CN108303081B

CN108303081B - Bionic polarization/inertia/atmospheric data combined navigation system

Info

Publication number: CN108303081B
Application number: CN201711475123.0A
Authority: CN
Inventors: 郭晓宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2021-09-07
Anticipated expiration: 2037-12-29
Also published as: CN108303081A

Abstract

The invention relates to a bionic polarization/inertia/atmospheric data combined navigation system which comprises a navigation sensor, a resolving module, an interface circuit, a microprocessor, a storage module and a power supply module. The sensor consists of a bionic polarization sensor, an inertia measurement unit and an atmospheric data system. The bionic polarization sensor comprises an optical camera, a motor, a polarization device and other components; the atmospheric data system consists of a full static pressure sensor, a full static pressure pipeline and a total temperature circuit. The working process is that the sensor module collects polarized light information, atmospheric static pressure, full pressure and other data in the atmospheric environment, the data are transmitted to the resolving module, the processor judges whether the sensor works reliably, the working mode is selected, information such as course angle, vacuum speed, height and the like is resolved, the information is used for compensating and correcting the attitude and speed of the navigation system, and navigation parameters are stored and output. The invention has the advantages of flexible navigation mode, strong autonomy, small volume and the like, and has the functions of interference suppression, fault detection and system reconstruction.

Description

Bionic polarization/inertia/atmospheric data combined navigation system

Technical Field

The invention relates to the technical field of integrated navigation, in particular to a bionic polarization/inertia/atmospheric data integrated navigation system.

Background

Navigation is a technique of measuring and estimating physical quantities such as the position, speed, attitude, and the like of a vehicle and a moving body to guide an apparatus from one point to a target point. The combined navigation utilizes information sources of various navigation sensors to supplement each other to form a multifunctional system with redundancy and higher navigation accuracy, and is one of the leading-edge technologies and key fields of the current national science and technology development. The inertial/satellite combined (INS/GNSS) navigation technology is the most widely used combined navigation method at present. However, GNSS satellite navigation signals are susceptible to electromagnetic interference, such as radio stations, repeater stations, radar stations, and even artificial interference, and are not able to work due to electronic spoofing, so that data continuity is difficult to be guaranteed, and the frequency band is narrow, and thus the GNSS satellite navigation signals are prone to losing lock when the body moves with high mobility. With the gradual increase of the working range of the aircraft and the robot, the problem becomes a bottleneck technology in the field of navigation of the aircraft and the robot. The inertial navigation has the advantages of independent calculation, strong autonomy and anti-interference performance and complete navigation parameters, can output navigation parameters such as position, speed, course, attitude and the like, but has errors accumulated along with time and low long-time precision. In order to reduce the dependence on satellite navigation and improve the precision of inertial navigation, a fully autonomous integrated navigation system which does not depend on satellite navigation information, has high independence, anti-interference capability and high precision is urgently required to be designed.

The bionic polarization navigation technology is used for simulating and learning the navigation and positioning capabilities of animals, has the characteristics of strong autonomy, strong reliability, no error accumulation along with time, strong environmental adaptability and the like, and is a powerful technical means for compensating and correcting attitude measurement errors of the inertial navigation system. The bionic polarized light navigation mode determines the course angle of the carrier by utilizing an atmospheric polarized light distribution mode in the sky, and is a novel autonomous navigation mode. The bionic polarization navigation mode has the characteristic of compatibility and complementation with an inertial navigation system, and becomes an emerging research hotspot in the field of integrated navigation.

In the system, the bionic polarization sensor based on the image symmetry axis has strong environmental adaptability, and the normal work of the navigation system is ensured by combining the atmospheric data system and the inertial navigation system, so that the reliability and the environmental adaptability of the navigation system are enhanced.

The bionic polarization navigation at the present stage can only be used for determining and correcting the attitude of the system, while the inertial navigation system can quickly accumulate larger deviation when running independently, the precision is obviously reduced, and high-precision and full-autonomous positioning is difficult to carry out under the condition of no reliable satellite navigation signal.

