading device is added on the basis of a photoelectric encoder of the reading device; two reading devices, one is used as a reference for controlling the indexing mechanism, the other is used for synchronous compensation of the angular position of the IMU, and the clock frequency and the data frequency of the two reading devices are respectively determined by the same information processing circuit, so that the angle measurement information of the indexing mechanism and the measurement information of the IMU are ensured to be synchronous in the rotation modulation initial alignment and navigation, and the initial alignment and navigation precision of the system is improved. According to the invention, through the double-reading device, the synchronization of the indexing mechanism and the measurement information of the IMU is realized, the initial alignment and the navigation precision of the rotary type strapdown inertial navigation system are improved, and the high reliability of the system is ensured.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the field of strapdown inertia, and relates to a rotary strapdown inertial navigation system angle measurement synchronous compensation method based on a double-reading device.
[ background of the invention ]
Aiming at the high-precision position requirement of a rotary type strapdown inertial navigation system, a photoelectric encoder is generally selected as an angle measuring device and is divided into an absolute encoder and an incremental encoder according to application types, wherein the incremental photoelectric encoder does not know the exact position of the incremental encoder at the initial electrifying stage, the position of the incremental encoder can be accurately known only by rotating a reference signal, namely a relative zero point, and the incremental encoder is realized by calculating the number of pulses, so that the pulse loss phenomenon can occur, and once the pulses are lost, the measurement angle is inaccurate; the absolute encoder determines the uniqueness of each position according to the mechanical position, does not need to memorize, does not need to find a reference point, does not need to count all the time, judges the output value of each position according to the high and low levels of each position, and has the uniqueness of the value position. In order to ensure the reliability of the rotary type strapdown inertial navigation system, an absolute encoder is generally adopted as an angle measuring device.
In the initial alignment and rotation modulation navigation processes of the rotary type strapdown inertial navigation system, in order to meet the position requirement of long-time high precision, the indexing mechanism and an IMU (inertial measurement unit) need to be synchronized, the indexing mechanism and the IMU are respectively controlled by different information processing chips, and how to ensure the synchronization between the indexing mechanism and the IMU is a problem which needs to be solved urgently. The clock obtained by frequency division of the same crystal oscillator can be used as a reference for the processing chips of the indexing mechanism and the IMU, but the control periods of the indexing mechanism and the IMU are required to be consistent, otherwise, frequency division errors can be caused between the indexing mechanism and the IMU. Different clock references can be adopted respectively, and the converted data signals of the indexing mechanism are directly sent to the IMU, so that due to the fact that the frequencies of the two are asynchronous, the clock is provided by the indexing mechanism, and data acquisition is determined by the IMU, frame loss in the long-time communication process can be caused, and high reliability of the whole system is reduced.
[ summary of the invention ]
The invention aims to overcome the defects of the prior art and provides a method for synchronously compensating the angle measurement of a rotary strapdown inertial navigation system based on a double-reading device.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the rotary strapdown inertial navigation system angle measurement synchronous compensation method based on the double reading devices comprises the following steps:
1) the indexing mechanism controls the angular position compensation of the reading device:
firstly, horizontally placing a debugged indexing mechanism on a leveled flat plate, then placing a 24-surface prism on a table top of the indexing mechanism, and fixing the 24-surface prism and the indexing mechanism by adopting adhesive plaster; then controlling the indexing mechanism to rotate 15 degrees every time, and recording the reading value of the light pipe at each position; finally, establishing a reading device angle sensor error compensation model based on a sine and cosine function;
2) angular position compensation of the reading device for the IMU:
mounting two reading devices on the rotating disc, rotating the indexing mechanism for a whole circle at an interval of 15 degrees, acquiring angle information of the reading device for the IMU at each position, and then performing angle position compensation on the reading device for the IMU;
3) the angle measurement information of the indexing mechanism and the IMU measurement are synchronous:
the IMU acquires information of a gyroscope and an accelerometer, acquires angle position information of a reading device for the compensated IMU at the same time, and adds a fixed value to synchronize the measurement of the indexing mechanism and the IMU; wherein the fixed value is the difference between the indexing mechanism control reading device and the reading device for the IMU.
The invention further improves the following steps:
in step 2), the method for compensating the angular position of the reading device for the inertial measurement unit IMU specifically comprises the following steps:
2-1) setting the order of an initial reading device angle sensor sine and cosine function error compensation model, and setting a threshold value as a threshold value of the difference between the reading device controlled by the indexing mechanism and the reading device for the IMU;
2-2) adopting a least square-based sine and cosine function error compensation model to perform curve modeling on the reading device for the IMU;
2-3) making a difference between the established curve model and the angle value of the reading device controlled by the indexing mechanism, comparing the difference with a set threshold value, if the difference exceeds the threshold value, increasing the order of the sine and cosine function error compensation model of the angle sensor of the reading device, and repeating the step 2) until the threshold value requirement is met.
In the step 2), the two reading devices are an angle measuring device for an inertial measurement unit IMU and an angle measuring device for control.
Compared with the prior art, the invention has the following beneficial effects:
the invention adds a reading device on the basis of a photoelectric encoder of the reading device, and provides a method for synchronizing the angle measurement of a rotary strapdown inertial navigation system based on double reading devices. According to the invention, through the double-reading device, the synchronization of the indexing mechanism and the measurement information of the IMU is realized, the initial alignment and the navigation precision of the rotary type strapdown inertial navigation system are improved, and the high reliability of the system is ensured.
[ description of the drawings ]
FIG. 1 is a block diagram of the structure of the method of the present invention;
FIG. 2 is a schematic diagram of a rotary strapdown inertial navigation system;
FIG. 3 is a schematic diagram of the working principle of the photoelectric encoder;
FIG. 4 is a schematic view of an optical-to-electrical encoder angle compensation;
FIG. 5 is a schematic view of the installation of the dual reading device.
Wherein, 1-inertial measurement unit IMU; 2-a transposition mechanism; 3-a rotating shaft; 4-a reading device; 5-rotating the disc; 6-light pipe; 7-an angle measuring device for IMU; 8-angle measuring device for control.
[ detailed description ] embodiments
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1-5, the method for synchronous compensation of angle measurement of the rotary strapdown inertial navigation system based on the double reading devices comprises the following steps:
step 1: the indexing mechanism controls the angular position compensation of the reading device:
fig. 2 is a schematic diagram of a rotary strapdown inertial navigation system, and fig. 3 is a schematic diagram of a working principle of a photoelectric encoder.
As shown in fig. 4, the reading device for controlling the turning mechanism is compensated for angular position by the 24-sided prism and the light pipe 6. Firstly, after the indexing mechanism is debugged, the indexing mechanism is horizontally placed on a leveling flat plate, then the 24-face prism is placed on a table top of the indexing mechanism, and a rubber paste is adopted between the 24-face prism and the indexing mechanism, so that the relative position of the 24-face prism on the table top of the indexing mechanism is ensured not to change in the rotating process of the indexing mechanism. The indexing mechanism is then controlled to rotate 15 ° each time and the reading of the light pipe 6 is recorded for each position. An error compensation model of the angle sensor of the reading device based on the sine and cosine function is established, generally 8-order or more is adopted, and the angle of the reading device for control can be compensated to be within 1 ″.
Step 2: angular position compensation of the reading device for the IMU:
as shown in fig. 5, two reading devices are mounted on one rotary disc 5, one for control of the indexing mechanism and the other for angular position synchronous compensation of the IMU. Because two reading devices are installed on the table body of the indexing mechanism through fasteners, the positions of the two reading devices relative to the rotating disc 5 cannot be changed, so that the relative positions of the two reading devices cannot be changed, namely, the reading difference between the two reading devices is a fixed value after being compensated for 360-degree turnover, and therefore, the angle position compensation of the reading devices for the IMU is realized, the angle position compensation is realized by using a third-party angle measuring device without using a third-party angle measuring device as a reading device controlled by the indexing mechanism as a reference value, the reading devices for the control of the indexing mechanism after compensation are directly used as the reference value, the indexing mechanism is controlled to rotate for a whole circle at an interval of 15 degrees, the angle information of the reading devices for the IMU at each position is collected, and then the angle position compensation:
1) setting an order of an initial reading device angle sensor sine and cosine function error compensation model, and setting a threshold value as a threshold value of a difference value between the indexing mechanism control reading device and the reading device for the IMU;
2) performing curve modeling on the reading device for the IMU by adopting a sine and cosine function error compensation model based on least square;
3) and (3) making a difference between the established curve model and the angle value of the reading device controlled by the indexing mechanism, comparing the difference with a set threshold value, if the difference exceeds the threshold value, increasing the order of the sine and cosine function error compensation model of the angle sensor of the reading device, and repeating the step (2) until the threshold value requirement is met.
