CN108318052A - A kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation - Google Patents

A kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation Download PDF

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CN108318052A
CN108318052A CN201810068573.6A CN201810068573A CN108318052A CN 108318052 A CN108318052 A CN 108318052A CN 201810068573 A CN201810068573 A CN 201810068573A CN 108318052 A CN108318052 A CN 108318052A
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coordinate system
stage body
gyroscope
error
frame corners
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CN108318052B (en
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刘凯
王蕾
赵启坤
朱志刚
胡镌芮
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China Aerospace Times Electronics Corp
Beijing Aerospace Control Instrument Institute
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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 hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation：(1), coarse alignment obtains rough initial attitude matrix；(2), the outer annulate shaft of control platform system and stage body axis are rotated with identical angular speed simultaneously, and inner axle is in the lock state always, in rotary course, acquire gyroscope and accelerometer output；(3), resolution error state equation and observational equation calibrate gyroscope scale factor error, gyroscope installation error, the equivalent zero bias of accelerometer；(4), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then are locked after enabling stage body axis rotate 180 °, acquire the output data of gyroscope；(5), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then are locked after enabling outer annulate shaft rotate 180 °, acquire the output data of gyroscope；(6), gyro drift is calculated.This method effectively shortens the nominal time, improves calibration efficiency.

Description

A kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation
Technical field
The present invention relates to a kind of scaling methods of hybrid platforms inertial navigation system more particularly to a kind of use twin shaft continuously to revolve The system-Level Navigation self-calibrating method turned belongs to inertial navigation system calibration field.
Background technology
China Patent Publication No. CN 106767806A, publication date are on Mays 31st, 2017, and entitled " one kind is for mixing The definition that hybrid inertial navigation system is disclosed in the physical platform of formula inertial navigation system ", be it is a kind of drawn it is platform-type With the novel Inertial Guide System of the respective advantage of strapdown, the program uses two frame three-axis structures, and optical gyroscope is utilized on stage body Instrument and quartz accelerometer are as inertia sensitive element.China Patent Publication No. CN 105973271A, publication date are 2016 9 The moon 28, a kind of scaling scheme of hybrid inertial navigation is elaborated in entitled " a kind of hybrid inertial navigation system self-calibration method ", But the scaling method has the following disadvantages：
(1), part installation error and scale factor error can not realize calibration by once rotating, can by once rotating Calibrate the scale factor error and installation error of two orthogonal gyroscopes, it is necessary to which whole gyro errors are realized by multiposition The calibration of coefficient, and rotary shaft when gyro positive and negative rotation in calibration process is required to need in the horizontal plane；
(2), the hybrid inertial navigation actually used is two frame three-axis structures, but inner axle is to avoid " losing lock " phenomenon, is deposited It is limited in retaining screw, rotating range is -45 °~45 °, cannot be satisfied the three axis rotation calibration request proposed in the patent；
(3), require indexing steps more, the nominal time is long, and position arrangement is complicated.
Current platform formula inertial navigation system is demarcated using force feedback method or quiet drift method, there is following three aspect in this way The disadvantage is that：
(1), it needs to carry out obtaining platform stage body orientation from aiming at before demarcating；
(2), the nominal time is longer, in calibration first accurately go to precalculated position, leveling again after the completion of indexing is set, tune Gathered data after the completion of flat, not gathered data during indexing；
(3), the error term demarcated is less, can not calibrate installation error and scale factor error equal error coefficient.
As seen through the above analysis, hybrid platforms inertial navigation system cannot use platform-type scaling method, also without Method realizes the calibration of population parameter using twin shaft Strapdown Inertial Navigation System grade scaling method.Therefore, it is necessary to study a kind of new calibration side Method is to make up the defect of above-mentioned scaling method.
Invention content
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art has been invented a kind of based on twin shaft continuous rotation Hybrid platforms inertial navigation system scaling method, this method can accurately, quickly calibrate gyroscope and accelerometer and miss Difference can solve the problems such as gyroscope calibrating parameters are not complete, the nominal time is long, improve calibration efficiency, lifting system precision.
The technical solution that the present invention solves is：A kind of hybrid platforms inertial navigation system calibration side based on twin shaft continuous rotation Method, steps are as follows for this method：
(1), hybrid platforms inertial navigation system is stood, by outer shroud frame corners, inner ring frame corners and stage body frame angle lock It to zero-bit state and keeps, acquires gyroscope and accelerometer output, carry out coarse alignment, obtain rough initial attitude matrix；
(2), the outer annulate shaft of control platform system and stage body axis are rotated with identical angular speed simultaneously, and inner axle is in lock always Determine state, in rotary course, acquires gyroscope and accelerometer output；
(3), navigation calculation error model is established, according to error modeling of INS, eastern under navigational coordinate system with carrier, North, three, day direction speed are observed quantity, establish the error state equation and observational equation of hybrid platforms inertial navigation system, according to The gyroscope and accelerometer output, resolution error state equation and observational equation of initial attitude matrix and step (2) acquisition, mark Make gyroscope scale factor error, gyroscope installation error, the equivalent zero bias of accelerometer；
(4), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then stage body axis is enabled to revolve It is locked after turning 180 °, outer annulate shaft and inner axle are locked in zero-bit state, acquire the output data of gyroscope；
(5), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then outer annulate shaft is enabled to revolve It is locked after turning 180 °, inner axle and stage body axis are locked in zero-bit state, acquire the output data of gyroscope；
(6), the gyroscope scale factor error and installation error calibrated according to step (3), rewind step (1), In the gyroscope output data of step (4) and step (5), gyro drift is calculated.
There are retaining screw limit, ranging from -45 °~+45 ° of angle rotatables for the inner axle.
The angular velocity of rotation of step (2) China and foreign countries' annulate shaft and stage body axis is more than or equal to 1 °/s.
The error modeling of INS is：
Wherein, φnFor attitude error angle,For the derivative at attitude error angle,For navigational coordinate system relative inertness system Projection of the angular speed under navigational coordinate system,It is sat in navigation for the angular speed error component of navigational coordinate system relative inertness system Projection under mark system,For the coordinate conversion matrix of carrier coordinate system to navigational coordinate system, εsFor gyro drift, KgFor Gyroscope scale factor error,For gyroscope installation error,It is exported for gyroscope under stage body coordinate system, δ VnFor speed Error,For the derivative of velocity error；fnIt is exported for the accelerometer under navigational coordinate system,Indicate earth rotation angle speed The projection under navigational coordinate system is spent,For navigational coordinate system with respect to terrestrial coordinate system angular speed under navigational coordinate system Projection,For projection of the rotational-angular velocity of the earth error under navigational coordinate system,Navigational coordinate system is with respect to terrestrial coordinates Projection of the angular speed error of system under navigational coordinate system, VnFor the velocity component under navigational coordinate system, δ gnFor acceleration of gravity Projection of the error under navigational coordinate system, ΔsFor the equivalent zero bias of accelerometer；
In formula：δKgxIt is stage body coordinate system x to gyroscope scale factor error, δ KgyIt is stage body coordinate system y to gyroscope mark Spend factor error, δ KgzIt is stage body coordinate system z to gyroscope scale factor error, δ θgxyIt is opposite to gyroscope for stage body coordinate system x The fix error angle of stage body coordinate system y-axis, δ θgxzInstallation for stage body coordinate system x to gyroscope with respect to stage body coordinate system z-axis misses Declinate, δ θgyxFix error angle for stage body coordinate system y to gyroscope with respect to stage body coordinate system x-axis, δ θgyzFor stage body coordinate system y Fix error angle to gyroscope with respect to stage body coordinate system z-axis, δ θgzxFor stage body coordinate system z to gyroscope with respect to stage body coordinate system The fix error angle of x-axis, δ θgzyFix error angle for stage body coordinate system z to gyroscope with respect to stage body coordinate system y-axis.
