CN109974709A - Navigation system and the method for determining navigation information - Google Patents
Navigation system and the method for determining navigation information Download PDFInfo
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- CN109974709A CN109974709A CN201910281625.2A CN201910281625A CN109974709A CN 109974709 A CN109974709 A CN 109974709A CN 201910281625 A CN201910281625 A CN 201910281625A CN 109974709 A CN109974709 A CN 109974709A
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- inertial navigation
- navigation set
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- inertial
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
The invention discloses a kind of navigation system and the methods for determining navigation information.Wherein, this method comprises: the first navigation equipment receives the first navigation information from the second inertial navigation set, and pre-set inertial navigation computation model is initialized using the first navigation information；First inertial navigation set receives the second navigation information from the second inertial navigation set；And the first third navigation information that is measured based on the second navigation information and the first inertial navigation set of inertial navigation set, using inertial navigation computation model and pre-set recursive operation model, the navigation information that the 4th navigation information is exported as the first inertial navigation set is determined.Wherein inertial navigation computation model is the inertial navigation computation model of the navigational parameter measured based on the first inertial navigation set.
Description
Technical field
The present invention relates to navigation fields, in particular to navigation system and the method for determining navigation information.
Background technique
The core of naval vessels navigation system is generally made of two sets of even more mutually redundant inertial navigation sets of set.When
A set of inertial navigation set must restart due to various reasons during marine execution task, and at this time due to there is no satellite
Navigation information, therefore can only be by the navigation information of the inertial navigation set of other normal works as external reference information source
Carry out traction starting.
Naval vessels cover inertial navigation set more may be mounted at the same pedestal in same cabin, same cabin difference pedestal or not
Same cabin, and the posture of inertial navigation set all snaps to horizontal plane and direct north by calibration in advance.However different pedestals
Between existing deck deformation, even if also certainly existing attitude misalignment by stringent calibration between inertial navigation set.
For example, Fig. 1 was shown into Fig. 3 in 32 hours, the appearance between the laser-inertial navigation equipment in two sets of different cabins
State deviation.For between the laser-inertial navigation equipment in cabins different in above-mentioned naval vessels navigation system there are attitude misalignment, from
And the problem of easily causing error during drawing starting, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of navigation system and the method for determining navigation information, more set inertia are led on naval vessels
There are attitude misalignments between equipment of navigating, thus the problem of easily causing error during drawing starting.
According to an aspect of an embodiment of the present invention, a kind of method of determining navigation information is provided, comprising: the first navigation
Equipment receives the first navigation information from the second inertial navigation set, and using the first navigation information to pre-set inertial navigation
Computation model is initialized；First inertial navigation set receives the second navigation information from the second inertial navigation set；And the
The third navigation information that one inertial navigation set is measured based on the second navigation information and the first inertial navigation set, utilizes inertia
Navigate computation model and pre-set recursive operation model, determines that the 4th navigation information is defeated as the first inertial navigation set
Navigation information out, wherein inertial navigation computation model is that the inertia of the navigational parameter measured based on the first inertial navigation set is led
Navigate computation model.
According to another aspect of an embodiment of the present invention, a kind of navigation system is additionally provided, first including communication connection is used
Property navigation equipment and the second inertial navigation set, the first inertial navigation set are configured as executing following operation: the first inertia is led
Equipment of navigating receives the first navigation information from the second inertial navigation set；And first inertial navigation set be based on first navigation letter
Breath, using pre-set inertial navigation computation model and recursive operation model, determines the second navigation information.Wherein, inertia
Navigation computation model is the inertial navigation computation model of the navigational parameter measured based on the first inertial navigation set；And recurrence is transported
Calculating model is the recursive operation model for correcting first inertial navigation set.
