CN111307114B - Water surface ship horizontal attitude measurement method based on motion reference unit - Google Patents

Water surface ship horizontal attitude measurement method based on motion reference unit Download PDF

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CN111307114B
CN111307114B CN201911203231.1A CN201911203231A CN111307114B CN 111307114 B CN111307114 B CN 111307114B CN 201911203231 A CN201911203231 A CN 201911203231A CN 111307114 B CN111307114 B CN 111307114B
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carrier
coordinate system
reference unit
attitude measurement
quaternion
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CN111307114A (en
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奔粤阳
高倩倩
赵玉新
周广涛
李倩
吴磊
王坤
李帅阳
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Harbin Hatran Navigation Technology Co ltd
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Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships

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Abstract

The invention discloses a water surface ship horizontal attitude measurement method based on a motion reference unit, and belongs to the technical field of ship attitude measurement. The method comprises the following specific steps: giving initial navigation parameters, and initially aligning a strapdown inertial navigation system to obtain an initial quaternion; setting a system sampling period and acquiring output signals of a gyroscope and an accelerometer on three axes in real time; obtaining a calculation quaternion by utilizing gyroscope output information, further obtaining a relation matrix of a carrier coordinate system and a geographic coordinate system, and judging the motion state of the carrier; then, obtaining a misalignment angle by utilizing a transfer matrix between the carrier coordinate system and the geographic coordinate system; and after the calculated value of the misalignment angle is obtained, updating and correcting the calculated quaternion. Even if the system has the motion acceleration, the optimal calculation of the misalignment angle is still maintained, the system is ensured to have higher attitude measurement precision in different motion states, and the attitude measurement precision of the system is effectively improved.

