CN112229401B - Measurement information synchronous extrapolation method and system suitable for INS-GPS pseudo range fusion - Google Patents

Measurement information synchronous extrapolation method and system suitable for INS-GPS pseudo range fusion Download PDF

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CN112229401B
CN112229401B CN202010969512.4A CN202010969512A CN112229401B CN 112229401 B CN112229401 B CN 112229401B CN 202010969512 A CN202010969512 A CN 202010969512A CN 112229401 B CN112229401 B CN 112229401B
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coordinate system
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navigation
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CN112229401A (en
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李慧鹏
王已熏
易军
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Zhuzhou Fisrock Photoelectric Technology Co ltd
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Beijing Phase Lock Photoelectric 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
    • 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
    • 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
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a method and a system for synchronously extrapolating measurement information suitable for INS-GPS pseudo-range fusion, wherein the method comprises the following steps: determining longitude, latitude and altitude position coordinates of inertial navigation calculated at a first moment, and converting the coordinates into a first coordinate system; acquiring satellite navigation pseudo-range information at a second moment; solving the average speed of the carrier between the first moment and the third moment according to an inertial navigation speed equation under the first coordinate system; calculating the position deviation of the carrier in the first coordinate system at the first moment and the third moment; a pseudorange estimate is computed that is synchronously extrapolated to a third time instant. According to the method, the pseudo-range estimation value at the moment of fusion of inertial navigation and satellite navigation is quickly estimated, so that the time delay influence can be effectively inhibited, and the navigation precision can be improved.

Description

Measurement information synchronous extrapolation method and system suitable for INS-GPS pseudo range fusion
Technical Field
The invention relates to the field of integrated navigation, in particular to a measurement information synchronous extrapolation method and system suitable for INS-GPS pseudo range fusion.
Background
An Inertial Navigation System (INS) can acquire Navigation data all the day and all the weather through an Inertial element, thereby providing position, speed and attitude information of a carrier, and the System is an autonomous Navigation System. However, the navigation parameters of the INS are obtained by integration, and the error is accumulated with time, so that the navigation accuracy of the long-endurance task cannot be guaranteed. A Global Positioning System (GPS) is a high-precision satellite navigation System, which can navigate in a Global area, and its error does not accumulate over time, but the navigation precision is susceptible to climate change and building shading. The INS-GPS integrated navigation has complementary advantages, overcomes the defects of the INS-GPS integrated navigation, improves the navigation capability and the navigation precision during long-term navigation, and is widely applied to navigation, guidance and control in the fields of smart phones, unmanned planes or aerospace.
In the integrated navigation system, the correct state of the carrier can be calculated only when the data information processed by the fusion center is ensured to be the same time. The GPS signals often have time delay, and if not processed properly, the combined navigation accuracy is greatly affected. Particularly, when the carrier does circular motion, the time delay has great influence on the estimation of the inertial navigation azimuth angle and the acceleration zero offset; when the carrier is in a high dynamic condition, the error of the time delay will be amplified, which may cause the filter to diverge, resulting in a reduction of navigation accuracy. The existing INS-GPS fusion measurement information synchronization method always extrapolates the position and the speed of a GPS to a synchronization time point based on INS short-time increment information, and is difficult to be directly popularized to an INS-GPS pseudo-range matching mode.
Disclosure of Invention
The invention provides a method and a system for synchronously extrapolating measurement information suitable for INS-GPS pseudo range fusion, which are used for solving the technical problem that GPS signal delay influences the precision of integrated navigation.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a measurement information synchronous extrapolation method suitable for INS-GPS pseudo range fusion comprises the following steps:
determining longitude, latitude and altitude position coordinates of inertial navigation calculated at a first moment, and converting the coordinates into a first coordinate system;
acquiring satellite navigation pseudo-range information at a second moment;
solving the average speed of the carrier between the first moment and the third moment according to an inertial navigation speed equation under the first coordinate system;
calculating the position deviation of the carrier in the first coordinate system at the first moment and the third moment;
a pseudorange estimate is computed that is synchronously extrapolated to a third time instant.
Preferably, the first coordinate system is a terrestrial coordinate system.
Preferably, the longitude, latitude and altitude position coordinates calculated by inertial navigation at the first time are converted to a terrestrial coordinate system, whose components in the terrestrial coordinate system are:
Figure GDA0003642258160000021
Figure GDA0003642258160000022
Figure GDA0003642258160000023
wherein the content of the first and second substances,
Figure GDA0003642258160000024
is used for inertial navigation at a first time t 1 Calculating to obtain the longitude and latitude height position, R, of the carrier N1 The curvature radius of the position of the carrier at the first moment, and e is the oblateness of the earth.
Preferably, the inertial navigation velocity equation is:
Figure GDA0003642258160000025
wherein the content of the first and second substances,
Figure GDA0003642258160000026
is the speed of the carrier in the terrestrial coordinate system,
Figure GDA0003642258160000027
is a transformation matrix from the carrier body coordinate system to the terrestrial coordinate system, f b Is the specific force under the coordinate system of the carrier body,
Figure GDA0003642258160000028
is the rotational angular velocity g of the earth in the earth coordinate system e Is the gravity acceleration under the terrestrial coordinate system.
Preferably, the position deviation of the carrier in the first coordinate system at the first time and the third time is calculated by the following formula:
Figure GDA0003642258160000029
Figure GDA00036422581600000210
Figure GDA00036422581600000211
wherein the content of the first and second substances,
Figure GDA00036422581600000212
for a carrier in a terrestrial coordinate system at a first time t 1 And a third time t 3 The average velocity therebetween.
Preferably, the pseudorange estimates are synchronously extrapolated to the third time instant
Figure GDA00036422581600000213
Calculated by the following formula:
Figure GDA00036422581600000214
wherein (x) s y s z s ) Is a first time t 1 The position of the satellite; at a second time t 2 Receives the corresponding first time t 1 Satellite navigation resolved pseudorange measurement information
Figure GDA00036422581600000215
The present invention also provides a computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the computer program.
The invention has the following beneficial effects:
the invention discloses a method and a system for synchronously extrapolating measurement information suitable for INS-GPS pseudo range fusion, which are a method for quickly estimating the time delay of the measurement information synchronously and can effectively inhibit the time delay influence generated by satellite navigation.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart illustrating a measurement information synchronous extrapolation method suitable for INS-GPS pseudorange fusion according to a preferred embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Referring to fig. 1, the measurement information synchronous extrapolation method suitable for INS-GPS pseudo-range fusion of the present invention includes the following steps:
s1, determining inertial navigation at a first time (t) 1 ) The calculated longitude, latitude and altitude position coordinates and converted to a first coordinate system. In this embodiment, the first coordinate system is a global coordinate system, and the coordinate system adopted by the present invention is not unique, and can be applied to other coordinate systems as long as the functions of the present invention can be realized.
In practice, the longitude, latitude and altitude position coordinates calculated by inertial navigation at the first time are converted into a terrestrial coordinate system, and the components of the coordinate system in the terrestrial coordinate system are as follows:
Figure GDA0003642258160000031
Figure GDA0003642258160000032
Figure GDA0003642258160000033
wherein the content of the first and second substances,
Figure GDA0003642258160000034
is used for inertial navigation at a first time t 1 Calculating to obtain the longitude and latitude height position, R, of the carrier N1 The curvature radius of the position of the carrier at the first moment, and e is the oblateness of the earth.
S2, acquiring a second time (t) 2 ) Satellite navigation pseudorange information. Let t be 2 Receiving a corresponding t at a moment 1 Pseudorange measurement information for satellite navigation solution at time, setting t 1 The position of the satellite at the moment is (x) s y s z s ) At this time, the measured pseudo-range is
Figure GDA0003642258160000035
The next resolving time point of inertial navigation is t 3 If the time delay dt is dt-t 3 -t 1 。
And S3, solving the average speed of the carrier between the first time and the third time according to the inertial navigation speed equation in the first coordinate system. The inertial navigation velocity equation under the terrestrial coordinate system is as follows:
Figure GDA0003642258160000036
wherein the content of the first and second substances,
Figure GDA0003642258160000037
is the speed of the carrier in the terrestrial coordinate system,
Figure GDA0003642258160000038
is a transformation matrix from the carrier body coordinate system to the terrestrial coordinate system, f b Is the specific force under the coordinate system of the carrier body,
Figure GDA0003642258160000041
is the rotational angular velocity g of the earth in the earth coordinate system e Is the gravity acceleration under the terrestrial coordinate system.
Solving the inertial navigation velocity equation under the global coordinate system at t 1 And t 3 Average velocity between moments of time of
Figure GDA0003642258160000042
And S4, calculating the position deviation of the carrier in the first coordinate system at the first time and the third time (t 3).
Vectors in t 1 And t 3 The position deviation under the global coordinate system at two moments is as follows:
Figure GDA0003642258160000043
and S5, calculating a pseudo range estimated value synchronously extrapolated to the third time. From which an extrapolated sync to t is calculated 3 The pseudo-range estimation equation at the moment is:
Figure GDA0003642258160000044
in practical implementation, the pseudorange estimation value can be directly used for subsequent fusion calculation with the inertial navigation information at the third time.
In conclusion, the pseudo-range estimation value of the inertial navigation and satellite navigation fusion time is quickly estimated, so that the time delay influence can be effectively inhibited, and the navigation precision can be improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (3)

1. A measurement information synchronous extrapolation method suitable for INS-GPS pseudo range fusion is characterized by comprising the following steps:
determining longitude, latitude and altitude position coordinates of inertial navigation calculated at a first moment, and converting the coordinates into a first coordinate system; the first coordinate system is a terrestrial coordinate system; converting longitude, latitude and altitude position coordinates calculated by inertial navigation at a first moment into a terrestrial coordinate system, wherein the components of the terrestrial coordinate system are as follows:
Figure FDA0003642258150000011
Figure FDA0003642258150000012
Figure FDA0003642258150000013
wherein the content of the first and second substances,
Figure FDA0003642258150000014
is used for inertial navigation at a first time t 1 Calculating to obtain the longitude and latitude height position, R, of the carrier N1 The curvature radius of the position of the carrier at the first moment, and e is the oblateness of the earth;
acquiring satellite navigation pseudo-range information at a second moment;
solving the average speed of the carrier between the first moment and the third moment according to an inertial navigation speed equation under the first coordinate system;
calculating the position deviation of the carrier in the first coordinate system at the first time and the third time, and calculating by the following formula:
Figure FDA0003642258150000015
Figure FDA0003642258150000016
Figure FDA0003642258150000017
wherein the content of the first and second substances,
Figure FDA0003642258150000018
for a carrier in a terrestrial coordinate system at a first time t 1 And a third time t 3 Average velocity of the cells;
calculating a pseudo-range estimated value which is synchronously extrapolated to the third moment, and calculating a pseudo-range estimated value rho which is synchronously extrapolated to the third moment t3 The formula is as follows:
Figure FDA0003642258150000019
wherein (x) s y s z s ) Is a first time t 1 The position of the satellite; at a second time t 2 Receives the corresponding first time t 1 Satellite navigation resolved pseudorange measurement information
Figure FDA00036422581500000110
2. The method for INS-GPS pseudorange fusion based synchronous extrapolation of measurement information as claimed in claim 1, wherein the inertial navigation velocity equation is:
Figure FDA0003642258150000021
wherein the content of the first and second substances,
Figure FDA0003642258150000022
is the speed of the carrier in the terrestrial coordinate system,
Figure FDA0003642258150000023
is a transformation matrix from the carrier body coordinate system to the terrestrial coordinate system, f b Is the ratio of the carrier body in a coordinate systemThe force is applied to the inner wall of the container,
Figure FDA0003642258150000025
is the rotational angular velocity g of the earth in the earth coordinate system e Is the gravity acceleration under the terrestrial coordinate system.
3. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 2 are performed when the computer program is executed by the processor.
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CN104199280A (en) * 2014-09-23 2014-12-10 中国电子科技集团公司第二十九研究所 Time synchronization error measurement method based on differential GPS (global positioning system)
CN105549057A (en) * 2015-12-07 2016-05-04 韩厚增 Inertial auxiliary GPS/BDS fusion large-scale measurement device and method for quickly measuring land parcel
CN107643534A (en) * 2017-09-11 2018-01-30 东南大学 A kind of dual rate kalman filter method based on GNSS/INS deep integrated navigations

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CN103487820A (en) * 2013-09-30 2014-01-01 东南大学 Vehicle-mounted strapdown/satellite tight-combination seamless navigation method
CN104199280A (en) * 2014-09-23 2014-12-10 中国电子科技集团公司第二十九研究所 Time synchronization error measurement method based on differential GPS (global positioning system)
CN105549057A (en) * 2015-12-07 2016-05-04 韩厚增 Inertial auxiliary GPS/BDS fusion large-scale measurement device and method for quickly measuring land parcel
CN107643534A (en) * 2017-09-11 2018-01-30 东南大学 A kind of dual rate kalman filter method based on GNSS/INS deep integrated navigations

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