CN111537001B - Course error evaluation compensation method and device for rotary inertial navigation system and electronic equipment - Google Patents
Course error evaluation compensation method and device for rotary inertial navigation system and electronic equipment Download PDFInfo
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Abstract
The invention provides a course error evaluation compensation method and device of a rotary inertial navigation system and electronic equipment. The method comprises the steps of executing a first analysis processing operation on a latitude error of a rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result, executing a second analysis processing operation on a course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result, executing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error, and evaluating the course error of the rotary inertial navigation system based on the correlation result by utilizing the latitude error. The invention can evaluate and compensate the course error of the inertial navigation system in real time, and greatly improves the course precision of the ship inertial navigation system.
Description
Technical Field
The invention relates to the technical field of rotary inertial navigation systems, in particular to a course error evaluation method, a course error compensation device and electronic equipment of a rotary inertial navigation system.
Background
The ship inertial navigation attitude information is reference information before missile launching, the ship inertial navigation attitude precision directly influences the use of weapon systems such as ship missiles, radars and the like, and at present, a rotary inertial navigation system (namely a rotary inertial navigation system) becomes foreign ship high-precision standard navigation equipment. Under the dynamic condition of the sea, the attitude of the ship is constantly changed under the influence of factors such as sea conditions, ship motion and the like, and the attitude precision of the ship inertial navigation system which continuously works for a long time is constantly reduced under the influence of various error factors, so that the fighting efficiency of the ship weapon system is greatly influenced. The ship inertial navigation course error directly determines the hit precision of the ship missile, and because the ship inertial navigation course precision is relatively high, a proper instrument is difficult to find under the dynamic condition to carry out real-time dynamic evaluation on the ship missile.
Currently, heading accuracy evaluation of a rotary inertial navigation system is mainly evaluated under a static condition in a laboratory or a dock or the like, or high-accuracy heading reference information is obtained through astronomical navigation, differential GPS attitude measurement and other modes and is compared with an inertial navigation heading to dynamically evaluate a heading error of the rotary inertial navigation system, and for a ship sailing on the sea for a long time, when the ship is influenced by weather or other factors and the like, star measurement, differential GPS attitude measurement and the like cannot be carried out timely, heading reference information with higher heading accuracy than that of the rotary inertial navigation system cannot be obtained easily, so real-time dynamic evaluation and compensation cannot be carried out on the heading error of the rotary inertial navigation system of the ship.
Therefore, how to efficiently and dynamically evaluate and compensate the ship inertial navigation course error in real time becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a course error estimation method, a compensation method, a device and an electronic device for a rotary inertial navigation system, and aims to solve the technical problem that the course error of a ship rotary inertial navigation system cannot be dynamically estimated and compensated in real time in the prior art.
In order to achieve the above object, the present invention provides a course error estimation method for a rotary inertial navigation system, which is applied to an electronic device, and the method includes:
performing a first analysis processing operation on the latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result;
performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result;
and executing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error, and evaluating the navigation error of the rotary inertial navigation system by using the latitude error based on the correlation result.
As a preferred scheme, the rotary inertial navigation system is a single-axis rotary inertial navigation system, and the preset error factor includes: the method comprises the following steps of (1) a first error factor and a second error factor, wherein the first error factor is constant drift of an equivalent azimuth gyroscope, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
As a preferred aspect, the second analysis processing operation includes:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
As a preferable mode, the third analysis processing operation includes:
based on each of the first target expressions, each of the second target expressions, the first error factors, and the second error factors;
respectively calculating to obtain expressions of the latitude errors under the states of the first error factor and the second error factor and expressions of the course errors under the states of the first error factor and the second error factor;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error under the states of the first error factor and the second error factor and the earth periodic oscillation phase difference of the course error and the latitude error under the states of the first error factor and the second error factor based on the expression of the latitude error and the expression of the course error, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
As a preferred scheme, the rotary inertial navigation system is a dual-axis rotary inertial navigation system, the preset error factor includes a second error factor, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
As a preferred aspect, the second analysis processing operation includes:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
As a preferable mode, the third analysis processing operation includes:
based on each of the first target expressions, each of the second target expressions, and the second error factor;
respectively calculating to obtain an expression of the latitude error in the second error factor state and an expression of the course error in the second error factor state;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error in the second error factor state and the earth periodic oscillation phase difference of the course error and the latitude error in the second error factor state based on the latitude error expression and the course error expression, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
The invention also provides a course error compensation method of the rotary inertial navigation system, and the course error evaluation method also comprises the operation of compensating the course error of the rotary inertial navigation system in real time by utilizing the correlation result of the course error and the latitude error based on the correlation result and the latitude error of the rotary inertial navigation system.
