CN109373998A - Posture of rotator measurement method based on multi-sensor data - Google Patents
Posture of rotator measurement method based on multi-sensor data Download PDFInfo
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- CN109373998A CN109373998A CN201811182439.5A CN201811182439A CN109373998A CN 109373998 A CN109373998 A CN 109373998A CN 201811182439 A CN201811182439 A CN 201811182439A CN 109373998 A CN109373998 A CN 109373998A
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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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The present invention provides a kind of posture of rotator measurement method based on multi-sensor data, comprising: for rotary body in the case where rotation does not emit operating condition, the 3-axis acceleration overload component detected according to three axis accelerometer calculates pitch angleWith roll angle γ0, the axially magnetic component that is arrived according to three axis geomagnetic sensors detections, pitch angle, roll angle γ0And three axis of locality of rotary body position ground magnetic component Bx、By、BzWith magnetic declination β, course angle is calculated；Rotary body is in the case where emitting operating condition, according to roll angle γ0, pitch angle, course angleAnd the three axis angular velocity of rotations that three-axis gyroscope detects, the pitch angle under transmitting operating condition is calculated using pure inertia integralAnd course angle；Cycle correction is carried out to the ground magnetic component that three axis geomagnetic sensors are detected in the case where emitting operating condition；For each period, according to revised ground magnetic component, pitch angle, course angle, local three axis ground magnetic component Bx、ByAnd Bz, calculate the roll angle γ under transmitting operating condition.The present invention is small in size, attitude measurement accuracy is high and at low cost.
Description
Technical field
The invention belongs to the attitude measurement fields of the Rotary aircrafts such as rocket projectile, shell, and in particular to one kind is passed more based on
The posture of rotator measurement method of sensor data.
Background technique
In the high speed rotations weaponry such as rocket projectile and shell, in order to propose elastomeric stability, promotion is hit without console keyboard
Precision, rocket projectile and shell are around axis high speed rotation, and maximum speed is up to 20r/s or more, for the fire using guidanceization
Arrow bullet and shell, measurement of flying posture are basis and the core of its Guidance and control.
For high-speed rotary body attitude measurement, if selecting gyro to integrate to obtain posture, it is required that gyro to measure range
Big, measurement accuracy wants high, volume wants small, highly difficult to gyro realization, while long-time gyro integral error is very big.In addition,
External device auxiliary is usually required when measuring high-speed rotary body posture at present, this provides for improved working service costs.
Summary of the invention
The present invention provides a kind of posture of rotator measurement method based on multi-sensor data, to solve current rotary body appearance
State measures the problem of existing volume is larger, accuracy is lower and working service higher cost.
According to a first aspect of the embodiments of the present invention, a kind of posture of rotator measurement side based on multi-sensor data is provided
Method, comprising:
Rotary body accelerates in the case where rotation does not emit operating condition according to three axis that three axis accelerometer on the rotary body detects
It spends load component and calculates pitching angle theta0With roll angle γ0, according to the axial direction that three axis geomagnetic sensors detections arrive on the rotary body
Ground magnetic component, the pitching angle theta0, roll angle γ0And three axis of locality of rotary body position ground magnetic component Bx、By、BzAnd magnetic
Drift angle β, calculates course angle
The rotary body is in the case where emitting operating condition, according to the roll angle γ 0, pitching angle theta0, course angleAnd the rotation
The three axis angular velocity of rotations that three-axis gyroscope detects on swivel calculate the pitch angle under transmitting operating condition using pure inertia integral
θ and course angle
Cycle correction is carried out to the ground magnetic component that the three axis geomagnetic sensor is detected in the case where emitting operating condition；
For each period, according to revised ground magnetic component, the pitching angle theta, course angleLocal three axis earth magnetism point
Measure Bx、ByAnd Bz, calculate the roll angle γ under transmitting operating condition.
