CN110058288B - Course error correction method and system for unmanned aerial vehicle INS/GNSS combined navigation system - Google Patents
Course error correction method and system for unmanned aerial vehicle INS/GNSS combined navigation system Download PDFInfo
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Abstract
The invention discloses a course error correction method and a course error correction system for an INS/GNSS combined navigation system of an unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of integrated navigation and electronic information, in particular to an unmanned aerial vehicle INS/GNSS integrated navigation error correction method and system.
Background
At present, along with the continuous development of unmanned aerial vehicle technology, its range of application is more and more extensive, and unmanned aerial vehicle security in flight process directly influences its ability of carrying out the task, and navigation positioning technology is the basis that realizes unmanned aerial vehicle independently safe flight and intelligent autonomous task. Unmanned aerial vehicle autonomous navigation control system need possess the acute sensing ability to motion state and motion environment to in time for unmanned aerial vehicle control provides the decision-making, just so can guarantee that unmanned aerial vehicle has higher security performance. In the flight process of the unmanned aerial vehicle, the calculation of the course angle is one of key factors for ensuring that the unmanned aerial vehicle can sensitively sense the motion state of the unmanned aerial vehicle.
The course angle resolving has two modes, one mode is that the magnetic course resolving is completed by adopting a magnetic sensor to assist the attitude and a course reference system AHRS, but the magnetic interference of the environment causes a large course angle error of the unmanned aerial vehicle; and the other method is to adopt INS/GNSS combined navigation to solve the course angle of the unmanned aerial vehicle, but the course angle of the combined navigation system is not observable, so that the course angle error solved by the combined navigation system is gradually increased. The large course angle error is not beneficial to the control of the unmanned aerial vehicle, even the completion of the unmanned aerial vehicle autonomous task. The problem that the course angle resolving error gradually diverges in the flight process of the unmanned aerial vehicle exists in the course angle resolving process of the existing unmanned aerial vehicle is easily found.
Therefore, how to provide a heading error correction method for an unmanned aerial vehicle with higher reliability is a problem that needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides a method and a system for correcting a course error of an INS/GNSS combined navigation system of an unmanned aerial vehicle, which solve the problem that a course angle resolving error gradually diverges in the flight process of the unmanned aerial vehicle and improve the stability of flight control of the unmanned aerial vehicle and the reliability of flight control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a course error correction method for an unmanned aerial vehicle INS/GNSS combined navigation system comprises the following steps:
calculating the acceleration: calculating a first acceleration of the unmanned aerial vehicle under a navigation coordinate system by using a proportional signal output by the INS accelerometer, and calculating a second acceleration of the unmanned aerial vehicle by using speed information of the unmanned aerial vehicle output by the GNSS receiver;
correcting the azimuth gyro error: performing cross multiplication operation on the first acceleration and the second acceleration of the unmanned aerial vehicle to obtain an azimuth gyroscope error correction amount, and correcting an azimuth gyroscope error by using the azimuth gyroscope error correction amount to obtain an azimuth gyroscope estimation value;
correcting the course angle of the unmanned aerial vehicle: and resolving the course angle of the unmanned aerial vehicle by using the azimuth gyroscope estimation value, and correcting the course angle of the unmanned aerial vehicle output by the INS/GNSS combined navigation system in real time as observed quantity to obtain accurate course information of the unmanned aerial vehicle.
On the basis of the above scheme, the technical scheme of the invention is further explained.
Further, the acceleration calculation process specifically includes the following steps:
estimate C using strapdown attitude matrixb nConverting the proportional signal output by the INS accelerometer into a navigation coordinate system, and calculating the acceleration of the unmanned aerial vehicle in the navigation coordinate system as a first acceleration of the unmanned aerial vehicle;
and differentiating the speed of the unmanned aerial vehicle output by the GNSS receiver to obtain the estimated acceleration of the unmanned aerial vehicle under the navigation coordinate system, and taking the estimated acceleration as the second acceleration of the unmanned aerial vehicle.