The invention also provides a course error compensation device of the rotary inertial navigation system, which comprises:
an acquisition unit: the navigation positioning equipment is used for acquiring first latitude information of a rotary inertial navigation system to which the carrier belongs, and comparing second latitude information output by the rotary inertial navigation system to which the carrier belongs with the first latitude information to obtain a real-time latitude error of the rotary inertial navigation system to which the carrier belongs;
an evaluation unit: the real-time latitude error and the correlation result are used for evaluating the course error of the rotary inertial navigation system to which the carrier belongs; wherein the correlation result is obtained by the following method: performing a first analysis processing operation on the latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result; performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result; performing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error;
a compensation unit: and the system is used for executing compensation operation on the course error output by the rotary inertial navigation system to which the carrier belongs in real time based on the course error obtained by evaluation.
The present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of heading error estimation for a rotary inertial navigation system as claimed in any one of claims 1 to 7.
According to the course error evaluation method, the compensation method, the device and the electronic equipment of the rotary inertial navigation system, the correlation between the latitude error and the course error of the rotary inertial navigation system is determined by performing comparative analysis processing on the mechanism causing the inertial navigation course error and the latitude error, and the inertial navigation course error is dynamically evaluated and compensated in real time according to the latitude error by utilizing the correlation between the latitude error and the course error, so that the ship inertial navigation course accuracy is greatly improved, and the method, the compensation device and the electronic equipment have great values in guaranteeing the ship navigation safety and improving the warship weapon system combat efficiency.
Drawings
FIG. 1 is a flowchart of a course error estimation method of a rotary inertial navigation system according to the present invention;
FIG. 2 is a flowchart of a course error compensation method of a rotary inertial navigation system according to the present invention.
FIG. 3 is a schematic diagram of a simulation model of a single-axis rotary inertial navigation system according to the present invention;
FIG. 4 is a schematic diagram of a simulation model of a dual-axis rotary inertial navigation system according to the present invention;
FIG. 5 is a simulation graph of latitude error and heading error output by the single-axis rotary inertial navigation system according to the present invention;
FIG. 6 is a course error curve diagram of the single-axis rotary inertial navigation system according to the present invention;
FIG. 7 is a course error curve diagram of the compensated single-axis rotary inertial navigation system according to the present invention;
FIG. 8 is a simulation graph of latitude error and course error output by the dual-axis rotary inertial navigation system according to the present invention;
FIG. 9 is a course error curve diagram of the dual-axis rotary inertial navigation system according to the present invention;
FIG. 10 is a course error curve diagram of the compensated dual-axis rotary inertial navigation system according to the present invention;
FIG. 11 is a schematic diagram of a heading error compensation device of a rotary inertial navigation system according to the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following description will be made in detail by taking a single-axis rotary inertial navigation system as an example.
FIG. 1 is a flow chart of a method for estimating a heading error of a rotary inertial navigation system according to a preferred embodiment of the present invention. The heading error evaluation method of the rotary inertial navigation system shown in fig. 1 is applied to an electronic device, and the method includes:
s10: performing a first analysis processing operation on the latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result;
in this embodiment, the error factors affecting the rotational inertial navigation system include gyroscope drift, accelerometer bias, initial error, mounting error, scale factor error, random error, and the like, and in the single-axis rotational inertial navigation system, single-axis rotation can automatically compensate for accelerometer zero offset, gyroscope constant drift, mounting error, symmetry scale factor error, and the like in the direction perpendicular to the rotation axis, while equivalent orientation gyroscope constant drift and initial attitude error are the most main factors affecting the navigation error of the inertial navigation system. Therefore, the constant drift (first error factor) and the initial attitude error (second error factor) of the equivalent azimuth gyroscope are taken as preset error factors of the single-axis rotary inertial navigation system, namely the preset error factors comprise the first error factor and the second error factor.
Further, the first analysis processing operation includes:
and calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression.
And setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
Specifically, according to a preset error equation of the rotary inertial navigation system, under the action of constant drift of the equivalent azimuth gyroscope and an initial attitude error, a first expression of a single-axis rotary inertial navigation latitude error under a static condition is calculated as follows:
wherein a is1、a2、a3、a4Respectively obtaining first initial expressions of the error coefficients in the first expressions, wherein the first initial expressions of the error coefficients in the first expressions are respectively as follows:
wherein the content of the first and second substances,
is the latitude error of inertial navigation, epsilonUFor constant drift of the gyro in the equivalent azimuth, phiE0、φN0、φU0Respectively are the initial errors of the inertial navigation attitude angles,
for the ship latitude, omegaieIs the frequency of the angle of rotation of the earth, omegasAnd the angular frequency of the surla periodic oscillation is shown, T is a time parameter of continuous autonomous navigation work of the rotary inertial navigation equipment, and T is matrix transposition. According to the formula (1) and the formula (2), under the action of the equivalent azimuth gyro drift, latitude Schuler periodic oscillation error, earth periodic oscillation error and error components are caused
And the ship latitude is constantly changed under the dynamic condition, and when the latitude is not greatly changed in a certain period of time, the error component is
Can be approximated as a constant latitude error component, and when the latitude is 36 degrees, the constant drift of the equivalent azimuth gyroscope is 0.001 degree/h, the error component is caused
About 0.1849, and when the latitude is 0 degree, the error component is caused
About 0.229', mainly cause latitudinal schull periodic oscillation errors and earth periodic oscillation errors under the action of the initial attitude errors.
Further, the first analysis processing operation further comprises:
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
The working state of the single-axis rotary inertial navigation system is set to be a horizontal damping state, so that a Schuler periodic oscillation error component modulated by a Fourier period in an inertial navigation error can be eliminated, and under the horizontal damping working state, an error coefficient expression in an expression (1) is as follows:
due to the fact that
Is far greater than
The following approximate relationship may be considered to exist:
further transforming equation (3) by using equation (4) to obtain a first target expression of each error coefficient in the first expression:
equation (5) is taken as the first processing result.
S20: performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result;
in this embodiment, a second analysis processing operation is performed on the heading error of the rotary inertial navigation system in real time based on the first error factor and the second error factor, so as to obtain a second processing result.
Specifically, the second analysis processing operation includes:
and calculating a second expression of the course error under a static condition based on the error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression.
Specifically, according to a preset error equation of the rotary inertial navigation system, under the action of the constant drift of the equivalent azimuth gyro and the initial attitude error, a second expression of the course error of the uniaxial rotary inertial navigation under the static condition is calculated as follows:
φU(t)＝b1εU+[b2 b3 b4][φE0 φN0 φU0]T (6)
wherein b is1、b2、b3、b4Are error coefficients in equation (6), respectively, and the second initial expression of each error coefficient in equation (6) is:
wherein the content of the first and second substances,
is latitude error of inertial navigation, epsilonUFor constant drift of the gyro in the equivalent azimuth, phiE0、φN0、φU0Respectively are the initial errors of the inertial navigation attitude angles,
for the ship latitude, omegaieIs the frequency of the angle of rotation of the earth, omegasIs the angular frequency of the schull cycle oscillation. According to the formula (6), the course error causes the shula periodic oscillation error and the earth periodic oscillation error under the action of the equivalent azimuth gyro drift, and the inertial navigation course shula periodic oscillation error and the earth periodic oscillation error are mainly caused under the action of the initial attitude error.
Further, the second analysis processing operation further comprises:
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
The working state of the single-axis rotary inertial navigation system is set to be a horizontal damping state, a Schuler periodic oscillation error component modulated by a Fourier period in a course error is restrained, namely, under the horizontal damping working state, an error coefficient expression in an expression (6) is as follows:
due to the fact that
Further to formula (8)And changing to obtain a second target expression of each error coefficient in the second expression:
equation (9) is taken as the second processing result.
S30: and executing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error, and evaluating the course error of the rotary inertial navigation system by using the latitude error based on the correlation result.
In this embodiment, a third analysis processing operation is performed on the first processing result and the second processing result to obtain a correlation result between the heading error and the latitude error, and the heading error of the rotary inertial navigation system is estimated by using the latitude error based on the correlation result.
Further, the third analysis processing operation includes:
based on each of the first target expressions, each of the second target expressions, the first error factors, and the second error factors;
respectively calculating to obtain expressions of the latitude errors under the states of the first error factor and the second error factor and expressions of the course errors under the states of the first error factor and the second error factor;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error under the states of the first error factor and the second error factor and the earth periodic oscillation phase difference of the course error and the latitude error under the states of the first error factor and the second error factor based on the expression of the latitude error and the expression of the course error, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
Comparing the equation (5) and the equation (9), the latitude error and the heading error coefficient expression caused by the equivalent azimuth gyro drift are:
then the latitude error and heading error coefficient expressions caused by the initial attitude error are:
from the equations (10) and (11), when the latitude error component is compensated, the latitude error component is compensated
When the system is influenced, under the horizontal damping state, the constant drift of the equivalent azimuth gyroscope and each initial attitude error can respectively cause the latitude and the earth periodic oscillation error of the heading of the rotary inertial navigation system, and the relationship between the amplitude and the phase of the caused earth periodic oscillation error is shown in the following table.