In an optional implementation manner, the pitching angle theta is being calculated0With roll angle γ0When, execute following steps:
Sliding window average filter processing: N is carried out to the 3-axis acceleration overload component that the three axis accelerometer detectsx=
AVG(nx), Ny=AVG (ny), Nz=AVG (nz), wherein nx、ny、nzRespectively X-axis, Y-axis and the Z of three axis accelerometer output
The acceleration overload component of axis；AVG () expression is averaged function；
Component N is overloaded according to sliding window average filter treated 3-axis accelerationx、NyAnd Nz, calculate the pitching angle theta0
With roll angle γ0:γ0=-arctan2 (Nz/(1+Ny))。
In another optional implementation, the course angle is being calculatedWhen, execute following steps:
Sliding window average filter processing: M ' is carried out to the axially magnetic componentx=AVG (mx), M 'z=AVG (mz), wherein
mxAnd mzThe X-axis and Z axis ground magnetic component of respectively three axis geomagnetic sensors output；AVG () expression is averaged function；
By local three axis magnetic component Bx、By、BzDo following coordinate conversion:
It obtains: Lx=Bx cosθ0-By cosγ0sinθ0+Bz sinγ0sinθ0, Lz=By sinγ0+Bz cosγ0；
According to sliding window average filter treated X-axis magnetic component M 'x, Z axis ground magnetic component M 'z, the local three axis earth magnetism
Component Bx、By、BzIt is the L obtained after coordinate conversionxAnd Lz, calculate magnetic heading:
According to magnetic headingWith the magnetic declination β of rotary body position, course angle is calculated:
In another optional implementation, calculated using pure inertia integral pitching angle theta under transmitting operating condition and
Course angleWhen, execute following steps:
According to the roll angle γ0, the X-axis angular velocity of rotation ω that detects of three-axis gyroscopex, calculate roll angle:
γ '=γ0+∫ωxdt；
According to the roll angle γ ', pitching angle theta0, course angleAnd the Y-axis rotation angle that three-axis gyroscope detects
ωyWith Z axis angular velocity of rotation ωz, calculate the pitching angle theta and course angle under transmitting operating condition
Wherein, ω 'y=ωy cos(γ′)-ωzSin (γ '), ω 'z=ωy sin(γ′)+ωz cos(γ′)。
In another optional implementation, on the ground detected to the three axis geomagnetic sensor in the case where emitting operating condition
When magnetic component carries out cycle correction, following steps are executed:
For each period, determining in the period collected Y-axis respectively magnetic component MyiMaximum value MYmaxAnd minimum
Value MYminAnd Z axis ground magnetic component MziMaximum value MZmaxAnd minimum MZmin:
Wherein, max () indicates that maximizing function, min () indicate that function of minimizing, N indicate to collect in the period
Earth magnetism sensing data sample number；
Contraction-expansion factor Y is calculated according to the following formulasAnd Zs:
Ys=max (1, (MZmax-MZmin)/(MYmax-MYmin)),
Zs=max (1, (MYmax-MYmin)/(MZmax-MZmin))；
Shift factor Yo is calculated according to the following formulaffAnd Zoff:
Utilize the shift factor YoffAnd Zoff, to collected Y-axis in the period magnetic component M according to the following formulayi
With Z axis magnetic component MziCarry out translation amendment: My_mi=Myi+Yoff, Mz_mi=Mzi+Zoff；
Revised Y-axis is translated in each sample magnetic component M is calculated according to the following formulay_miWith Z axis earth magnetism
Component Mz_miSquare root:
Each square root R is determined according to the following formulaiMaximum value Rmax:Wherein I table
Show maximum value RmaxThe when serial number of corresponding sample；
When determining sample when serial number I, corresponding with translating revised Y-axis magnetic component My_ mmax and Z axis earth magnetism
Component Mz_mmax；
Twiddle factor k is calculated according to the following formula1And k2:
Utilize the twiddle factor k1And k2, according to the following formula to translating revised Y-axis magnetic component My_miAnd Z axis
Ground magnetic component Mz_miCarry out rotation amendment:
Utilize with rotating revised Y-axis magnetic component My_riWith Z axis magnetic component Mz_ri, count again according to the following formula
Calculate contraction-expansion factor YsAnd Zs:
Ys=max (1, (Mz_r max-Mz_r min)/(My_r max-My_R min)),
Zs=max (1, (My_rmax-My_r min)/(Mz_rmax-Mz_Rmin)),
Wherein
Utilize twiddle factor k1And k2, the contraction-expansion factor Y that recalculatessAnd Zs, according to following formula to being adopted in the period
The Y-axis collected ground magnetic component MyWith Z axis magnetic component MzIt is modified；
In another optional implementation, when calculating the roll angle γ under transmitting operating condition, following steps are executed:
Revised ground magnetic component is normalized according to the following formula:
Wherein My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate acquisition
The X-axis arrived ground magnetic component；
To local three axis magnetic component B according to the following formulax、By、BzIt is normalized:
To three axis of locality after normalized magnetic componentWithDo following coordinate conversion:
It obtains:Wherein θ
Indicate the pitch angle under transmitting operating condition,Indicate the course angle under transmitting operating condition；
The roll angle under transmitting operating condition is calculated according to the following formula:
In another optional implementation, calculated using pure inertia integral pitching angle theta under transmitting operating condition and
Course angleBefore, the method also includes:
Judge whether the satellite location data that satellite receiver receives is effective, if effectively, calculating according to the following formula
Emit the pitching angle theta and course angle under operating condition out
Wherein Ve、VnAnd VuRespectively indicate satellite positioning
East orientation speed, north orientation speed and sky orientation speed in data, at the same according in satellite location data longitude, latitude, highly with
And the time, three axis of locality for obtaining rotary body position is resolved using world magnetic model WMM magnetic component Bx、By、Bz,
And with updating local three axis magnetic component Bx、By、Bz；
If invalid, the pitching angle theta and course angle under transmitting operating condition are calculated using pure inertia integral
In another optional implementation, according to revised ground magnetic component, the pitching angle theta, course angle
Local three axis ground magnetic component Bx、ByAnd Bz, before calculating the roll angle γ under transmitting operating condition, the method also includes:
Judge whether the rotary body is located at earth magnetism blind area, if so, switching to pure inertia Integral Solution calculates roll angle γ stream
Journey calculates the roll angle γ under transmitting operating condition according to the following formula:
γ=γ1+∫ωxDt, wherein γ1It indicates to switch to roll angle when pure inertia Integral Solution calculates roll angle γ process,
ωxIndicate the X-axis angular velocity of rotation that three-axis gyroscope detects；
Otherwise, cycle correction is carried out to the ground magnetic component that the three axis geomagnetic sensor is detected in the case where emitting operating condition.
In another optional implementation, when judging whether the rotary body is located at earth magnetism blind area, execute following
Step:
Boundary D in blind area is calculated according to the following formuladWith blind area external world Du:
Dd=sin (α -2), Du=sin (α+1), wherein α is earth magnetism blind area taper setting value；
The rotary body vertical plane earth magnetism resultant M is calculated according to the following formulaYZ:
Wherein
My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate collected X-axis earth magnetism point
Amount；
By vertical plane earth magnetism resultant MYZRespectively with boundary D in blind areadWith blind area external world DuIt is compared, if MYZ≤Dd, then really
The fixed rotation position is in earth magnetism blind area；If MYZ≥Du, it is determined that the rotation position is in outside earth magnetism blind area.
In another optional implementation, when to rotary body progress attitude measurement in used coordinate system,
Origin O is the centroid position of the rotary body, and the rotation axis coincident of OX axis and the rotary body is directed toward one end of the direction of the launch
It is positive, OY axle position is in the longitudinally asymmetric plane of rotary body, vertical OX axis, is positive in direction；OZ axle position meets in lateral plane, direction
Right-hand rule.
The beneficial effects of the present invention are:
1, the present invention can be capable of measuring the athletic posture of high-speed rotary body, not influenced by working time length, measurement accuracy
It is high；It can independently complete to power on rear attitude measurement simultaneously, without the auxiliary information of external device, not used the time and use region
Influence；It completes low to hardware platform requirements, facilitates that carrier cost of implementation is low, light-weight, size is small, use environment condition model
Enclose wide target；
2, the present invention is when calculating the roll angle under transmitting operating condition using earth magnetism sensing data, first to earth magnetism sensing data
It is modified, it is possible thereby to the accuracy of earth magnetism sensing data be improved, to guarantee that roll angle calculates accurate under transmitting operating condition
Property；
3, satellite location data meter is utilized when the present invention is effective by the satellite location data received in satellite receiver
The pitch angle and course angle under transmitting operating condition are calculated, when satellite location data is invalid using under pure inertia integral calculation transmitting operating condition
Pitch angle and course angle, arithmetic speed can be improved, and guarantee accuracy and integrality that pitch angle and course angle calculate；
4, the present invention in rotation position when earth magnetism blind area, using pure inertia Integral Solution calculate roll angle, rotation position in
When except earth magnetism blind area, roll angle is calculated using revised earth magnetism sensing data, thus can not only guarantee that roll angle calculates
Integrality, but also can guarantee roll angle calculate accuracy.
Detailed description of the invention
Fig. 1 is scheme of installation of the coordinate system and sensor of the invention used on rotary body；
Fig. 2 is sensing data acquisition schematic diagram of the present invention；
Fig. 3 is one embodiment flow chart of the posture of rotator measurement method the present invention is based on multi-sensor data.
Specific embodiment
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to technical side in the embodiment of the present invention
Case is described in further detail.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " connection " should do broad sense reason
Solution, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can be directly connected, it can also
Indirectly connected through an intermediary, for the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term.
Three axis accelerometer, three axis geomagnetic sensors and three kinds of three-axis gyroscope sensings are arranged in the present invention on rotary body
Device, and satellite receiver is set on rotary body, component, three axis are overloaded using the 3-axis acceleration that three axis accelerometer detects
Geomagnetic sensors detection to three axis the three axis angular velocity of rotations that detect of magnetic component, three-axis gyroscope, satellite receiver connect
Three axis of locality of the satellite location data and rotary body position that receive ground magnetic component, magnetic declination, to send out rotary body
The posture penetrated under operating condition measures, including the measurement of pitch angle, course angle and roll angle.As shown in connection with fig. 2, of the invention
Middle three axis accelerometer, three axis geomagnetic sensors and three-axis gyroscope are all fixedly connected on rotary body and can be MEMS
(Micro-Electro-Mechanical System, MEMS) sensor, before the use three axis accelerometer, three
Axis geomagnetic sensor and three-axis gyroscope are completed calibration compensation, it is possible thereby to eliminate installation error influence.Centre halfback of the present invention
Star receiver has two antennas, this two antennas are oppositely arranged on the two sides up and down of rotor case, and the present invention is by by satellite
Two antennas of receiver are oppositely arranged on the two sides up and down of rotor case, in rotary body high speed rotation it is also ensured that holding
It is continuous to search satellite location data.In addition, when the present invention is to rotary body progress attitude measurement in used coordinate system, origin O
For the centroid position of the rotary body, the rotation axis coincident of OX axis and the rotary body, the one end for being directed toward the direction of the launch is positive,
OY axle position is in the longitudinally asymmetric plane of rotary body, vertical OX axis, is positive in direction；OZ axle position meets the right hand in lateral plane, direction
Corkscrew rule, four refer to and big when being bent from X axis Y-axis refer to that direction pointed by nurse is the pros of OZ axis in right-hand rule
To.Wherein, three-axis gyroscope needs to guarantee that X-direction revolving speed meets measurement request.The acquisition and processing of sensing data of the present invention
As shown in Figure 2.
Referring to Fig. 3, for the present invention is based on one embodiment processes of the posture of rotator measurement method of multi-sensor data
Figure.The posture of rotator measurement method based on multi-sensor data may comprise steps of:
Step S210, rotary body is detected in the case where rotation does not emit operating condition according to three axis accelerometer on the rotary body
3-axis acceleration overload component calculate pitching angle theta0With roll angle γ0, examined according to three axis geomagnetic sensors on the rotary body
Axially magnetic component, the pitching angle theta measured0, roll angle γ0And three axis of locality of rotary body position ground magnetic component
Bx、By、BzWith magnetic declination β, course angle is calculated
In the present embodiment, after rotary body powers on, the initialization to algorithmic variable is completed, various sensors carry out data and adopt
Collection.Rotary body rotary body before not emitting needs to carry out pre-rotation, and rotary body is not in the case where rotation emits operating condition, described in calculating
Pitching angle theta0With roll angle γ0When, following steps can be executed:
Step S211, sliding window average filter is carried out to the 3-axis acceleration overload component that the three axis accelerometer detects
Processing: Nx=AVG (nx), Ny=AVG (ny), Nz=AVG (nz), wherein nx、ny、nzThe respectively X of three axis accelerometer output
The acceleration overload component of axis, Y-axis and Z axis；AVG () expression is averaged function.Function AVG () can be expressed asai=ai+1, ap=anew, wherein p indicates sampling number, aiFor unitary sampling data, anewIt is adopted to be newest
Sample data.
Step S212, component N is overloaded according to sliding window average filter treated 3-axis accelerationx、NyAnd Nz, calculate institute
State pitching angle theta0With roll angle γ0:
In addition, this step is calculating the course angleWhen, following steps can be executed:
Step S213, sliding window average filter processing: M ' is carried out to the axially magnetic componentx=AVG (mx), M 'z=AVG
(mz), wherein mxAnd mzThe X-axis and Z axis ground magnetic component of respectively three axis geomagnetic sensors output；AVG () expression is averaged
Function.
Step S214, by local three axis magnetic component Bx、By、BzDo following coordinate conversion:
It obtains: Lx=Bx cosθ0-By cosγ0sinθ0+Bz sinγ0sinθ0, Lz=By sinγ0+Bz cosγ0。
Step S215, according to sliding window average filter treated X-axis magnetic component M 'x, Z axis ground magnetic component M 'z, described work as
Three axis of ground ground magnetic component Bx、By、BzIt is the L obtained after coordinate conversionxAnd Lz, calculate magnetic heading:
Step S216, according to magnetic headingWith the magnetic declination β of rotary body position, course angle is calculated:The present invention is when the posture for not emitting under operating condition to rotary body rotation measures, first to each sensor
The sensing data that (including three axis accelerometer, three axis geomagnetic sensors and three-axis gyroscope) detects carries out sliding window average filter
Processing can reduce the influence of sensor noise, guarantee computational accuracy.Wherein, the three axis earth magnetism of locality of rotary body position
Component Bx、By、BzWith magnetic declination β be longitude in the satellite location data received according to satellite receiver, latitude, highly with
And the time, it resolves to obtain using world magnetic model WMM, which has disclosure in the prior art, thus is no longer gone to live in the household of one's in-laws on getting married
It states.
Step S220, the described rotary body is in the case where emitting operating condition, according to the roll angle γ0, pitching angle theta0, course angleWith
And the three axis angular velocity of rotations that three-axis gyroscope detects on the rotary body, it is calculated under transmitting operating condition using pure inertia integral
Pitching angle theta and course angle
In the present embodiment, pitching angle theta and course angle under transmitting operating condition are being calculated using pure inertia integralWhen, it can be with
Execute following steps:
Step S221, according to the roll angle γ0, the X-axis angular velocity of rotation ω that detects of three-axis gyroscopex, calculate
Roll angle out: γ '=γ0+∫ωxdt。
Step S222, according to the roll angle γ ', pitching angle theta0, course angleAnd the Y-axis that three-axis gyroscope detects
Rotate angle ωyWith Z axis angular velocity of rotation ωz, calculate the pitching angle theta and course angle under transmitting operating condition
Wherein, ω 'y=ωy cos(γ′)-ωzSin (γ '), ω 'z=ωy sin(γ′)+ωz cos(γ′)。
Rotary body during the launch process, due to high overload, satellite receiver may losing lock and can not position, so as to cause
Satellite location data can not be obtained, thus step S220 using pure inertia integral calculate transmitting operating condition under pitching angle theta and
Course angleBefore, the method also includes:
Step S250, judge whether the satellite location data that satellite receiver receives is effective, if effectively, thening follow the steps
S260: the pitching angle theta and course angle under transmitting operating condition are calculated according to the following formula
Wherein Ve、VnAnd VuRespectively indicate satellite positioning
East orientation speed, north orientation speed and sky orientation speed in data, at the same according in satellite location data longitude, latitude, highly with
And the time, three axis of locality for obtaining rotary body position is resolved using world magnetic model WMM magnetic component Bx、By、Bz,
And with updating local three axis magnetic component Bx、By、Bz；
If invalid, S220 is thened follow the steps, calculates the pitching angle theta and course angle under transmitting operating condition using pure inertia integralDue to utilizing satellite location data meter compared to using the pitch angle and course angle under pure inertia integral calculation transmitting operating condition
The method for calculating the pitch angle under transmitting operating condition and course angle is simpler, and accordingly faster, therefore the present invention passes through calculating speed
The pitch angle under transmitting operating condition is calculated using satellite location data when the satellite location data that satellite receiver receives is effective
And course angle, emit pitch angle and course angle under operating condition using pure inertia integral calculation when satellite location data is invalid, it can
To improve arithmetic speed, and guarantee pitch angle and accuracy and integrality that course angle calculates.
Step S230, the ground magnetic component progress period that the three axis geomagnetic sensor is detected in the case where emitting operating condition is repaired
Just.This step when the ground magnetic component detected under emitting operating condition carries out cycle correction, is holding the three axis geomagnetic sensor
Row following steps:
Step S230-1, it is directed to each period, with determining in the period collected Y-axis respectively magnetic component MyiMaximum value
MYmaxAnd minimum MYminAnd Z axis ground magnetic component MziMaximum value MZmaxAnd minimum MZmin:
Wherein, max () indicates that maximizing function, min () indicate that function of minimizing, N indicate to collect in the period
Earth magnetism sensing data sample number, each geomagnetic sensor data include three axially different ground magnetic components.The present embodiment
In, rotary body can carry out primary ground magnetic component every 3s after transmitting and correct, and sampling period 200Hz, each period can be with
600 earth magnetism sensing datas are collected, furthermore sense number to guarantee that each period can collect complete one week earth magnetism
According to, it is desirable that the revolving speed of rotary body is greater than 1r/s.
Step S230-2, contraction-expansion factor Y is calculated according to the following formulasAnd Zs:
Ys=max (1, (MZmax-MZmin)/(MYmax-MYmin)),
Zs=max (1, (MYmax-MYmin)/(MZmax-MZmin))。
Step S230-3, shift factor Yo is calculated according to the following formulaffAnd Zoff:
Step S230-4, the shift factor Yo is utilizedffAnd Zoff, according to the following formula to collected Y in the period
Axis ground magnetic component MyiWith Z axis magnetic component MziCarry out translation amendment: My_mi=Myi+Yoff, Mz_mi=Mzi+Zoff。
Step S230-5, revised Y-axis is translated in each sample magnetic component M is calculated according to the following formulay_
miWith Z axis magnetic component Mz_miSquare root:
Step S230-6, each square root R is determined according to the following formulaiMaximum value Rmax:Wherein I indicates maximum value RmaxThe when serial number of corresponding sample.
Step S230-7, when determining sample when serial number I, corresponding with translating revised Y-axis magnetic component My_
Mmax and Z axis ground magnetic component Mz_mmax。
Step S230-8, twiddle factor k is calculated according to the following formula1And k2:
Step S230-9, the twiddle factor k is utilized1And k2, according to the following formula to translation revised Y-axis earth magnetism point
Measure My_miWith Z axis magnetic component Mz_miCarry out rotation amendment:
Step S230-10, with rotating revised Y-axis magnetic component M is utilizedy_riWith Z axis magnetic component Mz_ri, according to
Lower formula recalculates contraction-expansion factor YsAnd Zs:
Ys=max (1, (Mz_r max-Mz_r min)/(My_r max-My_R min)),
Zs=max (1, (My_r max-My_r min)/(Mz_r max-Mz_R min)),
Wherein
Step S230-11, twiddle factor k is utilized1And k2, the contraction-expansion factor Y that recalculatessAnd Zs, according to following formula
To collected Y-axis in the period magnetic component MyWith Z axis magnetic component MzIt is modified；
The present invention using earth magnetism sensing data calculate transmitting operating condition under roll angle when, first to earth magnetism sensing data into
Row amendment, it is possible thereby to the accuracy of earth magnetism sensing data be improved, to guarantee to emit the accuracy that roll angle calculates under operating condition.
Step S240, it is directed to each period, according to revised ground magnetic component, the pitching angle theta, course angleIt is local
Three axis ground magnetic component Bx、ByAnd Bz, calculate the roll angle γ under transmitting operating condition.This step is calculating the rolling emitted under operating condition
When the γ of angle, following steps can be executed:
Step S241, revised ground magnetic component is normalized according to the following formula:
Wherein My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate acquisition
The X-axis arrived ground magnetic component.
Step S242, to local three axis magnetic component B according to the following formulax、By、BzIt is normalized:
Step S243, to three axis of locality after normalized magnetic componentWithDo following coordinate conversion:
It obtains:Wherein θ
Indicate the pitch angle under transmitting operating condition,Indicate the course angle under transmitting operating condition.
Step S244, the roll angle under transmitting operating condition is calculated according to the following formula:
Since there are magnetic survey blind areas for geomagnetic sensor, if only calculating rotary body hair dependent on geomagnetic sensor
Penetrate the roll angle under operating condition, it will cause roll angle to calculate imperfect.For this purpose, according to revised ground magnetic component, described bow
Elevation angle theta, course angleLocal three axis ground magnetic component Bx、ByAnd Bz, before calculating the roll angle γ under transmitting operating condition, the side
Method further include:
Step S270, judge whether the rotary body is located at earth magnetism blind area, if so, switching to pure inertia Integral Solution calculates rolling
Dynamic angle γ process, executes step S280, calculates the roll angle γ under transmitting operating condition according to the following formula:
γ=γ1+∫ωxDt, wherein γ1It indicates to switch to roll angle when pure inertia Integral Solution calculates roll angle γ process,
ωxIndicate the X-axis angular velocity of rotation that three-axis gyroscope detects；
Otherwise, step S230 or step S240 is executed.The present invention when earth magnetism blind area, utilizes the pure product of inertia in rotation position
It decomposes and calculates roll angle, when rotation position is except earth magnetism blind area, calculate roll angle using revised earth magnetism sensing data, by
This can not only guarantee the integrality that roll angle calculates, but also can guarantee the accuracy that roll angle calculates.Wherein, judging
When whether the rotary body is located at earth magnetism blind area, following steps are executed:
Step S271, boundary D in blind area is calculated according to the following formuladWith blind area external world Du:
Dd=sin (α -2), Du=sin (α+1), wherein α is earth magnetism blind area taper setting value, can take α=7 °.
Step S272, the rotary body vertical plane earth magnetism resultant M is calculated according to the following formulaYZ:
Wherein
My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate collected X-axis earth magnetism point
Amount.
Step S273, by vertical plane earth magnetism resultant MYZRespectively with boundary D in blind areadWith blind area external world DuIt is compared, if MYZ
≤Dd, it is determined that the rotation position is in earth magnetism blind area；If MYZ≥Du, it is determined that the rotation position is in outside earth magnetism blind area.
As seen from the above-described embodiment, the present invention can be capable of measuring the athletic posture of high-speed rotary body, not by working time length
Influence, measurement accuracy is high；It can independently complete to power on rear attitude measurement simultaneously, without the auxiliary information of external device, not made
With the time and use the influence of region；It completes low to hardware platform requirements, facilitates that carrier cost of implementation is low, light-weight, size
Target small, use environment condition and range is wide.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of posture of rotator measurement method based on multi-sensor data characterized by comprising
Rotary body is not in the case where rotation emits operating condition, the 3-axis acceleration mistake that is detected according to three axis accelerometer on the rotary body
It carries component and calculates pitching angle theta0With roll angle γ0, according to the axial earth magnetism that three axis geomagnetic sensors detections arrive on the rotary body
Component, the pitching angle theta0, roll angle γ0And three axis of locality of rotary body position ground magnetic component Bx、By、BzAnd magnetic declination
β calculates course angle
The rotary body is in the case where emitting operating condition, according to the roll angle γ0, pitching angle theta0, course angleAnd on the rotary body
The three axis angular velocity of rotations that three-axis gyroscope detects calculate the pitching angle theta and boat under transmitting operating condition using pure inertia integral
To angle
Cycle correction is carried out to the ground magnetic component that the three axis geomagnetic sensor is detected in the case where emitting operating condition；
For each period, according to revised ground magnetic component, the pitching angle theta, course angleLocal three axis ground magnetic component Bx、
ByAnd Bz, calculate the roll angle γ under transmitting operating condition.
2. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that counting
Calculate the pitching angle theta0With roll angle γ0When, execute following steps:
Sliding window average filter processing: N is carried out to the 3-axis acceleration overload component that the three axis accelerometer detectsx=AVG
(nx), Ny=AVG (ny), Nz=AVG (nz), wherein nx、ny、nzThe respectively X-axis of three axis accelerometer output, Y-axis and Z axis
Acceleration overload component；AVG () expression is averaged function；
Component N is overloaded according to sliding window average filter treated 3-axis accelerationx、NyAnd Nz, calculate the pitching angle theta0And rolling
Corner γ0:γ0=-arctan2 (Nz/(1+Ny))。
3. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that counting
Calculate the course angleWhen, execute following steps:
Sliding window average filter processing: M ' is carried out to the axially magnetic componentx=AVG (mx), M 'z=AVG (mz), wherein mxWith
mzThe X-axis and Z axis ground magnetic component of respectively three axis geomagnetic sensors output；AVG () expression is averaged function；
By local three axis magnetic component Bx、By、BzDo following coordinate conversion:
It obtains: Lx=Bxcosθ0-Bycosγ0sinθ0+Bzsinγ0sinθ0, Lz=Bysinγ0+Bzcosγ0；
According to sliding window average filter treated X-axis magnetic component M 'x, Z axis ground magnetic component M 'z, local three axis ground magnetic component
Bx、By、BzIt is the L obtained after coordinate conversionxAnd Lz, calculate magnetic heading:
According to magnetic headingWith the magnetic declination β of rotary body position, course angle is calculated:
4. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that in benefit
The pitching angle theta and course angle under transmitting operating condition are calculated with pure inertia integralWhen, execute following steps:
According to the roll angle γ0, the X-axis angular velocity of rotation ω that detects of three-axis gyroscopex, calculate roll angle: γ '
=γ0+∫ωxdt；
According to the roll angle γ ', pitching angle theta0, course angleAnd the Y-axis rotation angle ω that three-axis gyroscope detectsyAnd Z
Axis angular velocity of rotation ωz, calculate the pitching angle theta and course angle under transmitting operating condition
θ=θ0+∫ω′zDt,
Wherein, ω 'y=ωycos(γ′)-ωzSin (γ '), ω 'z=ωysin(γ′)+ωzcos(γ′)。
5. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that right
The three axis geomagnetic sensor executes following steps when the ground magnetic component detected under emitting operating condition carries out cycle correction:
For each period, determining in the period collected Y-axis respectively magnetic component MyiMaximum value MYmaxAnd minimum value
MYminAnd Z axis ground magnetic component MziMaximum value MZmaxAnd minimum MZmin:
Wherein, max () indicates that maximizing function, min () indicate that function of minimizing, N indicate in the period collectedly
The sample number of magnetic sensing data；
Contraction-expansion factor Y is calculated according to the following formulasAnd Zs:
Ys=max (1, (MZmax-MZmin)/(MYmax-MYmin)),
Zs=max (1, (MYmax-MYmin)/(MZmax-MZmin))；
Shift factor Y is calculated according to the following formulaoffAnd Zoff:
Utilize the shift factor YoffAnd Zoff, to collected Y-axis in the period magnetic component M according to the following formulayiAnd Z axis
Ground magnetic component MziCarry out translation amendment: My_mi=Myi+Yoff, Mz_mi=Mzi+Zoff；
Revised Y-axis is translated in each sample magnetic component M is calculated according to the following formulay_miWith Z axis magnetic component
Mz_miSquare root:
Each square root R is determined according to the following formulaiMaximum value Rmax:Wherein I indicates maximum
Value RmaxThe when serial number of corresponding sample；
When determining sample when serial number I, corresponding with translating revised Y-axis magnetic component My_Mmax and Z axis ground magnetic component
Mz_mmax；
Twiddle factor k is calculated according to the following formula1And k2:
Utilize the twiddle factor k1And k2, according to the following formula to translating revised Y-axis magnetic component My_miWith Z axis earth magnetism
Component Mz_miCarry out rotation amendment:
Utilize with rotating revised Y-axis magnetic component My_riWith Z axis magnetic component Mz_ri, recalculate stretch according to the following formula
Contracting factor YsAnd Zs:
Ys=max (1, (Mz_rmax-Mz_rmin)/(My_rmax-My_Rmin)),
Zs=max (1, (My_rmax-My_rmin)/(Mz_rmax-Mz_Rmin)),
Wherein
Utilize twiddle factor k1And k2, the contraction-expansion factor Y that recalculatessAnd Zs, according to following formula to being collected in the period
Y-axis ground magnetic component MyWith Z axis magnetic component MzIt is modified；
6. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that counting
When calculating the roll angle γ under transmitting operating condition, following steps are executed:
Revised ground magnetic component is normalized according to the following formula:
Wherein My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate collected X
Axis ground magnetic component；
To local three axis magnetic component B according to the following formulax、By、BzIt is normalized:
To three axis of locality after normalized magnetic componentWithDo following coordinate conversion:
It obtains:Wherein θ is indicated
Emit the pitch angle under operating condition,Indicate the course angle under transmitting operating condition；
The roll angle under transmitting operating condition is calculated according to the following formula:
7. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that in benefit
The pitching angle theta and course angle under transmitting operating condition are calculated with pure inertia integralBefore, the method also includes:
Judge whether the satellite location data that satellite receiver receives is effective, if effectively, calculating set out according to the following formula
Penetrate the pitching angle theta and course angle under operating condition
Wherein Ve、VnAnd VuRespectively indicate satellite location data
In east orientation speed, north orientation speed and sky orientation speed, while according in satellite location data longitude, latitude, highly with timely
Between, three axis of locality for obtaining rotary body position is resolved using world magnetic model WMM magnetic component Bx、By、Bz, and more
Three axis of new locality ground magnetic component Bx、By、Bz；
If invalid, the pitching angle theta and course angle under transmitting operating condition are calculated using pure inertia integral
8. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that in root
According to revised ground magnetic component, the pitching angle theta, course angleLocal three axis ground magnetic component Bx、ByAnd Bz, calculate transmitting work
Before roll angle γ under condition, the method also includes:
Judge whether the rotary body is located at earth magnetism blind area, if so, switching to pure inertia Integral Solution calculates roll angle γ process, root
The roll angle γ under transmitting operating condition is calculated according to following formula:
γ=γ1+∫ωxDt, wherein γ1It indicates to switch to roll angle when pure inertia Integral Solution calculates roll angle γ process, ωxTable
Show the X-axis angular velocity of rotation that three-axis gyroscope detects；
Otherwise, cycle correction is carried out to the ground magnetic component that the three axis geomagnetic sensor is detected in the case where emitting operating condition.
9. the posture of rotator measurement method according to claim 8 based on multi-sensor data, which is characterized in that sentencing
When whether the rotary body that breaks is located at earth magnetism blind area, following steps are executed:
Boundary D in blind area is calculated according to the following formuladWith blind area external world Du:
Dd=sin (α -2), Du=sin (α+1), wherein α is earth magnetism blind area taper setting value；
The rotary body vertical plane earth magnetism resultant M is calculated according to the following formulaYZ:
Wherein
My_cWith indicating revised Y-axis magnetic component, Mz_cWith indicating revised Z axis magnetic component, MxIndicate collected X-axis earth magnetism point
Amount；
By vertical plane earth magnetism resultant MYZRespectively with boundary D in blind areadWith blind area external world DuIt is compared, if MYZ≤Dd, it is determined that it is described
Rotation position is in earth magnetism blind area；If MYZ≥Du, it is determined that the rotation position is in outside earth magnetism blind area.
10. the posture of rotator measurement method according to claim 1 based on multi-sensor data, which is characterized in that right
The rotary body carries out when attitude measurement in used coordinate system, and origin O is the centroid position of the rotary body, OX axis and institute
The rotation axis coincident for stating rotary body, the one end for being directed toward the direction of the launch are positive, and OY axle position is in the longitudinally asymmetric plane of rotary body, vertically
OX axis is positive in direction；OZ axle position meets right-hand rule in lateral plane, direction.
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