CN111121764A - Inertial navigation carrier running track correction method based on morphological filtering - Google Patents

Inertial navigation carrier running track correction method based on morphological filtering Download PDF

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CN111121764A
CN111121764A CN201911287256.4A CN201911287256A CN111121764A CN 111121764 A CN111121764 A CN 111121764A CN 201911287256 A CN201911287256 A CN 201911287256A CN 111121764 A CN111121764 A CN 111121764A
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CN111121764B (en
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何嘉玮
宋宁
王承
侯东雨
金毅
肖亮
刘畅
许印白
许萍萍
安然
宋喆
袁小慧
张斌斌
陈炯
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State Grid Shanghai Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention relates to an inertial navigation carrier running track correction method based on morphological filtering, which comprises the following steps: step 1: in a strapdown inertial navigation system, acquiring inertial data of a carrier through an IMU (inertial measurement Unit); step 2: acquiring acceleration data after abnormal value correction; and step 3: obtaining the variable quantity of the displacement of the carrier in the sampling time; and 4, step 4: obtaining carrier position information at the current sampling moment; and 5: and obtaining the track information of the motion of the carrier on the navigation coordinate system. Compared with the prior art, the invention has the advantages of equal precision, good practicability and the like.

Description

Inertial navigation carrier running track correction method based on morphological filtering
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a method for correcting an inertial navigation carrier running track based on morphological filtering.
Background
Currently, the scholars propose a method for positioning an inertial navigation odometer, which is to measure inertial navigation data in the course of system path and correct inertial navigation calculation by combining the displacement data of the odometer to position a pipeline path. By analyzing the positioning accuracy of the current inertial navigation, the problem of low measurement accuracy exists by adopting an IMU (inertial measurement Unit) inertial navigation odometer for positioning, the error of a long pipeline is about m level, and a certain difference exists between the error and the actual measurement requirement, so that the method is less in practical application.
According to analysis of the IMU inertial navigation odometer positioning principle, measurement data errors in a positioning algorithm are an accumulation process, and abnormal data formed in abnormal measurement states (such as vibration, turning and the like) are also accumulated, so that the measurement precision is reduced finally.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the method for correcting the motion track of the inertial navigation carrier based on the morphological filtering, which has high precision and good practicability.
The purpose of the invention can be realized by the following technical scheme:
an inertial navigation carrier running track correction method based on morphological filtering comprises the following steps:
step 1: in a strapdown inertial navigation system, acquiring inertial data of a carrier through an IMU (inertial measurement Unit), wherein the inertial data comprises angular velocity data and acceleration data;
step 2: performing morphological filtering processing on the acceleration data to obtain the acceleration data subjected to abnormal value correction;
and step 3: obtaining the variable quantity of the displacement of the carrier in sampling time through acceleration data;
and 4, step 4: acquiring the carrier position information at the current sampling moment according to the position information at the last sampling moment and the variable quantity of the carrier displacement in the sampling time;
and 5: and converting the position information of the carrier from a carrier system b system to a navigation coordinate system n system according to the angular velocity data and the corrected acceleration data to obtain the track information of the motion of the carrier on the navigation coordinate system.
Preferably, the step 2 specifically comprises:
step 2-1: judgment of Deltay (n)i)＝y(ni)-y(ni-1) If so, executing step 2-2, otherwise, executing step 2-3, wherein in the above formula, y (n)i) Acceleration sample value, y (n), of IMU at the current timei-1) The acceleration sampling value of the IMU at the previous moment is obtained, and lambda is the maximum value of difference values in all acceleration signals acquired by the IMU;
step 2-2: performing morphological filtering on the acceleration data by adopting a triangular structural element through a combination of an open-close filter and a closed-open filter;
step 2-3: directly selecting a sampling value y (n) at the current momenti) The subsequent steps are carried out.
More preferably, it is characterized in that,
the expression of the open-close filter is as follows:
Figure BDA0002318369090000021
the expression of the closed-open filter is as follows:
Figure BDA0002318369090000022
the open-close filter and the close-open filter are in an average combination form, and the expression is as follows:
Figure BDA0002318369090000023
wherein, f (n) is the acceleration data measured by the IMU, g (m) is a sequence structure element, o is a form open operation, y (n) is the corrected acceleration data.