The atmosphere data system consists of a full static pressure sensor, a full static pressure pipeline, a total temperature circuit and an atmosphere data computer. The navigation calculation is carried out on the total pressure, the static pressure and the total temperature collected by the total static pressure sensor and the total static pressure pipeline to obtain important navigation parameters of the airplane, such as height, vacuum speed, lifting speed and the like, and the navigation sensor is a common navigation sensor on the airplane. The invention is designed to solve the information of the east ground speed, the north ground speed, the vacuum speed, the height and the lifting speed in real time according to the established wind speed model and the data acquired by the atmospheric data system, is an effective means for assisting and correcting information such as height, speed and the like in inertial navigation, and can also independently acquire the information of the speed and the height.

The chinese patent application "an integrated navigation method based on polarization information", application publication No. CN106767752A applies the polarization information to an integrated navigation system, and corrects the attitude angle error of the integrated navigation system by using polarization navigation. However, the technology cannot correct the speed and height errors of the inertial navigation system, does not solve the problem of rapid divergence of the speed and height data of the inertial navigation system, and cannot ensure the real-time positioning accuracy. The chinese patent application "a data fusion method of an embedded atmospheric data system and an inertial navigation system", application publication No. CN105066994A utilizes fusion output of atmospheric data and inertial navigation data, does not utilize sky polarization information, cannot acquire attitude angle information with high precision, does not have an intelligent mode switching function, and is difficult to ensure data reliability and environmental suitability. At present, no report is available on a fully autonomous integrated navigation system which is designed by combining an atmospheric data system, bionic polarization navigation and inertial navigation. The atmospheric data system can be combined with inertial navigation and bionic polarization navigation, the precision and the convergence speed of navigation parameters such as the speed, the height and the like of the combined navigation system are effectively improved, and the atmospheric data system can also be independently combined with an inertial or polarization sensor respectively to realize path calculation and real-time positioning of land and air navigation. In summary, the system conforms to the cooperative override function, the complementary function and the redundancy function of the integrated navigation system, and has the characteristics of intellectualization, strong autonomy and strong environmental adaptability.

The invention relates to a bionic polarization/inertia/atmosphere data combined navigation system, which consists of an image type bionic polarization sensor, an inertial navigation system and an atmosphere data system. The normal work comprises three navigation modes, namely a mode I: under the normal operation condition, the mode matching is carried out by utilizing a polarization navigation system and an atmosphere data system and an inertial navigation system, so as to realize the bionic polarization/inertia/atmosphere autonomous navigation; and a second mode: and under the condition that the polarized signal is interfered or difficult to obtain, performing mode matching by using the atmosphere-assisted navigation and the inertial navigation to perform inertial/atmosphere combined navigation. And a third mode: when inertial navigation information fails, the course angle information provided by the polarization sensor and the speed and height information provided by the atmospheric data system can be subjected to mode matching, path integration and independent solution of position information without depending on the inertial navigation information. The system can output navigation information and real-time positioning information such as speed, height and attitude of the carrier in real time, and is suitable for attitude determination and real-time positioning of the unmanned aerial vehicle.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of low precision, poor anti-interference capability and the like of a single navigation system are overcome, and the bionic polarization/atmosphere/inertia autonomous navigation is carried out by using the polarization navigation and the mode matching of an atmosphere data system and the inertia navigation; under the condition that the polarization signal is interfered or is difficult to obtain, performing mode matching by using atmospheric auxiliary navigation and inertial navigation to perform atmospheric auxiliary/inertial autonomous navigation; when the navigation system does not depend on inertial navigation information, the course angle information provided by the polarization sensor and the speed and height information provided by the atmospheric data system are subjected to mode matching, path integration and independent solution of position information, so that the multi-mode autonomous integrated navigation with strong environmental adaptability is realized, and the defects of low precision and reliability of a single navigation means are overcome by applying the principles of bionics and integrated navigation.