And step 3: the angle measurement information of the indexing mechanism and the IMU measurement are synchronous:
the IMU acquires information of the gyroscope and the accelerometer, acquires angle position information of the reading device for the compensated IMU and adds a fixed value (difference value between the reading device controlled by the indexing mechanism and the reading device for the IMU), so that the measurement synchronization of the indexing mechanism and the IMU is ensured.
Example (b):
the following calculation conditions and technical parameters are set:
1) the two reading devices are consistent, and the precision before compensation is 10';
2) compensating the angle measurement precision of the whole circle of the reading device controlled by the indexing mechanism to be within 1';
3) setting a 16-order sine and cosine function error compensation model of the angle sensor of the reading device, and setting a threshold value of a difference value between the reading device controlled by the indexing mechanism and the reading device for the IMU to be 1';
4) compensating the angle position of the reading device for the IMU by adopting a sine and cosine function error compensation model based on least square to meet the requirement of a 1' threshold value;
5) and controlling the indexing mechanism to rotate for 10 circles in the forward direction, then rotating for 10 circles in the reverse direction, respectively collecting the angle measurement information of the gyroscope and the IMU reading devices in the forward rotation and the reverse rotation, randomly extracting the angle rotated by the angle measurement information of the reading devices for the IMU and the angle measured by the gyroscope, normalizing the angle measurement information and the angle measured by the gyroscope to be on the whole circle, and keeping the measurement error between the angle measurement information and the angle measured by the IMU to be 1'.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (3)
1. The rotary strapdown inertial navigation system angle measurement synchronous compensation method based on the double reading devices is characterized by comprising the following steps of:
1) the indexing mechanism controls the angular position compensation of the reading device:
firstly, horizontally placing the debugged indexing mechanism (2) on a leveling flat plate, then placing the 24-surface prism on the table top of the indexing mechanism (2), and fixing the 24-surface prism and the indexing mechanism (2) by adopting a rubber paste; then controlling the indexing mechanism (2) to rotate 15 degrees each time, and recording the reading value of the light pipe (6) at each position; finally, establishing an error compensation model of the angle sensor of the reading device (4) based on the sine and cosine function;
2) angular position compensation of the reading device for the IMU:
two reading devices (4) are arranged on the rotating disc (5), the indexing mechanism (2) rotates for a whole circle at an interval of 15 degrees, angle information of the reading devices for the IMU at each position is collected, and then angle position compensation of the reading devices for the IMU is carried out; the clock and data frequency of the two reading devices are respectively determined by the same information processing circuit, so that the angle measurement information of the indexing mechanism and the measurement information of the IMU are ensured to be synchronous in the initial alignment and navigation of the rotation modulation;
because the two reading devices are arranged on the table body of the indexing mechanism through the fastening piece, the positions of the two reading devices relative to the rotating disc (5) cannot be changed, and therefore the relative positions of the two reading devices cannot be changed, namely the reading difference between the two reading devices is a fixed value after being compensated and turned for 360 degrees;
3) the angle measurement information of the indexing mechanism and the IMU measurement are synchronous:
the IMU acquires information of a gyroscope and an accelerometer, acquires angle position information of a reading device for the compensated IMU at the same time, and adds a fixed value to synchronize the measurement of the indexing mechanism and the IMU; wherein the fixed value is the difference between the indexing mechanism control reading device and the reading device for the IMU.
2. The method for synchronous angle measurement compensation of a rotary strapdown inertial navigation system based on dual-reading devices according to claim 1, wherein in the step 2), the method for angular position compensation of the reading device for the inertial measurement unit IMU specifically comprises the following steps:
2-1) setting an order of an initial reading device (4) based on a sine and cosine function and an error compensation model of an angle sensor, and setting a threshold value as a threshold value of a difference value between the reading device controlled by an indexing mechanism and the reading device used by an IMU;
2-2) adopting a least square-based sine and cosine function error compensation model to perform curve modeling on the reading device for the IMU;
2-3) making a difference between the established curve model and the angle value of the reading device controlled by the indexing mechanism, comparing the difference with a set threshold value, if the difference exceeds the threshold value, increasing the order of the sine and cosine function error compensation model of the angle sensor of the reading device, and repeating the step 2) until the threshold value requirement is met.
3. The method for synchronously compensating the angle measurement of the rotary strapdown inertial navigation system based on the dual-reading device according to claim 1 or 2, wherein in the step 2), the two reading devices (4) are an angle measurement device (7) for an inertial measurement unit IMU and an angle measurement device (8) for control.
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