CN110926447B - Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method - Google Patents
Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method Download PDFInfo
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- 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
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Abstract
The invention discloses a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function, which comprises the following steps: s101, acquiring an output value alpha of the fiber optic gyroscope; s102, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope; s103, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta; s104, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer; and S105, respectively calculating the real-time pitch angle theta and the roll angle phi of the carrier based on the output values a1 and a2 to complete north seeking. The invention utilizes one fiber-optic gyroscope and two accelerometers to finish autonomous north finding without external assistance, and also discloses a single-axis fiber-optic gyroscope attitude-seeking navigation method with an autonomous navigation function, which realizes course keeping.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function and a navigation attitude navigation method.
Background
The inertial navigation system is widely applied to navigation systems in the fields of spaceflight, navigation, land and the like due to the characteristics of the inertial navigation system. A conventional inertial navigation system includes three fiber optic gyroscopes and three accelerometers.
In the prior art, in order to simplify the construction, researchers have developed an inertial navigation system including only one fiber-optic gyroscope and two accelerometers. However, the navigation system has the disadvantages that the initial heading must be provided by relying on the magnetic sensor, the north seeking cannot be autonomously completed by inertial navigation, and the magnetic sensor is greatly influenced by the surrounding magnetic field environment, the north seeking precision is in the order of more than 1 degree, and the precision is poor.
Therefore, how to accomplish autonomous north finding without external auxiliary heading by using one fiber-optic gyroscope and two accelerometers becomes a problem which needs to be solved urgently by those skilled in the art and a problem which needs to be solved urgently by those skilled in the art is realized.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: by utilizing the fiber-optic gyroscope and the two accelerometers, autonomous north finding is completed without external assistance, and heading keeping is realized.
In order to solve the technical problems, the invention adopts the following technical scheme:
a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function comprises the following steps:
s101, acquiring an output value alpha of the fiber optic gyroscope;
s102, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope;
s103, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta;
s104, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer;
and S105, respectively calculating the real-time pitch angle theta and the roll angle phi of the carrier based on the output values a1 and a2 to complete north seeking.
Preferably, in step S103:
α＝k·wie·cos(L)·cos(ψ)+ε(t1)
β＝k·wie·cos(L)·cos(ψ+180°)+ε(t2)
where k denotes the scale factor of the fiber optic gyroscope, wieRepresenting the rotational angular velocity of the earth, L being the latitude of the measuring place, ε (t)1) Represents the zero offset error of the fiber-optic gyroscope before rotating 180 degrees around the sensitive axis, epsilon (t)2) And the zero offset error of the fiber-optic gyroscope after rotating 180 degrees around the sensitive axis is represented.
Preferably, in step S105:
in the formula, g represents the gravitational acceleration, the angle θ is positive when the front end of the carrier is lifted upward, and the angle φ is positive when the front end of the carrier is lifted upward.
A single-axis fiber-optic gyroscope attitude and heading navigation method with an autonomous navigation function comprises the following steps:
s201, acquiring an output value alpha of the fiber-optic gyroscope;
s202, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope;
s203, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta;
s204, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer;
s205, respectively calculating a real-time pitch angle theta and a roll angle phi of the carrier based on the output values a1 and a2 to finish north seeking;
s206, rotating the fiber-optic gyroscope around a gyroscope rotating shaft to enable the sensitive shaft of the fiber-optic gyroscope to point to the sky direction;
s207, obtaining an included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
S208, based on the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
Calculating the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the current momenti；
S209, acquiring output values of the first accelerometer and the second accelerometer at the current moment and calculating a real-time pitch angle of the carrier at the current moment;
s210, based onIncluded angle psi between sensitive axis of front moment optical fiber gyroscope and true north directioniAnd keeping the course of the carrier at the current moment by the real-time pitch angle of the carrier and the roll angle at the current moment.
Preferably, in step S203:
α＝k·wie·cos(L)·cos(ψ)+ε(t1)
β＝k·wie·cos(L)·cos(ψ+180°)+ε(t2)
where k denotes the scale factor of the fiber optic gyroscope, wieRepresenting the rotational angular velocity of the earth, L being the latitude of the measuring place, ε (t)1) Represents the zero offset error of the fiber-optic gyroscope before rotating 180 degrees around the sensitive axis, epsilon (t)2) And the zero offset error of the fiber-optic gyroscope after rotating 180 degrees around the sensitive axis is represented.
Preferably, in step S205:
in the formula, g represents the gravitational acceleration, the angle θ is positive when the front end of the carrier is lifted upward, and the angle φ is positive when the front end of the carrier is lifted upward.
Preferably, in step S208:
in the formula, omegaieThe rotation angle of the earth between two moments, and L is the local latitude to be measured.
In summary, the invention discloses a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function, which comprises the following steps: s101, acquiring an output value alpha of the fiber optic gyroscope; s102, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope; s103, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta; s104, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer; and S105, respectively calculating the real-time pitch angle theta and the roll angle phi of the carrier based on the output values a1 and a2 to complete north seeking. The invention utilizes one fiber-optic gyroscope and two accelerometers to finish autonomous north finding without external assistance, and also discloses a single-axis fiber-optic gyroscope attitude-seeking navigation method with an autonomous navigation function, which realizes course keeping.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a flow chart of a single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function disclosed in the present invention;
FIG. 2 is a schematic mechanism diagram of a single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function according to the present invention;
FIG. 3 is a flow chart of a single-axis fiber-optic gyroscope attitude and heading navigation method with an autonomous navigation function according to the disclosure;
fig. 4 is a schematic structural diagram of a single-axis fiber-optic gyroscope attitude and heading navigation method with an autonomous navigation function disclosed by the invention.
Description of reference numerals: the device comprises a horizontal mounting surface 1, a vertical mounting surface 2, a fiber-optic gyroscope 3, a sensitive shaft 4, a north-seeking rotating shaft 5 and a gyroscope rotating shaft 6.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention discloses a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function, which is characterized by comprising the following steps:
s101, acquiring an output value alpha of the fiber optic gyroscope;
s102, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope;
s103, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta;
s104, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer;
and S105, respectively calculating the real-time pitch angle theta and the roll angle phi of the carrier based on the output values a1 and a2 to complete north seeking.
As shown in FIG. 2, when the north seeking is started, the rotating base is horizontal, the sensitive axis of the fiber-optic gyroscope is parallel to the mounting surface of the horizontal plane, and the sensitive axis of the fiber-optic gyroscope is parallel to the plane of the rotating base.
The included angle between the initial direction of the sensitive axis of the optical fiber gyroscope and the true north direction is psi, the output value of the optical fiber gyroscope at the initial position is alpha, the sensitive axis of the optical fiber gyroscope is driven by the torque motor to rotate 180 degrees counterclockwise to the second position to obtain the output value beta of the optical fiber gyroscope, then the included angle psi between the sensitive axis of the optical fiber gyroscope and the true north direction is calculated, and the initial position and the second position are symmetrical, so that the zero offset of the optical fiber gyroscope is eliminated by subtraction, and the requirement on the precision of the optical fiber gyroscope is reduced. In addition, the invention does not need to rely on a magnetic sensor to provide an initial course, and can autonomously complete north finding through inertial navigation, thereby reducing the interference of a magnetic field on an inertial navigation system comprising only one fiber-optic gyroscope and two accelerometers, and improving the north finding precision. The existing north-seeking method has the accuracy range of 1 degree, and the north-seeking method of the invention has the accuracy of 0.1 degree.
In specific implementation, in step S103:
α＝k·wie·cos(L)·cos(ψ)+ε(t1)
β＝k·wie·cos(L)·cos(ψ+180°)+ε(t2)
where k denotes the scale factor of the fiber optic gyroscope, wieRepresenting the rotational angular velocity of the earth, L being the latitude of the measuring place, ε (t)1) Indicating that the fibre-optic gyroscope rotates 180 degrees around the sensitive axisFront zero offset error, ε (t)2) And the zero offset error of the fiber-optic gyroscope after rotating 180 degrees around the sensitive axis is represented.
In the invention, the time t when the fiber-optic gyroscope is at the initial position1And time t of the second position2At small intervals, can be approximated as epsilon (t)1)≈ε(t2)。
In specific implementation, in step S105:
in the formula, g represents the gravitational acceleration, the angle θ is positive when the front end of the carrier is lifted upward, and the angle φ is positive when the front end of the carrier is lifted upward.
As shown in fig. 3, the invention also discloses a single-axis fiber-optic gyroscope attitude and heading navigation method with an autonomous navigation function, which is characterized by comprising the following steps:
s201, acquiring an output value alpha of the fiber-optic gyroscope;
s202, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope;
s203, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta;
s204, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer;
s205, respectively calculating a real-time pitch angle theta and a roll angle phi of the carrier based on the output values a1 and a2 to finish north seeking;
s206, rotating the fiber-optic gyroscope around a gyroscope rotating shaft to enable the sensitive shaft of the fiber-optic gyroscope to point to the sky direction;
s207, obtaining an included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
S208, based on the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
Calculating the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the current momenti；
S209, acquiring output values of the first accelerometer and the second accelerometer at the current moment and calculating a real-time pitch angle of the carrier at the current moment;
s210, based on the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the current momentiAnd keeping the course of the carrier at the current moment by the real-time pitch angle of the carrier and the roll angle at the current moment.
The included angle between the initial direction of the sensitive axis of the optical fiber gyroscope and the true north direction is psi, the output value of the optical fiber gyroscope at the initial position is alpha, the sensitive axis of the optical fiber gyroscope is driven by the torque motor to rotate 180 degrees counterclockwise to the second position to obtain the output value beta of the optical fiber gyroscope, then the included angle psi between the sensitive axis of the optical fiber gyroscope and the true north direction is calculated, and the initial position and the second position are symmetrical, so that the zero offset of the optical fiber gyroscope is eliminated by subtraction, and the requirement on the precision of the optical fiber gyroscope is reduced. In addition, the invention does not need to rely on a magnetic sensor to provide an initial course, and can autonomously complete north finding through inertial navigation, thereby reducing the interference of a magnetic field on an inertial navigation system comprising only one fiber-optic gyroscope and two accelerometers, and improving the north finding precision. The existing north-seeking method has the accuracy range of 1 degree, and the north-seeking method of the invention has the accuracy of 0.1 degree. On the basis, after the equipment finishes north finding, as shown in figure 4, the sensitive shaft of the fiber-optic gyroscope points to the sky direction through the rotation control mechanism, and the output of the fiber-optic gyroscope is utilized to sense the change of the course angle in real time so as to maintain the course.
In specific implementation, in step S203:
α＝k·wie·cos(L)·cos(ψ)+ε(t1)
β＝k·wie·cos(L)·cos(ψ+180°)+ε(t2)
where k denotes the scale factor of the fiber optic gyroscope, wieRepresenting the rotational angular velocity of the earth, L being the latitude of the measuring place, ε (t)1) Represents the zero offset error of the fiber-optic gyroscope before rotating 180 degrees around the sensitive axis, epsilon (t)2) And the zero offset error of the fiber-optic gyroscope after rotating 180 degrees around the sensitive axis is represented.
In specific implementation, in step S205:
in the formula, g represents the gravitational acceleration, the angle θ is positive when the front end of the carrier is lifted upward, and the angle φ is positive when the front end of the carrier is lifted upward.
In specific implementation, in step S208:
in the formula, omegaieThe rotation angle of the earth between two moments, and L is the local latitude to be measured.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A single-axis fiber-optic gyroscope attitude and heading navigation method with an autonomous navigation function is characterized by comprising the following steps:
s201, acquiring an output value alpha of the fiber-optic gyroscope;
s202, rotating the fiber-optic gyroscope by 180 degrees around a sensitive axis to obtain an output value beta of the fiber-optic gyroscope;
s203, calculating an included angle psi between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value alpha and the output value beta;
α＝k·wie·cos(L)·cos(ψ)+ε(t1)
β＝k·wie·cos(L)·cos(ψ+180°)+ε(t2)
where k denotes the scale factor of the fiber optic gyroscope, wieRepresenting the rotational angular velocity of the earth, L being the latitude of the measuring place, ε (t)1) Represents the zero offset error of the fiber-optic gyroscope before rotating 180 degrees around the sensitive axis, epsilon (t)2) The zero offset error of the optical fiber gyroscope after rotating 180 degrees around the sensitive axis is represented;
s204, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer;
s205, respectively calculating a real-time pitch angle theta and a roll angle phi of the carrier based on the output values a1 and a2 to finish north seeking;
s206, rotating the fiber-optic gyroscope around a gyroscope rotating shaft to enable the sensitive shaft of the fiber-optic gyroscope to point to the sky direction;
s207, obtaining an included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
S208, based on the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the last momenti-1And output radian of optical fiber gyroscope
Calculating the sensitive axis and true north of the fiber-optic gyroscope at the current momentTransverse angle psii；
S209, acquiring output values of the first accelerometer and the second accelerometer at the current moment and calculating a real-time pitch angle of the carrier at the current moment;
s210, based on the included angle psi between the sensitive axis of the fiber-optic gyroscope and the true north direction at the current momentiAnd keeping the course of the carrier at the current moment by the real-time pitch angle of the carrier and the roll angle at the current moment.
2. The single-axis fiber-optic gyroscope attitude and heading navigation method with the autonomous navigation function as claimed in claim 1, wherein in step S205:
in the formula, g represents the gravitational acceleration, the angle θ is positive when the front end of the carrier is lifted upward, and the angle φ is positive when the front end of the carrier is lifted upward.
3. The single-axis fiber-optic gyroscope attitude and heading navigation method with the autonomous navigation function as claimed in claim 1, wherein in step S208:
in the formula, omegaieThe rotation angle of the earth between two moments, and L is the latitude of the measuring place.
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| CN111879280B (en) * | 2020-08-10 | 2022-07-01 | 西京学院 | Positioning and attitude-determining device and method for coal mining machine |
| CN112229377A (en) * | 2020-09-23 | 2021-01-15 | 郑州天一飞控机电有限公司 | Pan-tilt full-attitude calculation method |
| CN112484712B (en) * | 2020-11-23 | 2022-08-12 | 重庆华渝电气集团有限公司 | Double-gyroscope north-seeking attitude reference instrument and north-seeking method |
| CN116045944B (en) * | 2023-03-30 | 2023-05-30 | 中国船舶集团有限公司第七〇七研究所 | Single-ring double-sensitive-axis optical fiber gyro |
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