The technical scheme adopted by the invention is as follows: a bionic polarization/inertia/atmospheric data integrated navigation system comprises an integrated sensor module, a navigation resolving module, an interface circuit, a microprocessor, a storage module and a power module, wherein the integrated sensor module comprises a polarization sensor, an inertial navigation system and an atmospheric data system consisting of a static pressure sensor, a total pressure sensor and a total temperature circuit; the navigation resolving module comprises a pressure transmitter, an RS232 interface of the pressure transmitter, an RS232 interface of a total temperature circuit, an RS422 interface of an inertial navigation system, an RS422 interface of a polarization sensor, a level conversion chip, an inertial navigation resolving ARM chip and an image type polarization navigation resolving DSP chip; the interface circuit comprises a PWM interface, an Sbus interface and a remote control module interface RS 232; in the interface circuit, a PWM interface and an Sbus interface are respectively connected with a microprocessor through an isolator and a phase inverter, and a remote control module interface RS232 is connected with the microprocessor through a level conversion chip; the power supply module provides a stable power supply for the microprocessor; the inertial navigation system transmits the measurement data to the ARM chip through an RS422 interface of the inertial navigation system for self detection and navigation calculation, and outputs the result to the microprocessor; the atmospheric data system outputs the measured data to the microprocessor through the pressure transmitter, the RS232 interface of the pressure transmitter and the RS232 interface of the total temperature circuit respectively, and self-detection and navigation calculation are carried out. The polarization sensor is connected with the image type polarization navigation resolving DSP chip through an RS422 interface and a level conversion chip of the polarization sensor, performs self detection, image processing and navigation resolving, and outputs the self detection, the image processing and the navigation resolving to the microprocessor; the microprocessor stores all data to a FLASH chip and an SDRAM memory of the storage module.

The inertial navigation resolving ARM chip and the image type polarization navigation resolving DSP chip in the navigation resolving module have a self-detection function, can judge the working state of a corresponding sensor and the reliability of navigation data thereof by detecting the range and the stability of input data, and output the working state and the reliability to a microprocessor to automatically switch a navigation mode; under the condition that the polarization signal is interfered, performing mode matching by using a polarization navigation system, an atmosphere data system and an inertial navigation system to perform bionic polarization/atmosphere data system/inertial autonomous navigation; under the condition that the polarization signal is interfered or is difficult to obtain, the mode matching is carried out by utilizing the atmosphere data system and the inertial navigation, and the atmosphere data system/inertial autonomous navigation is realized; when the inertial navigation information is not relied on, the course angle information provided by the polarization sensor and the speed and altitude information provided by the atmospheric data system are subjected to mode matching, and the position information is independently calculated;

the power supply module consists of a lithium battery and a power supply conversion chip, and the output voltage of the lithium battery can be converted into three different voltages of 3.3V, 4.2V and 5V by the power supply conversion chip, so that the requirements of the system on the different voltages are met; the PWM interface and the Sbus interface are control interfaces, wherein the PWM interface leads out six timers of the microprocessor through an isolator so as to output six PWM wave control signals, and the Sbus interface is connected with one serial port input end of the microprocessor through a phase inverter and can be externally connected with a remote control receiver to receive a remote control instruction so as to realize wireless remote control; the microprocessor comprises an integrated navigation information fusion ARM chip; the storage module consists of a FLASH chip and an SDRAM module, and can realize large-capacity storage of navigation resolving data; the serial port interface remote control module interface RS232 is connected with one path of serial port of the microprocessor through a level conversion chip, can communicate with an upper computer, and carries out program debugging and updating work; the integrated navigation information fusion ARM chip receives signals transmitted by the navigation resolving chip and intelligently switches the information fusion working mode of the integrated navigation system; the first mode is as follows: under the normal operation condition, performing mode matching by using a polarization navigation system and an atmosphere data system and an inertial navigation system to perform bionic polarization/atmosphere/inertial autonomous navigation; and a second mode: under the condition that the polarization signal is interfered or is difficult to obtain, performing mode matching by using atmospheric auxiliary navigation and inertial navigation to perform atmospheric auxiliary/inertial autonomous navigation; and a third mode: when the inertial navigation system breaks down, the course angle information provided by the polarization sensor and the speed and altitude information provided by the atmospheric data system can be matched in a mode without depending on inertial navigation information, and the position information can be independently calculated.

