CN110567491A - Initial alignment method and device of inertial navigation system and electronic equipment - Google Patents
Initial alignment method and device of inertial navigation system and electronic equipment Download PDFInfo
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- CN110567491A CN110567491A CN201910810452.9A CN201910810452A CN110567491A CN 110567491 A CN110567491 A CN 110567491A CN 201910810452 A CN201910810452 A CN 201910810452A CN 110567491 A CN110567491 A CN 110567491A
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
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Abstract
The invention relates to an initial alignment method and device of an inertial navigation system and electronic equipment. The method comprises the following steps: selecting a triaxial accelerometer corresponding to the highest acceleration measurement accuracy from the plurality of triaxial accelerometers; selecting a triaxial magnetometer corresponding to the highest magnetic field strength measurement result accuracy from the plurality of triaxial magnetometers; and acquiring attitude information corresponding to the target moment according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer.
Description
Technical Field
The present invention relates to the field of inertial navigation technologies, and in particular, to an initial alignment method of an inertial navigation system, an initial alignment apparatus of an inertial navigation system, an electronic device, and an inertial navigation system.
background
Inertial navigation is an autonomous navigation method, which completely depends on the equipment on the carrier to autonomously determine navigation parameters such as heading, position, attitude, speed and the like of the carrier without any external optical, electrical, magnetic and other information. The basic working principle is based on Newton's law of mechanics, acceleration and angular acceleration of a carrier in an inertial reference system are measured, the acceleration and the angular acceleration are integrated for the first time to obtain the speed and the angular velocity of a moving carrier, then the secondary integration is carried out to obtain the position information of the moving carrier, and then the position information is converted into a navigation coordinate system to obtain the speed, the yaw angle, the position information and the like in the navigation coordinate system.
after the inertial navigation system is powered on, the three-axis pointing direction of the system is arbitrary and there is usually no definite orientation. Therefore, before the system enters the navigation operation state, the system must be aligned in the pointing direction so that the navigation system has the correct initial condition for operation. The initial alignment is typically performed under static conditions.
the initial alignment can be generally classified into a self-alignment, a transfer alignment, a combination alignment, and the like. However, when the alignment method is applied to the personal navigation device, there are problems of high cost, slow alignment time, high complexity, and the like.
Therefore, it is necessary to provide a new initial alignment scheme for the inertial navigation system.
disclosure of Invention
it is an object of embodiments of the present invention to provide a new solution for initial alignment of an inertial navigation system.
according to a first aspect of the present invention, there is provided a method of initial alignment of an inertial navigation system comprising a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, the method comprising:
Acquiring an acceleration measurement result corresponding to a target moment measured by the triaxial accelerometers, evaluating the accuracy of the acceleration measurement result according to local gravity acceleration, and selecting the triaxial accelerometer corresponding to the highest accuracy of the acceleration measurement result from the plurality of triaxial accelerometers;
Acquiring a magnetic field strength measurement result of the three-axis magnetometer, which corresponds to the target moment, evaluating the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and selecting the three-axis magnetometer, which corresponds to the highest magnetic field strength measurement result accuracy, from the plurality of three-axis magnetometers;
And acquiring attitude information corresponding to the target moment according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer.
Optionally, said assessing the accuracy of said acceleration measurements from local gravitational acceleration comprises:
Acquiring the gravity acceleration corresponding to the acceleration measurement result;
And obtaining the accuracy according to the error of the gravity acceleration corresponding to the acceleration measurement result relative to the local gravity acceleration.
Optionally, said assessing the accuracy of said magnetic field strength measurement in dependence on the local magnetic field strength comprises:
acquiring the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result;
And obtaining the accuracy according to the error of the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result relative to the magnitude of the local magnetic field intensity.
optionally, the acquiring acceleration measurements of the triaxial accelerometer measurement corresponding to a target time includes:
Filtering and error compensating the acquisition result acquired by the triaxial accelerometer and corresponding to the target moment to obtain the acceleration measurement result;
The obtaining of the magnetic field strength measurement corresponding to the target time measured by the three-axis magnetometer includes:
And filtering and compensating errors of the acquisition result acquired by the triaxial magnetometer and corresponding to the target moment to obtain the magnetic field strength measurement result.
Optionally, the obtaining of the attitude information corresponding to the target time according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer includes
Acquiring a roll angle and a pitch angle corresponding to the target moment according to the acceleration measurement result corresponding to the selected triaxial accelerometer;
And acquiring a course angle corresponding to the target moment according to the selected magnetic field intensity measurement result corresponding to the triaxial magnetometer.
optionally, the method further comprises:
taking each of a plurality of set moments as the target moment, and acquiring attitude information corresponding to each moment;
and calculating the average value of a plurality of attitude information corresponding to the plurality of moments to obtain the final attitude information.
According to a second aspect of the present invention, there is also provided an initial alignment apparatus for an inertial navigation system, the inertial navigation system including a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, the apparatus comprising:
The accelerometer selection module is used for acquiring an acceleration measurement result corresponding to a target moment measured by the triaxial accelerometer, evaluating the accuracy of the acceleration measurement result according to local gravity acceleration, and selecting the triaxial accelerometer corresponding to the highest acceleration measurement result accuracy from the triaxial accelerometers;
The magnetometer selecting module is used for acquiring a magnetic field strength measuring result which is measured by the three-axis magnetometer and corresponds to the target moment, evaluating the accuracy of the magnetic field strength measuring result according to the local magnetic field strength, and selecting the three-axis magnetometer which corresponds to the highest magnetic field strength measuring result accuracy from the plurality of three-axis magnetometers;
And the attitude information acquisition module is used for acquiring attitude information corresponding to the target moment according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer.
According to a third aspect of the present invention, there is also provided an electronic device comprising the apparatus described in the second aspect of the present invention; alternatively, the electronic device includes:
a memory for storing executable commands;
A processor for performing the method as described in the first aspect of the invention under control of the executable command.
according to a fourth aspect of the present invention, there is also provided an inertial navigation system comprising a plurality of three-axis accelerometers, a plurality of three-axis magnetometers and the electronic device described in the second aspect of the present invention, the three-axis accelerometers sending acceleration measurements to the electronic device, the three-axis magnetometers sending magnetic field strength measurements to the electronic device.
In one embodiment of the invention, the initial alignment method can improve the alignment precision, so that the alignment time and the alignment precision both meet the 'instant start and use' requirement of a personal navigation positioning system, and the algorithm is simple and easy to implement.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
drawings
the accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.
Fig. 2 is a flowchart of an initial alignment method according to an embodiment of the present invention.
fig. 3 is a flowchart of a specific example provided by the embodiment of the present invention.
fig. 4 is a schematic diagram of an initial alignment apparatus provided in an embodiment of the present invention.
Fig. 5 is a schematic diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< hardware configuration >
FIG. 1 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention. As shown in fig. 1, the electronic device 100 includes a processor 101, a memory 102, a communication device 103, a display device 104, a speaker wind 105, and a sensor 106.
The processor 101 is, for example, a central processing unit CPU, a microprocessor MCU, or the like. The memory 102 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The communication device 103 can perform wired communication or wireless communication, for example. The display device 104 is used to display information such as characters and graphics, and is, for example, a liquid crystal display. The speaker 105 may be used, for example, to emit an alert tone. The sensor 106 is used to acquire a signal physical quantity, and includes, for example, an accelerometer, a magnetometer, and the like.
in this embodiment, the sensors 106 include at least a plurality of accelerometers and a plurality of magnetometers, which may be used to measure acceleration and magnetic field strength.
In an embodiment applied to this description, the memory 102 of the electronic device 1200 is configured to store instructions for controlling the processor 101 to operate in support of implementing an initial alignment method according to any embodiment of this description. The skilled person can design the instructions according to the solution disclosed in the present specification. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.
it should be understood by those skilled in the art that although a plurality of devices of the electronic apparatus 100 are shown in fig. 1, the electronic apparatus 100 of the present embodiment may only refer to some of the devices, for example, only the processor 101, the memory 102, the sensor 106, and the like.
The electronic device 100 shown in fig. 1 is merely illustrative and is in no way intended to limit the present invention, its application, or uses.
< method examples >
The embodiment provides an initial alignment method of an inertial navigation system, and a practical implementation of the method is, for example, the electronic device 100 in fig. 1. As shown in fig. 2, the method includes the following steps S2100-S2300:
Step S2100, obtaining acceleration measurement results of the triaxial accelerometers measured at the target moment, evaluating the accuracy of the acceleration measurement results according to local gravity acceleration, and selecting the triaxial accelerometer corresponding to the highest accuracy of the acceleration measurement results from the plurality of triaxial accelerometers.
in this embodiment, the initial alignment is performed in a stationary condition, that is, the carrier (e.g., the electronic device 100) of the inertial navigation is in a stationary state during the initial alignment.
in this embodiment, the initial alignment process corresponds to a specific time period, and for a certain time within the time period, if it is desired to obtain the attitude information of the inertial navigation system at the time, the time is a target time.
in this embodiment, the inertial navigation system includes a plurality of (at least two) tri-axial accelerometers and a plurality of (at least two) tri-axial magnetometers. The number of the three-axis accelerometers and the number of the three-axis magnetometers can be the same or different.
in this embodiment, each of the plurality of triaxial accelerometers measures an acceleration corresponding to a target time, and a plurality of acceleration measurements corresponding to the target time are obtained.
In one embodiment of the invention, the process of obtaining acceleration measurements of the tri-axial accelerometer measurements corresponding to a target time comprises: firstly, filtering the acquisition result acquired by the triaxial accelerometer and corresponding to the target moment. The filtering process may be performed by selecting a low-pass filter, a high-pass filter, a band-stop filter, a tunable filter, or the like. Noise interference can be removed by filtering. And secondly, carrying out error compensation on the filtered data to obtain an acceleration measurement result. For example, the temperature error of the accelerometer is estimated and compensated by a total least square method, an artificial fish swarm algorithm and the like, so that a more accurate measurement result is obtained.
In the present embodiment, the accuracy of each acceleration measurement is evaluated based on the known local gravitational acceleration. The local gravitational acceleration may be obtained by querying a geographical position-gravitational acceleration mapping table based on the local geographical position, may be obtained by a special sensor, and may be obtained by measuring through an experimental method, for example, measuring the local gravitational acceleration through a simple pendulum experiment or the like.
In one embodiment of the invention, the process of assessing the accuracy of the acceleration measurements from the local gravitational acceleration comprises: first, the magnitude of the gravitational acceleration corresponding to the acceleration measurement result is obtained. It will be readily appreciated that since the initial alignment is performed under stationary conditions, the sum of the three-axis vectors measured by the three-axis accelerometers is the local gravitational acceleration vector. The magnitude of the vector sum is the magnitude of the gravitational acceleration corresponding to the acceleration measurement result. Next, an error of the magnitude of the gravitational acceleration corresponding to the acceleration measurement result with respect to the magnitude of the local gravitational acceleration is calculated with reference to the known local gravitational acceleration. The error is, for example, the absolute value of the difference between the two, or, for example, the square of the difference between the two. It is readily understood that the smaller the magnitude of this error, the more accurate the corresponding acceleration measurement is.
In further embodiments of the present invention, the accuracy of the acceleration measurements may also be evaluated based on the vector direction of the gravitational acceleration. For example, the direction of the gravitational acceleration corresponding to the acceleration measurement is first acquired. It will be readily appreciated that since the initial alignment is performed under stationary conditions, the sum of the three-axis vectors measured by the three-axis accelerometers is the local gravitational acceleration vector. The direction of the vector sum is the direction of the gravitational acceleration corresponding to the acceleration measurement result. And secondly, calculating an included angle between the gravity acceleration direction corresponding to the acceleration measurement result and the local gravity acceleration direction by taking the known local gravity acceleration as a reference. It is readily understood that the smaller the angle, the closer the directions of the two are indicated, and the higher the accuracy of the corresponding acceleration measurement.
In this embodiment, the accuracy of the measurement result corresponding to each of the plurality of triaxial accelerometers is compared, and the triaxial accelerometer corresponding to the highest accuracy is selected from the results.
Step S2200 is that the magnetic field strength measurement result corresponding to the target moment measured by the three-axis magnetometer is obtained, the accuracy of the magnetic field strength measurement result is evaluated according to the local magnetic field strength, and the three-axis magnetometer corresponding to the highest accuracy of the magnetic field strength measurement result in the plurality of three-axis magnetometers is selected.
In this embodiment, each of the plurality of triaxial magnetometers measures a magnetic field strength corresponding to a target time, and a plurality of magnetic field strength measurement results corresponding to the target time are obtained.
in one embodiment of the invention, obtaining the magnetic field strength measurements of the three-axis magnetometer measurements corresponding to the target time comprises: firstly, filtering the acquisition result acquired by the triaxial magnetometer and corresponding to the target moment. The filtering process may be performed by selecting a low-pass filter, a high-pass filter, a band-stop filter, a tunable filter, or the like. Noise interference can be removed by filtering. And secondly, carrying out error compensation on the filtered data to obtain a magnetic field intensity measurement result. For example, the error estimation and compensation are performed on the magnetometer by a BP neural network, a least square fitting, a best ellipse fitting compensation, and the like, so as to obtain a more accurate measurement result.
in this embodiment, the accuracy of the magnetic field strength measurement corresponding to each magnetometer is evaluated based on the known local magnetic field strength. The local magnetic field strength refers to the local geomagnetic field strength. The local magnetic field strength can be obtained by inquiring a mapping table of the geographic position and the magnetic field strength based on the geographic position of the local, or can be obtained by a special sensor, such as measuring the geomagnetic declination angle by a magnetic declinator, measuring the geomagnetic horizontal strength by a quartz wire horizontal strength magnetometer, and measuring the total geomagnetic strength by a proton precession magnetometer.
In one embodiment of the invention, the process of assessing the accuracy of the magnetic field strength measurement based on the local magnetic field strength comprises: first, the magnitude of the magnetic field intensity corresponding to the result of the magnetic field intensity measurement is acquired. And under the condition that the magnetometer is a scalar magnetometer, the measurement result is the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result. When the magnetometer is a vector magnetometer, the measurement result is a magnetic field strength vector, and the magnitude of the vector is the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result. Then, an error of the magnitude of the magnetic field strength corresponding to the magnetic field strength measurement result with respect to the magnitude of the local magnetic field strength is calculated based on the known local magnetic field strength. The error is, for example, the absolute value of the difference between the two, or, for example, the square of the difference between the two. It will be readily appreciated that the smaller the magnitude of this error, the more accurate the corresponding magnetic field strength measurement.
in further embodiments of the invention, the accuracy of the magnetic field strength measurements may also be evaluated based on the vector direction of the magnetic field strength. For example, the direction of the magnetic field strength corresponding to the magnetic field strength measurement is first acquired. It is easy to understand that in this case, a vector magnetometer is required, the measurement result is a magnetic field intensity vector, and the direction of the vector is the direction of the magnetic field intensity corresponding to the magnetic field intensity measurement result. Then, based on the known local magnetic field strength, calculating the included angle between the magnetic field strength direction corresponding to the magnetic field strength measurement result and the local magnetic field strength direction. It is readily understood that the smaller the angle, the closer the directions of the two are indicated, and the higher the accuracy of the corresponding magnetic field strength measurement.
In this embodiment, the accuracy of the measurement result corresponding to each of the plurality of triaxial magnetometers is compared, and the triaxial magnetometer corresponding to the highest accuracy is selected from the results.
And step S2300, acquiring attitude information corresponding to the target moment according to the acceleration measurement result corresponding to the selected triaxial accelerometer and the magnetic field strength measurement result corresponding to the selected triaxial magnetometer.
In this embodiment, when the attitude information corresponding to the target time is calculated, the accelerometer which is most accurate in acceleration measurement at the target time and the magnetometer which is most accurate in magnetic field strength measurement at the target time are selected, and the attitude information at the target time is determined according to the measurement results of the accelerometer and the magnetometer.
In this embodiment, after the attitude information is obtained, subsequent inertial navigation may be directly performed based on the attitude information, that is, initial alignment is completed, and the attitude of the carrier may be further adjusted according to the attitude information.
in this embodiment, the attitude information includes a roll angle, a pitch angle, and a heading angle.
In one embodiment of the invention, the roll angle and the pitch angle corresponding to the target moment are obtained according to the acceleration measurement result corresponding to the selected triaxial accelerometer, and the course angle corresponding to the target moment is obtained according to the magnetic field strength measurement result corresponding to the selected triaxial magnetometer. It is easy to understand that the roll angle and the pitch angle of the carrier can be obtained according to the component of the acceleration in the specific axial direction of the carrier coordinate system of the carrier in the acceleration measurement result and the vector sum of the three-axis acceleration in the acceleration measurement result. And obtaining the heading angle of the carrier according to the magnetic field intensity direction and the local declination.
In one embodiment of the invention, the initial alignment method can improve the alignment precision, so that the alignment time and the alignment precision both meet the 'instant start and use' requirement of a personal navigation positioning system, and the algorithm is simple and easy to implement.
In an embodiment of the present invention, a plurality of moments in the alignment process are selected, and the posture information of each moment is obtained, so as to obtain the final posture information. The specific implementation process comprises the following steps: first, attitude information corresponding to each time is acquired with each of a plurality of set times as a target time. The set plurality of time instants are time instants within an alignment period, for example, a plurality of time instants are selected from the alignment period according to a specific time interval, and for example, a plurality of time instants are selected from the alignment period according to a sampling frequency. Next, each of the plurality of times is set as a target time, and the posture information corresponding to the time is acquired in steps S2100 to S2300. Finally, an average value of a plurality of posture information corresponding to a plurality of times is calculated, and the average value is used as final posture information.
Fig. 3 shows an example of implementation of the initial alignment method provided by the embodiment. In the example shown in fig. 3, first, the measurement results of the plurality of accelerometers corresponding to the target time are obtained, i.e., step S101 is performed. For each accelerometer measurement, calculating the error between the gravity acceleration corresponding to the measurement and the local gravity acceleration to measure the accuracy of the measurement, i.e. performing step S102. Then, the accelerometer with the smallest error is selected from the multiple accelerations and recorded as the accelerometer Am, that is, step S103 is executed. And acquiring the roll angle and the pitch angle of the carrier at the target moment according to the measurement result of the accelerometer Am, namely executing the step S104. In performing steps S101-S104, steps S105-S108 may be performed in parallel. Measurement results of a plurality of magnetometers corresponding to the target time are acquired, namely step S105 is performed. For each measurement result of the magnetometer, the error between the magnitude of the magnetic induction corresponding to the measurement result and the local magnitude of the magnetic induction is calculated, so as to measure the accuracy of the measurement result, i.e. step S106 is performed. Then, the magnetometer with the smallest error is selected from the plurality of magnetometers and is recorded as the magnetometer Bm, and step S107 is performed. And acquiring the course angle of the carrier at the target moment according to the measurement result of the magnetometer Bm, namely executing the step S108. And finally, acquiring an attitude angle of the carrier corresponding to the target moment according to the roll angle, the pitch angle and the course angle, and finishing initial alignment.
< apparatus embodiment >
the present embodiment provides an initial alignment apparatus, such as the initial alignment apparatus 400 shown in fig. 4, including:
an accelerometer selecting module 410, configured to obtain an acceleration measurement result corresponding to a target time measured by a triaxial accelerometer, evaluate accuracy of the acceleration measurement result according to local gravitational acceleration, and select a triaxial accelerometer corresponding to a highest accuracy of the acceleration measurement result from among a plurality of triaxial accelerometers;
A magnetometer selection module 420, configured to obtain a magnetic field strength measurement result of the three-axis magnetometer at a target time, evaluate accuracy of the magnetic field strength measurement result according to a local magnetic field strength, and select a three-axis magnetometer corresponding to a highest accuracy of the magnetic field strength measurement result from among the plurality of three-axis magnetometers;
the attitude information obtaining module 430 is configured to obtain attitude information corresponding to the target time according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer.
The accelerometer selection module 410, when evaluating the accuracy of the acceleration measurements based on the local gravitational acceleration, is further configured to: acquiring the gravity acceleration corresponding to the acceleration measurement result; and obtaining the accuracy according to the error of the gravity acceleration corresponding to the acceleration measurement result relative to the local gravity acceleration.
In one embodiment of the invention, the magnetometer selection module 420, when evaluating the accuracy of the magnetic field strength measurement based on the local magnetic field strength, is further configured to: acquiring the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result; and obtaining the accuracy according to the error of the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result relative to the magnitude of the local magnetic field intensity.
In an embodiment of the present invention, the accelerometer selecting module 410, when obtaining the acceleration measurement corresponding to the target time measured by the three-axis accelerometer, is further configured to: and filtering and compensating errors of the acquired result of the triaxial accelerometer, which corresponds to the target moment, so as to obtain an acceleration measurement result. The magnetometer selection module 420 is further configured to, when obtaining the magnetic field strength measurement result corresponding to the target time measured by the three-axis magnetometer: and filtering and error compensation are carried out on the acquisition result acquired by the triaxial magnetometer and corresponding to the target moment, so as to obtain a magnetic field intensity measurement result.
in an embodiment of the present invention, when the attitude information obtaining module 430 obtains the attitude information corresponding to the target time according to the acceleration measurement result corresponding to the selected three-axis accelerometer and the magnetic field strength measurement result corresponding to the selected three-axis magnetometer, the attitude information obtaining module is further configured to: acquiring a roll angle and a pitch angle corresponding to a target moment according to an acceleration measurement result corresponding to the selected triaxial accelerometer; and acquiring a course angle corresponding to the target moment according to the magnetic field intensity measurement result corresponding to the selected triaxial magnetometer.
In one embodiment of the present invention, the initial alignment apparatus 400 further comprises an integrated posture information acquisition module, which is configured to: taking each of a plurality of set moments as a target moment, and acquiring attitude information corresponding to each moment; and calculating the average value of a plurality of attitude information corresponding to a plurality of moments to obtain the final attitude information.
< electronic device embodiment >
This embodiment provides an electronic device including the initial alignment apparatus in the apparatus embodiment of the present invention. Alternatively, the electronic device is the electronic device 500 shown in fig. 5, and includes:
A memory 510 for storing executable commands;
A processor 520 for executing the method described in the method embodiments of the present invention under the control of the execution command stored in the memory 510.
< inertial navigation System embodiment >
The embodiment provides an inertial navigation system, which comprises a plurality of triaxial accelerometers, a plurality of triaxial magnetometers and electronic equipment described in the embodiment of the device, wherein the triaxial accelerometers send acceleration measurement results to the electronic equipment, the triaxial magnetometers send magnetic field strength measurement results to the electronic equipment, and the electronic equipment acquires attitude information according to the measurement results of the triaxial accelerometers and the triaxial magnetometers.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (9)
1. A method of initial alignment of an inertial navigation system comprising a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, the method comprising:
Acquiring an acceleration measurement result corresponding to a target moment measured by the triaxial accelerometers, evaluating the accuracy of the acceleration measurement result according to local gravity acceleration, and selecting the triaxial accelerometer corresponding to the highest accuracy of the acceleration measurement result from the plurality of triaxial accelerometers;
Acquiring a magnetic field strength measurement result of the three-axis magnetometer, which corresponds to the target moment, evaluating the accuracy of the magnetic field strength measurement result according to the local magnetic field strength, and selecting the three-axis magnetometer, which corresponds to the highest magnetic field strength measurement result accuracy, from the plurality of three-axis magnetometers;
And acquiring attitude information corresponding to the target moment according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer.
2. the method of claim 1, wherein said assessing accuracy of said acceleration measurements as a function of local gravitational acceleration comprises:
Acquiring the gravity acceleration corresponding to the acceleration measurement result;
And obtaining the accuracy according to the error of the gravity acceleration corresponding to the acceleration measurement result relative to the local gravity acceleration.
3. the method of claim 1, wherein said assessing the accuracy of said magnetic field strength measurement as a function of local magnetic field strength comprises:
Acquiring the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result;
and obtaining the accuracy according to the error of the magnitude of the magnetic field intensity corresponding to the magnetic field intensity measurement result relative to the magnitude of the local magnetic field intensity.
4. The method of claim 1, wherein said obtaining acceleration measurements of the tri-axial accelerometer measurements corresponding to a target time comprises:
Filtering and error compensating the acquisition result acquired by the triaxial accelerometer and corresponding to the target moment to obtain the acceleration measurement result;
The obtaining of the magnetic field strength measurement corresponding to the target time measured by the three-axis magnetometer includes:
and filtering and compensating errors of the acquisition result acquired by the triaxial magnetometer and corresponding to the target moment to obtain the magnetic field strength measurement result.
5. The method of claim 1, wherein the obtaining attitude information corresponding to the target time based on the selected acceleration measurements corresponding to the tri-axial accelerometer and the selected magnetic field strength measurements corresponding to the tri-axial magnetometer comprises
Acquiring a roll angle and a pitch angle corresponding to the target moment according to the acceleration measurement result corresponding to the selected triaxial accelerometer;
And acquiring a course angle corresponding to the target moment according to the selected magnetic field intensity measurement result corresponding to the triaxial magnetometer.
6. The method of claim 1, wherein the method further comprises:
taking each of a plurality of set moments as the target moment, and acquiring attitude information corresponding to each moment;
and calculating the average value of a plurality of attitude information corresponding to the plurality of moments to obtain the final attitude information.
7. An initial alignment apparatus for an inertial navigation system comprising a plurality of three-axis accelerometers and a plurality of three-axis magnetometers, the apparatus comprising:
the accelerometer selection module is used for acquiring an acceleration measurement result corresponding to a target moment measured by the triaxial accelerometer, evaluating the accuracy of the acceleration measurement result according to local gravity acceleration, and selecting the triaxial accelerometer corresponding to the highest acceleration measurement result accuracy from the triaxial accelerometers;
The magnetometer selecting module is used for acquiring a magnetic field strength measuring result which is measured by the three-axis magnetometer and corresponds to the target moment, evaluating the accuracy of the magnetic field strength measuring result according to the local magnetic field strength, and selecting the three-axis magnetometer which corresponds to the highest magnetic field strength measuring result accuracy from the plurality of three-axis magnetometers;
And the attitude information acquisition module is used for acquiring attitude information corresponding to the target moment according to the selected acceleration measurement result corresponding to the triaxial accelerometer and the selected magnetic field strength measurement result corresponding to the triaxial magnetometer.
8. An electronic device comprising the apparatus of claim 7; alternatively, the electronic device includes:
A memory for storing executable commands;
A processor for performing the method of any one of claims 1 to 6 under the control of the executable command.
9. An inertial navigation system comprising a plurality of three-axis accelerometers, a plurality of three-axis magnetometers, and the electronic device of claim 8, the three-axis accelerometers sending acceleration measurements to the electronic device, the three-axis magnetometers sending magnetic field strength measurements to the electronic device.
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| CN201910810452.9A CN110567491B (en) | 2019-08-29 | 2019-08-29 | Initial alignment method and device of inertial navigation system and electronic equipment |
| PCT/CN2019/123546 WO2021036085A1 (en) | 2019-08-29 | 2019-12-06 | Inertial navigation system initial alignment method, apparatus, and electronic device |
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| WO2021036085A1 (en) | 2021-03-04 |
| CN110567491B (en) | 2021-10-08 |
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