CN109974709B - Navigation system and method for determining navigation information - Google Patents

Navigation system and method for determining navigation information Download PDF

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CN109974709B
CN109974709B CN201910281625.2A CN201910281625A CN109974709B CN 109974709 B CN109974709 B CN 109974709B CN 201910281625 A CN201910281625 A CN 201910281625A CN 109974709 B CN109974709 B CN 109974709B
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inertial navigation
navigation device
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speed
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CN109974709A (en
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杨君
吴尉
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Tianjin Shikong Jingwei Information Technology Co ltd
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Tianjin Shikong Jingwei Information Technology Co ltd
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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
    • 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

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Abstract

The invention discloses a navigation system and a method for determining navigation information. Wherein, the method comprises the following steps: the first navigation equipment receives first navigation information from the second inertial navigation equipment, and initializes a preset inertial navigation calculation model by utilizing the first navigation information; the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment; and the first inertial navigation equipment determines fourth navigation information as the navigation information output by the first inertial navigation equipment by utilizing an inertial navigation calculation model and a preset recursive operation model based on the second navigation information and the third navigation information measured by the first inertial navigation equipment. The inertial navigation calculation model is based on navigation parameters measured by the first inertial navigation equipment.

Description

Navigation system and method for determining navigation information
Technical Field
The present invention relates to the field of navigation, and in particular, to a navigation system and a method of determining navigation information.
Background
The core of a naval vessel navigation system generally consists of two or more sets of inertial navigation equipment which are backups of each other. When a set of inertial navigation equipment is required to be restarted for various reasons in the process of performing a task at sea, and the navigation information of other inertial navigation equipment which normally works can only be used as an external reference information source for traction starting because satellite navigation information does not exist at the moment.
A plurality of sets of inertial navigation equipment of the naval vessel can be arranged on the same base of the same cabin, different bases of the same cabin or different cabins, and the postures of the inertial navigation equipment are aligned to the horizontal plane and the north alignment direction through calibration in advance. However, due to deck deformation existing between different bases, attitude deviation necessarily exists between inertial navigation equipment even through strict calibration is carried out.
For example, fig. 1-3 illustrate attitude deviations between two sets of laser inertial navigation devices in different cabins within 32 hours. Aiming at the problem that the laser inertial navigation devices in different cabins in the naval vessel navigation system have attitude deviation so as to easily cause errors in the process of traction starting, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a navigation system and a method for determining navigation information, and the problem that errors are easily caused in the process of traction starting because attitude deviation exists among a plurality of sets of inertial navigation equipment on a naval vessel.
According to an aspect of an embodiment of the present invention, there is provided a method of determining navigation information, including: the first navigation equipment receives first navigation information from the second inertial navigation equipment, and initializes a preset inertial navigation calculation model by utilizing the first navigation information; the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment; and the first inertial navigation equipment determines fourth navigation information as navigation information output by the first inertial navigation equipment by utilizing an inertial navigation calculation model and a preset recursive operation model based on the second navigation information and the third navigation information measured by the first inertial navigation equipment, wherein the inertial navigation calculation model is an inertial navigation calculation model based on navigation parameters measured by the first inertial navigation equipment.
According to another aspect of the embodiments of the present invention, there is also provided a navigation system including a first inertial navigation device and a second inertial navigation device which are communicatively connected, the first inertial navigation device being configured to perform the following operations: the first inertial navigation equipment receives first navigation information from the second inertial navigation equipment; and the first inertial navigation equipment determines second navigation information by utilizing a preset inertial navigation calculation model and a recursive calculation model based on the first navigation information. The inertial navigation calculation model is based on navigation parameters measured by the first inertial navigation equipment; and the recursive calculation model is used for correcting the first inertial navigation equipment.
Therefore, in summary, according to the method and the system provided by the present disclosure, the first inertial navigation device can gradually reduce the influence of the attitude deviation between the first inertial navigation device and the second inertial navigation device on the whole traction start by using the preset recursive operation model, so that the output of the first inertial navigation device is more accurate. The problem of among the prior art exist among the laser inertial navigation equipment of different cabins in the naval vessel navigation system gesture deviation to arouse the error easily in the in-process of pulling the start-up is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 to 3 are schematic diagrams showing attitude deviations between two sets of laser inertial navigation devices in different cabins within 32 hours;
FIG. 4 shows a schematic diagram of a navigation system according to an embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating operations performed by towed inertial navigation (i.e., a first inertial navigation device) in a navigation system according to an embodiment of the disclosure;
FIG. 6 shows a schematic diagram of lever arms of a towed inertial navigation system (i.e., the second inertial navigation device) and a towed inertial navigation system (i.e., the first inertial navigation device) in an embodiment of the present disclosure;
FIG. 7 shows timing diagrams of a towed inertial navigation device (i.e., the second inertial navigation device) and a towed inertial navigation device (i.e., the first inertial navigation device) in an embodiment of the present disclosure;
FIG. 8 is a flow chart illustrating a method of determining navigation information according to a second aspect of an embodiment of the present disclosure; and
fig. 9 is a schematic diagram illustrating a process of performing traction start by the traction inertial navigation according to an embodiment of the disclosure.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Examples
According to a first aspect of the present embodiment, there is provided an inertial navigation system, wherein fig. 4 shows a schematic view of the inertial navigation system according to the present embodiment arranged on a vessel.
Referring to fig. 4, the inertial navigation system includes a first inertial navigation device and a second inertial navigation device, wherein the first inertial navigation device and the second inertial navigation device may be laser inertial navigation devices, for example. Wherein the first inertial navigation device and the second inertial navigation device are communicatively coupled so as to be able to communicate with each other.
Fig. 5 is a flow chart illustrating a method performed by the first inertial navigation device, and referring to fig. 5, the first inertial navigation device is configured to perform the following operations:
s502: the method comprises the steps that first navigation equipment receives first navigation information from second inertial navigation equipment, and a preset inertial navigation calculation model is initialized by utilizing the first navigation information;
s504: the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment; and
s506: and the first inertial navigation equipment determines fourth navigation information as the navigation information output by the first inertial navigation equipment by utilizing the inertial navigation calculation model and a preset recursive operation model based on the first navigation information and the third navigation information measured by the first inertial navigation equipment.
The inertial navigation calculation model is based on navigation parameters measured by the first inertial navigation equipment.
Specifically, when the first inertial navigation device must be restarted for various reasons during the mission performed at sea, the non-satellite navigation information can only be dragged and started by the navigation information of other normally working inertial navigation devices (for example, the second inertial navigation device) as the external reference information source. However, due to deck deformation existing between different bases of the naval vessel, attitude deviation necessarily exists between the inertial navigation equipment even through strict calibration is carried out. So that if the navigation information of other inertial navigation devices (for example, the second inertial navigation device) is directly utilized for traction start, the data measured by the first inertial navigation device is easy to be distorted.
Therefore, in order to solve the problem that the attitude deviation exists between the laser inertial navigation devices in different cabins in the naval vessel navigation system, and thus an error is easily caused in the process of the traction start, in this embodiment, after the first inertial navigation device is initialized by using the navigation information (i.e., the first navigation information) sent by the second inertial navigation device, the first inertial navigation device does not directly output the measured inertial navigation information, but continues to receive the navigation information (i.e., the second navigation information) from the second inertial navigation device, and determines, based on the navigation information and the navigation information measured by itself (i.e., the third navigation information), the fourth navigation information as the navigation information output by the first inertial navigation device by using a preset inertial navigation computation model and a recursive computation model.
Therefore, through the mode, the first inertial navigation equipment can utilize the preset recursive operation model to gradually reduce the influence of attitude deviation between the first inertial navigation equipment and the second inertial navigation equipment on the whole traction starting, so that the output of the first inertial navigation equipment is more accurate. The problem of among the prior art exist among the laser inertial navigation equipment of different cabins in the naval vessel navigation system gesture deviation to arouse the error easily in the in-process of pulling the start-up is solved.
Optionally, the first navigation information and the second navigation information comprise attitude, velocity and position information measured by the second inertial navigation device; the third navigation information comprises attitude, speed and position information measured by the first inertial navigation equipment; the fourth navigation information comprises speed and position information of a carrier of the first inertial navigation device; the inertial navigation calculation model is a linear model obtained by utilizing a strapdown inertial navigation algorithm based on first inertial navigation equipment; and the recursive operational model is a kalman filter.
In particular, the kalman filter is a kalman filter based on the following equation:
the state equation is as follows:
Figure BDA0002021851460000061
and
the measurement equation is as follows:
Figure BDA0002021851460000062
wherein X is a state variable, and
Figure BDA0002021851460000063
in the formula (I), the compound is shown in the specification,
Figure BDA0002021851460000064
in the formula, phiEIs the roll angle error, phi, of the first inertial navigation deviceNIs the pitch angle error, phi, of the first inertial navigation deviceUIs the course angle error, delta v, of the first inertial navigation deviceEIs east velocity error, δ v, of the first inertial navigation deviceNIs the north velocity error, δ v, of the first inertial navigation deviceUIs a vertical velocity error of the first inertial navigation device, δ L is a latitude error of the first inertial navigation device, δ λ is a longitude error of the first inertial navigation device, δ h is an altitude error of the first inertial navigation device,
Figure BDA0002021851460000065
Is the zero offset of the X gyroscope of the first inertial navigation equipment,
Figure BDA0002021851460000066
Is zero-offset of the Y gyroscope of the first inertial navigation equipment,
Figure BDA0002021851460000067
Is the Z gyro zero offset of the first inertial navigation equipment,
Figure BDA0002021851460000068
Is zero offset of an X accelerometer of a first inertial navigation device,
Figure BDA0002021851460000069
Zero offset for the Y accelerometer of the first inertial navigation device and
Figure BDA00020218514600000610
zero-offset for the Z accelerometer of the first inertial navigation device, an
Figure BDA0002021851460000071
Wherein the content of the first and second substances,
Figure BDA0002021851460000072
Figure BDA0002021851460000073
Figure BDA0002021851460000074