Compared with the prior art, the invention has the advantages that:

(1) compared with a traditional single navigation system or a conventional GNSS/INS combined navigation system, the invention utilizes the environmental information provided by an atmospheric data system and an image type bionic polarization system, has multiple navigation modes, can provide high-precision combined navigation information when all sensor data are in a reliable range, and enters a polarization-inertia or atmospheric-polarization full-autonomous navigation mode under the condition that sensor signals are interfered, and has higher autonomy, reliability and environmental adaptability.

(2) Course angle information provided by the polarization sensor and information such as vacuum speed, altitude and the like provided by the atmospheric data system can be used as redundant information to effectively improve the precision of the integrated navigation system with inertial navigation, and the accumulated divergence of inertial navigation errors is effectively corrected.

(3) The invention adopts an embedded design which has small volume and is convenient to install, and has strong data processing capability. The selected sensors are all high-precision digital signal output sensors, and because an A/D link is omitted, the delay of system processing is greatly reduced, and the stability of the system is improved.

(4) The invention is used as a novel combined navigation system with a plurality of navigation modes, and can send a control instruction to a carrier according to the real-time navigation (posture and positioning) information and the remote control signal of the carrier.

Drawings

FIG. 1 is a diagram of the integrated navigation data structure of the present invention;

FIG. 2 is a block diagram of the structural components of the present invention;

fig. 3 is a schematic flow chart of the first working mode of the present invention.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

Fig. 2 is a block diagram of the structure of the present invention, i.e. a multi-mode bionic polarization/atmospheric data integrated navigation system. The invention relates to a bionic polarization/inertia/atmospheric data combined navigation system which comprises a sensor module 15, a navigation resolving module 30, an interface circuit 11, a microprocessor 1, a storage module 3 and a power supply module 5. The sensor module 15 comprises a polarization sensor 21, an inertial navigation system 20 and an atmospheric data system 16 consisting of a static pressure sensor 17, a total pressure sensor 18 and a total temperature circuit 19, the navigation calculation module 30 comprises a pressure transmitter 22, an RS232 interface 27 of the pressure transmitter, an RS232 interface 23 of the total temperature circuit, an RS422 interface 24 of the inertial navigation system, an RS422 interface 25 of the polarization sensor, a level conversion chip 26, an inertial navigation calculation ARM chip 28 and an image type polarization navigation calculation DSP chip 29, and the interface circuit 11 comprises a PWM interface 12, an Sbus interface 13 and a remote control module interface RS 23214. In the interface circuit, a PWM interface 12 and an Sbus interface 13 are respectively connected with a microprocessor 1 through an isolator 8 and a phase inverter 9, and a remote control module interface RS23214 is connected with the microprocessor 1 through a level conversion chip 10. The power module 5 provides a stable power supply for the microprocessor 1. The inertial navigation system 20 transmits the measurement data to the ARM chip 28 through the RS422 interface 24 of the inertial navigation system for self-detection and navigation calculation, and outputs the result to the microprocessor 1. The atmospheric data system 16 outputs the measured data to the microprocessor 1 through the pressure transmitter 22, the RS232 interface 27 of the pressure transmitter and the RS232 interface 23 of the total temperature circuit, and carries out self-detection and navigation calculation. The polarization sensor 21 is connected with the image type polarization navigation resolving DSP chip 29 through the RS422 interface 25 and the level conversion chip 26 of the polarization sensor, performs self-detection, image processing and navigation resolving, and outputs the self-detection, image processing and navigation resolving to the microprocessor 1. The microprocessor 1 stores all data in the FLASH chip 4 and the SDRAM memory 5 of the storage module 3.

Fig. 1 is a diagram of an integrated navigation data structure according to a first working mode of the present invention. The hardware comprises an Inertial Navigation System (INS), an Atmospheric Data System (ADS) and a polarization navigation system (POL), wherein the INS can output speed, attitude, course and position information and can output navigation and positioning information; the air data system outputs information such as vacuum speed, altitude and the like, the polarization navigation system outputs course angle information, the INS can be combined with the ADS to form an INS/ADS combined navigation system, and accurate output of speed and altitude is achieved; the POLs can assist the INS in correcting the heading angle and combine to form an INS/POL combined navigation system. The method of Kalman filtering is used on a software algorithm, the Kalman filtering comprises time updating and measurement updating, the time updating mainly aims at the system state, no new measurement information is introduced, the measurement updating introduces the information of an atmospheric data system and INS to realize the correction of speed and height, meanwhile, the introduction of polarization information is used for correcting the course angle of an inertial navigation system, and the estimated navigation parameters are corrected by feedback to the inertial navigation system.

As shown in fig. 3, a schematic flow chart of the first operation mode of the present invention is shown. And after the system starts to work, the power supply module is powered on, and the system is initialized. At the moment, the system is a fully autonomous integrated navigation system, and three sensors, namely an inertial navigation system, an atmospheric data system and a polarization sensor, start to acquire data simultaneously. The inertial navigation system collects data of a gyroscope and an accelerometer, an airspeed meter and a barometer in the atmospheric information system collect real-time total temperature, total pressure and static pressure information, and the polarization sensor collects images on a camera through a polarization device. These data are transmitted to the navigation solution module through the interface circuit.

After receiving the measured data, the navigation calculation module firstly carries out self-detection, judges the working state of the corresponding sensor and the reliability of the navigation data thereof according to the range and the stability of the input data, and outputs the working state and the reliability to the microprocessor to automatically switch the navigation mode. Under the condition of no external interference, performing mode matching by using a polarization navigation system and an atmospheric data system and an inertial navigation system to perform bionic polarization/atmospheric/inertial autonomous navigation; under the condition that the polarization signal is interfered or is difficult to obtain, performing mode matching by using atmospheric auxiliary navigation and inertial navigation to perform atmospheric auxiliary/inertial autonomous navigation; when the inertial navigation information is not relied on, the course angle information provided by the polarization sensor is matched with the speed and altitude information provided by the atmospheric data system in a mode, and the position information is independently calculated.

And after the mode is determined, navigation calculation is carried out, information such as vacuum speed, height, lifting speed and the like is obtained through calculation of total pressure, static pressure and total temperature information, a wind speed model is calculated in real time to obtain ground speed information, and east and north ground speed information is calculated through attitude angle information. The microprocessor corrects the output of the inertial navigation system in a loose coupling mode by using the vacuum speed and height information measured by the atmospheric data system and the attitude angle information measured by the polarization sensor as redundant auxiliary information, stores the final speed, relative position and attitude navigation information, and sends a control instruction to a carrier or an execution mechanism according to the obtained navigation information.

