CN113155119B - Vibration compensation method and device for astronomical navigation and electronic equipment - Google Patents
Vibration compensation method and device for astronomical navigation and electronic equipment Download PDFInfo
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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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The application provides a vibration compensation method, a device and electronic equipment for astronomical navigation, and relates to the technical field of astronomical navigation. According to the technical scheme, when relative displacement occurs between the observation platform and the aircraft, the deviation between the observation platform and the aircraft can be compensated in time according to the relative displacement information, the observation platform and the aircraft are guaranteed to be in a relatively static state at all times, the influence of vibration of the aircraft is eliminated, and the navigation precision of astronomical navigation is improved.
Description
Technical Field
The application relates to astronomical navigation technology, in particular to a vibration compensation method and device for astronomical navigation and electronic equipment, and belongs to the technical field of astronomical navigation compensation.
Background
The navigation system is one of the most important working systems in an aircraft, and the existing on-board navigation system is usually an astronomical inertial integrated navigation system. By combining the advantages of astronomical navigation and inertial navigation, a more practical, reliable and high-precision navigation system can be realized.
Astronomical navigation can determine the position of a target celestial body through an observation device arranged on an aircraft observation platform, and then the position of the aircraft is determined through astronomical data and the position of the target celestial body. Therefore, the higher the observation accuracy of the observation device, the higher the positioning accuracy of astronomical navigation. However, since the aircraft can generate strong vibration during the flight, the observation platform can vibrate accordingly, and finally the observation result of the observation device is affected. A common solution to the vibration effects is to install vibration damping means by means of which the vibration effects are counteracted.
However, the vibration damper belongs to a passive isolation method, and can not completely eliminate the vibration influence of the aircraft, so that the navigation precision of the existing astronomical navigation also has a large lifting space.
Disclosure of Invention
In view of the above, the present application provides a vibration compensation method and apparatus for astronomical navigation and an electronic device, which are used for improving the navigation accuracy of astronomical navigation.
In order to achieve the above object, in a first aspect, an embodiment of the present application provides a vibration compensation method for astronomical navigation, applied to an aircraft, the aircraft including an observation platform, a first measurement unit disposed on the observation platform, and a second measurement unit disposed on the aircraft, the first measurement unit being configured to measure a displacement of the observation platform, the second measurement unit being configured to measure a displacement of the aircraft, the method including:
Acquiring a first displacement measured by a first measuring unit and a second displacement measured by a second measuring unit;
determining relative displacement information according to the first displacement and the second displacement, wherein the relative displacement information is the displacement of the observation platform relative to the aircraft;
and according to the relative displacement information, performing vibration compensation on the observation platform.
Optionally, the first coordinate system to which the first displacement and the second displacement belong is a coordinate system of a sensor, the second coordinate system to which the relative displacement information belongs is a coordinate system of an aircraft, and determining the relative displacement information according to the first displacement and the second displacement includes:
determining a third displacement according to the first displacement and the second displacement, wherein the third displacement is a difference value between the first displacement and the second displacement, and a third coordinate system to which the third displacement belongs is a coordinate system of the sensor;
and converting the third displacement into relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit.
Optionally, the first measuring unit comprises at least one sensor for measuring a linear or angular displacement of the observation platform in at least one coordinate axis direction, and the third displacement comprises at least one coordinate axis direction linear or angular displacement.
Optionally, the third displacement and the relative displacement information each include a linear displacement and an angular displacement in an X-axis direction, a linear displacement and an angular displacement in a Y-axis direction, and a linear displacement and an angular displacement in a Z-axis direction, and converting the third displacement into the relative displacement information includes:
the relative displacement information is determined using the following formula:
wherein T represents the coordinate conversion relation,x ps linear displacement in X-axis direction, y representing relative displacement information ps Linear displacement, z, in the Y-axis direction representing relative displacement information ps Linear displacement in the Z-axis direction of the relative displacement information, θ represents angular displacement in the Z-axis direction of the relative displacement information, γ represents angular displacement in the X-axis direction of the relative displacement information, ψ represents angular displacement in the Y-axis direction of the relative displacement information, S' 1 Linear displacement in Y-axis representing third displacement, S' 3 A linear displacement in the Z-axis direction representing a third displacement, S' 5 X-axis linear displacement, S 'representing a third displacement' 2 An angular displacement in the Y-axis direction representing a third displacement, S' 4 An angular displacement in the Z-axis direction, S 'representing a third displacement' 6 An angular displacement in the X-axis direction, l, representing a third displacement 1x Representing S' 1 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 1z Representing S' 1 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2z Representing S' 2 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2x Representing S' 2 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 3z Representing S' 3 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 3x Representing S' 3 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 4z Representing S' 4 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 4x Representing S' 4 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 5z Representing S' 5 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 5x Representing S' 5 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 6y Representing S' 6 Y-axis coordinates of the corresponding sensor in the first coordinate system, l 6x Representing S' 6 The X-axis coordinates of the corresponding sensor in the first coordinate system.
Optionally, the relative displacement information includes a relative displacement of the observation platform corresponding to at least one coordinate axis, and vibration compensation is performed on the observation platform according to the relative displacement information, including:
according to the relative displacement of the observation platform in each coordinate axis in the relative displacement information, determining the displacement direction and the displacement distance of the observation platform in each coordinate axis;
and controlling the observation platform to move a target distance upwards along the target direction on each coordinate axis so as to perform vibration compensation, wherein the target direction is the opposite direction of the displacement direction of the observation platform corresponding to the upwards coordinate axis, and the target distance is the displacement distance of the observation platform corresponding to the upwards coordinate axis.
In a second aspect, an embodiment of the present application provides a vibration compensation device for astronomical navigation, which is applied to an aircraft, and is characterized in that the aircraft includes an observation platform, a first measurement unit disposed on the observation platform, and a second measurement unit disposed on the aircraft, the first measurement unit is used for measuring displacement of the observation platform, the second measurement unit is used for measuring displacement of the aircraft, and the device includes:
the acquisition module is used for acquiring the first displacement measured by the first measurement unit and the second displacement measured by the second measurement unit;
the determining module is used for determining relative displacement information according to the first displacement and the second displacement, wherein the relative displacement information is the displacement of the observation platform relative to the aircraft;
and the compensation module is used for carrying out vibration compensation on the observation platform according to the relative displacement information.
Optionally, the first coordinate system to which the first displacement belongs is a coordinate system of an observation platform, the first coordinate system to which the first displacement and the second displacement belong is a coordinate system of a sensor, the second coordinate system to which the relative displacement information belongs is a coordinate system of an aircraft, and the determining module is specifically configured to:
determining a third displacement according to the first displacement and the second displacement, wherein the third displacement is a difference value between the first displacement and the second displacement, and a third coordinate system to which the third displacement belongs is a coordinate system of the sensor;
And converting the third displacement into relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit.
Optionally, the first measuring unit comprises at least one sensor for measuring a linear or angular displacement of the observation platform in at least one coordinate axis direction, and the third displacement comprises at least one coordinate axis direction linear or angular displacement.
Optionally, the third displacement and the relative displacement information include a linear displacement and an angular displacement in an X-axis direction, a linear displacement and an angular displacement in a Y-axis direction, and a linear displacement and an angular displacement in a Z-axis direction, and the determining module is specifically configured to convert the third displacement into the relative displacement information:
the relative displacement information is determined using the following formula:
wherein T represents coordinate rotationThe relation is changed, and the relation is changed,x ps linear displacement in X-axis direction, y representing relative displacement information ps Linear displacement, z, in the Y-axis direction representing relative displacement information ps Linear displacement in the Z-axis direction of the relative displacement information, θ represents angular displacement in the Z-axis direction of the relative displacement information, γ represents angular displacement in the X-axis direction of the relative displacement information, ψ represents angular displacement in the Y-axis direction of the relative displacement information, S' 1 Linear displacement in Y-axis representing third displacement, S' 3 A linear displacement in the Z-axis direction representing a third displacement, S' 5 X-axis linear displacement, S 'representing a third displacement' 2 An angular displacement in the Y-axis direction representing a third displacement, S' 4 An angular displacement in the Z-axis direction, S 'representing a third displacement' 6 An angular displacement in the X-axis direction, l, representing a third displacement 1x Representing S' 1 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 1z Representing S' 1 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2z Representing S' 2 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2x Representing S' 2 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 3z Representing S' 3 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 3x Representing S' 3 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 4z Representing S' 4 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 4x Representing S' 4 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 5z Representing S' 5 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 5x Representing S' 5 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 6y Representing S' 6 Y-axis coordinates of the corresponding sensor in the first coordinate system, l 6x Representing S' 6 The X-axis coordinates of the corresponding sensor in the first coordinate system.
Optionally, the relative displacement information includes a relative displacement of the observation platform corresponding to at least one coordinate axis, and the compensation module is specifically configured to:
according to the relative displacement of the observation platform in each coordinate axis in the relative displacement information, determining the displacement direction and the displacement distance of the observation platform in each coordinate axis;
and controlling the observation platform to move a target distance upwards along the target direction on each coordinate axis so as to perform vibration compensation, wherein the target direction is the opposite direction of the displacement direction of the observation platform corresponding to the upwards coordinate axis, and the target distance is the displacement distance of the observation platform corresponding to the upwards coordinate axis.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor, the memory for storing a computer program; the processor is adapted to perform the method of the first aspect or any of the embodiments of the first aspect described above when the computer program is invoked.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect or any implementation of the first aspect.
In a fifth aspect, embodiments of the present application provide a chip system, where the chip system includes a processor, and the processor is coupled to a memory, and the processor executes a computer program stored in the memory, to implement the method of the first aspect or any implementation manner of the first aspect.
In a sixth aspect, embodiments of the present application provide a computer program product for, when run on an electronic device, causing the electronic device to perform the method of the first aspect or any implementation of the first aspect.
According to the vibration compensation method, the device and the electronic equipment for astronomical navigation, the first displacement measured by the first measuring unit and the second displacement measured by the second measuring unit are obtained, the relative displacement information is determined according to the first displacement and the second displacement, and then vibration compensation is carried out on the observation platform according to the relative displacement information. According to the method and the device, when relative displacement occurs between the observation platform and the aircraft, the deviation between the observation platform and the aircraft is compensated in time according to the relative displacement information, the observation platform and the aircraft are guaranteed to be in a relatively static state at all times, the influence of vibration of the aircraft is eliminated, and the navigation precision of astronomical navigation is improved.
Drawings
Fig. 1 is a flow chart of a vibration compensation method of astronomical navigation according to an embodiment of the present application;
fig. 2 is a schematic diagram of a positional relationship between an observation platform and an aircraft according to an embodiment of the present application;
fig. 3 is a schematic diagram of sensor distribution of a measurement unit according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a coordinate system according to an embodiment of the present disclosure;
FIG. 5a is a diagram of longitude positioning accuracy prior to vibration compensation provided by an embodiment of the present application;
FIG. 5b is a graph of longitude positioning accuracy after vibration compensation provided by an embodiment of the present application;
FIG. 6a is a diagram of positioning accuracy of latitude before vibration compensation according to an embodiment of the present application;
FIG. 6b is a diagram of vibration compensated post-latitude positioning accuracy provided by an embodiment of the present application;
FIG. 7a is a diagram of the overall system positioning accuracy prior to vibration compensation provided by an embodiment of the present application;
FIG. 7b is a diagram of the positioning accuracy of the total system after vibration compensation according to an embodiment of the present application;
FIG. 8a is a Monte Carlo error factor diagram of an integrated inertial navigation system on board prior to vibration compensation according to an embodiment of the present application;
FIG. 8b is a Monte Carlo error factor diagram of an integrated vibration compensated airborne astronomical inertial navigation system provided by an embodiment of the present application;
fig. 9 is a schematic structural diagram of an astronomical navigation vibration compensation device according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The vibration compensation method for astronomical navigation provided by the embodiment of the application can be applied to electronic equipment such as a computer, a workstation or a processing terminal, and the specific type of the electronic equipment is not limited.
Fig. 1 is a flow chart of a vibration compensation method of astronomical navigation according to an embodiment of the present application, as shown in fig. 1, the method may include the following steps:
s110, acquiring the first displacement measured by the first measuring unit and the second displacement measured by the second measuring unit.
Referring to fig. 2, fig. 2 is a schematic diagram of a positional relationship between an observation platform and an aircraft provided in an embodiment of the present application, when the aircraft flies in the air, vibration may be generated due to insufficient structural rigidity of the aircraft, and the vibration may cause relative displacement between the observation platform and the aircraft, which is responsible for astronomical navigation, and the relative displacement includes angular displacement and linear displacement. The relative displacement may cause a deviation between the actual value and the observed value of the observation platform, and therefore, the navigation data calculated by the computer according to the observed value may generate a certain error. In order to solve the above problems, a vibration damping device may be added between the observation platform and the aircraft, but the vibration damping device cannot completely eliminate the relative displacement between the observation platform and the aircraft.
In this application embodiment, can set up first measuring unit on the observation platform, set up the second measuring unit on the aircraft, first measuring unit is used for measuring the displacement of observation platform, and the second measuring unit is used for measuring the displacement of aircraft. When the aircraft starts to fly, the computer can acquire the first displacement measured by the first measuring unit and the second displacement measured by the second measuring unit, and calculate the relative displacement between the observation platform and the aircraft according to the first displacement and the second displacement. The first measuring unit and the second measuring unit may each comprise at least one sensor for measuring a linear displacement or an angular displacement of the observation platform or the aircraft in at least one coordinate axis. For example, the first measuring unit and the second measuring unit may each include a linear displacement sensor, the first measuring unit may measure a linear displacement of the measurement observation platform in the X coordinate axis direction by the linear displacement sensor, and the second measuring unit may measure a linear displacement of the measurement aircraft in the X coordinate axis direction by the linear displacement sensor.
In order to obtain more comprehensive displacement information to improve accuracy of the vibration compensation result, the first measurement unit and the second measurement unit may each include at least one angular displacement sensor and at least one linear displacement sensor, wherein the angular displacement sensor may be a gyroscope and the linear displacement sensor may be an accelerometer. Any object has six degrees of freedom, namely translation and rotation in the XYZ coordinate axes. In the specific implementation, if a common sensor is adopted (i.e. only one coordinate axis can be measured for translation or rotation in the upward direction), three linear displacement sensors and three angular displacement sensors can be adopted for respectively measuring translation and rotation in the upward direction of the XYZ coordinate axis; if a triaxial sensor is used (i.e. three coordinate axes can be measured for translation or rotation in the upward direction) then one triaxial displacement sensor and one triaxial angular displacement sensor can be used to measure translation and rotation in the upward direction of the XYZ coordinate axes, respectively. The sensor is provided in relation to the performance of the sensor, and therefore, the application of the present application is not limited as long as the translation and rotation in the XYZ coordinate axis direction can be accurately measured.
Exemplary, referring to fig. 3, fig. 3 is a schematic diagram of sensor distribution of a measuring unit according to an embodiment of the present application, where three linear displacement sensors S of a first measuring unit are disposed on an observation platform 1 、S 3 、S 5 And three angular displacement sensors S 2 、S 4 、S 6 . Taking the center of the observation platform as an origin, establishing a sensor coordinate system (S), and then, obtaining a sensor S 1 、S 2 、S 3 、S 4 、S 5 And S is 6 The coordinates in the sensor coordinate system(s) are (-l) respectively 1x ，l 1y ，l 1z )、(l 2x ，l 2y ，l 2z )、(l 3x ，l 3y ，l 3z )、(l 4x ，-l 4y ，l 4z )、(l 5x ，-l 5y ，l 5z )、(-l 6x ，-l 6y ，l 6z ). For the convenience of calculation, under the observation platform, the method comprises the following steps ofThree linear displacement sensors and three angular displacement sensors of the second measuring unit should be provided. For example, the sensor S of the first measuring unit 1 The coordinates of (10,10,10), the sensor G of the second measuring unit 1 Is (10, 10, -10). It should be noted that the three linear displacement sensors and the three angular displacement sensors of the second measurement unit may not be disposed directly below the observation platform, for example, the sensor S of the first measurement unit 1 The coordinates of (10,10,10), the sensor G of the second measuring unit 1 Is (12, 12, -10).
S120, determining relative displacement information according to the first displacement and the second displacement.
In the embodiment of the present application, according to the measurement principle of the sensor, the first coordinate system to which the first displacement and the second displacement belong is the coordinate system of the sensor. In this embodiment, the relative displacement information is a displacement of the observation platform relative to the aircraft, and the second coordinate system to which the relative displacement information belongs is a coordinate system of the aircraft. Therefore, the first displacement and the second displacement need to be subjected to coordinate conversion to obtain relative displacement information.
Specifically, the computer may determine the relative displacement information by:
s121, determining a third displacement according to the first displacement and the second displacement.
The computer can determine the difference between the first displacement and the second displacement according to the first displacement and the second displacement, and the difference is the third displacement. Since the first coordinate system to which the first displacement and the second displacement belong is the coordinate system of the sensor, the third coordinate system to which the third displacement belongs is also the coordinate system of the sensor, wherein the third displacement comprises at least one linear displacement or angular displacement in the upward direction of the coordinate axes.
Specifically, if the first coordinate system is the coordinate system of the sensor in the first measurement unit, the second displacement may be converted into the first coordinate system, and then the third displacement is determined according to the first displacement and the converted second displacement; if the first coordinate system is the coordinate system of the sensor in the second measuring unit, the first displacement may be converted into the first coordinate system, and then the third displacement may be determined according to the converted first displacement and second displacement. In the embodiment of the present application, the first coordinate system is the coordinate system of the sensor in the first measuring unit.
For example, the first coordinate system is the coordinate system of the sensor in the first measuring unit, the first displacement measured by the first measuring unit is (120, 10, 150, 10 °, -5 °,5 °), the second displacement measured by the second measuring unit is (125, 15, 155,8 °, -1 °,2 °), the second displacement can be converted into the first coordinate system to obtain the second displacement (115, 14, 155,8 °,0 °,0 °) in the first coordinate system, and the third displacement is (5, -4, -5,2 °, -5 °,5 °) at a certain time during the flight.
S122, converting the third displacement into relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit.
Because the third coordinate system to which the third displacement belongs is the coordinate system of the sensor, the computer cannot directly compensate the observation platform according to the specific value in the third displacement. The computer can convert the third displacement into relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit, and then compensate the observation platform according to the relative displacement information.
The following describes a process of determining the coordinate conversion relationship between the first coordinate system and the second coordinate system.
Specifically, fig. 4 is a schematic diagram of a coordinate system provided in an embodiment of the present application, and as shown in fig. 4, a second coordinate system (n) O is established on the aircraft n X n Y n Z n (which may also be referred to as an inertial coordinate system), an observation platform coordinate system (p) O is established on the observation platform p X p Y p Z p Establishing a first coordinate system(s) O at the center of the observation platform s X s Y s Z s (which may also be referred to as a sensor coordinate system). Wherein, in practical application, the distance between the observation platform and the aircraft is small, so the inertial coordinate system (n), the observation platform coordinate system (p) and the sensor coordinate system(s) are arranged in the initial bar Under the piece (when the aircraft is not moving), it can be considered as coincidence.
According to the coordinate conversion theory, for any two coordinate systems A and B with the original points being coincident but the coordinate axes being not coincident, the following formulas exist:
wherein T isθ represents the angular displacement in the Z-axis direction, γ represents the angular displacement in the X-axis direction, and ψ represents the angular displacement in the Y-axis direction.
Assume that a certain point t (test point) exists in the observation platform, and the coordinate of the point t in the inertial coordinate system (n) is (x) t ，y t ，z t ) The coordinates of the point t in the coordinate system (p) of the observation platform are (x) p ，y p ，z p ) Then (x) t ，y t ，z t ) And (x) p ，y p ，z p ) The following relationship exists:
wherein, (x) c ，y c ，z c ) Is the translation between the inertial coordinate system (n) and the observation platform coordinate system (p).
Further, the coordinates of the t point in the sensor coordinate system(s) are (x) s ，y s ，z s ) Then (x) s ，y s ，z s ) And (x) p ，y p ，z p ) The following relationship exists:
it is assumed that the sensor distribution of the first measuring unit is shown in FIG. 3 as sensor S 1 For example, sensor S 1 The coordinates in the observation platform coordinate system (p) are (x) s1 ，y s1 ，z s1 ) Sensor S 1 The coordinates in the sensor coordinate system(s) are (x, y, z), then the following relationship exists:
wherein, (x) ps ，y ps ，z ps ) Is the amount of translation between the sensor coordinate system(s) and the observation platform coordinate system (p).
At some point during the flight, the following relationship exists:
Wherein (Deltax, deltay, deltaz) is the third displacement, (x 0 ，y 0 ，z 0 ) To the sensor S in the initial condition 1 Coordinates in the sensor coordinate system(s).
(x 0 ，y 0 ，z 0 ) Namely (x) s1 ，y s1 ，z s1 ) Thus, equation (5) may be further expressed as:
due to the sensor S 1 Only the linear displacement in the Y-axis direction can be detected, so it is possible to obtain according to the formula (6):
Δy 1 ＝y ps +ψx s1 -θz s1 (7)
wherein Δy 1 Representing the linear displacement of the observation stage in the Y-axis direction.
Further, according to the sensor S 2 、S 3 、S 4 、S 5 And S is 6 The following formulas can be obtained, respectively:
wherein Δz 2 Represents the angular displacement of the observation platform in the Y-axis direction, delta Y 3 Represents the linear displacement of the observation platform in the Z-axis direction, deltaz 4 Represents the angular displacement of the observation platform in the Z-axis direction, deltax 5 Represents the linear displacement of the observation platform in the X-axis direction, deltaz 6 Indicating the angular displacement of the observation stage in the X-axis direction. X is x s2 Representing sensor S 2 Position in X-axis direction in sensor coordinate system(s) under initial condition, X s3 Representing sensor S 3 Position in X-axis direction in sensor coordinate system(s) under initial condition, X s4 Representing sensor S 4 Position in X-axis direction in sensor coordinate system(s) under initial condition, X s5 Representing sensor S 5 Position in X-axis direction in sensor coordinate system(s) under initial condition, X s6 Representing sensor S 6 The position in the X-axis direction, z, in the sensor coordinate system(s) under initial conditions s2 Representing sensor S 2 Position in the Z-axis direction in the sensor coordinate system(s) under initial conditions, Z s3 Representing sensor S 3 Position in the Z-axis direction in the sensor coordinate system(s) under initial conditions, Z s4 Representing sensor S 4 Position in the Z-axis direction in the sensor coordinate system(s) under initial conditions, Z s5 Representing sensor S 5 Position in the Z-axis direction in the sensor coordinate system(s) under initial conditions, Z s6 Representing sensor S 6 The position in the Z-axis direction in the sensor coordinate system(s) under the initial condition.
As can be seen from fig. 3, in the initial condition the sensor S 1 、S 2 、S 3 、S 4 、S 5 And S is 6 The coordinates in the sensor coordinate system(s) are (-l) respectively 1x ，l 1y ，l 1z )、(l 2x ，l 2y ，l 2z )、(l 3x ，l 3y ，l 3z )、(l 4x ，-l 4y ，l 4z )、(l 5x ，-l 5y ，l 5z )、(-l 6x ，-l 6y ，l 6z ). Meanwhile, assume that S' 1 Linear displacement in Y-axis representing third displacement, S' 3 A linear displacement in the Z-axis direction representing a third displacement, S' 5 X-axis linear displacement, S 'representing a third displacement' 2 An angular displacement in the Y-axis direction representing a third displacement, S' 4 An angular displacement in the Z-axis direction, S 'representing a third displacement' 6 An angular displacement in the X-axis direction of the third displacement is indicated.
Substituting the above coordinates into the formula (7) and the formula (8), respectively, the following formula can be obtained:
wherein T represents the coordinate conversion relation,
Therefore, the amount of translation, i.e. the relative displacement information, between the sensor coordinate system(s) and the observation platform coordinate system (p) can be obtained by the following formula:
s130, vibration compensation is carried out on the observation platform according to the relative displacement information.
After step S120, the computer may determine a displacement direction and a displacement distance corresponding to the upward direction of each coordinate axis of the observation platform according to the relative displacement corresponding to the upward direction of each coordinate axis of the observation platform in the relative displacement information. And then controlling the observation platform to move a target distance upwards along the target direction on each coordinate axis so as to perform vibration compensation, wherein the target direction is the opposite direction of the displacement direction of the observation platform corresponding to the upwards coordinate axis, and the target distance is the displacement distance of the observation platform corresponding to the upwards coordinate axis.
For example, after step S120, the relative displacement information is obtained as (3, -2,1, -3, 2). The computer can determine that the linear displacement direction of the observation platform in the X coordinate axis is positive, the linear displacement distance is 3, the linear displacement direction in the Y coordinate axis is negative, the linear displacement distance is 2, and the linear displacement direction in the Z coordinate axis is positive, the linear displacement distance is 1; the angular displacement direction in the X axis direction is positive and the angular displacement distance is 1, the angular displacement direction in the Y axis direction is negative and the angular displacement distance is 3, and the angular displacement direction in the Z axis direction is positive and the angular displacement distance is 2. Then, the computer may control the observation stage to move 3 in the negative direction in the X axis direction, to rotate 1 ° in the counterclockwise direction, to move 2 in the positive direction in the Y axis direction, to rotate 3 ° in the clockwise direction, to move 1 in the negative direction in the Z axis direction, and to rotate 2 ° in the counterclockwise direction.
Simulation experiments are performed to verify the vibration compensation of astronomical navigation. Fig. 5a is a longitude positioning precision diagram before vibration compensation provided in an embodiment of the present application, fig. 5b is a longitude positioning precision diagram after vibration compensation provided in an embodiment of the present application, fig. 6a is a latitude positioning precision diagram before vibration compensation provided in an embodiment of the present application, fig. 6b is a latitude positioning precision diagram after vibration compensation provided in an embodiment of the present application, fig. 7a is a positioning precision diagram of a total system before vibration compensation provided in an embodiment of the present application, and fig. 7b is a positioning precision diagram of a total system after vibration compensation provided in an embodiment of the present application. The vibration compensation method can be analyzed according to fig. 5a and 5b to increase the longitude positioning accuracy from 400m to 20m, the vibration compensation method can be analyzed according to fig. 6a and 6b to increase the latitude positioning accuracy from 400m to 30m, and the vibration compensation method can be analyzed according to fig. 7a and 7b to increase the overall positioning accuracy of the system from 600m to 40m. Experimental results show that the vibration compensation method provided by the embodiment of the application can improve the navigation precision of astronomical navigation in an airborne astronomical navigation system.
Further, according to fig. 5a, fig. 5b, fig. 6a, fig. 6b, fig. 7a, and fig. 7b, the monte carlo error influence factor of the airborne astronomical/inertial integrated navigation system before and after vibration compensation can be obtained, fig. 8a is a monte carlo error influence factor diagram of the airborne astronomical inertial integrated navigation system before vibration compensation provided in the embodiment of the present application, and fig. 8b is a monte carlo error influence factor diagram of the airborne astronomical inertial integrated navigation system after vibration compensation provided in the embodiment of the present application. From fig. 8a and 8b, it can be analyzed that the vibration compensation method can make the navigation positioning accuracy possible to be considered as a range from 300m to 110m.
In this embodiment of the present application, the computer may acquire the first displacement measured by the first measurement unit and the second displacement measured by the second measurement unit, determine the relative displacement information according to the first displacement and the second displacement, and then perform vibration compensation on the observation platform according to the relative displacement information. Through the technical scheme, when relative displacement occurs between the observation platform and the aircraft, the deviation between the observation platform and the aircraft can be compensated in time according to the relative displacement information, so that the observation platform and the aircraft are in a relatively static state at any time, the influence of vibration of the aircraft is eliminated, and the navigation precision of astronomical navigation is improved.
Based on the same inventive concept, as an implementation of the above method, the embodiment of the present application provides a vibration compensation device for astronomical navigation, where the embodiment of the device corresponds to the embodiment of the foregoing method, for convenience of reading, the embodiment of the present device does not describe details in the embodiment of the foregoing method one by one, but it should be clear that the device in the embodiment can correspondingly implement all the details in the embodiment of the foregoing method.
Fig. 9 is a schematic structural diagram of an astronomical navigation vibration compensation device provided in an embodiment of the present application, as shown in fig. 9, where the device provided in the embodiment is applied to an aircraft, the aircraft includes an observation platform, a first measurement unit disposed on the observation platform, and a second measurement unit disposed on the aircraft, the first measurement unit is used for measuring a displacement of the observation platform, the second measurement unit is used for measuring a displacement of the aircraft, and the device includes:
An acquisition module 110 for acquiring a first displacement measured by the first measurement unit and a second displacement measured by the second measurement unit;
the determining module 120 is configured to determine relative displacement information according to the first displacement and the second displacement, where the relative displacement information is a displacement of the observation platform relative to the aircraft;
and the compensation module 130 is used for carrying out vibration compensation on the observation platform according to the relative displacement information.
Optionally, the first coordinate system to which the first displacement belongs is a coordinate system of the observation platform, the first coordinate systems to which the first displacement and the second displacement belong are coordinate systems of the sensor, the second coordinate system to which the relative displacement information belongs is a coordinate system of the aircraft, and the determining module 120 is specifically configured to:
determining a third displacement according to the first displacement and the second displacement, wherein the third displacement is a difference value between the first displacement and the second displacement, and a third coordinate system to which the third displacement belongs is a coordinate system of the sensor;
and converting the third displacement into relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit.
Optionally, the first measuring unit comprises at least one sensor for measuring a linear or angular displacement of the observation platform in at least one coordinate axis direction, and the third displacement comprises at least one coordinate axis direction linear or angular displacement.
Optionally, the third displacement and the relative displacement information include a linear displacement and an angular displacement in an X-axis direction, a linear displacement and an angular displacement in a Y-axis direction, and a linear displacement and an angular displacement in a Z-axis direction, and the determining module is specifically configured to convert the third displacement into the relative displacement information:
the relative displacement information is determined using the following formula:
wherein T represents the coordinate conversion relation,x ps linear displacement in X-axis direction, y representing relative displacement information ps Linear displacement, z, in the Y-axis direction representing relative displacement information ps A linear displacement in the Z-axis direction of the relative displacement information, θ represents an angular displacement in the Z-axis direction of the relative displacement information, γ represents an angular displacement in the X-axis direction of the relative displacement information,psi represents the Y-axis angular displacement of the relative displacement information, S' 1 Linear displacement in Y-axis representing third displacement, S' 3 A linear displacement in the Z-axis direction representing a third displacement, S' 5 X-axis linear displacement, S 'representing a third displacement' 2 An angular displacement in the Y-axis direction representing a third displacement, S' 4 An angular displacement in the Z-axis direction, S 'representing a third displacement' 6 An angular displacement in the X-axis direction, l, representing a third displacement 1x Representing S' 1 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 1z Representing S' 1 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2z Representing S' 2 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2x Representing S' 2 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 3z Representing S' 3 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 3x Representing S' 3 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 4z Representing S' 4 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 4x Representing S' 4 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 5z Representing S' 5 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 5x Representing S' 5 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 6y Representing S' 6 Y-axis coordinates of the corresponding sensor in the first coordinate system, l 6x Representing S' 6 The X-axis coordinates of the corresponding sensor in the first coordinate system.
Optionally, the relative displacement information includes a relative displacement of the observation platform corresponding to at least one coordinate axis, and the compensation module 130 is specifically configured to:
according to the relative displacement of the observation platform in each coordinate axis in the relative displacement information, determining the displacement direction and the displacement distance of the observation platform in each coordinate axis;
and controlling the observation platform to move a target distance upwards along the target direction on each coordinate axis so as to perform vibration compensation, wherein the target direction is the opposite direction of the displacement direction of the observation platform corresponding to the upwards coordinate axis, and the target distance is the displacement distance of the observation platform corresponding to the upwards coordinate axis.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Based on the same inventive concept, the embodiment of the application also provides electronic equipment. Fig. 10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, and as shown in fig. 10, the electronic device provided in the embodiment includes: at least one processor 20 (only one shown in fig. 10), a memory 21, and a computer program 22 stored in the memory 21 and executable on the at least one processor 20, the processor 20 implementing the steps in any of the various computer control method embodiments described above when executing the computer program 22.
The processor 20 may be a central processing unit (Central Processing Unit, CPU), and the processor 20 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 21 may in some embodiments be an internal storage unit of a computer, such as a hard disk or a memory of the computer. The memory 21 may also be an external storage device of the computer in other embodiments, such as a plug-in hard disk provided on the computer, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc. Further, the memory 21 may also include both an internal storage unit and an external storage device of the computer. The memory 21 is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 21 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method described in the above method embodiment.
The embodiment of the application further provides a chip system, where the chip system includes a processor, and the processor is coupled to the memory, and the processor executes a computer program stored in the memory, so as to implement the method described in the first method embodiment.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. An astronomical navigation vibration compensation method applied to an aircraft, characterized in that the aircraft comprises an observation platform, a first measurement unit arranged on the observation platform and a second measurement unit arranged on the aircraft, wherein the first measurement unit is used for measuring displacement of the observation platform, and the second measurement unit is used for measuring displacement of the aircraft, and the method comprises the following steps:
acquiring a first displacement measured by the first measuring unit and a second displacement measured by the second measuring unit;
determining relative displacement information according to the first displacement and the second displacement, wherein the relative displacement information is the displacement of the observation platform relative to the aircraft;
According to the relative displacement information, vibration compensation is carried out on the observation platform;
the first coordinate system to which the first displacement and the second displacement belong is a coordinate system of a sensor, the second coordinate system to which the relative displacement information belongs is a coordinate system of the aircraft, and determining the relative displacement information according to the first displacement and the second displacement includes:
determining a third displacement according to the first displacement and the second displacement, wherein the third displacement is a difference value between the first displacement and the second displacement, and a third coordinate system to which the third displacement belongs is a coordinate system of a sensor;
converting the third displacement into the relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit;
the third displacement and the relative displacement information each include a linear displacement and an angular displacement in an X-axis direction, a linear displacement and an angular displacement in a Y-axis direction, and a linear displacement and an angular displacement in a Z-axis direction, and the converting the third displacement into the relative displacement information includes:
the relative displacement information is determined using the following formula:
wherein T represents the coordinate conversion relation, x ps Linear displacement in X-axis direction, y representing the relative displacement information ps Linear displacement, z, in the Y-axis direction representing the relative displacement information ps Linear displacement in the Z-axis direction of the relative displacement information, θ represents angular displacement in the Z-axis direction of the relative displacement information, γ represents angular displacement in the X-axis direction of the relative displacement information, ψ represents angular displacement in the Y-axis direction of the relative displacement information, S' 1 A linear displacement S 'in the Y-axis direction representing the third displacement' 3 A linear displacement S 'in the Z-axis direction representing the third displacement' 5 A linear displacement in the X-axis direction representing the third displacement, S' 2 An angular displacement in the Y-axis direction representing the third displacement, S' 4 An angular displacement in the Z-axis direction representing the third displacement, S' 6 An angular displacement in the X-axis direction representing the third displacement, l 1x Representing S' 1 The X-axis coordinate, l, of the corresponding sensor in the first coordinate system 1z Representing S' 1 Z-axis coordinate of corresponding sensor in the first coordinate system, l 2z Representing S' 2 Z-axis coordinate of corresponding sensor in the first coordinate system, l 2x Representing S' 2 The X-axis coordinate, l, of the corresponding sensor in the first coordinate system 3z Representing S' 3 Z-axis coordinate of corresponding sensor in the first coordinate system, l 3x Representing S' 3 The X-axis coordinate, l, of the corresponding sensor in the first coordinate system 4z Representing S' 4 Z-axis coordinate of corresponding sensor in the first coordinate system, l 4x Representing S' 4 The X-axis coordinate, l, of the corresponding sensor in the first coordinate system 5z Representing S' 5 Z-axis coordinate of corresponding sensor in the first coordinate system, l 5x Representing S' 5 The corresponding sensor is positioned at the first seatX-axis coordinate in the standard system, l 6y Representing S' 6 Y-axis coordinates of the corresponding sensor in the first coordinate system, l 6x Representing S' 6 And the X-axis coordinate of the corresponding sensor in the first coordinate system.
2. The method according to claim 1, wherein the first measurement unit comprises at least one sensor for measuring a linear or angular displacement of the observation platform in at least one coordinate axis direction, and the third displacement comprises at least one coordinate axis direction linear or angular displacement.
3. The method according to claim 1 or 2, wherein the relative displacement information comprises a relative displacement of the observation platform in at least one coordinate axis, and the vibration compensation of the observation platform according to the relative displacement information comprises:
According to the relative displacement of the observation platform in each coordinate axis in the relative displacement information, determining a displacement direction and a displacement distance of the observation platform in each coordinate axis;
and controlling the observation platform to move upwards along each coordinate axis by a target distance in order to perform vibration compensation, wherein the target direction is the opposite direction of the displacement direction corresponding to the upward coordinate axis of the observation platform, and the target distance is the displacement distance corresponding to the upward coordinate axis of the observation platform.
4. The utility model provides a vibration compensation arrangement of astronomical navigation, is applied to the aircraft, its characterized in that, the aircraft include observe the platform, set up in first measuring unit on the observation platform and set up in second measuring unit on the aircraft, first measuring unit is used for measuring the displacement of observation platform, second measuring unit is used for measuring the displacement of aircraft, the device includes:
the acquisition module is used for acquiring the first displacement measured by the first measurement unit and the second displacement measured by the second measurement unit;
the determining module is used for determining relative displacement information according to the first displacement and the second displacement, wherein the relative displacement information is the displacement of the observation platform relative to the aircraft;
The compensation module is used for carrying out vibration compensation on the observation platform according to the relative displacement information;
the first coordinate system to which the first displacement and the second displacement belong is a coordinate system of a sensor, the second coordinate system to which the relative displacement information belongs is a coordinate system of the aircraft, and the determining module is specifically configured to:
determining a third displacement according to the first displacement and the second displacement, wherein the third displacement is a difference value between the first displacement and the second displacement, and a third coordinate system to which the third displacement belongs is a coordinate system of a sensor;
converting the third displacement into the relative displacement information according to the coordinate conversion relation between the first coordinate system and the second coordinate system and the position information of the first measuring unit;
the third displacement and the relative displacement information comprise X-axis linear displacement and angular displacement, Y-axis linear displacement and angular displacement, and Z-axis linear displacement and angular displacement, the third displacement is converted into relative displacement information, and the determining module is specifically used for:
the relative displacement information is determined using the following formula:
wherein T represents the coordinate conversion relation,x ps linear displacement in X-axis direction, y representing relative displacement information ps Linear displacement, z, in the Y-axis direction representing relative displacement information ps Linear displacement in the Z-axis direction, θ representing relative displacement information, represents relativeThe Z-axis angular displacement of the displacement information, gamma denotes the X-axis angular displacement of the relative displacement information, ψ denotes the Y-axis angular displacement of the relative displacement information, S' 1 Linear displacement in Y-axis representing third displacement, S' 3 A linear displacement in the Z-axis direction representing a third displacement, S' 5 X-axis linear displacement, S 'representing a third displacement' 2 An angular displacement in the Y-axis direction representing a third displacement, S' 4 An angular displacement in the Z-axis direction, S 'representing a third displacement' 6 An angular displacement in the X-axis direction, l, representing a third displacement 1x Representing S' 1 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 1z Representing S' 1 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2z Representing S' 2 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 2x Representing S' 2 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 3z Representing S' 3 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 3x Representing S' 3 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 4z Representing S' 4 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 4x Representing S' 4 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 5z Representing Sv 5 Z-axis coordinates of the corresponding sensor in the first coordinate system, l 5x Representing S' 5 The X-axis coordinates, l, of the corresponding sensor in the first coordinate system 6y Representing S' 6 Y-axis coordinates of the corresponding sensor in the first coordinate system, l 6x Representing S' 6 The X-axis coordinates of the corresponding sensor in the first coordinate system.
5. An electronic device for use in an aircraft, comprising: a memory and a processor, the memory for storing a computer program; the processor being adapted to perform the method of any of claims 1-3 when the computer program is invoked.
6. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-3.
7. A chip system comprising a processor coupled to a memory, the processor executing a computer program stored in the memory to implement the method of any of claims 1-3.
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