Further, the process of correcting the heading angle of the unmanned aerial vehicle specifically comprises the following steps:
the heading angle of the unmanned aerial vehicle is solved by utilizing the azimuth gyroscope estimation value, and the heading angle of the unmanned aerial vehicle output by the INS/GNSS combined navigation system is corrected in real time as observed quantity to obtain accurate heading information of the unmanned aerial vehicle, and the specific implementation steps are as follows:
step 1: obtaining an estimated value of the course angle of the unmanned aerial vehicle by integrating the estimated value of the orientation gyroscope;
step 2: establishing a mathematical model of an INS/GNSS combined navigation system;
and step 3: according to the established mathematical model, estimating the state quantity of the system in real time by using optimal filtering, and correcting the course angle calculated by the inertial navigation system according to the estimated value of the platform error angle;
and 4, step 4: integrating the estimated value of the azimuth gyroscope to obtain an estimated value of the heading angle of the unmanned aerial vehicle;
and 5: and 4, updating an observation equation of the integrated navigation system according to the estimated value of the heading angle of the unmanned aerial vehicle obtained in the step 4, and obtaining real-time heading angle information of the unmanned aerial vehicle.
Furthermore, the process of establishing the mathematical model of the INS/GNSS integrated navigation system is as follows:
step 1: establishing a state equation of the integrated navigation system according to an inertial navigation system error basic equation, and taking a platform error angle phi as [ phi ]x φy φz]TSpeed error δ V ═ δ Vx δVy δVz]TLatitude error delta L, longitude error delta lambda, altitude error delta h, accelerometer delta ═ deltax Δy Δz]TAnd gyroscope drift ε ═ εx εy εz]TConstructing a state equation as a state quantity, wherein subscripts x, y and z represent components under a navigation coordinate system n;
step 2: and respectively subtracting the difference between the position and the speed output by the INS from the position and the speed output by the GNSS receiver to serve as a position speed observed quantity, taking the difference between the estimated values of the course angle of the unmanned aerial vehicle in two adjacent calculation periods as a course observed quantity, and taking the estimated course angle of the unmanned aerial vehicle as an attitude observed quantity to establish an observation equation of the combined navigation system.
Further, correcting the course angle solved by the inertial navigation system according to the estimated value of the platform error angle, and specifically comprising the following steps:
step 1: constructing a correction matrix by utilizing the estimated value of the platform error angle, wherein the correction matrix is as follows:
wherein, I is an identity matrix,
representing an estimate of phi
A constructed antisymmetric matrix, and subscript n represents a navigation coordinate system;
step 2: calculating a correction matrix
Is transposed matrix of
And using a transposed matrix
Calculating an estimated value of the strapdown attitude matrix, wherein the calculation formula is as follows:
wherein the content of the first and second substances,
is a matrix of the strapdown attitude,
for modifying the matrix
Transposing;
and step 3: estimation using strapdown attitude matrix
And calculating the course angle of the unmanned aerial vehicle.
Further, a strapdown attitude matrix
The calculation formula of (2) is as follows:
wherein the upper corner mark p represents the platform coordinate system, the lower corner mark b represents the carrier coordinate system, and f (theta, gamma, psi) represents a function with the pitch angle theta, the roll angle gamma and the heading angle psi as independent variables.
The invention also provides a course error correction system of the unmanned aerial vehicle INS/GNSS combined navigation system, and the system uses the course error correction method of the unmanned aerial vehicle INS/GNSS combined navigation system.
According to the technical scheme, compared with the prior art, the invention discloses and provides a course error correction method for an INS/GNSS combined navigation system of an unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for correcting a course error of an unmanned aerial vehicle INS/GNSS combined navigation system provided by the invention;
FIG. 2 is a schematic flow chart illustrating a method for calculating acceleration according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for correcting a course angle of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for correcting a heading angle calculated by an inertial navigation system according to an estimated value of a platform error angle according to an embodiment of the present invention.
Detailed Description
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.
The embodiment of the invention discloses a course error correction method for an unmanned aerial vehicle INS/GNSS combined navigation system, which comprises the following steps:
s1, calculating the acceleration: calculating a first acceleration of the unmanned aerial vehicle under a navigation coordinate system by using a proportional signal output by the INS accelerometer, and calculating a second acceleration of the unmanned aerial vehicle by using speed information of the unmanned aerial vehicle output by the GNSS receiver;
s2, correcting the azimuth gyro error: performing cross multiplication operation on the first acceleration and the second acceleration of the unmanned aerial vehicle to obtain an azimuth gyroscope error correction amount, and correcting an azimuth gyroscope error by using the azimuth gyroscope error correction amount to obtain an azimuth gyroscope estimation value;
s3, correcting the course angle of the unmanned aerial vehicle: and calculating an estimated value of the course angle of the unmanned aerial vehicle by using the estimated value of the azimuth gyroscope, and correcting the course angle of the unmanned aerial vehicle output by the INS/GNSS combined navigation system in real time as an observed quantity to obtain accurate course information of the unmanned aerial vehicle.
In a specific embodiment, the process of calculating the acceleration in step S1 specifically includes the following steps:
s11 estimating value by using strapdown attitude matrix
Converting the proportional signal output by the INS accelerometer into a navigation coordinate system, and calculating the acceleration of the unmanned aerial vehicle in the navigation coordinate system as a first acceleration of the unmanned aerial vehicle;
and S12, differentiating the speed of the unmanned aerial vehicle output by the GNSS receiver to obtain the estimated acceleration of the unmanned aerial vehicle in the navigation coordinate system, and taking the estimated acceleration as the second acceleration of the unmanned aerial vehicle.
In a specific embodiment, the detailed description of step S2 is that first, the first acceleration a of the drone is taken1＝[a1x a1y a1z]TAnd a second acceleration a2＝[a2x a2y a2z]TPerforming cross multiplication operation, wherein the operation process is as follows: a ═ a1×a2＝[axay az]TOf which the third component azError correction of the azimuth gyroscope;
then, the azimuth gyroscope output data of the INS is error-corrected by using the azimuth gyroscope error correction amount, so as to obtain an azimuth gyroscope estimation value after real-time error correction, wherein the azimuth gyroscope error correction coefficient in this embodiment is 0.2.
In a specific embodiment, the process of correcting the heading angle of the drone in step S3 specifically includes the following steps:
s31: establishing a state equation of the integrated navigation system according to an inertial navigation system error basic equation, and taking a platform error angle phi as [ phi ]x φy φz]TSpeed error δ V ═ δ Vx δVy δVz]TLatitude error delta L, longitude error delta lambda, altitude error delta h, accelerometer delta ═ deltax Δy Δz]TAnd gyroscope drift ε ═ εx εy εz]TConstructing a state equation as a state quantity, wherein subscripts x, y and z represent components under a navigation coordinate system n;
s32: respectively subtracting the difference of the position and the speed output by the INS from the position and the speed output by the GNSS receiver to serve as a position speed observed quantity, taking the difference of course angle estimated values of the unmanned aerial vehicle in two adjacent calculation periods as a course observed quantity, taking the course angle estimated by the unmanned aerial vehicle as an attitude observed quantity, and establishing an observation equation of the combined navigation system;
s33: estimating state quantity in a state equation in real time by using optimal filtering, and correcting a course angle solved by an inertial navigation system according to an estimated value of a platform error angle;
s34: integrating the estimated value of the azimuth gyroscope to obtain an estimated value of the heading angle of the unmanned aerial vehicle;
s35: and updating an observation equation of the integrated navigation system according to the estimated value of the heading angle of the unmanned aerial vehicle obtained in the step S34, and obtaining the real-time heading angle information of the unmanned aerial vehicle.
Specifically, the optimal filtering employed in the present embodiment is kalman filtering.