To which in conclusion the method and system provided by the disclosure, the first inertial navigation set can be using in advance
The recursive operation model of setting, the attitude misalignment pair being gradually reduced between the first inertial navigation set and the second inertial navigation set
The influence of entire traction starting, so that the output of the first inertial navigation set is more accurate.It solves and deposits in the prior art
Naval vessels navigation system in different cabins laser-inertial navigation equipment between there are attitude misalignments, thus in traction starting
The problem of easily causing error in the process.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 to Fig. 3 was shown in 32 hours, the attitude misalignment between the laser-inertial navigation equipment in two sets of different cabins
Schematic diagram；
Fig. 4 shows the schematic diagram of the navigation system according to the embodiment of the present disclosure；
Fig. 5 is shown in the navigation system according to the embodiment of the present disclosure, and by traction inertial navigation, (i.e. the first inertial navigation is set
It is standby) performed by operation flow diagram；
Fig. 6 shows the traction inertial navigation (i.e. the second inertial navigation set) described in the embodiments of the present disclosure and is used to by traction
Lead the schematic diagram of the lever arm of (i.e. the first inertial navigation set)；
Fig. 7 shows the traction inertial navigation (i.e. the second inertial navigation set) described in the embodiments of the present disclosure and is used to by traction
Lead the timing diagram of (i.e. the first inertial navigation set)；
The process that Fig. 8 shows the method for determination navigation information according to the second aspect of the embodiment of the present disclosure is shown
It is intended to；And
Fig. 9 shows the schematic diagram that the traction inertial navigation according to the embodiment of the present disclosure carries out the process of traction starting.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.Embodiment
According to the first aspect of the present embodiment, a kind of inertial navigation system is provided, wherein Fig. 4, which is shown, is arranged in warship
The schematic diagram of the inertial navigation system according to the present embodiment on ship.
Refering to what is shown in Fig. 4, inertial navigation system includes the first inertial navigation set and the second inertial navigation set, wherein the
One inertial navigation set and the second inertial navigation set for example can be laser-inertial navigation equipment.Wherein the first inertial navigation is set
Standby and the second inertial navigation set communication connection, so as to communicate with one another.
Wherein, Fig. 5 shows the flow diagram of the method for the first inertial navigation set execution, refering to what is shown in Fig. 5, first
Inertial navigation set is configured to carry out the operation of following steps:
S502: the first navigation equipment receives the first navigation information from the second inertial navigation set, and leads using described first
Boat information initializes pre-set inertial navigation computation model；
S504: the first inertial navigation set receives the second navigation information from the second inertial navigation set；And
S506: the first inertial navigation set is led based on the third that the first navigation information and the first inertial navigation set measure
Information of navigating determines that the 4th navigation information is made using the inertial navigation computation model and pre-set recursive operation model
For the navigation information of the first inertial navigation set output.
Wherein, inertial navigation computation model is based on the inertial navigation for the navigational parameter that the first inertial navigation set measures
Calculate model.
Specifically, the first inertial navigation set must open again due to various reasons during execution task at sea
It is dynamic, and at this time without defend lead information can only be by the inertial navigation set (for example, second inertial navigation set) of other normal works
Navigation information is drawn as external reference information source to be started.But since deck existing between the different pedestals of naval vessels becomes
Shape, even if also certainly existing attitude misalignment by stringent calibration between inertial navigation set.If to directly using other used
Property navigation equipment (for example, second inertial navigation set) navigation information draw starting, then be easy to cause the first inertial navigation to set
The data distortion of itself standby measurement.
Therefore, inclined for there are postures between the laser-inertial navigation equipment in cabins different in above-mentioned naval vessels navigation system
The problem of difference, to be easy the problem of bringing error during drawing starting, in the present embodiment, the first inertial navigation is set
It is standby after the navigation information (i.e. the first navigation information) sent using the second inertial navigation set is initialized, be not just
This directly exports the inertial navigation information of measurement, and is to continue with from the second inertial navigation set and receives navigation information (the i.e. second navigation
Information), and the navigation information (i.e. third navigation information) based on the navigation information and oneself measurement, utilization is pre-set
Inertial navigation computation model and recursive operation model determine that the 4th navigation information is led as what the first inertial navigation set exported
Boat information.
To which in this way, the first inertial navigation set can utilize pre-set recursive operation model, gradually
Reduce influence of the attitude misalignment to entire traction starting between the first inertial navigation set and the second inertial navigation set, thus
So that the output of the first inertial navigation set is more accurate.Solve different cabins in naval vessels navigation system existing in the prior art
There are attitude misalignments between the laser-inertial navigation equipment of room, to easily cause asking for error during drawing starting
Topic.
Optionally, the first navigation information and the second navigation information include the posture of the second inertial navigation set measurement, speed
And location information；Third navigation information includes posture, speed and the location information of the first inertial navigation set measurement；4th
Navigation information includes the speed and location information of the carrier of the first inertial navigation set；Inertial navigation computation model is based on the
One inertial navigation set, the linear model obtained using strap inertial navigation algorithm；And recursive operation model is Kalman's filter
Wave device.
Specifically, the Kalman filter is the Kalman filter based on following equation:
State equation:And
Measurement equation:
Wherein, X is state variable, and
In formula,In formula, φEIt is first
The rolling angle error of inertial navigation set, φNFor the pitching angle error of the first inertial navigation set, φUIt is set for the first inertial navigation
Standby course angle error, δ vEEast orientation speed error, δ v for the first inertial navigation setNFor the north orientation of the first inertial navigation set
Velocity error, δ vUIt is the latitude error of the first inertial navigation set, δ for the vertical velocity error of the first inertial navigation set, δ L
λ is the longitude error of the first inertial navigation set, δ h is the first inertial navigation set height error,For the first inertial navigation
The X gyro zero bias of equipment,For the first inertial navigation set Y gyro zero bias,For the Z gyro zero of the first inertial navigation set
Partially,For the first inertial navigation set X accelerometer bias,For the first inertial navigation set Y accelerometer bias with
AndFor the Z accelerometer bias of the first inertial navigation set, and
Wherein,
In formula, L is the second inertial navigation set latitude, λ is the second inertial navigation set longitude, h is the second inertial navigation
Device height, vEFor the second inertial navigation set east speed, vNFor the second inertial navigation set north speed, vUIt is set for the second inertial navigation
The standby speed, f of hanging downEFor the first inertial navigation set east orientation acceleration, fNFor the first inertial navigation set north orientation acceleration, fUIt is first
Inertial navigation set vertical acceleration, ωieFor rotational-angular velocity of the earth, REFor earth meridian circle radius and RNFor the earth fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches
Circle radius,For the second inertial navigation set X gyro zero bias process white noise,For the Y gyro of the second inertial navigation set
Zero bias process white noise,For the second inertial navigation set Z gyro zero bias process white noise,It is set for the second inertial navigation
Standby X accelerometer bias process white noise,For the second inertial navigation set Y accelerometer bias process white noise andFor the Z accelerometer bias process white noise of the second inertial navigation set, and
Ls、λs、hs、vEs、vNsAnd vUsRespectively indicate latitude, longitude, height that the first inertial navigation set system calculates and outputs
Degree, east speed, north speed and speed of hanging down, Lr、λr、hr、vEr、vNrAnd vUrIndicate latitude that the second inertial navigation set system calculates and outputs,
Longitude, height, east speed, north speed and hang down speed and H=[06×3 I6×6 06×6], V is 6 dimensional vectors, indicates the observation white noise of latitude
Sound, the observation white noise of longitude, the observation white noise of height, the observation white noise of east speed, the observation white noise of north speed and speed of hanging down
Observation white noise.
To which in the present embodiment, by traction inertial navigation (i.e. the first inertial navigation set), using traction inertial navigation, (i.e. second is used
Property navigation equipment) provide navigation information carry out speed, position and posture initialization, and by Kalman filtering fine alignment it is real-time
It effectively estimates by the rolling angle error of traction inertial navigation, pitching angle error, course angle error, east orientation speed error, north orientation speed
Spend error, vertical velocity error, latitude error, longitude error, height error, three gyroscope zero bias and three accelerometers zero
Partially, it is ensured that index request is met by the navigation performance of traction inertial navigation after traction starting.It solves and is not defending in the prior art
The problem of lower traction for utilizing another set of laser-inertial navigation system navigation information of star navigation starts method.
Optionally, in addition, the first navigation equipment is also configured to execute following operation: to first inertial navigation set
Lever arm compensation is carried out between second inertial navigation set.
Specifically, Fig. 6 shows the schematic diagram of the lever arm of the first inertial navigation set and the second inertial navigation set.Wherein
ObFor the coordinate system of the first inertial navigation set, OBFor the coordinate system of the second navigation equipment.To compensation lever arm effect error the
The positions of two inertial navigation sets, speed at the position of the first inertial navigation set (b point) observed quantity are as follows:
And
In formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively indicate latitude, the warp under the first inertial navigation set carrier coordinate system
Degree, height, east speed, north speed and speed of hanging down, LB、λB、hB、vEB、vNBAnd vUBRespectively indicate the second inertial navigation set carrier coordinate system
Under latitude, longitude, height, east speed, north speed and hang down speed, and
AndFor the attitude matrix of the second inertial navigation set, calculate as follows
Wherein R, P and H are roll angle, pitch angle and the course angle of the second inertial navigation set, and
Three attitude angular velocities fastened for the second inertial navigation set in geographical coordinate；
rx、ry、rzFor along the lever arm of horizontal axis, the longitudinal axis and orientation axis direction.
To carry out lever arm compensation in the above manner, improve the accurate of the navigation information of the first navigation equipment output
Property.
Optionally, the first navigation equipment is also configured to execute following operation: determining the second inertial navigation set and first
Delay between inertial navigation set；And according to identified delay, the first navigation information is compensated.
Specifically, Fig. 7 is shown by traction inertial navigation (i.e. the first navigation equipment) and traction inertial navigation (i.e. the second navigation equipment)
Timing diagram.
As shown in fig. 7, the information calculating of lock-out pulse moment point is as follows
Info_pps=info [k] * Δ T/T+info [k+1] * (T- Δ T)/T
The traction calculated info_pps of inertial navigation DSP is to interrupt the moment in k+1 and (correspond to+1 internal clocking of kth) to calculate
Output is to by the navigation information of traction inertial navigation, as the system information synchronous with PPS signal after complete.Wherein info [k] is traction
Inertial navigation navigation information measured by k-th of internal clocking, info [k+1] are surveyed by traction inertial navigation in+1 internal clocking of kth
The navigation information of amount, posture, speed and location information including measurement.
Calculating speed is wherein updated by traction inertial navigation Kalman filter in fine alignment state, position measurement information must use
The traction inertial navigation speed of synchronization, location information ask difference to avoid error in measurement caused by Time Inconsistency.
Z_posn=posn_pps-posn_ref
Z_vel=vel_pps-vel_ref
Wherein, Z_posn is by the location error of traction inertial navigation (i.e. the first inertial navigation set), posn_pps and posn_
By the location information of traction inertial navigation and traction inertial navigation when ref is respectively identical pulse moment point.Z_vel be by traction inertial navigation (i.e.
First inertial navigation set) velocity error, by traction inertial navigation when vel_pps and vel_ref are respectively identical pulse moment point
With the speed of traction inertial navigation.
Since laser gyro acquisition data have carried out filter preprocessing, fixed filtering delay-time is brought, according to filtering rank
It is Td=order/(2* sample frequency), therefore the k interrupts moment collected laser gyro and acceleration depending on number is different
It actually should be the navigation information before Td that meter, which resolves the navigation information obtained,.
The navigation information for the obtaining accurate PPS moment point Td that also needs to be delayed backward is looked for, in two kinds of situation
If Td≤Δ T
Info_pps=info [k] * (Δ T-Td)/T+info [k+1] * (T- (Δ T-Td))/T
If Td > Δ T
If Δ T1=Td- Δ T, n=1,
If Δ T1>T, following cycle calculations: Δ T1=Δ T1-T, n++ are carried out, until Δ T1<T
Info_pps=info [k+n] * (T- Δ T1)/T+info [k+n+1] * Δ T1/T at this time
To by being compensated to the delay between the first inertial navigation set and the second inertial navigation set, it is ensured that
The navigation information of synchronization point can be compared for two sets of inertial navigation sets, to improve the first inertial navigation set
The accuracy of the navigation information of output.
To which in conclusion the navigation system provided through this embodiment, the first inertial navigation set can be using in advance
The recursive operation model of setting, the attitude misalignment pair being gradually reduced between the first inertial navigation set and the second inertial navigation set
The influence of entire traction starting, so that the output of the first inertial navigation set is more accurate.It solves and deposits in the prior art
Naval vessels navigation system in different cabins laser-inertial navigation equipment between there are attitude misalignments, thus in traction starting
The problem of easily causing error in the process.
In addition, providing a kind of method of determining navigation information, wherein Fig. 8 shows according to the second aspect of the present embodiment
The flow diagram of this method is gone out.Refering to what is shown in Fig. 8, this method comprises:
S802: the first navigation equipment receives the first navigation information from the second inertial navigation set, and leads using described first
Boat information initializes pre-set inertial navigation computation model；
S804: the first inertial navigation set receives the second navigation information from the second inertial navigation set；And
S806: the first inertial navigation set is led based on the third that the first navigation information and the first inertial navigation set measure
Information of navigating determines that the 4th navigation information is made using the inertial navigation computation model and pre-set recursive operation model
For the navigation information of the first inertial navigation set output.
Wherein, inertial navigation computation model is based on the inertial navigation for the navigational parameter that the first inertial navigation set measures
Calculate model.
To which in this way, the first inertial navigation set can utilize pre-set recursive operation model, gradually
Reduce influence of the attitude misalignment to entire traction starting between the first inertial navigation set and the second inertial navigation set, thus
So that the output of the first inertial navigation set is more accurate.Solve different cabins in naval vessels navigation system existing in the prior art
There are attitude misalignments between the laser-inertial navigation equipment of room, to easily cause asking for error during drawing starting
Topic.
Optionally, the first navigation information and the second navigation information include the posture of the second inertial navigation set measurement, speed
And location information；Third navigation information includes posture, speed and the location information of the first inertial navigation set measurement；4th
Navigation information includes the speed and location information of the carrier of the first inertial navigation set；Inertial navigation computation model is based on the
One inertial navigation set, the linear model obtained using strap inertial navigation algorithm；And recursive operation model is Kalman's filter
Wave device.
Specifically, the Kalman filter is the Kalman filter based on following equation:
State equation:And
Measurement equation:
Wherein, X is state variable, and
In formula,
φEFor the rolling angle error of the first inertial navigation set, φNFor the pitching angle error of the first inertial navigation set, φUIt is first
The course angle error of inertial navigation set, δ vEEast orientation speed error, δ v for the first inertial navigation setNFor the first inertial navigation
The north orientation speed error of equipment, δ vUIt is the first inertial navigation set for the vertical velocity error of the first inertial navigation set, δ L
Latitude error, δ λ are the longitude error of the first inertial navigation set, δ h is the first inertial navigation set height error,It is
The X gyro zero bias of one inertial navigation set,For the first inertial navigation set Y gyro zero bias,It is set for the first inertial navigation
Standby Z gyro zero bias,For the first inertial navigation set X accelerometer bias,Y for the first inertial navigation set adds
Speedometer zero bias andFor the Z accelerometer bias of the first inertial navigation set, and
Wherein,
In formula, L is the second inertial navigation set latitude, λ is the second inertial navigation set longitude, h is the second inertial navigation
Device height, vEFor the second inertial navigation set east speed, vNFor the second inertial navigation set north speed, vUIt is set for the second inertial navigation
The standby speed, f of hanging downEFor the first inertial navigation set east orientation acceleration, fNFor the first inertial navigation set north orientation acceleration, fUIt is first
Inertial navigation set vertical acceleration, ωieFor rotational-angular velocity of the earth, REFor earth meridian circle radius and RNFor the earth fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches
Circle radius,For the second inertial navigation set X gyro zero bias process white noise,For the Y gyro of the second inertial navigation set
Zero bias process white noise,For the second inertial navigation set Z gyro zero bias process white noise,It is set for the second inertial navigation
Standby X accelerometer bias process white noise,For the second inertial navigation set Y accelerometer bias process white noise with
AndFor the Z accelerometer bias process white noise of the second inertial navigation set, and
Ls、λs、hs、vEs、vNsAnd vUsRespectively indicate latitude, longitude, height that the first inertial navigation set system calculates and outputs
Degree, east speed, north speed and speed of hanging down, Lr、λr、hr、vEr、vNrAnd vUrIndicate latitude that the second inertial navigation set system calculates and outputs,
Longitude, height, east speed, north speed and hang down speed and H=[06×3 I6×6 06×6], V is 6 dimensional vectors, indicates the observation white noise of latitude
Sound, the observation white noise of longitude, the observation white noise of height, the observation white noise of east speed, the observation white noise of north speed and speed of hanging down
Observation white noise.
To which in the present embodiment, by traction inertial navigation (i.e. the first inertial navigation set), using traction inertial navigation, (i.e. second is used
Property navigation equipment) provide navigation information carry out speed, position and posture initialization, and by Kalman filtering fine alignment it is real-time
It effectively estimates by the rolling angle error of traction inertial navigation, pitching angle error, course angle error, east orientation speed error, north orientation speed
Spend error, vertical velocity error, latitude error, longitude error, height error, three gyroscope zero bias and three accelerometers zero
Partially, it is ensured that index request is met by the navigation performance of traction inertial navigation after traction starting.It solves and is not defending in the prior art
The problem of lower traction for utilizing another set of laser-inertial navigation system navigation information of star navigation starts method.
Optionally, in addition, method further include: the first inertial navigation set for first inertial navigation set with it is described
Second inertial navigation set carries out lever arm compensation.
Specifically, Fig. 6 shows the schematic diagram of the lever arm of the first inertial navigation set and the second inertial navigation set.Wherein
ObFor the coordinate system of the first inertial navigation set, OBFor the coordinate system of the second navigation equipment.To compensation lever arm effect error the
The positions of two inertial navigation sets, speed at the position of the first inertial navigation set (b point) observed quantity are as follows:
And
In formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively indicate latitude, the warp under the first inertial navigation set carrier coordinate system
Degree, height, east speed, north speed and speed of hanging down, LB、λB、hB、vEB、vNBAnd vUBRespectively indicate the second inertial navigation set carrier coordinate system
Under latitude, longitude, height, east speed, north speed and hang down speed, and
AndFor the attitude matrix of the second inertial navigation set, calculate as follows
Wherein R, P and H are roll angle, pitch angle and the course angle of the second inertial navigation set, and
Three attitude angular velocities fastened for the second inertial navigation set in geographical coordinate；
rx、ry、rzFor along the lever arm of horizontal axis, the longitudinal axis and orientation axis direction.
To carry out lever arm compensation in the above manner, improve the accurate of the navigation information of the first navigation equipment output
Property.
Optionally, the first navigation equipment is also configured to execute following operation: determining the second inertial navigation set and first
Delay between inertial navigation set；And according to identified delay, the first navigation information is compensated.
To by being compensated to the delay between the first inertial navigation set and the second inertial navigation set, it is ensured that
The navigation information of synchronization point can be compared for two sets of inertial navigation sets, to improve the first inertial navigation set
The accuracy of the navigation information of output.
To which in conclusion the method provided through this embodiment, the first inertial navigation set can be utilized and be preset
Recursive operation model, be gradually reduced the attitude misalignment between the first inertial navigation set and the second inertial navigation set to entire
The influence for drawing starting, so that the output of the first inertial navigation set is more accurate.It solves existing in the prior art
There are attitude misalignments between the laser-inertial navigation equipment in different cabins in naval vessels navigation system, thus in the process of traction starting
In the problem of easily causing error.
It is described described in the present embodiment by taking the process of the traction starting of the first inertial navigation set as an example below with reference to Fig. 9
The detailed process of navigation system.
In step S902, the first inertial navigation set (i.e. by traction inertial navigation) starts traction starting；
Then in step S912, the navigation such as the second inertial navigation set (i.e. traction inertial navigation) measurement posture, speed and position
Information, and navigation information is sent to the after the transformation of posture zero-bit, rotation angular transformation, lever arm compensation and compensation of delay
One inertial navigation set (certainly, the above compensating operation can also be carried out in the first inertial navigation set)；
Then in step S904, the first inertial navigation set utilizes the navigation information obtained from the second inertial navigation set,
Carry out the initialization of posture, speed and position；
Then next, in step S914, the second inertial navigation set continues measuring speed and position and is carrying out it
Being sent to the first inertial navigation set after lever arm compensation and compensation of delay, (certainly, the above compensating operation can also be in the first inertia
Navigation equipment carries out).
Then, in step S906, the first inertial navigation set is utilized from the received speed of the second inertial navigation set and position
Confidence breath, is modified by Kalman filtering.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of method of determining navigation information characterized by comprising
First inertial navigation set receives the first navigation information from the second inertial navigation set, and utilizes first navigation information
Pre-set inertial navigation computation model is initialized；
First inertial navigation set receives the second navigation information from the second inertial navigation set；And
First inertial navigation set measured based on second navigation information and first inertial navigation set the
Three navigation informations determine the 4th navigation letter using the inertial navigation computation model and pre-set recursive operation model
The navigation information exported as first inertial navigation set is ceased, wherein
The inertial navigation computation model is based on the inertial navigation for the navigational parameter that first inertial navigation set measures
Calculate model.
2. the method according to claim 1, wherein
First navigation information and second navigation information include posture, the speed of the second inertial navigation set measurement
And location information；
The third navigation information includes posture, speed and the location information of the first inertial navigation set measurement；
4th navigation information includes the speed and location information of the carrier of first inertial navigation set；
The inertial navigation computation model is obtained using strap inertial navigation algorithm linear based on the first inertial navigation set
Model；And
The recursive operation model is Kalman filter.
3. according to the method described in claim 2, it is characterized in that, the Kalman filter is the karr based on following equation
Graceful filter:
State equation:And
Measurement equation:
Wherein, X is state variable, and
In formula, φEFor the rolling angle error of the first inertial navigation set, φNFor the first inertial navigation set pitching angle error,
φUCourse angle error, δ v for the first inertial navigation setEEast orientation speed error, δ v for the first inertial navigation setNIt is
The north orientation speed error of one inertial navigation set, δ vUIt is the first inertia for the vertical velocity error of the first inertial navigation set, δ L
The latitude error of navigation equipment, δ λ are the longitude error of the first inertial navigation set, the height that δ h is the first inertial navigation set
Error,For the first inertial navigation set X gyro zero bias,For the first inertial navigation set Y gyro zero bias,It is
The Z gyro zero bias of one inertial navigation set,For the first inertial navigation set X accelerometer bias,It is led for the first inertia
Navigate equipment Y accelerometer bias andFor the Z accelerometer bias of the first inertial navigation set, and
Wherein,
In formula, L is the second inertial navigation set latitude, λ is the second inertial navigation set longitude, h is the second inertial navigation set
Highly, vEFor the second inertial navigation set east speed, vNFor the second inertial navigation set north speed, vUIt hangs down for the second inertial navigation set
Speed, fEFor the first inertial navigation set east orientation acceleration, fNFor the first inertial navigation set north orientation acceleration, fUFor the first inertia
Navigation equipment vertical acceleration, ωieFor rotational-angular velocity of the earth, REFor earth meridian circle radius and RNFor earth prime vertical half
Diameter,For the second inertial navigation set X gyro zero bias process white noise,For the Y gyro zero bias of the second inertial navigation set
Process white noise,For the second inertial navigation set Z gyro zero bias process white noise,For the X of the second inertial navigation set
Accelerometer bias process white noise,For the second inertial navigation set Y accelerometer bias process white noise andFor
The Z accelerometer bias process white noise of second inertial navigation set, and
Ls、λs、hs、vEs、vNsAnd vUsRespectively indicate latitude, the longitude, height, east that the first inertial navigation set system calculates and outputs
Speed, north speed and speed of hanging down, Lr、λr、hr、vEr、vNrAnd vUrIndicate latitude, longitude that the second inertial navigation set system calculates and outputs,
Highly, east speed, north speed and speed of hanging down, and
H=[06×3 I6×6 06×6], V is 6 dimensional vectors, indicates observation white noise, the observation white noise of longitude, height of latitude
Observe the observation white noise of white noise, the observation white noise of east speed, the observation white noise of north speed and speed of hanging down.
4. the method according to claim 1, wherein further include: the first inertial navigation set is directed to described first
Lever arm compensates between inertial navigation set and second inertial navigation set.
5. according to the method described in claim 4, it is characterized in that, used with described second for first inertial navigation set
Property navigation equipment carry out lever arm compensation operation, including according to following formula carry out lever arm compensation:
And
In formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively indicate latitude, the longitude, height under the first inertial navigation set carrier coordinate system
Degree, east speed, north speed and speed of hanging down, LB、λB、hB、vEB、vNBAnd vUBRespectively indicate the latitude under the second inertial navigation set carrier coordinate system
Degree, longitude, height, east speed, north speed and speed of hanging down, and
AndFor the attitude matrix of the second inertial navigation set, calculate as follows
Wherein R, P and H are roll angle, pitch angle and the course angle of the second inertial navigation set, and
Three attitude angular velocities fastened for the second inertial navigation set in geographical coordinate；
rx、ry、rzFor along the lever arm of horizontal axis, the longitudinal axis and orientation axis direction.
6. method as claimed in any of claims 1 to 5, which is characterized in that further include:
Determine the delay between second inertial navigation set and first inertial navigation set；And
According to identified delay, first navigation information is compensated.
7. a kind of navigation system, the first inertial navigation set and the second inertial navigation set, feature including communication connection exist
In first inertial navigation set is configured as executing following operation:
First inertial navigation set receives the first navigation information from the second inertial navigation set；And
First inertial navigation set be based on first navigation information, using pre-set inertial navigation computation model with
And recursive operation model, determine the second navigation information, wherein
The inertial navigation computation model is based on the inertial navigation for the navigational parameter that first inertial navigation set measures
Calculate model；And
The recursive operation model is the recursive operation model for correcting first inertial navigation set.
8. navigation system according to claim 7, which is characterized in that
First navigation information includes posture, speed and the location information of the second laser inertial navigation set measurement；
Second navigation information includes the speed and location information of the carrier of the first laser inertial navigation set；
The inertial navigation computation model is to be obtained based on first laser inertial navigation set using strap inertial navigation algorithm
Linear model；And
The recursive operation model is Kalman filter.
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