Description

Water surface ship horizontal attitude measurement method based on motion reference unit
Technical Field
The invention belongs to the technical field of ship attitude measurement, and particularly relates to a water surface ship horizontal attitude measurement method based on a motion reference unit.
Background
The invention relates to a water surface ship horizontal attitude measurement method based on a motion reference unit, which judges the motion state of a carrier by utilizing the output of an accelerometer and a gyroscope and calculates a misalignment angle by adopting different methods according to different motion states. And then correcting and calculating quaternion in real time by utilizing the misalignment angle to obtain an accurate horizontal attitude. When the carrier is in a low maneuvering state, the accelerometer can accurately measure the gravity acceleration, and the output information of the accelerometer and the gyroscope can be directly utilized to calculate the misalignment angle to obtain higher attitude measurement precision. When the carrier has motion acceleration, the accelerometer output comprises two parts: the gravity acceleration and the carrier motion acceleration can not be directly separated, so that the attitude calculation can not be carried out by taking the gravity acceleration as a reference. That is, the motion acceleration can be regarded as disturbance acceleration, so that the system attitude error increases. Therefore, it is necessary to effectively avoid the interference of the motion acceleration, so that the carrier still has higher attitude measurement accuracy when having the motion acceleration.
Disclosure of Invention
The invention aims to provide a water surface ship horizontal attitude measurement method based on a motion reference unit, which improves the system attitude measurement precision.
The purpose of the invention is realized by the following technical scheme:
the method for measuring the horizontal attitude of the water surface ship based on the motion reference unit comprises the following steps:
step 1, giving an initial navigation parameter (at the moment when t is 0): the initial alignment of the motion reference unit obtains an initial quaternion Q (0);
step 2, setting a sampling period h by the system, and acquiring output signals of the gyroscope and the accelerometer on three axes in real time
Figure BDA0002296381790000011
And f b ＝[f x b f y b f z b ] T ；
An attitude solution period H, an attitude solution period loop mark k is 1,2 …, and H is t k -t k-1 . The attitude solution period is equal to the system sampling period, i.e. H ═ H.
Step 3, obtaining a calculation quaternion by utilizing gyro output information
Figure BDA0002296381790000012
Further obtaining a relation matrix of the carrier coordinate system b and the geographic coordinate system n
Figure BDA0002296381790000013
Wherein
Figure BDA0002296381790000014
Step 4, judging the motion state rule of the carrier as follows:
if it is
Figure BDA0002296381790000021
And is
Figure BDA0002296381790000022
Judging that the carrier is in a low-mobility state;
if it is
Figure BDA0002296381790000023
Or
Figure BDA0002296381790000024
The vehicle is in a high maneuver state.
Wherein the resultant angular velocity of the carrier is
Figure BDA0002296381790000025
Resultant acceleration of
Figure BDA0002296381790000026
n is taken
Figure BDA0002296381790000027
Step 5, when the vehicle is in a low-mobility state, outputting information f by using the accelerometer b (k-1) And a transfer matrix between the carrier coordinate system b and the geographic coordinate system n to obtain a horizontal misalignment angle phi b (k-1)。
Figure BDA0002296381790000028
Wherein "x" represents the cross product between vectors, C 3 (k-1) represents
Figure BDA0002296381790000029
The third row of row vectors.
And 6, when the carrier is in a high-mobility state, extracting the mobility acceleration of the carrier from the output information of the accelerometer by using a reasonably designed high-pass filter, and compensating. Namely:
Figure BDA00022963817900000210
wherein the high-pass filter H (z) has a transfer function of:
Figure BDA00022963817900000211
wherein tau is a time constant parameter and tau is 0.03 s.
Then, utilize
Figure BDA00022963817900000212
And a transfer matrix between the carrier coordinate system b and the geographic coordinate system n to obtain a misalignment angle phi b (k-1)。
Figure BDA00022963817900000213
Step 7, obtaining a calculated value phi of the misalignment angle b (k-1) after, calculating quaternion
Figure BDA00022963817900000214
Update and repairThe following are true:
Figure BDA00022963817900000215
wherein
Figure BDA00022963817900000216
Alpha is an error angle correction coefficient, and alpha is 0.01; Δ θ (k-1) is an angular increment after the misalignment angle correction and has a value of Δ θ (k-1) |.
Therefore, the updating and the correction of the horizontal attitude of the surface ship based on the motion reference unit are completed.
The invention has the beneficial effects that:
the invention comprehensively utilizes the acceleration and angular velocity information output by the motion reference unit to detect the motion state of the carrier, and adopts different misalignment angle calculation methods according to the detection result. Even if the system has the motion acceleration, the optimal calculation of the misalignment angle is still maintained, the system is ensured to have higher attitude measurement precision in different motion states, and the attitude measurement precision of the system is effectively improved.
Drawings
FIG. 1 is a flow chart of a heave measurement method with rod arm compensation for a strapdown inertial navigation system according to the present invention.
Detailed Description
The following further describes embodiments of the present invention in conjunction with the attached figures:
the invention will now be described in more detail by way of example with reference to the accompanying drawing 1: the heave measurement method with the rod arm compensation of the strapdown inertial navigation system comprises the following steps:
step 1, giving an initial navigation parameter (at the moment when t is 0): the initial alignment of the motion reference unit obtains an initial quaternion Q (0);
step 2, setting a sampling period h by the system, and acquiring output signals of the gyroscope and the accelerometer on three axes in real time
Figure BDA0002296381790000031
And f b ＝[f x b f y b f z b ] T (ii) a An attitude calculation period H, an attitude calculation period cyclic flag k being 1,2 …, and H being t k -t k-1 . The attitude calculation period is equal to the system sampling period, namely H-H.
Step 3, obtaining a calculation quaternion by utilizing gyro output information
Figure BDA0002296381790000032
Further obtaining a relation matrix of the carrier coordinate system b and the geographic coordinate system n
Figure BDA0002296381790000033
Wherein
Figure BDA0002296381790000034
Step 4, judging the motion state rule of the carrier as follows:
if it is
Figure BDA0002296381790000035
And is provided with
Figure BDA0002296381790000036
Judging that the carrier is in a low-mobility state;
if it is
Figure BDA0002296381790000037
Or
Figure BDA0002296381790000038
The vehicle is in a high maneuver state.
Wherein the resultant angular velocity of the carrier is
Figure BDA0002296381790000039
Resultant acceleration of
Figure BDA00022963817900000310
n is taken
Figure BDA0002296381790000041
Step 5, when the vehicle is in a low-mobility state, outputting information f by using the accelerometer b (k-1) and carrier coordinate system b and geographic coordinate system n A transfer matrix therebetween, to obtain a horizontal misalignment angle phi b (k-1)。
Figure BDA0002296381790000042
Wherein "x" represents the cross product between vectors, C 3 (k-1) represents
Figure BDA0002296381790000043
The third row of row vectors.
And 6, when the carrier is in a high-mobility state, extracting the mobility acceleration of the carrier from the output information of the accelerometer by using a reasonably designed high-pass filter, and compensating. Namely:
Figure BDA0002296381790000044
wherein the high-pass filter H (z) has a transfer function of:
Figure BDA0002296381790000045
wherein tau is a time constant parameter and tau is 0.03 s.
Then, utilize
Figure BDA0002296381790000046
And a transfer matrix between the carrier coordinate system b and the geographic coordinate system n to obtain a misalignment angle phi b (k-1)。
Figure BDA0002296381790000047
Step 7, obtaining a calculated value phi of the misalignment angle b (k-1) after, calculating quaternion
Figure BDA0002296381790000048
The updating and correcting are performed as follows:
Figure BDA0002296381790000049
wherein
Figure BDA00022963817900000410
Alpha is an error angle correction coefficient, and alpha is 0.01; Δ θ (k-1) is an angular increment after the misalignment angle correction and has a value of Δ θ (k-1) |.
Therefore, the updating and the correction of the horizontal attitude of the surface ship based on the motion reference unit are completed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The method for measuring the horizontal attitude of the water surface ship based on the motion reference unit is characterized by comprising the following steps:
step 1, giving an initial navigation parameter, and when t is 0: the initial alignment of the motion reference unit obtains an initial quaternion Q (0);
step 2, setting a sampling period h by the system, and acquiring output signals of the gyroscope and the accelerometer on three axes in real time
Figure FDA0003740511130000011
Figure FDA0003740511130000012
And f b ＝[f x b f y b f z b ] T An attitude solution period H, an attitude solution period loop flag k is 1,2 …, H is t k -t k-1 ；
Step 3, obtaining a calculation quaternion by utilizing gyro output information
Figure FDA0003740511130000013
Further obtaining a relation matrix of the carrier coordinate system b and the geographic coordinate system n
Figure FDA0003740511130000014
Step 4, judging the motion state rule of the carrier as follows:
if it is
Figure FDA0003740511130000015
And is
Figure FDA0003740511130000016
Judging that the carrier is in a low-mobility state;
if it is
Figure FDA0003740511130000017
Or
Figure FDA0003740511130000018
The vehicle is in a high maneuver state;
step 5, when the vehicle is in a low-mobility state, outputting information f by using the accelerometer b (k-1) and a transfer matrix between the carrier coordinate system b and the geographic coordinate system n to obtain a horizontal misalignment angle phi b (k-1)；
Step 6, when the carrier is in a high-mobility state, a reasonably designed high-pass filter extracts the mobility acceleration of the carrier from the output information of the accelerometer, and then compensation is carried out, namely
Figure FDA0003740511130000019
Then, utilize
Figure FDA00037405111300000110
And a transfer matrix between the carrier coordinate system b and the geographic coordinate system n to obtain a misalignment angle phi b (k-1)；
Step 7, obtaining a calculated value phi of the misalignment angle b (k-1) after, calculating quaternion
Figure FDA00037405111300000111
The updating and correcting are performed as follows:
Figure FDA00037405111300000112
2. the motion reference unit-based surface ship horizontal attitude measurement method according to claim 1, wherein the attitude calculation period in step 2 is equal to the system sampling period, i.e. H-H.
3. The method of claim 1, wherein the quaternion of step 3 is a function of the position of the vessel on the water surface
Figure FDA00037405111300000113
The method specifically comprises the following steps:
Figure FDA00037405111300000114
4. the method as claimed in claim 1, wherein the carrier resultant angular velocity in step 4 is
Figure FDA00037405111300000115
Resultant acceleration of
Figure FDA00037405111300000116
5. The water surface vessel horizontal attitude measurement method based on the motion reference unit as recited in claim 1, wherein the horizontal misalignment angle phi in step 5 b (k-1) specifically:
Figure FDA0003740511130000021
wherein "x" represents the cross product between vectors, C 3 (k-1) represents
Figure FDA0003740511130000022
The third row of row vectors.
6. The water surface ship horizontal attitude measurement method based on the motion reference unit as claimed in claim 1, wherein the transfer function of the high-pass filter H (z) in step 6 is as follows:
Figure FDA0003740511130000023
wherein tau is a time constant parameter and tau is 0.03 s;
angle of misalignment phi b (k-1) specifically:
Figure FDA0003740511130000024
wherein "x" represents the cross product between vectors, C 3 (k-1) represents
Figure FDA0003740511130000025
The third row of row vectors.
7. The motion reference unit-based surface vessel horizontal attitude measurement method of claim 1, wherein in step 7
Figure FDA0003740511130000026
Alpha is an error angle correction coefficient, and alpha is 0.01; Δ θ (k-1) is the angular increment after the misalignment angle correction and has a value of Δ θ (k-1) ═ Δ θ (k-1) |.
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