CN110705002B - A compensation system and method for simulation test - Google Patents
A compensation system and method for simulation test Download PDFInfo
- Publication number
- CN110705002B CN110705002B CN201910741965.9A CN201910741965A CN110705002B CN 110705002 B CN110705002 B CN 110705002B CN 201910741965 A CN201910741965 A CN 201910741965A CN 110705002 B CN110705002 B CN 110705002B
- Authority
- CN
- China
- Prior art keywords
- installation error
- error angle
- quaternion
- angle
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 114
- 238000012360 testing method Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 240
- 230000005284 excitation Effects 0.000 claims abstract description 71
- 238000001914 filtration Methods 0.000 claims description 51
- 238000005096 rolling process Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000013598 vector Substances 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
- Navigation (AREA)
Abstract
本发明提出一种仿真试验的补偿系统及方法，包括惯性导航系统、仿真转台和补偿单元，所述的补偿单元包括惯性导航系统姿态四元数确定模块、仿真转台激励姿态四元数确定模块、安装误差角四元数确定模块和补偿四元数确定模块。本发明对仿真系统中转台驱动激励指令进行反馈补偿，使惯性导航的测量值更接近仿真需求值，从而有效的降低由于惯性导航系统安装误差引入的惯性导航系统激励误差，保证了仿真试验的真实性和可靠性。
The present invention provides a compensation system and method for a simulation test, including an inertial navigation system, a simulation turntable and a compensation unit, wherein the compensation unit includes an inertial navigation system attitude quaternion determination module, a simulation turntable excitation attitude quaternion determination module, Install the error angle quaternion determination module and the compensation quaternion determination module. The present invention performs feedback compensation for the drive excitation command of the turntable in the simulation system, so that the measured value of the inertial navigation is closer to the simulation demand value, thereby effectively reducing the excitation error of the inertial navigation system caused by the installation error of the inertial navigation system, and ensuring the authenticity of the simulation test. sturdiness and reliability.
Description
技术领域technical field
本发明涉及一种仿真试验的补偿系统及方法，属于半实物仿真技术领域。The invention relates to a compensation system and method for a simulation test, belonging to the technical field of semi-physical simulation.
背景技术Background technique
在飞行器控制系统设计与性能测试、验证过程中，为了提高效率和可靠性，同时为了节约时间和成本、降低测试风险，通常采用半实物仿真模式替代真实环境实测模式。惯性导航系统或基于惯性导航系统的组合导航系统能够为飞行器提供飞行控制中重要的姿态信息，因此成为系统中不可或缺的一部分。在半实物仿真试验过程中，惯性导航系统搭载于仿真转台上，仿真转台产生角度或角速度激励驱动惯性导航系统实现特定姿态变化，从而模拟真实飞行过程中的飞行器状态。In the process of aircraft control system design, performance testing and verification, in order to improve efficiency and reliability, save time and cost, and reduce test risk, half-physical simulation mode is usually used instead of real environment measurement mode. The inertial navigation system or the integrated navigation system based on the inertial navigation system can provide the aircraft with important attitude information in flight control, so it becomes an indispensable part of the system. During the hardware-in-the-loop simulation test, the inertial navigation system is mounted on the simulation turntable, and the simulation turntable generates angle or angular velocity excitation to drive the inertial navigation system to achieve a specific attitude change, thereby simulating the state of the aircraft during the real flight.
保证半实物仿真真实性的前提在于能够为参试设备提供正确的环境和驱动激励，在惯性导航系统参试的情况下，使惯性导航系统敏感轴与地理坐标系的三轴共轴是惯性导航系统测量结果可信的关键因素。但在仿真转台驱动惯性导航系统运动过程中，由于仿真转台自身安装误差角以及惯性导航系统与仿真转台之间安装误差角的影响，使得惯性导航系统解算出的姿态信息不仅包含有效的飞行姿态信息，同时也包含误差信息，并且该误差信息将伴随整个试验过程。The premise of ensuring the authenticity of hardware-in-the-loop simulation is to be able to provide the correct environment and driving incentives for the participating equipment. In the case of the inertial navigation system participating in the test, making the sensitive axis of the inertial navigation system coaxial with the three axes of the geographic coordinate system is the inertial navigation system. A key factor for the credibility of system measurement results. However, during the movement of the inertial navigation system driven by the simulation turntable, due to the influence of the installation error angle of the simulation turntable itself and the installation error angle between the inertial navigation system and the simulation turntable, the attitude information calculated by the inertial navigation system not only contains effective flight attitude information , also contains error information, and this error information will accompany the whole test process.
仿真转台安装偏差可以在与地基固定过程中通过外部辅助设施限制至角秒级别，但由于工装和仿真转台框架的限制，惯性导航系统与仿真转台之间的安装偏差通常难以标定，一般仅利用工装进行一定的限制。仿真转台安装偏差可以在与地基固定过程中通过外部辅助设施限制至角秒级别，而惯性导航系统与仿真转台之间一般通过结构性工装进行固定，一侧与转台内框框架配合进行联接，另一侧与惯性导航系统配合进行联接，但由于外部辅助设施(如电子水平仪等)受工装和仿真转台框架的遮挡限制，惯性导航系统与仿真转台之间的安装偏差通常难以标定。以连接安装通孔位置精度为1mm、惯性导航系统安装对角距300mm为例，则安装角度误差折算约为12″,且实际安装误差不小于该值，通常为0.1°以上。The installation deviation of the simulation turntable can be limited to the arc-second level by external auxiliary facilities during the process of fixing to the foundation. However, due to the limitations of the tooling and the simulation turntable frame, it is usually difficult to calibrate the installation deviation between the inertial navigation system and the simulation turntable. Generally, only the tooling Make certain restrictions. The installation deviation of the simulation turntable can be limited to the arc-second level by external auxiliary facilities during the fixing process with the foundation, while the inertial navigation system and the simulation turntable are generally fixed by structural tooling, one side is connected with the inner frame of the turntable, and the other is One side is connected with the inertial navigation system, but because the external auxiliary facilities (such as electronic level, etc.) are limited by the occlusion of the tooling and the simulation turntable frame, the installation deviation between the inertial navigation system and the simulation turntable is usually difficult to calibrate. Taking the position accuracy of the connection installation through hole as 1mm and the installation diagonal distance of the inertial navigation system as an example, the installation angle error is about 12″, and the actual installation error is not less than this value, usually more than 0.1°.
在实际使用中，惯性导航系统与仿真转台之间的安装偏差为对系统仿真结果影响最大的部分，这种误差将会通过积分累积逐步扩大，进而破坏系统的导航精度，使系统的控制精度降低，甚至影响仿真系统的最终精度。In actual use, the installation deviation between the inertial navigation system and the simulation turntable is the part that has the greatest impact on the simulation results of the system. This error will gradually expand through integral accumulation, thereby destroying the navigation accuracy of the system and reducing the control accuracy of the system. , and even affect the final accuracy of the simulation system.
发明内容Contents of the invention
本发明的目的在于克服现有技术不足，提供一种对仿真试验进行精确反馈补偿、保证了仿真试验的真实性和可靠性的仿真试验的补偿系统及方法。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a compensation system and method for the simulation test that performs accurate feedback compensation on the simulation test and ensures the authenticity and reliability of the simulation test.
本发明的技术解决方案：一种仿真试验的补偿系统，包括惯性导航系统、仿真转台和补偿单元，所述的补偿单元包括惯性导航系统姿态四元数确定模块、仿真转台激励姿态四元数确定模块、安装误差角四元数确定模块和补偿四元数确定模块；The technical solution of the present invention: a compensation system for a simulation test, including an inertial navigation system, a simulation turntable and a compensation unit, the compensation unit includes an inertial navigation system attitude quaternion determination module, and a simulation turntable excitation attitude quaternion determination module Module, installation error angle quaternion determination module and compensation quaternion determination module;
所述的仿真转台输出仿真转台驱动激励(驱动激励包括激励俯仰角、激励航向角和激励滚动角)；The simulation turntable output simulation turntable drive excitation (drive excitation includes excitation pitch angle, excitation heading angle and excitation roll angle);
所述的惯性导航系统初始对准后，实测得到对应与仿真转台驱动激励的惯性导航系统的姿态角(包括俯仰角、航向角和滚动角)；After the initial alignment of the inertial navigation system, the attitude angle (including pitch angle, heading angle and roll angle) corresponding to the inertial navigation system driven by the simulated turntable is measured;
所述的惯性导航系统姿态四元数确定模块根据惯性导航系统实测得到惯性导航系统的姿态角确定惯性导航系统姿态四元数；The attitude quaternion determination module of the inertial navigation system obtains the attitude angle of the inertial navigation system according to the actual measurement of the inertial navigation system and determines the attitude quaternion of the inertial navigation system;
所述的仿真转台激励姿态四元数确定模块根据仿真转台输出的仿真转台驱动激励确定仿真转台激励姿态四元数；The simulation turntable excitation attitude quaternion determination module determines the simulation turntable excitation attitude quaternion according to the simulation turntable drive excitation output by the simulation turntable;
所述的安装误差角四元数确定模块根据仿真转台激励姿态四元数和惯性导航系统姿态四元数确定安装误差角四元数；The described installation error angle quaternion determination module determines the installation error angle quaternion according to the simulation turntable excitation attitude quaternion and the inertial navigation system attitude quaternion;
所述的补偿四元数确定模块根据安装误差角四元数确定补偿四元数，并用补偿四元数对仿真转台驱动激励进行补偿。The compensation quaternion determination module determines the compensation quaternion according to the installation error angle quaternion, and uses the compensation quaternion to compensate the driving excitation of the simulation turntable.
所述的安装误差角四元数确定模块利用公式
所述的安装误差角四元数确定模块利用公式
所述的滤波采用中值滤波，对安装误差角分别进行中值滤波，得到滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值；滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值与滤波前的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角进行对比，确定与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置；分别以确定的与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置为基准，确定在其中一个轴安装误差角位于滤波中值位置时另两个轴安装误差角与所处轴滤波中值之间的偏差；判断得到的数据，确定在某一个轴安装误差角为滤波中值位置时，另两个轴安装误差角与所处轴滤波中值之间的偏差最小的位置；根据得到的偏差最小位置，得到与该位置对应的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的数值，作为滤波后的安装误差角。The filtering adopts the median filter, and performs median filtering on the installation error angle respectively to obtain the filtered median value of the roll axis installation error angle, the pitch axis installation error angle and the yaw axis installation error angle; the roll axis installation error angle, Compare the filtered median values of the pitch axis installation error angle and yaw axis installation error angle with the roll axis installation error angle, pitch axis installation error angle, and yaw axis installation error angle before filtering, and determine the rolling axis that is consistent with the filtered median value. Axis installation error angle, pitch axis installation error angle and yaw axis installation error angle position; the determined roll axis installation error angle, pitch axis installation error angle and yaw axis installation error angle position which are consistent with the filter median are taken as reference respectively , to determine the deviation between the installation error angle of the other two axes and the filter median value of the axis when one of the axis installation error angles is located at the median position of the filter; judge the obtained data, and determine that the installation error angle of a certain axis is in the filter value position, the position where the deviation between the installation error angle of the other two axes and the filter median value of the axis is the smallest; according to the obtained minimum deviation position, the installation error angle of the roll axis and the installation error angle of the pitch axis corresponding to this position are obtained and the value of the installation error angle of the yaw axis as the filtered installation error angle.
一种仿真试验的补偿方法，通过以下步骤实现：A compensation method for a simulation test is realized through the following steps:
第一步，统一仿真试验数据；The first step is to unify the simulation test data;
第二步，仿真转台实时输出仿真转台驱动激励；In the second step, the simulation turntable outputs the drive excitation of the simulation turntable in real time;
第三步，惯性导航系统初始对准后，实测得到对应于仿真转台驱动激励的惯性导航系统的姿态角；In the third step, after the initial alignment of the inertial navigation system, the attitude angle of the inertial navigation system corresponding to the driving excitation of the simulated turntable is measured;
第四步，确定误差补偿，The fourth step is to determine the error compensation,
A4.1、利用第二步、第三步得到的仿真转台驱动激励和惯性导航系统的姿态角，确定仿真转台激励姿态四元数qROTATE和惯性导航系统姿态四元数qINS；A4.1, using the second step and the third step to obtain the simulation turntable drive excitation and the attitude angle of the inertial navigation system, determine the simulation turntable excitation attitude quaternion q ROTATE and the inertial navigation system attitude quaternion q INS ;
A4.2、利用公式
A4.3、利用公式
第五步，利用第四步确定的误差补偿对仿真转台驱动激励进行补偿。The fifth step is to use the error compensation determined in the fourth step to compensate the driving excitation of the simulated turntable.
所述第四步通过以下步骤实现，The fourth step is achieved through the following steps,
B4.1、利用第二步、第三步得到的仿真转台驱动激励和惯性导航系统的姿态角，确定仿真转台激励姿态四元数qROTATE和惯性导航系统姿态四元数qINS；B4.1, use the second step, the third step to obtain the simulation turntable drive excitation and the attitude angle of the inertial navigation system, determine the simulation turntable excitation attitude quaternion q ROTATE and the inertial navigation system attitude quaternion q INS ;
B4.2、利用公式
B4.3、安装误差角四元数qINSTALL转换为欧拉角形式的安装误差角，对安装误差角进行滤波，得到滤波后的安装误差角；B4.3. The installation error angle quaternion q INSTALL is converted into the installation error angle in the form of Euler angle, and the installation error angle is filtered to obtain the filtered installation error angle;
B4.4、将滤波后的安装误差角转换为安装误差角四元数q′INSTALL；B4.4, converting the filtered installation error angle into the installation error angle quaternion q'INSTALL;
B4.5、利用公式
所述步骤B4.3滤波采用中值滤波，通过以下步骤实现，The step B4.3 filtering adopts median filtering, which is realized by the following steps,
B4.3.1、对安装误差角分别进行中值滤波，得到滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值；B4.3.1. Carry out median filtering on the installation error angle respectively to obtain the filtered median values of the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis;
B4.3.2、滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值与滤波前的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角进行对比，确定与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置；B4.3.2. Median values of roll axis installation error angle, pitch axis installation error angle and yaw axis installation error angle after filtering are compared with roll axis installation error angle, pitch axis installation error angle and yaw axis installation error angle before filtering Compare and determine the installation error angle of the roll axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis consistent with the filter median value;
B4.3.3、分别以步骤B4.3.2确定的与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置为基准，确定在其中一个轴安装误差角位于滤波中值位置时另两个轴安装误差角与所处轴滤波中值之间的偏差；B4.3.3. Based on the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis determined in step B4.3.2, which are consistent with the median value of the filter, determine that the installation error angle of one of the axes is located in the filter The deviation between the installation error angle of the other two axes and the filter median value of the axis at the median position;
B4.3.4、判断步骤B4.3.3中得到的数据，确定在某一个轴安装误差角为滤波中值位置时，另两个轴安装误差角与所处轴滤波中值之间的偏差最小的位置；B4.3.4, Judging the data obtained in step B4.3.3, determine the position where the deviation between the installation error angle of the other two axes and the filter median value of the axis is the smallest when the installation error angle of a certain axis is the filtering median position ;
B4.3.5、根据步骤B4.3.4得到的偏差最小位置，得到与该位置对应的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的数值，作为滤波后的安装误差角。B4.3.5. According to the minimum deviation position obtained in step B4.3.4, obtain the values of the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis corresponding to the position, and use it as the installation error angle after filtering.
本发明与现有技术相比的有益效果：The beneficial effect of the present invention compared with prior art:
(1)本发明对仿真系统中转台驱动激励指令进行反馈补偿，使惯性导航的测量值更接近仿真需求值，从而有效的降低由于惯性导航系统安装误差引入的惯性导航系统激励误差，保证了仿真试验的真实性和可靠性；(1) The present invention performs feedback compensation on the driving excitation command of the turntable in the simulation system, so that the measurement value of the inertial navigation is closer to the simulation demand value, thereby effectively reducing the inertial navigation system excitation error introduced by the installation error of the inertial navigation system, and ensuring the simulation authenticity and reliability of the test;
(2)本发明有效的降低安装误差角标定的困难程度、节约试验准备过程的时间成本，提高惯性导航系统重新安装情况下的仿真系统灵活度；(2) The present invention effectively reduces the difficulty of installation error angle calibration, saves the time cost of the test preparation process, and improves the flexibility of the simulation system when the inertial navigation system is reinstalled;
(3)本发明利用四元数对安装误差进行补偿，误差精确补偿，同时克服了现有技术中采用欧拉角和欧拉矩阵进行姿态解算和转移矩阵计算时的欧拉矩阵奇异点问题，运算更为简单；(3) The present invention utilizes quaternions to compensate installation errors, accurate error compensation, and simultaneously overcomes the Euler matrix singularity problem in the prior art when Euler angles and Euler matrices are used for attitude resolution and transfer matrix calculations , the operation is simpler;
(4)本发明采用特殊的中值滤波方式进行四元数分离，实现了对安装误差角中值滤波的物理意义，消除了惯导的噪声，进一步提高了误差补偿的精度；(4) The present invention adopts special median filter mode to carry out quaternion separation, has realized the physical significance to installation error angle median filter, has eliminated the noise of inertial navigation, has further improved the precision of error compensation;
(5)本发明在某型号上完成验证，补偿后安装误差最多不超过5角秒；(5) The invention is verified on a certain model, and the installation error after compensation is no more than 5 arc seconds at most;
(6)本发明为基于协同仿真系统的协同控制系统性能验证提供良好的试验基础，本发明也适用于其他具备惯性导航系统的武器装备半实物仿真试验。(6) The present invention provides a good test basis for the performance verification of the collaborative control system based on the collaborative simulation system, and the present invention is also applicable to other hardware-in-the-loop simulation tests of weapons and equipment equipped with inertial navigation systems.
附图说明Description of drawings
图1为本发明系统框图；Fig. 1 is a system block diagram of the present invention;
图2为本发明流程图；Fig. 2 is a flowchart of the present invention;
图3为本发明实施例未补偿前姿态角偏差及偏差分析；Fig. 3 is the attitude angle deviation and deviation analysis before compensation in the embodiment of the present invention;
图4为本发明实施例安装误差角分离结果图；Fig. 4 is a diagram of separation results of installation error angles according to an embodiment of the present invention;
图5为本发明实施例修正(补偿)前后各轴偏差对比图；Fig. 5 is a comparison diagram of each axis deviation before and after correction (compensation) according to the embodiment of the present invention;
图6为本发明实施例修正(补偿)后残差分布图；Fig. 6 is a distribution diagram of residual error after correction (compensation) according to the embodiment of the present invention;
图7为本发明实施例修正(补偿)前后各轴姿态对比图。Fig. 7 is a comparison diagram of the postures of each axis before and after correction (compensation) according to the embodiment of the present invention.
具体实施方式Detailed ways
下面结合具体实例及附图对本发明进行详细说明。The present invention will be described in detail below in conjunction with specific examples and accompanying drawings.
本发明如图1所示，提供一种仿真试验的补偿系统，包括惯性导航系统、仿真转台和补偿单元。补偿单元包括惯性导航系统姿态四元数确定模块、仿真转台激励姿态四元数确定模块、安装误差角四元数确定模块和补偿四元数确定模块。As shown in Fig. 1, the present invention provides a compensation system for a simulation test, including an inertial navigation system, a simulation turntable and a compensation unit. The compensation unit includes an inertial navigation system attitude quaternion determination module, a simulation turntable excitation attitude quaternion determination module, an installation error angle quaternion determination module and a compensation quaternion determination module.
仿真转台输出仿真转台驱动激励(驱动激励包括激励俯仰角、激励航向角和激励滚动角)。半实物仿真试验中，仿真转台完全实时跟踪驱动激励指令，仿真综控设备根据理论弹体模型计算获得俯仰角、航向角、滚动角真实值，该真实值通过光纤传递给仿真转台，仿真转台为角位置跟踪系统，能够在获得驱动信号后，转动至需求值，即激励俯仰角、航向角、滚动角。The simulation turntable outputs the drive excitation of the simulation turntable (the drive excitation includes the excitation pitch angle, the excitation heading angle and the excitation roll angle). In the hardware-in-the-loop simulation test, the simulation turntable completely tracks the driving excitation command in real time, and the simulation integrated control equipment calculates the real values of pitch angle, heading angle, and roll angle according to the theoretical projectile model, and the real values are transmitted to the simulation turntable through optical fiber. The simulation turntable is The angular position tracking system can rotate to the required value after obtaining the driving signal, that is, to stimulate the pitch angle, heading angle, and roll angle.
惯性导航系统初始对准后，实测得到惯性导航系统的姿态角(包括俯仰角、航向角和滚动角)，该姿态角对应与仿真转台的驱动激励。惯性导航系统初始对准为本领域公知技术，惯性导航系统初始对准后，会输出姿态角，本领域一般会采集一段时间的输出，数学统计后得到一个较为稳定的值。After the initial alignment of the inertial navigation system, the attitude angle (including pitch angle, heading angle and roll angle) of the inertial navigation system is measured, and the attitude angle corresponds to the driving excitation of the simulation turntable. The initial alignment of the inertial navigation system is a well-known technology in the field. After the initial alignment of the inertial navigation system, it will output the attitude angle. Generally, the field will collect the output for a period of time, and obtain a relatively stable value after mathematical statistics.
惯性导航系统姿态四元数确定模块根据惯性导航系统实测得到惯性导航系统的姿态确定惯性导航系统姿态四元数qINS。The attitude quaternion determination module of the inertial navigation system determines the attitude quaternion q INS of the inertial navigation system according to the attitude of the inertial navigation system measured by the inertial navigation system.
惯性导航系统姿态四元数Inertial Navigation System Attitude Quaternion
其中，θINS为惯性导航系统实测俯仰角、ψINS为惯性导航系统实测航向角、γINS为惯性导航系统实测滚动角。Among them, θ INS is the measured pitch angle of the inertial navigation system, ψ INS is the measured heading angle of the inertial navigation system, and γ INS is the measured roll angle of the inertial navigation system.
仿真转台激励姿态四元数确定模块根据仿真转台输出的仿真转台驱动激励确定仿真转台激励姿态四元数qROTATE。The simulation turntable excitation attitude quaternion determination module determines the simulation turntable excitation attitude quaternion q ROTATE according to the simulation turntable driving excitation output by the simulation turntable.
仿真转台激励姿态四元数Simulate turntable excitation attitude quaternion
其中，θROTATE为仿真转台输出的驱动激励俯仰角、ψROTATE为仿真转台输出的驱动激励航向角、γROTATE为仿真转台输出的驱动激励滚动角。Among them, θ ROTATE is the driving excitation pitch angle output by the simulation turntable, ψ ROTATE is the driving excitation heading angle output by the simulation turntable, and γ ROTATE is the driving excitation roll angle output by the simulation turntable.
安装误差角四元数确定模块根据公式
四元数q由一个4×1维的向量表示，ρ为四元数的矢量部分，q0为四元数标量部分，包含一个标量部分以及3个矢量部分。且满足：The quaternion q is represented by a 4×1-dimensional vector, ρ is the vector part of the quaternion, and q 0 is the scalar part of the quaternion, including a scalar part and 3 vector parts. And satisfy:
q＝[ρT q0]＝[q1 q2 q3 q0]T q=[ρ T q 0 ]=[q 1 q 2 q 3 q 0 ] T
ex,ey,ez为三轴的基矢量；Φ为角度变化量。e x , e y , e z are the base vectors of the three axes; Φ is the angle change.
四元数之间的乘法可以利用
I3×3为3×3维的单位阵；[],{},[×]均表示运算方式。I 3×3 is a 3×3-dimensional unit matrix; [],{},[×] all represent operation modes.
本发明在四元数确定过程中可以进行四元数分离和滤波处理。为了方便数据分析和计算，将安装误差角四元数转换为欧拉角形式，通过：The invention can perform quaternion separation and filter processing in the quaternion determination process. In order to facilitate data analysis and calculation, the installation error angle quaternion is converted into Euler angle form by:
公式中分别为滚动安装误差角、俯仰安装误差角、航向安装误差角，下标0123含义，0为标量，123为矢量。The formulas are rolling installation error angle, pitch installation error angle, and heading installation error angle respectively. The subscript 0123 means, 0 is a scalar, and 123 is a vector.
安装误差角四元数确定模块利用公式
滤波采用中值滤波，对安装误差角分别进行中值滤波，得到滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值；滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值与滤波前的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角进行对比，确定与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置；分别以确定的与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置为基准，确定在其中一个轴安装误差角位于滤波中值位置时另两个轴安装误差角与所处轴滤波中值之间的偏差；判断得到的数据，确定在某一个轴安装误差角为滤波中值位置时，另两个轴安装误差角与所处轴滤波中值之间的偏差最小的位置；根据得到的偏差最小位置，得到与该位置对应的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的数值，作为滤波后的安装误差角。Median filtering is used for filtering, and median filtering is performed on the installation error angle respectively to obtain the filtered median value of the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis; The filtered median value of error angle and yaw axis installation error angle is compared with the roll axis installation error angle, pitch axis installation error angle and yaw axis installation error angle before filtering to determine the roll axis installation error consistent with the filtered median value Angle, pitch axis installation error angle and yaw axis installation error angle position; based on the determined rolling axis installation error angle, pitch axis installation error angle and yaw axis installation error angle position which are consistent with the filter median, respectively, determined at The deviation between the installation error angle of the other two shafts and the filter median value of the axis when one of the shaft installation error angles is at the filter median position; the data obtained by judging is determined when the installation error angle of a certain shaft is the filter median position , the position where the deviation between the installation error angle of the other two axes and the median value of the axis filter is the smallest; according to the obtained minimum deviation position, the installation error angle of the roll axis, the installation error angle of the pitch axis and the yaw corresponding to this position are obtained The numerical value of the shaft installation error angle is used as the installation error angle after filtering.
本发明给出了采用中值滤波处理，中值滤波处理为本领域公知技术。本发明为了采用特殊的中值滤波方法，不是简单的选取每个姿态角的中值，而是考虑到了姿态角之间的对应性，利用2范数进行距离解算，选取3个姿态角中值结果与整个测量结果范数最小(距离最近)的作为最终选取结果。The present invention provides the use of median filter processing, which is a well-known technology in the art. In order to adopt a special median filtering method, the present invention does not simply select the median value of each attitude angle, but considers the correspondence between attitude angles, uses the 2-norm for distance calculation, and selects the median of the three attitude angles. The value result with the smallest norm (closest distance) with the whole measurement result is taken as the final selection result.
在得到的多组姿态角
其中，
分别计算：Calculated separately:
||Φn-Φm|||m＝i，j，k ||Φ n -Φ m ||| m=i, j, k
选取min(||Φn-Φm||)对应的Φm姿态为分离出的安装误差角。Select the Φ m attitude corresponding to min(||Φ n -Φ m ||) as the separated installation error angle.
采用中值滤波后，得到安装误差角
本发明在建立安装误差四元数状态转移模型的基础上，采用数据驱动方式，利用惯性导航系统实测值和仿真系统解算值进行安装误差角四元数分离，然后利用窗口中值滤波方式确定补偿误差角四元数，最后利用该补偿四元数对仿真转台驱动激励进行修正。On the basis of establishing the installation error quaternion state transfer model, the present invention adopts a data-driven method, uses the measured value of the inertial navigation system and the simulation system solution value to separate the installation error angle quaternion, and then uses the window median filter method to determine Compensate the error angle quaternion, and finally use the compensation quaternion to correct the driving excitation of the simulation turntable.
进一步，本发明提供如图2所示的一种仿真试验的补偿方法，通过以下步骤实现：Further, the present invention provides a compensation method for a simulation test as shown in Figure 2, which is realized through the following steps:
1、统一仿真试验数据。1. Unified simulation test data.
在仿真过程中，记录仿真转台激励姿态以及惯性导航测量数据，由于惯性导航系统和仿真转台驱动激励指令之间具有一定的差异，如起始时间、采样控制周期等，这些差异将阻碍安装误差角分离的计算。为了保证计算数据之间的统一性，本发明首先通过判定组合导航指令字，将惯性导航系统的计算零点平移至与驱动激励指令一致。然后采用分段线性插值，利用已知基点进行线性规划，将驱动激励指令和惯性导航系统的采样间隔统一。其中分段线性插值遵循：During the simulation process, the excitation attitude of the simulation turntable and the measurement data of inertial navigation are recorded. Due to certain differences between the inertial navigation system and the driving excitation instructions of the simulation turntable, such as start time, sampling control cycle, etc., these differences will hinder the installation error angle. separate calculations. In order to ensure the unity of the calculation data, the present invention first shifts the calculation zero point of the inertial navigation system to be consistent with the drive excitation command by judging the combined navigation command word. Then, the piecewise linear interpolation is used, and the known base point is used for linear programming to unify the sampling interval of the driving excitation command and the inertial navigation system. where piecewise linear interpolation follows:
其中，x0、x1为待插数据相邻时间节点，f(x0)、f(x1)为待插数据相邻节点值，x为设定插值时间节点，ρ(x)为插值节点值。Among them, x 0 and x 1 are the adjacent time nodes of the data to be inserted, f(x 0 ) and f(x 1 ) are the values of adjacent nodes of the data to be inserted, x is the set interpolation time node, and ρ(x) is the interpolation value node value.
统一仿真试验数据为本领域公知技术，本领域技术人员可以根据需要采用本发明提供的优选方案，也可根据实际需要采用本领域常规手段。Unifying simulation test data is a well-known technology in the art, and those skilled in the art can adopt the preferred solution provided by the present invention as needed, and can also use conventional means in the art according to actual needs.
2、仿真转台实时输出仿真转台驱动激励。2. The simulation turntable outputs the drive excitation of the simulation turntable in real time.
3、惯性导航系统初始对准后，实测得到惯性导航系统的姿态角。3. After the initial alignment of the inertial navigation system, the attitude angle of the inertial navigation system is measured.
4、确定误差补偿。4. Determine the error compensation.
(1)利用步骤2、3得到的惯性导航系统的姿态角和仿真转台驱动激励，确定惯性导航系统姿态四元数qINS和仿真转台激励姿态四元数qROTATE。(1) Using the attitude angle of the inertial navigation system obtained in
(2)利用公式
(3)利用公式
5、利用步骤确定的误差补偿对仿真转台驱动激励进行补偿。5. Use the error compensation determined in the steps to compensate the driving excitation of the simulated turntable.
进一步，本发明步骤4采用中值滤波来分离安装误差角，具体通过以下步骤实现，Further,
(1)利用步骤2、3得到的惯性导航系统的姿态角和仿真转台驱动激励，确定惯性导航系统姿态四元数qINS和仿真转台激励姿态四元数qROTATE。(1) Using the attitude angle of the inertial navigation system obtained in
(2)利用公式
(3)安装误差角四元数qINSTALL转换为欧拉角形式的安装误差角，对安装误差角进行滤波，得到滤波后的安装误差角。(3) The installation error angle quaternion q INSTALL is converted into the installation error angle in the form of Euler angles, and the installation error angle is filtered to obtain the filtered installation error angle.
本步骤滤波采用中值滤波，通过以下步骤实现：The filtering in this step adopts median filtering, which is realized through the following steps:
(31)对安装误差角分别进行中值滤波，得到滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值；(31) Median filtering is performed on the installation error angles respectively to obtain the filtered median values of the roll axis installation error angles, the pitch axis installation error angles and the yaw axis installation error angles;
(32)滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的滤波后中值与滤波前的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角进行对比，确定与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置；(32) The median value of the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis are compared with the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis before filtering , to determine the installation error angle of the roll axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis consistent with the filter median value;
(33)分别以步骤(32)确定的与滤波中值一致的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角位置为基准，确定在其中一个轴安装误差角位于滤波中值位置时另两个轴安装误差角与所处轴滤波中值之间的偏差；(33) Based on the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis determined in step (32) and consistent with the median value of the filter, determine that the installation error angle of one of the axes is located in the filter The deviation between the installation error angle of the other two axes and the filter median value of the axis at the value position;
(34)判断步骤(33)中得到的数据，确定在某一个轴安装误差角为滤波中值位置时，另两个轴安装误差角与所处轴滤波中值之间的偏差最小的位置；(34) Judging the data obtained in step (33), determine when a certain axis installation error angle is the filtering median position, the position where the deviation between the other two axis installation error angles and the axis filtering median value is the smallest;
(35)根据步骤(34)得到的偏差最小位置，得到与该位置对应的滚动轴安装误差角、俯仰轴安装误差角和偏航轴安装误差角的数值，作为滤波后的安装误差角。(35) According to the minimum deviation position obtained in step (34), obtain the numerical values of the installation error angle of the rolling axis, the installation error angle of the pitch axis and the installation error angle of the yaw axis corresponding to the position, as the installation error angle after filtering.
(4)将滤波后的安装误差角转换为安装误差角四元数q′INSTALL。(4) Transform the filtered installation error angle into the installation error angle quaternion q' INSTALL .
(5)利用公式
实施例Example
本实例为未补偿前的姿态角偏差及偏差分析如图3所示，采用本发明，补偿过程如3～7所示。This example is the attitude angle deviation and deviation analysis before compensation, as shown in Figure 3, and the compensation process is shown in Figure 3-7 using the present invention.
如图3a、b、c所示，曲线1为惯导姿态角实测曲线，曲线2为仿真机送如仿真转台的激励信号，可以看出实测角和激励信号存在一定误差，如图3d对俯仰角进行分析，其他两轴原理一致，两者具有一定的偏差，误差数据由图3d。As shown in Figure 3a, b, and c,
如图4a、b、c所示，曲线1为三轴安装角，曲线2为中值滤波后三轴安装角，可以看出，三轴在各自进行中值滤波后，某一轴位于中值的安装角对应位置，其他两轴安装角并不在中值。因此，中值滤波后三轴安装角还需要通过2范数进行选取，得到最终的补偿值。如图4a、b、c所示，分别确定位于中值的安装误差角位置，最为计算中值点。分别以三轴的计算中值点为基准，计算另两轴安装误差角与该轴中值的差，确定偏差最小的为选定中值点，该点对应的三轴安装误差角数值作为滤波后的安装误差角，将该安装误差角进行四元数转换，得到安装误差角四元数。As shown in Figure 4a, b, and c,
本发明采用特殊的中值滤波方式进行四元数分离，实现了对安装误差角中值滤波的物理意义，消除了惯导的噪声，进一步提高了误差补偿的精度。The invention uses a special median filtering method to separate quaternions, realizes the physical meaning of median filtering for installation error angles, eliminates the noise of inertial navigation, and further improves the accuracy of error compensation.
如图5、6、7所示，采用本发明修正前后各轴偏差、残差及姿态对比图，修正后残差均小于5角秒。As shown in Figures 5, 6, and 7, the comparison diagrams of deviations, residuals and attitudes of each axis before and after correction using the present invention show that the residuals after correction are all less than 5 arc seconds.
本发明未详细说明部分为本领域技术人员公知技术。Parts not described in detail in the present invention are well-known technologies for those skilled in the art.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910741965.9A CN110705002B (en) | 2019-08-13 | 2019-08-13 | A compensation system and method for simulation test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910741965.9A CN110705002B (en) | 2019-08-13 | 2019-08-13 | A compensation system and method for simulation test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110705002A CN110705002A (en) | 2020-01-17 |
| CN110705002B true CN110705002B (en) | 2022-11-11 |
Family
ID=69193355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910741965.9A Active CN110705002B (en) | 2019-08-13 | 2019-08-13 | A compensation system and method for simulation test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110705002B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336872B (en) * | 2020-01-23 | 2022-04-29 | 西安现代控制技术研究所 | Compensation type simulation method of turntable suitable for simulating projectile attitude motion |
| CN112414432B (en) * | 2020-11-26 | 2021-11-09 | 蓝箭航天空间科技股份有限公司 | Method for calibrating installation errors of inertial measurement unit and rotary table for spacecraft and server |
| CN112697136B (en) * | 2020-11-26 | 2023-12-05 | 北京机电工程研究所 | A fast minimization method for regional star map simulation |
| CN114779660B (en) * | 2022-04-19 | 2024-11-12 | 北京机电工程研究所 | A semi-physical simulation method for compensation of flight position differences |
| CN114877913B (en) * | 2022-05-20 | 2024-05-07 | 广州小马智行科技有限公司 | Non-orthogonal error calibration method, device, equipment and medium of inertial measurement unit |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015188409A1 (en) * | 2014-06-13 | 2015-12-17 | 北京航天控制仪器研究所 | Method and system for controlling antenna of mobile communication application system based on double quaternions in mems inertial navigation |
| CN108827310A (en) * | 2018-07-12 | 2018-11-16 | 哈尔滨工程大学 | A kind of star sensor secondary gyroscope online calibration method peculiar to vessel |
| CN109959390A (en) * | 2018-12-26 | 2019-07-02 | 中国电子科技集团公司第二十研究所 | A kind of installation deviation compensation method of rotation modulation system two-position |
-
2019
- 2019-08-13 CN CN201910741965.9A patent/CN110705002B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015188409A1 (en) * | 2014-06-13 | 2015-12-17 | 北京航天控制仪器研究所 | Method and system for controlling antenna of mobile communication application system based on double quaternions in mems inertial navigation |
| CN108827310A (en) * | 2018-07-12 | 2018-11-16 | 哈尔滨工程大学 | A kind of star sensor secondary gyroscope online calibration method peculiar to vessel |
| CN109959390A (en) * | 2018-12-26 | 2019-07-02 | 中国电子科技集团公司第二十研究所 | A kind of installation deviation compensation method of rotation modulation system two-position |
Non-Patent Citations (2)
| Title |
|---|
| 四旋翼惯性导航姿态解算算法的改进与仿真;李汉博等;《计算机测量与控制》;20160725(第07期);全文 * |
| 捷联惯性导航系统高精度动态仿真算法;吴旋等;《航空计算技术》;20130725(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110705002A (en) | 2020-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110705002B (en) | A compensation system and method for simulation test | |
| CN108413887B (en) | Wing deformation measurement method, device and platform based on fiber grating assisted distributed POS | |
| CN106525073B (en) | A kind of inertial space Gyro Calibration test method based on three-axle table | |
| CN101975872B (en) | Method for calibrating zero offset of quartz flexible accelerometer component | |
| CN104034329B (en) | The air navigation aid of the many integrated navigations processing means under employing launching inertial system | |
| CN104344836B (en) | Posture observation-based redundant inertial navigation system fiber-optic gyroscope system level calibration method | |
| CN112613118B (en) | Digital twin modeling and tracing method for unmeasurable assembly quality inside rocket engine | |
| CN104019828A (en) | On-line calibration method for lever arm effect error of inertial navigation system in high dynamic environment | |
| CN106200614B (en) | A kind of spacecraft attitude control test macro and method using the true torque of control-moment gyro | |
| CN107664498A (en) | A kind of posture fusion calculation method and system | |
| CN110186478B (en) | Inertial sensor type selection method and system for strapdown inertial navigation system | |
| CN115586724A (en) | Self-adaptive fractional order global sliding mode control method for gear inspection robot system | |
| CN103674068A (en) | Laser tracker based transfer alignment verification method | |
| CN110487300A (en) | Vibration absorber influences test method to the performance of inertial navigation system | |
| CN111141310B (en) | Excitation compensation method for vertical emission simulation turntable | |
| CN112129322A (en) | Method for detecting and correcting installation error of strapdown inertial measurement unit and three-axis rotary table | |
| CN108983637A (en) | A Semi-Physical Simulation Method of Satellite Control System Using Reaction Wheels | |
| CN110895149B (en) | Local reference transfer alignment accuracy in-field test system and test method | |
| CN105973237A (en) | Actual flight data interpolation-based simulated dynamic locus analyzing and generating method | |
| CN112000026A (en) | Mars GNC system physical model construction method based on information physical fusion | |
| CN103984808A (en) | Method for establishing computer-aided alignment model based on optical component surface shape | |
| CN113108779B (en) | Independent arrow measurement system based on 1553B bus triple redundancy | |
| CN106895832B (en) | A kind of angular velocity signal analogy method of Gyro | |
| CN110793549B (en) | Quick offline data analysis system of inertial measurement unit | |
| CN103235157B (en) | Information fusion ground verification system for two types of gyroscopes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |