CN111781624B - Universal integrated navigation system and method - Google Patents
Universal integrated navigation system and method Download PDFInfo
- Publication number
- CN111781624B CN111781624B CN202010792375.1A CN202010792375A CN111781624B CN 111781624 B CN111781624 B CN 111781624B CN 202010792375 A CN202010792375 A CN 202010792375A CN 111781624 B CN111781624 B CN 111781624B
- Authority
- CN
- China
- Prior art keywords
- module
- interface
- navigation
- data
- integrated navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention relates to the navigation field, and provides a general combined navigation system, which comprises: the integrated navigation module and the universal interface circuit; the integrated navigation module is at least used for completing inertial navigation calculation by using measurement data of a gyroscope and an accelerometer, and completing integrated navigation calculation by combining the measurement data of a sensor; the integrated navigation module comprises a hardware layer and a software layer, wherein the hardware layer is connected with the universal interface circuit and supports the operation of the software layer; the universal interface circuit is at least used for connecting sensors with different interface types and other system external equipment; the universal interface circuit can be directly connected with sensors in most navigation related industries, and is convenient to apply to on-board, vehicle-mounted, shipborne and underwater integrated navigation.
Description
Technical Field
The invention relates to the field of navigation, in particular to a general combined navigation system and a general combined navigation method.
Background
The navigation technology commonly used in modern times mainly comprises inertial navigation, satellite navigation, astronomical navigation, radio navigation and the like. Wherein only inertial navigation is completely autonomous, neither radiating nor receiving external signals to the outside.
Inertial navigation (Inertial Navigation System, INS) relies on the motion of gyroscope and accelerometer sensitive carrier under inertial system, to provide global navigation information all the day, and is an independent autonomous navigation technology. The navigation device has the outstanding advantages of continuously outputting carrier position and speed and attitude information, having high short-time navigation precision, being completely independent and autonomous, and the like. Inertial navigation systems have been gradually popularized to the fields of aerospace, aviation, navigation, petroleum development, geodetic survey, marine survey, geological drilling control, robotics, railways and the like, and with the advent of novel inertial sensing devices, inertial technologies are applied to automobile industry and medical electronic equipment. The inertial navigation system not only plays a very important role in national defense modernization, but also increasingly shows great roles in various fields of national economy.
However, inertial navigation systems suffer from an insurmountable disadvantage of error drift of their own inertial devices, and navigation errors accumulate over time. The actual navigation system usually takes an inertial navigation system as a main navigation system, is assisted by other navigation means such as astronomical navigation, satellite navigation, radio navigation, terrain matching assistance/visual navigation and the like, and performs advantage complementation by a combined navigation technology so as to improve the overall performance of the navigation system. Integrated navigation is the result of recent navigation theory and technological development. By combining different navigation modes, higher navigation performance can be obtained than when either system is used alone, and thus, the combined navigation system is increasingly being studied and used.
In different industry applications, the existing integrated navigation system usually uses an inertial navigation system as a core, and combines different sensors and integrated navigation models to realize integrated navigation. The combined navigation system of the common carrier adopts the following combination modes: the airborne integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), altimeter and the like; the vehicle-mounted integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), odometer (ODO) and the like; the on-board integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), velocimetry (DVL) and the like; the underwater integrated navigation adopts the combination of Inertial Navigation (INS), velocimeter (DVL), depth gauge, baseline system (BL) and the like.
In different types of industrial applications, because the sensor and the integrated navigation model are different, the prior art scheme generally adopts different integrated navigation systems, and needs to adopt different systems, models, hardware and software, thereby obviously improving the system cost and the application difficulty.
In addition, inertial navigation and integrated navigational data output are only intermediate results in many industrial applications (intelligent driving, rail detection and pipeline measurement), and other hardware and technology are often required to achieve final results and functionality.
Therefore, it is needed to develop a general integrated navigation system, which can meet the requirement that different integrated navigation modes are directly applied in the same integrated navigation system, and can directly calculate and output the final industry measurement result through the navigation data and the sensor data.
Disclosure of Invention
In order to realize that a plurality of different combined navigation modes can be applied to the same combined navigation model and the combined navigation model can calculate navigation data aiming at different combined navigation modes, the invention provides a general combined navigation system and method.
