CN109387221B - Post-processing self-alignment method of micro-inertial navigation system - Google Patents
Post-processing self-alignment method of micro-inertial navigation system Download PDFInfo
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- CN109387221B CN109387221B CN201710655651.8A CN201710655651A CN109387221B CN 109387221 B CN109387221 B CN 109387221B CN 201710655651 A CN201710655651 A CN 201710655651A CN 109387221 B CN109387221 B CN 109387221B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention belongs to the technology of a micro inertial navigation system, and particularly discloses a post-processing self-alignment method of a micro inertial navigation system. The position information provided by the landmark points and the mileage information provided by the mileometer are used for providing measurement information for the integrated navigation algorithm of the inertial measurement device, the initial attitude information of the inertial measurement device is determined, other supporting equipment is not needed in the measurement field, additional operation is not needed, and the independent application of the micro-electromechanical inertial measurement device is facilitated.
Description
Technical Field
The invention belongs to the technology of micro inertial navigation systems, and particularly relates to a post-processing self-alignment method of a micro inertial navigation system.
Background
Because the micro-electro-mechanical inertial measurement device cannot complete azimuth self-alignment, in practice, azimuth binding information is often required to be provided for the micro-electro-mechanical inertial measurement device by adopting inertial north-seeking equipment, optical aiming equipment, satellite direction-finding equipment and the like, and the micro-electro-mechanical inertial measurement device is inconvenient to use. When the micro-electromechanical pipeline inertia measurement device is used, due to the existence of the landmark points, the coarse alignment of the orientation of the micro-electromechanical inertia measurement device can be realized by using the landmark points, the azimuth angle meeting the precision requirement of a navigation algorithm is obtained, the field operation is reduced, the supporting equipment is also reduced, and the micro-electromechanical inertia measurement device is convenient to independently apply.
Disclosure of Invention
The invention aims to provide a post-processing self-alignment method of a micro-inertial navigation system, which can enable a micro-electromechanical pipeline inertial measurement device to get rid of other auxiliary equipment in use and improve the use convenience of the micro-electromechanical pipeline inertial measurement device.
The technical scheme of the invention is as follows:
a post-processing self-alignment method of a micro inertial navigation system comprises the following steps:
step 1) determining initial position information, and setting an initial speed of an inertial navigation measuring device;
reading the initial landmark point position information in the landmark file to obtain the longitude lambda of the first landmark pointM1Latitude LM1And height hM1Taking the position of the first landmark point as initial point position information, and binding the initial point position information into initial longitude lambda, latitude L and height h of the inertial navigation measuring device, wherein the initial speed of the inertial navigation measuring device is set as 0;
step 2) determining the average value output by the accelerometer under a carrier coordinate system;
step 3) determining an initial attitude angle of the inertial navigation measuring device;
step 4) determining an initial attitude matrix of the inertial navigation measuring device
Step 5) determining the initial value of the quaternion of the inertial navigation measuring device;
step 6) reading the landmark point position information in the landmark file to obtain the longitude lambda of the second landmark pointM2And latitude LM2Information, and obtaining the time t of the inertial navigation measuring device passing through the second landmark point2；
Step 7) carrying out combined navigation calculation until the time t recorded by the inertial navigation measuring deviceiTime t to reach second landmark point2I.e. ti≥t2Record tiThe combined navigation of the time resolves longitude lambda 'and latitude L';
step 8) determining the arrival t of the initial landmark point pointing inertial navigation measuring deviceiDirection psi of integrated navigation solution position of timeD；
If L' is not less than L, psiD＝arctan((λ′-λ)·cos(L)/(L′-L))
If L' < L, #D＝arctan((λ′-λ)·cos(L)/(L′-L))-π
Step 9) determining the arrival t of the initial landmark point pointing inertial navigation measuring deviceiIntegrated navigation resolving position psi of time of dayM
If L isM2≥LM1，λM2＜λM1Then phiM＝arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2≥LM1，λM2≥λM1Then phiM＝-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2＜LM1Then phiM＝π-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
Step 10) determining the arrival t of the initial landmark point pointing inertial navigation measuring device by using the following formulaiCourse initial value of time combined navigation solution
I.e. coarse alignment of the initial orientation of the inertial measurement unit
Step 11) utilizing the initial pitch angle theta and the initial tilt angle gamma determined in the step 3 and the rough alignment value of the initial azimuth of the inertial navigation measuring device determined in the step 10
Determining alignment results for attitude matrix of inertial navigation measurement device
And obtaining the aligning result of the quaternion of the corresponding inertial navigation measuring device by using the method in the step 5.
The step 2) determines the average value of the accelerometer output under the carrier coordinate system, and specifically comprises the following steps:
average value of accelerometer output in three directions under carrier coordinate system is determined by the following formula
ab＝[ax ay az]
Wherein, abIs the vector form of the average value of the accelerometer output in a carrier coordinate system, axIn the carrier coordinate system x for accelerometer outputbAverage value of lower component, ayIn the carrier coordinate system y for accelerometer outputbAverage value of lower component, azIn the carrier coordinate system z for accelerometer outputbThe average of the lower components.
Step 3) determining an initial attitude angle of the inertial navigation measuring device, wherein the initial attitude angle comprises an initial pitch angle theta, an initial tilt angle gamma and an initial heading angle psi, and the initial pitch angle theta is arcsin (a)xG) is local gravity acceleration, and specifically comprises the following components:
if a iszNot less than 0, and inclination angle gamma-arcsin (a)z/(g·cosθ))；
If a isz＜0，ayNot less than 0, tilt angle gamma pi + arcsin (a)z/(g·cosθ))；
If a isz＜0，ay< 0, tilt angle γ ═ π -arcsin (a)z/(g·cosθ))；
The initial heading angle psi is set to zero;
axin the carrier coordinate system x for accelerometer outputbAverage value of lower component, ayIn the carrier coordinate system y for accelerometer outputbAverage value of lower component, azIn the carrier coordinate system z for accelerometer outputbThe average of the lower components.
Step 4) determining an initial attitude matrix of the inertial navigation measuring device, and determining by using the following formula
And the initial pitch angle theta, the initial inclination angle gamma and the initial heading angle psi are initial attitude angles of the inertial navigation measuring device.
The initial value of the quaternion of the inertial navigation measuring device determined in the step 5) is specifically
Will be provided with
Written in the form of
The inertial measurement unit quaternion Q is expressed as:
Q＝[q0 q1 q2 q3]T
then, the initial value of the quaternion of the inertial measurement unit is obtained by
Said step 11)
Is determined by
The step 11) of determining the alignment result of the quaternion of the inertial navigation measurement device is to be specific
Is expressed in the following form:
then, the alignment result of quaternion of the inertial measurement unit
Is obtained from the formula
The invention has the following remarkable effects: when the micro-electromechanical pipeline inertial measurement device is used, the micro-electromechanical inertial measurement device is assisted by landmark point and odometer information to realize orientation alignment, namely, measurement information is provided for a combined navigation algorithm of the micro-electromechanical inertial measurement device by utilizing position information provided by the landmark point and mileage information provided by the odometer, initial attitude information of the micro-electromechanical inertial measurement device is determined, other matched equipment is not required to be used in a measurement field, additional operation is not required, and the micro-electromechanical pipeline inertial measurement device is beneficial to independent application.
Drawings
FIG. 1 is a flow chart of the method.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
n: navigation coordinate system oxnynznNortheast geographic coordinate system, xnThe axis pointing east, ynThe axis pointing north, znThe axis points to the sky;
b: carrier coordinate system oxbybzbThe right-front-upper coordinate system, xbAxis directed to the right of the carrier, ybAxis directed in front of the carrier, zbThe axis is directed upwards of the carrier.
The process steps shown in fig. 1.
Step 1, determining initial position information and setting initial speed of inertial navigation measuring device
Reading the initial landmark point position information in the landmark file to obtain the longitude lambda of the first landmark pointM1Latitude LM1And height hM1Taking the position of the first landmark point as initial point position information, and binding the initial point position information into the initial longitude lambda, the latitude L and the height h of the inertial navigation measuring device, wherein the initial speed of the inertial navigation is set to be 0;
step 2, determining the average value of accelerometer output under a carrier coordinate system
Reading inertial navigation data in a static state, and determining the average value of accelerometer output in three directions under a carrier coordinate system:
ab＝[ax ay az]
wherein, abIs the vector form of the average value of the accelerometer output in a carrier coordinate system, axIn the carrier coordinate system x for accelerometer outputbAverage value of lower component, ayIn the carrier coordinate system y for accelerometer outputbAverage value of lower component, azIn the carrier coordinate system z for accelerometer outputbThe average of the lower components.
Step 3, determining the initial attitude angle of the inertial navigation measuring device
The initial attitude angle of the inertial navigation measuring device comprises an initial pitch angle theta, an initial tilt angle gamma and an initial heading angle psi, wherein the initial pitch angle theta is arcsin (a)xG) is the local gravity acceleration;
if a iszNot less than 0, and inclination angle gamma-arcsin (a)z/(g·cosθ)))；
If a isz＜0，ayNot less than 0, tilt angle gamma pi + arcsin (a)z/(g·cosθ))；
If a isz＜0，ay< 0, tilt angle γ ═ π -arcsin (a)z/(g·cosθ)))；
The heading angle psi is set to zero
Step 4, determining an initial attitude matrix of the inertial navigation measuring device
Calculating an initial attitude matrix of the inertial navigation measuring device by using the initial attitude angle of the inertial navigation measuring device determined in the step 3
Step 5, determining initial quaternion value of the inertial navigation measuring device by using the following formula
And 4, representing the elements of the initial attitude matrix of the inertial measurement device determined in the step 4 into the following form:
the inertial measurement unit quaternion Q is expressed as:
Q＝[q0 q1 q2 q3]T
then, the initial value of the quaternion of the inertial measurement unit is obtained by
Step 6, reading the landmark point position information in the landmark file to obtain the longitude lambda of the second landmark pointM2And latitude LM2Information, and obtaining the time t of the inertial navigation measuring device passing through the second landmark point2。
Step 7, performing combined navigation calculation by adopting an inertia/mileometer combined navigation algorithm (a known method) until the time t recorded by the inertial navigation measuring deviceiTime t to reach second landmark point2I.e. ti≥t2Record tiThe combined navigation of the time of day solves for the longitude λ 'and latitude L'.
Step 8, determining the arrival t of the initial landmark point pointing inertial navigation measuring deviceiDirection psi of integrated navigation solution position of timeD
If L' is not less than L, psiD＝arctan((λ′-λ)·cos(L)/(L′-L))
If L' < L, #D＝arctan((λ′-λ)·cos(L)/(L′-L))-π
Step 9, determining the arrival t of the initial landmark point pointing inertial navigation measuring deviceiIntegrated navigation resolving position psi of time of dayM
If L isM2≥LM1，λM2＜λM1Then, then
ψM＝arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2≥LM1，λM2≥λM1Then, then
ψM＝-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2＜LM1Then phiM＝π-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
Step 10, determining the arrival t of the initial landmark point pointing inertial navigation measuring deviceiCourse initial value of time combined navigation solution
I.e. coarse alignment of the initial orientation of the inertial measurement unit
Step 11, utilizing the initial pitch angle theta and the initial tilt angle gamma determined in the step 3 and the rough alignment value of the initial azimuth of the inertial navigation measuring device determined in the step 10
Determining alignment results for attitude matrix of inertial navigation measurement device
The obtained coarse alignment result of the attitude matrix of the inertial navigation measuring device
And 5, obtaining the alignment result of the quaternion of the corresponding inertial navigation measuring device by using the method in the step 5.
Will be provided with
Is expressed in the following form:
then, the alignment result of quaternion of the inertial measurement unit
Is obtained from the formula
The alignment is completed.
Claims (7)
1. A post-processing self-alignment method for a micro inertial navigation system is characterized by comprising the following steps:
step 1) determining initial position information, and setting an initial speed of an inertial navigation measuring device;
reading the position information of the first landmark point in the landmark file to obtain the longitude lambda of the first landmark pointM1Latitude LM1And height hM1Taking the position of the first landmark point as initial point position information, and binding the initial point position information into initial longitude lambda, latitude L and height h of the inertial navigation measuring device, wherein the initial speed of the inertial navigation measuring device is set as 0;
step 2) determining the average value output by the accelerometer under a carrier coordinate system;
step 3) determining an initial attitude angle of the inertial navigation measuring device;
step 4) determining an initial attitude matrix of the inertial navigation measuring device
Step 5) determining the initial value of the quaternion of the inertial navigation measuring device;
step 6) reading the landmark point position information in the landmark file to obtain the longitude lambda of the second landmark pointM2And latitude LM2Information, and obtaining the time t of the inertial navigation measuring device passing through the second landmark point2；
Step 7) carrying out combined navigation calculation until the time t recorded by the inertial navigation measuring deviceiTime t to reach the second landmark point2I.e. ti≥t2Record tiThe combined navigation of the time resolves longitude lambda 'and latitude L';
step 8) determining that the first landmark point points to the inertial navigation measurement device to reach tiDirection psi of integrated navigation solution position of timeD；
If L' is not less than L, psiD＝arctan((λ′-λ)·cos(L)/(L′-L))
If L' < L, #D＝arctan((λ′-λ)·cos(L)/(L′-L))-π
Step 9) determining that the first landmark point points to the inertial navigation measurement device to reach tiCombined navigation of time of daySolving the position psiM
If L isM2≥LM1，λM2＜λM1Then phiM＝arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2≥LM1，λM2≥λM1Then phiM＝-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
If L isM2＜LM1Then phiM＝π-arctan((λM2-λM1)·cos(LM1)/(LM2-LM1))；
Step 10) determining the arrival t of the first landmark point pointing inertial navigation measuring device by using the following formulaiCourse initial value of time combined navigation solution
I.e. coarse alignment of the initial orientation of the inertial measurement unit
Step 11) utilizing the initial pitch angle determined in step 3
And initial tilt angle gamma, and coarse alignment value of the initial orientation of the inertial navigation measurement device determined in step 10
Determining alignment results for attitude matrix of inertial navigation measurement device
And obtaining the aligning result of the quaternion of the corresponding inertial navigation measuring device by using the method in the step 5.
2. The method of claim 1, wherein the step 2) of determining the average value of the accelerometer output in the carrier coordinate system comprises:
average value of accelerometer output in three directions under carrier coordinate system is determined by the following formula
ab＝[ax ay az]
Wherein, abIs the vector form of the average value of the accelerometer output in a carrier coordinate system, axIn the carrier coordinate system x for accelerometer outputbAverage value of lower component, ayIn the carrier coordinate system y for accelerometer outputbAverage value of lower component, azIn the carrier coordinate system z for accelerometer outputbThe average of the lower components.
3. The method for post-processing self-alignment of a micro inertial navigation system of claim 1, wherein the step 3) determines an initial attitude angle of the inertial navigation measurement unit, including an initial pitch angle
Initial tilt angle gamma and initial heading angle psi, initial pitch angle
g is local gravity acceleration, and specifically comprises the following steps:
if a iszNot less than 0, angle of inclination
If a isz＜0，ayNot less than 0, angle of inclination
If a isz＜0，ay< 0, angle of inclination
The initial heading angle psi is set to zero;
axin the carrier coordinate system x for accelerometer outputbAverage value of lower component, ayIn the carrier coordinate system y for accelerometer outputbAverage value of lower component, azIn the carrier coordinate system z for accelerometer outputbThe average of the lower components.
4. The method of post-processing self-alignment of a micro inertial navigation system of claim 1, wherein: step 4) determining an initial attitude matrix of the inertial navigation measuring device, and determining by using the following formula
Wherein the initial pitch angle
And the initial inclination angle gamma and the initial heading angle psi are initial attitude angles of the inertial navigation measuring device.
5. The method of post-processing self-alignment of a micro inertial navigation system of claim 1, wherein: the initial value of the quaternion of the inertial navigation measuring device determined in the step 5) is specifically
Will be provided with
Written in the form of
The inertial measurement unit quaternion Q is expressed as:
Q＝[q0 q1 q2 q3]T
then, the initial value of the quaternion of the inertial measurement unit is obtained by
6. The method of post-processing self-alignment of a micro inertial navigation system of claim 1, wherein: said step 11)
Is determined by
7. The method of post-processing self-alignment of a micro inertial navigation system of claim 1, wherein: the alignment result of determining the quaternion of the inertial navigation measurement device in the step 11) is specifically
Will be provided with
Is expressed in the following form:
then, the alignment result of quaternion of the inertial measurement unit
Is obtained from the formula
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