CN112857400A - Carrier rocket initial alignment method based on ten-table redundant strapdown inertial measurement unit - Google Patents
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Abstract
The invention relates to a carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit, which comprises the following steps of: selecting a launching point gravity coordinate system as an initial alignment reference coordinate system; taking a model of an inverse matrix or a pseudo-inverse matrix of a ten-table strapdown inertial group gyroscope and accelerometer installation error matrix as a reference, and selecting an optimal combination to participate in initial alignment calculation; if the gyro or the accelerometer participating in the calculation has a fault, performing redundant reconstruction on the ten-table strapdown inertial measurement unit gyro and the accelerometer; fully autonomous alignment of the strapdown inertial measurement unit; initial alignment processing is carried out when a certain table of the strapdown inertial measurement unit fails; and verifying the precision of the initial alignment result. The method is suitable for the carrier rocket which adopts the ten-meter strapdown inertial measurement unit to carry out full-autonomous alignment, and has high engineering practicability.
Description
Technical Field
The invention relates to a carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit, and belongs to the technical field of alignment of strapdown inertial measurement systems.
Background
The strapdown inertial measurement unit is one of the most widely applied inertial navigation measurement devices at present, and is widely applied to the fields of aerospace, weaponry, armored vehicles, ships and the like, and the necessary condition for outputting navigation information such as attitude, speed and position and the like by the strapdown inertial measurement unit is to acquire the initial values of attitude, speed and position of a motion carrier, wherein the acquisition of the initial values of attitude is the initial alignment of the strapdown inertial measurement unit. The initial alignment method of the strapdown inertial measurement unit comprises a plurality of modes such as autonomous alignment, optical alignment, transfer alignment and the like, and different initial alignment strategies are selected according to the application environment, the precision level of the strapdown inertial measurement unit and the requirement of the initial alignment precision.
The initial alignment precision of the carrier rocket directly influences the precision of the orbit, and particularly the azimuth alignment precision has great influence on the precision of the orbit inclination angle of the orbit. The existing carrier rocket mostly adopts optical aiming to realize azimuth alignment, a complex optical aiming system needs to be equipped, the operation flow of the relevant ground before rocket launching is complex, the influence of the natural severe environment of wind, rain, snow and fog easily occurs, and the phenomenon that aiming cannot be finished and rocket launching is delayed even possibly occurs under extreme conditions. The strapdown inertial unit is fully and automatically aligned without ground equipment, is not influenced by natural environment, does not need ground operation, and is automatically performed by the strapdown inertial unit on the arrow and the arrow machine. The inertial navigation system is used as a core product of the carrier rocket, the reliability of the whole rocket is improved through a redundancy technology, the application prospect of a ten-meter redundant strapdown inertial unit on the carrier rocket is wide, the existing fully-autonomous aligned object is generally a non-redundant strapdown inertial unit, the initial alignment research aiming at the redundant strapdown inertial unit is less, and particularly the ten-meter redundant strapdown inertial unit is less.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and a carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit is provided.
The technical solution of the invention is as follows:
a carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit comprises the following steps:
selecting a launching point gravity coordinate system as an initial alignment reference coordinate system;
selecting a ten-meter strapdown inertial measurement unit meter head combination participating in initial alignment calculation;
if the gyro or the accelerometer participating in the resolving fails, performing redundancy reconstruction on the ten-meter strapdown inertial measurement unit gyro or accelerometer according to a failure diagnosis result;
determining three initial attitude angles of the strapdown inertial measurement unit by utilizing the angular velocity and apparent acceleration information measured by the strapdown inertial measurement unit, and realizing full-autonomous initial alignment;
and verifying the precision of the initial alignment result.
And the emission point gravity coordinate system is a ground-fixed coordinate system fixedly connected with the earth.
The method for selecting the ten-meter strapdown inertial measurement unit head combination participating in the initial alignment calculation comprises the following steps:
the ten-meter strapdown inertial measurement unit is provided with five gyroscopes and five accelerometers, and the gyroscopes capable of participating in initial alignment calculation have five meters
Arbitrary four tables
And any three meters
16 gyro combinations in total;
accelerometers capable of participating in initial alignment resolution, and all five tables
Arbitrary four tables
And any three meters
16 accelerometer combinations in total;
solving an inverse matrix or a pseudo-inverse matrix of a gyro installation error matrix under each gyro combination, performing modulo calculation on the solved matrix, sequencing matrix models from small to large in sequence, and selecting the gyro combination with the smallest modulus to participate in initial alignment calculation;
and solving an inverse matrix or a pseudo-inverse matrix of an error matrix of the accelerometer installation under each accelerometer combination, performing modulo calculation on the solved matrix, sequencing matrix moduli from small to large in sequence, and selecting the accelerometer combination with the smallest modulus to participate in initial alignment calculation.
The method for performing redundancy reconstruction on the ten-table strapdown inertial measurement unit gyroscope or accelerometer comprises the following steps:
if the gyro participating in the resolving fails, selecting a suboptimal combination of the gyro;
and if the accelerometers participating in the calculation fail, selecting a suboptimal combination of the accelerometers.
And determining three initial attitude angles of the strapdown inertial measurement unit by utilizing angular velocity and apparent acceleration information measured by the strapdown inertial measurement unit, and realizing full-autonomous initial alignment by utilizing solidification analysis self-alignment or Kalman filtering self-alignment.
If the gyro or the accelerometer participating in the calculation has a fault, the method for initial alignment is as follows:
when a certain table is in fault, fault table information needs to be removed under the condition of realizing full-autonomous initial alignment by adopting solidification analysis self-alignment;
when the Kalman filtering self-alignment is adopted to realize the full-automatic initial alignment, and when a certain table fails, after redundant reconstruction and elimination of the information of the failed table, the Kalman filter needs to be reset at the same time.
Compared with the prior art, the invention has the advantages and beneficial effects that:
1) the invention selects the earth fixed emission point gravity coordinate system which is fixedly connected with the earth, compared with the geographical coordinate system with the coordinate origin changed by the reference system, the calculation formula is simple, the complex trigonometric function operation is reduced, and the calculation amount is small;
2) the method can effectively select the strapdown inertial measurement unit gauge head combination with high initial alignment precision to participate in alignment calculation, effectively reconstruct when the gyroscope or accelerometer participating in the alignment calculation has a fault, and select the suboptimal gauge head combination to participate in the alignment calculation;
3) by means of initial alignment processing when a certain table of the strapdown inertial measurement unit fails, the influence of the failure on a final alignment result can be eliminated, and overshoot and convergence speed of Kalman filtering alignment after the failure occurs can be reduced;
4) initial alignment reliability is improved
The method comprises the steps of selecting an initial alignment reference coordinate system, combining and optimizing a ten-table strapdown inertial measurement unit head which participates in initial alignment calculation, performing redundancy reconstruction and initial alignment processing when a certain table of the strapdown inertial measurement unit fails, applying to initial alignment of a carrier rocket adopting the ten-table strapdown inertial measurement unit, and having high engineering practicability.
Drawings
FIG. 1 is a diagram illustrating a relationship between a gravity coordinate system of a launch point of a launch vehicle before launch and an rocket body coordinate system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a computation of solidification-resolved self-alignment of a launch vehicle according to an embodiment of the present invention;
fig. 3 is a flow chart of a carrier rocket kalman filter self-alignment calculation provided in the embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention will be made with reference to the accompanying drawings.
A carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit specifically comprises the following steps:
step one, selecting an initial alignment reference coordinate system
The gravity coordinate system of the launching point is selected as an initial alignment reference coordinate system, and it should be particularly noted that the origin of coordinates is fixed to the launching point and is a fixed-earth coordinate system fixedly connected with the earth, rather than a geographical coordinate system with the origin of coordinates changing along with the swing of the arrow body.
Step two, selecting ten-meter strapdown inertial measurement unit meter head combination participating in initial alignment calculation
The ten-meter strapdown inertial measurement unit gyroscope and the accelerometer are both provided with five meters, and the gyroscopes which can participate in initial alignment calculation have all five meters
Arbitrary four tables
And any three meters
There are 16 combinations, and there are 16 combinations of accelerometers that can participate in the initial alignment solution.
And solving an inverse matrix or a pseudo-inverse matrix of a gyro installation error matrix under each gyro combination, performing modulo calculation on the solved matrix, sequencing matrix moduli from small to large in sequence, and selecting the gyro combination with the smallest modulus to participate in initial alignment calculation.
And solving an inverse matrix or a pseudo-inverse matrix of an error matrix of the accelerometer installation under each accelerometer combination, performing modulo calculation on the solved matrix, sequencing matrix moduli from small to large in sequence, and selecting the accelerometer combination with the smallest modulus to participate in initial alignment calculation.
Thirdly, redundant fault reconstruction processing of strapdown inertial measurement unit
And selecting the optimal combination of the ten-table strapdown inertial group gyroscope and the accelerometer to participate in the full-autonomous alignment calculation according to the second step, if the gyroscope or the accelerometer participating in the calculation has a fault, performing redundant reconstruction on the ten-table strapdown inertial group gyroscope or the accelerometer according to a fault diagnosis result, and selecting the suboptimal combination of the gyroscope or the accelerometer during reconstruction.
If the gyro participating in the calculation fails, selecting a suboptimal combination of the gyro;
and if the accelerometers participating in the calculation fail, selecting a suboptimal combination of the accelerometers.
Step four, full autonomous alignment of strapdown inertial measurement unit
The three initial attitude angles of the strapdown inertial measurement unit are determined by completely utilizing the angular velocity and apparent acceleration information measured by the strapdown inertial measurement unit, and common full-autonomous alignment methods comprise solidification analysis self-alignment and Kalman filtering self-alignment.
Step five, initial alignment processing is carried out when a certain table of the strapdown inertial measurement unit fails
And under the condition of solidification analysis self-alignment, when a certain table fails, performing redundant reconstruction on the ten-table strapdown inertial unit gyroscope and the accelerometer according to the third step, wherein fault table information needs to be removed in order to eliminate the large influence of the gyroscope or accelerometer failure on the initial alignment result.
And (3) under the condition of Kalman filtering self-alignment, when a certain table fails, redundancy reconstruction is carried out according to the third step, and fault table information is eliminated, the Kalman filter needs to be reset at the same time, and the filtering matrix and the state quantity are reset to initial values at the initialization moment.
Step six, verifying the precision of the initial alignment result;
the carrier rocket initial alignment result precision verification means mainly comprises static base alignment verification, moving base alignment verification and pre-launching real tower environment rocket body vertical state alignment verification.
The initial alignment method of the carrier rocket can be applied to the launching task of the carrier rocket after the accuracy verification is passed.
Example (b):
the embodiment of the invention provides a carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit, which comprises the following steps:
the method comprises the following steps: selecting an initial alignment reference coordinate system;
specifically, in the embodiment of the invention, the gravity coordinate system of the launching point is selected as an initial alignment reference coordinate system, and the coordinate origin ogAt the point of launch of the rocket body, ogygPointing out of the earth surface along the direction opposite to the gravity direction of the launching point, and forming an included angle B with the equatorial plane0Is the geographic latitude of the transmitting point, ogxgShaft and ogygThe axis is vertical and points to the launching direction of the carrier rocket, and the included angle A between the axis and the noon surface of the junior son0For launching the launch vehicle in azimuth, ogzgThe axes are determined by the right-hand rule, and it should be particularly noted that the origin of coordinates is fixed to the launching point and is a fixed-earth coordinate system which is fixedly connected with the earth, rather than a geographical coordinate system in which the origin of coordinates changes along with the swing of the arrow body.
When the carrier rocket is erected on a tower before launching, a launching pointGravity coordinate system ogxgygzgAnd arrow coordinate system obxbybzbSee fig. 1.
Step two: selecting a ten-meter strapdown inertial measurement unit meter head combination participating in initial alignment calculation;
in three-dimensional space, three non-collinear vectors can completely describe spatial motion. The ten-meter strapdown inertial measurement unit gyroscope and the accelerometer are both provided with five meters, and the gyroscopes which can participate in initial alignment calculation have all five meters
Arbitrary four tables
And any three meters
There are 16 combinations, and there are 16 combinations of accelerometers that can participate in the initial alignment solution.
And solving an installation error matrix of each combined strapdown inertial measurement unit instrument (gyroscope or accelerometer), taking the combination of four tables of an xyz gyroscope as an example, and solving as follows.
iEg_xyzt＝inv(Eg_xyzt′·Eg_xyzt)·Eg_xyzt′
Wherein iEg _ xyz: a pseudo-inverse matrix representing a four-table combined installation error matrix of the xyz gyroscope;
eg _ xyz: and representing the four-table combined installation error matrix of the xyz gyro.
Eg _ xyz': representing the transpose of the xyz gyro four-table combined mounting error matrix.
And performing modulus calculation on the inverse matrix or the pseudo-inverse matrix, and selecting the optimal combination of the gyroscope and the accelerometer with the minimum modulus to participate in initial alignment calculation.
Step three: redundant fault reconstruction processing of the strapdown inertial measurement unit;
and selecting the optimal combination of the ten-meter strapdown inertial measurement unit gyroscope and the accelerometer to participate in the full-autonomous alignment calculation according to the second step, and if the gyroscope or the accelerometer participating in the calculation has a fault, performing redundant reconstruction on the ten-meter strapdown inertial measurement unit gyroscope or the accelerometer according to a fault diagnosis result.
And if the gyroscope has a fault, selecting a strapdown inertial measurement unit gyroscope combination without the fault gyroscope during reconstruction, carrying out modulus calculation on an inverse matrix or a pseudo-inverse matrix of an installation error matrix of the strapdown inertial measurement unit gyroscope combination, and selecting a gyroscope suboptimal combination with the minimum modulus to participate in initial alignment calculation.
And if the accelerometer has a fault, selecting a strapdown inertial measurement unit accelerometer combination without the fault accelerometer during reconstruction, carrying out modulus calculation on an inverse matrix or a pseudo-inverse matrix of an installation error matrix of the strapdown inertial measurement unit accelerometer combination, and selecting the accelerometer suboptimal combination with the minimum modulus to participate in initial alignment calculation.
Step four: fully autonomous alignment of the strapdown inertial measurement unit;
the three initial attitude angles of the strapdown inertial measurement unit are determined by completely utilizing the angular velocity and apparent acceleration information measured by the strapdown inertial measurement unit, and common full-autonomous alignment methods comprise solidification analysis self-alignment and Kalman filtering self-alignment.
Solidification analysis self-alignment solution as shown in FIG. 2, and an attitude transformation matrix from a carrier rocket system to a launch point gravity coordinate system is calculated
Transforming matrix by attitude
The attitude angle at the initial alignment stage can be calculated.
Wherein the content of the first and second substances,
a transformation matrix representing the north-heaven-east coordinate system to the launching point gravity coordinate system;
The Kalman filtering self-alignment resolving process is shown in FIG. 3, and Kalman filtering operation is performed by selecting x-direction and z-direction velocities as observed quantities and selecting x-direction velocity deviation, z-direction velocity deviation and three-direction attitude angles as state quantities under a strapdown inertial group launching point gravity coordinate system. Calculating a filter system state transition matrix phiK,K-1Sum filter error matrix QK-1As follows.
QK-1＝0.5(Q0+ΦK,K-1Q0(ΦK,K-1)T)·ΔTAF
Wherein:
B0: representing the geographic latitude of the transmitting point;
A0: representing the transmit azimuth;
ωe0: the rotational angular rate of the earth;
Q0: initial values of a filter error matrix;
ΔTAF: and (5) fine alignment on a Kalman filtering period.
And performing filtering operation on the initial alignment of the strapdown inertial measurement unit by adopting a basic Kalman filtering operation algorithm.
Step five: and performing initial alignment processing when a certain table of the strapdown inertial measurement unit fails.
Specifically, under the condition of solidification analysis self-alignment, when a certain table fails, redundancy reconstruction is carried out on the ten-table strapdown inertial measurement unit gyroscope or accelerometer according to the third step, and fault table information needs to be removed in order to eliminate the large influence of gyroscope or accelerometer failure on an initial alignment result.
Specifically, under the condition of Kalman filtering self-alignment, when a certain table is in fault, redundancy reconstruction is carried out according to the third step, fault table information is eliminated, the Kalman filter needs to be reset at the same time, a filtering matrix and state quantity are reset to initial values at the initialization moment, and a filtering covariance matrix P is setkResetting the array to an initial value P0State quantity XkReset to the initial value X0The velocity observed quantity is set to 0.
Step six: and verifying the precision of the initial alignment result.
And (3) carrying out initial alignment verification on a static base of the carrier rocket: placing the strapdown inertial measurement unit provided with the prism on a marble platform on an independent foundation, and performing optical aiming on the strapdown inertial measurement unit prism by using a theodolite, wherein an aiming result is used as a reference; and powering up the strapdown inertial measurement unit, operating an initial alignment algorithm, comparing an initial alignment calculation result with an optical aiming result, and verifying whether the initial alignment precision of the static base meets the requirements of the carrier rocket.
And (3) carrying out initial alignment verification on a dynamic base of the carrier rocket: installing the strapdown inertial measurement unit provided with the prism on a three-axis turntable, and performing optical aiming on the prism of the strapdown inertial measurement unit by using a theodolite, wherein an aiming result is used as a reference; powering up the strapdown inertial measurement unit, and operating an initial alignment algorithm; swinging excitation in two horizontal directions is applied to the strapdown inertial measurement unit through the rotary table, and shaking caused by interference of wind and the like in the vertical state before shooting of the arrow body is simulated; and comparing the initial alignment calculation result with the actual angle of the rotary table, and verifying whether the initial alignment precision of the movable base meets the requirements of the carrier rocket.
Alignment verification of the standing state of the rocket body in the real tower environment before launching of the carrier rocket: and when testing after the carrier rocket is filled, acquiring output information of the strapdown inertial measurement unit, performing initial self-alignment calculation, and verifying initial alignment accuracy in a real application scene by taking an optical aiming result as a reference.
The method can solve the problem of initial alignment before launching of the carrier rocket with the ten-meter redundant strapdown inertial measurement unit, realizes the autonomous initial alignment of the whole process without manual participation, realizes the fault on-line reconstruction of the gyro or the accelerometer of the ten-meter redundant strapdown inertial measurement unit, and ensures that the initial attitude precision of the strapdown inertial measurement unit is high, the dynamic tracking capability is strong and the engineering practicability is high in the rocket testing and launching process.
The above description is only one embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
Claims (6)
1. A carrier rocket initial alignment method based on a ten-table redundant strapdown inertial measurement unit is characterized by comprising the following steps:
selecting a launching point gravity coordinate system as an initial alignment reference coordinate system;
selecting a ten-meter strapdown inertial measurement unit meter head combination participating in initial alignment calculation;
if the gyro or the accelerometer participating in the resolving fails, performing redundancy reconstruction on the ten-meter strapdown inertial measurement unit gyro or accelerometer according to a failure diagnosis result;
determining three initial attitude angles of the strapdown inertial measurement unit by utilizing the angular velocity and apparent acceleration information measured by the strapdown inertial measurement unit, and realizing full-autonomous initial alignment;
and verifying the precision of the initial alignment result.
2. The method of claim 1, wherein the launch point gravity coordinate system is a fixed-ground coordinate system relative to the earth.
3. The initial alignment method of a launch vehicle based on ten-table redundant strapdown inertial measurement unit (SDM) of claim 1, wherein the selection of the ten-table strapdown inertial measurement unit head combinations participating in the initial alignment solution is performed by:
the ten-meter strapdown inertial measurement unit is provided with five gyroscopes and five accelerometers, and the gyroscopes capable of participating in initial alignment calculation have five meters
Arbitrary four tables
And any three meters
16 gyro combinations in total;
accelerometers capable of participating in initial alignment resolution, and all five tables
Arbitrary four tables
And any three meters
16 accelerometer combinations in total;
solving an inverse matrix or a pseudo-inverse matrix of a gyro installation error matrix under each gyro combination, performing modulo calculation on the solved matrix, sequencing matrix models from small to large in sequence, and selecting the gyro combination with the smallest modulus to participate in initial alignment calculation;
and solving an inverse matrix or a pseudo-inverse matrix of an error matrix of the accelerometer installation under each accelerometer combination, performing modulo calculation on the solved matrix, sequencing matrix moduli from small to large in sequence, and selecting the accelerometer combination with the smallest modulus to participate in initial alignment calculation.
4. The initial alignment method of a launch vehicle based on ten-table redundant strapdown inertial measurement unit (SDM) of claim 3, wherein the method for redundant reconstruction of the SDM gyros or accelerometers is as follows:
if the gyro participating in the resolving fails, selecting a suboptimal combination of the gyro;
and if the accelerometers participating in the calculation fail, selecting a suboptimal combination of the accelerometers.
5. The initial alignment method of the launch vehicle based on the ten-table redundant strapdown inertial unit of claim 1, wherein three initial attitude angles of the strapdown inertial unit are determined by using angular velocity and apparent acceleration information measured by the strapdown inertial unit, and full-autonomous initial alignment is realized by using coagulation-analysis self-alignment or Kalman filtering self-alignment.
6. The initial alignment method of a launch vehicle based on ten-table redundant strapdown inertial measurement unit (SDMA) of claim 5, wherein if the gyro or accelerometer involved in the solution fails, the initial alignment method is as follows:
when a certain table is in fault, fault table information needs to be removed under the condition of realizing full-autonomous initial alignment by adopting solidification analysis self-alignment;
when the Kalman filtering self-alignment is adopted to realize the full-automatic initial alignment, and when a certain table fails, after redundant reconstruction and elimination of the information of the failed table, the Kalman filter needs to be reset at the same time.
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