CN111189473A - Heading and attitude system gyro error compensation method based on magnetic sensor and additional meter - Google Patents
Heading and attitude system gyro error compensation method based on magnetic sensor and additional meter Download PDFInfo
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- CN111189473A CN111189473A CN202010019497.7A CN202010019497A CN111189473A CN 111189473 A CN111189473 A CN 111189473A CN 202010019497 A CN202010019497 A CN 202010019497A CN 111189473 A CN111189473 A CN 111189473A
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- 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
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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
- 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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- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
The invention discloses a gyro error compensation method of an attitude and heading system based on a magnetic sensor and an additional meter, which is characterized by comprising the following steps of: (1) calculating the gyro drift error compensation quantity according to the output information of the magnetometer; (2) acquiring a gyro drift error amount according to carrier acceleration information measured by an adding table in real time; (3) establishing a gyro error compensation quantity calculation model, and calculating a gyro compensation error; (4) and establishing a gyro output error compensation model to perform error compensation on gyro output data. The invention solves the problems that the gyro has low precision and the attitude resolving drifts along with time, and can not meet the requirement of stable application of the system, effectively inhibits the drift of the gyro and improves the attitude stability of the attitude navigation system; has higher engineering application value and popularization value.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a gyro error compensation method of a navigation attitude system based on a magnetic sensor and a meter.
Background
In an inertial navigation system, the drift processing of information of a gyroscope and an accelerometer (adding table) is directly related to the precision and stability of the attitude of carrier navigation, and the attitude precision is an important parameter reflecting the motion of a carrier, and the precision and stability of the attitude precision have important influences on the speed, position settlement, target identification and tracking and the like of the carrier. In general, attitude solution is to calculate the updating of the carrier attitude matrix and attitude solution in real time according to the data of the gyroscope and the speed and position information of the carrier. However, the drift error of the gyroscope is accumulated and increased continuously along with the increase of time, and particularly the drift error of the low-cost MEMS gyroscope is larger, so that the attitude calculation accuracy of the system is lower and lower, and therefore, the gyro error drift compensation plays an important role in practical engineering application.
Disclosure of Invention
Aiming at least one of the defects or improvement requirements in the prior art, the invention provides a gyro error compensation method of an attitude and heading reference system based on a magnetic sensor and an adding table, aiming at solving the technical problem of poor attitude calculation accuracy caused by low accuracy and large drift error of a gyro with medium and low accuracy in the prior art, effectively inhibiting the drift of the gyro and improving the attitude stability of the attitude and heading reference system; has higher engineering application value and popularization value.
In order to achieve the above object, according to one aspect of the present invention, there is provided a gyro error compensation method for an attitude and heading system based on a magnetic sensor and a accelerometer, comprising the following steps:
(1) calculating a gyro drift error compensation amount delta omega (t) from output information of the magnetic sensorh；
(2) Calculating the gyro drift error amount delta omega (t) according to the adding table informationa；
(3) Establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t); according to the formula Δ ωP(t)＝KP*Δω(t)g，ΔωI(t)＝ΔωI(t-1)+KI*Δω(t)gDt and the gyro drift total error quantity Δ ω (t)gAnd Δ ω (t)g＝Δω(t)h+Δω(t)aObtaining an error compensation amount delta omegaP(t) and Δ ωI(t) to thereby obtain a gyro error drift compensation amount Δ ω (t)PI；
(4) Establishing a gyro output error compensation model omega (t) ═ omegag(t)+Δω(t)PIAnd carrying out error compensation on the gyro output data according to the gyro error compensation quantity.