Figure BDA0002021851460000075
Figure BDA0002021851460000076
Figure BDA0002021851460000077
wherein L is the latitude of the second inertial navigation device, λ is the longitude of the second inertial navigation device, h is the altitude of the second inertial navigation device, vEFor the second inertial navigation device east speed, vNFor the second inertial navigation device north velocity, vUFor the second inertial navigation device vertical speed, fEFor the east acceleration, f, of the first inertial navigation deviceNFor the north acceleration, f, of the first inertial navigation unitUFor the vertical acceleration, omega, of the first inertial navigation unitieIs the rotational angular velocity, R, of the earthEIs the radius of the earth meridian and RNIs the radius of the earth-made unit ring,
Figure BDA0002021851460000081
White noise generated during zero offset process of X gyro of the second inertial navigation device,
Figure BDA0002021851460000082
White noise generated during zero offset process of the Y gyroscope of the second inertial navigation device,
Figure BDA0002021851460000083
White noise generated during Z-gyro zero bias process of the second inertial navigation device,
Figure BDA0002021851460000084
White noise generated during zero offset process of the X accelerometer of the second inertial navigation device,
Figure BDA0002021851460000085
White noise for the zero offset process of the Y accelerometer of the second inertial navigation device and
Figure BDA0002021851460000086
adding for Z of second inertial navigation deviceThe speedometer is white in the zero-offset process, and
Ls、λs、hs、vEs、vNsand vUsRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L, of the first inertial navigation device system resolving outputr、λr、hr、vEr、vNrAnd vUrLatitude, longitude, altitude, east speed, north speed, and vertical speed representing the second inertial navigation device system solution output, and H ═ 06×3 I6×6 06×6]And V is a 6-dimensional vector representing latitude observation white noise, longitude observation white noise, altitude observation white noise, eastern speed observation white noise, north speed observation white noise, and vertical speed observation white noise.
Therefore, in this embodiment, the towed inertial navigation system (i.e., the first inertial navigation device) initializes the speed, the position, and the attitude by using the navigation information provided by the towed inertial navigation system (i.e., the second inertial navigation device), and effectively estimates the roll angle error, the pitch angle error, the heading angle error, the east speed error, the north speed error, the vertical speed error, the latitude error, the longitude error, the altitude error, the three gyroscope zero offsets, and the three accelerometer zero offsets in real time through the fine kalman filtering alignment, thereby ensuring that the navigation performance of the towed inertial navigation system after towing startup meets the index requirements. The problem of the traction starting method of using another set of laser inertial navigation system navigation information under the condition of no satellite navigation in the prior art is solved.
Further optionally, the first navigation device is further configured to perform the following operations: and performing lever arm compensation between the first inertial navigation equipment and the second inertial navigation equipment.
In particular, fig. 6 shows a schematic diagram of lever arms of a first inertial navigation device and a second inertial navigation device. Wherein O isbIs the coordinate system of the first inertial navigation device, OBIs the coordinate system of the second navigation device. Thus, the observed quantity of the position and velocity of the second inertial navigation device at the position of the first inertial navigation device (point b), which compensates for the lever arm effect error, is:
Figure BDA0002021851460000091
and
Figure BDA0002021851460000092
in the formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L under a first inertial navigation equipment carrier coordinate systemB、λB、hB、vEB、vNBAnd vUBRespectively representing latitude, longitude, altitude, eastern speed, northern speed and vertical speed under a second inertial navigation device carrier coordinate system, an
And
Figure BDA0002021851460000093
for the attitude matrix of the second inertial navigation device, the following is calculated
Figure BDA0002021851460000094
Where R, P and H are the roll, pitch, and heading angles of the second inertial navigation device, an
Figure BDA0002021851460000095
Three attitude angular velocities of the second inertial navigation device on the geographic coordinate system;
rx、ry、rzare lever arms in the directions of the transverse axis, the longitudinal axis and the azimuth axis.
Therefore, the lever arm compensation is carried out in the mode, and the accuracy of the navigation information output by the first navigation equipment is improved.
Optionally, the first navigation device is further configured to perform the following operations: determining a time delay between the second inertial navigation device and the first inertial navigation device; and compensating the first navigation information according to the determined delay.
In particular, fig. 7 shows a timing diagram of towed inertial navigation (i.e., a first navigation device) and towed inertial navigation (i.e., a second navigation device).
As shown in fig. 7, the information of the synchronization pulse time point is calculated as follows
info_pps＝info[k]*ΔT/T+info[k+1]*(T-ΔT)/T
The info _ PPS calculated by the traction inertial navigation DSP is navigation information which is output to the towed inertial navigation after the k +1 interruption time (corresponding to the k +1 th internal clock) is calculated, namely the information of the system which is synchronous with the PPS signal. The info [ k ] is navigation information measured by the traction inertial navigation at the kth internal clock, and the info [ k +1] is navigation information measured by the traction inertial navigation at the kth +1 internal clock and comprises measured attitude, speed and position information.
In the fine alignment state, the Kalman filtering updating calculation speed and the position measurement information of the towed inertial navigation need to be differenced by the towed inertial navigation speed and the position information at the same moment so as to avoid measurement errors caused by time inconsistency.