Preferably, the step 3 specifically comprises:
and performing twice integration on the corrected acceleration data to obtain the variation of the displacement of the carrier in the sampling time.
Preferably, the step 5 specifically comprises:
step 5-1: angular velocity data measured from IMU
Figure BDA0002318369090000024
And angular velocity data of the carrier system relative to the inertial coordinate system calculated by IMU
Figure BDA0002318369090000025
Obtaining angular velocity data of a carrier system b relative to a navigation coordinate system n
Figure BDA0002318369090000026
Step 5-2: according to
Figure BDA0002318369090000027
Obtaining an attitude matrix
Figure BDA0002318369090000028
Step 5-3: by passing
Figure BDA0002318369090000029
And converting the position information of the carrier from a carrier system b system to a navigation coordinate system n system to obtain the corrected track information of the carrier on the navigation coordinate system.
More preferably, the angular velocity data in said step 5-1
Figure BDA00023183690900000210
The specific calculation method comprises the following steps:
Figure BDA00023183690900000211
more preferably, the specific method of step 5-2 is: to pair
Figure BDA00023183690900000212
Performing first-order integration of time, combining the conversion process from the carrier system b system to the navigation coordinate system n system, and obtaining the attitude matrix by adopting an angle increment method
Figure BDA0002318369090000031
Figure BDA0002318369090000032
Is expressed as
Figure BDA0002318369090000033
Wherein theta is a pitch angle, gamma is a roll angle, and psi is a course angle.
More preferably, the step 5-3 is specifically:
step 5-3-1: converting the corrected carrier acceleration data in the carrier system b system into a navigation coordinate system n system, wherein the specific method comprises the following steps:
Figure BDA0002318369090000034
wherein A isntFor the carrier under a navigation coordinate systemAcceleration of, i.e. acceleration values required for, the course estimation process, AbtFor the useful component of the acceleration data measured by the IMU, the specific calculation method is:
Abt＝fbt-Ve+g
wherein f isbtFor the acceleration output signal of the IMU, VeIs the harmful acceleration component generated by the rotation of the earth and the movement of the carrier relative to the earth, and g is the gravity acceleration;
step 5-3-2: calculating the speed V of the carrier at the current sampling moment on the navigation coordinate systemntAnd a displacement XntAnd acquiring the track information of the carrier on a navigation coordinate system n system, wherein the specific calculation method comprises the following steps:
Figure BDA0002318369090000035
Figure BDA0002318369090000036
wherein, Vn0，Xn0Respectively, the velocity and displacement data of the carrier acquired by the IMU at the last sampling moment.
Compared with the prior art, the invention has the following advantages:
firstly, the precision is high: the invention removes larger deviation data caused by vibration by performing morphological filtering on the acceleration data, so that the acceleration waveform is more stable, and the precision can be improved by more than 20%.
Secondly, the practicability is good: the invention has high measurement precision and error cancellation, meets the requirement of actual measurement and can be popularized and applied in the actual measurement.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the on-arithmetic filtering using triangle-shaped structure elements according to the present invention;
FIG. 3 is a schematic diagram of closed-loop filtering using triangle-shaped structure elements according to the present invention;
FIG. 4 is a schematic diagram of a simulation test;
FIG. 5 is a graph of x-axis acceleration measured by the IMU;
FIG. 6 is a graph of x-axis acceleration after morphological filtering;
FIG. 7 is a graph of the motion trajectory of a carrier before morphological filtering;
fig. 8 is a trace curve of the modified carrier motion.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention relates to an inertial navigation carrier running track correction method based on morphological filtering, which comprises the following steps as shown in figure 1:
step 1: in a strapdown inertial navigation system, inertial data of a carrier, including angular velocity data and acceleration data, are acquired through an inertial measurement unit IMU, a gyroscope and an accelerometer in the IMU are installed along three mutually perpendicular coordinate axis directions of a b system of the carrier system, and the acceleration and gyroscope information in three directions under the b system are measured.
Step 2: performing morphological filtering processing on the acceleration data to obtain the acceleration data subjected to abnormal value correction;
and step 3: performing twice integration on the acceleration data to obtain the variation of the displacement of the carrier in sampling time;
and 4, step 4: acquiring the carrier position information at the current sampling moment according to the position information at the last sampling moment and the variable quantity of the carrier displacement in the sampling time;
and 5: and converting the position information of the carrier from a b system of the carrier to an n system of a navigation coordinate system according to the angular velocity data and the corrected acceleration data to obtain the track information of the motion of the carrier on the navigation coordinate system, wherein in the n system, the positive direction of an X axis is defined as the right side of the advancing direction of the carrier, the positive direction of a Y axis is defined as the advancing direction of the carrier, and a Z axis is defined as the direction vertical to the upward direction of the carrier.
The step 2 specifically comprises the following steps:
step 2-1: judgment of Deltay (n)i)＝y(ni)-y(ni-1) If so, executing step 2-2, otherwise, executing step 2-3, wherein in the above formula, y (n)i) Acceleration sample value, y (n), of IMU at the current timei-1) The acceleration sampling value of the IMU at the previous moment is obtained, and lambda is the maximum value of the difference value of the acceleration signals collected by the IMU;
step 2-2: the acceleration data are morphologically filtered by adopting a triangular structural element through the combination of an open-close filter and a close-open filter, the selection of the triangular structural element directly determines the effect of a morphological filtering algorithm in the morphological filtering algorithm, and because the acceleration signal of the IMU inertial navigation module is an oscillation signal, positive and negative signals exist in the measurement process. In combination with the characteristics of the acceleration waveform, the present embodiment filters the acceleration waveform by using the triangular structural elements, slides the structural elements along the upper and lower surfaces of the waveform in the opening operation and the closing operation, retains the contact portion of the midpoint of the bottom edge of the triangular structural element, and replaces the untouched portion with the connecting line of the midpoint of the bottom edge of the triangular structural element, as shown in fig. 2 and 3. On the basis, in order to remove two kinds of noise simultaneously, the embodiment uses an open-close filter and a closed-open filter to screen and correct abnormal values of accelerometer measurement data;
step 2-3: directly selecting a sampling value y (n) at the current momenti) The subsequent steps are carried out.
Wherein the expression of the on-off filter is:
Figure BDA0002318369090000051
the expression for the on-off filter is:
Figure BDA0002318369090000052
in order to avoid distortion sites appearing in fig. 2 and fig. 3, this embodiment adopts an average combination form of two filters, and maintains the characteristics of the original signal while realizing signal noise reduction, where the filtered output signal is:
Figure BDA0002318369090000053
wherein f (n) is acceleration data measured by IMU, g (m) is a sequence structural element,
Figure BDA0002318369090000054
the form open operation, the form close operation, and the corrected acceleration data y (n).
The step 5 specifically comprises the following steps:
step 5-1: angular velocity data measured from IMU
Figure BDA0002318369090000055
And angular velocity data of the carrier system relative to the inertial coordinate system calculated by IMU
Figure BDA0002318369090000056
Obtaining angular velocity data of a carrier system b relative to a navigation coordinate system n
Figure BDA0002318369090000057
The specific calculation method comprises the following steps:
Figure BDA0002318369090000058
step 5-2: to pair
Figure BDA0002318369090000059
Performing first-order integration of time, combining the conversion process from the carrier system b system to the navigation coordinate system n system, and obtaining the attitude matrix by adopting an angle increment method
Figure BDA00023183690900000510
Figure BDA00023183690900000511
Is expressed as
Figure BDA00023183690900000512
Wherein theta is a pitch angle, gamma is a roll angle, and psi is a course angle.
Step 5-3: by passing
Figure BDA00023183690900000513
Converting the position information of the carrier from a carrier system b system to a navigation coordinate system n system to obtain the corrected track information of the carrier on the navigation coordinate system, which specifically comprises the following steps:
step 5-3-1: converting the corrected carrier acceleration data in the carrier system b system into a navigation coordinate system n system, wherein the specific method comprises the following steps:
Figure BDA0002318369090000061
wherein A isntAcceleration of the carrier in the navigation coordinate system, i.e. the acceleration value required during dead reckoning, AbtFor the useful component of the acceleration data measured by the IMU, the specific calculation method is:
Abt＝fbt-Ve+g
wherein f isbtFor the acceleration output signal of the IMU, VeIs the harmful acceleration component generated by the rotation of the earth and the movement of the carrier relative to the earth, and g is the gravity acceleration;
step 5-3-2: calculating the speed V of the carrier at the current sampling moment on the navigation coordinate systemntAnd a displacement XntAnd acquiring the track information of the carrier on a navigation coordinate system n system, wherein the specific calculation method comprises the following steps:
Figure BDA0002318369090000062
Figure BDA0002318369090000063
wherein, Vn0，Xn0Respectively, the velocity and displacement data of the carrier acquired by the IMU at the last sampling moment.
In order to understand the positioning accuracy of the method proposed by the present invention, a simulation test was performed, and the whole simulation test is shown in fig. 4, in which the length of the pipe is 104 meters.
First, the filtering effect is verified, morphological filtering processing is performed on the x-axis acceleration measured by the IMU, the original graph is shown in fig. 5, and the corrected graph is shown in fig. 6. Through comparison between fig. 5 and fig. 6, it can be seen that the signals are preprocessed through morphological filtering, so that abnormal data at a corner of the pipeline, that is, data in a circle in fig. 5, is screened and corrected, the obtained preprocessed waveform is obviously more stable than the original waveform, and is reduced to within 10g from the original maximum auxiliary 20g, so that the correction effect is obvious.
And secondly, verifying the track precision of the carrier obtained by calculation, wherein fig. 7 is a track curve of the motion of the carrier before morphological filtering is carried out, and fig. 8 is a track curve of the motion of the carrier after correction. The measurement error of the track calculated by the original data at the corner, namely the circle in fig. 7, is larger, the error in the horizontal direction is 0.6 meter, the error in the vertical direction is 0.1 meter, the vibration amplitude of the corresponding acceleration waveform at the corner is larger, and it can be seen that the vibration formed by passing through the corner in the measurement process causes a larger error to the measurement data of the IMU, resulting in the reduction of the positioning accuracy of the positioning system. As shown in fig. 8, inertial navigation solution is performed by using data after morphological filtering preprocessing, and the error of the obtained trajectory curve at the corner is obviously reduced, the error in the horizontal direction is 0.3 m, and the error in the height direction is 0.08 m, because the IMU measurement data is subjected to morphological filtering preprocessing, larger deviation data caused by vibration is removed, so that the acceleration waveform is more stable, and the measurement accuracy is improved.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (8)

1. An inertial navigation carrier running track correction method based on morphological filtering is characterized by comprising the following steps:
step 1: in a strapdown inertial navigation system, acquiring inertial data of a carrier through an IMU (inertial measurement Unit), wherein the inertial data comprises angular velocity data and acceleration data;
step 2: performing morphological filtering processing on the acceleration data to obtain the acceleration data subjected to abnormal value correction;
and step 3: obtaining the variable quantity of the displacement of the carrier in sampling time through acceleration data;
and 4, step 4: acquiring the carrier position information at the current sampling moment according to the position information at the last sampling moment and the variable quantity of the carrier displacement in the sampling time;
and 5: and converting the position information of the carrier from a carrier system b system to a navigation coordinate system n system according to the angular velocity data and the corrected acceleration data to obtain the track information of the motion of the carrier on the navigation coordinate system.
2. The method for correcting the motion trajectory of the inertial navigation carrier based on the morphological filtering as claimed in claim 1, wherein the step 2 specifically comprises:
step 2-1: judgment of Deltay (n)i)＝y(ni)-y(ni-1) If so, executing step 2-2, otherwise, executing step 2-3, wherein in the above formula, y (n)i) Acceleration sample value, y (n), of IMU at the current timei-1) The acceleration sampling value of the IMU at the previous moment is obtained, and lambda is the maximum value of difference values in all acceleration signals acquired by the IMU;
step 2-2: performing morphological filtering on the acceleration data by adopting a triangular structural element through a combination of an open-close filter and a closed-open filter;
step 2-3: directly selecting a sampling value y (n) at the current momenti) The subsequent steps are carried out.
3. The method for correcting the motion trail of the inertial navigation carrier based on the morphological filtering is characterized in that,
the expression of the open-close filter is as follows:
Figure FDA0002318369080000011
the expression of the closed-open filter is as follows:
Figure FDA0002318369080000012
the open-close filter and the close-open filter are in an average combination form, and the expression is as follows:
Figure FDA0002318369080000013
wherein f (n) is acceleration data measured by IMU, g (m) is a sequence structural element,
Figure FDA0002318369080000014
the form open operation, the form close operation, and the corrected acceleration data y (n).
4. The method for correcting the motion trajectory of the inertial navigation carrier based on the morphological filtering as claimed in claim 1, wherein the step 3 specifically comprises:
and performing twice integration on the corrected acceleration data to obtain the variation of the displacement of the carrier in the sampling time.
5. The method for correcting the motion trajectory of the inertial navigation carrier based on the morphological filtering according to claim 1, wherein the step 5 specifically comprises:
step 5-1: angular velocity data measured from IMU
Figure FDA0002318369080000021
And angular velocity data of the carrier system relative to the inertial coordinate system calculated by IMU
Figure FDA0002318369080000022
Obtaining angular velocity data of a carrier system b relative to a navigation coordinate system n
Figure FDA0002318369080000023
Step 5-2: according to
Figure FDA0002318369080000024
Obtaining an attitude matrix
Figure FDA0002318369080000025
Step 5-3: by passing
Figure FDA0002318369080000026
And converting the position information of the carrier from a carrier system b system to a navigation coordinate system n system to obtain the corrected track information of the carrier on the navigation coordinate system.
6. The method for correcting the motion trail of the inertial navigation carrier based on the morphological filtering as claimed in claim 5, wherein the angular velocity data in the step 5-1
Figure FDA0002318369080000027
The specific calculation method comprises the following steps:
Figure FDA0002318369080000028
7. the method for correcting the motion trajectory of the inertial navigation carrier based on the morphological filtering is characterized in that the specific method in the step 5-2 is as follows: to pair
Figure FDA0002318369080000029
Performing first-order integration of time, combining the conversion process from the carrier system b system to the navigation coordinate system n system, and obtaining the attitude matrix by adopting an angle increment method
Figure FDA00023183690800000210
Figure FDA00023183690800000211
Is expressed as
Figure FDA00023183690800000212
Wherein theta is a pitch angle, gamma is a roll angle, and psi is a course angle.
8. The method for correcting the motion trajectory of the inertial navigation carrier based on the morphological filtering according to claim 5, wherein the step 5-3 specifically comprises:
step 5-3-1: converting the corrected carrier acceleration data in the carrier system b system into a navigation coordinate system n system, wherein the specific method comprises the following steps:
Figure FDA00023183690800000213
wherein A isntAcceleration of the carrier in the navigation coordinate system, i.e. the acceleration value required during dead reckoning, AbtFor the useful component of the acceleration data measured by the IMU, the specific calculation method is:
Abt＝fbt-Ve+g
wherein f isbtFor the acceleration output signal of the IMU, VeIs the harmful acceleration component generated by the rotation of the earth and the movement of the carrier relative to the earth, and g is the gravity acceleration;
step 5-3-2: calculating the speed V of the carrier at the current sampling moment on the navigation coordinate systemntAnd a displacement XntObtaining the track information of the carrier on a navigation coordinate system n systemThe specific calculation method comprises the following steps:
Figure FDA0002318369080000031
Figure FDA0002318369080000032
wherein, Vn0，Xn0Respectively, the velocity and displacement data of the carrier acquired by the IMU at the last sampling moment.
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JP7216761B2 (en) 2020-05-15 2023-02-01 阿波▲羅▼智▲聯▼（北京）科技有限公司 Location information determination method, device and equipment
KR102595677B1 (en) 2020-05-15 2023-10-27 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. Method, apparatus and device for determining location information
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