CN110196066A - Based on the virtual polar region method that grid posture velocity information is constant - Google Patents
Based on the virtual polar region method that grid posture velocity information is constant Download PDFInfo
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- CN110196066A CN110196066A CN201910388718.5A CN201910388718A CN110196066A CN 110196066 A CN110196066 A CN 110196066A CN 201910388718 A CN201910388718 A CN 201910388718A CN 110196066 A CN110196066 A CN 110196066A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a kind of virtual polar region methods constant based on grid posture velocity information, for solving the technical problem of existing virtual polar region method navigation verification the verifying results difference.Technical solution is that non-polar region field trial data conversion to polar region is carried out navigation verifying under grid coordinate system, converts virtual polar region by reference to information conversion, original state conversion and inertial sensor data and models.The present invention is converted by reference to information, original state conversion and inertial sensor data are converted, and being provided simultaneously with Virtual poles, earth rotation is parallel with gravitational vectors and the big feature of warp fast convergence two, improves model integrity；Non- polar region field trial data conversion to polar region is subjected to navigation verifying under grid coordinate system, and consider that earth curvature influences, it can guarantee that conversion front and back carrier does not change with respect to the posture and velocity information on ground, the authenticity and modeling accuracy for improving model achieve the effect that carry out actual experimental in polar region.
Description
Technical field
It is the present invention relates to a kind of virtual polar region method, in particular to a kind of based on constant virtual of grid posture velocity information
Polar region method.
Background technique
Verification experimental verification is of great significance to the assessment of polar navigation algorithm.Due to geographical location, the vehicles, weather,
The limitation of funds and experiment condition, researcher are hard to reach high latitude area and carry out practical field trial.And pure mathematics emulates
Method is difficult the kinetic model of actual response carrier and the influence of external environment again, cannot obtain comprehensively verifying conclusion.Separately
A kind of effective approach is converted the actual experimental data of mid low latitude region to polar region, by mathematical method to complete pole
The verifying of area's navigation algorithm, this method are known as virtual polar region technology.
Document " application study of the virtual polar region technology in inertia system polar navigation, optical gyroscope and systems technology hair
Exhibition and Application meeting collection of thesis, 2016, p69-73 " discloses a kind of virtual polar region method based on lateral longitude and latitude.The party
Method can set Virtual poles for the arbitrary point of earth surface by the matrixing under terrestrial coordinate system, and give virtual
Geographic latitude and longitude, virtual course and virtual grid heading calculation method.But document the method is restrained only for polar region warp
This feature is modeled, and has ignored acceleration of gravity and this conllinear key factor of earth rotation, does not consider that inertia passes
The reconstruct of sensor data, therefore virtual method is incomplete.In addition, according to direct conversion method described in document, due to ground
The horizontal flight of the influence of ball curvature difference, non-polar region will be converted into climbing in polar region or descending motion, lead to air pressure
Altitude information is not available yet, and influences the effect of navigation verifying.
Summary of the invention
In order to overcome the shortcomings of that existing virtual polar region method navigation verification the verifying results are poor, the present invention provides a kind of based on grid appearance
The constant virtual polar region method of state velocity information.This method under grid coordinate system by non-polar region field trial data conversion extremely
Area carries out navigation verifying, converts virtual polar region by reference to information conversion, original state conversion and inertial sensor data
Modeling.The present invention is converted by reference to information, original state conversion and inertial sensor data are converted, and makes Virtual poles while having
Standby earth rotation is parallel with gravitational vectors and the big feature of warp fast convergence two, improves model integrity；In grid coordinate system
It is lower that non-polar region field trial data conversion to polar region is subjected to navigation verifying, and consider that earth curvature influences, it can guarantee to convert
Front and back carrier does not change with respect to the posture and velocity information on ground, improves the authenticity and modeling accuracy of model, reaches
The effect of actual experimental is carried out in polar region.
A kind of the technical solution adopted by the present invention to solve the technical problems: void constant based on grid posture velocity information
Lopar area method, its main feature is that the following steps are included:
Step 1: reference information is converted.
Definition b be carrier coordinate system, reference axis be directed toward carrier front upper right to；G is geographic coordinate system, and reference axis is directed toward
When the northeast of position day direction；Definition G is grid coordinate system, reference axis yGIt is parallel with Greenwich meridian；I and e definition
For traditional inertial coodinate system and terrestrial coordinate system.
In the field trial of non-polar region, using inertia/combinations of satellites navigation result as reference information, sat comprising geographical
Attitude matrix under mark systemSpeed vgWith position pg.Department of Geography position includes longitude, latitude and elevation information, i.e. pg=[λ
L h]T.By the attitude matrix of Department of Geography and rate conversion to grid coordinate system:
In formula,And vGFor the attitude matrix and speed of opposite grid coordinate system,For grid angle transition matrix
In formula, σ is grid angle, and
It willAnd vGDirectly as the attitude matrix and speed in virtual polar region track, polar region location information passes through solution
The differential equation obtains
In formula, symbol * represents the virtual polar region data for being different from actual experimental data,Terrestrial coordinate system position is represented,
Initial valueIt is converted and is obtained by original state；For locality cosine matrix
In formula, by the Department of Geography position of virtual polar regionFormula (3) is brought into obtainIt brings into down
Formula acquires
Wherein, the geographic coordinate system position of virtual polar regionBy positionIt is obtained by classical conversion method.
Step 2: original state is converted.
The conversion method of initial attitude and speed in polar region track is identical as formula (1) and formula (2), and initial position is by artificial
The coordinate points being appointed as in polar regionAnd it is converted as follows to terrestrial coordinate system:
In formula,For the initial position under virtual polar region terrestrial coordinate system,For the prime vertical curvature half of corresponding position
Diameter, e1For the first eccentricity of the earth.
Step 3: inertial sensor data is converted.
By deducting local actual earth rotation angular speed and acceleration of gravity, and it is superimposed the earth rotation of virtual polar region
And gravitational vectors, complete the data reconstruction of gyro and accelerometer:
In formula,WithIt is exported for gyro obtained in actual experimental and accelerometer,WithFor polar region reconstruct
Gyro and accelerometer data；WithFor local practical earth rotation and transport motion angular speed
Vector,ωieFor earth rotation angular speed,It is calculated by bringing local position into formula (5)；WithFor the earth rotation and transport motion angular speed vector of virtual polar region,AndgcFor local gravitational acceleration modulus value； For the acceleration of gravity of virtual polar region；Local transport motion angular speedAccording to position pgWith
Speed vGIt calculates:
Wherein
In formula, RMAnd RNFor earth meridian circle and radius of curvature in prime vertical.Equally, the transport motion angular speed of virtual polar regionAccording to positionWith speed vGIt calculates.
The beneficial effects of the present invention are: this method is under grid coordinate system by non-polar region field trial data conversion to polar region
Navigation verifying is carried out, virtual polar region is converted by reference to information conversion, original state conversion and inertial sensor data and builds
Mould.The present invention is converted by reference to information, original state conversion and inertial sensor data are converted, and is provided simultaneously with Virtual poles
Earth rotation is parallel with gravitational vectors and the big feature of warp fast convergence two, improves model integrity；Under grid coordinate system
Non- polar region field trial data conversion to polar region is subjected to navigation verifying, and considers that earth curvature influences, before capable of guaranteeing conversion
The posture and velocity information in carrier relatively face do not change afterwards, improve the authenticity and modeling accuracy of model, reach
The effect of polar region progress actual experimental.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is the virtual polar region geometric locus schematic diagram of embodiment of the present invention method；
Fig. 2 is the pure-inertial guidance position result schematic diagram of the virtual polar region track of embodiment of the present invention method.
Specific embodiment
Referring to Fig.1-2.The present invention is based on the constant virtual polar region method of grid posture velocity information, specific step is as follows:
1, reference information is converted.
Definition b be carrier coordinate system, reference axis be directed toward carrier front upper right to；G is geographic coordinate system, and reference axis is directed toward
When the northeast of position day direction；Definition G is grid coordinate system, reference axis yGIt is parallel with Greenwich meridian；I and e definition
For traditional inertial coodinate system and terrestrial coordinate system.
In the field trial of non-polar region, using inertia/combinations of satellites navigation result as reference information, sat comprising geographical
Attitude matrix under mark systemSpeed vgWith position pg.Department of Geography position includes longitude, latitude and elevation information, i.e. pg=[λ
L h]T.First by the attitude matrix of Department of Geography and rate conversion to grid coordinate system:
In formulaAnd vGFor the attitude matrix and speed of opposite grid coordinate system,For grid angle transition matrix
σ is grid angle in formula, and
It willAnd vGDirectly as the attitude matrix and speed in virtual polar region track, polar region location information passes through solution
The differential equation obtains
Symbol " * " represents the virtual polar region data for being different from actual experimental data in formula,Represent terrestrial coordinate system position
It sets, initial valueIt is converted and is obtained by original state；For locality cosine matrix
In formula, by the Department of Geography position of virtual polar regionIt is available to bring formula (3) intoBand
Entering following formula can be in the hope of
The wherein geographic coordinate system position of virtual polar regionIt can be by positionIt is obtained by classical conversion method.
2, original state is converted.
The conversion method of initial attitude and speed in polar region track is identical as formula (1) and formula (2), and initial position is by artificial
The coordinate points being appointed as in polar regionAnd it is converted as follows to terrestrial coordinate system:
In formulaFor the initial position under virtual polar region terrestrial coordinate system,For the prime vertical curvature half of corresponding position
Diameter, e1For the first eccentricity of the earth.
3, inertial sensor data is converted.
By deducting local actual earth rotation angular speed and acceleration of gravity, and it is superimposed the earth rotation of virtual polar region
And gravitational vectors, complete the data reconstruction of gyro and accelerometer:
In formulaWithIt is exported for gyro obtained in actual experimental and accelerometer,WithFor polar region reconstruct
Gyro and accelerometer data；WithFor local practical earth rotation and transport motion angular speed arrow
Amount,ωieFor earth rotation angular speed,Local position can be brought into formula (5) calculating； WithFor the earth rotation and transport motion angular speed vector of virtual polar region,AndgcFor local gravitational acceleration modulus value； For the acceleration of gravity of virtual polar region；Local transport motion angular speedIt can be according to position pg
With speed vGIt calculates
Wherein
R in formulaMAnd RNFor earth meridian circle and radius of curvature in prime vertical.Equally, the transport motion angular speed of virtual polar regionIt can be according to positionWith speed vGIt calculates.
A specific embodiment of the invention and implementation result are described further below by emulation data.
Simulated conditions: the starting point of former non-polar region track is [120 ° of E, 55 ° of N, 5000m], aircraft along 120 ° of E warps with
The speed of 300m/s is northwards flown, and 84 ° of N of latitude are reached after 3h, 1,740 nautical miles of flying distance.Without posture and height during flight
Degree variation.During virtual polar region, the polar region departure point of reconstruct is placed in arctic point.
Fig. 1 show initial trace curve and it is virtual after polar region geometric locus.Discovery, this hair are compared from trajectory shape
Bright method has reappeared the real trace of non-polar region in polar region well.
Fig. 2 is shown and is missed in not overlay error using the position that virtual polar region track carries out pure-inertial guidance resolving
Difference.As can be seen that navigation 3h maximum position error is within 0.2m, the aviation of this and navigation error in 0.8 nautical mile/hour magnitude
Standard inertial navigation system is negligible compared to completely.Should the result shows that, the method for the present invention generate virtual track and polar region earth model
Completely the same with standard mechanization, modeling accuracy is high.
Claims (1)
1. a kind of virtual polar region method constant based on grid posture velocity information, it is characterised in that the following steps are included:
Step 1: reference information is converted；
Definition b be carrier coordinate system, reference axis be directed toward carrier front upper right to；G is geographic coordinate system, and reference axis is directed toward local
The northeast day direction of position；Definition G is grid coordinate system, reference axis yGIt is parallel with Greenwich meridian；I and e is defined as passing
The inertial coodinate system and terrestrial coordinate system of system；
It include geographic coordinate system using inertia/combinations of satellites navigation result as reference information in the field trial of non-polar region
Under attitude matrixSpeed vgWith position pg；Department of Geography position includes longitude, latitude and elevation information, i.e. pg=[λ L h]T；
By the attitude matrix of Department of Geography and rate conversion to grid coordinate system:
In formula,And vGFor the attitude matrix and speed of opposite grid coordinate system,For grid angle transition matrix
In formula, σ is grid angle, and
It willAnd vGDirectly as the attitude matrix and speed in virtual polar region track, polar region location information is by solving differential side
Journey obtains
In formula, symbol * represents the virtual polar region data for being different from actual experimental data,Represent terrestrial coordinate system position, initial valueIt is converted and is obtained by original state；For locality cosine matrix
In formula, by the Department of Geography position of virtual polar regionFormula (3) is brought into obtainFollowing formula is brought into ask
?
Wherein, the geographic coordinate system position of virtual polar regionBy positionIt is obtained by classical conversion method；
Step 2: original state is converted；
The conversion method of initial attitude and speed in polar region track is identical as formula (1) and formula (2), and initial position is by being manually specified
For the coordinate points in polar regionAnd it is converted as follows to terrestrial coordinate system:
In formula,For the initial position under virtual polar region terrestrial coordinate system,For the radius of curvature in prime vertical of corresponding position, e1
For the first eccentricity of the earth；
Step 3: inertial sensor data is converted；
By deducting local actual earth rotation angular speed and acceleration of gravity, and it is superimposed the earth rotation and again of virtual polar region
Force vector completes the data reconstruction of gyro and accelerometer:
In formula,WithIt is exported for gyro obtained in actual experimental and accelerometer,WithFor the top of polar region reconstruct
Spiral shell and accelerometer data； WithFor local practical earth rotation and transport motion angular speed arrow
Amount,ωieFor earth rotation angular speed,It is calculated by bringing local position into formula (5)； WithFor the earth rotation and transport motion angular speed vector of virtual polar region,AndgG=[0 0-gc]T, gcFor local gravitational acceleration modulus value； For the acceleration of gravity of virtual polar region；Local transport motion angular speedAccording to position pgWith
Speed vGIt calculates:
Wherein
In formula, RMAnd RNFor earth meridian circle and radius of curvature in prime vertical；Equally, the transport motion angular speed of virtual polar regionRoot
According to positionWith speed vGIt calculates.
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| CN113124879A (en) * | 2021-04-23 | 2021-07-16 | 苏州大学 | SINS/DVL polar region combined navigation method and system under virtual sphere model |
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| CN111947685B (en) * | 2020-07-30 | 2021-12-07 | 苏州大学 | Coarse alignment method for movable base of polar region grid coordinate system |
| CN111928848A (en) * | 2020-09-24 | 2020-11-13 | 中国人民解放军国防科技大学 | Polar region inertial navigation method based on virtual sphere normal vector model |
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