According to a first aspect of the present invention, there is provided a universal integrated navigation system comprising: the integrated navigation module and the universal interface circuit; wherein, the liquid crystal display device comprises a liquid crystal display device,
the integrated navigation module is at least used for completing inertial navigation calculation by using measurement data of a gyroscope and an accelerometer, and completing integrated navigation calculation by combining measurement data of other sensors;
the integrated navigation module comprises a hardware layer and a software layer, the hardware layer is connected with a plurality of universal interface circuits and supports the operation of the software layer, and the software layer comprises a navigation resolving module, a system error correcting module, an optimal estimating module and a result output module;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation by using measurement data of the gyroscope and the accelerometer;
the optimal estimation module carries out optimal estimation on the system error by utilizing the output result of the navigation resolving module and the measurement data of the sensor, and is used for realizing the functions of combined navigation of gestures, combined navigation of speeds and combined navigation of positions;
the system error correction module is at least used for correcting the system error according to the output result of the optimal estimation module;
the result output module is used for outputting measurement result data;
the universal interface circuit is at least used for connecting sensors with different interface types and other external equipment of the system.
According to an exemplary embodiment of the present invention, the software layer of the integrated navigation module further comprises an industry measurement solution module, which is connected to the navigation solution module, the optimal estimation module and the result output module, for performing measurement model solution and error compensation in on-board, on-board or under-water specific industry applications.
According to an example embodiment of the present invention, the software layer of the integrated navigation module further includes one or more of an error compensation module, a fault detection module, a gravity anomaly resolution module, a dynamics resolution module, and a motion constraint resolution module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the error compensation module is used for performing error compensation on the accessed sensor data;
the fault detection module is used for carrying out fault detection on the data output by the error compensation module;
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation resolving module;
the dynamic calculation module is used for calculating a dynamic motion model and compensating errors;
the motion constraint solving module is used for motion constraint model solving and error compensation in specific industry application.
According to an example embodiment of the invention, the system error correction module is further configured to correct gravity anomaly errors.
According to an example embodiment of the present invention, the integrated navigation module further includes a data storage module for storing various raw data and result data in real time, including inertial navigation data (gyro and accelerometer data and result data of inertial navigation solution), navigation data of other sensor and inertial navigation data combinations, system state data, external sensor data, servo control data and intelligent driving data.
According to an example embodiment of the present invention, the hardware layer of the integrated navigation module includes an SOC chip, an FPGA, a DRAM, and a solid state disk;
the SOC chip provides operation and control support for the software layer;
the FPGA is connected with the SOC chip and the universal interface circuit, and is at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip;
the DRAM is connected with the SOC chip and is used for storing data;
the solid state disk is connected with the SOC chip and used for storing data.
According to an example embodiment of the present invention, each universal interface circuit includes four hardware interfaces, a synchronous interface, an analog interface, a digital interface, and a communication interface, respectively;
the synchronous interface is used for synchronizing the input signal and the output signal;
the analog interface is used for connecting the analog interface of the sensor and other system external equipment;
the digital interface is used for connecting the digital interface of the sensor and other system external equipment;
the communication interface is used for connecting the communication interface of the sensor and other system external equipment, and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface.
According to an exemplary embodiment of the present invention, each communication interface circuit includes a four-layer structure, which is an interface link layer, an interface device layer, a device driver layer, and a device application layer in this order;
the interface link layer is used for providing electrical connection between the sensor and other system external equipment and the four interfaces and level standard conversion hardware;
the interface equipment layer is used for providing function realization hardware of a synchronous interface, an analog interface, a digital interface and a communication interface, and comprises an FPGA circuit, an ADC circuit, a DAC circuit, an operational amplifier circuit and an SOC communication interface circuit;
the device driver layer is used for providing a universal interface driver;
the device application layer is used for completing the functions of initializing interface devices, monitoring states, data communication and controlling devices.
According to an example embodiment of the present invention, the universal integrated navigation system further comprises an external temperature sensor, the external temperature sensor being connected to the universal interface circuit.
According to an exemplary embodiment of the present invention, the universal integrated navigation system further includes an inertial device circuit, which is connected to the FPGA of the hardware layer of the integrated navigation module, for connecting gyroscopes, accelerometers, and temperature sensors of different interface types;
the inertial device circuit comprises an ADC, an operational amplifier circuit, an I/F conversion circuit, a laser gyro interface circuit, an optical fiber gyro interface circuit and an MEMS digital interface circuit;
the operational amplifier circuit is used for collecting analog voltage signals and comprises analog voltage signals of a temperature sensor, an MEMS gyroscope and an MEMS accelerometer which are output as analog voltages;
the ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA;
the I/F conversion circuit is used for receiving an analog current signal, converting the analog current signal into a digital signal and sending the digital signal to the FPGA, wherein the analog current signal comprises an analog current signal of the quartz accelerometer;
the laser gyro interface circuit is used for connecting and processing output signals of the laser gyro and sending the output signals to the FPGA;
the fiber-optic gyroscope interface circuit is used for connecting and processing output signals of the fiber-optic gyroscope and sending the output signals to the FPGA;
the MEMS digital interface circuit is used for collecting signals of the MEMS gyroscope and the MEMS accelerometer with digital interfaces to the FPGA.