In a specific embodiment, the step S33 of correcting the heading angle calculated by the inertial navigation system according to the estimated value of the platform error angle specifically includes the following steps:
s331: constructing a correction matrix by utilizing the estimated value of the platform error angle, wherein the correction matrix is as follows:
wherein, I is an identity matrix,
representing an estimate of phi
Constructed antisymmetric matrix, subscript n tableShowing a navigation coordinate system;
s332: calculating a correction matrix
Is transposed matrix of
And using a transposed matrix
Calculating an estimated value of the strapdown attitude matrix, wherein the calculation formula is as follows:
wherein the content of the first and second substances,
is a matrix of the strapdown attitude,
for modifying the matrix
Transposing;
s333: estimation using strapdown attitude matrix
And calculating the course angle of the unmanned aerial vehicle.
Specifically, the strapdown attitude matrix
The calculation formula of (2) is as follows:
wherein the upper corner mark p represents the platform coordinate system, the lower corner mark b represents the carrier coordinate system, and f (theta, gamma, psi) represents a function with the pitch angle theta, the roll angle gamma and the heading angle psi as independent variables.
It should be noted that: when the course error of the unmanned aerial vehicle is corrected, the calculation of the strapdown attitude matrix needs to consider the mode of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in a static or hovering mode, the carrier strapdown attitude matrix is calculated by taking the pitching angle theta, the roll angle gamma and the course angle psi of the unmanned aerial vehicle output by the anti-magnetic interference attitude and the course reference system AHRS as input parameters; when the unmanned aerial vehicle is in a motion mode, the pitch angle theta, the roll angle gamma and the course angle psi of the unmanned aerial vehicle output by the INS/GNSS integrated navigation system are used as input parameters to calculate a carrier strapdown attitude matrix.
The formula for calculating the carrier strapdown attitude matrix is as follows:
wherein the upper corner mark p represents the platform coordinate system, the lower corner mark b represents the carrier coordinate system, and f (theta, gamma, psi) represents a function with the pitch angle theta, the roll angle gamma and the heading angle psi as independent variables.
The embodiment of the invention also provides a course error correction system of the unmanned aerial vehicle INS/GNSS combined navigation system, and the system uses the course error correction method of the unmanned aerial vehicle INS/GNSS combined navigation system provided by the embodiment.
Those of ordinary skill in the art will understand that: all or part of the steps involved in the method for realizing the embodiment can be realized through related software programming and run on a processor to form the course error correction method and the course angle calculation system of the unmanned aerial vehicle INS/GNSS combined navigation system, and the processor can be a notebook, a server, a workstation or a common computer, can also be an embedded processor, and can also be portable terminal equipment.
The embodiment of the invention discloses a course error correction method of an unmanned aerial vehicle INS/GNSS combined navigation system, which has the following advantages:
the method has the advantages that the course angle error correction information is established by using the flight mode of the unmanned aerial vehicle, particularly redundant observation information provided under the motion mode, the course angle error is corrected in real time, the accurate course angle of the unmanned aerial vehicle is obtained, the problem of course angle divergence of the unmanned aerial vehicle of the INS/GNSS combined navigation system can be effectively solved, and the stability and the reliability of flight control of the unmanned aerial vehicle are improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A course error correction method for an unmanned aerial vehicle INS/GNSS combined navigation system is characterized by comprising the following steps:
calculating the acceleration: calculating a first acceleration of the unmanned aerial vehicle under a navigation coordinate system by using a specific force signal output by the INS accelerometer, and calculating a second acceleration of the unmanned aerial vehicle by using speed information of the unmanned aerial vehicle output by the GNSS receiver;
correcting the azimuth gyro error: performing cross multiplication operation on the first acceleration and the second acceleration of the unmanned aerial vehicle to obtain an azimuth gyroscope error correction amount, and correcting an azimuth gyroscope error by using the azimuth gyroscope error correction amount to obtain an azimuth gyroscope estimation value;
correcting the course angle of the unmanned aerial vehicle: calculating the course angle of the unmanned aerial vehicle by using the azimuth gyroscope estimation value, and correcting the course angle of the unmanned aerial vehicle output by the INS/GNSS combined navigation system in real time as observed quantity to obtain accurate course information of the unmanned aerial vehicle;
