CN112304310A - Inertial navigation method based on gyroscope information - Google Patents

Inertial navigation method based on gyroscope information Download PDF

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CN112304310A
CN112304310A CN201910674113.2A CN201910674113A CN112304310A CN 112304310 A CN112304310 A CN 112304310A CN 201910674113 A CN201910674113 A CN 201910674113A CN 112304310 A CN112304310 A CN 112304310A
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information
platform
gyroscope
inertial
carrier
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花思齐
赵伟
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Nanjing Xinweifeng Defense Technology Co ltd
Qinhuai Innovation Research Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Nanjing Xinweifeng Defense Technology Co ltd
Qinhuai Innovation Research Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Priority to CN201910674113.2A priority Critical patent/CN112304310A/en
Priority to PCT/CN2020/070264 priority patent/WO2021012635A1/en
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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
    • G01C21/18—Stabilised platforms, e.g. by gyroscope

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  • Radar, Positioning & Navigation (AREA)
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Abstract

本发明公开了一种基于陀螺仪信息的惯性导航方法。通过确定陀螺仪及加速度计的布置方式，使得使用平台角度传感器信息即可实现运载体速度、位置的解算，且使得它的输出方程描述载体相对于惯性参考系的线运动、角运动。该系统提取出有用的运动信息及角度信息，建立角度和经纬度的对应关系，得到载体的位置信息。根据距离信息对时间进行微分，通过数学计算，给出载体的速度信息。本发明克服了传统惯性导航方案中误差随时间非线性增长的缺点，适合在地球表面附近稳定匀速或慢速运动的机动性不高的运载体的惯性导航，具有抗干扰能力强、长期精度高和稳定性好的特点。

Figure 201910674113

The invention discloses an inertial navigation method based on gyroscope information. By determining the arrangement of the gyroscope and accelerometer, the information of the platform angle sensor can be used to solve the velocity and position of the carrier, and its output equation can describe the linear and angular motion of the carrier relative to the inertial reference system. The system extracts useful motion information and angle information, establishes the corresponding relationship between angle and latitude and longitude, and obtains the position information of the carrier. The time is differentiated according to the distance information, and the speed information of the carrier is given through mathematical calculation. The invention overcomes the defect of the traditional inertial navigation scheme that the error increases nonlinearly with time, is suitable for the inertial navigation of the carrier with low mobility that moves stably at a constant speed or at a slow speed near the surface of the earth, and has strong anti-interference ability and high long-term accuracy. and good stability.

Figure 201910674113

Description

Inertial navigation method based on gyroscope information
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to an inertial navigation method based on gyroscope information.
Background
In the traditional inertial navigation technology, a gyroscope and an accelerometer are used as sensors to sense the motion information of a carrier, and the attitude, the speed and the position information of the carrier are obtained in a multi-time integration mode. Due to the adoption of multiple integrations, the position error of the inertial navigation system increases in a nonlinear manner along with the time, so that the positioning accuracy is rapidly reduced along with the increase of the navigation time, and the navigation performance is rapidly reduced. The reduction of the rapid increase of the navigation error of the carrier during long-time navigation is a deficiency of the traditional inertial navigation system and is the content of the intensive research of the invention.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention aims to provide an inertial navigation method based on gyroscope information, and provides a method for building a gyroscope stable platform by using a position gyroscope, building a three-dimensional space coordinate system, solving the problem of measuring reference of input signals, controlling the platform to be stable in a geocentric inertial system by using the stability of the gyroscope, outputting useful angle information, calculating navigation information such as carrier speed, position and the like, and overcoming the defect that navigation accuracy is sharply reduced along with time extension due to multiple integration in the traditional inertial navigation system.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
an inertial navigation system based on gyroscope information comprises a stable platform, a navigation calculation module and an input/output module; the stabilizing platform comprises a middle circular table, an inner balance frame parallel to the middle circular table and an outer balance frame vertical to the middle circular table, wherein 3 gyroscopes with mutually vertical input shafts, 3 accelerometers with mutually vertical input shafts and corresponding angle sensors are arranged on the middle circular table; the navigation calculation module is connected with the input and output module, the gyroscope, the accelerometer and the angle sensor; the input and output module is used for inputting initial parameters to the navigation calculation module and outputting and displaying navigation results calculated by the navigation calculation module; the navigation calculation module calculates speed and position information of the carrier according to data collected by the gyroscope and initial parameters, and the navigation calculation module calculates navigation information of the carrier according to data collected by the angle sensor.
The navigation method of the inertial navigation system based on the gyroscope information comprises the following steps:
step 1: a stable platform is configured using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum, wherein the accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position can be resolved by using the information of the platform angle sensor, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to the inertial reference system.
1) The gyro stabilizing platform adopted by the scheme is stable relative to the geocentric inertial system all the time, when the carrier moves from one point to another point on the ground, no control information is provided for the gyroscope, namely, no moment is applied, the stability of the gyroscope is utilized to control the platform to be stable in the geocentric inertial system, and the platform coordinate system simulates the geocentric inertial system at the moment. Fig. 3 is a schematic diagram of A, B two-point platform coordinate system relative to earth coordinate system, and fig. 4 is a schematic diagram of the stabilized platform tracking earth.
2) A three-dimensional space coordinate system is established by utilizing the gyro stabilization platform, the measurement reference of an input signal is solved, the platform angle sensor provides angle information, and the information of the accelerometer is used as the basis for auxiliary judgment. Fig. 1 is a top view of a stabilization platform of the present invention, and fig. 2 is a three-dimensional perspective view of a stabilization platform of the present invention.
Step 2: and outputting information by using the platform angle sensor to obtain the position information of the carrier. The key point for solving the problem is that when the acceleration module value | a | of the carrier approaches the gravity acceleration value g, the mass pendulum pointing to the geocentric direction at the moment and the geocentric inertial coordinate system OX are outputiYiZiThe three direction cosine angles.
And step 3: and solving the horizontal speed information of the carrier based on the cosine angles in the three directions.
Adopt the beneficial effect that above-mentioned technical scheme brought:
(1) the method provided by the invention aims at the carrier which stably moves at a constant speed or a slow speed near the surface of the earth, so that the carrier can effectively keep better positioning precision and positioning effect during long-time navigation, and the defect that the navigation error of the traditional inertial navigation system increases in a nonlinear manner along with the increase of time is avoided.
(2) The platform scheme provided by the invention has the advantages of reliable principle, flexible means and stable performance, improves the applicability and effectiveness of the inertial navigation system, and provides a new thought and method for the actual work of a novel inertial navigation platform.
Drawings
FIG. 1 is a top view of a stabilization platform of the present invention;
FIG. 2 is a three-dimensional perspective view of the stabilization platform of the present invention;
FIG. 3 is a schematic representation of A, B two-point platform coordinate system relative to a terrestrial coordinate system;
FIG. 4 is a schematic illustration of the stabilized platform of the present invention tracking the earth;
FIG. 5 is a schematic view of the movement of the carrier of the system of the present invention;
fig. 6 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention provides a system scheme and an algorithm for inertial navigation by only depending on position gyro output information and using an accelerometer to assist in judging and acquiring navigation information, which reduce the complexity of the system and provide a solution for further improving the navigation precision, aiming at the problem that the navigation performance is rapidly reduced due to nonlinear rapid divergence of carrier navigation errors in long-time navigation of a traditional inertial navigation system. The flow chart of the algorithm used is shown in fig. 6. The method comprises the following steps:
step 1: a stable platform is configured using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum, wherein the accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement mode of the gyroscope and the accelerometer, the speed and the position can be resolved by using the information of the platform angle sensor, and the output equation of the gyroscope and the accelerometer describes the linear motion and the angular motion of the carrier relative to the inertial reference system. The method comprises the following steps:
1) the gyro that this scheme adopted stabilizes the platform all the time relatively geocentric inertial system is stable, when the carrier removed from ground one point to another point, does not have control information to the gyroscope, does not exert moment promptly, and the gyroscope main shaft remains unchanged in geocentric inertial system, and the stability control platform that utilizes the gyroscope is stable at geocentric inertial system, through follow-up system stable platform tracking gyroscope all the time to guarantee that the platform is stabilized in inertial space, platform coordinate system simulation geocentric inertial coordinate system this moment. FIG. 1 is a schematic representation of the relative position of a stabilized platform and the earth's surface.
From the kinematic relationship, considering the carrier as a mass point, the rotation angle of the carrier relative to the inertial coordinate system (g system) includes two parts: the rotation angle of the earth coordinate system (e system) relative to the inertial coordinate system (i system) and the rotation angle of the geographic coordinate system (g system) relative to the earth coordinate system (e system) can be expressed as:
Aig＝Aie+Aeg
2) a three-dimensional space coordinate system is established by utilizing the gyro stabilization platform, the measurement reference of an input signal is solved, the platform angle sensor provides angle information, and the information of the accelerometer is used as the basis for auxiliary judgment.
Fig. 2 shows the arrangement of the novel inertial navigation platform based on gyroscope information, where the platform has three degrees of freedom, which are structurally guaranteed by the platform shaft, the inner gimbal and the outer gimbal.
Three gyroscopes are placed on the platform with their input axes perpendicular to each other. Gyroscope GYParallel to the OY of the platformPThe axis, angular momentum H, is perpendicular to the platform face. Gyroscope GXWith input axis parallel to the platform OXPThe axis, angular momentum H, is perpendicular to the platform face. Gyroscope GZWith the input axis parallel to the OZ of the platformPAxis (i.e., azimuth axis), angular momentum H is parallel to the platform face.
Three accelerometers A mounted on a platformXAnd AYRespectively placed along east-west and south-north directions, accelerometer AZSet of their sensitive axes, placed perpendicularly to the table-topThe three-dimensional orthogonal coordinate system is formed, the platform has no rotation angular velocity relative to the inertial space, and the output of the accelerometer does not contain a Coriolis acceleration term and a centripetal acceleration term. Because the carrier is stable relative to the inertial space, when the carrier moves, the direction of the platform coordinate system relative to the gravity acceleration g is constantly changed, so that g components appearing in output signals of the three accelerometers
At an initial time, the platform system and the inertial system coincide. A mass pendulum is suspended on the carrier, and the mass pendulum always points to the geocentric direction under the condition that the carrier does not have displacement acceleration. Assuming that the gravity acceleration g is just vertical to the platform when the platform is at the starting point A, so that the accelerometer horizontally arranged on the platform does not sense the component of the gravity acceleration g, and when the platform reaches the point B, the accelerometer measures the component g of the gravity acceleration in addition to the displacement acceleration of the carrierX、gY、gZ。
The method comprises the following steps: 2: and outputting information by using the platform angle sensor to obtain the position information of the carrier. The key point for solving the problem is that when the absolute value of theiYiZiThe cosine angles alpha, beta, gamma in three directions. FIG. 5 is a schematic diagram of the movement of the carrier of the system of the present invention.
Suppose the outputs of three accelerometers on the platform are: a isX、aY、aZThe modulus of the acceleration output of the carrier at this time is
Figure BSA0000186425430000051
Because the mass pendulum points to the earth center vertically when the motion acceleration of the carrier is zero, the direction cosine angle between the mass pendulum and the earth center inertia coordinate system can be obtained, when the solved | a | approaches to the gravity acceleration value g, the mass pendulum pointing to the earth center direction at the moment and the earth center inertia coordinate system OX are outputiYiZiThe cosine angles alpha, beta, gamma in three directions.
The vector latitude at the point A and the latitude at the point B are respectively obtained by the cosine angle of the direction
Figure BSA0000186425430000052
The longitude variation of the carrier at point A, B is obtained, that is, the included angle between the points A 'and B' projected by the points A 'and B' of the carrier at XOY and A and B is obtained.
Since the projection point coordinates are:
A′(R cosα1，R cosβ1)；B′(R cosα2，R cosβ2)
the length of a 'B', OA ', OB' can be expressed as:
Figure BSA0000186425430000053
Figure BSA0000186425430000054
Figure BSA0000186425430000055
according to
Figure BSA0000186425430000056
The longitude variation Δ λ of the carrier can be obtained. The initial longitude and latitude of the gyroscope is assumed to be lambda0The navigation time for moving to the current geographic position is t, the longitude difference between the initial geographic position and the current geographic position is delta lambda, and the rotation angular speed of the earth coordinate system relative to the inertial coordinate system is omegaieThen the latitude and longitude information of the current position can be represented as λ0+Δλ-ωieT, calculating the longitude and latitude of the carrier in real time:
Figure BSA0000186425430000061
the method comprises the following steps: 3: carrier horizontal velocity information is resolved based on the three directional cosine angles α, β, γ. The velocity information may be obtained by differentiating the position information with respect to time, and may be expressed as:
Figure BSA0000186425430000062
where R is the radius of the earth and t is the time for the carrier to travel the arc length of the earth's surface.
Aiming at the defect that the navigation precision is sharply reduced along with the time extension caused by multiple times of integration in the traditional inertial navigation system, the invention researches the navigation system and the algorithm for reducing the times of integration so as to solve the problem that the traditional inertial navigation error is nonlinearly and rapidly increased along with the time and meet the requirement of long-time navigation. The invention senses the motion information of the carrier around the earth through the angle sensor arranged on the platform, extracts useful motion information and angle information, establishes the corresponding relation between the angle and the longitude and latitude, and calculates the navigation information required by the carrier through mathematical derivation, thereby realizing the purpose of reducing the navigation error during long endurance.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.

Claims (5)

1.一种基于陀螺仪信息的惯性导航系统，其特征在于，包括：1. an inertial navigation system based on gyroscope information, is characterized in that, comprises: 稳定平台模块：用于放置陀螺仪、加速度计、角度传感器及质量摆的稳定平台，陀螺仪主轴在惯性空间内保持不变，利用陀螺仪的稳定性控制平台在惯性空间稳定，通过随动系统稳定平台始终跟踪陀螺仪，从而保证平台稳定在惯性空间；Stabilized platform module: a stable platform for placing gyroscopes, accelerometers, angle sensors and mass pendulums. The main axis of the gyroscope remains unchanged in the inertial space, and the stability of the gyroscope is used to control the platform to stabilize in the inertial space. The stable platform always tracks the gyroscope, thus ensuring that the platform is stable in the inertial space; 导航计算模块：根据悬挂质量摆与惯性坐标系的三轴夹角，提取出有用信息，实现载体的速度信息及位置信息的解算；Navigation calculation module: According to the three-axis angle between the suspended mass pendulum and the inertial coordinate system, useful information is extracted to realize the calculation of the speed information and position information of the carrier; 控制和显示模块：设置初始参数，并输出显示导航参数。Control and display module: set initial parameters, and output display navigation parameters. 2.根据权利要求1所述基于陀螺仪信息的惯性导航系统，其特征在于，所述平台系统模块包括：2. The inertial navigation system based on gyroscope information according to claim 1, wherein the platform system module comprises: 由三个位置陀螺仪组成的三环平台，三个加速度计，三个角度传感器，三个陀螺控制轴的力矩电机及一个质量摆，利用陀螺仪的稳定性控制平台在惯性空间稳定。The three-ring platform is composed of three position gyroscopes, three accelerometers, three angle sensors, three torque motors of the gyro control axis and a mass pendulum. The stability of the gyroscope is used to control the platform to stabilize in inertial space. 3.根据权利要求1所述基于陀螺仪信息的惯性导航系统，其特征在于，所述导航计算模块包括：3. The inertial navigation system based on gyroscope information according to claim 1, wherein the navigation calculation module comprises: 由控制台给出的初始条件和质量摆与惯性系三轴夹角进行导航计算，根据指向地心方向的质量摆与惯性坐标系的三个方向余弦角，得到载体的位置信息，并通过对位置信息的单次微分得到载体的速度信息，将以上所得的载体运动参数和导航参数送去显示输出模块。The initial conditions given by the console and the three-axis angle between the mass pendulum and the inertial system are used for navigation calculation. According to the cosine angles of the mass pendulum pointing to the center of the earth and the three directions of the inertial coordinate system, the position information of the carrier is obtained. The speed information of the carrier is obtained by the single differentiation of the position information, and the motion parameters and navigation parameters of the carrier obtained above are sent to the display output module. 4.根据权利要求1所述基于陀螺仪信息的惯性导航系统，其特征在于，所述显示输出模块包括：4. The inertial navigation system based on gyroscope information according to claim 1, wherein the display output module comprises: 输出显示单元和参数输入单元，输出显示单元将载体的速度信息、位置信息显示输出，参数输入单元接收初始参数和校正参数的输入和装订。An output display unit and a parameter input unit, the output display unit displays and outputs the speed information and position information of the carrier, and the parameter input unit receives the input and binding of initial parameters and correction parameters. 5.一种基于陀螺仪信息的惯性导航方法，其特征在于，包括以下步骤：5. an inertial navigation method based on gyroscope information, is characterized in that, comprises the following steps: (1)配置一个使用位置陀螺仪、加速度计、角度传感器及质量摆的稳定平台，其中加速度计提供辅助判定信息，角度传感器输出角度信息，陀螺仪维持平台模拟地心惯性系。通过确定陀螺仪及加速度计的布置方式，使得使用平台角度传感器信息即可实现速度、位置的解算，且使得它的输出方程描述载体相对于惯性参考系的线运动、角运动。(1) Configure a stable platform using a position gyroscope, an accelerometer, an angle sensor and a mass pendulum. The accelerometer provides auxiliary judgment information, the angle sensor outputs angle information, and the gyroscope maintains the platform to simulate the geocentric inertial system. By determining the arrangement of the gyroscope and accelerometer, the speed and position can be solved by using the platform angle sensor information, and its output equation can describe the linear motion and angular motion of the carrier relative to the inertial reference system. 1)该方案采用的陀螺稳定平台始终相对地心惯性系稳定，其特征在于当载体从地面一点移动到另外一点时，对陀螺仪没有控制信息，即不施加力矩，利用陀螺仪的稳定性控制平台在地心惯性系稳定，此时的平台坐标系模拟地心惯性系。图3是本发明A、B两点平台坐标系相对于地球坐标系的示意图，图4是本发明稳定平台跟踪地球的示意图。1) The gyro-stabilized platform used in this scheme is always stable relative to the geocentric inertial system. It is characterized in that when the carrier moves from one point on the ground to another point, there is no control information for the gyroscope, that is, no torque is applied, and the stability control of the gyroscope is used. The platform is stable in the geocentric inertial system, and the platform coordinate system at this time simulates the geocentric inertial system. Fig. 3 is a schematic diagram of the present invention's A, B two-point platform coordinate system relative to the earth coordinate system, and Fig. 4 is a schematic diagram of the present invention's stable platform tracking the earth. 2)利用陀螺稳定平台建立一个三维空间坐标系，解决输入信号的测量基准，使平台角度传感器提供角度信息，并以加速度计信息作为辅助判断的依据。图1是本发明稳定平台的俯视图，图2是本发明稳定平台的三维立体图。2) Use the gyro-stabilized platform to establish a three-dimensional space coordinate system to solve the measurement benchmark of the input signal, so that the platform angle sensor can provide angle information, and the accelerometer information is used as the basis for auxiliary judgment. FIG. 1 is a top view of the stabilization platform of the present invention, and FIG. 2 is a three-dimensional perspective view of the stabilization platform of the present invention. (2)利用平台输出信息得到载体的位置信息。解决问题的关键是|a|接近于重力加速度值g时，输出此时指向地心方向的质量摆与地心惯性坐标系OXiYiZi的三个方向余弦角。(2) Use the platform output information to obtain the position information of the carrier. The key to solving the problem is that when |a| is close to the gravitational acceleration value g, output the cosine angles of the mass pendulum pointing to the center of the earth and the three directions of the inertial coordinate system OX i Y i Z i . (3)基于三个方向余弦角来解算载体水平速度信息。(3) Calculate the horizontal velocity information of the carrier based on the cosine angles of the three directions.
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