CN108896045B - Inertial navigation system without accelerometer and navigation method - Google Patents
Inertial navigation system without accelerometer and navigation method Download PDFInfo
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- G—PHYSICS
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- 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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Abstract
The invention discloses an inertial navigation system without an accelerometer and a navigation method, wherein the navigation system comprises a stable platform, a navigation calculation module and an input/output module; the stabilizing platform comprises a middle circular truncated cone, an inner balance frame parallel to the middle circular truncated cone and an outer balance frame vertical to the middle circular truncated cone, wherein 3 gyroscopes with mutually vertical input shafts are arranged on the middle circular truncated cone, control shafts of the middle circular truncated cone, the inner balance frame and the outer balance frame are respectively provided with corresponding torque motors, and the middle circular truncated cone, the inner balance frame and the outer balance frame are respectively provided with corresponding angle sensors; the navigation calculation module is connected with the input/output module, the gyroscope, the torque motor and the angle sensor; the input and output module is used for inputting the initial parameters to the navigation calculation module and outputting and displaying the navigation result calculated by the navigation calculation module. The invention overcomes the defect of nonlinear rapid increase of errors along with time in the traditional inertial navigation system, and has the characteristics of strong anti-interference capability, high long-term precision and good stability.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to an inertial navigation system without an accelerometer and a navigation method.
Background
In the traditional inertial navigation technology, a gyroscope and an accelerometer are used as sensors to sense the motion information of a carrier, and the attitude, the speed and the position information of the carrier are obtained in a multi-time integration mode. Due to the adoption of multiple integrations, the position error of the inertial navigation system increases in a nonlinear manner along with the time, so that the positioning accuracy is rapidly reduced along with the increase of the navigation time, and the navigation performance is rapidly reduced. The reduction of the rapid increase of the navigation error of the carrier during long-time navigation is a deficiency of the traditional inertial navigation system and is the content of the intensive research of the invention.
Disclosure of Invention
In order to solve the technical problems of the background art, the invention aims to provide an inertial navigation system without an accelerometer and a navigation method, and overcomes the defect that the navigation precision is sharply reduced along with the time extension caused by multiple times of integration in the traditional inertial navigation system.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
an inertial navigation system without an accelerometer comprises a stable platform, a navigation calculation module and an input/output module; the stabilizing platform comprises a middle circular truncated cone, an inner balance frame parallel to the middle circular truncated cone and an outer balance frame vertical to the middle circular truncated cone, wherein 3 gyroscopes with mutually vertical input shafts are arranged on the middle circular truncated cone, control shafts of the middle circular truncated cone, the inner balance frame and the outer balance frame are respectively provided with corresponding torque motors, and corresponding angle sensors are respectively arranged on the middle circular truncated cone, the inner balance frame and the outer balance frame; the navigation calculation module is connected with the input/output module, the gyroscope, the torque motor and the angle sensor; the input and output module is used for inputting initial parameters to the navigation calculation module and outputting and displaying navigation results calculated by the navigation calculation module; the navigation calculation module calculates speed and position information of the carrier according to data collected by the gyroscope and initial parameters, the navigation calculation module calculates attitude information of the carrier according to data collected by the angle sensor, and meanwhile the torque motor is driven to enable the stable platform to track the geographic coordinate system all the time.
Furthermore, the center of the middle circular truncated cone is taken as the origin O of the three-dimensional coordinate system, and the direction parallel to the middle circular truncated cone and pointing to the north is taken as the X of the three-dimensional coordinate systempAxial direction, Y with the direction parallel to the middle circular table and pointing to the east as a three-dimensional coordinate systempAxial direction, Z with direction perpendicular to the central truncated cone as three-dimensional coordinate systempAxial direction, establishing a platform coordinate system OXpYpZp(ii) a Of the 3 gyroscopes, the input axis of the first gyroscope is parallel to the Y of the platform coordinate systempThe axis of angular momentum of which is perpendicular to the central table surface and outputs the angular velocity in the north direction, the input axis of the second gyroscope being parallel to the X of the platform coordinate systempThe axis of angular momentum of which is perpendicular to the middle circular table surface and outputs the east angular velocity, and the input axis of the third gyroscope is parallel to the Z of the platform coordinate systempA shaft with angular momentum parallel to the middle circular table surface and outputting a perpendicular lineAngular velocity of direction.
The navigation method of the inertial navigation system based on the accelerometer-free comprises the following steps:
(1) controlling the relative position between the stable platform and the earth surface, when the carrier moves from one point on the ground to another point, controlling a torque motor by a navigation calculation module to enable the stable platform to track the local horizontal plane and point to the north all the time, simulating a geographical coordinate system by a platform coordinate system at the moment, and calculating the carrier navigation attitude information by the navigation calculation module according to data collected by an angular velocity sensor;
(2) the navigation calculation module firstly compensates the information acquired by the gyroscope for harmful angular velocity information, and then obtains the velocity information of the carrier according to the relationship between the linear velocity and the angular velocity;
(3) and the navigation calculation module obtains the position information of the carrier according to the initial longitude and latitude information provided by the input and output module and the primary integral of the angular velocity information acquired by the gyroscope.
Further, in step (1), the navigation computation module will calculate the component of the platform coordinate system according to the rotation angular velocity of the platform coordinate system relative to the inertial coordinate system on the platform coordinate system
The control signal formed by the three-dimensional component calculation is sent to the corresponding torque motor, and the platform coordinate system OX is realized by controlling 3 torque motorsPYPZPThe geographical coordinate system is tracked all the time, 3 attitude angles of the carrier are directly read on the platform by utilizing 3 angle sensors:
in the above formula, the first and second carbon atoms are,
is composed of
The three-dimensional component of (a) is,
the east and north angular velocities of the gyroscope outputs, L the latitude of the carrier, and tg represents the tangent function.
Further, in step (2), the speed information of the carrier is calculated as follows:
in the above formula, the first and second carbon atoms are,
are respectively east and north components of the speed of the carrier relative to the earth on a geographic coordinate system,
respectively an east-direction angular velocity and a north-direction angular velocity output by the gyroscope,
the component of the rotation angular velocity of the earth coordinate system relative to the inertial coordinate system on the platform coordinate system is L the latitude of the carrier, and R is the radius of the earth.
Further, in step (3), the position information of the carrier is calculated as follows:
in the above formula, λ (t) and L (t) are real-time longitude and latitude information, respectively, λ0、L0Respectively the initial longitude and latitude information, respectively,
are respectively east-direction component and north-direction component of the rotation angular speed of the carrier relative to the earth on a platform coordinate system,
respectively an east-direction angular velocity and a north-direction angular velocity output by the gyroscope,
t is the component of the rotation angular velocity of the earth coordinate system relative to the inertial coordinate system on the platform coordinate system, and is the integration time.
Adopt the beneficial effect that above-mentioned technical scheme brought:
(1) the invention can ensure that the carrier keeps better positioning precision and positioning effect during long-time navigation, avoids the defect that the navigation error of the traditional inertial navigation system is in nonlinear rapid increase along with the increase of time, and has strong engineering application value;
(2) the invention only uses the gyroscope to carry out inertial navigation, does not need to be provided with an accelerometer, simplifies the structure and the configuration of the system, reduces the complexity of the system and reduces the cost of the system;
(3) the platform scheme provided by the invention has reliable principle and stable performance, improves the applicability and effectiveness of the inertial navigation system, and provides a new thought and method for the actual work of the novel inertial navigation system.
Drawings
FIG. 1 is a top view of a stabilization platform of the present invention;
FIG. 2 is a three-dimensional perspective view of the stabilization platform of the present invention;
FIG. 3 is a schematic representation of A, B two-point platform coordinate system relative to a terrestrial coordinate system;
FIG. 4 is a schematic illustration of the stabilized platform of the present invention tracking the earth;
fig. 5 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention relates to an inertial navigation system without an accelerometer, which comprises a stable platform, a navigation calculation module and an input/output module. As shown in fig. 1-2, the stabilization platform comprises a middle circular truncated cone, an inner balancing frame parallel to the middle circular truncated cone, and an outer balancing frame perpendicular to the middle circular truncated cone. The center of the middle circular truncated cone is taken as the origin O of the three-dimensional coordinate system, and the direction parallel to the middle circular truncated cone and pointing to the north is taken as the X of the three-dimensional coordinate systempAxial direction, Y with the direction parallel to the middle circular table and pointing to the east as a three-dimensional coordinate systempAxial direction, Z with direction perpendicular to the central truncated cone as three-dimensional coordinate systempAxial direction, establishing a platform coordinate system OXpYpZp. The middle round platform is provided with 3 gyroscopes G with mutually vertical input shaftsX、GY、GZ。GYParallel to the OY of the platformPThe shaft and angular momentum H are vertical to the platform surface, and output angular speed along the north-south direction. GXWith input axis parallel to the platform OXPThe axis, angular momentum H, is perpendicular to the platform surface, outputting angular velocity in the east-west direction. GZWith the input axis parallel to the OZ of the platformPThe axis (i.e., azimuth axis), angular momentum H, parallel to the platform surface, outputs angular velocity in the direction of the perpendicular. The control shaft of the inner balance frame is provided with a corresponding torque motor M1, the control shaft of the outer balance frame is provided with a corresponding torque motor M2, the control shaft of the middle circular truncated cone is provided with a corresponding torque motor M3, and the middle circular truncated cone, the inner balance frame and the outer balance frame are respectively provided with a corresponding angle sensor.
The navigation computation module is connected with the input and output module, the gyroscope, the torque motor and the angle sensor. The input and output module is used for inputting the initial parameters to the navigation calculation module and outputting and displaying the navigation result calculated by the navigation calculation module. The navigation calculation module calculates speed and position information of the carrier according to data collected by the gyroscope and initial parameters, the navigation calculation module calculates attitude information of the carrier according to data collected by the angle sensor, and meanwhile the torque motor is driven to enable the stable platform to track the geographic coordinate system all the time.
The navigation method of the inertial navigation system based on the accelerometer-free comprises the following steps:
step 1: controlling the relative position between the stable platform and the earth surface, when the carrier moves from one point on the ground to another point, controlling the torque motor by the navigation calculation module to enable the stable platform to track the local horizontal plane and point to the north all the time, as shown in fig. 3-4, simulating a geographical coordinate system by the platform coordinate system at the moment, and solving the carrier navigation attitude information by the navigation calculation module according to the data collected by the angular velocity sensor.
The geographic coordinate system varies as a function of the position of the carrier relative to the terrestrial coordinate system, and movement of the carrier relative to the earth causes rotation of the geographic coordinate system relative to the terrestrial coordinate system. From the kinematic relationship, the component of the rotational angular velocity of the platform coordinate system (p-system) on the platform coordinate system (p-system) relative to the inertial coordinate system (i-system) is known
The method comprises three parts: component of the rotational angular velocity of the terrestrial coordinate system (e system) relative to the inertial coordinate system (i system) on the platform coordinate system (p system)
Component of the rotational angular velocity of the geographic coordinate system (g system) relative to the terrestrial coordinate system (e system) on the platform coordinate system (p system)
And the component of the rotational angular velocity of the platform coordinate system (p-system) relative to the geographic coordinate system (g-system) on the platform coordinate system (p-system)
Can be expressed as:
the p-system and g-system are superimposed by stabilizing the motor control loop, and the above formula can be expressed as:
platform mounted gyroscope GX、GYRespectively output the northeast angular velocities
To keep the platform tracking the geographic coordinate system, the platform must be rotated relative to the inertial space at the angular velocity of the geographic coordinate system relative to the inertial space. Thus, the angular velocity information of the control platform can be expressed as:
will press
The signals formed by the calculation of the three components are sent to corresponding torque motors on the platform, and the platform coordinate system OX is realized by controlling three loopsPYPZPThe geographic coordinate system is tracked throughout, so the platform maintains a horizontal and fixed north orientation. Thus, the three attitude angles of the carrier can be directly read on the platform by using the angle sensor and sent to the input and output module.
Step 2: as shown in fig. 5, the navigation computation module first performs harmful angular velocity information compensation on the information collected by the gyroscope, and then obtains the velocity information of the carrier according to the relationship between the linear velocity and the angular velocity.
At the initial moment, the setting platform is horizontal and Y of the platformPA gyroscope G mounted on the platform with its coordinate axes always in north-pointing directionX、GYRespectively outputting the angular velocities of the east and the north
Due to the fact that
According to
The east and north components of the rotation angular speed of the carrier relative to the earth on the platform coordinate system can be obtained
According to
The east and north components of the speed of the carrier relative to the earth on the geographic coordinate system can be obtained
And step 3: as shown in fig. 5, the navigation computation module obtains the position information of the carrier according to the initial longitude and latitude information provided by the input and output module and the first integral of the angular velocity information acquired by the gyroscope.
According to the east and north components of the rotation angular speed of the carrier relative to the earth on the platform coordinate system
And obtaining the longitude variation and the latitude variation of the carrier relative to the earth after one-time integral operation. The warp and weft degrees of the starting point given by the input and output module are respectively lambda0And L0The longitude λ (t) and latitude L (t) of the carrier can be calculated in real time:
aiming at the defect that the navigation precision is sharply reduced along with the time extension caused by multiple integrals in the traditional inertial navigation system, the invention researches the navigation system and the algorithm for obtaining the carrier position through single integral so as to solve the problem that the traditional inertial navigation error is nonlinearly and rapidly increased along with the time and meet the requirement of long-time navigation. The invention extracts useful motion information and angular velocity information output by a rate gyroscope by researching the motion characteristics of a carrier moving around the earth, establishes the corresponding relation between the angular velocity and the velocity, obtains the position information of the carrier by adopting an angular velocity integration mode, and calculates navigation information required by the carrier by mathematical derivation, thereby realizing the purpose that the position error linearly changes along with time so as to reduce the navigation error during long endurance.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (4)
1. The navigation method of the inertial navigation system based on no accelerometer, the said inertial navigation system includes stable platform, navigation calculation module and input/output module; the stabilizing platform comprises a middle circular truncated cone, an inner balance frame parallel to the middle circular truncated cone and an outer balance frame vertical to the middle circular truncated cone, wherein 3 gyroscopes with mutually vertical input shafts are arranged on the middle circular truncated cone, control shafts of the middle circular truncated cone, the inner balance frame and the outer balance frame are respectively provided with corresponding torque motors, and corresponding angle sensors are respectively arranged on the middle circular truncated cone, the inner balance frame and the outer balance frame; the navigation calculation module is connected with the input/output module, the gyroscope, the torque motor and the angle sensor; the input and output module is used for inputting initial parameters to the navigation calculation module and outputting and displaying navigation results calculated by the navigation calculation module; the navigation calculation module calculates speed and position information of the carrier according to data collected by the gyroscope and initial parameters, calculates attitude and heading information of the carrier according to data collected by the angle sensor, and drives the torque motor to enable the stable platform to track a geographical coordinate system all the time; the center of the middle circular truncated cone is taken as the origin O of the three-dimensional coordinate system, and the direction parallel to the middle circular truncated cone and pointing to the north is taken as the X of the three-dimensional coordinate systempAxial direction, Y with the direction parallel to the middle circular table and pointing to the east as a three-dimensional coordinate systempAxial direction, Z with direction perpendicular to the central truncated cone as three-dimensional coordinate systempAxial direction, establishing a platform coordinate system OXpYpZp(ii) a The 3 gyroscopesIn the gyroscope, the input axis of the first gyroscope is parallel to Y of the platform coordinate systempThe axis of angular momentum of which is perpendicular to the central table surface and outputs the angular velocity in the north direction, the input axis of the second gyroscope being parallel to the X of the platform coordinate systempThe axis of angular momentum of which is perpendicular to the middle circular table surface and outputs the east angular velocity, and the input axis of the third gyroscope is parallel to the Z of the platform coordinate systempA shaft, the angular momentum of which is parallel to the middle circular table surface and outputs the angular velocity in the vertical direction;
the navigation method is characterized by comprising the following steps:
(1) controlling the relative position between the stable platform and the earth surface, when the carrier moves from one point on the ground to another point, controlling a torque motor by a navigation calculation module to enable the stable platform to track the local horizontal plane and point to the north all the time, simulating a geographical coordinate system by a platform coordinate system at the moment, and calculating the carrier navigation attitude information by the navigation calculation module according to data collected by an angular velocity sensor;
(2) the navigation calculation module firstly compensates the information acquired by the gyroscope for harmful angular velocity information, and then obtains the velocity information of the carrier according to the relationship between the linear velocity and the angular velocity;
(3) and the navigation calculation module obtains the position information of the carrier according to the initial longitude and latitude information provided by the input and output module and the primary integral of the angular velocity information acquired by the gyroscope.
2. The navigation method according to claim 1, wherein in step (1), the navigation computation module calculates a component of the platform coordinate system in terms of a rotational angular velocity of the platform coordinate system with respect to the inertial coordinate system on the platform coordinate system
The control signal formed by the three-dimensional component calculation is sent to the corresponding torque motor, and the platform coordinate system OX is realized by controlling 3 torque motorsPYPZPThe geographical coordinate system is tracked all the time, 3 attitude angles of the carrier are directly read on the platform by utilizing 3 angle sensors:
in the above formula, the first and second carbon atoms are,
is composed of
The three-dimensional component of (a) is,
the east and north angular velocities of the gyroscope outputs, L the latitude of the carrier, and tg represents the tangent function.
3. The navigation method according to claim 1, wherein in step (2), the speed information of the carrier is calculated according to the following formula:
in the above formula, the first and second carbon atoms are,
are respectively east and north components of the speed of the carrier relative to the earth on a geographic coordinate system,
respectively an east-direction angular velocity and a north-direction angular velocity output by the gyroscope,
the component of the rotation angular velocity of the earth coordinate system relative to the inertial coordinate system on the platform coordinate system is L the latitude of the carrier, and R is the radius of the earth.
4. The navigation method according to claim 1, wherein in step (3), the position information of the carrier is calculated as follows:
in the above formula, λ (t) and L (t) are real-time longitude and latitude information, respectively, λ0、L0Respectively the initial longitude and latitude information, respectively,
are respectively east-direction component and north-direction component of the rotation angular speed of the carrier relative to the earth on a platform coordinate system,
respectively an east-direction angular velocity and a north-direction angular velocity output by the gyroscope,
t is the component of the rotation angular velocity of the earth coordinate system relative to the inertial coordinate system on the platform coordinate system, and is the integration time.
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| CN110604546A (en) * | 2019-07-29 | 2019-12-24 | 桂林医学院附属医院 | Parkinson disease monitoring method and device and storage medium |
| CN112254717B (en) * | 2020-10-12 | 2023-10-03 | 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 interferometer gyroscope |
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