CN113155156A - Method and device for determining running information, storage medium and electronic device - Google Patents
Method and device for determining running information, storage medium and electronic device Download PDFInfo
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- CN113155156A CN113155156A CN202110461141.3A CN202110461141A CN113155156A CN 113155156 A CN113155156 A CN 113155156A CN 202110461141 A CN202110461141 A CN 202110461141A CN 113155156 A CN113155156 A CN 113155156A
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- 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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
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- 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 invention discloses a method and a device for determining running information, a storage medium and an electronic device, wherein the method comprises the following steps: under the condition that the integrated navigation system starts an initialization process, determining observed quantity and state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object; calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine the operation information of the target object, wherein the operation data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object; the operational information includes at least one of: current position information of the target object, current speed information of the target object, and attitude information of the target object.
Description
Technical Field
The invention relates to the field of guidance control and integrated navigation, in particular to a method and a device for determining running information, a storage medium and an electronic device.
Background
In the related technology, the inertial navigation system is a dead reckoning system based on acceleration quadratic integral, which completely depends on mechanical equipment and corresponding algorithm to automatically and independently complete navigation task, and does not have any optical and electrical connection with the outside. The navigation system has the advantages of good concealment, no limitation of weather conditions on the working environment and the like, and becomes a main navigation system widely used in the fields of spaceflight, aviation and navigation. The navigation system does not need any external information or radiate any information outwards, can realize navigation under any medium and any environmental condition, can output various navigation parameters such as the position, the speed, the direction, the attitude and the like of the cannonball, has wide systematic ground frequency band, can track any maneuvering motion of the carrier, and has stable navigation output data and good short-term stability. Inertial systems have the inherent disadvantage that navigation accuracy diverges over time and long-term stability is poor. For this reason, it is necessary to combine the inertial navigation system and the GPS for integrated navigation. In the traditional Kalman filtering algorithm commonly used in the ground in the combined navigation, one or more of longitude and latitude and horizontal speed are generally adopted as observed quantities, and other parameters are adopted as observed quantities to be combined. However, the conventional kalman filtering algorithm is not high in real-time performance of a nonlinear system, and the system is complex, and a plurality of algorithms are needed.
Aiming at the problems that the nonlinear characteristics in the inertial system can not be eliminated, the dynamic determination of the integrated navigation system is realized and the like in the related technology, an effective solution is not provided.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining running information, a storage medium and an electronic device, which are used for at least solving the problems that the nonlinear characteristics in an inertial system cannot be eliminated, the dynamic determination of a combined navigation system is realized and the like in the related technology.
According to an embodiment of the present invention, there is provided a method for determining operation information, including: under the condition that an initialization process is started by an integrated navigation system, determining observed quantity and state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object; calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine operation information of the target object, wherein the operation data comprises acceleration of the target object, angular velocity of the target object and specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
In an exemplary embodiment, determining the state quantity of the integrated navigation system set on the target object includes: acquiring preset navigation parameters of a target object, wherein the preset navigation parameters at least comprise at least one of the following parameters: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object; extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object; and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
In one exemplary embodiment, determining an observed quantity of a combined navigation system set on a target object includes: acquiring preset measurement system noise and a preset unit matrix; establishing a measurement equation according to the preset measurement system noise and the preset identity matrix to determine the observed quantity of the integrated navigation system, wherein the measurement equation is determined according to the following formula:
wherein, Xk+1Is a normalized state quantity; i is a 3x3 identity matrix; delta Pk+1Is the position error at time k + 1; Δ Vk+1The velocity error at time k + 1.
In an exemplary embodiment, after the acquired operation data of the target object is solved according to the observed quantity and the state quantity to determine the operation information of the target object, the method further includes: under the condition that a target object receives update data, comparing the operation data with the update data to determine a difference value to be added corresponding to the operation information, wherein the update data is real-time position information of the target object sent by a global positioning system; and calculating and filtering the operation data added with the difference value to be added to obtain operation data for correcting the time error.
In an exemplary embodiment, in a case that the target object receives the update data, comparing the operation data with the update data to determine the difference to be added corresponding to the operation information includes: performing coordinate transformation on the updated data in a geodetic coordinate system; determining target data information of the updated data in a navigation coordinate system according to a transformation result; and performing data subtraction on the target data information and the operation data to determine a difference value to be added of the integral movement of the inertial navigation data corresponding to the operation information.
