CN111366143A - Combined polar region compass device capable of automatically positioning and orienting - Google Patents
Combined polar region compass device capable of automatically positioning and orienting Download PDFInfo
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- CN111366143A CN111366143A CN201811597384.4A CN201811597384A CN111366143A CN 111366143 A CN111366143 A CN 111366143A CN 201811597384 A CN201811597384 A CN 201811597384A CN 111366143 A CN111366143 A CN 111366143A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
Abstract
The invention discloses a combined autonomous positioning and orienting polar region compass device which comprises an inertial information sensing component, a satellite signal resolving component and the like. The components are combined through integration, so that the electronic interference resistance of the inertial navigation system is realized, the advantages of independence of positioning errors of the satellite navigation system on time accumulation and all-weather real-time positioning are realized, and the characteristic that the errors of the inertial navigation device are accumulated along with time is complemented with the defect that satellite navigation signals are easily interfered. The invention is mainly applied to navigation and positioning of ships in polar regions and monitoring of motion states. Particularly in special geographical areas where satellite navigation is affected during radio failure, etc. where positioning is required. The navigation precision of the system is improved; the device has the advantages of simple structure, high positioning precision, small volume, simple installation and low power, and is particularly suitable for scenes of real-time positioning and moving body state monitoring in an antipodal range.
Description
Technical Field
The invention relates to a navigation compass device applied to autonomous positioning and orientation in a polar region, in particular to a combined navigation compass in a polar region complex environment.
Background
Although with the development of satellite navigation and wireless communication technology, the position information of a person or a moving body can be conveniently acquired by methods such as satellite positioning, beacon presetting, digital map matching and the like. However, for the beacon-free environment (the communication systems such as the radio signal quality is poor, WiFi, satellite and the like cannot be used), especially for the severe weather conditions and special geographic conditions in the polar region, the precision of the traditional compass is reduced, the chart is not easy to use, the shore-based navigation aid sign is lacked, the course is changed quickly, the ground navigation equipment is few, and the polar region is in the magnetic unreliable region, which has the influence on navigation and positioning, and is always a difficult problem and a research hotspot for navigation and position service at home and abroad.
Introduction recent development of inertial devices based on micro-mechanical systems (MEMS) technology has received widespread attention at home and abroad due to their low cost, small size, low power consumption, high reliability and high environmental adaptability. Compared with a high-precision gyroscope such as a fiber optic gyroscope and a laser gyroscope, the MEMS gyroscope has larger noise, drift and nonlinear scale factors, is greatly influenced by temperature, leads to lower precision of the MEMS gyroscope, gradually reduces the precision along with the increase of time, and cannot meet the requirements of attitude resolving and positioning. Besides the implementation mode of embedding the algorithm, the navigation system needs to pay attention to the calculation amount of the algorithm besides the filtering precision. The genetic algorithm such as a neural network algorithm and a support vector machine is used for training a model on line when satellite signals are effective, and the existing model parameters are used for estimating errors when the GNSS is unlocked, so that the application in engineering is limited due to the complexity of the algorithm. The existing navigation equipment in the polar region range comprises a satellite navigation system, HF radio communication, LNAV mode communication navigation and the like, and although the problem of polar region navigation positioning is solved, the products mainly depend on radio communication navigation, the problems of poor positioning precision and course misalignment when radio is abnormal cannot be solved, and the dynamic performance of the products is weak.
The invention can make up the defects that the azimuth angle of the traditional magnetic compass or gyro compass is inaccurate and is easily influenced by environmental factors by the combined technology of inertial navigation and satellite navigation; the characteristic of inertial navigation system error accumulation over time; meanwhile, the defects of large positioning error and large azimuth deviation of the traditional satellite navigation equipment due to interference can be overcome; the device has the advantages of simple structure, high starting speed, strong stability, high positioning precision, convenience in installation, long service life, convenience in maintenance, light weight, multiple functions, particular suitability for real-time positioning and azimuth monitoring of special moving bodies in satellite signals and geographic environments, and capability of effectively ensuring the correctness of routes.
Disclosure of Invention
The combined navigation technology can make up the defects that the azimuth angle of the traditional magnetic compass is inaccurate and is easily influenced by environmental factors; meanwhile, the defects of large positioning error and large azimuth deviation of the traditional satellite navigation equipment due to interference can be overcome; the invention has the advantages of simple structure, high starting speed, strong stability, high positioning precision and convenient installation, is particularly suitable for the real-time positioning and azimuth angle detection of special moving bodies in the satellite signal instability and the geographic environment, and adopts the technical scheme that:
an autonomous navigation and positioning compass in polar region comprises an inertial information sensing component, a satellite signal resolving component, a satellite signal receiving component, a magnetic field intensity sensing component, a temperature sensing component, a human-computer interaction component, a data processing component, a data transmission component, a secondary power supply component and a shell.
Compared with the prior art, the invention has the beneficial effects that:
1) the polar region combined navigation compass provided by the invention organically combines all components by utilizing an integrated design, expands the design thought of the traditional polar region navigation equipment, and has the advantages of simple structure and high starting speed.
2) According to the polar region combined navigation compass, the defects of large drift and large error caused by an inertia measurement unit are effectively corrected through the optimal combined technology of multiple navigation systems, so that the overall navigation precision of a ship system and an airplane system is improved.
3) The invention uses the inertia information sensing component, the magnetic field intensity sensing component and the temperature sensing component, and takes the satellite navigation system as the auxiliary navigation, thereby having the advantage of detecting the three-dimensional attitude of the moving body. The problems that the roll angle of ship navigation cannot be detected and the output frequency is low in double-antenna satellite navigation are solved.
4) The invention integrates the information of each component, can effectively position and point north direction in polar regions in real time, and obtains the motion state.
Drawings
Fig. 1 is a schematic diagram of data fusion of an autonomous navigation and positioning compass device in polar region.
Fig. 2 is a polar region autonomous navigation positioning compass device housing.
FIG. 3 is a block diagram of a polar region autonomous navigation map system.
Detailed Description
The invention discloses a human body irregular motion perception type navigation waistband which comprises an inertial information perception component, a satellite signal resolving component, a satellite signal receiving component, a magnetic field intensity perception component, a temperature perception component, a man-machine interaction interface, a data processing component, a data transmission component, a secondary power supply and a shell.
The inertial information sensing assembly includes: an x-axis gyroscope (2-1), a y-axis gyroscope (2-2), a z-axis gyroscope (2-4), an x-axis accelerometer (2-5), a y-axis accelerometer (2-6) and a z-axis accelerometer (2-8). Wherein the x-axis gyroscope (2-1), the y-axis gyroscope (2-2) and the z-axis gyroscope (2-4) form a gyroscope subsystem (2-3) of the inertial measurement unit; the x-axis accelerometer (2-5), the y-axis accelerometer (2-6) and the z-axis accelerometer (2-8) form an accelerometer subsystem (2-7) of the inertial measurement unit.
The magnetic field strength sensing assembly comprises: the system comprises an x-axis magnetometer (2-9), a y-axis magnetometer (2-10) and a z-axis magnetometer (2-12), and the three sensors also form a magnetometer subsystem (2-11) of the inertial measurement unit. The temperature sensing assembly includes: temperature sensor 1(2-13) and temperature sensor 2(2-15), which constitute the temperature sensing subsystem (2-14) of the inertial measurement unit.
The satellite information receiving and processing assembly comprises: the satellite signal resolving device comprises a main GNSS antenna (1-2), a slave GNSS antenna (1-3), a receiving satellite number display lamp (1-6) and a satellite signal resolving assembly (1-10). In the initialization process, an observation carrier signal received by a reference antenna receives a satellite epoch from the antenna when the antenna is still, and the phase integer ambiguity is solved according to a relative positioning method, and the process is called initialization.
The two double-difference observation equations are as follows:
solving the ambiguity of the whole circle and carrying the ambiguity into a double-error equation after confirming that no error exists, only the position coordinate of the receiver is needed, so that the position coordinate of the slave antenna can be obtained only by tracking three satellites, the baseline vector from the master antenna to the slave antenna is solved, the reference model with the ellipsoid as the earth is obtained, the baseline vector in the earth-centered earth-fixed space rectangular coordinate is converted into a reference coordinate system with the northeast as the reference coordinate system, and the baseline vector coordinate is set as [ x [ ]1y1z1]And then obtaining the course angle with the baseline vector as follows:
Ψ＝arctan(y1/x1) (3)
the pitch angle is:
the data processing assembly comprises: an information fusion processor (2-45) and a mobile memory (2-40). The information fusion processor (2-45) is used for receiving and processing data obtained from an interface of the analog-to-digital converter (2-66) and the signal conversion transmission component (1-4), the information fusion processor is composed of an FPGA (field programmable gate array) and a double ARM (advanced RISC machines) controller, the FPFA mainly has the functions of data carrying and signal filtering processing, and the ARM processor is responsible for the calculation process of a navigation algorithm and is in data communication with other components. The mobile memory is responsible for data storage of components such as inertial sensing and the like and satellite receiving components and log recording of user operation, saves time, place and operation items of the user during operation in a log file form, reads data by using PC upper computer software, performs offline data downloading analysis, and has the characteristic of repeatedly erasing and recording the data.
The polar compass (1-1) is used as a carrier for mounting each component, and each component is effectively mounted on the carrier through an integrated processing technology. The satellite display system comprises an inertial information sensing component, a magnetic field intensity sensing component, a temperature sensing component, a data processing component, antennas (1-3) (1-4), a satellite signal resolving component (1-10), receiver satellite display number indicating lamps (1-6) and copper columns (1-12), wherein the inertial information sensing component, the magnetic field intensity sensing component, the temperature sensing component and the data processing component are integrated in an electric box (1-2), the antennas (1-3) (1-4), the satellite signal resolving component (1-10), the receiver satellite display number indicating lamps (1-6) and the copper columns (1-12) are integrated on a satellite board card (1-5), a secondary stabilized. The satellite board cards (1-5) are connected with the main boards (1-18) in an embedded installation mode and are fixed through copper columns, the available space in the device is enlarged, the signal conversion and transmission components (1-4) transmit signals through the copper columns (1-17), and the main boards (1-18) are fixedly connected with the bottom surfaces of the polar region compass devices through the copper columns.
And gyroscope subsystem signals (2-16) output by the x-axis gyroscope (2-1), the y-axis gyroscope (2-2) and the z-axis gyroscope (2-4) are analog quantity signals, and are adjusted into corresponding gyroscope analog signals (2-25) capable of being directly input into the analog-to-digital converters (2-29) through gyroscope signal processing and filtering modules (2-21). Accelerometer subsystem signals (2-17) output by the x-axis accelerometers (2-5), the y-axis accelerometers (2-6) and the z-axis accelerometers (2-8) are analog quantity signals, and are adjusted to be corresponding accelerometer analog signals (2-24) capable of being directly input into the analog-to-digital converters (2-29) through the accelerometer signal processing and filtering modules (2-20). Magnetometer subsystem signals (2-19) output by the x-axis magnetometer (2-9), the y-axis magnetometer (2-10) and the z-axis magnetometer (2-12) are analog quantity signals, and are adjusted into corresponding magnetometer analog signals (2-26) capable of being directly input into the analog-to-digital converter (2-29) through the magnetometer signal processing module (2-22). Temperature sensing subsystem signals (2-19) output by the temperature sensors 1(2-13) and the temperature sensors (2-15) are analog quantity signals, and are adjusted into corresponding temperature sensor analog signals (2-27) capable of being directly input into the analog-to-digital converters (2-29) through the temperature signal processing modules (2-23).
The combined information fusion processor (1-40) is connected with the analog-to-digital converter (2-29) through an interface, performs data transmission through the interface (2-28), and performs data reading and storing through the interface (2-30) with the mobile memory (2-40). The system reset key (1-31) is used for initializing the system configuration. The human-computer interaction external interface (1-11) is connected with the signal conversion transmission component (1-4), and the PC upper computer is connected with the human-computer interaction external interface and is communicated and interacted with the polar region compass through the PC. The complete ephemeris information can be downloaded through the PC, the satellite receiving condition of the polar region environment is recorded, the satellite receiving assembly is configured and output on line, a GPS and a Beidou satellite or other satellites are selected for satellite navigation, the frequency setting of output signals and the like.
The voltage stabilizing module (1-8) outputs a stabilizing voltage (1-7) to supply power to all components in the electrical box (1-2), the combined information fusion device (1-40) and the mobile memory (2-40), the stabilizing voltage (1-7) is input into the satellite board card (1-5) to provide a stable direct current +5 voltage, and a stable direct current power supply is provided for the satellite signal resolving component (1-10) integrated in the board card and the double antennas (1-3) (1-4) of the GNSS.
The x-axis gyroscope (2-1), the y-axis gyroscope (2-2) and the z-axis gyroscope (2-4) are responsible for detecting the self angular motion of the moving body; the x-axis accelerometer (2-5), the y-axis accelerometer (2-6) and the z-axis accelerometer (2-8) are responsible for detecting the line motion of the moving body; the x-axis magnetometer (2-9), the y-axis magnetometer (2-10) and the z-axis magnetometer (2-12) are responsible for detecting the environment change of the polar region magnetic field; the temperature sensor 1(2-13) is responsible for sensing and collecting the environmental temperature of the polar region; the temperature sensor 2(2-15) is responsible for sensing the working environment temperature of the inertial measurement unit sensor, the mobile memory (2-40) is responsible for online information storage, and can record 1-hour measurement original information of the inertial measurement unit and an original model calendar of a satellite for offline data analysis;
the invention provides an autonomous positioning and orientation technology in a polar region, which is characterized in that data of an x-axis gyroscope (2-1), a y-axis gyroscope (2-2), a z-axis gyroscope (2-4), an x-axis accelerometer (2-5), a y-axis accelerometer (2-6), a z-axis accelerometer (2-8), an x-axis magnetometer (2-9), a y-axis magnetometer (2-10), a z-axis magnetometer (2-12) and a satellite receiver are fused. The x-axis gyroscope (2-1), the y-axis gyroscope (2-2), the z-axis gyroscope (2-4), the x-axis accelerometer (2-5) and the y-axis accelerometer (2-6) can effectively detect the motion information of the moving body; the x-axis magnetometer (2-9), the y-axis magnetometer (2-10) and the z-axis magnetometer (2-12) can judge the azimuth change information in the ship motion process. The satellite receiving board cards (1-5) can detect information such as the current position, angle, speed and the like of a ship, and orientation detection of moving bodies such as the ship can be carried out by fusing the information, and the basic algorithm is as follows:
(1) and (3) carrying out attitude position calculation by utilizing the data measured by the three-axis gyroscope, the three-axis accelerometer and the geomagnetism, wherein the error state equation of the inertial navigation is as follows:
X1＝Fl(t)Xl(t)+Gl(t)Wl(t) (5)
wherein:
(2) the satellite receiver receives satellite orbit information, the current carrier position is obtained by using an RTK carrier phase difference technology and a space distance intersection method, a moving body azimuth angle and a pitch angle are detected by using double antennas, the position of satellite navigation positioning is represented by a state space model, and the speed is represented as follows:
XG＝FGXG+GGWG(7)
error state vector:
XG＝[δLGδλGδhGδVGNδhVGEδhVGD](8)
(3) fusing an inertial navigation system and satellite data by adopting a Kalman filter of an optimal control method, wherein the measurement equation of the filter is as follows:
in the formula, the difference between the position, the speed and the attitude angle of the inertial navigation system and the satellite system is used as a measurement equation of the combined system.
And performing data fusion calculation on inertial navigation and satellite data by using a Kalman filter to obtain high-precision data, judging the validity of the satellite data, and determining whether to output the satellite navigation data as the input of the filter.
The external connecting ports of the polar region compass communicate with a PC upper computer through J30J-21TJL and J30J-21 ZKP. According to the environment state of the moving body, the filtering parameters, the bandwidth and the model parameters in the navigation positioning process are dynamically adjusted, so that the drift is restrained, and the navigation precision of the whole system is improved. In the polar region environment, the polar region compass of the invention effectively combines satellite data and inertial navigation data by using a data fusion method to realize correct guidance on the course and the positioning of a ship. According to the navigation condition of the marine ship in the polar region, the output bandwidth of inertial navigation is adjusted to meet the motion state of the ship course, so that the navigation is more accurate, parameters of Kalman filtering are adjusted online, and the parameters are read into online Kalman adjustment parameters in an ARM controller through a PC upper computer online. The selection of an appropriate algorithm to achieve sufficient computational accuracy without placing an excessive burden on the computer requires a balance between the computational speed and the allowable error, the main computational variables including attitude update algorithms, the resolution of acceleration measurements and the solution of navigation equations. The corresponding 32-bit floating-point DSP chip has high cost and power consumption, and only processes single-precision data, so that the navigation precision is low, the real-time performance is poor, and the overall performance of the combined system is reduced, wherein the navigation system comprises a satellite navigation common coordinate system and a strapdown inertial navigation common coordinate system. The INS error state equation comprises a platform error angle equation, a speed error equation, a position error equation and an inertial instrument error equation.
According to the invention, through a data filtering and fusing technology, the defects that the traditional single positioning equipment is easy to be interfered unstably and the like can be overcome; meanwhile, the defects that the traditional positioning and orienting equipment cannot perform real-time positioning, has large positioning error, large course angle deviation and short equipment operation time can be overcome; the device has the advantages of simple structure, high starting speed, strong stability, high positioning precision, long working time and low power consumption, and is particularly suitable for the real-time positioning and course detection of ships and hull postures in the environment with poor radio signal quality and the like.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered by the claims of the present invention.
Claims (9)
1. A polar region compass device applied to polar region range autonomous positioning and orientation comprises an acceleration sensing assembly, a gyro assembly, a magnetic field strength sensing assembly, a temperature sensing assembly, a satellite signal receiving assembly, a satellite signal resolving assembly, a man-machine interaction assembly, a data processing assembly, a data transmission assembly, a data storage assembly, a secondary power supply assembly and a shell; through the integrated design, all the components are organically combined.
2. The X axis of the accelerometer is arranged on the central axis of the ship, the Y axis points to the right side of the ship motion direction, the Z axis is perpendicular to the vehicle and points to the sky to form a right-hand rectangular coordinate system, the installation mode of the gyro component on the acceleration sensing component is the same as the installation mode of the X, Y, Z axes of the geomagnetic intensity sensing component, the direction of the satellite signal receiving component takes the connecting line direction from the main antenna to the auxiliary antenna as the positive direction, and the X axis positive direction of the inertial device, the advancing direction of the ship and the direction of the antenna are superposed in a three-axis manner.
3. The combined autonomous positioning and orienting polar region compass device according to claim 1, wherein data fusion of different navigation subsystems is performed by using optimal control, an FPGA + ARM controller is integrated into an electrical box in an embedded mode, disadvantages are mutually compensated, and online parameter adjustment of a Kalman filter is performed by combining an environment geographic model of a polar region range and a ship motion model, and parameters are updated and written into the controller online through an upper PC.
4. The GNSS receiving board card utilizing the double antennas has the capability of positioning and outputting a course angle and a yaw angle, is nested with an inertial measurement structure, and is combined to output a three-dimensional attitude angle, including a roll angle, of the moving body. The GNSS dual antenna is a dual-frequency multimode receiving antenna and can receive GPS and Beidou satellite signals.
5. A combined autonomous positional and orientating polar compass according to claim 2, said combination being: the method comprises the following steps of utilizing an x-axis gyroscope, a y-axis gyroscope, a z-axis gyroscope, an x-axis accelerometer, a y-axis accelerometer, a z-axis accelerometer, an x-axis magnetometer, a y-axis magnetometer, a z-axis magnetometer, a temperature sensor, a satellite receiving double antenna and a satellite signal resolving assembly to obtain data, and fusing the data through an optimal Kalman filter, wherein the specific algorithm is as follows:
(1) the attitude position is resolved by utilizing the data measured by the three-axis gyroscope, the three-axis accelerometer and the geomagnetism, and the error state equation of the inertial navigation system is as follows:
X1＝Fl(t)Xl(t)+Gl(t)Wl(t)
(2) the azimuth angle and the pitch angle of the moving body and the position of satellite navigation positioning are detected by adopting double antennas, and the speed is expressed by a state space model as follows:
XG＝FGXG+GGWG
error state vector:
XG＝[δLGδλGδhGδVGNδhVGEδhVGD]。
6. the secondary voltage stabilizing module in the mainboard has input voltage of 9V-36V in a large range, and the primary power supply is connected with the secondary voltage stabilizing module through an external connector, provides constant 5V direct current voltage for the satellite board card and provides power for components such as inertia measurement, and reduces the influence of polar temperature change on the performance of the device.
7. The acceleration measuring signal, the gyro measuring signal and the magnetic field intensity signal are respectively input into the controller through the signal processing and filtering component and through the conversion of an analog signal and a digital signal.
8. The satellite receiving assembly and the ARM controller are in a communication protocol of a RS422 duplex full work mode, information of the inertial navigation assembly and original data of the satellite navigation assembly are output to a PC upper computer through RS422 communication, complete ephemeris information can be downloaded through the PC, the receiving condition of polar region environment satellites is recorded, the satellite receiving assembly is configured and output on line, GPS and Beidou satellites or other satellites are selected for navigation, the frequency of output signals is set, and the like.
9. The mobile memory is responsible for data storage of components such as inertial sensing and the like and satellite receiving components and log recording of user operation, saves time, place and operation items of the user during operation in a log file form, reads data by using PC upper computer software, performs offline data downloading analysis, and has the characteristic of repeatedly erasing and recording the data.
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