CN112964240A

CN112964240A - Continuous north-seeking device and method, electronic equipment and storage medium

Info

Publication number: CN112964240A
Application number: CN202110195271.7A
Authority: CN
Inventors: 李荣熙; 韩雷晋; 司徒春辉; 朱赞林
Original assignee: Guangzhou Asensing Technology Co Ltd
Current assignee: Guangzhou Asensing Technology Co Ltd
Priority date: 2021-02-20
Filing date: 2021-02-20
Publication date: 2021-06-15
Anticipated expiration: 2041-02-20
Also published as: WO2022174831A1; CN112964240B

Abstract

The embodiment of the application provides a continuous north-seeking device and method, electronic equipment and a storage medium, and relates to the technical field of inertial navigation. The device comprises an MEMS gyroscope array, a sensor array and a control unit, wherein the MEMS gyroscope array comprises a plurality of coaxially arranged MEMS gyroscopes which are used for continuously outputting measured angular velocity data of a plurality of positions in the rotating process; the MEMS accelerometer is used for acquiring acceleration data when the MEMS gyro array generates horizontal displacement so as to acquire a true north included angle in the moving process according to the acceleration data; the data processing module, respectively with MEMS gyro array with MEMS accelerometer electricity is connected for receiving and processing angular velocity data with acceleration data to obtain true north contained angle under horizontal displacement or the no horizontal displacement state, the device adopts the MEMS gyro array of high accuracy, can the multiposition seek north in succession, solves current orientation equipment and receives environmental disturbance easily, bulky, with high costs, inconvenient carrying, increases the problem of seeking north time.

Description

Continuous north-seeking device and method, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of inertial navigation technologies, and in particular, to a continuous north-seeking apparatus, method, electronic device, and storage medium.

Background

Determining the current bearing is a central and critical issue in the broad military navigation and high-precision mapping fields. Currently, commonly used orientation equipment includes a magnetic compass, GNSS dual-antenna orientation equipment, a gyro orientation instrument and the like. The commonly used orientation equipment such as a magnetic compass is easily influenced by magnetic field interference formed by surrounding steel components and electrical equipment, so that the environmental interference such as a magnetic field needs to be eliminated firstly, and some orientation equipment has the defects of large volume, high cost, inconvenience in carrying, increased north-seeking time and the like.

Disclosure of Invention

An object of the embodiments of the present application is to provide a continuous north-seeking apparatus, a method, an electronic device, and a storage medium, which can continuously seek north at multiple positions by using a high-precision MEMS gyro array, and solve the problems that the existing orientation device is easily interfered by the environment, has a large volume and high cost, and is inconvenient to carry and increases the north-seeking time.

The embodiment of the application provides a device of seeking north in succession, the device includes:

the MEMS gyroscope array comprises a plurality of coaxially arranged MEMS gyroscopes, and is used for continuously outputting measured angular velocity data of a plurality of positions in the rotating process;

the MEMS accelerometer is used for acquiring acceleration data when the MEMS gyro array generates horizontal displacement so as to acquire a true north included angle in the moving process according to the acceleration data;

and the data processing module is respectively electrically connected with the MEMS gyro array and the MEMS accelerometer and is used for receiving and processing the angular velocity data and the acceleration data so as to obtain a true north included angle under the state of horizontal displacement or no horizontal displacement.

In the implementation process, the MEMS gyroscope array adopts a plurality of MEMS gyroscopes which are coaxially arranged, the precision is guaranteed, the cost is low, the size is small, the rotation speed of the earth can be accurately measured, the yaw angle can be measured through the multi-period rotation of the MEMS gyroscope array without horizontal displacement, and the accurate measurement in the horizontal movement state can be realized by combining the MEMS accelerometers, so that the continuous north-seeking measurement in a short time is realized.

Further, the apparatus further comprises a rotation device, the rotation device comprising:

the MEMS gyro array is arranged on the rotating platform;

and the motor is in transmission connection with the rotating platform and is controlled by the data processing module to drive the rotating platform to rotate.

In the implementation process, the motor is controlled to work through the data processing module, so that the rotating platform drives the MEMS gyroscope array to rotate continuously, and the north-seeking result is accurately obtained through continuous north seeking.

Further, the apparatus further comprises:

and the zero photoelectric sensor is arranged on the rotating device and used for monitoring the initial position of each period of rotation of the rotating device.

In the above implementation, the zero position photosensor is used to monitor the initial position of each rotation of the platform, which is also the orientation of the device when in use.

Further, the MEMS gyroscope array comprises 2-4 MEMS gyroscopes, and sensitive axes of the MEMS gyroscopes are coaxially mounted and parallel to the rotating platform upper surface.

In the implementation process, the MEMS gyroscope array is formed by coaxially mounting 2-4 MEMS gyroscopes, and the purpose is to obtain the precision far higher than that of one gyroscope under the conditions of proper volume and cost by optimizing the measurement results of a plurality of gyroscopes.

The embodiment of the application also provides a continuous north-seeking method, which is applied to a data processing module and comprises the following steps:

receiving angular velocity data corresponding to each position output when the MEMS gyro array rotates at least one circle and rotates to a plurality of set positions;

receiving acceleration data output by a MEMS accelerometer when the MEMS gyro array generates horizontal displacement;

and processing the angular velocity data and the acceleration data to obtain a true north included angle under the state of horizontal displacement or no horizontal displacement.

In the above-mentioned realization process, can find out true north contained angle fast, do not receive magnetic field environment interference, can remove the direction finder after obtaining true north contained angle, true north contained angle can change along with equipment removes, and the device has characteristics small, light in weight, can accomodate by the pocket, greatly reduced is to transportation and service environment's restriction, and application scenario and range of application are more extensive.

Further, the processing the angular velocity data to obtain a true north included angle in a state without horizontal displacement includes:

if the MEMS gyroscope array does not have horizontal displacement in the process of acquiring the angular velocity data, performing Fourier transform on the angular velocity data to obtain a real-time phase value;

and acquiring the true north included angle according to the real-time phase value.

In the implementation process, under the condition of no horizontal displacement, the north-seeking result can be synchronously output in the continuous rotation process of the MEMS gyro array.

Further, the processing the angular velocity data and the acceleration data to obtain a true north included angle under horizontal displacement includes:

if the MEMS gyroscope array has horizontal displacement in the process of acquiring the angular velocity data, acquiring sampling data of acceleration data and angular velocity data;

correcting the sampling data to obtain corrected data;

filtering the correction data by using an extended Kalman filter to obtain and update an attitude angle;

and obtaining the true north included angle based on the attitude angle.

In the implementation process, when the device has horizontal displacement, the angle change in the moving process of the device can be continuously output through the combination of the acceleration data and the angular velocity data.

Further, the modifying the sampling data to obtain modified data includes:

and correcting the sampling data through calibration compensation and zero drift correction.

In the implementation process, the sampling value is corrected through calibration compensation and zero drift correction.

An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the continuous north-seeking method described in any one of the above.

An embodiment of the present application further provides a readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the method performs the continuous north-seeking method described in any one of the above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a block diagram of a continuous north-seeking apparatus according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of a continuous north-seeking method according to an embodiment of the present application;

fig. 3 is a flowchart for obtaining a true north included angle in a state without horizontal displacement according to an embodiment of the present application;

fig. 4 is a flowchart for obtaining a true north included angle under a condition of horizontal displacement according to the embodiment of the present application;

FIG. 5 is a block diagram of course extrapolation provided in an embodiment of the present application.

Icon:

a 100-MEMS gyroscope array; 101-zero photosensor; 102-a MEMS accelerometer; 103-a data processing module; 104-wire slip rings; 105-a motor driver; 106-a motor; 107-rotating the platform.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Example 1

Referring to fig. 1, fig. 1 is a block diagram of a continuous north-seeking apparatus according to an embodiment of the present disclosure. The device includes:

the MEMS gyroscope array 100 comprises a plurality of coaxially arranged MEMS gyroscopes, and is used for continuously outputting measured angular velocity data of a plurality of positions in the rotating process;

the MEMS accelerometer 102 is configured to acquire acceleration data when the MEMS gyroscope array 100 generates horizontal displacement, so as to acquire a true north angle in a moving process according to the acceleration data.

And the data processing module 103 is electrically connected with the MEMS gyro array 100 and the MEMS accelerometer 102 respectively and is used for receiving and processing the angular velocity data and the acceleration data so as to obtain a true north included angle in a horizontal displacement state or a non-horizontal displacement state.

The MEMS gyroscope array 100 is disposed on a rotating device, the rotating device comprising:

a rotating platform 107, the MEMS gyroscope array 100 being disposed on the rotating platform 107;

and the motor 106 is in transmission connection with the rotating platform 107 and is controlled by the data processing module 103 to drive the rotating platform 107 to rotate.

Specifically, the motor 106 is connected to a motor driver 105, and the motor driver 105 is connected to the data processing module 103 through a lead slip ring 104, so as to control starting and stopping of the motor 106.

Illustratively, the MEMS gyroscope array is formed by coaxially mounting a plurality of MEMS gyroscopes, and is mounted on a rotating platform 107, the motor 106 may be a stepping motor, the rotating platform 107 is connected to the stepping motor and driven by the stepping motor to rotate at a constant speed, and the data processing module 103, such as a DSP, sends an instruction to the motor driver 105 to control the motor 106 to drive the rotating platform 107 to rotate at a constant speed.

As one of the embodiments, the MEMS gyroscope array 100 may include 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are coaxially installed and parallel to the upper surface of the rotating platform 107 for continuously outputting the measured angular velocity data, i.e. the component of the rotational angular velocity of the earth on the sensitive axes thereof.

The purpose of coaxially mounting 2-4 pieces of MEMS gyroscopes to form the MEMS gyroscope array 100 is to obtain a precision much higher than that of one piece of gyroscope under appropriate volume and cost conditions by optimizing the measurement results of multiple pieces of gyroscopes.

Compared with an optical fiber gyroscope and a laser gyroscope, the MEMS gyroscope has the advantages of lower cost, smaller volume and lower precision, the current higher-precision MEMS gyroscope floats zero at 1-10 degrees/hour, the rotational angular velocity of the earth is 15.0411 degrees/hour, the precision is still more reluctant when the rotational angular velocity of the earth is measured, but if a plurality of MEMS gyroscope arrays are adopted, for example, the outputs of N pieces of MEMS gyroscopes which are coaxially arranged and have the same characteristic are added, modeling and optimized calculation are carried out according to the statistics and time sequence characteristics of each MEMS gyroscope, the precision can be greatly improved, and the effects of lower cost, smaller volume and capability of accurately measuring the rotational angular velocity of the earth are achieved.

In addition, the number of MEMS gyroscopes used may be considered based on the calculation accuracy, cost, and volume, and the number of MEMS gyroscopes is not limited herein.

The device also comprises a zero photoelectric sensor 101 which is arranged on the rotating device and used for monitoring the initial position of each period of rotation of the rotating device.

The zero photoelectric sensor 101, such as a zero photoelectric switch, is used to monitor the initial position of each rotation of the rotary platform 107, which is also the orientation of the direction finder during use, and the zero photoelectric sensor 101 can be zero-corrected by the DSP.

And adopting a continuous north-seeking method, starting to acquire data from a zero position by the motor 106, then accurately rotating for 360 DEG/N, taking the gyro output values of N times of positions, and averaging the gyro output signals of each position to obtain an accurate true north included angle, wherein the MEMS gyro array 100 rotates for one circle to obtain a sinusoidal gyro output signal. By collecting output results of gyro sensitive axes at a plurality of rotation positions, the output of north-seeking results can be rapidly completed by utilizing the relation between yaw angles and the output results.

When the device generates horizontal displacement, the MEMS accelerometer 102 is used for measuring and obtaining acceleration data, the data are corrected by processing the acceleration data and angular velocity data such as calibration compensation and zero drift correction, and an attitude angle is output by using an extended Kalman filter, so that the direction angle measurement can be continuously performed in a short time.

In conclusion, the continuous north-seeking through the MEMS gyroscope has the advantages of fast north-seeking, small volume and low cost, can reduce the limitation of the use scene of the north-seeking instrument, and can obtain the precision superior to that of a single MEMS gyroscope by adopting a plurality of MEMS gyroscope arrays to carry out the continuous north-seeking; the true north contained angle of exportable orientation within 3 minutes after horizontal placement, and later if take place horizontal migration, can last the true north contained angle of output orientation change, the device does not receive horizontal displacement's influence, can realize seeking north fast in succession.

Example 2

The embodiment of the present application provides a continuous north-seeking method, which is applied to the data processing module 103 in embodiment 1, as shown in fig. 2, which is a flow chart of the continuous north-seeking method, and can implement measurement of a true north included angle in a non-horizontal displacement state and a horizontal movement state, where the method includes:

step S100: receiving angular velocity data corresponding to each position output when the MEMS gyro array 100 rotates at least one circle and rotates to a plurality of set positions;

step S200: receiving acceleration data output by a MEMS accelerometer 102 when the MEMS gyro array 100 generates horizontal displacement;

step S300: and processing the angular velocity data and the acceleration data to obtain a true north included angle under the state of horizontal displacement or no horizontal displacement.

As an embodiment, as shown in fig. 3, a flowchart for obtaining the true north angle in the state without horizontal displacement may specifically include:

step S311: if the MEMS gyroscope array 100 has no horizontal displacement in the process of acquiring the angular velocity data, performing Fourier transform on the angular velocity data to obtain a real-time phase value;

step S312: and acquiring the true north included angle according to the real-time phase value.

Under the condition of no horizontal displacement, the motor 106 is enabled to start data acquisition from a zero position, then the motor is precisely rotated for 360 DEG/N, the gyro output value at N times of positions is obtained, FFT conversion is carried out on the data at N times of positions, namely the initial phase is obtained for the sine and cosine signal of a single period, the initial heading angle can be obtained, but the precision is not high, the MEMS gyro array 100 can be continuously rotated for multiple circles by adopting a continuous north-seeking algorithm in the continuous rotation process of the gyro, the gyro output signal at each position is averaged, then FFT conversion is carried out on the data at N positions, real-time phase values at different positions can be obtained, and the final true north included angle, namely the yaw angle, can be obtained.

As another embodiment, as shown in fig. 4, a flowchart for obtaining the true north angle under the condition of horizontal displacement is provided, and the step specifically includes:

step S321: if the MEMS gyroscope array 100 has horizontal displacement in the process of acquiring the angular velocity data, acquiring sampling data of acceleration data and angular velocity data;

step S322: correcting the sampling data to obtain corrected data;

step S323: filtering the correction data by using an extended Kalman filter to obtain and update an attitude angle;

step S324: and obtaining the true north included angle based on the attitude angle.

As shown in fig. 5, the heading extrapolation diagram is used to correct the sampling data, and the sampling data can be corrected by calibration compensation and zero drift correction, and the attitude angle can be obtained by filtering through the extended kalman filter, and meanwhile, the attitude angle is updated, and the true north included angle can be obtained through the attitude angle, so that the true north included angle with a changing orientation can be continuously output no matter whether the device generates horizontal displacement or not.

An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the continuous north seeking method according to any one of embodiments 1.

The embodiment of the present application further provides a readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the method of the continuous north-seeking method according to any one of embodiment 1 is performed.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A continuous north-seeking apparatus, comprising:

2. The continuous north-seeking apparatus according to claim 1, further comprising a rotating apparatus, the rotating apparatus comprising:

the MEMS gyro array is arranged on the rotating platform;

3. The continuous north-seeking apparatus according to claim 2, further comprising:

4. The continuous north-seeking apparatus according to claim 2, wherein:

the MEMS gyroscope array comprises 2-4 MEMS gyroscopes, and sensitive axes of the MEMS gyroscopes are coaxially mounted and parallel to the upper surface of the rotary platform.

5. A continuous north-seeking method applied to a data processing module, the method comprising:

6. The continuous north-seeking method according to claim 5, wherein the processing the angular velocity data to obtain the true north angle without horizontal displacement comprises:

7. The continuous north-seeking method according to claim 5, wherein the processing the angular velocity data and the acceleration data to obtain a true north angle under horizontal displacement comprises:

correcting the sampling data to obtain corrected data;

and obtaining the true north included angle based on the attitude angle.

8. The continuous north-seeking method according to claim 7, wherein the modifying the sampled data to obtain modified data comprises:

9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the continuous north-seeking method according to any one of claims 5 to 8.

10. A readable storage medium having stored thereon computer program instructions which, when read and executed by a processor, perform the continuous north-seeking method of any one of claims 5 to 8.