In the above table, the first and second sheets,
the ratio of the latitude error to the heading error coefficient earth periodic oscillation amplitude of the rotary inertial navigation system corresponding to different error sources in the formulas (10) and (11), i is 1,2,3 and 4,
and (3) the latitude error and heading error coefficient earth periodic oscillation phase difference of the rotary inertial navigation system corresponding to different error sources in the formulas (10) and (11), wherein i is 1,2,3 and 4.
According to the table, under the action of error sources such as the constant drift of the equivalent azimuth gyroscope, the initial attitude error and the like, the heading error earth periodic oscillation amplitude of the rotary inertial navigation system is the latitude error earth periodic oscillation of the inertial navigationOf amplitude
The phase of the earth periodic oscillation with the double heading error is advanced compared with the phase of the earth periodic oscillation with the latitude error
Therefore, under the action of constant drift of the equivalent azimuth gyro and each initial attitude error, the latitude error component is compensated
And then, the relevance of the latitude error and the heading error of the single-shaft rotary inertial navigation system in the horizontal damping state is shown as a formula (12).
Wherein the content of the first and second substances,
the magnitude of the component of the earth's periodic oscillation error in the latitude error,
the magnitude of the component of the earth's periodic oscillation error in the heading error,
the phase of the error component of the earth's periodic oscillation in latitude error,
is the phase of the component of the earth's periodic oscillation error in the heading error. As can be seen from equation (12), the amplitude of the error component of the periodic oscillation of the earth in the course error is the amplitude of the error component of the periodic oscillation of the earth in the latitude error
Phase and course error of earth periodic oscillation error component in time and latitude errorPhase contrast, delay, of error component of medium earth period oscillation
The influences of main error sources such as constant drift of an equivalent azimuth gyro and initial attitude angle error are mainly considered, error sources actually influencing course errors and latitude errors of the rotary inertial navigation system also comprise random errors, installation errors, scale factor errors and the like, and the influences of the error sources are relatively small and can be ignored. Therefore, in the horizontal damping working state, the latitude error and the heading error of the single-shaft rotary inertial navigation system have the following relevance: the latitude error mainly comprises earth periodic oscillation error and error component
The course error is mainly earth periodic oscillation error, and the earth periodic oscillation amplitude of the course error is latitude error
The phase of the earth periodic oscillation with the course error is advanced compared with that of the earth periodic oscillation with the latitude error
Therefore, the correlation characteristics of the latitude error and the heading error of the single-shaft rotating pipeline in the horizontal damping state are utilized, and the error component in the latitude error is compensated
And the real-time dynamic evaluation of the inertial navigation course error can be realized according to the inertial navigation latitude error.
In one embodiment, the above-mentioned rotary inertial navigation system may also be a dual-axis rotary inertial navigation system.
In the double-shaft rotary inertial navigation system, because the constant drift of the equivalent azimuth gyroscope is subjected to rotation modulation, the influence of the constant drift on the course error and the latitude error of the double-shaft rotary inertial navigation system is smallAnd is negligible. In practical application, the latitude error component caused by constant drift of the equivalent azimuth gyroscope is not required to be subjected to
Compensation is performed. Meanwhile, rotation modulation has no modulation effect on the initial attitude error, so that the characteristics of the latitude error and the heading error of the dual-axis rotary inertial navigation system caused by the initial attitude error are consistent with those of single-axis rotary inertial navigation, that is, under the horizontal damping working state, the latitude error and the heading error of the dual-axis rotary inertial navigation system have relevance as shown in formula (12).
Fig. 2 is a flowchart of a course error compensation method of a rotary inertial navigation system in this embodiment, which is different from fig. 1 in that the method further includes an operation of compensating the course error of the rotary inertial navigation system in real time based on the correlation result and the latitude error of the rotary inertial navigation system by using the correlation result of the course error and the latitude error.
In one embodiment, the compensation method further comprises:
establishing a simulation model of the rotary inertial navigation system according to preset simulation experiment conditions, respectively acquiring first simulation data of a latitude error of the rotary inertial navigation system and second simulation data of a course error of the rotary inertial navigation system based on the simulation model, and verifying the correlation result based on the first simulation data and the second simulation data.
The simulation experiment conditions can be set according to main technical parameters of the laser gyroscope and the accelerometer, installation errors, scale factor errors, initial errors and other error parameters, for example, the simulation conditions are set as follows: the constant drift of the three laser gyroscopes is [0.001 degree/h, 0.001 degree/h ], and the standard deviation of random drift is 0.0005 degree/h; the zero offset of the three accelerometers is 0.01mg, the standard deviation of random white noise is 0.005mg, the errors of symmetry scale factors of the gyroscope and the accelerometers are 2ppm, and the installation error matrix is [0, 4'; -4 ", 0, 4"; 4 ", -4", 0 ]; the initial attitude error is [0.8 ', 0.8 ', 2.0 ' ]; the initial course is 90 degrees, the initial longitude and latitude are respectively 122 degrees E and 122 degrees E, the inertial navigation system always works in a horizontal damping state, and the simulation time is 30 days.
As shown in fig. 3, the schematic diagram of a simulation model of a single-axis rotary inertial navigation system is shown, where the simulation model mainly includes a rotation control system module, a trajectory generator module, an inertial component measurement data generation module, an inertial navigation solution module, and an output module. The rotation control system module is used for outputting rotation control corner information and rotation angular velocity information according to a single-shaft rotation scheme, as shown in fig. 4, the rotation control system module is a simulation model schematic diagram of a double-shaft rotation type inertial navigation system, when the double-shaft rotation type inertial navigation system is simulated, the rotation control system module can also output a corresponding information double-shaft rotation scheme according to the double-shaft rotation scheme, the track generator module is used for generating reference information such as ideal ship horizontal attitude, course, speed and position and angular motion and linear motion parameters of the ship according to initial speed, initial position, initial attitude and maneuvering information, and the inertial component measurement data generation module is used for adding inertial measurement errors into angular motion and linear motion parameters of the ship generated by the track generator module under the action of the rotation control system to generate inertial component measurement data; the inertial navigation resolving module is used for resolving and outputting horizontal attitude, course, speed and position information of the ship according to inertial component measurement data, combined with output parameters of the rotary control system and a rotary inertial navigation algorithm, and the output module is used for comparing navigation parameters output by rotary inertial navigation with ship motion navigation parameters output by the track generator module to obtain rotary inertial navigation parameter error data.
According to the simulation model, latitude error and course error simulation data of the single-axis rotary inertial navigation system and the double-axis rotary inertial navigation system can be respectively obtained. And under the horizontal damping working state, taking the course error obtained by simulation as the actual course error of inertial navigation, taking the actual course error as reference, realizing real-time dynamic estimation of the inertial navigation course error according to the latitude error output by the inertial navigation simulation by utilizing the correlation between the latitude error and the course error, comparing the real-time dynamic estimation value of the course error with the actual course error of the inertial navigation, and verifying the feasibility of realizing the dynamic estimation of the course error based on the latitude error.
FIG. 5 is a graph showing a simulation curve of latitude error and heading error output by the single-axis rotary inertial navigation system in a horizontal damping state.
The solid line represents the latitude error of the rotary inertial navigation system, and the dotted line represents the heading error of the rotary inertial navigation system. According to the graph 5, in the horizontal damping working state, both the latitude error and the heading error of the single-shaft rotary inertial navigation system mainly show the characteristic of periodic earth oscillation, and the amplitude of the periodic earth oscillation is dispersed along with the time. For example, in the time period of 0 to 10 days, the latitude error changes within (-1.8 ', 2.2 '), the heading error changes within (-2.4,2.3 '), in the time period of 10 days to 20 days, the latitude error changes within (-2.2 ', 2.6 '), the heading error changes within (-3.0 ', 2.8 '), in the time period of 20 days to 30 days, the latitude error changes within (-2.5 ', 2.8 '), and the heading error changes within (-3.4 ', 3.2 '). And in different time periods, the standard deviation of the inertial navigation latitude error and the heading error is shown in the following table.
According to the above table, the heading error standard deviation and the latitude error of the single-axis rotary inertial navigation system are obtained in different time periods
The standard difference of course errors of the single-shaft rotary inertial navigation system is about the standard difference of latitude errors
The mean value of the latitude error is similar to the calculation result and is approximately equal to the calculation result
In practical application, the latitude error component can be realized by compensating the mean value of the latitude error of the single-shaft rotary inertial navigation system
Compensation of (2).
By utilizing the relevance between the latitude error and the course error of the single-axis rotary inertial navigation system, the real-time dynamic estimation and compensation of the inertial navigation course error can be realized according to the latitude error output by inertial navigation. And (3) arbitrarily taking latitude error and course error data in a certain time period in the figure 5, and dynamically estimating the inertial navigation course error by using the latitude error of the inertial navigation according to the correlation between the latitude error and the course error of the single-axis rotary inertial navigation system, as shown in figure 6, the dynamic estimation is a course error curve graph of the single-axis rotary inertial navigation system, wherein a dotted line is a course error curve of the inertial navigation estimated by using the latitude error of the inertial navigation according to the correlation between the latitude error and the course error of the single-axis rotary inertial navigation system, and a solid line is a course error curve actually output by the inertial navigation. As can be seen from FIG. 6, the estimated course error curve and the actual course error curve of the inertial navigation are better kept consistent in the aspects of oscillation period, amplitude, phase and the like, so that the accuracy of the correlation analysis between the latitude error and the course error of the single-axis rotational inertial navigation is verified, and meanwhile, the feasibility of real-time dynamic compensation of the course error based on the latitude error of the inertial navigation is verified. The estimated inertial navigation course error is used for compensating the actual course error of inertial navigation, as shown in fig. 7, for a course error curve chart of the compensated single-axis rotary inertial navigation system, after the estimated single-axis rotary inertial navigation course error is used for compensating the actual course error, the course error is obviously reduced, the oscillation range is (-0.41 ', 0.14 '), the standard deviation is 0.0895 ', compared with the actual course error of the single-axis rotary inertial navigation system before compensation, the course error oscillation range is reduced by 91.7%, the course error standard deviation is reduced by more than 1 order of magnitude, and the course precision is greatly improved.
Under the same simulation condition, the latitude error and the heading error of the biaxial rotation type inertial navigation system in the horizontal damping working state are shown in fig. 8, the solid line represents the latitude error of the biaxial rotation type inertial navigation system, and the dotted line represents the heading error of the biaxial rotation type inertial navigation system. According to fig. 8, in the horizontal damping working state, both the latitude error and the heading error of inertial navigation mainly present the characteristic of periodic oscillation of the earth. For example, the latitude error varies within (-1.3 ', 1.4 '), the heading error varies within (-1.7,1.7 '), the latitude error varies within (-1.6 ', 1.5 '), the heading error varies within (-1.9 ', 1.9 ') during the period of 10 days to 20 days, and the latitude error varies within (-1.4 ', 1.4 ') during the period of 20 days to 30 days, and the heading error varies within (-1.7 ', 1.8 '). And in different time periods, the standard deviation of the latitude error and the course error of the biaxial rotary inertial navigation system is shown in the following table:
as can be seen from the above table, the standard deviation of the inertial navigation course error is about the standard deviation of the latitude error
And the latitude error mean value and the heading error mean value are small and can be ignored.
And by utilizing the relevance between the latitude error and the course error of the double-shaft rotary inertial navigation system, the real-time dynamic estimation of the course error can be realized according to the latitude error output by the double-shaft rotary inertial navigation system. And (3) arbitrarily taking latitude error and course error data in a certain time period in the graph in FIG. 8, and dynamically estimating the course error of the rotary inertial navigation system by using the latitude error according to the correlation between the latitude error and the course error of the double-shaft rotary inertial navigation system, wherein as shown in FIG. 9, the course error is a course error curve graph of the double-shaft rotary inertial navigation system, a dotted line is a course error curve estimated by using the latitude error according to the correlation between the latitude error and the course error of the double-shaft rotary inertial navigation system, and a solid line is a course error curve actually output by the inertial navigation system. It can be known from fig. 9 that the estimated course error curve and the actual course error curve are better kept consistent in the aspects of oscillation period, amplitude, phase and the like, so that the accuracy of the correlation analysis between the latitude precision and the course precision of the biaxial rotation type inertial navigation system is verified, and meanwhile, the feasibility of real-time dynamic estimation of the course error by using the latitude error of the biaxial rotation type inertial navigation system is verified. The course error is dynamically estimated in real time by using the latitude error of the dual-axis rotational inertial navigation, and the inertial navigation course error is compensated by using the estimated yaw error of the dual-axis rotational inertial navigation, as shown in fig. 10, which is a course error curve diagram of the compensated dual-axis rotational inertial navigation system, as can be known from fig. 10, after the yaw error of the dual-axis rotational inertial navigation system is compensated, the course error of the dual-axis rotational inertial navigation system is significantly reduced, the oscillation range (-0.28 ', 0.26'), the standard deviation is 0.0808 ', the mean value of the error is-0.0069', compared with the actual yaw error of the dual-axis rotational inertial navigation system before compensation, the oscillation range of the yaw error of the dual-axis rotational inertial navigation system is reduced by 85.8%, the standard deviation of the course error is reduced by more than 1 order of magnitude, and the inertial navigation course accuracy is greatly improved.
FIG. 11 is a schematic diagram of a heading error compensation device of a rotary inertial navigation system according to the present invention. The course error compensation device of the rotary inertial navigation system comprises:
an acquisition unit: the navigation positioning equipment is used for acquiring first latitude information of a rotary inertial navigation system to which the carrier belongs, and comparing second latitude information output by the rotary inertial navigation system to which the carrier belongs with the first latitude information to obtain a real-time latitude error of the rotary inertial navigation system to which the carrier belongs; the first latitude information can be acquired by high-precision navigation and positioning equipment such as a GPS, a Beidou, a radio and the like;
an evaluation unit: the real-time latitude error and the correlation result are used for evaluating the course error of the rotary inertial navigation system to which the carrier belongs;
a compensation unit: and the system is used for executing compensation operation on the course error output by the rotary inertial navigation system to which the carrier belongs in real time based on the course error obtained by evaluation.
In one embodiment, the rotary inertial navigation system is a single-axis rotary inertial navigation system, and the preset error factor includes: the method comprises the following steps of (1) a first error factor and a second error factor, wherein the first error factor is constant drift of an equivalent azimuth gyroscope, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
In one embodiment, the second analysis processing operation comprises:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
In one embodiment, the third analysis processing operation includes:
based on each of the first target expressions, each of the second target expressions, the first error factors, and the second error factors;
respectively calculating to obtain expressions of the latitude errors under the states of the first error factor and the second error factor and expressions of the course errors under the states of the first error factor and the second error factor;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error under the states of the first error factor and the second error factor and the earth periodic oscillation phase difference of the course error and the latitude error under the states of the first error factor and the second error factor based on the expression of the latitude error and the expression of the course error, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
In one embodiment, the rotary inertial navigation system is a dual-axis rotary inertial navigation system, the preset error factor includes a second error factor, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
In one embodiment, the second analysis processing operation comprises:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
In one embodiment, the third analysis processing operation includes:
based on each of the first target expressions, each of the second target expressions, and the second error factor;
respectively calculating to obtain an expression of the latitude error in the second error factor state and an expression of the course error in the second error factor state;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error in the second error factor state and the earth periodic oscillation phase difference of the course error and the latitude error in the second error factor state based on the latitude error expression and the course error expression, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
In one embodiment, the method further comprises the operation of compensating the heading error of the rotary inertial navigation system in real time based on the correlation result and the latitude error of the rotary inertial navigation system by using the correlation result of the heading error and the latitude error.
The invention also provides a course error compensation device of the rotary inertial navigation system, which comprises:
an acquisition unit: the navigation positioning equipment is used for acquiring first latitude information of a rotary inertial navigation system to which the carrier belongs, and comparing second latitude information output by the rotary inertial navigation system to which the carrier belongs with the first latitude information to obtain a real-time latitude error of the rotary inertial navigation system to which the carrier belongs;
an evaluation unit: the real-time latitude error and the correlation result are used for evaluating the course error of the rotary inertial navigation system to which the carrier belongs, wherein the correlation result is obtained by the course error compensation method of the rotary inertial navigation system; specifically, a first analysis processing operation is executed on a latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result; performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result; performing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error;
a compensation unit: and the system is used for executing compensation operation on the course error output by the rotary inertial navigation system to which the carrier belongs in real time based on the course error obtained by evaluation.
Specifically, the obtaining unit obtains high-precision latitude information of the carrier by using high-precision navigation and positioning means such as a GPS, a Beidou and a radio, and compares the latitude information output by the rotary inertial navigation of the carrier with the obtained high-precision latitude information to obtain a real-time latitude error of the rotary inertial navigation of the carrier.
The present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of heading error compensation for a rotary inertial navigation system as described above.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A course error evaluation method of a rotary inertial navigation system is applied to electronic equipment, and is characterized by comprising the following steps:
performing a first analysis processing operation on the latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result;
performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result;
performing third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error, and evaluating the course error of the rotary inertial navigation system by using the latitude error based on the correlation result;
wherein, the rotation type is used to lead the system for unipolar rotation type and is used to lead the system, predetermine the error factor and include: the method comprises the following steps of (1) a first error factor and a second error factor, wherein the first error factor is constant drift of an equivalent azimuth gyroscope, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result;
the second analysis processing operation comprises:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
2. The method of course error estimation in a rotary inertial navigation system of claim 1, wherein the third analysis processing operation comprises:
based on each of the first target expressions, each of the second target expressions, the first error factors, and the second error factors;
respectively calculating to obtain expressions of the latitude errors under the states of the first error factor and the second error factor and expressions of the course errors under the states of the first error factor and the second error factor;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error under the states of the first error factor and the second error factor and the earth periodic oscillation phase difference of the course error and the latitude error under the states of the first error factor and the second error factor based on the expression of the latitude error and the expression of the course error, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
3. The method for estimating the heading error of the rotary inertial navigation system of claim 1, wherein the rotary inertial navigation system is a dual-axis rotary inertial navigation system, the predetermined error factor comprises a second error factor, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result.
4. The method of course error estimation in a rotary inertial navigation system of claim 3, wherein the second analytical processing operation comprises:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
5. The method of course error estimation in a rotary inertial navigation system of claim 4, wherein the third analysis processing operation comprises:
based on each of the first target expressions, each of the second target expressions, and the second error factor;
respectively calculating to obtain an expression of the latitude error in the second error factor state and an expression of the course error in the second error factor state;
and calculating to obtain the earth periodic oscillation amplitude ratio of the course error and the latitude error in the second error factor state and the earth periodic oscillation phase difference of the course error and the latitude error in the second error factor state based on the latitude error expression and the course error expression, and taking the earth periodic oscillation amplitude ratio and the earth periodic oscillation phase difference as the correlation result.
6. A course error compensation method of a rotary inertial navigation system comprises the course error assessment method according to any one of claims 1 to 5, and is characterized by further comprising the operation of compensating the course error of the rotary inertial navigation system in real time based on the correlation result and the latitude error of the rotary inertial navigation system by utilizing the correlation result of the course error and the latitude error.
7. A course error compensation device of a rotary inertial navigation system is characterized by comprising:
an acquisition unit: the navigation positioning equipment is used for acquiring first latitude information of a rotary inertial navigation system to which the carrier belongs, and comparing second latitude information output by the rotary inertial navigation system to which the carrier belongs with the first latitude information to obtain a real-time latitude error of the rotary inertial navigation system to which the carrier belongs;
an evaluation unit: the real-time latitude error and the correlation result are used for evaluating the course error of the rotary inertial navigation system to which the carrier belongs; wherein the correlation result is obtained by the following method: performing a first analysis processing operation on the latitude error of the rotary inertial navigation system in real time based on a preset error factor to obtain a first processing result; performing a second analysis processing operation on the course error of the rotary inertial navigation system in real time based on the preset error factor to obtain a second processing result; performing a third analysis processing operation on the first processing result and the second processing result to obtain a correlation result of the course error and the latitude error;
a compensation unit: the system is used for performing compensation operation on the course error output by the rotary inertial navigation system to which the carrier belongs in real time based on the course error obtained by evaluation;
wherein, the rotation type is used to lead the system for unipolar rotation type and is used to lead the system, predetermine the error factor and include: the method comprises the following steps of (1) a first error factor and a second error factor, wherein the first error factor is constant drift of an equivalent azimuth gyroscope, and the second error factor is an initial attitude error;
the first analysis processing operation comprises:
calculating a first expression of the latitude error under a static condition based on a preset error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a first initial expression of each error coefficient in the first expression;
setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each first initial expression to obtain a first target expression of each error coefficient in the first expression, and taking each first target expression as the first processing result;
the second analysis processing operation comprises:
calculating a second expression of the course error under a static condition based on an error equation of the rotary inertial navigation system, the first error factor and the second error factor, and acquiring a second initial expression of each error coefficient in the second expression;
and setting the working state of the rotary inertial navigation system to be a horizontal damping state, executing transformation processing on each second initial expression to obtain a second target expression of each error coefficient in the second expression, and taking each second target expression as the second processing result.
8. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a heading error estimation method for a rotary inertial navigation system as claimed in claims 1 to 5.
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| CN112816961B (en) * | 2021-03-17 | 2022-03-25 | 中国人民解放军海军潜艇学院 | Ku wave band phased array water surface target detection system with self-adaptive wave beam stabilization |
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