CN109115212A - A kind of inertial navigation system gamut posture angle extraction method - Google Patents

A kind of inertial navigation system gamut posture angle extraction method Download PDF

Info

Publication number
CN109115212A
CN109115212A CN201811299564.4A CN201811299564A CN109115212A CN 109115212 A CN109115212 A CN 109115212A CN 201811299564 A CN201811299564 A CN 201811299564A CN 109115212 A CN109115212 A CN 109115212A
Authority
CN
China
Prior art keywords
angle
course
roll
roll angle
resolving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811299564.4A
Other languages
Chinese (zh)
Other versions
CN109115212B (en
Inventor
孙伟强
赵凤昊
景森学
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
707th Research Institute of CSIC
Original Assignee
707th Research Institute of CSIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 707th Research Institute of CSIC filed Critical 707th Research Institute of CSIC
Priority to CN201811299564.4A priority Critical patent/CN109115212B/en
Publication of CN109115212A publication Critical patent/CN109115212A/en
Application granted granted Critical
Publication of CN109115212B publication Critical patent/CN109115212B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a kind of inertial navigation system gamut posture angle extraction methods, the method by successively freezing roll angle and course angle respectively, and the extraction of pitch angular close to ± 90 ° of formula roll angles and course angle may be implemented.Invention achievement mentality of designing is ingenious, has novelty, preferably resolves inertial navigation system all-attitude angle and extract this practical engineering application problem, so that inertial navigation system has guarantee in the use of full posture range, has promotional value.

Description

A kind of inertial navigation system gamut posture angle extraction method
Technical field
The present invention relates to inertial navigation system technical field, especially a kind of inertial navigation system gamut attitude angle extraction side Method can be used for being installed on the inertial navigation system attitude angle that the pitch angulars such as underwater robot, aircraft are more than 90 ° of carriers and extract.
Background technique
General inertial navigation system defines pitch angle domain value range are as follows: and (- 90 °, 90 °), in certain specific application areas, no Only pitch angle domain value range will [- 180 °, 180 °) between, roll angle domain value range also will [- 180 °, 180 °) between, boat To angle domain value range [0 °, 360 °) between.
When ± 90 ° close due to pitch angle, course angle and roll angle are coupled, and can not mention according to traditional attitude angle Method is taken to extract.
Summary of the invention
In place of making up the deficiencies in the prior art, according to roll angle and course angle coupled relation, if A kind of inertial navigation system gamut posture angle extraction method that design is scientific and reasonable is counted.
The purpose of the present invention is what is realized by following technological means:
A kind of inertial navigation system gamut posture angle extraction method, it is characterised in that: the following steps are included:
(1), solving of attitude formula:
Defining attitude of carrier angular moment battle array is
Attitude of carrier angle can be calculated by formula 1:
θ=arctan (- C31/C33)………………………………(2)
The domain of θ is (- 0.5 π, 0.5 π) in above formula, and the domain of Φ is (- 0.5 π, 0.5 π), and the domain of Ψ is [0,2π)；
(2), symbol definition:
Rp∈ (- π, π]: the previous roll angle for resolving period calculating
Rc∈ (- π, π]: the current roll angle for resolving period calculating
Hp∈ [0,2 π): the previous course heading for resolving period calculating
Hc∈ [0,2 π): the current course heading for resolving period calculating
Pp∈ (- π, π]: the current pitch angular for resolving period calculating
K: resolving cycle count value, and each resolving period increases by 1
RsH=Rc-Hc: the difference of roll angle and course angle
RaH=Rc+Hc: the sum of roll angle and course angle
ε: pitch angle is close to 90 ° of judgment thresholds；
(3), all-attitude angle extracting method:
Judgment threshold ε is set first, when pitch angle is positive close to 90 °, calculates the difference RsH of roll angle and course angle, counts Calculation method is shown in formula (4), and according to the RsH being calculated, current time freezes roll angle, i.e., current rolling angle value RcEqual to upper one Resolve the rolling angle value R in periodp, the difference RsH of roll angle and course angle found out, then can calculate the course angle at current time Hc, i.e. renewable roll angle R of next resolving periodc, successively interleaved computation can find out rolling when pitch angle is positive close to 90 ° Angle and course angle；
When pitch angle is negative close to 90 °, the sum of roll angle and course angle RaH are calculated, calculation method is shown in formula (4), according to The RaH being calculated, current time freeze course angle, i.e. current course angle value HcThe course angle value for resolving the period equal to upper one Hp, the sum of roll angle and course angle RaH found out, then can calculate the roll angle R at current timec, next resolving period Update course angle Hc, successively interleaved computation can find out the roll angle and course angle when pitch angle is negative close to 90 °；
It, can be according to normal roll angle and course angle extraction method formula (3) and formula when pitch angle keeps off ± 90 ° (4) roll angle R is calculatedcWith course angle Hc。
Moreover, (3) the threshold value is preferably set to 10 ° to step.
The advantages and positive effects of the present invention are:
The present invention for carrier pitch angular close to ± 90 ° when, carrier roll angle and course angle are coupled can not be straight The problem of lifting is connect, according to roll angle and course angle coupled relation, devises a kind of roll angle and course angle iterative extraction method, Using this method, pitch angular is may be implemented close to ± 90 ° of formula cross in method by successively freezing roll angle and course angle respectively The extraction of cradle angle and course angle.
Achievement mentality of designing of the present invention is ingenious, has novelty, preferably resolves inertial navigation system all-attitude angle and mention This practical engineering application problem is taken, when carrier pitch angular is ± 90 ° close, course angle and roll angle extraction accuracy are high, make Obtaining inertial navigation system has guarantee in the use of full posture range, has promotional value.
Detailed description of the invention
Fig. 1 is that all-attitude angle extracts flow chart；
Fig. 2 is all-attitude angle extraction algorithm flow chart.
Specific embodiment
With reference to the accompanying drawing in detail narration the embodiment of the present invention, it should be noted that the present embodiment be it is narrative, no It is restrictive, this does not limit the scope of protection of the present invention.
A kind of inertial navigation system gamut posture angle extraction method, comprising the following steps:
(1), solving of attitude formula:
Defining attitude of carrier angular moment battle array is
Attitude of carrier angle can be calculated by formula 1:
θ=arctan (- C31/C33)………………………………(2)
The domain of θ is (- 0.5 π, 0.5 π) in above formula, and the domain of Φ is (- 0.5 π, 0.5 π), and the domain of Ψ is [0,2π)。
(2), symbol definition:
Rp∈ (- π, π]: the previous roll angle for resolving period calculating
Rc∈ (- π, π]: the current roll angle for resolving period calculating
Hp∈ [0,2 π): the previous course heading for resolving period calculating
Hc∈ [0,2 π): the current course heading for resolving period calculating
Pp∈ (- π, π]: the current pitch angular for resolving period calculating
K: resolving cycle count value, and each resolving period increases by 1
RsH=Rc-Hc: the difference of roll angle and course angle
RaH=Rc+Hc: the sum of roll angle and course angle
ε: pitch angle is close to 90 ° of judgment thresholds.
(3), all-attitude angle extracting method:
All-attitude angle extraction algorithm flow chart is shown in Fig. 2, first setting judgment threshold ε, it is proposed that threshold value is set as 10 °, works as pitching When angle is positive close to 90 °, the difference RsH of roll angle and course angle is calculated, calculation method is shown in formula (4), according to the RsH being calculated, Current time freezes roll angle, i.e., current rolling angle value RcThe rolling angle value R for resolving the period equal to upper onep, roll angle and course The difference RsH at angle has been found out, then can calculate the course angle H at current timec, i.e. renewable roll angle R of next resolving periodc, according to Secondary interleaved computation can find out roll angle and course angle when pitch angle is positive close to 90 °.
When pitch angle is negative close to 90 °, the sum of roll angle and course angle RaH are calculated, calculation method is shown in formula (4), according to The RaH being calculated, current time freeze course angle, i.e. current course angle value HcThe course angle value for resolving the period equal to upper one Hp, the sum of roll angle and course angle RaH found out, then can calculate the roll angle R at current timec, next resolving period Update course angle Hc, successively interleaved computation can find out the roll angle and course angle when pitch angle is negative close to 90 °.
It, can be according to normal roll angle and course angle extraction method formula (3) and formula when pitch angle keeps off ± 90 ° (4) roll angle R is calculatedcWith course angle Hc。

Claims (2)

1. a kind of inertial navigation system gamut posture angle extraction method, it is characterised in that: the following steps are included:
(1), solving of attitude formula:
Defining attitude of carrier angular moment battle array is
Attitude of carrier angle can be calculated by formula 1:
θ=arctan (- C31/C33)………………………………(2)
The domain of θ is (- 0.5 π, 0.5 π) in above formula, and the domain of Φ is (- 0.5 π, 0.5 π), and the domain of Ψ is [0,2 π)；
(2), symbol definition:
Rp∈ (- π, π]: the previous roll angle for resolving period calculating
Rc∈ (- π, π]: the current roll angle for resolving period calculating
Hp∈ [0,2 π): the previous course heading for resolving period calculating
Hc∈ [0,2 π): the current course heading for resolving period calculating
Pp∈ (- π, π]: the current pitch angular for resolving period calculating
K: resolving cycle count value, and each resolving period increases by 1
RsH=Rc-Hc: the difference of roll angle and course angle
RaH=Rc+Hc: the sum of roll angle and course angle
ε: pitch angle is close to 90 ° of judgment thresholds；
(3), all-attitude angle extracting method:
Judgment threshold ε is set first, when pitch angle is positive close to 90 °, calculates the difference RsH of roll angle and course angle, calculating side Method is shown in formula (4), and according to the RsH being calculated, current time freezes roll angle, i.e., current rolling angle value RcIt is resolved equal to upper one The rolling angle value R in periodp, the difference RsH of roll angle and course angle found out, then can calculate the course angle H at current timec, under One resolves period i.e. renewable roll angle Rc, successively interleaved computation, can find out roll angle when pitch angle is positive close to 90 ° and Course angle；
When pitch angle is negative close to 90 °, the sum of roll angle and course angle RaH are calculated, calculation method is shown in formula (4), according to calculating Obtained RaH, current time freeze course angle, i.e. current course angle value HcThe course angle value H for resolving the period equal to upper onep, horizontal The sum of cradle angle and course angle RaH have been found out, then can calculate the roll angle R at current timec, next resolving period is renewable Course angle Hc, successively interleaved computation can find out the roll angle and course angle when pitch angle is negative close to 90 °；
When pitch angle keeps off ± 90 °, it can be counted according to normal roll angle and course angle extraction method formula (3) and formula (4) Calculate roll angle RcWith course angle Hc。
2. a kind of inertial navigation system gamut posture angle extraction method according to claim 1, it is characterised in that: step (3) institute The threshold value stated is preferably set to 10 °.
CN201811299564.4A 2018-10-30 2018-10-30 Method for extracting full-range attitude angle of inertial navigation system Active CN109115212B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811299564.4A CN109115212B (en) 2018-10-30 2018-10-30 Method for extracting full-range attitude angle of inertial navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811299564.4A CN109115212B (en) 2018-10-30 2018-10-30 Method for extracting full-range attitude angle of inertial navigation system

Publications (2)

Publication Number Publication Date
CN109115212A true CN109115212A (en) 2019-01-01
CN109115212B CN109115212B (en) 2022-04-12

Family

ID=64853620

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811299564.4A Active CN109115212B (en) 2018-10-30 2018-10-30 Method for extracting full-range attitude angle of inertial navigation system

Country Status (1)

Country Link
CN (1) CN109115212B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113587925A (en) * 2021-07-16 2021-11-02 湖南航天机电设备与特种材料研究所 Inertial navigation system and full-attitude navigation resolving method and device thereof
CN115164888A (en) * 2022-09-06 2022-10-11 中国船舶重工集团公司第七0七研究所 Error correction method and device, electronic equipment and storage medium
CN115655271A (en) * 2022-12-22 2023-01-31 中国船舶集团有限公司第七〇七研究所 Large-range attitude angle extraction method under dynamic condition
CN117091596A (en) * 2023-10-09 2023-11-21 腾讯科技（深圳）有限公司 Gesture information acquisition method and related equipment

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101162147A (en) * 2007-11-27 2008-04-16 哈尔滨工程大学 Marine fiber optic gyroscope attitude heading reference system mooring extractive alignment method under the large heading errors
US20080147254A1 (en) * 2004-06-02 2008-06-19 David William Vos Systems and Methods for Controlling Dynamic Systems
US20110112767A1 (en) * 2009-11-11 2011-05-12 Kainan Chueh Systems and Methods for Determining Heading
CN103487052A (en) * 2013-09-17 2014-01-01 哈尔滨工程大学 Aircraft attitude measuring method based on magnetic sensor combination
CN103697911A (en) * 2013-12-18 2014-04-02 哈尔滨工程大学 Initial attitude determination method for strapdown inertial navigation system under circumstance of unknown latitude
CN104406592A (en) * 2014-11-28 2015-03-11 东南大学 Navigation system for underwater glider and attitude angle correcting and backtracking decoupling method
CN104677358A (en) * 2013-11-29 2015-06-03 哈尔滨恒誉名翔科技有限公司 Micro-strapdown attitude heading reference system all-attitude controller
CN105651285A (en) * 2016-01-07 2016-06-08 北京电子工程总体研究所 Calculating method for cross-quadrant attitude angle based on quaternion
CN106153073A (en) * 2016-06-21 2016-11-23 东南大学 A kind of nonlinear initial alignment method of full attitude SINS
CN108318035A (en) * 2018-01-08 2018-07-24 山东大学 A method of avoiding universal joint deadlock in the attitude measurement algorithm based on Eulerian angles

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080147254A1 (en) * 2004-06-02 2008-06-19 David William Vos Systems and Methods for Controlling Dynamic Systems
CN101162147A (en) * 2007-11-27 2008-04-16 哈尔滨工程大学 Marine fiber optic gyroscope attitude heading reference system mooring extractive alignment method under the large heading errors
US20110112767A1 (en) * 2009-11-11 2011-05-12 Kainan Chueh Systems and Methods for Determining Heading
CN103487052A (en) * 2013-09-17 2014-01-01 哈尔滨工程大学 Aircraft attitude measuring method based on magnetic sensor combination
CN104677358A (en) * 2013-11-29 2015-06-03 哈尔滨恒誉名翔科技有限公司 Micro-strapdown attitude heading reference system all-attitude controller
CN103697911A (en) * 2013-12-18 2014-04-02 哈尔滨工程大学 Initial attitude determination method for strapdown inertial navigation system under circumstance of unknown latitude
CN104406592A (en) * 2014-11-28 2015-03-11 东南大学 Navigation system for underwater glider and attitude angle correcting and backtracking decoupling method
CN105651285A (en) * 2016-01-07 2016-06-08 北京电子工程总体研究所 Calculating method for cross-quadrant attitude angle based on quaternion
CN106153073A (en) * 2016-06-21 2016-11-23 东南大学 A kind of nonlinear initial alignment method of full attitude SINS
CN108318035A (en) * 2018-01-08 2018-07-24 山东大学 A method of avoiding universal joint deadlock in the attitude measurement algorithm based on Eulerian angles

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
LECCADITO, M.T. 等: "A Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit", 《AIAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE》 *
张和杰等: "基于双轴转台的捷联惯导系统姿态精度评定算法", 《舰船电子工程》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113587925A (en) * 2021-07-16 2021-11-02 湖南航天机电设备与特种材料研究所 Inertial navigation system and full-attitude navigation resolving method and device thereof
CN115164888A (en) * 2022-09-06 2022-10-11 中国船舶重工集团公司第七0七研究所 Error correction method and device, electronic equipment and storage medium
CN115164888B (en) * 2022-09-06 2022-12-09 中国船舶重工集团公司第七0七研究所 Error correction method and device, electronic equipment and storage medium
CN115655271A (en) * 2022-12-22 2023-01-31 中国船舶集团有限公司第七〇七研究所 Large-range attitude angle extraction method under dynamic condition
CN115655271B (en) * 2022-12-22 2023-03-10 中国船舶集团有限公司第七〇七研究所 Large-range attitude angle extraction method under dynamic condition
CN117091596A (en) * 2023-10-09 2023-11-21 腾讯科技（深圳）有限公司 Gesture information acquisition method and related equipment

Also Published As

Publication number Publication date
CN109115212B (en) 2022-04-12

Similar Documents

Publication Publication Date Title
CN109115212A (en) A kind of inertial navigation system gamut posture angle extraction method
CN110689622B (en) Synchronous positioning and composition method based on point cloud segmentation matching closed-loop correction
CN107063259B (en) Track association method and electronic equipment
CN111982129B (en) Comprehensive global path planning method based on lunar surface digital elevation map
WO2015156874A8 (en) Integration of epitaxial lift-off solar cells with mini-parabolic concentrator arrays via printing method
CN104793201B (en) A kind of amendment structure changes grid Interactive Multiple-Model filtering method for tracking the hypersonic target of near space
CN110487132B (en) Angle constraint guidance method based on nonsingular rapid terminal sliding mode control
CN103886196A (en) Track associating method resistant to big system errors
CN105261047A (en) Docking ring circle center extraction method based on close-range short-arc image
CN109976344A (en) Crusing robot posture antidote
CN103700113A (en) Method for detecting dim small moving target under downward-looking complicated background
CN107644234B (en) Insulator falling defect detection method for power transmission line
CN105547287A (en) Irregular coelonavigation sight line information extracting method
Sai Gowtam et al. Ionospheric annual anomaly—New insights to the physical mechanisms
CN107270943B (en) Two-dimensional correlation inertial navigation drop point precision evaluation method
CN104133993A (en) Narrow-view-field star matching method based on error vector matching
CN102927861A (en) Magnetic measurement attitude high-precision resolving method applicable to high-speed rotating ammo
CN110084779B (en) Laser scanning-based method for extracting and denoising characteristic points of end face of thick skin of airplane
CN107360546B (en) Method for positioning by shrinking square of rectangular distribution base station
CN105825058A (en) Supersparsity radar data perturbation compensation initial orbit calculation method
CN109141434A (en) A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data
CN104021564A (en) Adaptive mean shift algorithm based on local invariant feature detection
CN103605980B (en) ISAR (inverse synthetic aperture radar) target component detection method based on local feature matching
CN107995684B (en) WLAN indoor positioning precision method and system for improving position fingerprints
CN113947636A (en) Laser SLAM positioning system and method based on deep learning

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant