CN112733409A - Multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform - Google Patents
Multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform Download PDFInfo
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- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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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
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- 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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- 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
- G01C21/20—Instruments for performing navigational calculations
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/39—Circuit design at the physical level
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The invention provides a collaborative design platform of a multi-source sensing comprehensive integrated composite navigation micro-system, which comprises the following steps: the application scene analysis and index decomposition sub-platform is used for planning system functions, designing system performance indexes and system architectures according to different application scene precision requirements, decomposing the system performance indexes into various sensor performance indexes, and correcting the system performance indexes according to the various sensor performance indexes; the algorithm simulation verification sub-platform is used for establishing an algorithm simulation model according to the system architecture; the physical architecture design sub-platform is used for establishing a physical architecture model according to the system architecture; and the multi-physical-field simulation sub-platform is used for carrying out multi-physical-field simulation according to the physical architecture model so as to obtain a final design model. The invention can realize the collaborative design and verification of the system overall level and the levels among all units, ensure the system overall performance before manufacturing to realize high-reliability design optimization, improve the forward design capability, shorten the project development iteration cycle and improve the development efficiency and the accuracy.
Description
Technical Field
The invention belongs to the technical field of navigation microsystems, and particularly relates to a collaborative design platform of a multi-source sensing comprehensive integration composite navigation microsystem.
Background
The micro system has the characteristics of multiple specialties and multiple levels, and a composite navigation micro system with a multi-source sensing comprehensive integrated architecture is a typical representative of the micro system. The multi-source sensing comprehensive integrated composite navigation micro-system is characterized in that high-density integration is realized by an MEMS inertial measurement unit (comprising a three-axis accelerometer and a gyroscope), a satellite navigation unit, a micro altimeter, a micro magnetometer, a digital processing chip and the like through a micro-system process, and multi-source navigation information depth fusion is realized through an algorithm and a special chip. The navigation microsystem senses the acceleration, the angular velocity and the height of a moving carrier and the magnetic field intensity of the surrounding environment and processes the acceleration, the angular velocity and the height of the moving carrier through an inertial navigation algorithm, a compensation algorithm and a multi-information fusion algorithm, so that the information such as the position, the velocity and the like of the carrier is obtained. The navigation micro-system comprises a plurality of sensors, a sensor and a driving circuit, a sensor and an algorithm processing chip and the like which are all integrated in a heterogeneous mode through a micro-system process.
At present, the design of a navigation microsystem is generally integrated and simulated after each sub-module is designed respectively, the integrated design technology of a composite navigation microsystem is lacked, the integrity of the system cannot be ensured before process manufacturing, and high-reliability design optimization cannot be realized. In addition, in the existing platforms of all the related design parties at present, the types and versions of tools are different, data are difficult to share interactively, the research and development cost is high, the research and development difficulty is high, multiple iterations are often needed for product development, the design efficiency of a micro-system is low, the research and development period is long, and the research and development progress and efficiency of the system are influenced.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides a collaborative design platform of a multi-source sensing comprehensive integrated composite navigation micro-system.
The invention provides a multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform, which comprises:
the application scene analysis and index decomposition sub-platform is used for planning the system function of the navigation micro-system, designing the system performance index and the system architecture according to the precision requirements of different application scenes, decomposing the system performance index into various sensor performance indexes, and correcting the system performance index according to the sensor performance indexes so as to enable the corrected system performance index to be matched with the precision requirements;
the algorithm simulation verification sub-platform is used for establishing an algorithm simulation model according to the system architecture so as to verify whether the corrected system performance index meets the precision requirement of the corresponding application scene;
the physical architecture design sub-platform is used for establishing a physical architecture model of the navigation microsystem according to the system architecture so as to realize the device process, the layout design and the circuit layout design of the navigation microsystem;
and the multi-physical-field simulation sub-platform is used for carrying out multi-physical-field simulation according to the physical architecture model so as to obtain a final design model of the navigation micro-system.
In some embodiments, the application scenario analysis and index decomposition sub-platform is specifically configured to:
according to application scene information, satellite data, positioning precision requirements of a navigation microsystem, positioning time requirements of the navigation microsystem and initial conditions of the navigation microsystem, fusing multiple standard navigation algorithms to obtain an inertial measurement unit precision index of the navigation microsystem, a navigation microsystem running state, a navigation algorithm coupling scheme and navigation microsystem positioning precision; wherein the content of the first and second substances,
the application scene comprises at least one of an unmanned aerial vehicle scene, an individual soldier system scene and a missile scene;
the initial conditions of the navigation microsystem comprise speed information, attitude information and initial error information of the navigation microsystem;
the precision indexes of the inertial measurement unit comprise a gyroscope precision index and an accelerometer precision index;
the operation state of the navigation microsystem comprises speed information and attitude information of the navigation microsystem;
the navigation algorithm coupling scheme comprises a tightly-coupled/loosely-coupled information fusion navigation algorithm.
In some embodiments, the application scenario analysis and index decomposition sub-platform further includes an index decomposition module, and the index decomposition module is specifically configured to:
obtaining position information and speed information of the navigation microsystem according to the initial condition of the navigation microsystem, gyroscope data and accelerometer data;
correcting the attitude data using the magnetometer data by a kalman filtering algorithm;
fusing satellite data and inertial navigation data through a tight coupling/loose coupling algorithm;
and calculating the required gyroscope precision index and accelerometer precision index by the positioning precision under different initial conditions.
In some embodiments, the algorithm simulation verification sub-platform further comprises an algorithm simulation module and a demonstration verification module, wherein,
the algorithm simulation module is used for: planning a flight track of a carrier according to a general flight task, generating flight parameters, distributing the flight parameters to each sensor unit, and generating sensor data streams by each sensor unit according to a selected unit model library, wherein the sensor data streams comprise an inertial measurement unit data stream, a polarized light output signal stream, an altimeter signal stream and a magnetometer signal stream;
the display verification module is configured to: calculating optimal navigation parameters through a strapdown inertial navigation algorithm, a multi-information fusion algorithm and a Kalman filtering algorithm according to different application scenes and navigation modes, comparing the optimal navigation parameters with actual flight parameters, outputting a comparison graph and an error graph of a reference track and the actual track, and displaying a dynamic effect; wherein the content of the first and second substances,
the comparison graph comprises at least one of a three-dimensional trajectory comparison graph, a longitude comparison graph, a latitude comparison graph, a three-dimensional posture comparison graph and an altitude comparison graph;
the navigation mode comprises one or more of a strapdown inertial navigation mode, a satellite navigation mode, a polarization navigation mode, a geomagnetic navigation mode, an inertial navigation and satellite navigation combined mode and a multi-source navigation mode.
In some embodiments, the algorithm simulation module further comprises a controlled system model for generating flight parameters according to the overall flight mission; wherein the controlled system model comprises:
the track generator is used for outputting longitude and latitude information, height information, attitude angle information, speed information, triaxial angular rate information and acceleration information relative to an inertial system, triaxial angular rate information and acceleration information relative to a carrier coordinate system, geomagnetic information and satellite navigation information of the navigation microsystem;
the strapdown inertial navigation sub-model is used for outputting longitude and latitude information, height information, attitude angle information and speed information according to the triaxial angular rate information and acceleration information of the navigation micro-system relative to the inertial system;
the satellite navigation sub-model is used for outputting longitude and latitude information, altitude information and speed information according to the satellite navigation information of the navigation micro-system;
the geomagnetic navigation sub-model is used for outputting attitude angle information according to geomagnetic information of the navigation microsystem;
the altimeter submodel is used for outputting measurement altitude information according to the altitude information of the reference track;
the navigation algorithm submodel is used for outputting a navigation result after being resolved by the fusion algorithm according to the inertial navigation resolving result, the satellite navigation resolving result, the geomagnetic navigation resolving result and the measured height information;
and the polarization navigation model is used for outputting azimuth information and attitude angle information according to the polarized light information of the navigation micro-system.
In some embodiments, the algorithm simulation module further comprises at least one of an uncertainty factor model, an external interference model; wherein the content of the first and second substances,
the uncertain factor model is used for optimizing the algorithm simulation model according to the system nonlinear information of the navigation microsystem;
the external interference model is used for optimizing the algorithm simulation model according to at least one of carrier maneuvering information, external vibration information and temperature change information of the navigation micro-system.
In some embodiments, the physical architecture design sub-platform is specifically configured to:
establishing an MEMS sensor process model of the navigation microsystem to obtain a corresponding three-dimensional model;
carrying out structural simulation on the sensor device according to the three-dimensional model to obtain an MEMS structural model;
converting the MEMS structure model into an equivalent RC circuit model;
obtaining a transfer function of the circuit according to the RC circuit model, and performing collaborative design simulation of the structure and the circuit so as to optimize the design of the sensor and the circuit according to overall transient response analysis and noise analysis;
respectively carrying out MEMS layout design and ASIC circuit layout design of the sensor according to the circuit design result;
the physical architecture design sub-platform is further used for generating a behavior level model so as to carry out collaborative design and simulation with the algorithm simulation verification sub-platform.
In some embodiments, the physical architectural design sub-platform comprises:
the sensor process module is used for establishing the MEMS sensor process model by adopting Coventorware software and generating a corresponding three-dimensional model;
the structure simulation module is used for carrying out MEMS sensor device structure simulation by adopting Coventorware software or Ansys software so as to obtain the MEMS structure model;
the model conversion module is used for converting the MEMS structure model into the RC circuit model through an interface platform MEMS +;
the circuit layout design module is used for performing circuit design simulation and sensor ASIC circuit layout design by adopting Virtuoso software;
the MEMS layout design module is used for carrying out MEMS layout design by adopting L-edit software;
and the behavior level module is used for generating a behavior level model through the interface platform MEMS +.
In some embodiments, the multi-physics simulation sub-platform is specifically configured to:
carrying out process modeling according to the physical architecture model to obtain an initial physical simulation model;
carrying out grid division on the initial physical simulation model, applying a load, carrying out mechanical solving and electromagnetic analysis, and reestablishing the physical simulation model according to a solving result and an analysis result;
performing multi-physical field simulation according to the re-established physical simulation model, wherein the multi-physical field comprises at least two of heat, mechanics, electric field and magnetic field;
and obtaining a three-dimensional physical model according to the multi-physical-field simulation result, and performing multiple iterations to obtain the final design model.
In some embodiments, the multi-physics simulation sub-platform comprises:
the modeling module is used for carrying out process modeling according to the physical architecture model by adopting Coventorware software so as to obtain the initial physical simulation model;
the model optimization module is used for carrying out grid division on the initial physical simulation model by adopting Ansys software, applying load, carrying out mechanical solving and electromagnetic analysis, and reestablishing the physical simulation model according to a solving result and an analysis result;
the simulation module is used for performing thermal simulation according to the reestablished physical simulation model by using Flotherm software;
and the optimization design module is used for performing optimization design according to a multi-physical-field simulation result by adopting Coventorware software to obtain the three-dimensional physical model, and repeating iteration to obtain the final design model.
According to the multi-source sensing comprehensive integration composite navigation micro-system collaborative design platform, the design and collaborative simulation of multiple physical fields are uniformly controlled through real-time data interaction of each sub-module design through a collaborative design mode and environment, the collaborative design and verification of the overall level of the system and the level among units are realized, the purpose of optimizing the design flow and the design result is achieved, the design optimization with high reliability of the overall performance of the system before process manufacturing is ensured, the forward design capability of typical micro-system products is improved, the development iteration cycle of the overall project is shortened, and the efficiency and the accuracy of micro-system development are improved.
Drawings
Fig. 1 is a schematic structural diagram of a multi-source sensing integrated composite navigation micro-system collaborative design platform according to an embodiment of the present invention;
FIG. 2 is a functional diagram of an index decomposition sub-platform according to another embodiment of the present invention;
FIG. 3 is a functional diagram of an algorithm simulation verification sub-platform according to another embodiment of the present invention;
FIG. 4 is a functional diagram of a physical architectural design sub-platform according to another embodiment of the present invention;
FIG. 5 is a functional diagram of a multi-physics simulation sub-platform according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present embodiment provides a multi-source sensing integrated composite navigation micro-system collaborative design platform 100, where the platform 100 includes an application scene analysis and index decomposition sub-platform 110, an algorithm simulation verification sub-platform 120, a physical architecture design sub-platform 130, and a multi-physical field simulation sub-platform 140.
The application scene analysis and index decomposition sub-platform 110 is used for planning system functions of the navigation microsystem, designing system performance indexes and system architectures according to precision requirements of different application scenes, decomposing the system performance indexes into sensor performance indexes, and correcting the system performance indexes according to the sensor performance indexes so as to enable the corrected system performance indexes to be matched with the precision requirements.
And the algorithm simulation verification sub-platform 120 is used for establishing an algorithm simulation model according to the system architecture so as to verify whether the corrected system performance index meets the precision requirement of the corresponding application scene.
And the physical architecture design sub-platform 130 is used for establishing a physical architecture model of the navigation microsystem according to the system architecture so as to realize the device process, layout design and circuit layout design of the navigation microsystem.
And the multi-physical-field simulation sub-platform 140 is used for performing multi-physical-field simulation according to the physical architecture model to obtain a final design model of the navigation micro-system.
When the platform 100 of this embodiment is used to perform collaborative design of a multi-source sensing integrated composite navigation microsystem, firstly, the application scene analysis and index decomposition sub-platform 110 is used to plan the system functions of the navigation microsystem, and then, an application scene is selected, for example, the selected application scene may be an unmanned airborne scene, according to the precision requirement of the selected unmanned airborne scene, a system performance index and a system architecture are designed, and then, the system performance index is decomposed into the performance indexes of each sensor, and the system performance index is corrected according to the performance indexes of each sensor, so that the corrected system performance index matches with the precision requirement of the unmanned airborne scene. Then, an algorithm simulation model is established according to the system architecture through the algorithm simulation verification sub-platform 120, and whether the corrected system performance index meets the navigation precision requirement of the corresponding application scene is verified through the algorithm simulation model. Then, a physical architecture model of the navigation microsystem is established through the physical architecture design sub-platform 130 according to the designed system architecture, so that the device process and layout design of the navigation microsystem and the circuit layout design are realized. And finally, performing multi-physical field simulation according to the physical architecture model through the multi-physical field simulation sub-platform 140, thereby obtaining a final design model of the navigation microsystem.
The multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform of the embodiment uniformly controls the design and collaborative simulation of multiple physical fields by carrying out real-time data interaction on each sub-module design through a collaborative design mode and environment, realizes the collaborative design and verification of the overall level of the system and the level between units, achieves the aim of optimizing the design flow and the design result, ensures that the overall performance of the system before process manufacturing realizes high-reliability design optimization, improves the forward design capability of typical micro-system products, shortens the development iteration cycle of the overall project, and improves the efficiency and the accuracy of micro-system development.
For example, as shown in fig. 2, the application scenario analysis and index decomposition sub-platform 110 is specifically configured to: according to the application scene information, the satellite data, the positioning precision requirement of the navigation microsystem, the positioning time requirement of the navigation microsystem and the initial condition of the navigation microsystem, the precision index of an inertial measurement unit of the navigation microsystem, the running state of the navigation microsystem, the navigation algorithm coupling scheme and the positioning precision of the navigation microsystem are obtained by fusing multiple standard navigation algorithms. The application scene comprises at least one of an unmanned aerial vehicle scene, an individual soldier system scene and a missile scene. The initial conditions of the navigation microsystem include velocity information, attitude information and initial error information of the navigation microsystem. The precision indexes of the inertial measurement unit comprise a gyroscope precision index and an accelerometer precision index. The operation state of the navigation microsystem comprises speed information and attitude information of the navigation microsystem. The navigation algorithm coupling scheme comprises a tightly-coupled/loosely-coupled information fusion navigation algorithm.
The multi-source sensing comprehensive integration composite navigation micro-system collaborative design platform of the embodiment can realize collaborative design and verification of the overall level of the system and the level among all units by decomposing the system performance index into the performance indexes of all sensors, thereby achieving the purpose of optimizing the design flow and the design result.
Illustratively, as shown in fig. 2, the application scenario analysis and index decomposition sub-platform 110 further includes an index decomposition module 111. The index decomposition module 111 is specifically configured to: and obtaining the position information and the speed information of the navigation micro-system according to the initial condition of the navigation micro-system, the gyroscope data and the accelerometer data. The attitude data is corrected by a kalman filtering algorithm using the magnetometer data. The satellite data is fused with the inertial navigation data by a tight coupling/loose coupling algorithm. And calculating the required gyroscope precision index and accelerometer precision index by the positioning precision under different initial conditions. As shown in fig. 2, the index decomposition module 111 decomposes the system performance index into sub-module performance indexes including a gyroscope precision index, an altimeter precision index, an accelerometer precision index, a magnetometer precision index, other sensor precision indexes, and the like through the comprehensive action of an inertial navigation algorithm, a kalman filter algorithm, and a multi-information fusion algorithm according to the result selected by the application scenario, and the application scenario analysis and index decomposition sub-platform 110 corrects the system performance index through index backtracking by using the sub-module performance index, so that the corrected system performance index can be matched with the precision requirement.
The multi-source sensing comprehensive integrated composite navigation micro-system collaborative design platform utilizes multiple standard navigation algorithms to carry out index decomposition, so that the designed system performance index can be matched with the requirements of different application scenes.
Illustratively, as shown in fig. 3, the algorithm simulation verification sub-platform 120 further includes an algorithm simulation module 121 and a presentation verification module 122.
The algorithm simulation module 121 is configured to: planning the flight track of the carrier according to the overall flight mission, generating flight parameters, distributing the flight parameters to each sensor unit, and generating each sensor data stream respectively by each sensor unit according to the selected unit model base, wherein the sensor data streams comprise an inertial measurement unit data stream, a polarized light output signal stream, an altimeter signal stream, a magnetometer signal stream and the like.
The presentation verification module 122 is configured to: according to different application scenes and navigation modes, calculating optimal navigation parameters through a strapdown inertial navigation algorithm, a multi-information fusion algorithm and a Kalman filtering algorithm, comparing the optimal navigation parameters with actual flight parameters, outputting a comparison graph and an error graph of a reference track and the actual track, and displaying a dynamic effect. Wherein the comparison graph comprises at least one of a three-dimensional trajectory comparison graph, a longitude comparison graph, a latitude comparison graph, a three-dimensional posture comparison graph and an altitude comparison graph. The navigation mode comprises one or more of a strapdown inertial navigation mode, a satellite navigation mode, a polarization navigation mode, a geomagnetic navigation mode, an inertial navigation and satellite navigation combined mode and a multi-source navigation mode.
As shown in fig. 3, the presentation verification module 122 may compare and verify the system navigation result of the physical quantities such as the position, the longitude and latitude, the posture, the height, and the like with the design value according to the result of the application scenario and the navigation mode selection. For example, the application scenario may be a missile scenario, an unmanned aerial vehicle scenario, or an individual soldier system scenario. The navigation mode can be a strapdown inertial navigation mode or a satellite navigation mode, can also be a polarization navigation mode or a geomagnetic navigation mode, and can also be a combined mode of inertial navigation and satellite navigation or a multi-source navigation mode.
According to the collaborative design platform of the multi-source sensing comprehensive integration composite navigation microsystem, the multi-source navigation microsystem architecture algorithm simulation model is established, algorithm functions and efficiency verification can be carried out, whether the navigation precision meets design requirements or not is verified from the front, and the comparison condition of design indexes and the navigation effect is dynamically displayed in a visual mode, so that a reference value is provided for the design of an actual system.
Illustratively, as shown in fig. 3, the algorithm simulation module 121 further includes a controlled system model for generating flight parameters according to the overall flight mission.
The controlled system model comprises a track generator, a strapdown inertial navigation sub-model, a satellite navigation sub-model, a geomagnetic navigation sub-model, an altimeter sub-model, a navigation algorithm sub-model and a polarization navigation sub-model. The track generator is used for outputting longitude and latitude information, height information, attitude angle information, speed information, triaxial angular rate information and acceleration information relative to an inertial system, triaxial angular rate information and acceleration information relative to a carrier coordinate system, geomagnetic information and satellite navigation information of the navigation microsystem. The strapdown inertial navigation sub-model is used for outputting longitude and latitude information, height information, attitude angle information and speed information according to the triaxial angular rate information and the acceleration information of the navigation micro-system relative to the inertial system. The satellite navigation sub-model is used for outputting longitude and latitude information, altitude information and speed information according to the satellite navigation information of the navigation micro-system. The geomagnetic navigation submodel is used for outputting attitude angle information according to geomagnetic information of the navigation microsystem. The altimeter submodel is used for outputting measurement altitude information according to the altitude information of the reference track. And the navigation algorithm submodel is used for outputting the navigation result resolved by the fusion algorithm according to the inertial navigation resolving result, the satellite navigation resolving result, the geomagnetic navigation resolving result and the measured height information. The polarization navigation model is used for outputting azimuth information and attitude angle information according to the polarized light information of the navigation microsystem.
Illustratively, as shown in fig. 3, the algorithm simulation module 121 further includes at least one of an uncertainty factor model and an external interference model. The uncertain factor model is used for optimizing the algorithm simulation model according to the system nonlinear information of the navigation microsystem. And the external interference model is used for optimizing the algorithm simulation model according to at least one of carrier maneuvering information, external vibration information and temperature change information of the navigation micro-system.
According to the multi-source sensing comprehensive integration composite navigation micro-system collaborative design platform, the uncertain factor model and the external interference model are utilized to optimize the algorithm simulation model, so that the algorithm simulation result is more accurate, and a higher reference value is provided for the design of an actual system.
Illustratively, as shown in fig. 4, the physical architecture design sub-platform 130 is specifically configured to: and establishing an MEMS sensor process model of the navigation microsystem to obtain a corresponding three-dimensional model. And carrying out structural simulation on the sensor device according to the three-dimensional model to obtain an MEMS structural model. And converting the MEMS structure model into an equivalent RC circuit model. And (3) obtaining a transfer function of the circuit according to the RC circuit model, and carrying out collaborative design simulation on the structure and the circuit so as to optimize the design of the sensor and the circuit according to the overall transient response analysis and noise analysis. And respectively carrying out MEMS layout design and ASIC circuit layout design of the sensor according to the circuit design result. The physical architecture design sub-platform 130 is also used to generate behavioral-level models for co-design and simulation with the algorithmic simulation verification sub-platform 120.
The multi-source sensing integrated composite navigation micro-system collaborative design platform provided by the embodiment integrates multiple sensors, sensors and a driving circuit, sensors and an algorithm processing chip in a navigation micro-system in a heterogeneous mode through a micro-system process, establishes a collaborative design simulation platform from module process simulation, three-dimensional modeling to circuit design by constructing an MEMS structure and circuit design connection scheme, provides MEMS sensor process and structure collaborative design simulation capability and structure and circuit joint design simulation capability for the navigation micro-system, solves the structural design problem of composite navigation micro-system shell and multi-sensor assembly, and also solves the problems of signal transmission, power consumption, crosstalk and the like between the sensors and the circuit.
Illustratively, as shown in FIG. 4, the physical architectural design sub-platform 130 includes: and the sensor process module is used for establishing an MEMS sensor process model by adopting Coventorware software and generating a corresponding three-dimensional model. And the structure simulation module is used for carrying out MEMS sensor device structure simulation by adopting Coventorware software or Ansys software so as to obtain an MEMS structure model. And the model conversion module is used for converting the MEMS structure model into an RC circuit model through the interface platform MEMS +. And the circuit layout design module is used for performing circuit design simulation and sensor ASIC circuit layout design by adopting Virtuoso software. And the MEMS layout design module is used for carrying out MEMS layout design by adopting L-edge software. And the behavior level module is used for generating a behavior level model through the interface platform MEMS +.
It should be noted that, as shown in fig. 4, the physical architecture design sub-platform 130 may also perform system modeling by using IntelliSuite software to obtain a MEMS sensor process model and generate a corresponding three-dimensional model. The physical architecture design sub-platform 130 may also simulate an RC circuit model through Cadence software and synpsys software and perform circuit design, may also perform ASIC circuit layout design by using Calibre software, or may also implement sensor device process and layout design by using Coventorware software, which is not limited in this embodiment.
Illustratively, as shown in fig. 5, the multi-physics simulation sub-platform 140 is specifically configured to: and carrying out process modeling according to the physical architecture model to obtain an initial physical simulation model. And carrying out grid division on the initial physical simulation model, applying a load, carrying out mechanical solving and electromagnetic analysis, and reestablishing the physical simulation model according to a solving result and an analysis result. And performing multi-physical field simulation according to the re-established physical simulation model, wherein the multi-physical field comprises at least two of heat, mechanics, electric fields and magnetic fields. And obtaining a three-dimensional physical model according to the multi-physical-field simulation result, and performing multiple iterations to obtain a final design model. For example, when performing multi-physical field simulation, thermal and mechanical co-simulation, thermal and electrical co-simulation, and thermal, mechanical, and magnetic field coupled co-simulation may be performed, and a person skilled in the art may select the method according to actual needs, which is not limited in this embodiment.
The multi-source sensing comprehensive integration composite navigation micro-system collaborative design platform provided by the embodiment cooperatively optimizes physical domains such as electricity, magnetism, heat and structure of a navigation micro-system, confirms that all indexes can meet the overall design requirement, realizes multi-field coupling collaborative simulation in the fields of structure, electromagnetism, heat and the like in a navigation micro-system sensor, and solves the multi-field coupling problems of structure, electromagnetic compatibility, heat dissipation and the like between microscopic layers in a complex three-dimensional physical architecture of the navigation micro-system, thereby ensuring the overall performance of the system.
Illustratively, as shown in FIG. 5, the multi-physics simulation sub-platform 140 includes: and the modeling module is used for carrying out process modeling according to the physical architecture model by adopting Coventorware software so as to obtain an initial physical simulation model. And the model optimization module is used for carrying out grid division on the initial physical simulation model by adopting Ansys software, applying load, carrying out mechanical solving and electromagnetic analysis and reestablishing the physical simulation model according to a solving result and an analysis result. And the simulation module is used for performing thermal simulation according to the reestablished physical simulation model by adopting Flotherm software. And the optimization design module is used for performing optimization design according to the multi-physical-field simulation result by adopting Coventorware software to obtain a three-dimensional physical model, and repeating iteration to obtain a final design model.
It should be noted that the simulation module may also use Ansys software or workbench software to perform multi-physical field simulation, may also perform mechanical simulation by using Mechanics software, or may also perform magnetic field simulation by using hfss software, and may also perform electrical simulation by using ADS software, and those skilled in the art may select the simulation module according to actual needs, which is not limited in this embodiment.
According to the multi-source sensing comprehensive integration composite navigation micro-system collaborative design platform, through a typical multi-physical field simulation calculation tool, physical domains such as electromagnetism, heat and structure of a micro-system are collaboratively optimized, all indexes can be confirmed to meet the overall design requirements, multi-field coupling collaborative simulation in the fields of structure, electromagnetism, heat and the like in a navigation micro-system sensor is achieved, the problem of multi-field coupling of structure, electromagnetic compatibility, heat dissipation and the like among micro levels in a complex three-dimensional physical architecture of the navigation micro-system is solved, and therefore the overall performance of the system is guaranteed.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a multisource sensing synthesizes integrated compound navigation micro-system collaborative design platform which characterized in that, the platform includes:
the application scene analysis and index decomposition sub-platform is used for planning the system function of the navigation micro-system, designing the system performance index and the system architecture according to the precision requirements of different application scenes, decomposing the system performance index into various sensor performance indexes, and correcting the system performance index according to the sensor performance indexes so as to enable the corrected system performance index to be matched with the precision requirements;
the algorithm simulation verification sub-platform is used for establishing an algorithm simulation model according to the system architecture so as to verify whether the corrected system performance index meets the precision requirement of the corresponding application scene;
the physical architecture design sub-platform is used for establishing a physical architecture model of the navigation microsystem according to the system architecture so as to realize the device process, the layout design and the circuit layout design of the navigation microsystem;
and the multi-physical-field simulation sub-platform is used for carrying out multi-physical-field simulation according to the physical architecture model so as to obtain a final design model of the navigation micro-system.
2. The platform of claim 1, wherein the application scenario analysis and index decomposition sub-platform is specifically configured to:
according to application scene information, satellite data, positioning precision requirements of a navigation microsystem, positioning time requirements of the navigation microsystem and initial conditions of the navigation microsystem, fusing multiple standard navigation algorithms to obtain an inertial measurement unit precision index of the navigation microsystem, a navigation microsystem running state, a navigation algorithm coupling scheme and navigation microsystem positioning precision; wherein the content of the first and second substances,
the application scene comprises at least one of an unmanned aerial vehicle scene, an individual soldier system scene and a missile scene;
the initial conditions of the navigation microsystem comprise speed information, attitude information and initial error information of the navigation microsystem;
the precision indexes of the inertial measurement unit comprise a gyroscope precision index and an accelerometer precision index;
the operation state of the navigation microsystem comprises speed information and attitude information of the navigation microsystem;
the navigation algorithm coupling scheme comprises a tightly-coupled/loosely-coupled information fusion navigation algorithm.
3. The platform of claim 2, wherein the application scenario analysis and index decomposition sub-platform further comprises an index decomposition module, and the index decomposition module is specifically configured to:
obtaining position information and speed information of the navigation microsystem according to the initial condition of the navigation microsystem, gyroscope data and accelerometer data;
correcting the attitude data using the magnetometer data by a kalman filtering algorithm;
fusing satellite data and inertial navigation data through a tight coupling/loose coupling algorithm;
and calculating the required gyroscope precision index and accelerometer precision index by the positioning precision under different initial conditions.
4. The platform of claim 1, wherein the algorithm simulation verification sub-platform further comprises an algorithm simulation module and a presentation verification module, wherein,
the algorithm simulation module is used for: planning a flight track of a carrier according to a general flight task, generating flight parameters, distributing the flight parameters to each sensor unit, and generating sensor data streams by each sensor unit according to a selected unit model library, wherein the sensor data streams comprise an inertial measurement unit data stream, a polarized light output signal stream, an altimeter signal stream and a magnetometer signal stream;
the display verification module is configured to: calculating optimal navigation parameters through a strapdown inertial navigation algorithm, a multi-information fusion algorithm and a Kalman filtering algorithm according to different application scenes and navigation modes, comparing the optimal navigation parameters with actual flight parameters, outputting a comparison graph and an error graph of a reference track and the actual track, and displaying a dynamic effect; wherein the content of the first and second substances,
the comparison graph comprises at least one of a three-dimensional trajectory comparison graph, a longitude comparison graph, a latitude comparison graph, a three-dimensional posture comparison graph and an altitude comparison graph;
the navigation mode comprises one or more of a strapdown inertial navigation mode, a satellite navigation mode, a polarization navigation mode, a geomagnetic navigation mode, an inertial navigation and satellite navigation combined mode and a multi-source navigation mode.
5. The platform of claim 4, wherein the algorithm simulation module further comprises a controlled system model configured to generate flight parameters based on an overall flight mission; wherein the controlled system model comprises:
the track generator is used for outputting longitude and latitude information, height information, attitude angle information, speed information, triaxial angular rate information and acceleration information relative to an inertial system, triaxial angular rate information and acceleration information relative to a carrier coordinate system, geomagnetic information and satellite navigation information of the navigation microsystem;
the strapdown inertial navigation sub-model is used for outputting longitude and latitude information, height information, attitude angle information and speed information according to the triaxial angular rate information and acceleration information of the navigation micro-system relative to the inertial system;
the satellite navigation sub-model is used for outputting longitude and latitude information, altitude information and speed information according to the satellite navigation information of the navigation micro-system;
the geomagnetic navigation sub-model is used for outputting attitude angle information according to geomagnetic information of the navigation microsystem;
the altimeter submodel is used for outputting measurement altitude information according to the altitude information of the reference track;
the navigation algorithm submodel is used for outputting a navigation result after being resolved by the fusion algorithm according to the inertial navigation resolving result, the satellite navigation resolving result, the geomagnetic navigation resolving result and the measured height information;
and the polarization navigation model is used for outputting azimuth information and attitude angle information according to the polarized light information of the navigation micro-system.
6. The platform of claim 4, wherein the algorithm simulation module further comprises at least one of an uncertainty factor model, an external interference model; wherein the content of the first and second substances,
the uncertain factor model is used for optimizing the algorithm simulation model according to the system nonlinear information of the navigation microsystem;
the external interference model is used for optimizing the algorithm simulation model according to at least one of carrier maneuvering information, external vibration information and temperature change information of the navigation micro-system.
7. The platform of claim 1, wherein the physical architecture design sub-platform is specifically configured to:
establishing an MEMS sensor process model of the navigation microsystem to obtain a corresponding three-dimensional model;
carrying out structural simulation on the sensor device according to the three-dimensional model to obtain an MEMS structural model;
converting the MEMS structure model into an equivalent RC circuit model;
obtaining a transfer function of the circuit according to the RC circuit model, and performing collaborative design simulation of the structure and the circuit so as to optimize the design of the sensor and the circuit according to overall transient response analysis and noise analysis;
respectively carrying out MEMS layout design and ASIC circuit layout design of the sensor according to the circuit design result;
the physical architecture design sub-platform is further used for generating a behavior level model so as to carry out collaborative design and simulation with the algorithm simulation verification sub-platform.
8. The platform of claim 7, wherein the physical architecture design sub-platform comprises:
the sensor process module is used for establishing the MEMS sensor process model by adopting Coventorware software and generating a corresponding three-dimensional model;
the structure simulation module is used for carrying out MEMS sensor device structure simulation by adopting Coventorware software or Ansys software so as to obtain the MEMS structure model;
the model conversion module is used for converting the MEMS structure model into the RC circuit model through an interface platform MEMS +;
the circuit layout design module is used for performing circuit design simulation and sensor ASIC circuit layout design by adopting Virtuoso software;
the MEMS layout design module is used for carrying out MEMS layout design by adopting L-edit software;
and the behavior level module is used for generating a behavior level model through the interface platform MEMS +.
9. The platform of claim 1, wherein the multi-physics simulation sub-platform is specifically configured to:
carrying out process modeling according to the physical architecture model to obtain an initial physical simulation model;
carrying out grid division on the initial physical simulation model, applying a load, carrying out mechanical solving and electromagnetic analysis, and reestablishing the physical simulation model according to a solving result and an analysis result;
performing multi-physical field simulation according to the re-established physical simulation model, wherein the multi-physical field comprises at least two of heat, mechanics, electric field and magnetic field;
and obtaining a three-dimensional physical model according to the multi-physical-field simulation result, and performing multiple iterations to obtain the final design model.
10. The platform of claim 9, wherein the multi-physics simulation sub-platform comprises:
the modeling module is used for carrying out process modeling according to the physical architecture model by adopting Coventorware software so as to obtain the initial physical simulation model;
the model optimization module is used for carrying out grid division on the initial physical simulation model by adopting Ansys software, applying load, carrying out mechanical solving and electromagnetic analysis, and reestablishing the physical simulation model according to a solving result and an analysis result;
the simulation module is used for performing thermal simulation according to the reestablished physical simulation model by using Flotherm software;
and the optimization design module is used for performing optimization design according to a multi-physical-field simulation result by adopting Coventorware software to obtain the three-dimensional physical model, and repeating iteration to obtain the final design model.
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