CN108896045A - A kind of inertial navigation system and air navigation aid of no accelerometer - Google Patents
A kind of inertial navigation system and air navigation aid of no accelerometer Download PDFInfo
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- CN108896045A CN108896045A CN201810661298.9A CN201810661298A CN108896045A CN 108896045 A CN108896045 A CN 108896045A CN 201810661298 A CN201810661298 A CN 201810661298A CN 108896045 A CN108896045 A CN 108896045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses the inertial navigation system and air navigation aid of a kind of no accelerometer, navigation system includes stabilized platform, navigation computing module and input/output module；Stabilized platform includes intermediate rotary table, the inner equilibrium frame parallel with intermediate rotary table, the outer equalization frame vertical with intermediate rotary table, 3 mutually perpendicular gyroscopes of input shaft are set on intermediate rotary table, corresponding torque motor is respectively set in the control shaft of intermediate rotary table, inner equilibrium frame and outer equalization frame, and corresponding angular transducer is respectively set on intermediate rotary table, inner equilibrium frame and outer equalization frame；The computing module that navigates connects aforementioned input/output module, gyroscope, torque motor and angular transducer；Input/output module is used for the navigation results resolved to navigation computing module input initial parameter and output display navigation computing module.The present invention overcomes error in conventional inertia navigation system at any time non-linear rapid growth the shortcomings that, have the characteristics that strong antijamming capability, long-term accuracy are high and stability is good.
Description
Technical field
The invention belongs to field of navigation technology, in particular to a kind of inertial navigation system of no accelerometer and navigation side
Method.
Background technique
Traditional inertial navigation technology using gyroscope and accelerometer as a sensor to the motion information of induction carrier,
And the posture, speed and location information of carrier are obtained by way of repeatedly integrating.Due to using repeatedly integral, inertia is caused
The location error of navigation system causes positioning accuracy with the fast prompt drop of the increase of navigation time as the time is at non-linear growth
Low, navigation performance sharply declines.The rapid growth for reducing navigation error when carrier navigates by water for a long time is traditional inertial navigation system
Content that system is short of and that the present invention furthers investigate.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide a kind of inertia of no accelerometer
Navigation system and air navigation aid, overcoming in conventional inertia navigation system repeatedly integral to cause as time went on, navigation accuracy is sharply
The defect of decline.
In order to achieve the above technical purposes, the technical scheme is that：
A kind of inertial navigation system of no accelerometer, including stabilized platform, navigation computing module and input/output module；
The stabilized platform include intermediate rotary table, with the centre parallel inner equilibrium frame of the rotary table and outer balance vertical with intermediate rotary table
3 mutually perpendicular gyroscopes of input shaft, intermediate rotary table, inner equilibrium frame and outer equalization frame are arranged on intermediate rotary table for frame
Control shaft corresponding torque motor is respectively set, correspondence is respectively set on intermediate rotary table, inner equilibrium frame and outer equalization frame
Angular transducer；The navigation computing module connects aforementioned input/output module, gyroscope, torque motor and angle sensor
Device；The input/output module is used to resolve to navigation computing module input initial parameter and output display navigation computing module
Navigation results；The data and initial parameter that navigation computing module is acquired according to gyroscope resolve the speed of carrier, position is believed
Breath, the navigation attitude information for the data calculation carrier that navigation computing module is acquired according to angular transducer, while driving moment motor makes
Stabilized platform tracks geographic coordinate system always.
Further, using the center of circle of intermediate rotary table as the origin O of three-dimensional system of coordinate, to be parallel to intermediate rotary table and be directed toward north
X of the direction as three-dimensional system of coordinatepAxis direction, to be parallel to intermediate rotary table and be directed toward eastern direction as three-dimensional system of coordinate
YpAxis direction, using the Z perpendicular to intermediate rotary table direction as three-dimensional system of coordinatepAxis direction establishes platform coordinate system OXpYpZp；Institute
It states in 3 gyroscopes, the input shaft of first gyroscope is parallel to the Y of platform coordinate systempAxis, the vertical intermediate rotary table of angular momentum
Face, and the angular speed of north orientation is exported, the input shaft of second gyroscope is parallel to the X of platform coordinate systempAxis, angular momentum are vertical
Intermediate round table surface, and the angular speed of east orientation is exported, the input shaft of third gyroscope is parallel to the Z of platform coordinate systempAxis, angle
Momentum intermediate round table surface in parallel, and export the angular speed in vertical line direction.
The air navigation aid of inertial navigation system based on above-mentioned no accelerometer, includes the following steps：
(1) relative position between stabilized platform and earth surface is controlled, when in addition carrier is a little moved to a bit from ground
When, navigation computing module control moment motor makes stabilized platform track local level always and is directed toward north, and platform at this time is sat
Mark system simulation geographic coordinate system, the computing module that navigates go out carrier navigation attitude information according to the data calculation that angular-rate sensor acquires；
(2) navigation computing module carries out harmful angular velocity information compensation to the information of gyroscope acquisition first, then basis
The relationship of linear velocity and angular speed obtains the velocity information of carrier；
(3) angle for the initial latitude and longitude information and gyroscope acquisition that navigation computing module is provided according to input/output module
The primary integral of velocity information, obtains the location information of carrier.
Further, in step (1), navigation computing module will press rotation of the platform coordinate system relative to inertial coodinate system
The component that angular speed is fastened in platform coordinateThree-dimensional component calculate the control signal to be formed and give corresponding torque motor,
Make platform coordinate system OX by controlling three moment motorPYPZPAlways geographic coordinate system is tracked, using 3 angular transducers flat
Platform directly reads 3 attitude angles of carrier：
In above formula,ForThree-dimensional component,The respectively east orientation angle speed of gyroscope output
Degree and north orientation angular speed, L are latitude locating for carrier, and tg indicates tangent function.
Further, in step (2), the velocity information of carrier is calculated as follows：
In above formula,Respectively carrier with respect to east orientation, the north component that the speed of the earth is fastened in geographical coordinate,The respectively east orientation angular speed and north orientation angular speed of gyroscope output,It is terrestrial coordinate system relative to inertial coordinate
The component that the rotational angular velocity of system is fastened in platform coordinate, L are latitude locating for carrier, and R is earth radius.
Further, in step (3), the location information of carrier is calculated as follows：
In above formula, λ (t), L (t) are respectively real-time longitude and latitude information, λ0、L0Respectively initial longitude and latitude letter
Breath,Respectively carrier with respect to east orientation, the north component that the rotational angular velocity of the earth is fastened in platform coordinate, The respectively east orientation angular speed and north orientation angular speed of gyroscope output,For
The component that terrestrial coordinate system is fastened relative to the rotational angular velocity of inertial coodinate system in platform coordinate, t are the time of integration.
Bring beneficial effect by adopting the above technical scheme：
(1) present invention can make carrier keep preferable positioning accuracy and locating effect when long-time is navigated, and avoid
The shortcomings that navigation error of conventional inertia navigation system is in non-linear rapid growth over time has very strong engineering
Application value；
(2) present invention only carries out inertial navigation using gyroscope, without configuring accelerometer, simplifying system structure and matching
It sets, reduces the complexity of system, reduce system cost；
(3) platform scheme principle proposed by the present invention is reliable, and performance is stablized, and improves the applicability of inertial navigation system, has
Effect property, provides new idea and method for the real work of New Type of Inertial Navigation System.
Detailed description of the invention
Fig. 1 is the top view of stabilized platform of the present invention；
Fig. 2 is the 3 dimensional drawing of stabilized platform of the present invention；
Fig. 3 is schematic diagram of A, B two o'clock platform coordinate system of the present invention relative to terrestrial coordinate system；
Fig. 4 is the schematic diagram of the stabilized platform tracking earth of the present invention；
Fig. 5 is flow chart of the invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
A kind of inertial navigation system for no accelerometer that the present invention designs, including stabilized platform, navigation computing module and
Input/output module.As shown in Figs. 1-2, stabilized platform include intermediate rotary table, with the parallel inner equilibrium frame of centre rotary table and
The outer equalization frame vertical with intermediate rotary table.Using the center of circle of intermediate rotary table as the origin O of three-dimensional system of coordinate, to be parallel to middle circle
Platform is simultaneously directed toward X of the direction in north as three-dimensional system of coordinatepAxis direction, to be parallel to intermediate rotary table and be directed toward eastern direction as three
Tie up the Y of coordinate systempAxis direction, using the Z perpendicular to intermediate rotary table direction as three-dimensional system of coordinatepAxis direction establishes platform coordinate system
OXpYpZp.The mutually perpendicular gyroscope G of 3 input shafts is set on intermediate rotary tableX、GY、GZ。GYInput shaft be parallel to platform
OYPAxis, angular momentum H vertical platform face, exports angular speed along the north-south direction.GXInput shaft be parallel to the OX of platformPAxis, angle
Momentum H vertical platform face exports the angular speed along east-west direction.GZInput shaft be parallel to the OZ of platformPAxis (i.e. azimuth axis),
Angular momentum H parallel platform face exports the angular speed along vertical line direction.Corresponding torque motor is arranged in the control shaft of inner equilibrium frame
Corresponding torque motor M2 is arranged in M1, the control shaft of outer equalization frame, and corresponding torque motor is arranged in the control shaft of intermediate rotary table
Corresponding angular transducer is respectively set on intermediate rotary table, inner equilibrium frame and outer equalization frame in M3.
The computing module that navigates connects aforementioned input/output module, gyroscope, torque motor and angular transducer.Input and output
Module is used for the navigation results resolved to navigation computing module input initial parameter and output display navigation computing module.Navigation
The data and initial parameter that computing module is acquired according to gyroscope resolve the speed of carrier, location information, and navigate computing module
According to the navigation attitude information of the data calculation carrier of angular transducer acquisition, while driving moment motor tracks stabilized platform always
Geographic coordinate system.
The air navigation aid of inertial navigation system based on above-mentioned no accelerometer, includes the following steps：
Step 1：The relative position between stabilized platform and earth surface is controlled, when carrier is a little moved to other one from ground
When point, navigation computing module control moment motor makes stabilized platform track local level always and is directed toward north, such as Fig. 3-4 institute
Show, platform coordinate system at this time simulates geographic coordinate system, the data calculation that navigation computing module is acquired according to angular-rate sensor
Carrier navigation attitude information out.
Variation of the geographic coordinate system with carrier with respect to the position of terrestrial coordinate system and change, movement of the carrier relative to the earth
Cause rotation of the geographic coordinate system relative to terrestrial coordinate system.By kinematic relation it is found that platform coordinate system (p system) is relative to used
Component of the rotational angular velocity of property coordinate system (i system) in platform coordinate system (p system)Including three parts：Terrestrial coordinate system (e
System) component of the rotational angular velocity in platform coordinate system (p system) relative to inertial coodinate system (i system)Geographic coordinate system (g
System) component of the rotational angular velocity in platform coordinate system (p system) relative to terrestrial coordinate system (e system)And platform coordinate
It is the component in platform coordinate system (p system) of rotational angular velocity of (p system) relative to geographic coordinate system (g system)It can indicate
For：
Make p system by stablizing motor control loop and g system is to be overlapped, above formula is represented by：
The gyroscope G installed on platformX、GYThe angular speed of North-East Bound is exported respectivelyMake platform always with
Track geographic coordinate system, it is necessary to make platform with the angular speed relative inertness spatial rotational in geographic coordinate system relative inertness space.Therefore,
The angular velocity information of control platform is represented by：
It will be byThree components calculate the signal to be formed and give corresponding torque motor on platform, pass through control three and return
Road makes platform coordinate system OXPYPZPAlways geographic coordinate system is tracked, so platform maintains horizontal and fixed north orientation orientation.This
Sample can directly read three attitude angles of carrier in platform using angle transducer and be sent to input/output module.
Step 2：As shown in figure 5, navigation computing module carries out harmful angular velocity information to the information of gyroscope acquisition first
Compensation, then according to the relationship of linear velocity and angular speed, obtains the velocity information of carrier.
It carves at the beginning, setting platform is horizontal and platform YPReference axis is always to maintain the finger north
Position, the gyroscope G installed on platformX、GYThe angular speed of east orientation and north orientation is exported respectivelyDue to
According toRotational angular velocity of the carrier with respect to the earth can be obtained in platform coordinate
East orientation, the north component fastened
According toThe speed that carrier can be obtained with respect to the earth is fastened in geographical coordinate
East orientation, north component
Step 3：As shown in figure 5, initial latitude and longitude information that navigation computing module is provided according to input/output module and
The primary integral of the angular velocity information of gyroscope acquisition, obtains the location information of carrier.
According to carrier with respect to east orientation, the north component that the rotational angular velocity of the earth is fastened in platform coordinateIt passes through again
After crossing an integral operation, longitude variable quantity and latitude variable quantity of the carrier relative to the earth can be obtained.Input/output module
The starting point longitude and latitude provided is λ respectively0And L0, the longitude λ (t) and latitude L (t) of carrier can be calculated in real time：
The present invention in conventional inertia navigation system repeatedly integral cause as time went on navigation accuracy sharply decline
The shortcomings that, research single integrates to obtain the navigation system of carrier positions and algorithm, to solve conventional inertia navigation error at any time
The problem of non-linear rapid growth, meets the needs of navigating for a long time.Present invention motion carrier around the earth by research
Kinetic characteristic extracts the useful motion information and angular velocity information of rate gyroscope output, establishes pair of angular speed and speed
It should be related to, obtain the location information of carrier by the way of angular speed integral, calculated required for carrier by mathematical derivation
Navigation information is realized that location error is linear at any time and is changed to reduce the purpose of the navigation error of long endurance.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (6)
1. a kind of inertial navigation system of no accelerometer, it is characterised in that：Including stabilized platform, navigation computing module and input
Output module；The stabilized platform includes intermediate rotary table, the inner equilibrium frame parallel with intermediate rotary table and hangs down with intermediate rotary table
Straight outer equalization frame, is arranged 3 mutually perpendicular gyroscopes of input shaft on intermediate rotary table, intermediate rotary table, inner equilibrium frame and
Corresponding torque motor is respectively set in the control shaft of outer equalization frame, divides on intermediate rotary table, inner equilibrium frame and outer equalization frame
Corresponding angular transducer is not set；The navigation computing module connect aforementioned input/output module, gyroscope, torque motor and
Angular transducer；The input/output module is used to calculate to navigation computing module input initial parameter and output display navigation
The navigation results that module resolves；Data and initial parameter that navigation computing module is acquired according to gyroscope resolve the speed of carrier
Degree, location information, the navigation attitude information for the data calculation carrier that navigation computing module is acquired according to angular transducer, while driving force
Torque motor makes stabilized platform track geographic coordinate system always.
2. according to claim 1 without the inertial navigation system of accelerometer, it is characterised in that：The center of circle with intermediate rotary table is
The origin O of three-dimensional system of coordinate, to be parallel to intermediate rotary table and be directed toward the direction in north as the X of three-dimensional system of coordinatepAxis direction, with flat
Row is in intermediate rotary table and is directed toward Y of the direction in east as three-dimensional system of coordinatepAxis direction, using perpendicular to intermediate rotary table direction as three
Tie up the Z of coordinate systempAxis direction establishes platform coordinate system OXpYpZp；In 3 gyroscopes, the input shaft of first gyroscope
It is parallel to the Y of platform coordinate systempAxis, the vertical intermediate round table surface of angular momentum, and the angular speed of north orientation is exported, second gyroscope
Input shaft be parallel to the X of platform coordinate systempAxis, the vertical intermediate round table surface of angular momentum, and export the angular speed of east orientation, third
The input shaft of a gyroscope is parallel to the Z of platform coordinate systempAxis, angular momentum intermediate round table surface in parallel, and export vertical line direction
Angular speed.
3. the air navigation aid based on the inertial navigation system described in claim 2 without accelerometer, which is characterized in that including following
Step：
(1) relative position between stabilized platform and earth surface is controlled, when carrier is a little moved in addition a bit from ground, is led
Boat computing module control moment motor makes stabilized platform track local level always and is directed toward north, platform coordinate system mould at this time
Quasi- geographic coordinate system, the computing module that navigates go out carrier navigation attitude information according to the data calculation that angular-rate sensor acquires；
(2) navigation computing module carries out harmful angular velocity information compensation to the information of gyroscope acquisition first, then according to linear speed
The relationship of degree and angular speed, obtains the velocity information of carrier；
(3) angular speed for the initial latitude and longitude information and gyroscope acquisition that navigation computing module is provided according to input/output module
The primary integral of information, obtains the location information of carrier.
4. air navigation aid according to claim 3, which is characterized in that in step (1), navigation computing module will be sat by platform
The component that mark system fastens relative to the rotational angular velocity of inertial coodinate system in platform coordinateThree-dimensional component calculate the control to be formed
Signal processed gives corresponding torque motor, makes platform coordinate system OX by controlling three moment motorPYPZPAlways tracking is geographical to sit
Mark system, 3 attitude angles of carrier are directly read using 3 angular transducers in platform：
In above formula,ForThree-dimensional component,The respectively east orientation angular speed of gyroscope output
With north orientation angular speed, L is latitude locating for carrier, and tg indicates tangent function.
5. air navigation aid according to claim 3, which is characterized in that in step (2), the velocity information of carrier is counted as the following formula
It calculates：
In above formula,Respectively carrier with respect to east orientation, the north component that the speed of the earth is fastened in geographical coordinate,The respectively east orientation angular speed and north orientation angular speed of gyroscope output,It is terrestrial coordinate system relative to inertial coordinate
The component that the rotational angular velocity of system is fastened in platform coordinate, L are latitude locating for carrier, and R is earth radius.
6. air navigation aid according to claim 3, which is characterized in that in step (3), the location information of carrier is counted as the following formula
It calculates：
In above formula, λ (t), L (t) are respectively real-time longitude and latitude information, λ0、L0Respectively initial longitude and latitude information,Respectively carrier with respect to east orientation, the north component that the rotational angular velocity of the earth is fastened in platform coordinate,The respectively east orientation angular speed and north orientation angular speed of gyroscope output,
For the component that terrestrial coordinate system is fastened relative to the rotational angular velocity of inertial coodinate system in platform coordinate, t is the time of integration.
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| CN112254717A (en) * | 2020-10-12 | 2021-01-22 | 中国科学院精密测量科学与技术创新研究院 | Inertial navigation device and method based on cold atom interference gyroscope |
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