In an exemplary embodiment, the performing calculation filtering on the operation data to which the difference to be added is added to obtain operation data for correcting the time error includes: acquiring a preset combination condition threshold, wherein the combination condition threshold is used for indicating that the running data and the updating data meet the combination condition of entering a filtering state; and under the condition that the difference quantity to be added meets the combination condition threshold, filtering the solved operation data through a filter matrix.
According to another embodiment of the present invention, there is also provided an operation information determination apparatus including: the system comprises a determining module, a processing module and a processing module, wherein the determining module is used for determining observed quantity and state quantity of an integrated navigation system set on a target object under the condition that the integrated navigation system starts an initialization process, the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object; the calculation module is used for calculating the acquired operation data of the target object according to the observed quantity and the state quantity so as to determine the operation information of the target object, wherein the operation data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
In an exemplary embodiment, the determining module is further configured to obtain preset navigation parameters of the target object, where the preset navigation parameters at least include at least one of: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object; extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object; and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
In an exemplary embodiment, the apparatus further includes: the filtering module is used for comparing the operation data with the update data to determine the difference value to be added corresponding to the operation information under the condition that the target object receives the update data, wherein the update data is the real-time position information of the target object sent by a global positioning system; and calculating and filtering the operation data added with the difference value to be added to obtain operation data for correcting the time error.
In an exemplary embodiment, the filtering module further includes: a transformation unit for performing coordinate transformation on the update data in a geodetic coordinate system; determining target data information of the updated data in a navigation coordinate system according to a transformation result; and the difference unit is used for carrying out data difference on the target data information and the operating data so as to determine the difference value to be added of the integral movement of the inertial navigation data corresponding to the operating information.
In an exemplary embodiment, the filtering module is further configured to obtain a preset combination condition threshold, where the combination condition threshold is used to indicate that the running data and the updated data meet a combination condition for entering a filtering state; and under the condition that the difference quantity to be added meets the combination condition threshold, filtering the solved operation data through a filter matrix.
In an exemplary embodiment, the determining module is further configured to obtain a preset measurement system noise and a preset identity matrix; establishing a measurement equation according to the preset measurement system noise and the preset identity matrix to determine the observed quantity of the integrated navigation system, wherein the measurement equation is determined according to the following formula:
wherein, Xk+1Is a normalized state quantity; i is a 3x3 identity matrix; delta Pk+1Is the position error at time k + 1; Δ Vk+1The velocity error at time k + 1.
According to a further embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to carry out the steps of any of the above-described method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the method, under the condition that an integrated navigation system starts an initialization process, observed quantity and state quantity of the integrated navigation system set on a target object are determined, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined through the running position of the target object and the preset running speed of the target object; calculating the acquired running data of the target object according to the observed quantity and the state quantity to determine the running information of the target object, wherein the running data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object; the operational information includes at least one of: the method comprises the steps of calculating running data of a target object in actual running by presetting observed quantity and state quantity of an integrated navigation system in an initialization process, and further eliminating nonlinear characteristics in an inertial system. By adopting the technical scheme, the problems that the nonlinear characteristics in the inertial system cannot be eliminated, the dynamic determination of the integrated navigation system is realized and the like in the related technology are solved, the accuracy of navigation operation information is improved, and errors caused by time accumulation of the inertial navigation system are further corrected.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a computer terminal that executes a method for determining information according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining operational information according to an embodiment of the present invention;
FIG. 3 is a block diagram of a system for integrated EKF algorithm-based navigation of a high-speed spinning flight volume, in accordance with an alternative embodiment of the present invention;
FIG. 4 is a flowchart of a process for an EKF-based high-speed spin flight vehicle integrated navigation system, in accordance with an alternative embodiment of the present invention;
fig. 5 is a block diagram of an apparatus for determining operation information according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method provided by the embodiment of the application can be executed in a computer terminal, a cloud platform or a similar computing device. Taking the example of the operation on the computer terminal, fig. 1 is a hardware structure block diagram of the computer terminal of the method for determining the operation information according to the embodiment of the present invention. As shown in fig. 1, the computer terminal may include one or more (only one shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and in an exemplary embodiment, may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration with equivalent functionality to that shown in FIG. 1 or with more functionality than that shown in FIG. 1.
The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the determination method of the operation information in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by operating the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a computer terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a method for determining operation information is provided, and is applied to the computer terminal, and fig. 2 is a flowchart of the method for determining operation information according to the embodiment of the present invention, where the flowchart includes the following steps:
step S202, under the condition that an integrated navigation system starts an initialization process, determining observed quantity and state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object;
step S204, calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine the operation information of the target object, wherein the operation data comprises the acceleration and the angular velocity of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
According to the technical scheme, under the condition that the integrated navigation system starts an initialization process, the observed quantity and the state quantity of the integrated navigation system set on a target object are determined, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined through the running position of the target object and the preset running speed of the target object; calculating the acquired running data of the target object according to the observed quantity and the state quantity to determine the running information of the target object, wherein the running data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object; the operational information includes at least one of: the method comprises the steps of calculating running data of a target object in actual running by presetting observed quantity and state quantity of an integrated navigation system in an initialization process, and further eliminating nonlinear characteristics in an inertial system. By adopting the technical scheme, the problems that the nonlinear characteristics in the inertial system cannot be eliminated, the dynamic determination of the integrated navigation system is realized and the like in the related technology are solved, the accuracy of navigation operation information is improved, and errors caused by time accumulation of the inertial navigation system are further corrected.
As an optional implementation manner, the inertial navigation system in the integrated navigation may adopt a platform-type inertial navigation system, or may also adopt a strapdown inertial navigation system.
In an exemplary embodiment, determining the state quantity of the integrated navigation system set on the target object includes: acquiring preset navigation parameters of a target object, wherein the preset navigation parameters at least comprise at least one of the following parameters: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object; extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object; and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
In one exemplary embodiment, determining an observed quantity of a combined navigation system set on a target object includes: acquiring preset measurement system noise and a preset unit matrix; establishing a measurement equation according to the preset measurement system noise and the preset identity matrix to determine the observed quantity of the integrated navigation system, wherein the measurement equation is determined according to the following formula:
wherein, Xk+1Is a normalized state quantity; i is a 3x3 identity matrix; delta Pk+1Is the position error at time k + 1; Δ Vk+1The velocity error at time k + 1.
In an exemplary embodiment, after the acquired operation data of the target object is solved according to the observed quantity and the state quantity to determine the operation information of the target object, the method further includes: under the condition that a target object receives update data, comparing the operation data with the update data to determine a difference value to be added corresponding to the operation information, wherein the update data is real-time position information of the target object sent by a global positioning system; and calculating and filtering the operation data added with the difference value to be added to obtain operation data for correcting the time error.
In an exemplary embodiment, in a case that the target object receives the update data, comparing the operation data with the update data to determine the difference to be added corresponding to the operation information includes: performing coordinate transformation on the updated data in a geodetic coordinate system; determining target data information of the updated data in a navigation coordinate system according to a transformation result; and performing data subtraction on the target data information and the operation data to determine a difference value to be added of the integral movement of the inertial navigation data corresponding to the operation information.
For example, whether the GPS information is updated is judged to determine whether to enter an integrated navigation stage, and when the GPS data is not updated, the inertial data is used for navigation to wait for the next GPS data update; if the GPS data is updated, firstly, the GPS data is subjected to coordinate transformation to ensure that the GPS data and the inertial navigation data are in the same coordinate system, and the GPS data in the geodetic coordinate system (LLH) is converted into the inertial navigation data in the navigation coordinate system (NED) through a correlation formula. And when updating, the SINS data is corrected by the GPS data, and the data observed by the GPS is subtracted from the inertial navigation solution data, so that the inertial navigation data can integrally move by a difference value, and the two data are compared under the same datum point.
In an exemplary embodiment, the performing calculation filtering on the operation data to which the difference to be added is added to obtain operation data for correcting the time error includes: acquiring a preset combination condition threshold, wherein the combination condition threshold is used for indicating that the running data and the updating data meet the combination condition of entering a filtering state; and under the condition that the difference quantity to be added meets the combination condition threshold, filtering the solved operation data through a filter matrix.
For example, the navigation phase is combined. When the combination condition is satisfied, entering a filtering state:
wherein z is the difference of data between the GPS and the SINS; u is position and speed information acquired by the GPS; correcting the data solved by inertial navigation by the formula (12); equation (13) is a quaternion-to-direction-cosine matrix.
Optionally, in the filter state covariance matrix P, to ensure that the filter state covariance matrix is symmetric, P ═ P + P is usedT) And 2, ensuring the correctness of the filtering process, and updating the filtering state covariance matrix P again.
In order to better understand the process of the determination method of the operation information, the following describes a flow of the determination method of the operation information with reference to an optional embodiment, but the flow is not limited to the technical solution of the embodiment of the present invention.
As an optional embodiment, as shown in fig. 3, a system structure block diagram for performing combined navigation on a high-speed spinning flight object based on an EKF algorithm is provided, the high-speed spinning flight object is subjected to combined navigation through an EKF (Extended K alaman Filter, abbreviated as an Extended kalman Filter) algorithm, a new modeling manner is provided for the EKF algorithm, and state variables are linearized in a taylor series expansion manner, so as to solve the problem that the traditional EKF needs to calculate a jacobian matrix, which is poor in real-time. The position and speed information acquired by the GPS is used for correcting errors caused by time accumulation of the inertial navigation system, the navigation accuracy of the system is improved, the strapdown inertial navigation system has no high requirement, and the method has the advantage of light weight. Specifically, the system obtains the specific force, angular velocity and acceleration of a target by a Strapdown inertial navigation system, obtains the position and velocity information under the system by a GPS system, and adopts a combined navigation mode with SINS (Strapdown inertial navigation system for short) as a main mode and GPS as an auxiliary mode. And fusing the information by using an EKF algorithm, and correcting the parameters of the inertial navigation system.
Optionally, the combined navigation considers an environment with high rotation and high dynamic state in the flight process of the high-speed spinning flight body, and in order to accurately acquire the state parameters of the flight process of the high-speed spinning flight body in real time, as shown in fig. 4, is a program flow diagram of a high-speed spinning flight body combined navigation system based on the EKF according to an optional embodiment of the present invention, and includes the following steps:
firstly, initializing a system, and setting relevant navigation parameters;
secondly, carrying out initial alignment to obtain the initial speed, position and posture of the carrier;
step three, establishing a combined navigation model;
step 3-1: and (3) constructing state quantity, namely, in order to improve the real-time performance of the integrated navigation, performing Taylor series expansion on the nonlinear functions of a system equation and a measurement equation and only retaining a linear term to obtain a linear model. Selecting the error quantity of the system as a state variable: position error Δ P, velocity error Δ v, and attitude error
The accelerometer zero offset error delta a and the gyro zero offset error delta omega establish a state equation as shown in (1) below:
delta P in the formula (1)k+1Is the position error at time k + 1; Δ Vk+1The speed error at the moment k + 1;
the attitude error at the moment k + 1; Δ ak+1Is the time of k +1Zero bias error of the accelerometer; Δ ωk+1The gyro zero offset error at the moment of k + 1; b is1、B2The proportional coefficients of the accelerometer zero offset error and the gyroscope zero offset error; wk·a、Wk·ωThe random system dynamic noises are respectively the errors of an accelerometer and a gyroscope at the moment k, and the mean value and the variance of the random system dynamic noises meet the requirements
Zero mean white noise sequence of (1); st is an antisymmetric matrix, as shown in formula (2).
Writing the above equation to Standard Xk+1＝f[Xk,k]+WkThe form is as follows:
step 3-2: establishing observed quantity, establishing measurement equation Zk+1＝h[Xk+1,k+1]The observed quantity is position and speed, and is specifically shown in formula (4):
wherein, V in the formula (4)k+1The mean and variance in the formula (4) satisfy the noise of the measurement system
Is a zero mean white noise sequence; i is a 3x3 identity matrix.
Step four, resolving the SINS attitude; after the acceleration and the angular velocity of the carrier are obtained by the accelerometer and the gyroscope, the current position, velocity and attitude information is calculated by correcting the obtained data through the self-contained deviation of the accelerometer and the gyroscope.
Wherein x _ h (1 is position and speed and is calculated by adopting a formula (5), x _ h (7), x _ h (8) and x _ h (9) are a rolling angle, a pitching angle and a yaw angle and are calculated by adopting a formula (6), arctan in the formula (7) is counting data after gravity is eliminated, Rb2t is direction cosine matrix rotation Euler angle, Ts is sampling time, and u _ h is acceleration of corrected original data.
And step five, judging whether the GPS information is updated or not, and entering a combined navigation stage.
1. Judging whether the GPS data is updated or not, and entering integrated navigation at the updating moment;
2. if the GPS data is not updated, navigation is carried out by using the inertial data, and the next GPS data updating is waited;
3. if the GPS data is updated, firstly, the GPS data is subjected to coordinate transformation so as to ensure that the GPS data and the inertial navigation data are in the same coordinate system, the GPS data is in a geodetic coordinate system (LLH), and the inertial navigation data is in a navigation coordinate system (NED). Therefore, the information of the GPS needs to be converted from the WGS-84 coordinate system to the NED system through the intermediate ECEF coordinate system, so that the information of the two systems can be fused.
(1) Firstly, converting the geodetic coordinates to the geocentric rectangular coordinates, wherein a specific conversion formula is as follows:
in the formula, e is the eccentricity of the ellipsoid, N is the curvature radius of the reference ellipsoid, a is the earth's major radius, and b is the earth's minor radius.
(2) And then converting the geocentric rectangular coordinate into a navigation coordinate system. The transformation matrix is:
4. aligning GPS and SINS data: during updating, the GPS data is used for correcting the SINS data, the difference is made between the data observed by the GPS and the inertial navigation resolving data, the inertial navigation data is integrally moved by a difference value, and the purpose that the data of the GPS and the inertial navigation resolving data are located at the same datum point makes information fusion meaningful.
And step six, combining navigation stages. When the combination condition is satisfied, entering a filtering state:
wherein z is the difference of data between the GPS and the SINS; u is position and speed information acquired by the GPS; correcting the data solved by inertial navigation by the formula (12); equation (13) is a quaternion-to-direction-cosine matrix. In the filter state covariance matrix P, to ensure that the filter state covariance matrix is symmetric, P ═ P + P is usedT) And 2, ensuring the correctness of the filtering process, and updating the filtering state covariance matrix P again.
In an optional embodiment of the invention, the EKF algorithm based on a new modeling mode for the state variables is adopted, and the state variables are linearized in a Taylor series expansion mode, so that the problem that the real-time performance of calculating a Jacobian matrix is poor in the traditional EKF is solved. The position and speed information acquired by the GPS is used for correcting errors caused by time accumulation of the inertial navigation system, the navigation accuracy of the system is improved, the strapdown inertial navigation system has no high requirement, and the method has the advantage of light weight.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a device for determining operation information is further provided, where the device is used to implement the foregoing embodiments and preferred embodiments, and details are not repeated for what has been described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of a configuration of an operation information determination apparatus according to an embodiment of the present invention; as shown in fig. 5, includes:
the determining module 52 is configured to determine an observed quantity and a state quantity of the integrated navigation system set on a target object under a condition that the integrated navigation system starts an initialization process, where the observed quantity is used to indicate a measurement function constructed by the target object, the state quantity is used to indicate that taylor series expansion processing is performed on a nonlinear function in the integrated navigation system, and an error function determined by a preset error quantity is added, and the measurement function is determined by an operating position of the target object and a preset operating speed of the target object;
the calculating module 54 is configured to calculate acquired operation data of the target object according to the observed quantity and the state quantity to determine operation information of the target object, where the operation data includes an acceleration of the target object, an angular velocity of the target object, and a specific force of the target object, and the operation information includes at least one of: current position information of the target object, current speed information of the target object, and attitude information of the target object.
