CN111811543B - Initial alignment method for distributed navigation system of recovery type spacecraft - Google Patents

Initial alignment method for distributed navigation system of recovery type spacecraft Download PDF

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CN111811543B
CN111811543B CN202010891584.1A CN202010891584A CN111811543B CN 111811543 B CN111811543 B CN 111811543B CN 202010891584 A CN202010891584 A CN 202010891584A CN 111811543 B CN111811543 B CN 111811543B
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inertial
stage
alignment
self
measurement unit
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CN111811543A (en
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钟友武
赵向楠
徐孟晋
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Landspace Technology Co Ltd
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Landspace Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Abstract

The application provides an initial alignment method of a distributed navigation system of a recovery type spacecraft, which comprises the following steps: in the process of erecting the rocket, calibrating and calculating the azimuth installation coefficients between a sub-stage inertial set and an instrument cabin inertial set and between a boosting stage inertial set and the instrument cabin inertial set; the instrument cabin inertial measurement unit carries out horizontal self-alignment and azimuth self-alignment to correspondingly obtain a horizontal self-alignment result and an azimuth self-alignment result; the first sub-stage inertial measurement unit and the booster stage inertial measurement unit are both subjected to horizontal self-alignment, and respective horizontal self-alignment results are correspondingly obtained; the first sub-stage inertial set and the boosting stage inertial set finish the calculation of self azimuth attitude angles according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument chamber inertial set, the self horizontal self-alignment result and the installation coefficient calibration result respectively; and the instrument capsule inertial measurement unit, the first-sub-stage inertial measurement unit and the boosting-stage inertial measurement unit all obtain initial attitude angles to finish the initial alignment of the distributed navigation system. In the application, each level of sub-navigation system can independently obtain a high-precision azimuth alignment result.

Description

Initial alignment method for distributed navigation system of recovery type spacecraft
Technical Field
The application belongs to the technical field of initial alignment of navigation systems, and particularly relates to an initial alignment method of a distributed navigation system of a recovery type spacecraft.
Background
With the continuous development of aerospace technology, how to reduce the cost of space launch becomes one of the main challenges in the whole aerospace industry, and the realization of recycling and reuse of space vehicles is an important measure for reducing the launch cost.
The overall configuration of the recoverable rocket is not obviously different from that of the traditional space vehicle, however, because the recovery of a substage and a binding booster is completed, compared with the traditional space vehicle, in addition to installing navigation equipment in an instrument cabin of the upper stage for the guidance control of an ascending section of the space vehicle, the navigation equipment is also required to be added in the substage and the booster for the guidance control of the recovering section.
Each navigation subsystem takes an inertial navigation device as a core and is assisted by other navigation equipment to form a multi-information combined navigation system. Before inertial navigation, the inertial navigation device needs to perform initial azimuth aiming.
The traditional rocket generally adopts the optical transmission scheme to aim at the azimuth, and the optical aiming can obtain higher initial azimuth aiming precision, but the guarantee condition is complicated, needs the cooperation of ground optical aiming system, needs to increase the optical aiming window on the rocket body, need install the azimuth aiming prism additional on being used to the group, and the system is complicated, and the input cost is high, still need get rid of the influence of external wind to disturb and environmental factors such as high illumination in addition.
Although some space vehicles do not need a complex optical aiming system any more, the initial azimuth alignment can be realized by utilizing the output information of the inertial measurement combination, but the alignment mode depends on the high-precision inertial measurement combination, and the space vehicle is suitable for the traditional disposable space vehicle; because the high-precision inertial unit is expensive, in the recoverable spacecraft, in order to control the launching cost, except that the instrument cabin inertial unit selects a high-precision product, a sub-stage and booster navigation sub-system generally selects a medium-low precision inertial unit product, and when the medium-low precision inertial unit performs autonomous azimuth alignment, an initial azimuth angle meeting the precision requirement cannot be obtained. This alignment is not fully applicable for a recoverable spacecraft of a distributed navigation system having inertial navigation devices mounted on different substages.
Disclosure of Invention
To overcome, at least to some extent, the problems in the related art, the present application provides a method for initial alignment of a distributed navigation system for a retractable spacecraft.
According to an embodiment of the application, the application provides an initial alignment method of a distributed navigation system of a recovery type spacecraft, which comprises the following steps:
initial alignment of the horizontal erection stage, comprising:
in the erecting process of the recovery type space carrier, the instrument cabin inertial unit sends measurement data to a sub-stage inertial unit and a boosting stage inertial unit, and the sub-stage inertial unit and the boosting stage inertial unit perform calibration calculation on the azimuth installation coefficients between the sub-stage inertial unit and the instrument cabin inertial unit and between the boosting stage inertial unit and the instrument cabin inertial unit by using the measurement data and self measurement results of the instrument cabin inertial unit;
initial alignment of a pre-firing alignment stage, comprising:
the instrument cabin inertial set carries out horizontal self-alignment and azimuth self-alignment, correspondingly obtains a horizontal self-alignment result and an azimuth self-alignment result, and sends the horizontal self-alignment result and the azimuth self-alignment result to a sub-stage inertial set and a booster stage inertial set;
the first sub-stage inertial measurement unit and the booster stage inertial measurement unit are both subjected to horizontal self-alignment, and respective horizontal self-alignment results are correspondingly obtained;
the first sub-stage inertial set and the boosting stage inertial set finish the calculation of self azimuth attitude angles according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument chamber inertial set, the self horizontal self-alignment result and the installation coefficient calibration result respectively;
and the instrument capsule inertial measurement unit, the first-sub-stage inertial measurement unit and the boosting-stage inertial measurement unit all obtain initial attitude angles to finish the initial alignment of the distributed navigation system.
In the initial alignment method of the distributed navigation system of the recovery type spacecraft, the measurement data of the inertial measurement unit of the instrument cabin comprises the measurement data output by the inertial measurement unit of the instrument cabinxAngular increment of shaft
Figure 511974DEST_PATH_IMAGE001
、yAngular increment of shaft
Figure 8814DEST_PATH_IMAGE002
Andzangular increment of shaft
Figure 924818DEST_PATH_IMAGE003
。
Further, the calibration calculation process of the azimuth installation coefficients between the sub-stage inertial measurement unit and the instrument chamber inertial measurement unit and between the booster stage inertial measurement unit and the instrument chamber inertial measurement unit is as follows:
calculating the sum of the three-axis angle increment accumulation output by the instrument cabin inertial measurement unit in the erecting process of the recovery type space carrier:
Figure 973545DEST_PATH_IMAGE004
，
in the formula (I), the compound is shown in the specification,
Figure 342209DEST_PATH_IMAGE005
represents the sum of the three-axis angular increments of the inertial measurement unit output,
Figure 501795DEST_PATH_IMAGE006
representing the output of an inertial unit in an instrument capsulexAngular increment of shaft
Figure 272305DEST_PATH_IMAGE007
The sum of the sums of (a) and (b),
Figure 491934DEST_PATH_IMAGE008
representing the output of an inertial unit in an instrument capsuleyAngular increment of shaft
Figure 82315DEST_PATH_IMAGE009
The sum of the sums of (a) and (b),
Figure 186538DEST_PATH_IMAGE010
representing the output of an inertial unit in an instrument capsulezAngular increment of shaft
Figure 936188DEST_PATH_IMAGE011
The cumulative sum of;
calculating the triaxial angle increment accumulation sum output by a secondary inertial unit in the erecting process of the recovery type spacecraft:
Figure 202084DEST_PATH_IMAGE012
，
in the formula (I), the compound is shown in the specification,
Figure 404395DEST_PATH_IMAGE013
represents the three-axis angular incremental sum of a sub-stage inertance stack output,
Figure 46729DEST_PATH_IMAGE014
representing one-sub-order inerter outputxAngular increment of shaft
Figure 650886DEST_PATH_IMAGE015
The sum of the sums of (a) and (b),
Figure 353263DEST_PATH_IMAGE016
representing one-sub-order inerter outputyAngular increment of shaft
Figure 918236DEST_PATH_IMAGE017
The sum of the sums of (a) and (b),
Figure 960666DEST_PATH_IMAGE018
representing one-sub-order inerter outputzAngular increment of shaft
Figure 560275DEST_PATH_IMAGE019
The cumulative sum of;
calculating the triaxial angle increment accumulation sum output by the booster-stage inertial unit in the erecting process of the recovery type spacecraft:
Figure 292607DEST_PATH_IMAGE020
，
in the formula (I), the compound is shown in the specification,
Figure 344877DEST_PATH_IMAGE021
the three-axis angle increment accumulated sum of the output of the boosting stage inertial measurement unit is shown,
Figure 188068DEST_PATH_IMAGE022
representing the output of the booster inertia unitxAngular increment of shaft
Figure 501238DEST_PATH_IMAGE023
The sum of the sums of (a) and (b),
Figure 279838DEST_PATH_IMAGE024
representing the output of the booster inertia unityAngular increment of shaft
Figure 84983DEST_PATH_IMAGE025
The sum of the sums of (a) and (b),
Figure 731865DEST_PATH_IMAGE026
representing the output of the booster inertia unitzAngular increment of shaft
Figure 40486DEST_PATH_IMAGE027
The cumulative sum of;
the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit is as follows:
Figure 380201DEST_PATH_IMAGE028
；
the azimuth installation coefficient between the booster-stage inertial set and the instrument cabin inertial set is as follows:
Figure 407063DEST_PATH_IMAGE029
。
furthermore, the specific process of completing the calculation of the self-azimuth attitude angle by the sub-level inertial measurement unit according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument capsule inertial measurement unit, the self-horizontal self-alignment result and the installation coefficient calibration result is as follows:
pitch angle using an instrumentation bay inertial measurement unit
Figure 592056DEST_PATH_IMAGE030
Yaw angle
Figure 20764DEST_PATH_IMAGE031
And roll angle
Figure 406746DEST_PATH_IMAGE032
Direction cosine array for constructing inertial group alignment result of instrument cabin
Figure 779958DEST_PATH_IMAGE033
：
Figure 644009DEST_PATH_IMAGE034
，
According to the rigid body dead axle rotation theory, the direction cosine array of the alignment result of the inertial group of the instrument cabin is utilized
Figure 43067DEST_PATH_IMAGE033
And the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 334371DEST_PATH_IMAGE035
Construction matrixD：
Figure 194880DEST_PATH_IMAGE036
，
Using matricesDMiddle element
Figure 862622DEST_PATH_IMAGE037
And
Figure 390555DEST_PATH_IMAGE038
solving to obtain the roll angle of a sub-level inertial set as follows:
Figure 852760DEST_PATH_IMAGE039
，
in the formula (I), the compound is shown in the specification,
Figure 934986DEST_PATH_IMAGE040
，
Figure 140839DEST_PATH_IMAGE041
。
furthermore, the calculation of the self-azimuth attitude angle of the booster-stage inertial set is completed according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument chamber inertial set, the self-horizontal self-alignment result and the installation coefficient calibration result, and the specific process of further completing the initial alignment of the booster-stage inertial set is as follows:
pitch angle using an instrumentation bay inertial measurement unit
Figure 257700DEST_PATH_IMAGE042
Yaw angle
Figure 421965DEST_PATH_IMAGE043
And roll angle
Figure 257066DEST_PATH_IMAGE044
Direction cosine array for constructing inertial group alignment result of instrument cabin
Figure 1031DEST_PATH_IMAGE045
：
Figure 237977DEST_PATH_IMAGE046
，
According to the rigid body dead axle rotation theory, the direction cosine array of the alignment result of the inertial group of the instrument cabin is utilized
Figure 307564DEST_PATH_IMAGE045
And the azimuth installation coefficient between the booster-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 505328DEST_PATH_IMAGE047
Construction matrixE：
Figure 177617DEST_PATH_IMAGE048
，
Using matricesEMiddle element
Figure 144436DEST_PATH_IMAGE049
And
Figure 512488DEST_PATH_IMAGE050
solving to obtain the roll angle of the booster stage inertia set as follows:
Figure 931968DEST_PATH_IMAGE051
，
in the formula (I), the compound is shown in the specification,
Figure 673528DEST_PATH_IMAGE052
，
Figure 494854DEST_PATH_IMAGE053
。
in the initial alignment method for the distributed navigation system of the retractable spacecraft, the initial alignment in the horizontal and vertical stages further includes: and when the recovery type space carrier is in a horizontal state, electrifying the instrument cabin inertia set, the first-sub-stage inertia set and the boosting-stage inertia set to prepare before erecting.
In the initial alignment method for the distributed navigation system of the retractable spacecraft, the initial alignment in the horizontal and vertical stages further includes: after the recovery type space carrier finishes erecting, the sub-stage inertial set and the boosting stage inertial set obtain respective orientation installation coefficient calibration calculation results.
In the initial alignment method of the distributed navigation system of the recovery type spacecraft, the calibration calculation of the azimuth installation coefficients between the sub-stage inertial measurement unit and the instrument cabin inertial measurement unit and between the booster stage inertial measurement unit and the instrument cabin inertial measurement unit can also be carried out by adopting information obtained by accelerometer measurement.
In the initial alignment method of the distributed navigation system of the recovery type spacecraft, the instrument cabin inertial measurement unit can also obtain the roll angle of the instrument cabin inertial measurement unit in an optical aiming mode.
In the initial alignment method of the distributed navigation system of the recovery type spacecraft, the initial attitude angle of the inertial measurement unit of the instrument cabin comprises a pitch angle
Figure 30877DEST_PATH_IMAGE042
Yaw angle
Figure 203233DEST_PATH_IMAGE043
And roll angle
Figure 92691DEST_PATH_IMAGE044
The initial attitude angle of the first-stage inertial measurement unit comprises a pitch angle
Figure 158736DEST_PATH_IMAGE054
Yaw angle
Figure 741027DEST_PATH_IMAGE055
And roll angle
Figure 259733DEST_PATH_IMAGE056
The initial attitude angle of the booster stage inertial measurement unit comprises pitchCorner
Figure 218462DEST_PATH_IMAGE057
Yaw angle
Figure 873434DEST_PATH_IMAGE058
And roll angle
Figure 626627DEST_PATH_IMAGE059
。
According to the above embodiments of the present application, at least the following advantages are obtained: the initial alignment method of the recovery type rocket distributed navigation system provided by the application comprises the steps of carrying out initial alignment in a horizontal and vertical starting stage and initial alignment in a pre-launching alignment stage, carrying out calibration calculation on position installation coefficients of different sub-stage inertial sets in the horizontal and vertical starting process of the rocket, and obtaining the roll angle of the sub-stage inertial set and the roll angle of the boosting stage inertial set by utilizing a direction cosine array of an alignment result of the instrument chamber inertial set and the position installation coefficient between the sub-stage inertial set and the instrument chamber inertial set or the position installation coefficient between the boosting stage inertial set and the instrument chamber inertial set, wherein high-precision inertial measurement devices are not required to be used in all navigation subsystems, optical aiming related equipment is not required to be arranged on the ground and the rocket, the alignment process is not influenced by the external environment, all the sub-navigation systems can independently obtain high-precision position alignment results, and further pre-launching preparation work can be reduced, the launching cost of the space vehicle is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of an initial alignment method for a distributed navigation system of a recovery rocket according to an embodiment of the present disclosure.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
Fig. 1 is a flowchart of an initial alignment method for a distributed navigation system of a retractable spacecraft according to an embodiment of the present disclosure.
As shown in fig. 1, an initial alignment method for a distributed navigation system of a retractable spacecraft provided in an embodiment of the present application includes the following steps:
s1, initial alignment of the horizontal and vertical stages, which comprises the following steps:
and S11, when the recovery type space carrier is in a horizontal state, electrifying the instrument cabin inertial set, the first-sub-stage inertial set and the boosting-stage inertial set to prepare before erecting.
S12, in the erecting process of the recovery type space carrier, the instrument cabin inertial unit sends the measurement data to the first sub-stage inertial unit and the boosting stage inertial unit, and the first sub-stage inertial unit and the boosting stage inertial unit carry out calibration calculation on the azimuth installation coefficients between the first sub-stage inertial unit and the instrument cabin inertial unit and between the boosting stage inertial unit and the instrument cabin inertial unit by using the measurement data and the self measurement result of the instrument cabin inertial unit.
Wherein, the measurement data of the instrument chamber inertial measurement unit can comprise the output of the instrument chamber inertial measurement unitxAngular increment of shaft
Figure 632629DEST_PATH_IMAGE001
、yAngular increment of shaft
Figure 129469DEST_PATH_IMAGE002
Andzangular increment of shaft
Figure 45473DEST_PATH_IMAGE003
。
And S13, after the recovery type spacecraft is erected, obtaining the calibration calculation results of the azimuth installation coefficients of the first-stage inertial unit and the boosting-stage inertial unit.
Because the transmission of the azimuth is mainly influenced by the azimuth installation relation among the inertia units, and the installation errors of the horizontal two shafts among the inertia units are small, the influence of the installation errors of the horizontal two shafts among the inertia units is ignored when the azimuth installation relation among the inertia units and the azimuth attitude angles of the first-stage inertia unit and the boosting-stage inertia unit are solved.
In the step S12, the calculation process of the azimuth installation coefficient between the first sub-stage inertial measurement unit and the instrument pod inertial measurement unit, and the calculation process of the azimuth installation coefficient between the booster stage inertial measurement unit and the instrument pod inertial measurement unit includes:
firstly, calculating the sum of the three-axis angle increment accumulation output by an instrument cabin inertial measurement unit in the erecting process of the recovery type spacecraft:
Figure 828621DEST_PATH_IMAGE004
（1）
in the formula (1), the reaction mixture is,
Figure 197285DEST_PATH_IMAGE005
represents the sum of the three-axis angular increments of the inertial measurement unit output,
Figure 359801DEST_PATH_IMAGE006
representing the output of an inertial unit in an instrument capsulexAngular increment of shaft
Figure 395890DEST_PATH_IMAGE007
The sum of the sums of (a) and (b),
Figure 349939DEST_PATH_IMAGE008
representing the output of an inertial unit in an instrument capsuleyAngular increment of shaft
Figure 205900DEST_PATH_IMAGE009
The sum of the sums of (a) and (b),
Figure 169177DEST_PATH_IMAGE010
representing the output of an inertial unit in an instrument capsulezAngular increment of shaft
Figure 794193DEST_PATH_IMAGE011
The accumulated sum of (c).
And secondly, respectively calculating the three-axis angle increment accumulated sum output by a sub-stage inertial unit and the three-axis angle increment accumulated sum output by a boosting stage inertial unit in the erecting process of the recovery type spacecraft.
In the erecting process of the recovery type space carrier, the sum of the three-axis angle increment output by a sub-level inertial unit is as follows:
Figure 60089DEST_PATH_IMAGE012
（2）
in the formula (2), the reaction mixture is,
Figure 262401DEST_PATH_IMAGE013
representing a sub-stage inertial unit outputThe three-axis angle is taken to increment and accumulate the sum,
Figure 904735DEST_PATH_IMAGE014
representing one-sub-order inerter outputxAngular increment of shaft
Figure 774471DEST_PATH_IMAGE015
The sum of the sums of (a) and (b),
Figure 211268DEST_PATH_IMAGE016
representing one-sub-order inerter outputyAngular increment of shaft
Figure 900875DEST_PATH_IMAGE017
The sum of the sums of (a) and (b),
Figure 81321DEST_PATH_IMAGE018
representing one-sub-order inerter outputzAngular increment of shaft
Figure 539984DEST_PATH_IMAGE019
The accumulated sum of (c).
In the erecting process of the recovery type space carrier, the sum of the three-axis angle increment output by the boosting stage inertial unit is as follows:
Figure 413262DEST_PATH_IMAGE020
（3）
in the formula (3), the reaction mixture is,
Figure 465532DEST_PATH_IMAGE021
the three-axis angle increment accumulated sum of the output of the boosting stage inertial measurement unit is shown,
Figure 308723DEST_PATH_IMAGE022
representing the output of the booster inertia unitxAngular increment of shaft
Figure 28417DEST_PATH_IMAGE023
The sum of the sums of (a) and (b),
Figure 934581DEST_PATH_IMAGE024
representing the output of the booster inertia unityAngular increment of shaft
Figure 474147DEST_PATH_IMAGE025
The sum of the sums of (a) and (b),
Figure 855449DEST_PATH_IMAGE026
representing the output of the booster inertia unitzAngular increment of shaft
Figure 164071DEST_PATH_IMAGE027
The accumulated sum of (c).
Finally, azimuth installation coefficients between a sub-stage inertial measurement unit and an instrument cabin inertial measurement unit and between a booster stage inertial measurement unit and the instrument cabin inertial measurement unit are respectively calculated:
the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit is as follows:
Figure 503785DEST_PATH_IMAGE028
。
the azimuth installation coefficient between the booster-stage inertial set and the instrument cabin inertial set is as follows:
Figure 265068DEST_PATH_IMAGE029
。
it should be noted that the calibration of the azimuth installation coefficient between the sub-stage inertial set and the instrument pod inertial set and the calibration of the azimuth installation coefficient between the boost-stage inertial set and the instrument pod inertial set may also be performed by using information obtained by the accelerometer measurement. In addition, the space vehicle described herein may be a launch vehicle.
S2, initial alignment in the pre-shooting alignment stage, which comprises the following steps:
s21, carrying out horizontal self-alignment on a high-precision inertial measurement unit (namely an instrument cabin inertial measurement unit) installed in the instrument cabin to obtain a horizontal self-alignment result: pitch angle
Figure 715641DEST_PATH_IMAGE030
And yaw angle
Figure 878769DEST_PATH_IMAGE031
(ii) a And (3) carrying out azimuth self-alignment on the instrument cabin inertial measurement unit to obtain an azimuth self-alignment result: roll angle
Figure 264751DEST_PATH_IMAGE032
。
After the instrument cabin inertial set finishes self-alignment, a horizontal self-alignment result and an azimuth self-alignment result of the instrument cabin inertial set are sent to a sub-stage inertial set and a boosting stage inertial set.
The roll angle of the capsule inertial measurement unit can also be obtained by means of optical aiming, and the technical effects same as those of the embodiment of the application can be obtained.
S22, only carrying out horizontal self-alignment on the first-sub-stage inertial set and the boosting-stage inertial set; wherein, a sub-level inertial measurement unit carries out horizontal self-alignment to obtain a horizontal self-alignment result: pitch angle
Figure 903543DEST_PATH_IMAGE054
And yaw angle
Figure 767594DEST_PATH_IMAGE055
(ii) a And (3) performing horizontal self-alignment on the booster stage inertial measurement unit to obtain a horizontal self-alignment result: pitch angle
Figure 909862DEST_PATH_IMAGE057
And yaw angle
Figure 466745DEST_PATH_IMAGE058
。
And S23, the first sub-stage inertial set and the booster stage inertial set finish the calculation of the self-orientation attitude angle according to the horizontal self-alignment result and the orientation self-alignment result of the instrument capsule inertial set, the self-horizontal self-alignment result and the installation coefficient calibration result respectively, and further finish the initial alignment of the first sub-stage inertial set and the initial alignment of the booster stage inertial set.
And S24, obtaining initial attitude angles of the instrument capsule inertial set, the first-sub-stage inertial set and the boosting-stage inertial set, and finishing the initial alignment of the distributed navigation system.
In the step S23, the specific process of completing the calculation of the orientation attitude angle of the first sub-level inertial measurement unit according to the horizontal self-alignment result and the orientation self-alignment result of the instrument capsule inertial measurement unit, the self-horizontal self-alignment result, and the calibration result of the installation coefficient by the first sub-level inertial measurement unit, and further completing the initial alignment of the first sub-level inertial measurement unit includes:
pitch angle using an instrumentation bay inertial measurement unit
Figure 592833DEST_PATH_IMAGE042
Yaw angle
Figure 260575DEST_PATH_IMAGE043
And roll angle
Figure 398295DEST_PATH_IMAGE044
Direction cosine array for constructing inertial group alignment result of instrument cabin
Figure 250713DEST_PATH_IMAGE045
：
Figure 473884DEST_PATH_IMAGE034
（4）
According to the rigid body dead axle rotation theory, the direction cosine array of the alignment result of the inertial group of the instrument cabin is utilized
Figure 819020DEST_PATH_IMAGE045
And the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 811247DEST_PATH_IMAGE035
Construction matrixD。
Wherein, the matrixDComprises the following steps:
Figure 834566DEST_PATH_IMAGE036
（5）
obtaining a matrix according to equations (4) and (5)DThe elements of (A) are respectively:
Figure 279454DEST_PATH_IMAGE060
Figure 148053DEST_PATH_IMAGE061
Figure 119420DEST_PATH_IMAGE062
Figure 923428DEST_PATH_IMAGE063
Figure 980246DEST_PATH_IMAGE064
Figure 652536DEST_PATH_IMAGE065
Figure 353775DEST_PATH_IMAGE066
Figure 187739DEST_PATH_IMAGE067
Figure 997432DEST_PATH_IMAGE068
using matricesDAnd solving the intermediate element to obtain the azimuth attitude angle of a sub-level inertial measurement unit.
Wherein, the azimuth attitude angle (i.e. roll angle) of a sub-level inertial measurement unit is:
Figure 83200DEST_PATH_IMAGE039
。
meanwhile, a secondary inertial unit completes horizontal self-alignment to obtain a pitch angle
Figure 766510DEST_PATH_IMAGE054
And yaw angle
Figure 302533DEST_PATH_IMAGE055
。
Thus, a sub-order inerter obtains its initial attitude angle: pitch angle
Figure 209309DEST_PATH_IMAGE054
Yaw angle
Figure 692243DEST_PATH_IMAGE055
And roll angle
Figure 492709DEST_PATH_IMAGE056
And completing the initial alignment of the sublevel inertial set.
In the step S23, the specific process of completing the calculation of the self-orientation attitude angle of the booster inertial measurement unit according to the horizontal self-alignment result and the orientation self-alignment result of the instrument capsule inertial measurement unit, the self-horizontal self-alignment result, and the installation coefficient calibration result, and then completing the initial alignment of the booster inertial measurement unit, includes:
according to the rigid body dead axle rotation theory, the direction cosine array of the alignment result of the inertial group of the instrument cabin is utilized
Figure 668476DEST_PATH_IMAGE045
And the azimuth installation coefficient between the booster-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 62548DEST_PATH_IMAGE047
Construction matrixE。
Wherein, the matrixEComprises the following steps:
Figure 614752DEST_PATH_IMAGE048
（6）
obtaining a matrix according to equations (4) and (6)EThe elements of (A) are respectively:
Figure 410670DEST_PATH_IMAGE069
Figure 22916DEST_PATH_IMAGE070
Figure 763339DEST_PATH_IMAGE071
Figure 994601DEST_PATH_IMAGE072
Figure 507009DEST_PATH_IMAGE073
Figure 555736DEST_PATH_IMAGE074
Figure 658822DEST_PATH_IMAGE075
Figure 818408DEST_PATH_IMAGE076
Figure 182393DEST_PATH_IMAGE077
using matricesEAnd solving the intermediate element to obtain the azimuth attitude angle of the booster-stage inertial measurement unit.
Wherein, the azimuth attitude angle (rolling angle) of the booster inertia unit is:
Figure 11809DEST_PATH_IMAGE051
。
meanwhile, the boosting stage inertial unit completes horizontal self-alignment to obtain a pitch angle
Figure 992403DEST_PATH_IMAGE057
And yawCorner
Figure 424521DEST_PATH_IMAGE058
。
Therefore, the boost-stage inertial measurement unit obtains the initial attitude angle: pitch angle
Figure 783958DEST_PATH_IMAGE057
Yaw angle
Figure 174488DEST_PATH_IMAGE058
And roll angle
Figure 111220DEST_PATH_IMAGE059
And finishing the initial alignment of the booster-stage inertial set.
According to the initial alignment method for the recovery type rocket distributed navigation system, all levels of sub-navigation systems can independently obtain high-precision azimuth alignment results, high-precision inertial measurement devices do not need to be used in all levels of navigation sub-systems, optical aiming related equipment does not need to be arranged on the ground or on a rocket, the alignment process is not affected by the external environment, the preparation work before launching of the rocket can be reduced, and the launching cost of a spacecraft is reduced.
The initial alignment method for the recovery type rocket distributed navigation system can realize high-precision azimuth self-alignment of all levels of sub-navigation systems, and meets the requirements of rocket-transported payload entry tasks and sub-level recovery tasks on high-precision inertial navigation of the navigation system.
The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.

Claims (10)

1. A distributed navigation system initial alignment method for a recovery type spacecraft is characterized by comprising the following steps:
initial alignment of the horizontal erection stage, comprising:
in the erecting process of the recovery type space carrier, the instrument cabin inertial unit sends measurement data to a sub-stage inertial unit and a boosting stage inertial unit, and the sub-stage inertial unit and the boosting stage inertial unit perform calibration calculation on the azimuth installation coefficients between the sub-stage inertial unit and the instrument cabin inertial unit and between the boosting stage inertial unit and the instrument cabin inertial unit by using the measurement data and self measurement results of the instrument cabin inertial unit;
initial alignment of a pre-firing alignment stage, comprising:
the instrument cabin inertial set carries out horizontal self-alignment and azimuth self-alignment, correspondingly obtains a horizontal self-alignment result and an azimuth self-alignment result, and sends the horizontal self-alignment result and the azimuth self-alignment result to a sub-stage inertial set and a booster stage inertial set;
the first sub-stage inertial measurement unit and the booster stage inertial measurement unit are both subjected to horizontal self-alignment, and respective horizontal self-alignment results are correspondingly obtained;
the first sub-stage inertial set and the boosting stage inertial set finish the calculation of self azimuth attitude angles according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument chamber inertial set, the self horizontal self-alignment result and the installation coefficient calibration result respectively;
and the instrument capsule inertial measurement unit, the first-sub-stage inertial measurement unit and the boosting-stage inertial measurement unit all obtain initial attitude angles to finish the initial alignment of the distributed navigation system.
2. The method of claim 1, wherein the measurement data of the capsule inertial navigation system comprises an output of the capsule inertial navigation systemxAngular increment of shaft
Figure 296058DEST_PATH_IMAGE001
、yAngular increment of shaft
Figure 917532DEST_PATH_IMAGE002
Andzangular increment of shaft
Figure 567956DEST_PATH_IMAGE003
。
3. The method for initial alignment of a distributed navigation system of a recovery spacecraft of claim 2, wherein the calibration calculation process of the azimuth installation coefficients between the first sub-stage inertial set and the instrument pod inertial set and between the booster stage inertial set and the instrument pod inertial set is as follows:
calculating the sum of the three-axis angle increment accumulation output by the instrument cabin inertial measurement unit in the erecting process of the recovery type space carrier:
Figure 616684DEST_PATH_IMAGE004
，
in the formula (I), the compound is shown in the specification,
Figure 250928DEST_PATH_IMAGE005
represents the sum of the three-axis angular increments of the inertial measurement unit output,
Figure 159583DEST_PATH_IMAGE006
representing the output of an inertial unit in an instrument capsulexAngular increment of shaft
Figure 930093DEST_PATH_IMAGE007
The sum of the sums of (a) and (b),
Figure 149721DEST_PATH_IMAGE008
representing the output of an inertial unit in an instrument capsuleyAngular increment of shaft
Figure 740103DEST_PATH_IMAGE009
The sum of the sums of (a) and (b),
Figure 703379DEST_PATH_IMAGE010
representing the output of an inertial unit in an instrument capsulezAngular increment of shaft
Figure 328396DEST_PATH_IMAGE011
The cumulative sum of;
calculating the triaxial angle increment accumulation sum output by a secondary inertial unit in the erecting process of the recovery type spacecraft:
Figure 718926DEST_PATH_IMAGE012
，
in the formula (I), the compound is shown in the specification,
Figure 796603DEST_PATH_IMAGE013
represents the three-axis angular incremental sum of a sub-stage inertance stack output,
Figure 297992DEST_PATH_IMAGE014
representing one-sub-order inerter outputxAngular increment of shaft
Figure 777515DEST_PATH_IMAGE015
The sum of the sums of (a) and (b),
Figure 338946DEST_PATH_IMAGE016
representing one-sub-order inerter outputyAngular increment of shaft
Figure 903920DEST_PATH_IMAGE017
The sum of the sums of (a) and (b),
Figure 349944DEST_PATH_IMAGE018
representing one-sub-order inerter outputzAngular increment of shaft
Figure 74187DEST_PATH_IMAGE019
The cumulative sum of;
calculating the triaxial angle increment accumulation sum output by the booster-stage inertial unit in the erecting process of the recovery type spacecraft:
Figure 947465DEST_PATH_IMAGE020
，
in the formula (I), the compound is shown in the specification,
Figure 858789DEST_PATH_IMAGE021
the three-axis angle increment accumulated sum of the output of the boosting stage inertial measurement unit is shown,
Figure 842926DEST_PATH_IMAGE022
representing the output of the booster inertia unitxAngular increment of shaft
Figure 562620DEST_PATH_IMAGE023
The sum of the sums of (a) and (b),
Figure 468783DEST_PATH_IMAGE024
representing the output of the booster inertia unityAngular increment of shaft
Figure 742770DEST_PATH_IMAGE025
The sum of the sums of (a) and (b),
Figure 389652DEST_PATH_IMAGE026
representing the output of the booster inertia unitzAngular increment of shaft
Figure 963853DEST_PATH_IMAGE027
The cumulative sum of;
the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit is as follows:
Figure 37988DEST_PATH_IMAGE028
；
the azimuth installation coefficient between the booster-stage inertial set and the instrument cabin inertial set is as follows:
Figure 64850DEST_PATH_IMAGE029
。
4. the initial alignment method for the distributed navigation system of the recovery type spacecraft of claim 3, wherein the specific process of completing the calculation of the attitude angle of the sub-level inertial measurement unit according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument bay inertial measurement unit, the self-horizontal self-alignment result and the installation coefficient calibration result is as follows:
pitch angle using an instrumentation bay inertial measurement unit
Figure 249844DEST_PATH_IMAGE030
Yaw angle
Figure 678551DEST_PATH_IMAGE031
And roll angle
Figure 64533DEST_PATH_IMAGE032
Direction cosine array for constructing inertial group alignment result of instrument cabin
Figure 437745DEST_PATH_IMAGE033
：
Figure 301796DEST_PATH_IMAGE034
，
Direction cosine array for alignment result by using inertial group of instrument cabin
Figure 975223DEST_PATH_IMAGE033
And the azimuth installation coefficient between the first-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 266527DEST_PATH_IMAGE035
Construction matrixD：
Figure 127036DEST_PATH_IMAGE036
，
Using matricesDMiddle element
Figure 60357DEST_PATH_IMAGE037
And
Figure 198077DEST_PATH_IMAGE038
solving to obtain the roll angle of a sub-level inertial set as follows:
Figure 784916DEST_PATH_IMAGE039
，
in the formula (I), the compound is shown in the specification,
Figure 8087DEST_PATH_IMAGE040
，
Figure 607083DEST_PATH_IMAGE041
。
5. the initial alignment method for the distributed navigation system of the recovery type spacecraft according to claim 3, wherein the calculation of the attitude angle of the booster-stage inertial set is completed according to the horizontal self-alignment result and the azimuth self-alignment result of the instrument capsule inertial set, the self-horizontal self-alignment result and the installation coefficient calibration result, and the specific process for completing the initial alignment of the booster-stage inertial set is as follows:
pitch angle using an instrumentation bay inertial measurement unit
Figure 864889DEST_PATH_IMAGE042
Yaw angle
Figure 622630DEST_PATH_IMAGE043
And roll angle
Figure 333097DEST_PATH_IMAGE044
Direction cosine array for constructing inertial group alignment result of instrument cabin
Figure 467275DEST_PATH_IMAGE045
：
Figure 314008DEST_PATH_IMAGE046
，
Direction cosine array for alignment result by using inertial group of instrument cabin
Figure 508229DEST_PATH_IMAGE045
And the azimuth installation coefficient between the booster-stage inertial measurement unit and the instrument cabin inertial measurement unit
Figure 440413DEST_PATH_IMAGE047
Construction matrixE：
Figure 378282DEST_PATH_IMAGE048
，
Using matricesEMiddle element
Figure 345101DEST_PATH_IMAGE049
And
Figure 585589DEST_PATH_IMAGE050
solving to obtain the roll angle of the booster stage inertia set as follows:
Figure 129703DEST_PATH_IMAGE051
，
in the formula (I), the compound is shown in the specification,
Figure 746629DEST_PATH_IMAGE052
，
Figure 692589DEST_PATH_IMAGE053
。
6. the method of initial alignment of a recovery space vehicle distributed navigation system of claim 1, wherein the initial alignment of the horizontal and vertical phases further comprises: and when the recovery type space carrier is in a horizontal state, electrifying the instrument cabin inertia set, the first-sub-stage inertia set and the boosting-stage inertia set to prepare before erecting.
7. The method of initial alignment of a recovery space vehicle distributed navigation system of claim 1, wherein the initial alignment of the horizontal and vertical phases further comprises: after the recovery type space carrier finishes erecting, the sub-stage inertial set and the boosting stage inertial set obtain respective orientation installation coefficient calibration calculation results.
8. The method for initial alignment of a distributed navigation system of a recovery spacecraft of claim 1, wherein the calibration calculation of the azimuth installation coefficients between the first-stage inertial set and the instrument pod inertial set and between the booster-stage inertial set and the instrument pod inertial set can further be performed by using information obtained by accelerometer measurement.
9. The method of claim 1, wherein the capsule inertial navigation system is further capable of obtaining its roll angle by means of optical aiming.
10. The method of claim 1, wherein the initial attitude angle of the capsule inertial navigation system comprises a pitch angle
Figure 103978DEST_PATH_IMAGE042
Yaw angle
Figure 276334DEST_PATH_IMAGE043
And roll angle
Figure 556005DEST_PATH_IMAGE044
The initial attitude angle of the first-stage inertial measurement unit comprises a pitch angle
Figure 231837DEST_PATH_IMAGE054
Yaw angle
Figure 207271DEST_PATH_IMAGE055
And roll angle
Figure 601343DEST_PATH_IMAGE056
The initial attitude angle of the booster stage inertial measurement unit comprises a pitch angle
Figure 419127DEST_PATH_IMAGE057
Yaw angle
Figure 480623DEST_PATH_IMAGE058
And roll angle
Figure 968237DEST_PATH_IMAGE059
。
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