Z_posn＝posn_pps-posn_ref
Z_vel＝vel_pps-vel_ref
Wherein Z _ posn is a position error of the towed inertial navigation (i.e., the first inertial navigation device), and posn _ pps and posn _ ref are position information of the towed inertial navigation and the towed inertial navigation at the same pulse time point, respectively. Z _ vel is the speed error of the towed inertial navigation (i.e. the first inertial navigation device), and vel _ pps and vel _ ref are the speeds of the towed inertial navigation and the towed inertial navigation at the same pulse time point, respectively.
Because the data collected by the laser gyro is subjected to filtering preprocessing, fixed filtering delay is brought, and the order Td is the order/(2 sampling frequency) according to different filtering orders, the navigation information obtained by resolving the laser gyro and the accelerometer collected at the moment of the first k interruption is actually the navigation information before the Td.
To obtain accurate navigation information of the PPS time point, the navigation information needs to be searched by a later time delay Td, and the navigation information is divided into two conditions
If Td < ═ Δ T
info_pps＝info[k]*(ΔT-Td)/T+info[k+1]*(T-(ΔT-Td))/T
If Td > Δ T
Let Δ T1 be Td- Δ T, n be 1,
if Δ T1> T, the following loop calculation is performed: Δ T1 ═ Δ T1-T, n + +, until Δ T1< T
In this case, info _ pps is info [ k + n ] (T- Δ T1)/T + info [ k + n +1 ]. Δ T1/T
Therefore, the time delay between the first inertial navigation equipment and the second inertial navigation equipment is compensated, so that the two sets of inertial navigation equipment can compare the navigation information at the same time point, and the accuracy of the navigation information output by the first inertial navigation equipment is improved.
Therefore, in summary, according to the navigation system provided by this embodiment, the first inertial navigation device can gradually reduce the influence of the attitude deviation between the first inertial navigation device and the second inertial navigation device on the whole traction start by using the preset recursive operation model, so that the output of the first inertial navigation device is more accurate. The problem of among the prior art exist among the laser inertial navigation equipment of different cabins in the naval vessel navigation system gesture deviation to arouse the error easily in the in-process of pulling the start-up is solved.
Furthermore, according to a second aspect of the present embodiment, a method for determining navigation information is provided, wherein fig. 8 shows a flow chart of the method. Referring to fig. 8, the method includes:
s802: the method comprises the steps that first navigation equipment receives first navigation information from second inertial navigation equipment, and a preset inertial navigation calculation model is initialized by utilizing the first navigation information;
s804: the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment; and
s806: and the first inertial navigation equipment determines fourth navigation information as the navigation information output by the first inertial navigation equipment by utilizing the inertial navigation calculation model and a preset recursive operation model based on the first navigation information and the third navigation information measured by the first inertial navigation equipment.
The inertial navigation calculation model is based on navigation parameters measured by the first inertial navigation equipment.
Therefore, through the mode, the first inertial navigation equipment can utilize the preset recursive operation model to gradually reduce the influence of attitude deviation between the first inertial navigation equipment and the second inertial navigation equipment on the whole traction starting, so that the output of the first inertial navigation equipment is more accurate. The problem of among the prior art exist among the laser inertial navigation equipment of different cabins in the naval vessel navigation system gesture deviation to arouse the error easily in the in-process of pulling the start-up is solved.
Optionally, the first navigation information and the second navigation information comprise attitude, velocity and position information measured by the second inertial navigation device; the third navigation information comprises attitude, speed and position information measured by the first inertial navigation equipment; the fourth navigation information comprises speed and position information of a carrier of the first inertial navigation device; the inertial navigation calculation model is a linear model obtained by utilizing a strapdown inertial navigation algorithm based on first inertial navigation equipment; and the recursive operational model is a kalman filter.
In particular, the kalman filter is a kalman filter based on the following equation:
the state equation is as follows:
Figure BDA0002021851460000121
and
the measurement equation is as follows:
Figure BDA0002021851460000131
wherein X is a state variable, and
Figure BDA0002021851460000132
in the formula, phiEFor roll of the first inertial navigation unitAngular error phiNIs the pitch angle error, phi, of the first inertial navigation deviceUIs the course angle error, delta v, of the first inertial navigation deviceEIs east velocity error, δ v, of the first inertial navigation deviceNIs the north velocity error, δ v, of the first inertial navigation deviceUIs a vertical velocity error of the first inertial navigation device, δ L is a latitude error of the first inertial navigation device, δ λ is a longitude error of the first inertial navigation device, δ h is an altitude error of the first inertial navigation device,
Figure BDA0002021851460000133
Is the zero offset of the X gyroscope of the first inertial navigation equipment,
Figure BDA0002021851460000134
Is zero-offset of the Y gyroscope of the first inertial navigation equipment,
Figure BDA0002021851460000135
Is the Z gyro zero offset of the first inertial navigation equipment,
Figure BDA0002021851460000136
Is zero offset of an X accelerometer of a first inertial navigation device,
Figure BDA0002021851460000137
Zero offset for the Y accelerometer of the first inertial navigation device and
Figure BDA0002021851460000138
zero-offset for the Z accelerometer of the first inertial navigation device, an
Figure BDA0002021851460000139
Wherein the content of the first and second substances,
Figure BDA00020218514600001310
Figure BDA0002021851460000141
Figure BDA0002021851460000142
Figure BDA0002021851460000143
Figure BDA0002021851460000144
Figure BDA0002021851460000145
wherein L is the latitude of the second inertial navigation device, λ is the longitude of the second inertial navigation device, h is the altitude of the second inertial navigation device, vEFor the second inertial navigation device east speed, vNFor the second inertial navigation device north velocity, vUFor the second inertial navigation device vertical speed, fEFor the east acceleration, f, of the first inertial navigation deviceNFor the north acceleration, f, of the first inertial navigation unitUFor the vertical acceleration, omega, of the first inertial navigation unitieIs the rotational angular velocity, R, of the earthEIs the radius of the earth meridian and RNIs the radius of the earth-made unit ring,
Figure BDA0002021851460000146
White noise generated during zero offset process of X gyro of the second inertial navigation device,
Figure BDA0002021851460000147
White noise generated during zero offset process of the Y gyroscope of the second inertial navigation device,
Figure BDA0002021851460000148
White noise generated during Z-gyro zero bias process of the second inertial navigation device,
Figure BDA0002021851460000149
White noise generated during zero offset process of the X accelerometer of the second inertial navigation device,
Figure BDA00020218514600001410
White noise for the zero offset process of the Y accelerometer of the second inertial navigation device and
Figure BDA0002021851460000151
is white noise for the Z accelerometer zero-offset process of the second inertial navigation device, an
Ls、λs、hs、vEs、vNsAnd vUsRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L, of the first inertial navigation device system resolving outputr、λr、hr、vEr、vNrAnd vUrLatitude, longitude, altitude, east speed, north speed, and vertical speed representing the second inertial navigation device system solution output, and H ═ 06×3 I6×6 06×6]And V is a 6-dimensional vector representing latitude observation white noise, longitude observation white noise, altitude observation white noise, eastern speed observation white noise, north speed observation white noise, and vertical speed observation white noise.
Therefore, in this embodiment, the towed inertial navigation system (i.e., the first inertial navigation device) initializes the speed, the position, and the attitude by using the navigation information provided by the towed inertial navigation system (i.e., the second inertial navigation device), and effectively estimates the roll angle error, the pitch angle error, the heading angle error, the east speed error, the north speed error, the vertical speed error, the latitude error, the longitude error, the altitude error, the three gyroscope zero offsets, and the three accelerometer zero offsets in real time through the fine kalman filtering alignment, thereby ensuring that the navigation performance of the towed inertial navigation system after towing startup meets the index requirements. The problem of the traction starting method of using another set of laser inertial navigation system navigation information under the condition of no satellite navigation in the prior art is solved.
Further, optionally, the method further comprises: the first inertial navigation equipment performs lever arm compensation on the first inertial navigation equipment and the second inertial navigation equipment.
In particular, fig. 6 shows a schematic diagram of lever arms of a first inertial navigation device and a second inertial navigation device. Wherein O isbIs the coordinate system of the first inertial navigation device, OBIs the coordinate system of the second navigation device. Thus, the observed quantity of the position and velocity of the second inertial navigation device at the position of the first inertial navigation device (point b), which compensates for the lever arm effect error, is:
Figure BDA0002021851460000152
and
Figure BDA0002021851460000161
in the formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L under a first inertial navigation equipment carrier coordinate systemB、λB、hB、vEB、vNBAnd vUBRespectively representing latitude, longitude, altitude, eastern speed, northern speed and vertical speed under a second inertial navigation device carrier coordinate system, an
And
Figure BDA0002021851460000162
for the attitude matrix of the second inertial navigation device, the following is calculated
Figure BDA0002021851460000163
Where R, P and H are the roll, pitch, and heading angles of the second inertial navigation device, an
Figure BDA0002021851460000164
Three attitude angular velocities of the second inertial navigation device on the geographic coordinate system;
rx、ry、rzare lever arms in the directions of the transverse axis, the longitudinal axis and the azimuth axis.
Therefore, the lever arm compensation is carried out in the mode, and the accuracy of the navigation information output by the first navigation equipment is improved.
Optionally, the first navigation device is further configured to perform the following operations: determining a time delay between the second inertial navigation device and the first inertial navigation device; and compensating the first navigation information according to the determined delay.
Therefore, the time delay between the first inertial navigation equipment and the second inertial navigation equipment is compensated, so that the two sets of inertial navigation equipment can compare the navigation information at the same time point, and the accuracy of the navigation information output by the first inertial navigation equipment is improved.
Therefore, in summary, according to the method provided by this embodiment, the first inertial navigation device can gradually reduce the influence of the attitude deviation between the first inertial navigation device and the second inertial navigation device on the whole traction start by using the preset recursive operation model, so that the output of the first inertial navigation device is more accurate. The problem of among the prior art exist among the laser inertial navigation equipment of different cabins in the naval vessel navigation system gesture deviation to arouse the error easily in the in-process of pulling the start-up is solved.
Next, referring to fig. 9, a specific flow of the navigation system according to this embodiment is described by taking a process of towing start of the first inertial navigation device as an example.
In step S902, the first inertial navigation device (i.e., towed inertial navigation) starts towing and starting;
then, in step S912, the second inertial navigation device (i.e., the towed inertial navigation device) measures navigation information such as attitude, velocity, and position, and sends the navigation information to the first inertial navigation device after attitude zero position transformation, rotation angle transformation, lever arm compensation, and delay compensation (of course, the above compensation operation may also be performed in the first inertial navigation device);
then in step S904, the first inertial navigation device initializes the attitude, the speed, and the position using the navigation information acquired from the second inertial navigation device;
then, next, in step S914, the second inertial navigation device continues to measure the velocity and position and send them to the first inertial navigation device after performing the lever arm compensation and the delay compensation (of course, the above compensation operation may also be performed at the first inertial navigation device).
Then, in step S906, the first inertial navigation device performs correction by kalman filtering using the velocity and position information received from the second inertial navigation device.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (2)

1. A method of determining navigation information for a restarted inertial navigation device on a ship carrier, comprising:
the method comprises the steps that first inertial navigation equipment receives first navigation information from second inertial navigation equipment, and initializes speed, position and attitude by using the first navigation information aiming at a preset inertial navigation calculation model, wherein the first inertial navigation equipment and the second inertial navigation equipment are equivalent inertial navigation equipment and are positioned at different positions of the same ship carrier, and the first inertial navigation equipment is restarted inertial navigation equipment;
the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment; and
the first inertial navigation equipment determines fourth navigation information as navigation information output by the first inertial navigation equipment by utilizing the inertial navigation calculation model and a preset recursive operation model based on the second navigation information and third navigation information measured by the first inertial navigation equipment, wherein the fourth navigation information is output by the first inertial navigation equipment
The inertial navigation computation model is an inertial navigation computation model based on navigation parameters measured by the first inertial navigation device, and wherein
The first navigation information and the second navigation information comprise attitude, velocity and position information measured by the second inertial navigation device;
the third navigation information comprises attitude, speed and position information measured by the first inertial navigation equipment;
the fourth navigation information comprises speed and position information of a carrier of the first inertial navigation device;
the inertial navigation calculation model is a linear model obtained by utilizing a strapdown inertial navigation algorithm based on first inertial navigation equipment; and is
The recursive operational model is a Kalman filter, and wherein
The kalman filter is a kalman filter based on the following equation:
the state equation is as follows:
Figure FDA0003120382980000021
and
the measurement equation is as follows:
Figure FDA0003120382980000022
wherein X is a state variable, and
Figure FDA0003120382980000023
in the formula, phiEIs the roll angle error, phi, of the first inertial navigation deviceNIs the pitch angle error, phi, of the first inertial navigation deviceUIs the course angle error, delta v, of the first inertial navigation deviceEIs east velocity error, δ v, of the first inertial navigation deviceNIs the north velocity error, δ v, of the first inertial navigation deviceUIs a vertical velocity error of the first inertial navigation device, δ L is a latitude error of the first inertial navigation device, δ λ is a longitude error of the first inertial navigation device, δ h is an altitude error of the first inertial navigation device,
Figure FDA0003120382980000024
Is the zero offset of the X gyroscope of the first inertial navigation equipment,
Figure FDA0003120382980000025
Is zero-offset of the Y gyroscope of the first inertial navigation equipment,
Figure FDA0003120382980000026
Is the Z gyro zero offset of the first inertial navigation equipment,
Figure FDA0003120382980000027
Is zero offset of an X accelerometer of a first inertial navigation device,
Figure FDA0003120382980000028
Zero offset for the Y accelerometer of the first inertial navigation device and
Figure FDA0003120382980000029
zero-offset for the Z accelerometer of the first inertial navigation device, an
Figure FDA00031203829800000210
Wherein the content of the first and second substances,
Figure FDA0003120382980000031
Figure FDA0003120382980000032
Figure FDA0003120382980000033
Figure FDA0003120382980000034
Figure FDA0003120382980000035
Figure FDA0003120382980000036
wherein L is the latitude of the second inertial navigation device, λ is the longitude of the second inertial navigation device, h is the altitude of the second inertial navigation device, vEFor the second inertial navigation device east speed, vNFor the second inertial navigation device north velocity, vUFor the second inertial navigation device vertical speed, fEFor the east acceleration, f, of the first inertial navigation deviceNFor the north acceleration, f, of the first inertial navigation unitUFor the vertical acceleration, omega, of the first inertial navigation unitieIs the rotational angular velocity, R, of the earthEIs the radius of the earth meridian and RNIs the radius of the earth-made unit ring,
Figure FDA0003120382980000037
White noise generated during zero offset process of X gyro of the second inertial navigation device,
Figure FDA0003120382980000041
White noise generated during zero offset process of the Y gyroscope of the second inertial navigation device,
Figure FDA0003120382980000042
White noise generated during Z-gyro zero bias process of the second inertial navigation device,
Figure FDA0003120382980000043
White noise generated during zero offset process of the X accelerometer of the second inertial navigation device,
Figure FDA0003120382980000044
White noise for the zero offset process of the Y accelerometer of the second inertial navigation device and
Figure FDA0003120382980000045
is white noise for the Z accelerometer zero-offset process of the second inertial navigation device, an
Ls、λs、hs、vEs、vNsAnd vUsRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L, of the first inertial navigation device system resolving outputr、λr、hr、vEr、vNrAnd vUrLatitude, longitude, altitude, east speed, north speed, and vertical speed representing the system solution output of the second inertial navigation device, an
H＝[06×3 I6×6 06×6]V is a 6-dimensional vector representing latitude observation white noise, longitude observation white noise, altitude observation white noise, eastern velocity observation white noise, northern velocity observation white noise, and vertical velocity observation white noise, and wherein
The method further comprises the following steps: a first inertial navigation device is compensated for a lever arm between the first inertial navigation device and the second inertial navigation device, and wherein
Performing lever arm compensation on the first inertial navigation device and the second inertial navigation device, including performing lever arm compensation according to the following formula:
Figure FDA0003120382980000046
and
Figure FDA0003120382980000047
in the formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L under a first inertial navigation equipment carrier coordinate systemB、λB、hB、vEB、vNBAnd vUBRespectively representing latitude, longitude, altitude, eastern speed, northern speed and vertical speed under a second inertial navigation device carrier coordinate system, an
And
Figure FDA0003120382980000051
for the attitude matrix of the second inertial navigation device, the following is calculated
Figure FDA0003120382980000052
Where R, P and H are the roll, pitch, and heading angles of the second inertial navigation device, an
Figure FDA0003120382980000053
Three attitude angular velocities of the second inertial navigation device on the geographic coordinate system;
rx、ry、rzis a lever arm in the directions of a transverse axis, a longitudinal axis and an azimuth axis, and
the method further comprises the following steps: determining a time delay between the second inertial navigation device and the first inertial navigation device; and compensating the first navigation information according to the determined delay, and wherein
Compensating the first navigation information according to the determined delay time, comprising:
if Td < ═ Δ T
info_pps＝info[k]*(△T-Td)/T+info[k+1]*(T-(△T-Td))/T
If Td >. DELTA.T
Let Δ T1 be Td- Δ T, n be 1,
if Δ T1> T, the following loop calculation is performed: Δ T1 ═ Δ T1-T, n + +, until Δ T1< T, when info _ pps ═ info [ k + n ] (T- Δ T1)/T + info [ k + n +1] × Δ T1/T, where
Td is the filtering delay of the laser gyro collected data of the second inertial navigation device for filtering preprocessing, and is calculated according to the following formula: td ═ filter order/(2 × sampling frequency);
the info _ pps is navigation information output to the towed inertial navigation by the second inertial navigation equipment after the calculation at the k +1 interruption time;
info [ k ] is navigation information measured by the second inertial navigation device at the kth internal clock, and info [ k +1] is navigation information measured by the second inertial navigation device at the kth +1 internal clock;
Δ T is the delay between the nth internal clock of the first inertial navigation device and the (k + 1) th internal clock of the second inertial navigation device; and
t is the period of the internal clocks of the first and second inertial navigation devices.
2. A navigation system for a marine vessel carrier comprising a first inertial navigation device and a second inertial navigation device communicatively connected, wherein the first inertial navigation device and the second inertial navigation device are peer-to-peer inertial navigation devices, are located at different locations of the marine vessel carrier, and the first inertial navigation device is a restarted inertial navigation device, characterized in that the first inertial navigation device is configured to:
the first inertial navigation equipment receives first navigation information from the second inertial navigation equipment, and initializes the speed, the position and the posture aiming at a preset inertial navigation calculation model by utilizing the first navigation information;
the first inertial navigation equipment receives second navigation information from the second inertial navigation equipment;
and
the first inertial navigation equipment determines fourth navigation information as navigation information output by the first inertial navigation equipment by utilizing a preset inertial navigation calculation model and a recursive operation model based on the second navigation information and third navigation information measured by the first inertial navigation equipment, wherein the fourth navigation information is output by the first inertial navigation equipment
The inertial navigation calculation model is based on navigation parameters measured by the first inertial navigation equipment; and is
The recursive computation model is a recursive computation model for modifying the first inertial navigation device, and wherein
The first inertial navigation device and the second inertial navigation device are interchangeable, and wherein
The first navigation information and the second navigation information comprise attitude, velocity and position information measured by the second inertial navigation device;
the third navigation information comprises attitude, speed and position information measured by the first inertial navigation equipment;
the fourth navigation information comprises speed and position information of a carrier of the first inertial navigation device;
the inertial navigation calculation model is a linear model obtained by utilizing a strapdown inertial navigation algorithm based on first inertial navigation equipment; and is
The recursive operational model is a Kalman filter, and wherein
The kalman filter is a kalman filter based on the following equation:
the state equation is as follows:
Figure FDA0003120382980000071
and
the measurement equation is as follows:
Figure FDA0003120382980000072
wherein X is a state variable, and
Figure FDA0003120382980000073