According to an example embodiment of the present invention, the integrated navigation system further comprises an internal temperature sensor in circuit connection with the inertial device for measuring the temperature of the gyroscope, accelerometer and circuitry of the integrated navigation system.
According to an example embodiment of the invention, the universal integrated navigation system further comprises a gyroscope and an accelerometer, the gyroscope comprising a laser gyroscope, a fiber optic gyroscope or a MEMS gyroscope; the accelerometer includes a quartz accelerometer or a MEMS accelerometer.
According to an example embodiment of the invention, the other sensors include satellite navigation receivers, odometers, velocimeters, altimeters, depth meters, external temperature sensors, industry measurement sensors, star sensors, and the other system external devices include intelligent driving systems, servo control systems, and superordinate computers.
According to an exemplary embodiment of the present invention, the general integrated navigation system further includes a power circuit for converting an external input power into various power required inside the system.
According to a second aspect of the present invention, there is provided a general integrated navigation method comprising the steps of:
s101: collecting measurement data of a gyroscope, an accelerometer and a sensor;
s102: inertial navigation calculation is carried out by using measurement data of a gyroscope and an accelerometer;
s103: the inertial navigation data calculated through inertial navigation and the measurement data of the sensor are subjected to optimal estimation on the system error;
s104: correcting the error of the integrated navigation system according to the optimal estimation result;
s105: and outputting a measurement result.
According to an example embodiment of the present invention, in step S101, the sensor data includes temperature data, satellite navigation data, odometer data, altimeter data, tachometer data, depth meter data, and intelligent driving data.
According to an exemplary embodiment of the present invention, in step S101, after acquiring gyro, accelerometer, sensor data, error compensation and fault detection are performed on the data.
According to an exemplary embodiment of the present invention, in step S101, further including performing a dynamic solution after performing fault detection on the intelligent driving data, the method for performing the dynamic solution includes: and the data such as throttle, brake, braking, steering wheel, rudder, wheel speed, airspeed and the like provided by the intelligent driving system and the motion model are utilized to carry out motion parameter calculation and error compensation.
According to an exemplary embodiment of the present invention, in step S102, the inertial navigation solution method includes:
correcting the system error by combining the gravity anomaly data;
and combining gyroscope data, accelerometer data and data after systematic error correction to finish attitude calculation, speed calculation and position calculation of inertial navigation, wherein the navigation calculation precision is improved by adopting cone error compensation, pitch error compensation and scroll error compensation methods in the calculation process.
According to an exemplary embodiment of the present invention, in step S103, the method of optimal estimation includes performing optimal estimation on the system error using a kalman filter, an extended kalman filter, an unscented kalman filter, or a least square method.
According to an exemplary embodiment of the present invention, in step S103, when performing optimal estimation, integrated navigation calculation and optimal estimation are performed through gesture data measured by a single or a plurality of sensors or devices having gesture measurement functions, so as to implement a gesture integrated navigation function; the optimal estimation is carried out through the data measured by a single sensor or a plurality of sensors or devices with speed measurement functions, so that the speed integrated navigation function is realized; the position integrated navigation function is realized by optimally estimating the position data measured by a single or a plurality of sensors or devices with the position measurement function.
According to an example embodiment of the invention, the sensor or device having attitude measurement functionality includes a satellite navigation receiver, a star sensor, a photogrammetric camera, a lidar, a smart driving system, a total station or other inertial navigation system. Sensors or devices with speed measurement functions include odometers, velocimeters, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other navigation systems. The sensors or devices with position measurement function include odometers, velocimeters, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other inertial navigation systems.
According to an exemplary embodiment of the present invention, in step S103, the method further includes performing optimal estimation on the motion constraint-resolved data.
According to an exemplary embodiment of the present invention, step S103 further includes performing industry measurement calculation on the industry measurement sensor data and the result of the optimal estimation after performing the optimal estimation.
The beneficial effects of the invention are as follows:
compared with the existing integrated navigation system, the universal integrated navigation system can be flexibly applied to airborne, vehicle-mounted, shipborne and underwater integrated navigation, and the specific advantages are explained by the following five points:
1) The invention adopts a novel generalized integrated navigation system and a sensor access method, has flexible access to different sensors and integrated navigation capability, can be conveniently applied to airborne, vehicle-mounted, shipborne and underwater integrated navigation, and can be directly accessed to sensors in most related industries.
2) The universal integrated navigation system of the invention has the advantages that the access function of the industry measurement sensor and the calculation and error compensation function of the industry measurement model are added, the measurement result data required by the industry application can be directly output, and the integration level, the reliability and the usability of the system are obviously improved.
3) The general integrated navigation system provided by the invention is added with functions of gravity anomaly resolving, dynamic resolving, motion constraint resolving and related error compensation, so that the measurement accuracy and reliability of the system can be effectively improved.
4) The universal integrated navigation system adopts the fault detection module and the method with the unified structure to detect the abnormality and the fault of the external and the internal sensor data, and can effectively improve the reliability of the system.
5) The universal interface circuit has the functions of high-precision hardware synchronization, high-precision analog input and output, customized digital input and output and various standard communication (network, serial port, CAN, USB and the like), and CAN meet the connection requirements of external sensors and equipment of most (airborne, vehicle-mounted, shipborne, underwater and the like) integrated navigation systems; the general interface circuit divides related hardware and software of the interface circuit into four layers, and adopts a hardware and software depth optimization method, so that the universality, the reliability and the convenience of the interface circuit can be obviously improved; meanwhile, the universal interface circuit has a software configurable function, and can change the interface function and connect different external sensors and devices by modifying the configuration parameters of the device driving layer.
6) The invention adopts the inertial device circuit, can receive signals of gyroscopes and accelerometers of different types, and improves the universality of the system.
7) By adopting the optimal estimation module, the combined navigation function of the gesture, the combined navigation function of the speed and the combined navigation function of the position can be realized.
Drawings
FIG. 1 is a structural diagram of a generic integrated navigation system;
FIG. 2 is a block diagram of the interior of the integrated navigation module;
FIG. 3 is a diagram of the hardware connections inside and outside the integrated navigation module;
FIG. 4 is a diagram of the hardware connections of an inertial device circuit;
FIG. 5 is an interface block diagram of a generic interface circuit;
fig. 6 is a hierarchical relationship diagram of a generic interface circuit.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
According to a first embodiment of the present invention, there is provided a general integrated navigation system, as shown in fig. 1, including: the system comprises a gyroscope, an accelerometer, an integrated navigation module, an inertial device circuit, a plurality of universal interface circuits, an internal temperature sensor, an external temperature sensor and a power supply circuit.
The gyroscope comprises a laser gyroscope, a fiber optic gyroscope or a MEMS gyroscope. The accelerometer includes a quartz accelerometer or a MEMS accelerometer.
The integrated navigation module is at least used for completing inertial navigation calculation by using measurement data of the gyroscope and the accelerometer, and completing integrated navigation calculation by combining measurement data of the sensor, and the integrated navigation module can adopt a navigation computer or other equipment.
The integrated navigation module comprises a hardware layer and a software layer, wherein the hardware layer is connected with the plurality of universal interface circuits and the inertial device circuits and supports the operation of the software layer.
As shown in fig. 2, the software layer includes a plurality of error compensation modules, a plurality of fault detection modules, a navigation solution module, a gravity anomaly solution module, a system error correction module, a dynamics solution module, a motion constraint solution module, an optimal estimation module, an industry measurement solution module, a result output module, and a data storage module.
The error compensation module is used for performing error compensation on the accessed sensor data, and the accessed sensor data comprises: industry measurement sensor data, gyroscopic data, accelerometer data, temperature data, satellite navigation data, odometer data, velocimeter data, altimeter data, depth gauge data, other sensor data, and intelligent driving data.
The fault detection module is used for carrying out fault detection on the data output by the error compensation module, so that the interference of abnormal and fault data can be avoided, and the reliability and the measurement accuracy of the system are obviously improved.
The navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation according to the gyroscope data, the accelerometer data and the data output by the system error correcting module, and transmitting the attitude resolving, the speed resolving and the position resolving to the optimal estimating module.
The gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation resolving module.
The system error correction module is used for correcting the system error and the gravity anomaly error according to the data and the gravity anomaly data output by the optimal estimation module and outputting the system error and the gravity anomaly error to the navigation resolving module.
The dynamic calculation module performs motion parameter calculation and error compensation based on motion constraint characteristics applied in specific industries such as vehicle-mounted and ship-mounted.
The motion constraint calculating module is used for calculating a motion constraint model of the intelligent driving data in specific industry application and compensating errors.
The optimal estimation module is used for optimally estimating the system error.
The industry measurement calculation module is used for combining the industry measurement sensor data and the data of the optimal estimation module to finish measurement model calculation and error compensation in specific industry application.
The result output module is used for outputting measurement result data, including inertial navigation data (gyroscope and accelerometer data and inertial navigation resolved result data), navigation data of other sensors and inertial navigation data combination, system state data, external sensor data, servo control data and intelligent driving data.
The data storage module is used for storing various original data and result data in real time, including inertial navigation data (gyroscope and accelerometer data and result data of inertial navigation calculation), navigation data of other sensors and inertial navigation data combination, system state data, external sensor data, servo control data and intelligent driving data.
As shown in fig. 3, the hardware layer includes an SOC chip, an FPGA, a DRAM, and a solid state disk. The SOC chip provides operation and control support for the software layer, and adopts serial high-performance low-POWER-consumption single-core or multi-core SOC chips such as X86, ARM, POWER or MIPS. The FPGA is connected with the SOC chip and the universal interface circuit, is at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip, adopts PCIe, SATA, PATA, eMMC or an SOC local bus interface to exchange high-speed data with the SOC, and is also used for controlling external equipment. The DRAM is connected with the SOC chip and used for high-capacity high-speed data dynamic storage, and adopts DRAM chips of SDRAM, DDR2 SDRAM, DDR3 SDRAM, DDR4 SDRAM or DDR5 SDRAM and the like. The solid state disk is connected with the SOC chip and is used for static storage of high-capacity sensor data, state data and result data, and the high-capacity Flash chip with eMMC, PATA, SATA, PCIe or SOC local bus interface is adopted.
The inertial device circuit is at least used for collecting gyro data, accelerometer data and data of an internal temperature sensor of different interface types and sending the gyro data, the accelerometer data and the data to the FPGA of the integrated navigation module. As shown in fig. 4, the inertial device circuit is connected with the FPGA of the hardware layer of the integrated navigation module, and includes an ADC, an op-amp circuit, an I/F conversion circuit, a laser gyro interface circuit, a fiber optic gyro interface circuit, and a MEMS digital interface circuit.
The operational amplifier circuit is used for collecting analog voltage signals, and comprises analog voltage signals of an internal temperature sensor, an MEMS gyroscope and an MEMS accelerometer which are output as analog voltages.
The ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA.
The I/F conversion circuit is used for receiving the analog current signals, converting the analog current signals into digital signals and sending the digital signals to the FPGA, wherein the analog current signals comprise analog current signals of the quartz accelerometer.
The laser gyro interface circuit is used for connecting and processing output signals of the laser gyro and sending the output signals to the FPGA.
The fiber-optic gyroscope interface circuit is used for connecting and processing output signals of the fiber-optic gyroscope and sending the output signals to the FPGA.
The MEMS digital interface circuit is used for collecting signals of the MEMS gyroscope and the MEMS accelerometer with digital interfaces to the FPGA.
The internal temperature sensor is connected with the inertial device circuit and is used for measuring the temperature of the gyroscope, the accelerometer and the circuit, carrying out temperature compensation and improving the measurement accuracy of the system.
Each universal interface circuit includes a synchronous interface, an analog interface, a digital interface, and a communication interface (as shown in fig. 5), and a plurality of universal interface circuits are used at least to connect sensors of different interface types and other system peripherals.
The universal interface circuit can be connected with the internal temperature sensor, the external sensor and other system equipment of different interface types, mainly because the universal interface circuit comprises the sensor of different interface types and the access end of the equipment, as shown in fig. 5, the universal interface circuit is respectively a synchronous interface, an analog interface, a digital interface and a communication interface.
The synchronous interface is used for synchronizing input signals and output signals, the synchronous interface can input external constant signals or synchronous signals (including PPS of a satellite navigation receiver and triggering input of external equipment) and can also output clock signals and synchronous signals (including triggering signals and reset signals) inside the system, and the synchronous interface performs high-precision synchronization by adopting a hardware synchronization method, so that the synchronization precision can reach nanosecond level.
The analog interface has high-precision analog signal input and output functions, can be conveniently connected with various analog interface sensors and equipment of the system, and is used for connecting analog interfaces of an internal temperature sensor, an external sensor and other system external equipment.
The digital interface has programmable digital signal input and output functions, can conveniently connect various specific digital signal interface sensors and devices (including encoders, counters, PWM controllers, SPI interface devices, dyMos interface devices and the like) outside the system, can conveniently connect different digital interface sensors by modifying an FPGA program mode, and is used for connecting digital interfaces of external sensors and other system external devices.
The communication interface is used for connecting an external sensor and communication interfaces of other system external equipment, and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface; the network interface is used for connecting various sensors and devices with network interfaces (including network interfaces with different transmission rates of 10Mbps, 100Mbps, 1000Mbps, etc.); the serial port is used for connecting various sensors and devices with serial ports (including serial ports such as RS232, RS422 and RS 485); the CAN interface is used for connecting various sensors and devices with the CAN interface; the USB interface is used to connect various sensors and devices having a USB interface.
Through different interfaces, the universal interface circuit can be conveniently connected with external sensors (including satellite navigation receivers, altimeters, odometers, velocimeters, depth meters, external temperature sensors, industry measurement sensors, other sensors and the like) and other devices (including baseline systems, upper computers, intelligent driving systems, servo control systems and the like) which are common in on-board, on-board and underwater integrated navigation systems.
As shown in fig. 6, the universal interface circuit includes a four-layer structure, which is an interface link layer, an interface device layer, a device driver layer, and a device application layer in this order.
The interface link layer is connected with a sensor for integrated navigation or other external equipment of the system and is used for providing electrical connection between the external equipment and four interfaces and level standard conversion hardware.
The interface device layer comprises synchronous interface, analog interface, digital interface and communication interface related function realization hardware, namely FPGA circuit, ADC circuit, DAC circuit, operational amplifier circuit and SOC communication interface circuit, and is used for transmitting the signal circuit to the device driving layer after conversion.
The device driver layer is used for providing a universal interface driver program, comprising the universal interface driver programs of various devices, and can conveniently change interface functions and connect different sensors and devices for combined navigation by modifying device configuration parameters.
The device application layer includes applications of various interface devices for performing interface device initialization, state monitoring, data communication, and device control functions.
The interface link layer and the interface device layer are related hardware of the interface, the interface link layer and the interface device layer set different links and interface devices for different interfaces, the interface link layer comprises a synchronous interface link, an analog interface link, a digital interface link and a communication interface link, and the interface device layer comprises synchronous interface devices, analog interface devices, digital interface devices and communication interface devices. The device driver layer and the device application layer are interface related software. The universal interface circuit performs layering methods in terms of functions, logics and standardization on hardware and software related to the interface circuit according to the requirements of the integrated navigation system, and the universality, the reliability and the convenience of the interface circuit can be obviously improved through the deep optimization of the hardware and the software.
The power supply circuit is used for converting an external input power supply into various power supplies required inside the system.
Because the combined navigation system on-board, vehicle-mounted, ship-mounted and underwater can be applied to the inertial navigation systems, but the interfaces of gyroscopes and accelerometers required by each inertial navigation system are different, the interfaces of sensors used in combination with the inertial navigation systems are also different, gyroscopes and accelerometers with different interface types can be connected by adopting an inertial device circuit, and sensors with different interface types and other system devices (including data input devices and data output devices) can be connected by adopting a universal interface circuit. The general combined navigation system carries out navigation calculation according to the data of the gyroscope and the accelerometer, calculates a final result by combining the data of the sensor, and outputs the result through the general interface circuit, so that the general combined navigation system can be directly applied to different industries of airborne, vehicle-mounted, shipborne and underwater.
The method for performing integrated navigation by adopting the universal integrated navigation system comprises the following steps:
s101: and collecting measurement data of the gyroscope, the accelerometer and the sensor, and carrying out error compensation and fault detection on the data. If the sensor data includes intelligent driving data, dynamics calculation is also performed on the intelligent driving data. The method for dynamic calculation comprises the following steps: and the data such as throttle, brake, braking, steering wheel, rudder, wheel speed, airspeed and the like provided by the intelligent driving system and the motion model are utilized to carry out motion parameter calculation and error compensation.
S102: correcting the system error by combining the gravity anomaly data; and combining gyroscope data, accelerometer data and data after systematic error correction to finish attitude calculation, speed calculation and position calculation of inertial navigation, wherein the navigation calculation precision is improved by adopting cone error compensation, pitch error compensation and scroll error compensation methods in the calculation process.
S103: and carrying out optimal estimation on the system errors by using optimal estimation methods such as Kalman filtering, extended Kalman filtering, unscented Kalman filtering or a least square method and the like on the inertial navigation data and the sensor data which are subjected to inertial navigation calculation.
When the optimal estimation is carried out, the combined navigation calculation and the optimal estimation are carried out through the gesture data measured by a single or a plurality of sensors or devices with gesture measurement functions, so that the gesture combined navigation function is realized; the optimal estimation is carried out through the data measured by a single sensor or a plurality of sensors or devices with speed measurement functions, so that the speed integrated navigation function is realized; the position integrated navigation function is realized by optimally estimating the position data measured by a single or a plurality of sensors or devices with the position measurement function. The sensors or devices with attitude measurement function include satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems, total stations or other inertial navigation systems. Sensors or devices with speed measurement functions include odometers, velocimeters, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other navigation systems. The sensors or devices with position measurement function include odometers, velocimeters, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other inertial navigation systems.
And after the optimal estimation is carried out, carrying out industry measurement calculation on the industry measurement sensor data and the optimal estimation result.
S104: and correcting the error of the integrated navigation system according to the optimal estimation result.
S105: and outputting a measurement result.
The universal combined navigation system receives different sensor data through the universal interface circuit, carries out navigation calculation on the sensor data through the combined navigation module, outputs inertial navigation data, navigation data of inertial navigation and sensor combination, system state data, various sensor data, servo control data and intelligent driving data, can meet the connection requirements of most sensors and external equipment and the use requirements of various combined navigation systems, and meanwhile has high measurement precision, reliable and firm calculation and easy use.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. A universal integrated navigation system, comprising: the integrated navigation module and the universal interface circuit; wherein, the liquid crystal display device comprises a liquid crystal display device,
the integrated navigation module is at least used for completing inertial navigation calculation by using measurement data of a gyroscope and an accelerometer, and completing integrated navigation calculation by combining the measurement data of a sensor;
the integrated navigation module comprises a hardware layer and a software layer, the hardware layer is connected with the universal interface circuit and supports the operation of the software layer, and the software layer comprises a navigation resolving module, a system error correcting module, an optimal estimating module and a result output module; the hardware layer of the integrated navigation module comprises an SOC chip, an FPGA, a DRAM and a solid state disk; the SOC chip provides operation and control support for the software layer; the FPGA is connected with the SOC chip and the universal interface circuit, and is at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip; the DRAM is connected with the SOC chip and is used for storing data; the solid state disk is connected with the SOC chip and used for storing data;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation by using measurement data of the gyroscope and the accelerometer;
the optimal estimation module carries out optimal estimation on the system error by utilizing the output result of the navigation resolving module and the measurement data of the sensor, and is used for realizing the functions of combined navigation of gestures, combined navigation of speeds and combined navigation of positions;
the system error correction module is at least used for correcting the system error according to the output result of the optimal estimation module;
the result output module is used for outputting measurement result data;
the universal interface circuit is at least used for connecting sensors with different interface types and other system external equipment; each universal interface circuit comprises four hardware interfaces, namely a synchronous interface, an analog interface, a digital interface and a communication interface; the synchronous interface is used for synchronizing input signals and output signals, and can be used for inputting external clock signals or synchronous signals and also can be used for inputting clock signals and synchronous signals inside the system; the analog interface is used for connecting the analog interface of the sensor and other system external equipment; the digital interface is used for connecting the digital interface of the sensor and other system external equipment; the communication interface is used for connecting the communication interface of the sensor and other system external equipment and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface;
the system also comprises an inertial device circuit, wherein the inertial device circuit is connected with the FPGA of the hardware layer of the integrated navigation module and is used for connecting gyroscopes, accelerometers and temperature sensors with different interface types; the inertial device circuit comprises an ADC, an operational amplifier circuit, an I/F conversion circuit, a laser gyro interface circuit, an optical fiber gyro interface circuit and an MEMS digital interface circuit; the operational amplifier circuit is used for collecting analog voltage signals and comprises analog voltage signals of a temperature sensor, an MEMS gyroscope and an MEMS accelerometer which are output as analog voltages; the ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA; the I/F conversion circuit is used for receiving an analog current signal, converting the analog current signal into a digital signal and sending the digital signal to the FPGA, wherein the analog current signal comprises an analog current signal of the quartz accelerometer; the laser gyro interface circuit is used for connecting and processing output signals of the laser gyro and sending the output signals to the FPGA; the fiber-optic gyroscope interface circuit is used for connecting and processing output signals of the fiber-optic gyroscope and sending the output signals to the FPGA; the MEMS digital interface circuit is used for collecting signals of the MEMS gyroscope and the MEMS accelerometer with digital interfaces to the FPGA.
2. The integrated navigation system of claim 1, wherein the software layer of the integrated navigation module further comprises an industry measurement solution module coupled to the navigation solution module, the optimal estimation module, and the result output module for performing measurement model solutions and error compensation in on-board, or underwater specific industry applications.
3. The integrated navigation system of claim 1, wherein the software layer of the integrated navigation module further comprises one or more of a gravity anomaly resolution module, an error compensation module, a fault detection module, a dynamics resolution module, a motion constraint resolution module, and a data storage module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation resolving module;
the error compensation module is used for performing error compensation on the accessed sensor data;
the fault detection module is used for carrying out fault detection on the data output by the error compensation module;
the dynamic calculation module is used for completing dynamic motion model calculation and error compensation;
the motion constraint resolving module is used for resolving a motion constraint model and compensating errors in specific industry application;
the data storage module is used for storing various original data and result data in real time.
4. The universal integrated navigation system of claim 1, wherein each universal interface circuit comprises a four-layer structure: an interface link layer, an interface device layer, a device driver layer, and a device application layer;
the interface link layer is used for providing electrical connection between the sensor and other system external equipment and the four interfaces and level standard conversion hardware;
the interface equipment layer is used for providing function realization hardware of a synchronous interface, an analog interface, a digital interface and a communication interface, and comprises an FPGA circuit, an ADC circuit, a DAC circuit, an operational amplifier circuit and an SOC communication interface circuit;
the device driver layer is used for providing drivers of four interfaces;
the device application layer is used for completing the device initialization, state monitoring, data communication and device control functions of the four interfaces.
5. The integrated navigation system of claim 1, further comprising an internal temperature sensor coupled to the universal interface circuit for measuring the temperature of the integrated navigation system's gyroscopes, accelerometers, and circuitry, and utilizing the measured temperature data and temperature model for error compensation.
6. The universal integrated navigation system of claim 1, wherein the other sensors include satellite navigation receivers, odometers, velocimeters, altimeters, depth meters, external temperature sensors, industry measurement sensors, star sensors, and the other system peripherals include intelligent driving systems, servo control systems, and host computers.
7. A general integrated navigation method, characterized in that the general integrated navigation system according to any one of claims 1-6 is used for integrated navigation, comprising the following steps:
s101: collecting measurement data of a gyroscope, an accelerometer and a sensor;
s102: inertial navigation calculation is carried out by using measurement data of a gyroscope and an accelerometer;
s103: the inertial navigation data calculated through inertial navigation and the measurement data of the sensor are subjected to optimal estimation on the system error;
s104: correcting the error of the integrated navigation system according to the optimal estimation result;
s105: and outputting a measurement result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010792375.1A CN111781624B (en) | 2020-08-09 | 2020-08-09 | Universal integrated navigation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010792375.1A CN111781624B (en) | 2020-08-09 | 2020-08-09 | Universal integrated navigation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111781624A CN111781624A (en) | 2020-10-16 |
| CN111781624B true CN111781624B (en) | 2023-09-05 |
Family
ID=72762766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010792375.1A Active CN111781624B (en) | 2020-08-09 | 2020-08-09 | Universal integrated navigation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111781624B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112711213B (en) * | 2021-01-11 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | Navigation acquisition resolving Soc processing system based on RiscV kernel and method thereof |
| CN112860249B (en) * | 2021-03-10 | 2022-10-14 | 上海交通大学 | Modularization implementation method of intelligent driving domain controller software |
| CN113254377B (en) * | 2021-05-07 | 2023-09-08 | 哈尔滨工业大学 | Task management computer for unmanned aerial vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110780326A (en) * | 2019-09-26 | 2020-02-11 | 上海瀚所信息技术有限公司 | Vehicle-mounted integrated navigation system and positioning method |
-
2020
- 2020-08-09 CN CN202010792375.1A patent/CN111781624B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110780326A (en) * | 2019-09-26 | 2020-02-11 | 上海瀚所信息技术有限公司 | Vehicle-mounted integrated navigation system and positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111781624A (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111781624B (en) | Universal integrated navigation system and method | |
| CN102879793B (en) | Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system | |
| CN101059384B (en) | MEMS inertia measuring unit and mounting error calibration method | |
| US6654685B2 (en) | Apparatus and method for navigation of an aircraft | |
| CN105865461B (en) | A kind of car position system and method based on Multi-sensor Fusion algorithm | |
| CN201561759U (en) | Inertial attitude and azimuth measuring device | |
| CN101865693A (en) | Multi-sensor combined navigation system for aviation | |
| CN202351708U (en) | Novel aircraft navigation measurement and control system | |
| CN102645665A (en) | BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device | |
| CN103900566A (en) | Method for eliminating influence on accuracy of rotating modulation strapdown inertial navigation system caused by earth rotation angular velocity | |
| CN110989647B (en) | Multi-sensor fusion flight controller based on SoC | |
| CN107270902B (en) | MEMS inertial measurement unit with cross-axis coupling error compensation | |
| CN104567888A (en) | Inertial navigation vehicle attitude measurement method based on online velocity correction | |
| CN111781626B (en) | Multifunctional navigation system and method | |
| CN103644914A (en) | High precision micro-electromechanical combined inertial navigation unit | |
| CN202057801U (en) | Combined positioning device based on BD, GPS and DR | |
| CN112904396A (en) | High-precision positioning method and system based on multi-sensor fusion | |
| CN104006828A (en) | Method for calibrating axial system error of inertial device | |
| CN115493588A (en) | Combined navigation positioning system with single-axis optical fiber gyroscope arranged on Y axis | |
| CN103235329B (en) | Combined navigation device | |
| CN211506218U (en) | Aircraft guidance control device based on SINS/GNSS combined navigation | |
| CN105758422A (en) | Integral type closed-loop fiber-optic gyroscope testing method | |
| CN109596139B (en) | Vehicle-mounted navigation method based on MEMS | |
| CN103809594A (en) | Attitude detection and control system of aircraft | |
| CN111750846A (en) | Marine compass and dynamic calibration method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |