CN110058288A - Unmanned plane INS/GNSS integrated navigation system course error modification method and system - Google Patents
Unmanned plane INS/GNSS integrated navigation system course error modification method and system Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a kind of unmanned plane INS/GNSS integrated navigation system course error modification method and systems, this method forms course angle error compensation amount using the acceleration of the acceleration of INS output and GNSS estimation under mode of motion, compensate INS/GNSS integrated navigation system course error, course angle error is corrected in real time and obtains the accurate course angle of unmanned plane, it can effectively overcome the problems, such as INS/GNSS integrated navigation system unmanned plane course angular divergence, be conducive to the stability and reliability that improve UAV Flight Control.
Description
Technical field
The present invention relates to integrated navigation and electronic information technical field, more particularly to a kind of unmanned plane INS/
GNSS integrated navigation error correcting method and system.
Background technique
It currently, with the continuous development of unmanned air vehicle technique, will be used wider and wider general, unmanned plane is in flight course
Safety directly affect its execute task ability, navigator fix technology be realize unmanned plane discretionary security flight and intelligence from
The basis of main task.Unmanned plane automatic navigation control system needs to have the induction energy to motion state and movement environment acumen
Power, and decision is provided for unmanned aerial vehicle (UAV) control in time, it just can guarantee that unmanned plane has higher security performance in this way.Fly in unmanned plane
During row, the resolving of course angle is to guarantee that unmanned plane being capable of sharp one of the key factor for perceiving its motion state.
Course angle is resolved there are two types of mode, and one is completed using Magnetic Sensor auxiliary posture and heading reference system AHRS
Magnetic heading resolves, but by environment magnetic disturbance, causes the course angle error of unmanned plane larger；Another kind is combined using INS/GNSS
Navigation calculation complete unmanned plane course angle resolve, but due to be in combined system course angle it is unobservable, lead to integrated navigation system
The course angle error that system resolves is gradually increased.Course angle error is very much not conducive to unmanned aerial vehicle (UAV) control, or even is unfavorable for not man-machine autonomous
The completion of task.It is not difficult to find that there is course angle solution during unmanned plane during flying in existing unmanned plane course angle solution process
Calculate the problem of error gradually dissipates.
Therefore, how to provide a kind of higher unmanned plane course error modification method of reliability be those skilled in the art urgently
Problem to be solved.
Summary of the invention
In view of this, the present invention provides a kind of unmanned plane INS/GNSS integrated navigation system course error modification method and
System, course angle resolution error gradually dissipates during solving the problems, such as unmanned plane during flying, improves UAV Flight Control
Stability and flight control reliability.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of unmanned plane INS/GNSS integrated navigation system course error modification method, method includes the following steps:
It calculates acceleration: calculating the of unmanned plane under navigational coordinate system using the scaling signal of INS accelerometer output
One acceleration, and the second acceleration of the unmanned plane velocity information calculating unmanned plane using GNSS receiver output；
It corrects traverse gyro error: the first acceleration of unmanned plane and the second acceleration is subjected to multiplication cross operation, the side of obtaining
Position gyro error correction amount corrects traverse gyro error using azimuth gyroscope calibration corrections, obtains azimuth gyroscope and estimates
Evaluation；
It corrects unmanned plane course angle: resolving the course angle of unmanned plane using azimuth gyroscope estimated value, and as observed quantity
The unmanned plane course angle of amendment INS/GNSS integrated navigation system output in real time, obtains accurate unmanned plane course information.
On the basis of above scheme, explanation is further explained to technical solution of the present invention.
Further, acceleration calculation process specifically includes the following steps:
Utilize the estimated value C of strapdown attitude matrixb nThe scaling signal that INS accelerometer exports is transformed into navigational coordinate system
Under, and calculate the acceleration of the unmanned plane under navigational coordinate system, the first acceleration as unmanned plane；
Estimation of the difference acquisition unmanned plane under navigational coordinate system is carried out to the unmanned plane speed of GNSS receiver output to add
Speed, the second acceleration as unmanned plane.
