CN110940336A - Strapdown inertial navigation simulation positioning resolving method and device and terminal equipment - Google Patents
Strapdown inertial navigation simulation positioning resolving method and device and terminal equipment Download PDFInfo
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Abstract
The invention is suitable for the technical field of strapdown inertial navigation positioning, and provides a strapdown inertial navigation simulation positioning resolving method, a strapdown inertial navigation simulation positioning resolving device and terminal equipment, wherein the method comprises the following steps: acquiring simulation state information of a carrier; obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier; according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters; and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters. According to the method and the device, modeling of the inertial navigation device is not needed, a complex modeling analysis process is avoided, inversion can be directly carried out according to the motion state of the carrier input by a user to obtain simulation measurement parameters of the inertial navigation device, and the simulation accuracy of measurement data of the strapdown inertial navigation system is improved.
Description
Technical Field
The invention belongs to the technical field of strapdown inertial navigation positioning, and particularly relates to a strapdown inertial navigation simulation positioning resolving method, a strapdown inertial navigation simulation positioning resolving device and terminal equipment.
Background
With the deep understanding of nature of natural phenomena and the improvement of the manufacturing process level, a novel autonomous navigation system, namely inertial navigation, is gradually developed. Inertial navigation is a navigation system established on the basis of an inertial principle, does not need any external information, does not radiate any information outwards, can autonomously perform three-dimensional positioning and orientation under all weather conditions, in the global range and in all medium environments only by the system, is widely applied to aviation, aerospace, navigation and important vehicle land navigation at present, and is an indispensable core navigation device of an important carrier.
Because a high-precision strapdown inertial navigation device is expensive and is not suitable for being randomly used and debugged in the process of project development, simulation analysis plays an important role in the research of an inertial navigation algorithm, is the basis of physical testing and application, can be considered to be further advanced to a physical verification stage only after the early stage is feasible through simulation verification, and is favorable for saving the testing cost of an actual system.
At present, a mode of modeling inertial navigation devices such as a gyroscope and an accelerometer is generally adopted in a simulation research process of a strapdown inertial navigation system, but the mode of modeling the inertial navigation devices is complex in modeling process and involves intersection of multiple subjects, so that measurement data obtained by modeling is poor in accuracy, and great trouble is brought to researchers.
Disclosure of Invention
In view of this, the embodiment of the invention provides a method, a device and a terminal device for solving strapdown inertial navigation simulation positioning, so as to solve the problem of poor modeling accuracy of strapdown inertial navigation simulation in the prior art.
The first aspect of the embodiment of the invention provides a strapdown inertial navigation simulation positioning resolving method, which comprises the following steps:
acquiring simulation state information of a carrier;
obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier;
according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters;
and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
A second aspect of the embodiments of the present invention provides a strapdown inertial navigation simulation positioning solution device, including:
the simulation state information acquisition module is used for acquiring the simulation state information of the carrier;
the theoretical measurement parameter acquisition module is used for acquiring theoretical measurement parameters of the carrier according to the simulation state information of the carrier;
the simulation measurement parameter acquisition module is used for performing error superposition on the theoretical measurement parameters according to an inertial navigation device error model of the strapdown inertial navigation system to obtain simulation measurement parameters;
and the positioning calculation module is used for inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the strapdown inertial navigation simulation positioning solution method when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the strapdown inertial navigation simulation positioning solution method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in this embodiment, first, the simulation state information of the carrier is obtained; then obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier; finally, according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters; and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters. According to the method, the inertial navigation device does not need to be modeled, a complex modeling analysis process is avoided, inversion can be directly carried out according to the motion state of the carrier input by a user to obtain the measurement parameters of the simulated inertial navigation device, and the simulation accuracy of the measurement data of the strapdown inertial navigation system is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a strapdown inertial navigation simulation positioning solution method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an implementation of S102 in fig. 1 according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of S201 in fig. 2 according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of S202 in fig. 2 according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a strapdown inertial navigation simulation positioning solution provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 shows a strapdown inertial navigation simulation positioning solution method provided by an embodiment of the present invention, which is characterized by including:
s101: and acquiring simulation state information of the carrier.
In this embodiment, a user defines a track of the carrier, and specifically, the user may directly input a motion state table including a simulated motion state of the carrier at each moment into the terminal device; a mathematical model can be established according to the motion form of the carrier, the motion parameters in each time period are planned, and the simulation motion state of the carrier is simulated. The simulated motion state of the vehicle includes information of position, speed, attitude, and the like.
Specifically, when the simulation state information is presented in the form of a motion state table, the user-defined motion trajectory file provides position, velocity, and pose data for each frame of the simulation, where each line of data represents a frame. The file contents are text files separated by commas and have the extension of csv, so that the data analysis software package can read the text files automatically. Track files may also be displayed with a file editor, which may be used to represent both the exact motion track and the simulated navigation results.
Specifically, the motion trajectory of the vehicle may be a linear motion trajectory or a non-linear motion trajectory.
S102: and obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier.
In this embodiment, the theoretical measurement parameter is a measurement parameter of the carrier measured by the theoretically accurate inertial navigation device, which is obtained by inversion according to the simulation state information of the carrier, and the theoretical measurement parameter is a measurement parameter directly obtained by inversion according to the simulation state information and a positioning calculation method without considering the error of the inertial navigation device.
S103: and according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters.
In this embodiment, since inertial navigation devices such as a gyroscope and an accelerometer in the strapdown inertial navigation system all have zero offset, cross coupling errors, specific power factor errors, and random quantization levels, the errors of the devices need to be considered, so as to truly simulate measurement parameters output by the inertial navigation devices.
S104: and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
In this embodiment, the positioning calculation device is a device that performs positioning calculation on a measurement device output by the strapdown inertial navigation system to obtain motion states of the carrier, such as position, speed, and attitude, and the strapdown inertial navigation system performs attitude calculation on the carrier through the positioning calculation device.
In this embodiment, the simulation of the measurement data by the method provided by this embodiment is equivalent to the modeling simulation of the inertial navigation device of the strapdown inertial navigation system, and then the measurement parameters obtained by the simulation are input into the positioning and resolving device, so that the simulation of the strapdown inertial navigation positioning system can be realized, the trouble that the modeling can be performed only by deeply knowing the physical properties of the inertial navigation device is avoided, the problem that the measurement parameters cannot be accurately simulated is solved, and the simulation accuracy of the strapdown inertial navigation system is improved.
In this embodiment, first, the simulation state information of the carrier is obtained; then obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier; finally, according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters; and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters. According to the method, the inertial navigation device does not need to be modeled, a complex modeling analysis process is avoided, inversion can be directly carried out according to the motion state of the carrier input by a user to obtain the measurement parameters of the simulated inertial navigation device, and the simulation accuracy of the measurement data of the strapdown inertial navigation system is improved.
In an embodiment, a specific implementation flow of S101 in fig. 1 may include:
and acquiring a motion trail mathematical model of the carrier input by a user, and determining simulation state information of the carrier at each moment according to the motion trail mathematical model.
In one embodiment, the simulation state information includes velocity, position, and euler angle; the theoretical measurement parameters comprise theoretical angular velocity and theoretical specific force; as shown in fig. 2, fig. 2 shows a specific implementation flow of S102 in fig. 1, and the process thereof is detailed as follows:
s201: obtaining the theoretical angular velocity of the carrier through inversion according to the position, the velocity and the Euler angle of the carrier;
s202: the theoretical specific force of the vehicle is determined based on a velocity differential equation, the position, the velocity, and the euler angle of the vehicle.
In this embodiment, the inertial navigation device of the strapdown inertial navigation system includes a gyroscope and an accelerometer, where the gyroscope is used to acquire an angular velocity of the vehicle during operation, and the accelerometer is used to measure a specific force of the vehicle during operation, so as to determine an acceleration of the vehicle.
In one embodiment, fig. 3 shows an implementation flow of S201 in fig. 2, and the process thereof is detailed as follows:
s301: and obtaining the projection of the navigation coordinate system of the carrier relative to the rotation angular speed of the inertial coordinate system on the navigation coordinate system according to the position and the speed of the carrier in the navigation coordinate system.
In this embodiment, based on the formula (1), the projection of the navigation coordinate system of the vehicle on the navigation coordinate system with respect to the rotational angular velocity of the inertial coordinate system can be obtained.
In the formula (1), the reaction mixture is,
representing a projection of the angular velocity of rotation of a navigational coordinate system of the vehicle relative to an inertial coordinate system on the navigational coordinate system, ReThe curvature radius of the mortise and western ring is shown,
representing the y-axis velocity of the vehicle in a navigational coordinate system;
representing the x-axis velocity of the vehicle in a navigational coordinate system; l represents the longitude, ω, of the vehicleieRepresenting angular velocity of rotation of the earth, omegainRepresenting the angular velocity of the navigational coordinate system relative to the inertial coordinate system, and h representing the height of the vehicle.
In this embodiment, the position of the vehicle in the navigation coordinate system includes a longitude L, a latitude λ, and an altitude h.
S302: and determining the projection of the carrier coordinate system of the carrier on the carrier coordinate system relative to the rotation angular speed of the navigation coordinate system according to the Euler angle of the carrier under the navigation coordinate system.
In this embodiment, the euler angles of the vehicle include a pitch angle θ, a roll angle φ, and a heading angle ψ in a navigation coordinate system. From the euler angles, a projection of the angular velocity of the rotation of the carrier coordinate system of the vehicle relative to the navigation coordinate system onto the carrier coordinate system can be determined
S303: and determining a coordinate transformation matrix from the carrier coordinate system to the navigation coordinate system according to the Euler angle of the carrier.
In this embodiment, a coordinate transformation matrix from the carrier coordinate system to the navigation coordinate system is shown as equation (3):
in the formula (3), θnbRepresenting the current pitch angle, phi, of the vehicle relative to the navigation coordinate system n in the carrier coordinate system bnbRepresenting the current roll angle, ψ, of the vehicle in the carrier coordinate system b relative to the navigation coordinate system nnbRepresenting the current heading angle of the vehicle relative to the navigation coordinate system n in the vehicle coordinate system b.
S304: according to the projection of the navigation coordinate system of the carrier on the navigation coordinate system relative to the rotation angular velocity of an inertial coordinate system, the projection of the carrier coordinate system of the carrier on the carrier coordinate system relative to the rotation angular velocity of the navigation coordinate system, and a coordinate conversion matrix from the carrier coordinate system to the navigation coordinate system; the theoretical angular velocity of the vehicle is calculated.
In one embodiment, the specific implementation flow of S304 in fig. 3 includes:
computing
Obtaining a theoretical angular velocity of the carrier;
in the formula (4), the reaction mixture is,
representing a theoretical angular velocity of the vehicle;
a coordinate transformation matrix representing the navigation coordinate system to the carrier coordinate system;
representing a projection of a navigation coordinate system of the vehicle on an inertial coordinate system relative to a rotational angular velocity of the navigation coordinate system;
and a projection of a carrier coordinate system representing the vehicle on the carrier coordinate system relative to the rotational angular velocity of the navigation coordinate system.
In one embodiment, as shown in fig. 4, fig. 4 shows an implementation flow of S202 in fig. 2, and the process thereof is detailed as follows:
s401: and calculating a posture matrix according to the Euler angle of the carrier, and converting the position, the speed and the posture matrix of the carrier from a navigation coordinate system to a terrestrial coordinate system.
In the present embodiment, since the terrestrial coordinate system e is generally used as a relative reference and projection coordinate system in the strapdown inertial navigation system, which is convenient in research, the present embodiment determines that the navigation result is represented in the terrestrial coordinate system e.
In this embodiment, the simulated motion parameters of the known vehicle are expressed in the navigation coordinate system n, so the speed in the navigation coordinate system n needs to be first calculated
Longitude in position LbLatitude λbAnd height hbAnd attitude matrix
Velocity transformed into earth coordinate system (e system)
Longitude in position rxLatitude ryAnd height rzAnd attitude matrix
And then performing specific force inversion.
S402: and determining the gravity acceleration of the vehicle under the terrestrial coordinate system according to the gravity model and the position of the vehicle under the terrestrial coordinate system.
In this embodiment, the gravity acceleration of the vehicle in the terrestrial coordinate system is as shown in formula (5)
In the formula (5), the reaction mixture is,
representing the gravitational acceleration in the terrestrial coordinate system (the projection of the acceleration in the carrier coordinate system in the terrestrial coordinate system),
represents the acceleration due to the force of gravity,
representing the position of the carrier in a terrestrial coordinate system; omegaieRepresenting the rotational angular velocity of the earth.
S403: and determining the specific force of the vehicle in the terrestrial coordinate system according to the gravity acceleration and the speed of the vehicle in the terrestrial coordinate system.
In this embodiment, the specific force of the vehicle in the terrestrial coordinate system is as shown in formula (6):
in the present embodiment, it is preferred that,
the specific force of the carrier in a terrestrial coordinate system (the projection of the carrier coordinate system of the carrier relative to an inertial coordinate system in the terrestrial coordinate system);
representing the speed of the vehicle in the global coordinate system at the current time,
representing the speed of the vehicle in a global coordinate system of a previous moment，ωieRepresenting angular velocity of rotation of the earth, omegaie＝7.292115×10-5rad·s-1；ωieA represents a diagonally symmetric matrix and a,
denotes the acceleration of gravity in the terrestrial coordinate system and τ denotes the time interval.
S404: and converting the specific force of the carrier from a terrestrial coordinate system to a carrier coordinate system according to the attitude matrix of the carrier in the terrestrial coordinate system to obtain the theoretical specific force of the carrier.
In this example, the theoretical specific force of the carrier was obtained using formula (7).
In the formula (7), the reaction mixture is,
representing the specific force of the carrier in a carrier coordinate system;
representing the attitude matrix of the vehicle under the terrestrial coordinate system (i.e. the attitude transformation matrix of the vehicle coordinate system and the terrestrial coordinate system),
representing the specific force of the vehicle in a terrestrial coordinate system.
In one embodiment, the theoretical measurement data includes theoretical angular velocity and theoretical specific force; the simulation measurement parameters comprise simulation angular velocity and simulation specific force; the specific implementation process of S103 in fig. 1 includes:
inputting the theoretical angular velocity into a gyroscope error model of the strapdown inertial navigation system to obtain a simulated angular velocity;
the gyroscope error model is as follows:
in the formula (8), bgRepresenting zero offset error of the gyroscope, I3Representing a unit matrix, MgRepresenting the scale factor and cross-coupling error of the gyroscope, wgRepresenting the level of the gyroscope's random quantization,
representing a theoretical angular velocity;
inputting the theoretical specific force into an accelerometer error model of the strapdown inertial navigation system to obtain a simulation specific force;
the accelerometer error model is:
in the formula (9), the reaction mixture is,
showing the simulated specific force, I3Representing a unit matrix, MaRepresenting specific force factor and cross-coupling error of the accelerometer; baRepresenting a zero offset error of the accelerometer; w is aaRepresenting a random quantization level of the accelerometer.
In an embodiment of the invention, after the simulated angular velocity and the simulated specific force are obtained, the simulated angular velocity and the simulated specific force are used as simulated measurement data output by an inertial navigation device of an inertial navigation system to perform positioning calculation on a carrier, and the specific process is as follows:
(1) attitude updating
The inertial navigation attitude under the ECEF coordinate system is updated by utilizing the simulated angular velocity
And updating the posture result. The attitude result adopts an attitude matrix from a carrier coordinate system to a terrestrial coordinate system
And (4) showing. Specifically, the formula is shown as (10).
In the formula (10), the compound represented by the formula (10),
is the attitude matrix value at the previous moment, I3Is a 3 x 3 unit matrix,
is an antisymmetric array for measuring angular velocity by an inertial navigation device,
is an antisymmetric array of the vector of the angular velocity of rotation of the earth, omegaieIs the angular velocity of the earth's rotation,
to simulate angular velocity, τiAre time intervals.
(2) Specific force coordinate transformation
In this embodiment, the specific force directly measured by the accelerometer of the inertial navigation device is projected along each axis of the carrier coordinate system, and the coordinate transformation of the specific force can be realized by means of the coordinate transformation matrix. The calculation formula for accurately converting the specific force to the ECEF coordinate system is shown in equation (11) with the first order approximation of the earth's rotation angular rate retained.
In the formula (11), the reaction mixture is,
is an accelerometer measurement.
(3) Speed update
When calculating under the ECEF coordinate system, the reference coordinate system is consistent with the projection coordinate system, and the change rate of the projected speed in the earth coordinate system comprises a centripetal acceleration term and a Coriolis acceleration term due to the rotation of the earth coordinate system.
In the formula (12), the reaction mixture is,
projecting the speed change rate of a carrier coordinate system of the carrier relative to a terrestrial coordinate system in the terrestrial coordinate system;
acceleration to which the vehicle is subjected, i.e. specific force measured in the terrestrial coordinate system
Acceleration of gravity and gravity
Summing;
is an antisymmetric array of the vector of the angular velocity of the earth rotation.
In the present embodiment, acceleration due to gravity
Is gravitational acceleration
And the sum of centripetal acceleration, and substituting the corresponding relational expression into the above expression (12) to obtain the expression (13)
Solving the analytical solution of the above equation (13) is complicated, and considering that the coriolis acceleration term is much smaller than the specific force and gravity term, it is a reasonable approximation to ignore the change of the coriolis term in the integration period except for aerospace applications. Therefore, the speed formula of the vehicle in the terrestrial coordinate system at the current moment is shown as formula (14).
(4) Location update
Updating the position in the ECEF coordinate system, wherein the reference coordinate system of the position is consistent with the projection coordinate system, and
in the formula (15), the reaction mixture is,
represents the integral of the position of the vehicle in a terrestrial coordinate system,
representing the speed of the vehicle in a terrestrial coordinate system.
The integral of equation (15) above, assuming a linear change in velocity over the integration period, has
In the formula (16), the compound represented by the formula,
the position of the vehicle in the global coordinate system at the previous moment,
is the speed of the vehicle in the global coordinate system at the previous moment,
is the specific force in the ECEF coordinate system, tauiAre time intervals.
Through the process, the carrier can be positioned and calculated according to the simulation measurement parameters, and the motion state data of the carrier is obtained. Whether the inversion method of the carrier simulation measurement parameters provided by the embodiment is correct can be determined according to the motion state data obtained in the positioning calculation process.
It can be known from the above embodiments that inertial navigation positioning requires two important parameters, namely, a specific force and an angular velocity, and the two parameters are respectively obtained by measuring an accelerometer and a gyroscope, but the high-precision accelerometer and gyroscope are complex in modeling, and the specific force and the angular velocity obtained after modeling often have large errors. By utilizing the algorithm provided by the application, the specific force and the angular velocity can be obtained by resolving from the real motion track of the carrier, and the modeling process of the inertial navigation device is avoided. Meanwhile, compared with the simulation modeling of the inertial navigation device of the signal layer, the method provided by the application can greatly reduce the data volume and improve the simulation efficiency because the inertial navigation device does not need to be modeled. The simulation of the signal layer is that the analog inertial navigation device is fixedly connected on a moving carrier, not only the modeling of the inertial navigation device is needed, but also various data generated when the carrier moves need to be collected, the data are inertial navigation signals, and the method also needs to carry out the next data processing on the inertial navigation information to obtain the information used when the navigation equation is solved.
It can be known from the above embodiments that the present embodiment directly calculates the motion trajectory of the vehicle, and can quickly obtain the specific force and the angular velocity, and these simulation measurement parameters can be used as the output values of the inertial navigation device in the combined navigation-related simulation, and can also be repositioned to verify the accuracy of the algorithm. And by adopting a semi-physical simulation system of an information layer, the processing speed can achieve the purpose of implementing interaction with a flight control system.
The method can avoid a complex modeling process of the inertial navigation device, can calculate the measured value of the inertial navigation device according to the preset track of the carrier, does not influence the normal use of other parts of the system, keeps the original measuring function of the inertial navigation device, and can ensure that high-precision specific force and angular velocity measured values can be continuously output.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment of the present invention, as shown in fig. 5, fig. 5 shows a structure of a strapdown inertial navigation simulation positioning solution 100, which includes:
a simulation state information obtaining module 110, configured to obtain simulation state information of a carrier;
a theoretical measurement parameter obtaining module 120, configured to obtain a theoretical measurement parameter of the carrier according to the simulation state information of the carrier;
the simulation measurement parameter obtaining module 130 is configured to perform error superposition on the theoretical measurement parameter according to an inertial navigation device error model of the strapdown inertial navigation system to obtain a simulation measurement parameter;
and the positioning calculation module 140 is configured to input the simulation measurement parameters into a positioning calculation device, so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
In one embodiment, the simulation status information obtaining module 110 specifically includes: and acquiring a motion trail mathematical model of the carrier input by a user, and determining simulation state information of the carrier at each moment according to the motion trail mathematical model.
In one embodiment, the simulation state information includes velocity, position, and euler angle; the theoretical measurement parameters comprise theoretical angular velocity and theoretical specific force; the theoretical measurement parameter acquisition module 120 in fig. 5 further includes a structure for implementing the steps of the method of fig. 2, which includes:
a theoretical angular velocity calculation unit, configured to obtain a theoretical angular velocity of the carrier by inversion according to the position, the velocity, and the euler angle of the carrier;
a theoretical specific force calculation unit for determining a theoretical specific force of the vehicle based on a velocity differential equation, the position, the velocity, and the euler angle of the vehicle.
In one embodiment, the theoretical angular velocity calculation unit further includes a structure for executing the corresponding steps of implementing the method in fig. 3, which includes:
the first projection acquisition unit is used for acquiring the projection of the navigation coordinate system of the carrier relative to the rotation angular speed of the inertial coordinate system on the navigation coordinate system according to the position and the speed of the carrier under the navigation coordinate system;
the second projection acquisition unit is used for determining the projection of the carrier coordinate system of the carrier on the carrier coordinate system relative to the rotation angular speed of the navigation coordinate system according to the Euler angle of the carrier under the navigation coordinate system;
a transformation matrix calculation unit, configured to determine a coordinate transformation matrix from the carrier coordinate system to the navigation coordinate system according to an euler angle of the vehicle;
a theoretical angular velocity calculation unit, configured to calculate a coordinate transformation matrix from a carrier coordinate system to a navigation coordinate system according to a projection of a navigation coordinate system of the carrier on the navigation coordinate system with respect to a rotational angular velocity of an inertial coordinate system, a projection of a carrier coordinate system of the carrier on the carrier coordinate system with respect to the rotational angular velocity of the navigation coordinate system, and the carrier coordinate system; the theoretical angular velocity of the vehicle is calculated.
In one embodiment, the theoretical angular velocity calculation unit includes:
computing
Obtaining a theoretical angular velocity of the carrier;
in the formula (I), the compound is shown in the specification,
representing a theoretical angular velocity of the vehicle;
a coordinate transformation matrix representing the navigation coordinate system to the carrier coordinate system;
a navigation coordinate system representing the vehicleProjection of the rotation angular velocity relative to an inertial coordinate system on the navigation coordinate system;
and a projection of a carrier coordinate system representing the vehicle on the carrier coordinate system relative to the rotational angular velocity of the navigation coordinate system.
In one embodiment, the theoretical specific force calculation unit further comprises structure for performing the method steps in fig. 4, including:
a coordinate system conversion unit, which is used for calculating an attitude matrix according to the Euler angle of the carrier and converting the position, the speed and the attitude matrix of the carrier from a navigation coordinate system to a terrestrial coordinate system;
the gravity acceleration calculation unit is used for determining the gravity acceleration of the carrier under the terrestrial coordinate system according to a gravity model and the position of the carrier under the terrestrial coordinate system;
the first specific force calculating unit is used for determining the specific force of the vehicle in the terrestrial coordinate system according to the gravity acceleration and the speed of the vehicle in the terrestrial coordinate system;
and the theoretical specific force calculation unit is used for converting the specific force of the carrier from a terrestrial coordinate system to a carrier coordinate system according to the attitude matrix of the carrier in the terrestrial coordinate system to obtain the theoretical specific force of the carrier.
In one embodiment, the theoretical measurement data includes theoretical angular velocity and theoretical specific force; the simulation measurement parameters comprise simulation angular velocity and simulation specific force; the simulation measurement parameter obtaining module 130 includes:
the simulation angular velocity obtaining unit is used for inputting the theoretical angular velocity into a gyroscope error model of the strapdown inertial navigation system to obtain a simulation angular velocity;
the gyroscope error model is as follows:
wherein, bgRepresenting zero offset error of the gyroscope, I3Representing a unit matrix, MgRepresenting the scale factor and cross-coupling error of the gyroscope, wgRepresenting the level of the gyroscope's random quantization,
representing a theoretical angular velocity;
the simulation specific force acquisition unit is used for inputting the theoretical specific force into an accelerometer error model of the strapdown inertial navigation system to obtain simulation specific force;
the accelerometer error model is:
wherein the content of the first and second substances,
showing the simulated specific force, I3Representing a unit matrix, MaRepresenting specific force factor and cross-coupling error of the accelerometer; baRepresenting a zero offset error of the accelerometer; w is aaRepresenting a random quantization level of the accelerometer.
Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 6, the terminal device 600 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the above embodiments, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 110 to 140 shown in fig. 5.
The computer program 62 may be divided into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 62 in the terminal device 600.
The terminal device 600 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device 600 and does not constitute a limitation of terminal device 600 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the terminal device 600, such as a hard disk or a memory of the terminal device 600. The memory 61 may also be an external storage device of the terminal device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 600. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 600. The memory 61 is used for storing the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A strapdown inertial navigation simulation positioning resolving method is characterized by comprising the following steps:
acquiring simulation state information of a carrier;
obtaining theoretical measurement parameters of the carrier according to the simulation state information of the carrier;
according to an inertial navigation device error model of the strapdown inertial navigation system, performing error superposition on the theoretical measurement parameters to obtain simulation measurement parameters;
and inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
2. The strapdown inertial navigation simulation positioning solution method according to claim 1, wherein the obtaining the simulation state information of the vehicle comprises:
and acquiring a motion trail mathematical model of the carrier input by a user, and determining simulation state information of the carrier at each moment according to the motion trail mathematical model.
3. The strapdown inertial navigation simulation positioning solution method according to claim 1, wherein the simulation state information includes velocity, position, and euler angle; the theoretical measurement parameters comprise theoretical angular velocity and theoretical specific force; obtaining theoretical measurement parameters of the vehicle according to the simulation state information of the vehicle, including:
obtaining the theoretical angular velocity of the carrier through inversion according to the position, the velocity and the Euler angle of the carrier;
the theoretical specific force of the vehicle is determined based on a velocity differential equation, the position, the velocity, and the euler angle of the vehicle.
4. The strapdown inertial navigation simulation positioning solution method according to claim 3, wherein the obtaining the theoretical angular velocity of the vehicle by inversion based on the position, the velocity, and the euler angle of the vehicle comprises:
obtaining the projection of the navigation coordinate system of the carrier relative to the rotation angular speed of the inertial coordinate system on the navigation coordinate system according to the position and the speed of the carrier under the navigation coordinate system;
determining the projection of a carrier coordinate system of the carrier relative to the rotation angular speed of the navigation coordinate system on the carrier coordinate system according to the Euler angle of the carrier under the navigation coordinate system;
determining a coordinate transformation matrix from the carrier coordinate system to the navigation coordinate system according to the Euler angle of the carrier;
projecting a navigation coordinate system of the carrier on a navigation coordinate system relative to a rotation angular velocity of an inertial coordinate system, projecting a carrier coordinate system of the carrier on the carrier coordinate system relative to the rotation angular velocity of the navigation coordinate system, and converting a coordinate conversion matrix from the carrier coordinate system to the navigation coordinate system; the theoretical angular velocity of the vehicle is calculated.
5. The strapdown inertial navigation simulation positioning solution method according to claim 4, wherein the calculating is performed according to a projection of a navigation coordinate system of the vehicle on the navigation coordinate system with respect to a rotational angular velocity of an inertial coordinate system, a projection of a carrier coordinate system of the vehicle on the carrier coordinate system with respect to a rotational angular velocity of the navigation coordinate system, and a coordinate transformation matrix from the carrier coordinate system to the navigation coordinate system; calculating a theoretical angular velocity of the vehicle, comprising:
computing
Obtaining a theoretical angular velocity of the carrier;
wherein the content of the first and second substances,
representing a theoretical angular velocity of the vehicle;
a coordinate transformation matrix representing the navigation coordinate system to the carrier coordinate system;
representing a projection of a navigation coordinate system of the vehicle on an inertial coordinate system relative to a rotational angular velocity of the navigation coordinate system;
and a projection of a carrier coordinate system representing the vehicle on the carrier coordinate system relative to the rotational angular velocity of the navigation coordinate system.
6. The strapdown inertial navigation simulation location solution method of claim 3, wherein the determining the theoretical specific force of the vehicle based on the velocity differential equation, the position of the vehicle, the velocity, and the euler angle comprises:
calculating a posture matrix according to the Euler angle of the carrier, and converting the position, the speed and the posture matrix of the carrier from a navigation coordinate system to a terrestrial coordinate system;
determining the gravity acceleration of the vehicle under the terrestrial coordinate system according to a gravity model and the position of the vehicle under the terrestrial coordinate system;
determining the specific force of the vehicle in the terrestrial coordinate system according to the gravitational acceleration and the speed of the vehicle in the terrestrial coordinate system;
and converting the specific force of the carrier from a terrestrial coordinate system to a carrier coordinate system according to the attitude matrix of the carrier in the terrestrial coordinate system to obtain the theoretical specific force of the carrier.
7. The strapdown inertial navigation simulation positioning solution method according to any one of claims 1 to 6, wherein the theoretical measurement data includes a theoretical angular velocity and a theoretical specific force; the simulation measurement parameters comprise simulation angular velocity and simulation specific force; the method for obtaining the simulated measurement parameters by performing error superposition on the theoretical measurement parameters according to the inertial navigation device error model of the strapdown inertial navigation system comprises the following steps:
inputting the theoretical angular velocity into a gyroscope error model of the strapdown inertial navigation system to obtain a simulated angular velocity;
the gyroscope error model is as follows:
wherein, bgRepresenting zero offset error of the gyroscope, I3Representing a unit matrix, MgRepresenting the scale factor and cross-coupling error of the gyroscope, wgRepresenting the level of the gyroscope's random quantization,
representing a theoretical angular velocity;
inputting the theoretical specific force into an accelerometer error model of the strapdown inertial navigation system to obtain a simulation specific force;
the accelerometer error model is:
wherein the content of the first and second substances,
showing the simulated specific force, I3Representing a unit matrix, MaRepresenting specific force factor and cross-coupling error of the accelerometer; baRepresenting a zero offset error of the accelerometer; w is aaRepresenting a random quantization level of the accelerometer.
8. A strapdown inertial navigation simulation positioning resolving device is characterized by comprising:
the simulation state information acquisition module is used for acquiring the simulation state information of the carrier;
the theoretical measurement parameter acquisition module is used for acquiring theoretical measurement parameters of the carrier according to the simulation state information of the carrier;
the simulation measurement parameter acquisition module is used for performing error superposition on the theoretical measurement parameters according to an inertial navigation device error model of the strapdown inertial navigation system to obtain simulation measurement parameters;
and the positioning calculation module is used for inputting the simulation measurement parameters into a positioning calculation device so that the positioning calculation device performs positioning calculation according to the simulation measurement parameters.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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