The hybrid platforms inertial navigation system error state equation is：
Wherein, W (t) is the white Gaussian noise of N (0, Q), and Q gusts are system noise variance matrix, andωφE、ωφN、ωφURespectively navigation coordinate Be Xia Dong, north, three, day direction gyroscope measure noise,Eastern respectively under navigational coordinate system, The accelerometer measurement noise in north, three, day direction；
X is quantity of state, and：
In formula, φEFor east orientation misalignment, φNFor north orientation misalignment, φUIt is day to misalignment, Δ VEIt is missed for east orientation speed Difference, Δ VNFor north orientation speed error, Δ VUFor sky orientation speed error,It is stage body coordinate system x to accelerometer output equivalent zero Partially,It is stage body coordinate system y to accelerometer output equivalent zero bias,It is stage body coordinate system z to accelerometer output equivalent Zero bias；
In formula,For the coordinate conversion matrix of stage body coordinate system to carrier coordinate system,It is sat for carrier coordinate system and navigation Original state transfer matrix between mark system；
In formula：ωieFor rotational-angular velocity of the earth；L is local geographic latitude；
In formula, RMFor the radius of curvature of earth meridian circle, RNFor the radius of curvature of earth prime vertical, h is that carrier is relatively local The height of horizontal plane；
In formula, θxIt is the output of outer shroud frame corners, θzIt is the output of stage body frame corners,For outer shroud frame corners angular speed,For Stage body frame corners angular speed；
In formula, g is local gravitational acceleration；
The measurement equation is：
Z=HX+V
Z=[VE VN VU]T
In formula, H=[03×3 I3×3 03×12], V be system measurements noise, be N (0, R) white Gaussian noise process, R gusts For measuring noise square difference battle array, VEIt is the speed that is calculated according to inertia device in the projection of geographical east orientation, VNFor according to inertia device The speed calculated is in the projection of geographical north orientation, VUFor the speed that is calculated according to inertia device day to projection.
The circular of gyro drift is：
In formula,It is exported for the gyroscope of step (2) It is exported for the gyroscope of step (4)It is exported for the gyroscope of step (5)
The gyroscope of step (1) exportsThe gyroscope of step (4) exportsIt is exported with the gyroscope of step (5)Take the mean value in preset a period of time.
The present invention compared with prior art the advantages of it is as follows：
(1), the present invention motivates gyroscope and accelerometer whole error parameter by twin shaft continuous rotation, gyroscope and The installation error and scale factor error of accelerometer can realize calibration completely by once rotating, used relative to traditional platform formula The scaling method of guiding systems and Methods of Strapdown Inertial Navigation System can be saved the nominal time, it is desirable that indexing steps are few, and position arrangement is relatively simple It is single, primary quickly error coefficient calibration can be achieved before weapon system transmitting, greatly improve amendment efficiency.
(2), the present invention requires indexing mechanism simple, can not be needed with fully automatic operation according to predetermined scheme design Excessive artificial participation is added, the data of acquisition can realize the amendment of error parameter according to program, and theoretical clear simple, programming is held Easily realize.
Description of the drawings
Fig. 1 is the scaling method implementation flow chart of hybrid platforms inertial navigation system of the present invention；
Fig. 2 is the curve of output of gyroscope in rotary course of the embodiment of the present invention；
Fig. 3 is the curve of output of accelerometer in rotary course of the embodiment of the present invention；
Fig. 4 (a) is east orientation misalignment evaluated error in calibration process of the embodiment of the present invention；
Fig. 4 (b) is north orientation misalignment evaluated error in calibration process of the embodiment of the present invention；
Fig. 4 (c) be in calibration process of the embodiment of the present invention day to misalignment evaluated error；
Fig. 4 (d) is east orientation speed estimation error in calibration process of the embodiment of the present invention；
Fig. 4 (e) is north orientation speed evaluated error in calibration process of the embodiment of the present invention；
Fig. 4 (f) is sky orientation speed evaluated error in calibration process of the embodiment of the present invention；
Fig. 5 (a) is x gyroscope scale factor evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 5 (b) is y gyroscope scale factor evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 5 (c) is z gyroscope scale factor evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 5 (d) is that x gyroscopes are estimated to miss around y-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 5 (e) is that x gyroscopes are estimated to miss around z-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 5 (f) is that y gyroscopes are estimated to miss around x-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 5 (g) is that y gyroscopes are estimated to miss around z-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 5 (h) is that z gyroscopes are estimated to miss around y-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 5 (i) is that z gyroscopes are estimated to miss around x-axis installation error under stage body coordinate system in calibration process of the embodiment of the present invention Difference；
Fig. 6 (a) is x accelerometer bias evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 6 (b) is y accelerometer bias evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 6 (c) is z accelerometer bias evaluated errors under stage body coordinate system in calibration process of the embodiment of the present invention；
Fig. 7 is that the latitude of navigation calculation before and after error compensation in calibration process of the embodiment of the present invention changes correlation curve；
Fig. 8 is that the longitude of navigation calculation before and after error compensation in calibration process of the embodiment of the present invention changes correlation curve；
Fig. 9 is that the course angle of navigation calculation before and after error compensation in calibration process of the embodiment of the present invention changes correlation curve.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Hybrid platforms inertial navigation system generally use two frame three-axis structures, including gyroscope, accelerometer, outer shroud frame, Inner ring frame and platform stage body；Gyroscope, accelerometer are mounted on platform stage body, and outer shroud frame, inner ring frame and platform stage body can It is rotated rotating around outer annulate shaft, inner axle and stage body axis, realizes pitching, rolling, the rotation for yawing three direction single-degree-of-freedoms respectively, To prevent the generation of " latch up effect ", there are retaining screw limit, angle rotatables ranging from -45 °~+45 for the inner axle.
