CN110361002A - Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle - Google Patents
Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle Download PDFInfo
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- CN110361002A CN110361002A CN201910633791.4A CN201910633791A CN110361002A CN 110361002 A CN110361002 A CN 110361002A CN 201910633791 A CN201910633791 A CN 201910633791A CN 110361002 A CN110361002 A CN 110361002A
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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
Abstract
The invention belongs to technical field of inertial, and in particular to be a kind of new simplification inertial navigation system attitude measurement method suitable for roadbed vehicle, and it is an object of the present invention to provide a kind of simplification inertial navigation system attitude measurement method suitable for roadbed vehicle.The technical solution adopted is that: firstly, given initial navigation parameter；Then, k moment total azimuth ψ is calculated in recursion measurement k moment azimuth median one and median twok；Interior lever arm effect compensating is carried out to transverse direction and forward acceleration meter again, the pitching attitude angle θ at k moment is calculatedkWith roll attitude angle γk.The present invention can calculate pitching attitude angle and roll attitude angle from accelerometer, eliminate error accumulation caused by integrating for the first time；The speed derived from odometer simultaneously, there is better performance, avoids error accumulation caused by any possible non-compensated acceleration meter deviation, and reduce primary integral in position calculates, effectively reduces error accumulation.
Description
Technical field
The invention belongs to technical field of inertial, and in particular to be that a kind of new simplification suitable for roadbed vehicle is used to
Guiding systems attitude measurement method.
Background technique
Relative to aviation, marine aided inertial navigation system, cost seems even more important for vehicle inertia navigation system.One
In a conventional medium accuracy inertial navigation system, inertial measurement cluster occupies the prime cost of inertial navigation system, and top
Spiral shell occupies the prime cost of inertial measurement cluster, therefore studies a kind of used in the in the case where reduction for guaranteeing that algorithm effectively updates
Property measurement component inexpensive navigation system be necessary.
But in the article delivered, such as Chen Changfeng, Shi Wei, Wu Meiping, Cao Juliang, peace minister " computer measurement with
Control " on devise in " the gyro free automobile navigation technology based on mems accelerometer " article for delivering it is a kind of based on low cost
Nine high-precision mems accelerometers are placed in the non-matter of carrier by the vehicle-mounted strap-down inertial system of the gyro free of mems accelerometer
At the heart, carrier angular movement information is measured instead of gyro.From the point of view of simulation result, for the carrier to navigate in the 300s time, nothing
The location error of the vehicle-mounted Strapdown Inertial Navigation System of gyro reaches 0.0002 °, meets the required precision of navigation, but error is with the time
Diverging is obvious, is unable to reach the long-time navigation needs of 300s or more.
There are also Li An, Qin Fangjun, Xu Jiangning delivered on " Chinese inertial technology journal " " single gyro add speedometer victory
Inertial navigation calculation method " add speedometer (five accelerometers) using a kind of single gyro instrument in article strapdown it is used
Property navigation calculation method, which, can be without integral by 5 accelerometers of reasonable disposition and 1 gyroscope
And directly calculation angular speed, the influence of angular acceleration item in accelerometer output equation is eliminated, can make to solve in posture and position
Primary integral is reduced when calculation respectively, to effectively error be inhibited to dissipate at any time.From the point of view of simulation result, the calculation method is really
Systematic error can be inhibited to dissipate to a certain degree, but in practical applications, also need Error Compensation Algorithm or with other navigation system groups
It closes and uses, comparatively laborious, cost is also higher.
The article delivered above is all described and has been probed into the simplification inertial measurement cluster navigation system of low cost,
But do not reach the requirement of independent navigation in navigation for a long time and practical application simultaneously, therefore study one kind and meeting essence
The inexpensive air navigation aid that energy is entirely autonomous while degree requires, does not depend on any external information and works long hours has innovation
Property and Practical Project value.
Summary of the invention
The purpose of the present invention is to provide a kind of to reduce inertial measurement cluster in the case where guarantee algorithm effectively updates
The simplification inertial navigation system attitude measurement method suitable for roadbed vehicle.
In order to achieve the object of the present invention, the technical solution adopted is that:
Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle, comprising the following steps:
Step 1: given initial navigation parameter (k=0 moment): terrestrial equator radiusEarth rotation
Angular velocity vector Ω=7.27220417 × 10-5Rad/s, gravity acceleration g=9.78049m/s2；Extraneous input sample period Δ t,
Local longitudeLocal latitude λ0, pitching attitude angle θ0, roll attitude angle γ0, azimuth ψ0, height h0, odometer speed it is defeated
Out
Step 2: recursion measures k moment azimuth median one；
Step 3: recursion measures k moment azimuth median two；
Step 4: k moment total azimuth ψ can be calculated by step 2 and step 3k；
Step 5: interior lever arm effect compensating is carried out to transverse direction and forward acceleration meter.
Step 6: the pitching attitude angle θ at k moment is calculatedk；
Step 7: the roll attitude angle γ at k moment is calculatedk。
The azimuth median is first is that using k moment day to gyroscope output angular velocityIt is calculated in the Δ t period
Vehicle itself rotation angleAzimuth ψ of caused k momentk', specific formula are as follows:
Wherein:
XE=cos θk-1sinψk-1cosαk-(cosγk-1cosψk-1+sinθk-1sinγk-1sinψk-1)sinαk
XN=cos θk-1cosψk-1cosαk-(-cosγk-1sinψk-1+sinθk-1sinγk-1cosψk-1)sinαk
Here, θk-1It is k-1 moment pitching attitude angle, γk-1It is k-1 moment roll attitude angle, ψk-1It is the moment orientation k-1
Angle.
The azimuth median is second is that the azimuth due to caused by the variation of earth rotation and local horizontal coordinates
ψk", specific formula are as follows:
Wherein,
It is k-1 moment local latitude, hk-1It is k-1 moment height, RNIt is radius of curvature in prime vertical.
The k moment total azimuth ψkAre as follows:
ψk=ψk′+ψk″
Described to lever arm effect compensating in lateral accelerometer progress is exported to k moment lateral accelerometerIt is mended
Acceleration value after repayingSpecific formula are as follows:
Described to lever arm effect compensating in the progress of forward acceleration meter is exported to k moment forward acceleration meterIt carries out
Compensated acceleration valueSpecific formula are as follows:
Wherein, the angular movement vector of three axis inertial measurement clusters is ξ=[ξx ξy ξz]T, lateral and forward acceleration meter bar
Arm lengths vector is rb=[rx ry]T。
The pitching attitude angle θ at the k moment being calculatedkAre as follows:
Wherein,For pre-compensation acceleration,Speed to be measured by odometer is derived
Acceleration, g is acceleration of gravity.
The roll attitude angle γ that the k moment is calculatedkAre as follows:
Wherein,For lateral compensated acceleration,It is exported for the speed of odometer,It is exported for the angular speed of gyro, g
For acceleration of gravity.
Compared with prior art, the beneficial effects of the present invention are:
Aiming at the problem that reducing vehicle inertia navigation system cost, the present invention provides one kind effectively to update in guarantee algorithm
In the case where reduce inertial measurement cluster low cost the simplification inertial navigation system attitude measurement method suitable for roadbed vehicle, can
With from accelerometer rather than gyroscope calculates pitching attitude angle and roll attitude angle, eliminate error caused by integrating for the first time
Accumulation；Simultaneously derived from odometer speed rather than by accelerometer calculate car speed have better performance, avoid appoint
Error accumulation caused by what possible non-compensated acceleration meter deviation, and primary integral is reduced in position calculates, effectively drop
Low error accumulation.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the principle of the present invention figure.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
The invention belongs to technical field of inertial, and in particular to be that a kind of new simplification suitable for roadbed vehicle is used to
Guiding systems attitude measurement method is, and it is an object of the present invention to provide a kind of in the in the case where reduction inertia measurement group for guaranteeing that algorithm effectively updates
The simplification inertial navigation system attitude measurement method suitable for roadbed vehicle of part.
In order to achieve the object of the present invention, the technical solution adopted is that:
Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle, comprising the following steps:
Step 1: given initial navigation parameter (k=0 moment): terrestrial equator radiusEarth rotation angle
Speed Ω=7.27220417 × 10-5Rad/s, gravity acceleration g=9.78049m/s2；Extraneous input sample period Δ t, when
Ground longitudeLocal latitude λ0, pitching attitude angle θ0, roll attitude angle γ0, azimuth ψ0, height h0, odometer speed output
Step 2: recursion measures k moment azimuth median one；
Step 3: recursion measures k moment azimuth median two；
Step 4: k moment total azimuth ψ can be calculated by step 2 and step 3k；
Step 5: interior lever arm effect compensating is carried out to transverse direction and forward acceleration meter.
Step 6: the pitching attitude angle θ at k moment is calculatedk；
Step 7: the roll attitude angle γ at k moment is calculatedk。
The azimuth median is first is that using k moment day to gyroscope output angular velocityIt is calculated in the Δ t period
Vehicle itself rotation angleAzimuth ψ of caused k momentk', specific formula are as follows:
Wherein:
XE=cos θk-1sinψk-1cosαk-(cosγk-1cosψk-1+sinθk-1sinγk-1sinψk-1)sinαk
XN=cos θk-1cosψk-1cosαk-(-cosγk-1sinψk-1+sinθk-1sinγk-1cosψk-1)sinαk
Here, θk-1It is k-1 moment pitching attitude angle, γk-1It is k-1 moment roll attitude angle, ψk-1It is the moment orientation k-1
Angle.
The azimuth median is second is that the azimuth due to caused by the variation of earth rotation and local horizontal coordinates
ψk", specific formula are as follows:
Wherein,
It is k-1 moment local latitude, hk-1It is k-1 moment height, RNIt is radius of curvature in prime vertical.
The k moment total azimuth ψkAre as follows:
ψk=ψk′+ψk″
Described to lever arm effect compensating in lateral accelerometer progress is exported to k moment lateral accelerometerIt is mended
Acceleration value after repayingSpecific formula are as follows:
Described to lever arm effect compensating in the progress of forward acceleration meter is exported to k moment forward acceleration meterIt is mended
Acceleration value after repayingSpecific formula are as follows:
Wherein, the angular movement vector of three axis inertial measurement clusters is ξ=[ξx ξy ξz]T, lateral and forward acceleration meter bar
Arm lengths vector is rb=[rx ry]T。
The pitching attitude angle θ at the k moment being calculatedkAre as follows:
Wherein,For the compensated acceleration in step 5,Speed to be measured by odometer pushes away
The acceleration that export comes, g is acceleration of gravity.
The roll attitude angle γ that the k moment is calculatedkAre as follows:
Wherein,For the compensated acceleration in step 5,It is exported for the speed of odometer,For the angular speed of gyro
Output, g is acceleration of gravity.
Compared with prior art, the beneficial effects of the present invention are:
Aiming at the problem that reducing vehicle inertia navigation system cost, the present invention provides one kind effectively to update in guarantee algorithm
In the case where reduce inertial measurement cluster low cost the simplification inertial navigation system attitude measurement method suitable for roadbed vehicle, can
With from accelerometer rather than gyroscope calculates pitching attitude angle and roll attitude angle, eliminate error caused by integrating for the first time
Accumulation；Simultaneously derived from odometer speed rather than by accelerometer calculate car speed have better performance, avoid appoint
Error accumulation caused by what possible non-compensated acceleration meter deviation, and primary integral is reduced in position calculates, effectively drop
Low error accumulation.
It is described in further detail below:
Suitable for the simplification inertial navigation system attitude measurement method of roadbed vehicle, include the following steps:
Step 1: given initial navigation parameter (k=0 moment): terrestrial equator radiusEarth rotation
Angular velocity vector Ω=7.27220417 × 10-5Rad/s, gravity acceleration g=9.78049m/s2；Extraneous input sample period Δ t,
Local longitudeLocal latitude λ0, pitching attitude angle θ0, roll attitude angle γ0, azimuth ψ0, height h0, odometer speed output
Step 2: recursion measures k moment azimuth median one, that is, utilizes the k moment day to gyroscope output angular velocity
Vehicle itself rotation angle in the Δ t period is calculatedAzimuth ψ of caused k momentk' are as follows:
Wherein:
XE=cos θk-1sinψk-1cosαk-(cosγk-1cosψk-1+sinθk-1sinγk-1sinψk-1)sinαk
XN=cos θk-1cosψk-1cosαk-(-cosγk-1sinψk-1+sinθk-1sinγk-1cosψk-1)sinαk
Here, θk-1It is k-1 moment pitching attitude angle, γk-1It is k-1 moment roll attitude angle, ψk-1It is the moment orientation k-1
Angle.
Step 3: recursion measures k moment azimuth median two, in addition to vehicle itself rotation is outer, due to earth rotation with
Azimuth ψ caused by the variation of local horizontal coordinatesk" are as follows:
Wherein,It is k-1 moment local latitude, hk-1It is k-1 moment height, RNIt is radius of curvature in prime vertical:
Step 4: k moment total azimuth ψ can be calculated by step 2 and step 3kAre as follows:
ψk=ψk′+ψk″
Step 5: interior lever arm effect compensating is carried out to transverse direction and forward acceleration meter.It transports at the angle of three axis inertial measurement clusters
Dynamic vector is ξ=[ξx ξy ξz]T, laterally and forward acceleration meter lever arm length vector is rb=[rx ry]T, then to k moment cross
It is exported to accelerometerAcceleration value after compensatingAre as follows:
K moment forward acceleration meter is exportedAcceleration value after compensatingAre as follows:
Step 6: the compensated acceleration in step 5 is utilizedThe acceleration derived with the speed measured by odometerAnd the pitching attitude angle θ at k moment is calculated in gravity acceleration gk, it may be assumed that
Step 7: the compensated acceleration in step 5 is utilizedIt is exported with the speed of odometerAnd the angle speed of gyro
Degree outputAnd the roll attitude angle γ at k moment is calculated in gravity acceleration gk, it may be assumed that
So far just it is simplified the method at the three position and attitude angle of measurement of inertial measurement cluster navigation system.
In conclusion the invention belongs to technical field of inertial, and in particular to be a kind of new to be suitable for roadbed vehicle
Simplification inertial navigation system attitude measurement method, and it is an object of the present invention to provide a kind of simplification inertial navigation system posture suitable for roadbed vehicle
Measurement method.The technical solution adopted is that: firstly, given initial navigation parameter；Then, among recursion measurement k moment azimuth
K moment total azimuth ψ is calculated in value one and median twok；Interior lever arm effect is carried out to transverse direction and forward acceleration meter again
Compensation, is calculated the pitching attitude angle θ at k momentkWith roll attitude angle γk.The present invention can calculate pitching appearance from accelerometer
State angle and roll attitude angle eliminate error accumulation caused by integrating for the first time；The speed derived from odometer simultaneously has more preferable
Performance, avoid error accumulation caused by any possible non-compensated acceleration meter deviation, and reduce in position calculates
Primary integral, effectively reduces error accumulation.
Claims (7)
1. being suitable for the simplification inertial navigation system attitude measurement method of roadbed vehicle, which comprises the following steps:
(1) initial navigation parameter (k=0 moment) is given: terrestrial equator radiusRotational-angular velocity of the earth Ω
=7.27220417 × 10-5Rad/s, gravity acceleration g=9.78049m/s2；Extraneous input sample period Δ t, local longitudeLocal latitude λ0, pitching attitude angle θ0, roll attitude angle γ0, azimuth ψ0, height h0, odometer speed output
(2) recursion measures k moment azimuth median one；
(3) recursion measures k moment azimuth median two；
(4) k moment total azimuth ψ can be calculated by step 2 and step 3k；
(5) interior lever arm effect compensating is carried out to transverse direction and forward acceleration meter.
(6) the pitching attitude angle θ at k moment is calculatedk；
(7) the roll attitude angle γ at k moment is calculatedk。
2. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
The azimuth median is first is that using k moment day to gyroscope output angular velocityVehicle itself in the Δ t period is calculated
Rotation angleAzimuth ψ of caused k momentk', specific formula are as follows:
Wherein:
XE=cos θk-1sinψk-1cosαk-(cosγk-1cosψk-1+sinθk-1sinγk-1sinψk-1)sinαk
XN=cos θk-1cosψk-1cosαk-(-cosγk-1sinψk-1+sinθk-1sinγk-1cosψk-1)sinαk
Here, θk-1It is k-1 moment pitching attitude angle, γk-1It is k-1 moment roll attitude angle, ψk-1It is the moment azimuth k-1.
3. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
The azimuth median is second is that the azimuth ψ due to caused by the variation of earth rotation and local horizontal coordinatesk", specific public
Formula are as follows:
Wherein,
It is k-1 moment local latitude, hk-1It is k-1 moment height, RNIt is radius of curvature in prime vertical.
4. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
The k moment total azimuth ψkAre as follows:
ψk=ψk′+ψk″
5. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
Described to lever arm effect compensating in lateral accelerometer progress is exported to k moment lateral accelerometerAfter compensating
Acceleration valueSpecific formula are as follows:
Described to lever arm effect compensating in the progress of forward acceleration meter is exported to k moment forward acceleration meterAfter compensating
Acceleration valueSpecific formula are as follows:
Wherein, the angular movement vector of three axis inertial measurement clusters is ξ=[ξx ξy ξz]T, laterally and forward acceleration meter lever arm is long
Degree vector is rb=[rx ry]T。
6. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
The pitching attitude angle θ at the k moment being calculatedkAre as follows:
Wherein,For pre-compensation acceleration,What the speed to be measured by odometer was derived adds
Speed, g are acceleration of gravity.
7. the simplification inertial navigation system attitude measurement method according to claim 1 suitable for roadbed vehicle, it is characterised in that:
The roll attitude angle γ that the k moment is calculatedkAre as follows:
Wherein,For lateral compensated acceleration,It is exported for the speed of odometer,It is exported for the angular speed of gyro, g attaches most importance to
Power acceleration.
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Cited By (1)
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