Preferably, step (1) specifically comprises:
(1.1) selecting a northeast geographical coordinate system as a navigation coordinate system, and obtaining magnetic field intensity information under a carrier system through a magnetometer
Wherein
Respectively the magnetic field intensity information of the carrier in an X axis, a Y axis and a Z axis;
(1.2) according to the formula
Magnetic field intensity information under a geographic coordinate system is obtained,
obtaining an attitude matrix for initialization;
(1.3) according to the formula
Standardizing magnetic field intensity information under a geographic coordinate system;
(1.4) according to the formula
Under the geographic coordinate systemThe magnetic field strength information of the magnetic field is projected in a standard way under a carrier coordinate system,
obtaining an attitude matrix for initialization;
(1.5) cross-multiplying the carrier magnetic field intensity information in the step (1.1) with the standard magnetic field intensity projection in the step (1.4) to obtain a gyro drift error amount obtained by the magnetic sensor
Where Δ ω (t)tThe gyro drift error amount is obtained according to the magnetic field intensity;
obtaining magnetic field intensity information under a carrier system for a magnetometer; h istAnd (5) performing standard projection of the magnetic field intensity information under the geographic coordinate system under the carrier coordinate system.
Preferably, the step (2) specifically comprises:
(2.1) selecting a northeast geographical coordinate system as a navigation coordinate system and obtaining carrier acceleration information
Wherein a isxayazRespectively the acceleration of the carrier in the X axis, the Y axis and the Z axis under the northeast geographic coordinate system;
(2.2) according to the formula
Converting three-dimensional acceleration information of the carrier into unit vectors, wherein
Obtaining a module value of the three-dimensional acceleration of the carrier;
(2.3) according to the formula
Converting the projection of gravity under the northeast geographic coordinate system into a carrier coordinate systemThe gravity projection of (2); wherein the content of the first and second substances,
obtaining an attitude matrix for initialization; g is the local gravitational acceleration;
(2.4) cross-multiplying the unit vector in the step (1.2) and the gravity projection in the step (1.3) to obtain a gyro drift error quantity
Where Δ ω (t)aThe gyroscope drift error amount is obtained according to the accelerometer;
is the reference quantity of the acceleration of the carrier after unitization;
the projection of the gravity acceleration under the carrier coordinate system.
Preferably, step (3) specifically comprises:
(3.1) solving the total drift error delta omega (t) of the gyro gyroscopeg＝Δω(t)h+Δω(t)aWhere Δ ω (t)gA gyro drift total error; Δ ω (t)hThe gyro drift error compensation quantity is obtained according to the magnetometer information; Δ ω (t)aThe gyro drift error compensation quantity is obtained according to the accelerometer information;
(3.2) establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t)；
(3.3) according to the formula Δ ωP(t)＝KP*Δω(t)gCalculating a first error compensation adjustment quantity; wherein Δ ωP(t) is a first error compensation adjustment; kPCompensating the adjustment quantity control coefficient for the first error; Δ ω (t)gThe total drift error of the gyro is obtained;
(3.4) according to the formula Δ ωI(t)＝ΔωI(t-1)+KI*Δω(t)gDt to obtain a second error compensation adjustment quantity; wherein Δ ωI(t) is a second error compensation adjustmentSaving quantity; kICompensating the adjustment quantity control coefficient for the second error; Δ ω (t)gAnd dt is a system sampling period.
Preferably, the step (4) specifically comprises: ω (t) ═ ω (t) + Δ ω (t)PI
(4.1) acquiring gyro information omega in a carrier coordinate systemg(t)＝[ωxωyωz]T(ii) a Wherein ω isxωyωzOutput information of the three gyros is respectively;
(4.2) establishing a gyro drift error compensation model omega (t) ═ omegag(t)+Δω(t)PI(ii) a Wherein ω (t) is the output after gyro compensation; omegag(t) is the output before gyro compensation; Δ ω (t)PIThe gyro drift error compensation quantity is obtained;
(4.3) compensating the gyro drift error by Δ ω (t)PIAnd substituting the gyro information under the carrier coordinate system into the gyro drift error compensation model to obtain compensated gyro information.
The above-described preferred features may be combined with each other as long as they do not conflict with each other.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
the gyro error compensation method of the attitude and heading system based on the magnetic sensor and the additional meter, provided by the invention, has the advantages that the gyro, the accelerometer and the magnetometer are taken as basic data sensors, the drift of the gyro is effectively compensated by using the information of the magnetometer and the information of the accelerometer, and the drift error of the gyro is reduced, so that the attitude calculation precision of the inertial navigation system is improved.