According to the technical scheme, under the condition that the integrated navigation system starts an initialization process, the observed quantity and the state quantity of the integrated navigation system set on a target object are determined, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined through the running position of the target object and the preset running speed of the target object; calculating the acquired running data of the target object according to the observed quantity and the state quantity to determine the running information of the target object, wherein the running data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object; the operational information includes at least one of: the method comprises the steps of calculating running data of a target object in actual running by presetting observed quantity and state quantity of an integrated navigation system in an initialization process, and further eliminating nonlinear characteristics in an inertial system. By adopting the technical scheme, the problems that the nonlinear characteristics in the inertial system cannot be eliminated, the dynamic determination of the integrated navigation system is realized and the like in the related technology are solved, the accuracy of navigation operation information is improved, and errors caused by time accumulation of the inertial navigation system are further corrected.
As an optional implementation manner, the inertial navigation system in the integrated navigation may adopt a platform-type inertial navigation system, or may also adopt a strapdown inertial navigation system.
In an exemplary embodiment, the determining module is further configured to obtain preset navigation parameters of the target object, where the preset navigation parameters at least include at least one of: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object; extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object; and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
In an exemplary embodiment, the determining module is further configured to obtain a preset measurement system noise and a preset identity matrix; establishing a measurement equation according to the preset measurement system noise and the preset identity matrix to determine the observed quantity of the integrated navigation system, wherein the measurement equation is determined according to the following formula:
wherein, Xk+1Is a normalized state quantity; i is a 3x3 identity matrix; delta Pk+1Is the position error at time k + 1; Δ Vk+1The velocity error at time k + 1.
In an exemplary embodiment, the apparatus further includes: the filtering module is used for comparing the operation data with the update data to determine the difference value to be added corresponding to the operation information under the condition that the target object receives the update data, wherein the update data is the real-time position information of the target object sent by a global positioning system; and calculating and filtering the operation data added with the difference value to be added to obtain operation data for correcting the time error.
In an exemplary embodiment, the filtering module further includes: a transformation unit for performing coordinate transformation on the update data in a geodetic coordinate system; determining target data information of the updated data in a navigation coordinate system according to a transformation result; and the difference unit is used for carrying out data difference on the target data information and the operating data so as to determine the difference value to be added of the integral movement of the inertial navigation data corresponding to the operating information.
For example, whether the GPS information is updated is judged to determine whether to enter an integrated navigation stage, and when the GPS data is not updated, the inertial data is used for navigation to wait for the next GPS data update; if the GPS data is updated, firstly, the GPS data is subjected to coordinate transformation to ensure that the GPS data and the inertial navigation data are in the same coordinate system, and the GPS data in the geodetic coordinate system (LLH) is converted into the inertial navigation data in the navigation coordinate system (NED) through a correlation formula. And when updating, the SINS data is corrected by the GPS data, and the data observed by the GPS is subtracted from the inertial navigation solution data, so that the inertial navigation data can integrally move by a difference value, and the two data are compared under the same datum point.
In an exemplary embodiment, the filtering module is further configured to obtain a preset combination condition threshold, where the combination condition threshold is used to indicate that the running data and the updated data meet a combination condition for entering a filtering state; and under the condition that the difference quantity to be added meets the combination condition threshold, filtering the solved operation data through a filter matrix.
For example, the navigation phase is combined. When the combination condition is satisfied, entering a filtering state:
wherein z is the difference of data between the GPS and the SINS; u is position and speed information acquired by the GPS; correcting the data solved by inertial navigation by the formula (12); equation (13) is a quaternion-to-direction-cosine matrix.
Optionally, in the filter state covariance matrix P, to ensure the over-filter state covarianceThe variance matrix is symmetric, using P ═ P + PT) And 2, ensuring the correctness of the filtering process, and updating the filtering state covariance matrix P again.
An embodiment of the present invention further provides a storage medium including a stored program, wherein the program executes any one of the methods described above.
In an exemplary embodiment, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, under the condition that the integrated navigation system starts an initialization process, determining an observed quantity and a state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, and an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object;
s2, calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine the operation information of the target object, wherein the operation data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
In an exemplary embodiment, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
In an exemplary embodiment, in the present embodiment, the processor may be configured to execute the following steps by a computer program:
s1, under the condition that the integrated navigation system starts an initialization process, determining an observed quantity and a state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, and an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object;
s2, calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine the operation information of the target object, wherein the operation data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
In an exemplary embodiment, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation manners, and details of this embodiment are not described herein again.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, which may be centralized on a single computing device or distributed across a network of computing devices, and in one exemplary embodiment may be implemented using program code executable by a computing device, such that the steps shown and described may be executed by a computing device stored in a memory device and, in some cases, executed in a sequence different from that shown and described herein, or separately fabricated into individual integrated circuit modules, or multiple ones of them fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for determining operational information, comprising:
under the condition that an initialization process is started by an integrated navigation system, determining observed quantity and state quantity of the integrated navigation system set on a target object, wherein the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by a preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object;
calculating the acquired operation data of the target object according to the observed quantity and the state quantity to determine operation information of the target object, wherein the operation data comprises acceleration of the target object, angular velocity of the target object and specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
2. The method of claim 1, wherein determining the state quantity of the integrated navigation system set on the target object comprises:
acquiring preset navigation parameters of a target object, wherein the preset navigation parameters at least comprise at least one of the following parameters: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object;
extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object;
and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
3. The method of claim 1, wherein determining the observed quantity of the integrated navigation system set on the target object comprises:
acquiring preset measurement system noise and a preset unit matrix;
establishing a measurement equation according to the preset measurement system noise and the preset identity matrix to determine the observed quantity of the integrated navigation system, wherein the measurement equation is determined according to the following formula:
4. The method according to claim 1, wherein after the acquired operation data of the target object is solved according to the observed quantity and the state quantity to determine the operation information of the target object, the method further comprises:
under the condition that a target object receives update data, comparing the operation data with the update data to determine a difference value to be added corresponding to the operation information, wherein the update data is real-time position information of the target object sent by a global positioning system;
and calculating and filtering the operation data added with the difference value to be added to obtain operation data for correcting the time error.
5. The method according to claim 4, wherein in a case where the target object receives the update data, comparing the operation data with the update data to determine the difference to be added corresponding to the operation information comprises:
performing coordinate transformation on the updated data in a geodetic coordinate system;
determining target data information of the updated data in a navigation coordinate system according to a transformation result;
and performing data subtraction on the target data information and the operation data to determine a difference value to be added of the integral movement of the inertial navigation data corresponding to the operation information.
6. The method according to claim 4, wherein performing calculation filtering on the operation data to which the difference to be added has been added to obtain operation data for correcting a time error comprises:
acquiring a preset combination condition threshold, wherein the combination condition threshold is used for indicating that the running data and the updating data meet the combination condition of entering a filtering state;
and under the condition that the difference quantity to be added meets the combination condition threshold, filtering the solved operation data through a filter matrix.
7. An apparatus for determining operation information, comprising:
the system comprises a determining module, a processing module and a processing module, wherein the determining module is used for determining observed quantity and state quantity of an integrated navigation system set on a target object under the condition that the integrated navigation system starts an initialization process, the observed quantity is used for indicating a measurement function constructed by the target object, the state quantity is used for indicating that Taylor series expansion processing is carried out on a nonlinear function in the integrated navigation system, an error function determined by preset error quantity is added, and the measurement function is determined by the running position of the target object and the preset running speed of the target object;
the calculation module is used for calculating the acquired operation data of the target object according to the observed quantity and the state quantity so as to determine the operation information of the target object, wherein the operation data comprises the acceleration of the target object, the angular velocity of the target object and the specific force of the target object, and the operation information comprises at least one of the following: current position information of the target object, current speed information of the target object, and attitude information of the target object.
8. The apparatus according to claim 7, wherein the determining module is further configured to obtain preset navigation parameters of a target object, wherein the preset navigation parameters include at least one of: a function in an inertial navigation system equation of the target object, a function in a measurement equation of the target object; extracting a nonlinear function in the preset navigation parameters, expanding the nonlinear function through a Taylor series, and only retaining a linear term of the expanded nonlinear function to obtain a linear model of a target object; and under the condition that the preset navigation parameters correspond to the preset error amount, constructing the linear model to obtain a state equation of the target object so as to determine the state amount of the integrated navigation system.
9. A computer-readable storage medium, comprising a stored program, wherein the program is operable to perform the method of any one of claims 1 to 6.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 6 by means of the computer program.
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