CN109579870A - The automatic aligning method and combined navigation device of Strapdown Inertial Navigation System - Google Patents
The automatic aligning method and combined navigation device of Strapdown Inertial Navigation System Download PDFInfo
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- CN109579870A CN109579870A CN201810381482.8A CN201810381482A CN109579870A CN 109579870 A CN109579870 A CN 109579870A CN 201810381482 A CN201810381482 A CN 201810381482A CN 109579870 A CN109579870 A CN 109579870A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
A kind of automatic aligning method of Strapdown Inertial Navigation System, comprising the following steps: S100: by accelerometer, the weight component in three reference axis on accelerometer coordinate system is measured；S200: compare the size of the weight component in three reference axis of accelerometer, and the reference axis where weight component maximum value is regarded as vehicle axis system Z axis；S300: the data that accelerometer and gyroscope are measured carry out the conversion of coordinate conversion matrix, obtain four coordinate systems to be selected；S400: the initial state information that GNSS module obtains is assigned as the initial value of inertial navigation equation, and after four coordinate systems to be selected are substituted into inertial navigation equation solver respectively, obtains four location estimates；S500: the location information that four location estimates are obtained with GNSS module is compared, wherein coordinate system to be selected corresponding to the smallest result of difference is alignment coordinates system after relatively.Calibration process can be simplified, and calibration accuracy is high.
Description
Technical field
The present invention relates to navigation field, in particular to the automatic aligning method and device of a kind of Strapdown Inertial Navigation System.
Background technique
Inertial navigation system (INS) is also referred to as inertial navigation unit.Position result is obtained by integrating rate, rate results
Then by being obtained after integrated acceleration.Posture result is also to be obtained by integral angular speed.INS includes Inertial Measurement Unit,
Function is to utilize one group of accelerometer and gyro to measure specific force and angular speed.
Global Navigation Satellite System (GNSS) emits radio signal using satellite in orbit, carries out passive ranging to determine use
Family three-dimensional position.
Integrated positioning mode using satellite positioning and inertial navigation can be referred to as integrated navigation.Inertial navigation calculating is one
A iterative process needs to use the calculated result of previous moment.Therefore, before inertial navigation life's work, it is necessary to be carried out to it
Initial alignment.Initial position and initial velocity information can be provided by global position system.Initial state information can be by outer
Portion's information source provides, and can also be determined by inertial navigation system itself.
Inertial navigation system initial state information is generally determined by sensitive gravitational vectors and earth's spin vector.However it measures
Earth's spin vector needs the gyro of the above precision of aviation-grade, or is initialized using magnetic compass to orientation.Vehicle-mounted
In navigation system, it is generally unsatisfactory for two above condition.GNSS receiver user can be used for measurement posture, however GNSS is mentioned
The attitude measurement result of confession generally comprises very big noise.
The precision of INS posture initialization both depends on the precision with reference to the relative direction relationship between navigation system and INS,
And the attitude accuracy with reference to navigation system.
Hybrid navigation equipment in the car, can be and be fixed on vehicles, be also possible to detachable or portable
Personal navigation equipment.For the equipment of fixed installation, it is believed that one axis is consistent with carrier direction of advance, and movably sets
It is standby then cannot so think.Occur some personal navigation equipments now, the mounting bracket that do not fix, such equipment is often direct
It is placed on vehicle, the mounting shift angle of equipment and vehicle may up to ± 30 °, influences at this time on navigation results very big.
Whether any equipment, coordinate system are all not necessarily completely coincident with carrier, can all there is mounting shift angle.
Mounting shift angle is also referred to as misalignment angle.In general the mounting shift angle coordinate system that can be understood as hybrid navigation equipment
Error between vehicle axis system.It corrects this error and needs to pay close attention to two parts, coordinate system and attitude angle.Assuming that there is a mark
Quasi- three-dimensional system of coordinate, takes the positive axis of a wherein axis to be overlapped with vehicle forward direction, be rotated by 90 ° around the axis, 180 °, 270 ° and
360 °, there are 4 kinds of states；The negative semiaxis of the axis also there are into 4 kinds of states towards the direction of advance of vehicle again；Successively around different axis
Rotation is made, one is obtained 24 kinds of states.This 24 kinds of coordinate states are the 24 kinds of installations of equipment in the car may.It determines
After coordinate state, then the error of pitch angle, roll angle and course angle is calculated, can be completed alignment.