the process of correcting the course angle of the unmanned aerial vehicle specifically comprises the following steps:
step 1: establishing a state equation of the integrated navigation system according to an inertial navigation system error basic equation, and taking a platform error angle phi as [ phi ]x φy φz]TSpeed error δ V ═ δ Vx δVy δVz]TLatitude error delta L, longitude error delta lambda, altitude error delta h, accelerometer delta ═ deltax Δy Δz]TAnd gyroscope drift ε ═ εx εy εz]TConstructing a state equation as a state quantity, wherein subscripts x, y and z represent components under a navigation coordinate system n;
step 2: respectively subtracting the difference of the position and the speed output by the INS from the position and the speed output by the GNSS receiver to serve as a position speed observed quantity, taking the difference of course angle estimated values of the unmanned aerial vehicle in two adjacent calculation periods as a course observed quantity, taking the course angle estimated by the unmanned aerial vehicle as an attitude observed quantity, and establishing an observation equation of the integrated navigation system;
and step 3: estimating state quantities in the equation of state in real time using optimal filtering and based on the estimated value of the platform error angle
Correcting a course angle calculated by the inertial navigation system;
and 4, step 4: integrating the estimated value of the azimuth gyroscope to obtain an estimated value of the heading angle of the unmanned aerial vehicle;
and 5: and 4, updating an observation equation of the integrated navigation system according to the estimated value of the heading angle of the unmanned aerial vehicle obtained in the step 4, and obtaining real-time heading angle information of the unmanned aerial vehicle.
2. The method for correcting the course error of the unmanned aerial vehicle INS/GNSS combined navigation system according to claim 1, wherein the acceleration calculation process specifically includes the following steps:
using strapdown attitude matrix estimates
Converting the specific force signal output by the INS accelerometer into a navigation coordinate system, and calculating the acceleration of the unmanned aerial vehicle in the navigation coordinate system as a first acceleration of the unmanned aerial vehicle;
and differentiating the speed of the unmanned aerial vehicle output by the GNSS receiver to obtain the estimated acceleration of the unmanned aerial vehicle under the navigation coordinate system, and taking the estimated acceleration as the second acceleration of the unmanned aerial vehicle.
3. The method for correcting the course error of the unmanned aerial vehicle INS/GNSS combined navigation system according to claim 1, wherein the course angle calculated by the inertial navigation system is corrected according to the estimated value of the platform error angle, which specifically comprises the following steps:
step 1: constructing a correction matrix by utilizing the estimated value of the platform error angle, wherein the correction matrix is as follows:
wherein, I is an identity matrix,
estimate representing the error angle phi from the plateau
A constructed antisymmetric matrix, and subscript n represents a navigation coordinate system;
step 2: calculating a correction matrix
Is transposed matrix of
And using the transfer torqueMatrix of
Calculating an estimated value of the strapdown attitude matrix, wherein the calculation formula is as follows:
wherein the content of the first and second substances,
is a matrix of the strapdown attitude,
for modifying the matrix
Transposing;
and step 3: estimation using strapdown attitude matrix
And calculating the course angle of the unmanned aerial vehicle.
4. The method of claim 3, wherein the method for correcting the course error of the INS/GNSS integrated navigation system of the unmanned aerial vehicle is characterized in that the strapdown attitude matrix
The calculation formula of (2) is as follows:
wherein the upper corner mark p represents the platform coordinate system, the lower corner mark b represents the carrier coordinate system, and f (theta, gamma, psi) represents a function with the pitch angle theta, the roll angle gamma and the heading angle psi as independent variables.
5. An INS/GNSS combined navigation system course error correction system for unmanned aerial vehicles, the system using the INS/GNSS combined navigation system course error correction method for unmanned aerial vehicles as claimed in any one of claims 1 to 4.
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| 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 |
| CN110986937B (en) * | 2019-12-19 | 2022-05-17 | 北京三快在线科技有限公司 | Navigation device and method for unmanned equipment and unmanned equipment |
| CN111342875B (en) * | 2020-03-04 | 2021-01-26 | 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 |
| 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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