Drawings
Fig. 1 is a schematic diagram of a gyro error compensation method of an attitude and heading reference system based on a magnetic sensor and an adder table according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
As a better implementation mode of the invention, the invention provides a gyro error compensation method of an attitude and heading system based on a magnetic sensor and a meter, and solves the problems that the attitude calculation precision is low and the system application cannot be met due to large gyro drift error.
As shown in fig. 1, the method for compensating the gyro error of the attitude and heading reference system based on the magnetic sensor and the adder provided by the embodiment of the invention includes the following steps:
step 1: calculating a gyro drift error compensation amount delta omega (t) from output information of the magnetic sensorh；
Step 2: calculating the gyro drift error amount delta omega (t) according to the adding table informationa；
And step 3: to obtain the total drift error delta omega (t) of gyrog＝Δω(t)h+Δω(t)a(ii) a Establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t); according to the formula Δ ωP(t)＝KP*Δω(t)gAnd Δ ωI(t)＝ΔωI(t-1)+KI*Δω(t)gDt and said gyro drift error magnitude Δ ω (t)gObtaining the error compensation quantity delta omegaP(t) and Δ ωI(t) to thereby obtain a gyro error drift compensation amount Δ ω (t)PI；
And 4, step 4: establishing a gyro output error compensation model omega (t) ═ omegag(t)+Δω(t)PIAnd carrying out error compensation on the gyro output data according to the gyro error compensation quantity.
As an embodiment of the present invention, in step 1, a gyro drift error compensation amount Δ ω (t) is calculated from output information of the magnetic sensorhTool for measuringThe method is realized by the following steps:
(1a) selecting a northeast geographic coordinate system as a navigation coordinate system, and obtaining magnetic field intensity information under a carrier system through a magnetometer
Wherein
Respectively the magnetic field intensity information of the carrier in an X axis, a Y axis and a Z axis;
(1b) according to the formula
Magnetic field intensity information under a geographic coordinate system is obtained,
obtaining an attitude matrix for initialization;
(1c) according to the formula
Standardizing magnetic field intensity information under a geographic coordinate system;
(1d) according to the formula
Obtaining the standard projection of the magnetic field intensity information under the geographic coordinate system under the carrier coordinate system,
obtaining an attitude matrix for initialization;
(1e) the gyro drift error amount obtained by the magnetic sensor is obtained after the carrier magnetic field intensity information in the step (1a) is cross-multiplied with the standard magnetic field intensity projection in the step (1d)
Where Δ ω (t)tThe gyro drift error amount is obtained according to the magnetic field intensity;
obtaining magnetic field intensity information under a carrier system for a magnetometer; h istAnd (5) performing standard projection of the magnetic field intensity information under the geographic coordinate system under the carrier coordinate system.
As an embodiment of the invention, in step 2, a gyro drift error amount delta omega (t) is calculated according to the adding table informationaThe method is realized by the following steps:
(2a) selecting a northeast geographic coordinate system as a navigation coordinate system and obtaining carrier acceleration information
Wherein a isxayazRespectively the acceleration of the carrier in the X axis, the Y axis and the Z axis under the northeast geographic coordinate system;
(2b) according to the formula
Converting three-dimensional acceleration information of the carrier into unit vectors, wherein
Obtaining a module value of the three-dimensional acceleration of the carrier;
(2c) according to the formula
Converting the projection of the gravity under the northeast geographic coordinate system into a gravity projection under a carrier coordinate system; wherein the content of the first and second substances,
obtaining an attitude matrix for initialization; g is the local gravitational acceleration;
(2d) cross multiplying the unit vector in the step (1b) and the gravity projection in the step (1c) to obtain a gyro drift error amount
Where Δ ω (t)aThe gyroscope drift error amount is obtained according to the accelerometer;
is the reference quantity of the acceleration of the carrier after unitization;
the projection of the gravity acceleration under the carrier coordinate system.