Traditional inertial navigation system will use apparatus measures mounting shift angle before formal use, and want after module is mobile
It re-scales.Traditional proving operation is complicated, requires height to operator, operator also needs that different calibration is cooperated to refer to
It enables.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose that a kind of automatic aligning method of Strapdown Inertial Navigation System can simplify calibration process, and calibration accuracy is high.
In addition, the invention also provides a kind of combined navigation devices.
The automatic aligning method of Strapdown Inertial Navigation System according to an embodiment of the present invention, comprising the following steps:
S100: by accelerometer, the weight component in three reference axis on accelerometer coordinate system is measured；
S200: comparing the size of the weight component in three reference axis of accelerometer, and by weight component maximum value institute
Reference axis be regarded as vehicle axis system Z axis；
S300: the data that accelerometer and gyroscope are measured carry out the conversion of coordinate conversion matrix, obtain four to
Select coordinate system；
S400: the initial state information that GNSS module obtains is assigned for the initial value of inertial navigation equation, and by described four
After coordinate system to be selected substitutes into inertial navigation equation solver respectively, four location estimates are obtained；
S500: the location information that four location estimates are obtained with GNSS module is compared, wherein poor after relatively
Coordinate system to be selected corresponding to different the smallest result is alignment coordinates system；
S600: assigning the location information that GNSS module obtains to the initial value for Kalman filtering system, and by acceleration
It counts the pitch angle, roll angle, course angle information measured with gyroscope and substitutes into Kalman filtering system processing, eliminate accelerometer
With the dynamic zero bias of gyroscope.
According to one embodiment of present invention, the step S100 is further comprising the steps of:
S101: obtaining data by accelerometer, then the data that will acquire are handled by low-pass filter, remove dynamic point
After amount, static component is obtained；
S102: by asking standard deviation function, sliding window function or ABS function to carry out the static component
Processing, obtains the weight component of each reference axis on accelerometer coordinate system；
S103: filtering out the reference axis where weight component maximum value, and the reference axis where weight component maximum value is regarded
Make the Z axis of vehicle axis system, and judges the positive and negative of weight component maximum value.
According to one embodiment of present invention, further comprising the steps of after the step S600:
S700: if when vehicle driving, it is preferential to update pitch angle and roll angle, if when stationary vehicle, using zero as error
State input, eliminates gyro error.
Combined navigation device in accordance with another embodiment of the present invention has used Strapdown Inertial Navigation System described above oneself
Dynamic alignment methods.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
The utility model is further described with reference to the accompanying drawings and examples.
Fig. 1 is the module map of combined navigation device according to an embodiment of the present invention；
Fig. 2 is the module map of the combined navigation device of another embodiment according to the present invention；
Fig. 3 is the module map of the combined navigation device of another embodiment according to the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The automatic aligning method of Strapdown Inertial Navigation System according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.Including
Following steps:
1. gravity vector is aligned
For vehicle at horizontal position, the Z axis of gravity vector and vehicle axis system is conllinear.Usually in three axis accelerometer,
The size that gravity vector is projected in respectively above three axial directions can explicitly be measured.In initial alignment, it is believed that
The maximum axis of weight component is in vertical direction.Mean to learn acceleration from the output data of three axis accelerometer in this way
The relationship of degree meter coordinate system and vehicle axis system.
When stationary vehicle, vehicle is likely to be on slope, and gravimetric measurements at this time are likely to occur deviation.In vehicle movement
When, although vehicle accelerates and brake can bring interference, gravity is still present in accelerometer in the form of a constant
In output.Moreover, vehicle can not be forever in the same slope, so the accelerometer output valve of a period of time is taken to make
It is average, available one more actually gravity vector.So this judgment mode in vehicle movement than it is static when it is more reliable.
A low-pass filter can often be designed thus to handle the output of accelerometer.The output data of accelerometer passes through low pass
After filter, the basic only remaining useful data about gravity.
Fig. 1 is the algorithmic procedure for calculating gravity vector, and the positive axis of citing sensor Z axis in this situation is upward.
Data are obtained from accelerometer 101 first, data are handled by low-pass filter 102, after removing dynamic component, are remained
Remaining static component.The static component of accelerometer is further processed 103.
In 103, G is a gravity threshold value, for determining the degree of agreement of accelerometer each axis and gravity direction.G
It can be set as the 70%~90% of acceleration of gravity size according to the actual situation.F () is the subsequent processing letter of acceleration information
Number, it, which can be, asks standard deviation function or sliding window function, can be ABS function in simple application.It can also
The maximum is projected directly to find out gravity, completes screening, but primary erroneous judgement may be brought to this method by braking.In 104,
Judge the positive and negative of data, that is, judges that this group of data and gravity are in the same direction or reversed.Finally obtain axial result 105.
In the case where Z axis has been determined, it is known that the plane that XY axis is determined is exactly approximately horizontal plane, and the axis of XY axis
To or it is unknown.By taking X axis as an example, the forward direction of X-axis may be towards all around four kinds, it is approximate in other words these four.Because
In practical application, integrated navigation module basic horizontal is placed in the car, putting for 45 ° of inclination seldom occurs, those are had
The navigation module of display screen, screen and driver are opposite, the case where inclination is put can not more occur.So being exactly to obtain four
The possible coordinate system of kind.That is, by this step after, become 4 kinds from 24 kinds a possibility that coordinate.
2. coordinate system is aligned
In integrated navigation system, GNSS provides the higher location information of precision, it is possible to utilize GNSS auxiliary coordinate
System's alignment.This is a kind of alignment methods based on track, can be restricted by environment.When application, to the reality of signal quality
When monitoring it is also extremely important.
INS is autonomous system, after initialization, it is no longer necessary to which new external environmental information, inertial navigation can also continue work
Make.Herein, it will be assumed that INS is initialized to four kinds of coordinate systems.Due to only realizing the coarse alignment of coordinate at this time, track is pushed away
Error is calculated as the time dissipates.Although calculate application condition it is big, in these four coordinate systems, mutual phase deviation be 90 ° times
Number, so the coordinate system of mistake is more faster than correct coordinate system divergence speed.
Fig. 2 is the flow chart of coordinate system alignment.
The data of accelerometer 201 and gyroscope 202 are converted into 4 kinds of possible results by coordinate conversion matrix 203.After
The continuous positive axis sensor Z axis is upward by way of example it is assumed that 4 kinds of coordinate systems are C1, C2, C3 and C4 respectively, as shown in the table.
GNSS module 207 gets location information, assigns inertial navigation equation initial value by 208.208 data have to pass through
The judgement of one satellite signal quality, judgement can just be used by data.Four are obtained after inertial navigation calculates 205
Location estimate P1, P2, P3 and P4.In practical situations, the processor performance that integrated navigation module uses is not high, at this time can be with
Four dead reckonings are made into serial process, because real-time location information output is not required here, and the location data of GNSS
Can be stored in memory, to dead reckoning after readout process again.
After 205 derive several periods, track will be derived and GNSS positioning result 209 is made comparisons at that time, obtain difference
Reckling, coordinate system of its coordinate system as alignment.
In practical applications, four location tracks that this process calculates should have very big otherness.In 5 minutes open
In wealthy section, it is poor that the positioning result of these positions calculated and GNSS are made, and sums after taking absolute value, the smallest result and secondary
Small result should have 10 times or more gaps.
It takes the position deviation summation in multi-section time to be judged again, increases the reliability of judgement.It, can about recursion duration
To be arranged according to sensor accuracy, Kalman filtering can also be suitably added and be modified.The zero of accelerometer and gyroscope
It is affected partially to result, before being automatically aligned to, the alignment time can be reduced and improve alignment essence by configuring suitable zero bias
Degree.
3. mounting shift angle is aligned
After coordinate system is aligned, because of a variety of causes, the coordinate system of integrated navigation module and the coordinate system of vehicle are not
Completely overlapped, there are mounting shift angles, respectively pitching drift angle, roll drift angle and course drift angle.
Assuming that there is the level highway of a straight south-north direction, vehicle northwards travels on the road surface, and combination is led at this time
Oneself available pitch angle, roll angle and course angle of model plane block.Because the pitch angle of vehicle, roll angle and course angle are
Zero, so these three angles that navigation module obtains are exactly pitching drift angle, roll drift angle and course drift angle.In actual conditions, do not deposit
On the road of abswolute level, but vehicle is also impossible to have been in slope at runtime, so in one section of sufficiently long range
Interior, the mean value of attitude angle should keep stable.One group of accurate attitude angle in order to obtain, it is necessary to introduce Kalman filtering.
The propagation of state vector estimated value at any time:
Wherein φ is state-transition matrix.
The propagation of error co-variance matrix, canonical form are as follows:
Wherein P is error co-variance matrix, and Q is system noise covariance matrix.
Kalman gain matrix K are as follows:
Wherein H is observing matrix, and R is observation noise covariance matrix.
State vector is updated with observation vector:
Wherein z is observation vector.
Finally, error co-variance matrix updates:
Pitch angle (Pitch), roll angle (Roll) and course angle (Yaw) in order to obtain, when design point vector x
Just these three angles are added in state vector.They can be modeled as random process, for example random walk or Gauss-
Markov process, then can decision systems noise Q.
Fig. 3 is the flow chart for calculating mounting shift angle.
GNSS provides initial attitude, by 302 initial value 307 as system update.As long as sensor and satellite positioning
All in normal condition, then observation, which updates 303, is constantly in working condition.In 303 modules, observation vector z is GNSS
Perhaps velocity information observation noise R can be set to GNSS dilution of precision or relevant amount for the position of measurement, and 303 modules are main
Effect is to eliminate the dynamic zero bias of accelerometer and gyro.
When the vehicle is running, Pitch and Roll is clearly present in the weight component that each axis of accelerometer measures.So
It is preferential to update Pitch and Roll in 304 updates.In acceleration or brake, by accelerometer output can for Yaw and
Pitch provides primary update.
When the vehicle is still, it is updated using 305.If vehicle is in slope, measured value at this time will affect attitude angle
Final result.But posture will not change when static, it is possible to use zero to input as error state, eliminate gyro and miss
Difference.
There are many methods for stationary vehicle judgement.It can generally be judged by positioning, it, can be with if vehicle location does not change
Judge stationary vehicle；Another method is using vehicle speed pulse, and this method needs to support on hardware；Still an alternative is that
Each number of axle of sensor is judged according to standard deviation whithin a period of time, and standard deviation is less than threshold value, is judged as static.
Last estimation result feeds back to 307 completion an iterations by 306.As the number of iterations is cumulative, mounting shift angle
Measurement can become closer to true value.
3.3 technical solution of the present invention bring beneficial effects
The method realizes a kind of full automatic inertial navigation system alignment methods.Greatly improve inertial navigation module install convenient
Property, and this self-aligning method is improving the precision and reliability of module when in use.
Following table is the coordinate system of module alignment and the data of mounting shift angle precision in open road scene
Coordinate number indicates coordinate system direction in table, is respectively as follows: by arrangement in front right
6:Y X Z
7:-X Y Z
12:X-Z-Y
20:Y Z-X
Following table is the module (F) using manual-alignment and uses self-aligning module (I) appraisal result:
Data are shown in table, are obviously mentioned using being automatically aligned to rear module and having in open section and tunnel road indices
It rises, it is slightly worse in complicated highway section, but all in acceptable precision.
So automatic aligning method is dominant in install convenient than traditional manual-alignment method, and in actual motion mistake
Good performance, or even the performance beyond tradition method in most of scene are kept in journey.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (4)
1. a kind of automatic aligning method of Strapdown Inertial Navigation System, which comprises the following steps:
S100: by accelerometer, the weight component in three reference axis on accelerometer coordinate system is measured；
S200: compare the size of the weight component in three reference axis of accelerometer, and will be where weight component maximum value
Reference axis is regarded as vehicle axis system Z axis；
S300: the data that accelerometer and gyroscope are measured carry out the conversion of coordinate conversion matrix, obtain four seats to be selected
Mark system；
S400: the initial state information that GNSS module obtains is assigned as the initial value of inertial navigation equation, and to be selected by described four
After coordinate system substitutes into inertial navigation equation solver respectively, four location estimates are obtained；
S500: the location information that four location estimates are obtained with GNSS module is compared, wherein relatively after difference most
Coordinate system to be selected corresponding to small result is alignment coordinates system；
S600: assigns the location information that GNSS module obtains to the initial value for Kalman filtering system, and by accelerometer with
Pitch angle that gyroscope is measured, roll angle, course angle information substitute into Kalman filtering system processing, eliminate accelerometer and top
The dynamic zero bias of spiral shell instrument.
2. the automatic aligning method of Strapdown Inertial Navigation System according to claim 1, which is characterized in that the step S100 is also
The following steps are included:
S101: obtaining data by accelerometer, then the data that will acquire are handled by low-pass filter, remove dynamic component
Afterwards, static component is obtained；
S102: by asking standard deviation function, sliding window function or ABS function to handle the static component,
Obtain the weight component of each reference axis on accelerometer coordinate system；
S103: filtering out the reference axis where weight component maximum value, and the reference axis where weight component maximum value is regarded as vehicle
The Z axis of coordinate system, and judge the positive and negative of weight component maximum value.
3. the automatic aligning method of Strapdown Inertial Navigation System according to claim 1, which is characterized in that the step S600 it
It is further comprising the steps of afterwards:
S700: if when vehicle driving, it is preferential to update pitch angle and roll angle, if when stationary vehicle, using zero as error state
Gyro error is eliminated in input.
4. a kind of combined navigation device, which is characterized in that used inertial navigation system as claimed in any one of claims 1-3
The automatic aligning method of system.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006456A (en) * | 2019-04-24 | 2019-07-12 | 北京星网宇达科技股份有限公司 | A kind of detection vehicle alignment methods, device and equipment |
| CN110702105A (en) * | 2019-10-12 | 2020-01-17 | 展讯通信（上海）有限公司 | Axial recognition method and device for navigation device and storage medium |
| CN111238530A (en) * | 2019-11-27 | 2020-06-05 | 南京航空航天大学 | Initial alignment method for air moving base of strapdown inertial navigation system |
| CN111970631A (en) * | 2020-07-27 | 2020-11-20 | 仰信科技(武汉)有限公司 | Ultra-wideband and inertial navigation combined underground train positioning and speed measuring system and method |
| CN114396965A (en) * | 2022-01-17 | 2022-04-26 | 广州导远电子科技有限公司 | Auxiliary calibration method and device for combined navigation unit and electronic equipment |
| CN114485641A (en) * | 2022-01-24 | 2022-05-13 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation and satellite navigation azimuth fusion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110006456A (en) * | 2019-04-24 | 2019-07-12 | 北京星网宇达科技股份有限公司 | A kind of detection vehicle alignment methods, device and equipment |
| CN110006456B (en) * | 2019-04-24 | 2021-05-14 | 北京星网宇达科技股份有限公司 | Method, device and equipment for detecting alignment of vehicle |
| CN110702105A (en) * | 2019-10-12 | 2020-01-17 | 展讯通信（上海）有限公司 | Axial recognition method and device for navigation device and storage medium |
| CN110702105B (en) * | 2019-10-12 | 2021-09-28 | 展讯通信（上海）有限公司 | Axial recognition method and device for navigation device and storage medium |
| CN111238530A (en) * | 2019-11-27 | 2020-06-05 | 南京航空航天大学 | Initial alignment method for air moving base of strapdown inertial navigation system |
| CN111238530B (en) * | 2019-11-27 | 2021-11-23 | 南京航空航天大学 | Initial alignment method for air moving base of strapdown inertial navigation system |
| CN111970631A (en) * | 2020-07-27 | 2020-11-20 | 仰信科技(武汉)有限公司 | Ultra-wideband and inertial navigation combined underground train positioning and speed measuring system and method |
| CN114396965A (en) * | 2022-01-17 | 2022-04-26 | 广州导远电子科技有限公司 | Auxiliary calibration method and device for combined navigation unit and electronic equipment |
| CN114485641A (en) * | 2022-01-24 | 2022-05-13 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation and satellite navigation azimuth fusion |
| CN114485641B (en) * | 2022-01-24 | 2024-03-26 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation device navigation azimuth fusion |
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Application publication date: 20190405 |