CN111123972A - Course angle tracking-based inertial measurement combined rotation modulation method - Google Patents

Course angle tracking-based inertial measurement combined rotation modulation method Download PDF

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CN111123972A
CN111123972A CN201911230138.XA CN201911230138A CN111123972A CN 111123972 A CN111123972 A CN 111123972A CN 201911230138 A CN201911230138 A CN 201911230138A CN 111123972 A CN111123972 A CN 111123972A
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inertial measurement
measurement unit
course angle
rotation
psi
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CN111123972B (en
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于文龙
管冬雪
晏亮
陈�光
费再慧
李东蓬
古卫鹏
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Beijing Aerospace Era Laser Navigation Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to an inertial measurement combination rotation modulation method based on course angle tracking, which comprises the following steps: 1) electrifying the inertial set to keep the inertial instrument in a normal running state; 2) sending a navigation instruction to an inertial measurement unit, and enabling a system to enter an initial alignment state; 3) acquiring inertial measurement unit initial position course angle psi after alignment0And the initial course angle psi0Transmitting to a rotation control system; 4) and the inertial measurement unit enters a navigation state and starts to perform rotation modulation based on course angle tracking. The invention inhibits the horizontal error in the inertial navigation unit navigation process by rotation modulation, thereby improving the navigation precision.

Description

Course angle tracking-based inertial measurement combined rotation modulation method
Technical Field
The invention relates to a rotation modulation method in a strapdown inertial measurement combined navigation process, in particular to a strapdown inertial measurement combined rotation modulation method based on course angle tracking.
Background
The strapdown inertial measurement unit (abbreviated as an inertial measurement unit) is widely applied to the technical field of civil and military navigation due to the advantages of small volume, light weight, strong autonomy, comprehensive output parameters and the like, and the performance of the whole navigation system is often determined by the accuracy of the inertial measurement unit. Therefore, it is the focus of modern navigation technology research to improve the performance of the navigation system, i.e. improve the inertial measurement unit precision. There are two aspects of cut-in points in improving the navigation accuracy of the inertial navigation unit: firstly, the precision of an inertia device is improved; and secondly, compensating or eliminating the influence of the error of the inertial device on the navigation precision by an error compensation technology. The rotation modulation technology is an error compensation technology for the inertial measurement unit, the technology controls the inertial measurement unit to rotate according to a certain rotation scheme in a fixed period in the navigation process through a mechanical device, and navigation errors caused by errors of inertial measurement unit devices can be effectively inhibited through rotation and calculation, so that the precision of a navigation system is improved. The following problems tend to exist for conventional rotational modulation techniques:
(1) the common inertial measurement unit can complete rotation modulation only through a rotating mechanism, and the rotating mechanism usually comprises a series of components such as a rotating motor, a rotating shaft, a rotating frame, a sensor and a controller. Both excessive angular overshoots and speed fluctuations during rotation have a negative effect on the error suppression of the rotation modulation.
(2) In the rotation modulation technique, the rotation mechanism rotates according to a specified rotation scheme relative to the geographic coordinate system, but when the rotation mechanism is actually controlled in the inertial set, all the indexing control is relative to the inertial set coordinate system. Therefore, if the inertial set makes angular motion relative to the geographic coordinate system, the motion of the rotating mechanism relative to the geographic coordinate system is not completely the same as the design of the rotating scheme, so that an error of the inertial device cannot be modulated completely and effectively, and even an error compensation effect of the rotation modulation can be completely counteracted under the condition of large angular motion of the inertial set.
A single-axis rotation modulation technology is adopted in the positioning and orientation project, so that the inertial unit rotates around the zenith axis in a regular and continuous reciprocating manner, the device error in the horizontal direction is modulated, and the modulation effect is optimal after the whole rotation period is completed. In practical application, the course of the vehicle changes when the vehicle turns, the starting point and the ending point in the rotation period of the inertial set change compared with the initial moment of the inertial set, and the modulation effect is influenced.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides an inertial measurement combination rotation modulation method based on course angle tracking, and inhibits the horizontal error in the inertial measurement combination navigation process through rotation modulation, thereby improving the navigation precision.
The technical scheme of the invention is as follows: an inertial measurement combination rotation modulation method based on course angle tracking comprises the following steps:
1) electrifying the inertial set to keep the inertial instrument in a normal running state;
2) sending a navigation instruction to an inertial measurement unit, and enabling a system to enter an initial alignment state;
3) acquiring inertial measurement unit initial position course angle psi after alignment0And the initial course angle psi0Transmitting to a rotation control system;
4) the inertial measurement unit enters a navigation state and starts to carry out rotation modulation based on course angle tracking;
the rotation modulation process is specifically as follows:
(41) the inertial measurement unit enters a navigation state, and the horizontal axis of the inertial measurement unit is positioned from an initial position P in the navigation process0Rotated in a clockwise direction by 360 DEG to P'0Then rotates counterclockwise by 360 degrees to P0Circularly and reciprocally performing rotary modulation; the inertial measurement unit moves along with the carrier, the course angle psi is updated in real time, and the course angle psi of the inertial measurement unit is transmitted to the rotation control system in real time;
(42) the rotation control system is based on the received psi0And psi, calculating to obtain the difference value delta psi between the current inertial measurement combination position course angle and the initial position course angle0；
(43) The rotation control system calculates to obtain new transposition information P according to the course angle difference delta psi0+ delta psi and P'0+Δψ；
(44) The rotation control system calculates the difference value delta P between the current position α of the horizontal axis of the inertial measurement unit and the calculated index position0+Δψ-α；
(45) The rotation control system calculates the control quantity of the rotation motor through a PID control algorithm according to the angle difference value
Figure BDA0002303319730000031
kp，ki，kdPID control parameters;
(46) the rotating motor drives the inertial measurement unit to rotate to the calculated transposition according to the control quantity;
(47) repeating the step (41) to the step (46), and judging whether the inertial measurement unit rotates to the calculated transposition position; if not, returning to the step (44); if in place, go to step 48);
(48) after reaching the appointed transposition, the rotary modulation device turns to the next rotary modulation position.
The invention has the beneficial effects that:
(1) the joint working mode of the rotation control system and the navigation system is that the rotation control system and the navigation system are in real-time communication;
(2) through the real-time communication between the rotation control system and the navigation system, the initial position of the rotation period in the rotation modulation process can be corrected in real time according to the course angle sent by the navigation system so as to keep the initial position of the rotation period always the same as the initial position of the rotation period in the geographic coordinate system, so that the rotation debugging effect of the inertial measurement unit can still exert the optimal effect when horizontal angular motion exists;
(3) the inertial measurement unit applying the rotation modulation method can effectively eliminate errors in the horizontal direction in the navigation process, and brings better navigation precision.
Drawings
FIG. 1 is a flow chart of a rotation modulation method with real-time tracking of course angle according to the present invention.
FIG. 2 is a block diagram of information communication between a navigation system and a rotational control system.
Detailed Description
Selecting one shaft of a double-shaft rotating mechanism of a strapdown inertial measurement unit (called an inertial measurement unit for short) according to the final installation position of the strapdown inertial measurement unit to carry out single-shaft rotation modulation, controlling the single-shaft rotating mechanism to drive the inertial measurement unit to rotate in a motion mode by an inertial measurement unit rotation control system according to sensor information returned by the inertial measurement unit and an angle sensor, and finally realizing that the inertial measurement unit rotates relative to a rotation central shaft plane in a rotation period of a geographic coordinate system, an end point of the inertial measurement unit is consistent with and rotates around an inertial measurement unit initial time shaft plane in a rotation period of the geographic coordinate system in the process of any horizontal angle motion by carrying out real-time correction on a course angle sent by a navigation system by the rotation control system. As shown in fig. 1, the rotational modulation of the course angle tracking comprises the following steps:
(1) navigation system completes initial alignment to acquire heading angle psi of initial position0And sending the initial heading angle to a rotational control system (as shown in FIG. 2);
(2) after initial alignment, the inertial measurement unit enters a navigation working state, a rotation control system performs rotation modulation according to a set rotation modulation scheme in the navigation process, and the transposition information of the rotation modulation scheme is arranged as follows:
21. obtaining an initial value psi of inertial measurement unit course angle when the alignment is finished0When the carrier and the inertial set rotating mechanism are kept static, the rotation control system records the position information of the inertial set rotating mechanism at the moment and records the position information as a rotation modulation initial position P0；
22. With P0Is a primary position rotating mechanism rotates clockwise by 360 degrees to P'0Noted as a second position;
23. from P'0The second position rotates anticlockwise by 360 degrees and returns to the initial position P0；
24. Repeating steps 22-23;
(3) the inertial navigation system acquires a current position course angle psi in real time and sends the current position course angle psi to the rotation control system;
(4) and the rotation control system corrects the position of the rotating central axis according to the real-time course angle information sent by the navigation system, so that the central axis modulated by the rotation of the inertial measurement unit is always consistent with the initial course angle.
The invention has the following implementation steps:
1) electrifying the inertial set to keep the inertial instrument in a normal running state;
2) sending a navigation instruction to an inertial measurement unit, and enabling a system to enter an initial alignment state;
3) acquiring inertial measurement unit initial position course angle psi after alignment0And the initial course angle psi0And (2) transmitting the data to a rotation control system, wherein the rotation control system is used for setting corresponding rotation modulation indexes, and the indexes are set as follows (shown in figure 1):
31. obtaining an initial value psi of inertial measurement unit course angle when the alignment is finished0When the carrier and the inertial set rotating mechanism are kept static, the rotation control system records the position information of the inertial set rotating mechanism at the moment and records the position information as a rotation modulation initial position P0；
32. With P0Is a primary position rotating mechanism rotates clockwise by 360 degrees to P'0Noted as a second position;
33. from P'0The second position rotates anticlockwise by 360 degrees and returns to the initial position P0；
34. Repeating steps 32-33;
4) and then the inertial measurement unit enters a navigation state, and rotation modulation based on course angle tracking is started, wherein the rotation modulation process specifically comprises the following steps:
(41) the inertial measurement unit enters a navigation state, the inertial measurement unit carries out rotation modulation according to the rotation scheme shown in 3) in the navigation process, the heading angle psi is updated in real time, and the heading angle psi of the inertial measurement unit is transmitted to a rotation control system in real time;
(42) the rotation control system is based on the received psi0And psi, calculating to obtain the difference value delta psi between the current inertial measurement combination position course angle and the initial position course angle0；
(43) The rotation control system calculates new transposition information P according to the course angle difference0+ delta psi and P'0+ delta psi, calculating the angle difference value delta P between the current position α of the horizontal axis of the inertial unit and the calculated transposition by the rotation control system0+Δψ-α；
(44) The rotation control system calculates the current position α of the horizontal axis of the inertial measurement unit and the angle difference delta P between the current position and the calculated index position as P0+Δψ-α；
(45) The rotation control system calculates the control quantity of the rotation motor through a PID control algorithm according to the angle difference value
Figure BDA0002303319730000051
kp，ki，kdFor PID control parameter, adopt KI control in this scheme, control parameter sets up to: k is a radical ofp＝9.5，ki＝0.01，kd＝0；
(46) The rotating motor drives the inertial measurement unit to rotate to the calculated transposition P according to the control quantity0+ delta psi and P'0+Δψ；
(47) Repeating the step (41) to the step (46), and judging whether the inertial measurement unit rotates to the calculated transposition position; if not, repeat 44-47; if so, go to step 48 (shown in FIG. 1);
(48) after reaching the designated index, the next rotary modulation position is turned and 41-48 are repeated.

Claims (2)

1. An inertial measurement combination rotation modulation method based on course angle tracking is characterized by comprising the following steps:
1) electrifying the inertial set to keep the inertial instrument in a normal running state;
2) sending a navigation instruction to an inertial measurement unit, and enabling a system to enter an initial alignment state;
3) acquiring inertial measurement unit initial position course angle psi after alignment0And the initial course angle psi0Transmitting to a rotation control system;
4) and the inertial measurement unit enters a navigation state and starts to perform rotation modulation based on course angle tracking.
2. The inertial measurement combination rotation modulation method based on heading angle tracking as claimed in claim 1, wherein: the rotation modulation process is specifically as follows:
(41) the inertial measurement unit enters a navigation state, and the horizontal axis of the inertial measurement unit is positioned from an initial position P in the navigation process0Rotated in a clockwise direction by 360 DEG to P'0Then rotates counterclockwise by 360 degrees to P0Circulation ofCarrying out reciprocating rotation modulation; the inertial measurement unit moves along with the carrier, the course angle psi is updated in real time, and the course angle psi of the inertial measurement unit is transmitted to the rotation control system in real time;
(42) the rotation control system is based on the received psi0And psi, calculating to obtain the difference value delta psi between the current inertial measurement combination position course angle and the initial position course angle0；
(43) The rotation control system calculates to obtain new transposition information P according to the course angle difference delta psi0+ delta psi and P'0+Δψ；
(44) The rotation control system calculates the difference value delta P between the current position α of the horizontal axis of the inertial measurement unit and the calculated index position0+Δψ-α；
(45) The rotation control system calculates the control quantity of the rotation motor through a PID control algorithm according to the angle difference value
Figure FDA0002303319720000011
kp，ki，kdPID control parameters;
(46) the rotating motor drives the inertial measurement unit to rotate to the calculated transposition according to the control quantity;
(47) repeating the step (41) to the step (46), and judging whether the inertial measurement unit rotates to the calculated transposition position; if not, returning to the step (44); if in place, go to step 48);
(48) after reaching the appointed transposition, the rotary modulation device turns to the next rotary modulation position.
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