Further, correct unmanned plane course angle process specifically includes the following steps:
The course angle of unmanned plane is resolved using azimuth gyroscope estimated value, and corrects INS/GNSS group in real time as observed quantity
The unmanned plane course angle for closing navigation system output obtains accurate unmanned plane course information, implements step are as follows:
Step 1: by carrying out the estimated value that integral obtains unmanned plane course angle to azimuth gyroscope estimated value；
Step 2: establishing the mathematical model of INS/GNSS integrated navigation system；
Step 3: according to the mathematical model of foundation, using the quantity of state of optimal filter real-time estimation system, and according to platform
The course angle that the estimated value amendment inertial navigation system of error angle resolves；
Step 4: the estimated value that integral obtains unmanned plane course angle is carried out to azimuth gyroscope estimated value；
Step 5: the estimated value of the unmanned plane course angle according to obtained in step 4 updates the observation side of integrated navigation system
Journey, and obtain the real-time course angle information of unmanned plane.
Further, the process of the above-mentioned mathematical model for establishing INS/GNSS integrated navigation system are as follows:
Step 1: the state equation of integrated navigation system is established according to inertial navigation system error fundamental equation, platform error angle of making even
φ=[φx φy φz]T, velocity error δ V=[δ Vx δVy δVz]T, latitude error δ L, longitude error δ λ, height error δ h,
Accelerometer Δ=[Δx Δy Δz]TWith gyroscopic drift ε=[εx εy εz]TState equation is constructed as quantity of state, wherein
Subscript x, y and z indicate the component at navigational coordinate system n；
Step 2: using GNSS receiver export position and speed be individually subtracted INS output position and speed it is poor as
Position and speed observed quantity, using the difference of unmanned plane course angle estimation value in two neighboring calculating cycle as course observed quantity, with nothing
Integrated navigation system observational equation is established as attitude observation in man-machine estimated course angle.
Further, the course angle that inertial navigation system resolves is corrected according to the estimated value at platform error angle, specifically included following
Step:
Step 1: constructing correction matrix, the correction matrix using the estimated value at platform error angle are as follows:
Wherein, I is unit matrix,Indicate the estimated value by φThe antisymmetric matrix of composition, under
Marking n indicates navigational coordinate system；
Step 2: calculating correction matrixTransposed matrixAnd utilize transposed matrixCalculate strapdown attitude matrix
Estimated value, calculation formula are as follows:
Wherein,For strapdown attitude matrix,For correction matrixTransposition；
Step 3: utilizing the estimated value of strapdown attitude matrixCalculate the course angle of unmanned plane.
Further, strapdown attitude matrixCalculation formula are as follows:
Wherein, superscript p indicates that platform coordinate system, subscript b indicate carrier coordinate system, and f (θ, γ, ψ) is indicated by pitching
Angle θ, roll angle γ and course angle ψ are the function of independent variable.
The present invention also provides a kind of unmanned plane INS/GNSS integrated navigation system course error update the system, the systems
Use a kind of above-mentioned unmanned plane INS/GNSS integrated navigation system course error modification method.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of unmanned plane INS/
GNSS integrated navigation system course error modification method, this method utilize the acceleration and GNSS of INS output under mode of motion
The acceleration of estimation forms course angle error compensation amount, compensates INS/GNSS integrated navigation system course error, in real time amendment boat
To angle error and the accurate course angle of unmanned plane is obtained, INS/GNSS integrated navigation system unmanned plane course angle can effectively be overcome to send out
Scattered problem is conducive to the stability and reliability that improve UAV Flight Control.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is a kind of unmanned plane INS/GNSS integrated navigation system course error modification method provided by the invention
Method flow schematic diagram；
Fig. 2 attached drawing is the method flow schematic diagram that acceleration process is calculated in the embodiment of the present invention；
Fig. 3 attached drawing is the method flow schematic diagram that unmanned plane course angle process is corrected in the embodiment of the present invention；
Fig. 4 attached drawing is to correct the course angle that inertial navigation system resolves according to the estimated value at platform error angle in the embodiment of the present invention
Method flow schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of unmanned plane INS/GNSS integrated navigation system course error modification method, the party
Method the following steps are included:
S1: it calculates acceleration: calculating unmanned plane under navigational coordinate system using the scaling signal of INS accelerometer output
First acceleration, and the second acceleration of the unmanned plane velocity information calculating unmanned plane using GNSS receiver output；
S2: amendment traverse gyro error: the first acceleration of unmanned plane and the second acceleration are subjected to multiplication cross operation, obtained
Azimuth gyroscope calibration corrections correct traverse gyro error using azimuth gyroscope calibration corrections, obtain azimuth gyroscope
Estimated value；
S3: amendment unmanned plane course angle: the estimated value of unmanned plane course angle is resolved using azimuth gyroscope estimated value, and is made
The unmanned plane course angle for correcting the output of INS/GNSS integrated navigation system in real time for observed quantity, obtains accurate unmanned plane heading device
Breath.
In a specific embodiment, the process of acceleration is calculated in step S1, specifically includes the following steps:
S11: the estimated value of strapdown attitude matrix is utilizedThe scaling signal that INS accelerometer exports is transformed to navigation to sit
Under mark system, and calculate the acceleration of the unmanned plane under navigational coordinate system, the first acceleration as unmanned plane；
S12: difference is carried out to the unmanned plane speed of GNSS receiver output and obtains unmanned plane estimating under navigational coordinate system
Count acceleration, the second acceleration as unmanned plane.
In a specific embodiment, it elaborates to step S2, firstly, taking the first acceleration of unmanned plane a1=
[a1x a1y a1z]TWith the second acceleration a2=[a2x a2y a2z]TCarry out multiplication cross operation, calculating process are as follows: a=a1×a2=[ax
ay az]T, third component a thereinzFor azimuth gyroscope calibration corrections；
Then, error correction is carried out using azimuth gyroscope output data of the azimuth gyroscope calibration corrections to INS, obtained
The azimuth gyroscope estimated value after Real time error correction is obtained, azimuth gyroscope Ratio for error modification is taken as 0.2 in the present embodiment.
In a specific embodiment, in step S3 correct unmanned plane course angle process specifically includes the following steps:
S31: establishing the state equation of integrated navigation system according to inertial navigation system error fundamental equation, and make even platform error angle φ
=[φx φy φz]T, velocity error δ V=[δ Vx δVy δVz]T, latitude error δ L, longitude error δ λ, height error δ h, plus
Speedometer Δ=[Δx Δy Δz]TWith gyroscopic drift ε=[εx εy εz]TState equation is constructed as quantity of state, wherein under
Marking x, y and z indicates the component at navigational coordinate system n；
S32: the difference of the position and speed of INS output is individually subtracted as position in the position and speed exported using GNSS receiver
Speed observed quantity is set, using the difference of unmanned plane course angle estimation value in two neighboring calculating cycle as course observed quantity, with nobody
Integrated navigation system observational equation is established as attitude observation in machine estimated course angle；
S33: it is repaired using the quantity of state in optimal filter real-time estimation state equation, and according to the estimated value at platform error angle
The course angle that positive inertial navigation system resolves；
S34: the estimated value that integral obtains unmanned plane course angle is carried out to azimuth gyroscope estimated value；
S35: the observation side of integrated navigation system is updated according to the estimated value of unmanned plane course angle obtained in step S34
Journey, and obtain the real-time course angle information of unmanned plane.
Specifically, the optimal filter used in the present embodiment is Kalman filtering.
In a specific embodiment, inertial navigation system is corrected according to the estimated value at platform error angle in step S33 to resolve
Course angle, specifically includes the following steps:
S331: correction matrix, the correction matrix are constructed using the estimated value at platform error angle are as follows:
Wherein, I is unit matrix,Indicate the estimated value by φThe antisymmetric matrix of composition, under
Marking n indicates navigational coordinate system；
S332: correction matrix is calculatedTransposed matrixAnd utilize transposed matrixCalculate strapdown attitude matrix
Estimated value, calculation formula are as follows:
Wherein,For strapdown attitude matrix,For correction matrixTransposition；
S333: the estimated value of strapdown attitude matrix is utilizedCalculate the course angle of unmanned plane.
Specifically, above-mentioned strapdown attitude matrixCalculation formula are as follows:
Wherein, superscript p indicates that platform coordinate system, subscript b indicate carrier coordinate system, and f (θ, γ, ψ) is indicated by pitching
Angle θ, roll angle γ and course angle ψ are the function of independent variable.
It should be understood that the calculating of strapdown attitude matrix needs to consider when being modified to unmanned plane course error
Mode locating for unmanned plane, when being modified to unmanned plane course error, is adopted when unmanned plane is in static or hovering mode
Use diamagnetic interference posture and unmanned plane pitching angle theta, roll angle γ and the course angle ψ of heading reference system AHRS output as input
Parameter calculates carrier strapdown attitude matrix；When unmanned plane is in mode of motion, exported using INS/GNSS integrated navigation system
Unmanned plane pitching angle theta, roll angle γ and course angle ψ as input parameter calculate carrier strapdown attitude matrix.
Calculate the formula of carrier strapdown attitude matrix are as follows:
Wherein, superscript p indicates that platform coordinate system, subscript b indicate carrier coordinate system, and f (θ, γ, ψ) is indicated by pitching
Angle θ, roll angle γ and course angle ψ are the function of independent variable.
The embodiment of the invention also provides a kind of unmanned plane INS/GNSS integrated navigation system course error update the systems, should
System uses a kind of unmanned plane INS/GNSS integrated navigation system course error modification method provided in above-described embodiment.
Those of ordinary skill in the art will appreciate that: realize all or part of the steps involved in the method for above-described embodiment
It can be realized by relevant software programming and operation forms a kind of unmanned plane INS/GNSS integrated navigation system on a processor
Course error modification method and course angle resolving system, processor is either notebook, server, work station or common calculating
Machine is also possible to embeded processor, can also be portable terminal.
The embodiment of the present invention discloses the unmanned plane INS/GNSS integrated navigation system course error modification method of offer, has
Following advantage:
Course angle mistake is constructed using the redundancy observation information provided under the model of flight of unmanned plane, especially mode of motion
Poor update information corrects course angle error in real time and obtains the accurate course angle of unmanned plane, effectively INS/GNSS can be overcome to combine
The problem of navigation system unmanned plane course angular divergence, is conducive to the stability and reliability that improve UAV Flight Control.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of unmanned plane INS/GNSS integrated navigation system course error modification method, which comprises the following steps:
Calculate acceleration: using INS accelerometer output scaling signal calculate unmanned plane under navigational coordinate system first plus
Speed, and the second acceleration of the unmanned plane velocity information calculating unmanned plane using GNSS receiver output；
It corrects traverse gyro error: the first acceleration of unmanned plane and the second acceleration being subjected to multiplication cross operation, obtain orientation top
Spiral shell instrument calibration corrections correct traverse gyro error using azimuth gyroscope calibration corrections, obtain azimuth gyroscope estimated value；
It corrects unmanned plane course angle: resolving the course angle of unmanned plane using azimuth gyroscope estimated value, and real-time as observed quantity
The unmanned plane course angle for correcting the output of INS/GNSS integrated navigation system, obtains accurate unmanned plane course information.
2. a kind of unmanned plane INS/GNSS integrated navigation system course error modification method according to claim 1, special
Sign is, the process of acceleration calculation specifically includes the following steps:
Utilize strapdown attitude matrix estimated valueThe scaling signal that INS accelerometer exports is transformed under navigational coordinate system, and
Calculate the acceleration of the unmanned plane under navigational coordinate system, the first acceleration as unmanned plane；
Difference is carried out to the unmanned plane speed of GNSS receiver output and obtains estimated acceleration of the unmanned plane under navigational coordinate system,
The second acceleration as unmanned plane.
3. a kind of unmanned plane INS/GNSS integrated navigation system course error modification method according to claim 1, special
Sign is, correct the process of unmanned plane course angle specifically includes the following steps:
Step 1: the state equation of integrated navigation system is established according to inertial navigation system error fundamental equation, the platform error angle φ that makes even=
[φx φy φz]T, velocity error δ V=[δ Vx δVy δVz]T, latitude error δ L, longitude error δ λ, height error δ h, accelerate
Degree meter Δ=[Δx Δy Δz]TWith gyroscopic drift ε=[εx εy εz]TState equation is constructed as quantity of state, wherein subscript
X, y and z indicates the component at navigational coordinate system n；
Step 2: the difference of the position and speed of INS output is individually subtracted as position in the position and speed exported using GNSS receiver
Speed observed quantity, using the difference of unmanned plane course angle estimation value in two neighboring calculating cycle as course observed quantity, with unmanned plane
The observational equation of integrated navigation system is established as attitude observation in estimated course angle；
Step 3: using the quantity of state in optimal filter real-time estimation state equation, and according to the estimated value at platform error angleCorrect the course angle that inertial navigation system resolves；
Step 4: the estimated value that integral obtains unmanned plane course angle is carried out to azimuth gyroscope estimated value；
Step 5: the estimated value of the unmanned plane course angle according to obtained in step 4 updates the observational equation of integrated navigation system, and
Obtain the real-time course angle information of unmanned plane.
4. a kind of unmanned plane INS/GNSS integrated navigation system course error modification method according to claim 3, special
Sign is, corrects the course angle that inertial navigation system resolves according to the estimated value at platform error angle, specifically includes the following steps:
Step 1: constructing correction matrix, the correction matrix using the estimated value at platform error angle are as follows:
Wherein, I is unit matrix,Indicate the estimated value by platform error angle φThe antisymmetry square of composition
Battle array, subscript n indicate navigational coordinate system；
Step 2: calculating correction matrixTransposed matrixAnd utilize transposed matrixCalculate the estimation of strapdown attitude matrix
Value, calculation formula are as follows:
Wherein,For strapdown attitude matrix,For correction matrixTransposition；
Step 3: utilizing the estimated value of strapdown attitude matrixCalculate the course angle of unmanned plane.
5. a kind of unmanned plane INS/GNSS integrated navigation system course error modification method according to claim 4, special
Sign is, strapdown attitude matrixCalculation formula are as follows:
Wherein, superscript p indicate platform coordinate system, subscript b indicate carrier coordinate system, f (θ, γ, ψ) indicate by pitching angle theta,
Roll angle γ and course angle ψ is the function of independent variable.
6. a kind of unmanned plane INS/GNSS integrated navigation system course error update the system, the system uses such as claim 1-
A kind of unmanned plane INS/GNSS integrated navigation system course error modification method described in 5.
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| CN110702106A (en) * | 2019-10-15 | 2020-01-17 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle, course alignment method and device thereof and storage medium |
| CN110702106B (en) * | 2019-10-15 | 2021-04-09 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle, course alignment method and device thereof and storage medium |
| CN110986937A (en) * | 2019-12-19 | 2020-04-10 | 北京三快在线科技有限公司 | Navigation device and method for unmanned equipment and unmanned equipment |
| CN111342875A (en) * | 2020-03-04 | 2020-06-26 | 电子科技大学 | Unmanned aerial vehicle communication robust beam forming method based on DoA estimation |
| CN113391336A (en) * | 2021-06-17 | 2021-09-14 | 上海联适导航技术股份有限公司 | Course angle detection method, device, equipment and readable storage medium |
| CN113740890A (en) * | 2021-08-31 | 2021-12-03 | 普宙科技(深圳)有限公司 | Course angle correction method, system, computer equipment and storage medium |
| CN114485641A (en) * | 2022-01-24 | 2022-05-13 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation and satellite navigation azimuth fusion |
| CN114485641B (en) * | 2022-01-24 | 2024-03-26 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation device navigation azimuth fusion |
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