As an embodiment of the invention, the total drift error delta omega (t) of the gyro is obtained in the step 3g＝Δω(t)h+Δω(t)aThe method is realized by the following steps:
(3a) to obtain the total drift error delta omega (t) of gyrog＝Δω(t)h+Δω(t)aWhere Δ ω (t)gA gyro drift total error; Δ ω (t)hThe gyro drift error compensation quantity is obtained according to the magnetometer information; Δ ω (t)aThe gyro drift error compensation quantity is obtained according to the accelerometer information;
(3b) establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t)；
(3c) According to the formula Δ ωP(t)＝KP*Δω(t)gCalculating a first error compensation adjustment quantity; wherein Δ ωP(t) is a first error compensation adjustment; kPCompensating the adjustment quantity control coefficient for the first error; Δ ω (t)gThe total drift error of the gyro is obtained;
(3d) according to the formula Δ ωI(t)＝ΔωI(t-1)+KI*Δω(t)gDt to obtain a second error compensation adjustment quantity; wherein Δ ωI(t) is a second error compensation adjustment; kICompensating the adjustment quantity control coefficient for the second error; Δ ω (t)gThe total drift error of the gyro is obtained; dt is the system sampling period.
As an embodiment of the present invention, the gyro output error compensation model ω (t) ═ ω is established in step 4g(t)+Δω(t)PIThe method is realized by the following steps:
(4a) obtaining gyro information omega under carrier coordinate systemg(t)＝[ωxωyωz]T(ii) a Wherein ω isxωyωzOutput information of the three gyros is respectively;
(4b) establishing a gyro drift error compensation model omega (t) ═ omegag(t)+Δω(t)PI(ii) a Wherein ω (t) is the output after gyro compensation; omegag(t) is the output before gyro compensation; Δ ω (t)PIThe gyro drift error compensation quantity is obtained;
(4c) the gyro drift error compensation quantity delta omega (t)PIAnd substituting the gyro information under the carrier coordinate system into the gyro drift error compensation model to obtain compensated gyro information.
The gyroscope data after the magnetometer and the adding table are compensated can be obtained through the formula, the quaternion and the attitude matrix are updated through the compensated gyroscope data, and the real-time attitude information of the carrier is solved according to the formula through the updated attitude matrix.
The gyro error compensation method of the attitude and heading system based on the magnetic sensor and the additional meter, provided by the invention, has the advantages that the gyro, the accelerometer and the magnetometer are taken as basic data sensors, the drift of the gyro is effectively compensated by using the information of the magnetometer and the information of the accelerometer, and the drift error of the gyro is reduced, so that the attitude calculation precision of the inertial navigation system is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A gyro error compensation method of an attitude and heading reference system based on a magnetic sensor and an additional meter is characterized by comprising the following steps:
(1) calculating gyro drift error compensation quantity delta omega (t) according to output information of magnetometerh；
(2) Vector acceleration measured in real time from a accelerometerDegree information obtaining gyro drift error quantity delta omega (t)a；
(3) To obtain the total drift error delta omega (t) of gyrog＝Δω(t)h+Δω(t)aAccording to Δ ω (t)gCalculating a first error compensation adjustment quantity delta omegaP(t) and a second error compensation adjustment amount Δ ωI(t); establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t) to thereby obtain a gyro error drift compensation amount Δ ω (t)PI；
(4) Establishing a gyro output error compensation model omega (t) ═ omegag(t)+Δω(t)PIAnd carrying out error compensation on the gyro output data according to the gyro error compensation quantity.
2. The gyroscopic error compensation method of an attitude and heading system based on a magnetic sensor and a summit as claimed in claim 1, characterized in that:
the step (1) specifically comprises the following steps:
(1.1) selecting a northeast geographical coordinate system as a navigation coordinate system, and obtaining magnetic field intensity information under a carrier system through a magnetometer
Wherein
Respectively the magnetic field intensity information of the carrier in an X axis, a Y axis and a Z axis;
(1.2) according to the formula
Magnetic field intensity information under a geographic coordinate system is obtained,
obtaining an attitude matrix for initialization;
(1.3) according to the formula
Standardizing magnetic field intensity information under a geographic coordinate system;
(1.4) according to the formula
Obtaining the standard projection of the magnetic field intensity information under the geographic coordinate system under the carrier coordinate system,
obtaining an attitude matrix for initialization;
(1.5) cross-multiplying the carrier magnetic field intensity information in the step (1.1) with the standard magnetic field intensity projection in the step (1.4) to obtain a gyro drift error amount obtained by the magnetic sensor
Where Δ ω (t)tThe gyro drift error amount is obtained according to the magnetic field intensity;
obtaining magnetic field intensity information under a carrier system for a magnetometer; h istAnd (5) performing standard projection of the magnetic field intensity information under the geographic coordinate system under the carrier coordinate system.