Claims

1. A bionic polarization/inertia/atmospheric data integrated navigation system is characterized in that: the device comprises a combined sensor module (15), a navigation resolving module (30), an interface circuit (11), a microprocessor (1), a storage module (3) and a power module (5), wherein the combined sensor module (15) comprises a polarization sensor (21), an inertial navigation system (20) and an atmospheric data system (16) which is composed of a static pressure sensor (17), a total pressure sensor (18) and a total temperature circuit (19); the navigation resolving module (30) comprises a pressure transmitter (22), an RS232 interface (27) of the pressure transmitter, an RS232 interface (23) of a total temperature circuit, an RS422 interface (24) of an inertial navigation system, an RS422 interface (25) of a polarization sensor, a first level conversion chip (26), an inertial navigation resolving ARM chip (28) and an image type polarization navigation resolving DSP chip (29); the interface circuit (11) comprises a PWM interface (12), an Sbus interface (13) and a remote control module interface RS232 (14); in the interface circuit, a PWM interface (12) and an Sbus interface (13) are respectively connected with a microprocessor (1) through an isolator (8) and a phase inverter (9), and a remote control module interface RS232 (14) is connected with the microprocessor (1) through a second level conversion chip (10); the power supply module (5) provides a stable power supply for the microprocessor (1); the inertial navigation system (20) transmits the measurement data to an inertial navigation resolving ARM chip (28) through an RS422 interface (24) of the inertial navigation system for self detection and navigation resolving, and outputs the result to the microprocessor (1); the atmospheric data system (16) outputs the measured data to the microprocessor (1) through the pressure transmitter (22), the RS232 interface (27) of the pressure transmitter and the RS232 interface (23) of the total temperature circuit respectively, and self-detection and navigation calculation are carried out; the polarization sensor (21) is connected with an image type polarization navigation resolving DSP chip (29) through an RS422 interface (25) and a first level conversion chip (26) of the polarization sensor, performs self detection, image processing and navigation resolving, and outputs the self detection, the image processing and the navigation resolving to the microprocessor (1); the microprocessor (1) stores all data to a FLASH chip (4) and an SDRAM (31) of the storage module (3);

an inertial navigation resolving ARM chip (28) and an image type polarization navigation resolving DSP chip (29) in the navigation resolving module (30) have a self-detection function, can judge the working state of a corresponding sensor and the reliability of navigation data thereof by detecting the range and the stability of input data, and output the working state and the reliability to the microprocessor (1) to automatically switch a navigation mode; under the condition that the polarization signal is not interfered, performing mode matching by using a polarization navigation system, an atmospheric data system and an inertial navigation system to perform bionic polarization/atmospheric data system/inertial autonomous navigation; under the condition that the polarization signal is interfered or is difficult to obtain, the mode matching is carried out by utilizing the atmosphere data system and the inertial navigation, and the atmosphere data system/inertial autonomous navigation is realized; when the inertial navigation information is not relied on, the course angle information provided by the polarization sensor and the speed and altitude information provided by the atmospheric data system are subjected to mode matching, path integration and independent calculation of position information;

the power module (5) consists of a lithium battery (7) and a power conversion chip (6), and the output voltage of the lithium battery (7) can be converted into three different voltages of 3.3V, 4.2V and 5V by the power conversion chip (6), so that the requirements of the system on different voltages are met; the PWM interface (12) and the Sbus interface (13) are control interfaces, wherein the PWM interface (12) leads out six paths of timers of the microprocessor (1) through the isolator (8) so as to output six paths of PWM wave control signals, and the Sbus interface (13) is connected with one path of serial port input end of the microprocessor (1) through the phase inverter (9) and can be externally connected with a remote control receiver to receive a remote control instruction so as to realize wireless remote control; the microprocessor (1) comprises an integrated navigation information fusion ARM chip (2); the storage module (3) is composed of a FLASH chip (4) and an SDRAM (synchronous dynamic random access memory) memory (31), and can realize large-capacity storage of navigation resolving data; the remote control module interface RS232 (14) is connected with one path of serial port of the microprocessor (1) through a second level conversion chip (10), and can communicate with an upper computer to carry out program debugging and updating work; the integrated navigation information fusion ARM chip (2) intelligently switches the information fusion working mode of the integrated navigation system by receiving signals transmitted by the navigation resolving chip; the first mode is as follows: under the normal operation condition, performing mode matching by using a polarization navigation system and an atmosphere data system and an inertial navigation system to perform bionic polarization/atmosphere/inertial autonomous navigation; and a second mode: under the condition that the polarization signal is interfered or is difficult to obtain, performing mode matching by using atmospheric auxiliary navigation and inertial navigation to perform atmospheric auxiliary/inertial autonomous navigation; and a third mode: when the inertial navigation system breaks down, the course angle information provided by the polarization sensor and the speed and height information provided by the atmospheric data system can be used for carrying out mode matching, path integration and independent calculation of position information without depending on inertial navigation information.