The present invention provides a kind of scaling method of hybrid platforms inertial navigation system, this method utilizes hybrid platforms The advantages of inertial navigation system, gives the certain angular speed of gyroscope on stage body by motor driving ring stand rotation and encourages, passes through outer annulate shaft It is rotated while with stage body axis, you can the whole error coefficients for motivating 3 axial gyroscopes, to reach calibration result.It should Method has many advantages, such as that the nominal time is short, thinking is simple and clear, easy to implement in engineering, by once rotating achievable gyroscope Whole calibration of error parameter, improve calibration efficiency, save the nominal time.
As shown in figure (1), it is as follows that the present invention demarcates implementation process：
(1), hybrid platforms inertial navigation system is placed on marble tablet, the heating that is powered makes inertia device internal temperature Field is stablized, and outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state after reaching equilibrium temperature point and are protected It holds, acquires gyroscope and accelerometer output, carry out coarse alignment, obtain rough initial attitude matrix, i.e., where inertia device Stage body coordinate system and navigation system between relationship；
The carrier coordinate system (b systems) connects firmly with hybrid platforms inertial navigation system pedestal system (bm systems), it is assumed that carrier coordinate System and platform base system are rigid connection, i.e. b systems and bm systems coordinate transformation relation is fixed.
The OX of the outer annulate shaft and pedestal system of hybrid platforms inertial navigation systembAxis connects firmly, hybrid platforms inertial navigation system it is interior Annulate shaft OYIt is interiorThe OY of axis and outer annulate shaftOutsideAxis connects firmly, the stage body axis OZ of hybrid platforms inertial navigation systemPlatformThe OZ of axis and inner axleIt is interiorAxis is solid Connection.
In the case where not considering shafting installation error, according to above-mentioned relation it is found that the frame corners when three axis of platform are equal When being zero, carrier coordinate system (b systems) is overlapped with the stage body coordinate system (s systems) of hybrid platforms inertial navigation system.When three axis frames When being not zero there are arbitrary frame corners in angle, carrier coordinate system (b systems) arrives the coordinate conversion matrix of stage body coordinate system (s systems) For：
Wherein, θx、θyAnd θzRespectively outer shroud frame corners, inner ring frame corners and stage body frame corners；Cx(θx) indicate outer shroud frame Annulate shaft x-axis rotates θ outside platformxTransition matrix after a angle between outer shroud coordinate system and base coordinate system, Cy (θy) indicate inner ring Frame rotates θ around platform inner axle y-axisyTransition matrix after a angle between inner ring coordinate system and outer shroud coordinate system, Cz (θz) indicate flat Platform stage body rotates θ around platform stage body axis z-axiszTransition matrix after a angle between stage body coordinate system and inner ring coordinate system.
Navigational coordinate system n systems use northeast day coordinate system, platform can also can be obtained using analytic expression coarse alignment under the state Original state transfer matrix between body coordinate system s systems and navigational coordinate system n systemsSpecially：
As available from the above equation：
Wherein, gnIndicate projection of the local gravity value under navigational coordinate system, gn=[0 0-g]T；Indicate the earth certainly Projection of the tarnsition velocity under navigational coordinate system,L indicates local geographic latitude； fsAnd ωsThe accelerometer output under stage body coordinate system and angular speed output are indicated respectively.
When due to coarse alignment, hybrid platforms system is in lock nought state, i.e.,：The frame corners of three axis of platform are zero, At this point, carrier coordinate system (b systems) is overlapped with the stage body coordinate system s systems of hybrid platforms inertial navigation system, carrier coordinate system and navigation Original state transfer matrix between coordinate systemWithIt is equal.
(2), the outer annulate shaft of control platform system and stage body axis are rotated with identical angular speed simultaneously, and inner axle is in lock always Determine state, in rotary course, acquires gyroscope and accelerometer output；
The ideal output of the available gyroscope at this time of the step, specially：
According to step (1) center shafting define and frame between restriction relation, save derivation, platform stage body can be obtained Angular speedWith stage body pedestal angular speedAnd frame angular speedBetween relationship be：
Since inner ring is locked in zero-bit state θy=0, i.e. inner ring frame corners do not changeEnable hybrid platforms inertial navigation The outer annulate shaft of system and stage body axis are rotated with certain angular speed simultaneously, and the output of platform stage body coordinate system angular speed becomes：
By above formula The angular speed that stage body coordinate system can be obtained with respect to stage body pedestal system projects
(3), navigation calculation error model is established, according to error modeling of INS, eastern under navigational coordinate system with carrier, North, three, day direction speed are observed quantity, establish the error state equation and observational equation of hybrid platforms inertial navigation system, according to The gyroscope and accelerometer output, resolution error state equation and observational equation of initial attitude matrix and step (2) acquisition, mark Make gyroscope scale factor error, gyroscope installation error, the equivalent zero bias of accelerometer；
The error modeling of INS is：
Wherein, φnFor attitude error angle,For the derivative at attitude error angle,For navigational coordinate system relative inertness system Projection of the angular speed under navigational coordinate system,It is sat in navigation for the angular speed error component of navigational coordinate system relative inertness system Projection under mark system,For the coordinate conversion matrix of carrier coordinate system to navigational coordinate system, εsFor gyro drift, KgFor Gyroscope scale factor error,For gyroscope installation error,It is exported for stage body coordinate system gyroscope, δ VnIt is missed for speed Difference,For the derivative of velocity error；fnIt is exported for the accelerometer under navigational coordinate system,Indicate rotational-angular velocity of the earth Projection under navigational coordinate system,Throwing of the angular speed under navigational coordinate system for navigational coordinate system with respect to terrestrial coordinate system Shadow,For projection of the rotational-angular velocity of the earth error under navigational coordinate system,Navigational coordinate system is with respect to terrestrial coordinate system Projection of the angular speed error under navigational coordinate system, be VnFor the velocity component under navigational coordinate system, δ gnFor acceleration of gravity Projection of the error under navigational coordinate system, ΔsFor the equivalent zero bias of accelerometer；
In formula：δKgxIt is stage body coordinate system x to gyroscope scale factor error, δ KgyIt is stage body coordinate system y to gyroscope mark Spend factor error, δ KgzIt is stage body coordinate system z to gyroscope scale factor error, δ θgxyIt is opposite to gyroscope for stage body coordinate system x The fix error angle of stage body coordinate system y-axis, δ θgxzInstallation for stage body coordinate system x to gyroscope with respect to stage body coordinate system z-axis misses Declinate, δ θgyxFix error angle for stage body coordinate system y to gyroscope with respect to stage body coordinate system x-axis, δ θgyzFor stage body coordinate system y Fix error angle to gyroscope with respect to stage body coordinate system z-axis, δ θgzxFor stage body coordinate system z to gyroscope with respect to stage body coordinate system The fix error angle of x-axis, δ θgzyFix error angle for stage body coordinate system z to gyroscope with respect to stage body coordinate system y-axis.
Due toWhen twin shaft rotates simultaneously and angular velocity of rotation is much larger than ground velocity, i.e.,When, such as:When angular velocity of rotation is more than or equal to 1 °/s, therefore the equivalent zero bias of gyroscope can be reduced to：
In above formula, matrix、It can export to obtain with frame corners by being initially aligned respectively,WithIt can pass through respectively The output difference of outer shroud frame corners and stage body frame corners obtains, the zero drift of gyroscope, and scale factor error and installation miss Difference is known variables, according to hybrid error modeling of INS, hybrid platforms inertial navigation system 18 can be obtained and tie up error state Equation is：
Wherein, W (t) is the white Gaussian noise of N (0, Q), andωφE、ωφN、ωφURespectively under navigational coordinate system The gyroscope measurement noise in east, north, three, day direction,Respectively navigational coordinate system Xia Dong, north, day The accelerometer in three directions measures noise.
X is quantity of state, and：
In formula, φEFor east orientation misalignment, φNFor north orientation misalignment, φUIt is day to misalignment, Δ VEIt is missed for east orientation speed Difference, Δ VNFor north orientation speed error, Δ VUFor sky orientation speed error,It is stage body coordinate system x to accelerometer output equivalent zero Partially,It is stage body coordinate system y to accelerometer output equivalent zero bias,It is stage body coordinate system z to accelerometer output equivalent Zero bias；
In formula,For the coordinate conversion matrix of stage body coordinate system to carrier coordinate system,It is sat for carrier coordinate system and navigation Original state transfer matrix between mark system；
In formula：ωieFor rotational-angular velocity of the earth；L is local geographic latitude；
In formula, RMFor the radius of curvature of earth meridian circle, RNFor the radius of curvature of earth prime vertical, h is that carrier is relatively local The height of horizontal plane
In formula, θzIt is inner ring frame corners, θxIt is outer shroud frame corners, θzIt is stage body frame corners,For outer shroud frame corners angle speed Degree, can be obtained by outer shroud frame corners output difference；For stage body frame corners angular speed, stage body frame corners output difference can be passed through It obtains.
In formula, g is local gravitational acceleration.
It rotates in calibration process, pedestal remains staticAnd inner axle is in the lock state, and can be passed through Read outer shroud frame corners and stage body frame corners be worth to stage body coordinate system to pedestal system posture transfer matrixWithThe angular velocity of rotation of respectively preset outer annulate shaft and stage body axis；It can It is obtained by analytic expression coarse alignment in step (1).
Under the conditions of being in quiet pedestal due to hybrid inertial navigation system, the speed that inertia device calculates is that every error is drawn It rises, the velocity component under the optional navigational coordinate system of observed quantity.
Therefore, measurement equation is：
Z=HX+V
Z=[VE VN VU]T
In formula, H=[03×3 I3×3 03×12], V is system measurements noise, is the white Gaussian noise process of N (0, R), VEFor The speed calculated according to inertia device is in the projection of geographical east orientation, VNIt is the speed that is calculated according to inertia device in geographic north To projection, VUFor the speed that is calculated according to inertia device day to projection.
After setting filter initial value, Kalman filtering, which may be used, can obtain the error parameter for needing to demarcate.
(4), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then enable stage body axis by The right-hand rule locks after rotating in the forward direction 180 °, and outer annulate shaft and inner axle are locked in zero-bit state, acquire the output data of gyroscope；
If present position is s2, opposite s1Position rotates 180 ° around z-axis.It is in the output of this position gyroscope
(5), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then outer annulate shaft is enabled to press The right-hand rule locks after rotating in the forward direction 180 °, and inner axle and stage body axis are locked in zero-bit state, acquire the output data of gyroscope；
(6), the gyroscope scale factor error and installation error calibrated according to step (3), rewind step (1), In the gyroscope output data of step (4) and step (5), gyro drift is calculated.
The circular of gyro drift is：
In formula,It is exported for the gyroscope of step (2) The gyroscope of step (4) exportsIt is exported for the gyroscope of step (5)Step Suddenly the gyroscope output of (1)The gyroscope of step (4) exportsIt is exported with the gyroscope of step (5)It takes preset For a period of time (such as:10min or more) in mean value.
The staking-out work of hybrid platforms inertial navigation system can be completed by the above method.
Embodiment：
In the calibration of mixed once formula Platform Inertial Navigation System, if gyro drift is 0.02 °/h, random drift is 0.02 °/h, accelerometer constant value zero bias are 100 μ g, and random bias is 50 μ g, and gyroscope scale factor error is(unit：Ppm), the installation error of each axis is respectively (unit：Angle point).Geographic latitude is 33.912 °, and geographic logitude is 0 °, and initial attitude angle is (0 °, 0 °, 30 °).
Setting filtering primary condition, the initial value X (0) of state vector X is 0, and initial estimation mean squared error matrix P (0) is Unite noise battle array Q, measures noise battle array R and is respectively：
P (0)=diag [(0.1 °)2 (0.1°)2 (0.1°)2 (0.1m/s)2 (0.1m/s)2 (0.1m/s)2 (0.01 )2 (0.01)2 (0.01)2 (20”)2 (20”)2 (20”)2 (20”)2 (20”)2 (20”)2 (100μg)2 (100μg)2 (100μg
Q=[(0.02 °/h)2 (0.02°)2 (0.02°)2 (50μg)2 (50μg)2 (50μg)2 012×1]
R=diag [(0.1)2 (0.1)2 (0.1)2]
Indexable scheme uses above-mentioned steps, and the angular velocity of rotation of outer shroud and stage body is all 6 °/s, and index time is 10 minutes. The output that (2) are gyroscope during dual-axis rotation is schemed, from derivation：The output that (3) are accelerometer during dual-axis rotation is schemed, by deriving Known to process：Fig. 4 (a)~Fig. 4 (f) is three direction misalignments that filtering estimates and east orientation speed Spend error, north orientation speed error and sky orientation speed evaluated error.Fig. 5 (a)~Fig. 5 (i) is 3 of the gyroscope that filtering estimates The evaluated error of scale factor error and 6 installation errors.Fig. 6 (a)~Fig. 6 (c) is the accelerometer bias estimation estimated Error.Fig. 7 is the latitude variation correlation curve of navigation calculation before and after error compensation.Fig. 8 is navigation calculation before and after error compensation Longitude changes correlation curve.Fig. 9 is the course angle variation correlation curve of navigation calculation before and after error compensation.
Pass through Kalman Filter Estimation it can be seen from Fig. 5 (a)~Fig. 5 (i) and Fig. 6 (a)~Fig. 6 (c), gyroscope Scale factor error and the equivalent zero bias evaluated error of installation error estimated result and accelerometer tend to restrain, it was demonstrated that The scaling method is effective；Gyroscope scale factor estimated accuracy reaches 25ppm, and fix error angle estimated accuracy is up to 1.5 rads. The equivalent zero bias estimated accuracy of accelerometer is up to 4 × 10 it can be seen from Fig. 6 (a)~Fig. 6 (c)-5g.Under the conditions of quiet pedestal, adopt The inertia device output of collection certain time carries out error term compensation using the scaling method being mentioned herein, and navigational solution is carried out after compensation It calculates, while not compensated inertia device output is subjected to navigation calculation, Fig. 7, Fig. 8, Fig. 9 respectively illustrate the front and back latitude of compensation Degree resolves difference, and longitude resolves difference, and azimuth resolves difference.It can be seen that not compensated inertia device output due to The accumulation of error, calculation result deviation is larger, and the calculation result variation after overcompensation is substantially better than not compensated resolving knot Fruit, variation obviously slow down, it was demonstrated that with after this method, the error of inertia device has obtained accurate calibration.
The non-detailed description of the present invention is known to the skilled person technology.

Claims (8)

1. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation, it is characterised in that this method step is such as Under：
(1), hybrid platforms inertial navigation system is stood, outer shroud frame corners, inner ring frame corners and stage body frame corners is locked to zero Position state is simultaneously kept, and is acquired gyroscope and accelerometer output, is carried out coarse alignment, obtain rough initial attitude matrix；
(2), the outer annulate shaft of control platform system and stage body axis are rotated with identical angular speed simultaneously, and inner axle is in locking shape always State in rotary course, acquires gyroscope and accelerometer output；
(3), establish navigation calculation error model, according to error modeling of INS, with carrier navigational coordinate system Xia Dong, north, Its three direction speed are observed quantity, the error state equation and observational equation of hybrid platforms inertial navigation system are established, according to first The gyroscope and accelerometer output, resolution error state equation and observational equation of beginning attitude matrix and step (2) acquisition, calibration Go out gyroscope scale factor error, gyroscope installation error, the equivalent zero bias of accelerometer；
(4), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then stage body axis is enabled to rotate It is locked after 180 °, outer annulate shaft and inner axle are locked in zero-bit state, acquire the output data of gyroscope；
(5), control outer shroud frame corners, inner ring frame corners and stage body frame corners are locked to zero-bit state, then outer annulate shaft is enabled to rotate It is locked after 180 °, inner axle and stage body axis are locked in zero-bit state, acquire the output data of gyroscope；
(6), the gyroscope scale factor error and installation error calibrated according to step (3), rewinds step (1), step (4) and in the gyroscope output data of step (5), gyro drift is calculated.
2. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 1, It is characterized in that：There are retaining screw limit, ranging from -45 °~+45 ° of angle rotatables for the inner axle.
3. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation, it is characterised in that：The step (2) The angular velocity of rotation of China and foreign countries' annulate shaft and stage body axis is more than or equal to 1 °/s.
4. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 1, It is characterized in that the error modeling of INS is：
Wherein, φnFor attitude error angle,For the derivative at attitude error angle,For the angle speed of navigational coordinate system relative inertness system The projection under navigational coordinate system is spent,For navigational coordinate system relative inertness system angular speed error component in navigational coordinate system Under projection,For the coordinate conversion matrix of carrier coordinate system to navigational coordinate system, εsFor gyro drift, KgFor gyro Instrument scale factor error,For gyroscope installation error,It is exported for gyroscope under stage body coordinate system, δ VnFor velocity error,For the derivative of velocity error；fnIt is exported for the accelerometer under navigational coordinate system,Indicate that rotational-angular velocity of the earth is being led The projection navigated under coordinate system,Projection of the angular speed under navigational coordinate system for navigational coordinate system with respect to terrestrial coordinate system,For projection of the rotational-angular velocity of the earth error under navigational coordinate system,Angle of the navigational coordinate system with respect to terrestrial coordinate system Projection of the velocity error under navigational coordinate system, VnFor the velocity component under navigational coordinate system, δ gnExist for gravity acceleration error Projection under navigational coordinate system, ΔsFor the equivalent zero bias of accelerometer；
In formula：δKgxIt is stage body coordinate system x to gyroscope scale factor error, δ KgyFor stage body coordinate system y to gyroscope scale because Number error, δ KgzIt is stage body coordinate system z to gyroscope scale factor error, δ θgxyFor stage body coordinate system x to gyroscope with respect to stage body The fix error angle of coordinate system y-axis, δ θgxzFix error angle for stage body coordinate system x to gyroscope with respect to stage body coordinate system z-axis, δθgyxFix error angle for stage body coordinate system y to gyroscope with respect to stage body coordinate system x-axis, δ θgyzIt is stage body coordinate system y to top Spiral shell instrument is with respect to the fix error angle of stage body coordinate system z-axis, δ θgzxFor stage body coordinate system z to gyroscope with respect to stage body coordinate system x-axis Fix error angle, δ θgzyFix error angle for stage body coordinate system z to gyroscope with respect to stage body coordinate system y-axis.
5. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 4, It is characterized in that the hybrid platforms inertial navigation system error state equation is：
Wherein, W (t) is the white Gaussian noise of N (0, Q), and Q gusts are system noise variance matrix, andωφE、ωφN、ωφURespectively under navigational coordinate system The gyroscope measurement noise in east, north, three, day direction,Respectively navigational coordinate system Xia Dong, north, day The accelerometer in three directions measures noise；
X is quantity of state, and：
X=[φE φN φU ΔVE ΔVN ΔVU δKgx δKgy δKgz δθgxy
In formula, φEFor east orientation misalignment, φNFor north orientation misalignment, φUIt is day to misalignment, Δ VEFor east orientation speed error, Δ VNFor north orientation speed error, Δ VUFor sky orientation speed error,It is stage body coordinate system x to accelerometer output equivalent zero bias, It is stage body coordinate system y to accelerometer output equivalent zero bias,It is stage body coordinate system z to accelerometer output equivalent zero bias；
In formula,For the coordinate conversion matrix of stage body coordinate system to carrier coordinate system,For carrier coordinate system and navigational coordinate system Between original state transfer matrix；
In formula：ωieFor rotational-angular velocity of the earth；L is local geographic latitude；
In formula, RMFor the radius of curvature of earth meridian circle, RNFor the radius of curvature of earth prime vertical, h is that carrier is relatively local horizontal The height in face；
In formula, θxIt is the output of outer shroud frame corners, θzIt is the output of stage body frame corners,For outer shroud frame corners angular speed,For stage body frame Frame angle angular speed；
In formula, g is local gravitational acceleration；
6. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 4, It is characterized in that the measurement equation is：
Z=HX+V
Z=[VE VN VU]T
In formula, H=[03×3 I3×3 03×12], V is system measurements noise, is the white Gaussian noise process of N (0, R), and R gusts are measurement Noise variance matrix, VEIt is the speed that is calculated according to inertia device in the projection of geographical east orientation, VNTo be calculated according to inertia device Speed in the projection of geographical north orientation, VUFor the speed that is calculated according to inertia device day to projection.
7. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 1, It is characterized in that：The circular of gyro drift is：
In formula,It is exported for the gyroscope of step (2) For step Suddenly the gyroscope output of (4) It is exported for the gyroscope of step (5)
8. a kind of hybrid platforms inertial navigation system scaling method based on twin shaft continuous rotation according to claim 1, It is characterized in that：The gyroscope of step (1) exportsThe gyroscope of step (4) exportsIt is exported with the gyroscope of step (5)Take the mean value in preset a period of time.
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