in the formula, phiEIs the roll angle error, phi, of the first inertial navigation deviceNIs the pitch angle error, phi, of the first inertial navigation deviceUIs the course angle error, delta v, of the first inertial navigation deviceEIs east velocity error, δ v, of the first inertial navigation deviceNIs the north velocity error, δ v, of the first inertial navigation deviceUIs a vertical velocity error of the first inertial navigation device, δ L is a latitude error of the first inertial navigation device, δ λ is a longitude error of the first inertial navigation device, δ h is an altitude error of the first inertial navigation device,
Figure FDA0003120382980000081
Is the zero offset of the X gyroscope of the first inertial navigation equipment,
Figure FDA0003120382980000082
Is zero-offset of the Y gyroscope of the first inertial navigation equipment,
Figure FDA0003120382980000083
Is the Z gyro zero offset of the first inertial navigation equipment,
Figure FDA0003120382980000084
Is zero offset of an X accelerometer of a first inertial navigation device,
Figure FDA0003120382980000085
Zero offset for the Y accelerometer of the first inertial navigation device and
Figure FDA0003120382980000086
zero-offset for the Z accelerometer of the first inertial navigation device, an
Figure FDA0003120382980000087
Wherein the content of the first and second substances,
Figure FDA0003120382980000088
Figure FDA0003120382980000089
Figure FDA00031203829800000810
Figure FDA00031203829800000811
Figure FDA0003120382980000091
Figure FDA0003120382980000092
wherein L is the latitude of the second inertial navigation device, λ is the longitude of the second inertial navigation device, h is the altitude of the second inertial navigation device, vEFor the second inertial navigation device east speed, vNFor the second inertial navigation device north velocity, vUFor the second inertial navigation device vertical speed, fEFor the east acceleration, f, of the first inertial navigation deviceNFor the north acceleration, f, of the first inertial navigation unitUIs the first inertiaVertical acceleration, omega, of sexual navigation equipmentieIs the rotational angular velocity, R, of the earthEIs the radius of the earth meridian and RNIs the radius of the earth-made unit ring,
Figure FDA0003120382980000093
White noise generated during zero offset process of X gyro of the second inertial navigation device,
Figure FDA0003120382980000094
White noise generated during zero offset process of the Y gyroscope of the second inertial navigation device,
Figure FDA0003120382980000095
White noise generated during Z-gyro zero bias process of the second inertial navigation device,
Figure FDA0003120382980000096
White noise generated during zero offset process of the X accelerometer of the second inertial navigation device,
Figure FDA0003120382980000097
White noise for the zero offset process of the Y accelerometer of the second inertial navigation device and
Figure FDA0003120382980000098
is white noise for the Z accelerometer zero-offset process of the second inertial navigation device, an
Ls、λs、hs、vEs、vNsAnd vUsRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L, of the first inertial navigation device system resolving outputr、λr、hr、vEr、vNrAnd vUrLatitude, longitude, altitude, east speed, north speed, and vertical speed representing the system solution output of the second inertial navigation device, an
H＝[06×3 I6×6 06×6]V is a 6-dimensional vector representing observation white noise of latitude, observation white noise of longitude, and observation of altitudeWhite noise, eastern white noise, northern white noise, and vertical white noise, and wherein
And, the first inertial navigation device is configured to perform the following operations: a first inertial navigation device is compensated for a lever arm between the first inertial navigation device and the second inertial navigation device, and wherein
Performing lever arm compensation on the first inertial navigation device and the second inertial navigation device, including performing lever arm compensation according to the following formula:
Figure FDA0003120382980000101
and
Figure FDA0003120382980000102
in the formula, Lb、λb、hb、vEb、vNbAnd vUbRespectively representing latitude, longitude, altitude, east speed, north speed and vertical speed, L under a first inertial navigation equipment carrier coordinate systemB、λB、hB、vEB、vNBAnd vUBRespectively representing latitude, longitude, altitude, eastern speed, northern speed and vertical speed under a second inertial navigation device carrier coordinate system, an
And
Figure FDA0003120382980000103
for the attitude matrix of the second inertial navigation device, the following is calculated
Figure FDA0003120382980000104
Where R, P and H are the roll, pitch, and heading angles of the second inertial navigation device, an
Figure FDA0003120382980000105
Three attitude angular velocities of the second inertial navigation device on the geographic coordinate system;
rx、ry、rzis a lever arm in the directions of a transverse axis, a longitudinal axis and an azimuth axis, and
the first inertial navigation device is further configured to further perform the following operations: determining a time delay between the second inertial navigation device and the first inertial navigation device; and compensating the first navigation information according to the determined delay, and wherein
Compensating the first navigation information according to the determined delay time, comprising:
if Td < ═ Δ T
info_pps＝info[k]*(△T-Td)/T+info[k+1]*(T-(△T-Td))/T
If Td >. DELTA.T
Let Δ T1 be Td- Δ T, n be 1,
if Δ T1> T, the following loop calculation is performed: Δ T1 ═ Δ T1-T, n + +, until Δ T1< T, when info _ pps ═ info [ k + n ] (T- Δ T1)/T + info [ k + n +1] × Δ T1/T, where
Td is the filtering delay of the laser gyro collected data of the second inertial navigation device for filtering preprocessing, and is calculated according to the following formula: td ═ filter order/(2 × sampling frequency);
the info _ pps is navigation information output to the towed inertial navigation by the second inertial navigation equipment after the calculation at the k +1 interruption time;
info [ k ] is navigation information measured by the second inertial navigation device at the kth internal clock, and info [ k +1] is navigation information measured by the second inertial navigation device at the kth +1 internal clock;
Δ T is the delay between the nth internal clock of the first inertial navigation device and the (k + 1) th internal clock of the second inertial navigation device; and
t is the period of the internal clocks of the first and second inertial navigation devices.
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