3. A method for gyroscopic error compensation of an attitude and heading reference system based on magnetic sensors and an accelerometer, according to any one of claims 1-2, in which:
the step (2) specifically comprises the following steps:
(2.1) selecting a northeast geographical coordinate system as a navigation coordinate system and obtaining carrier acceleration information
Wherein a isxayazRespectively the acceleration of the carrier in the X axis, the Y axis and the Z axis under the northeast geographic coordinate system;
(2.2) according to the formula
Converting three-dimensional acceleration information of the carrier into a unit vector, wherein | fi bObtaining a module value of the three-dimensional acceleration of the carrier;
(2.3) according to the formula
Converting the projection of the gravity under the northeast geographic coordinate system into a gravity projection under a carrier coordinate system; wherein the content of the first and second substances,
obtaining an attitude matrix for initialization; g is the local gravitational acceleration;
(2.4) cross-multiplying the unit vector in the step (1.2) and the gravity projection in the step (1.3) to obtain a gyro drift error quantity
Where Δ ω (t)aThe gyroscope drift error amount is obtained according to the accelerometer;
is the reference quantity of the acceleration of the carrier after unitization;
the projection of the gravity acceleration under the carrier coordinate system.
4. A method for gyroscopic error compensation of an attitude and heading reference system based on magnetic sensors and an accelerometer, according to any one of claims 1 to 3, wherein:
the step (3) specifically comprises the following steps:
(3.1) solving the total drift error delta omega (t) of the gyro gyroscopeg＝Δω(t)h+Δω(t)aWhere Δ ω (t)gA gyro drift total error; Δ ω (t)hThe gyro drift error compensation quantity is obtained according to the magnetometer information; Δ ω (t)aTo solve from accelerometer informationTaking a gyro drift error compensation quantity;
(3.2) according to the formula Δ ωP(t)＝KP*Δω(t)gCalculating a first error compensation adjustment quantity; wherein Δ ωP(t) is a first error compensation adjustment; kPCompensating the adjustment quantity control coefficient for the first error; Δ ω (t)gFor gyroscopic drift gross error, Δ ω (t)hThe gyro drift error compensation quantity is obtained according to the magnetometer information; Δ ω (t)aThe gyro drift error compensation quantity is obtained according to the accelerometer information;
(3.3) according to the formula Δ ωI(t)＝ΔωI(t-1)+KI*Δω(t)gDt to obtain a second error compensation adjustment quantity; wherein Δ ωI(t) is a second error compensation adjustment; kICompensating the adjustment quantity control coefficient for the second error; Δ ω (t)gThe total drift error of the gyro is obtained;
(3.4) establishing a gyro error compensation quantity solving model delta omega (t)PI＝ΔωP(t)+ΔωI(t) to thereby obtain a gyro error drift compensation amount Δ ω (t)PI。
5. A method for gyroscopic error compensation of an attitude and heading reference system based on magnetic sensors and an accelerometer, according to any one of claims 1 to 4, wherein:
the step (4) specifically comprises the following steps:
(4.1) acquiring gyro information omega in a carrier coordinate systemg(t)＝[ωxωyωz]T(ii) a Wherein ω isxωyωzOutput information of the three gyros is respectively;
(4.2) establishing a gyro drift error compensation model omega (t) ═ omegag(t)+Δω(t)PI(ii) a Wherein ω (t) is the output after gyro compensation; omegag(t) is the output before gyro compensation; Δ ω (t)PIThe gyro drift error compensation quantity is obtained;
(4.3) compensating the gyro drift error by Δ ω (t)PIAnd substituting the gyro information under the carrier coordinate system into the gyro drift error compensation model to obtain compensated gyro information.
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| CN112179380A (en) * | 2020-09-25 | 2021-01-05 | 西北工业大学 | Rate gyroscope error compensation method under dynamic condition |
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