CN113819924A - Method for quickly calibrating initial reference of inertial navigation test - Google Patents
Method for quickly calibrating initial reference of inertial navigation test Download PDFInfo
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- CN113819924A CN113819924A CN202111062053.2A CN202111062053A CN113819924A CN 113819924 A CN113819924 A CN 113819924A CN 202111062053 A CN202111062053 A CN 202111062053A CN 113819924 A CN113819924 A CN 113819924A
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- 238000012360 testing method Methods 0.000 title claims abstract description 23
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- 238000005457 optimization Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 10
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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
- 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
Abstract
A method for quickly calibrating an initial reference of an inertial navigation test belongs to the technical field of navigation. The invention comprises the following steps: establishing three reference coordinate systems: a turntable zero position coordinate system, a turntable cubic mirror coordinate system and a true north reference cubic mirror coordinate system; measuring at the zero position of the rotary table, and establishing an attitude constraint equation at the zero position according to the attitude conversion relation; rotating the turntable; measuring when the rotary table middle frame rotates by a first preset angle, and establishing an attitude constraint equation when the rotary table middle frame rotates to the first preset angle according to the attitude conversion relation; the outer frame of the rotary table rotates by a second preset angle for measurement, and an attitude constraint equation when the middle frame of the rotary table rotates to the second preset angle is established according to the attitude conversion relation; establishing a constraint optimization problem about an initial reference according to the three attitude constraint equations and the characteristics of the attitude transformation matrix; and solving the constraint optimization problem to realize the quick calibration of the initial reference.
Description
Technical Field
The invention relates to a method for quickly calibrating an initial reference of an inertial navigation test, and belongs to the technical field of navigation.
Background
Inertial navigation performance is critical to successful implementation of Mars entry, descent, and landing missions. In 2016, the European Mars landing detector failed the task due to the failure of inertial navigation after parachute opening. Therefore, the inertial navigation physical simulation test in the Mars EDL process is developed on the ground in advance, and the inertial navigation scheme is necessary to be fully verified.
The complicated gesture motion process experienced in the Mars EDL process is not available in the past models, and the difficulty in realistically simulating and reproducing the gesture motion on the ground is high. From the consideration of practicability and economy, the main approach is to use a large-scale precise three-axis mechanical turntable for simulation. And (4) fixing the inertia measurement unit on the mechanical turntable to perform a navigation test.
In order to quantitatively assess and evaluate the performance of the inertial measurement unit, calibration of an initial reference is required, namely, a mounting matrix of a cube mirror of the inertial measurement unit relative to a rotary table and a mounting matrix of a zero position of the rotary table relative to the northeast of the sky are accurately measured. The traditional method needs to paste photogrammetric marks on the edges of the outer frame and the middle frame of the turntable and paste ground control points on the ground around the turntable. And measuring the ground control point by using an IDPMS photogrammetry system, establishing a photogrammetry coordinate system, and simultaneously calculating the three-dimensional coordinate of the ground control point in the photogrammetry coordinate system. By rotating the outer frame and the middle frame of the rotary table, the reference of the zero position coordinate system of the rotary table relative to the photogrammetric coordinate system is obtained by utilizing the photogrammetric system. However, the method takes a long time, and one calibration and rechecking usually needs 1 to 2 days to complete. Moreover, if the ground control point or the photographing mark is damaged at the time of a plurality of measurements, the control point and the photographing mark need to be newly arranged.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a method for quickly calibrating the initial reference of the inertial navigation test, and realizes quick determination of the reference of the navigation test rotary table by using the high-precision corner output by the three-axis rotary table.
The technical solution of the invention is as follows: a method for quickly calibrating an initial reference of an inertial navigation test comprises the following steps:
establishing three reference coordinate systems: zero coordinate system of rotary table
Turntable cube mirror coordinate system
Coordinate system of true north reference cube mirror
Measuring at the zero position of the rotary table, and establishing an attitude constraint equation at the zero position according to the attitude conversion relation;
rotating the turntable; measuring when the rotary table middle frame rotates by a first preset angle, and establishing an attitude constraint equation when the rotary table middle frame rotates to the first preset angle according to the attitude conversion relation;
the outer frame of the rotary table rotates by a second preset angle for measurement, and an attitude constraint equation when the middle frame of the rotary table rotates to the second preset angle is established according to the attitude conversion relation;
establishing a constraint optimization problem about an initial reference according to the three attitude constraint equations and the characteristics of the attitude transformation matrix;
and solving the constraint optimization problem to realize the quick calibration of the initial reference.
Further, the attitude constraint equation at zero is Y1-XZ; wherein X is
Relative to
Z is
Cube coordinate system relative to true north reference
The attitude transformation matrix of (1).
Further, the posture constraint equation of the turntable middle frame when the turntable middle frame rotates to the first preset angle is Y2＝XC2Z; wherein X is
Relative to
Attitude transformation matrix of, C2Is an attitude transformation matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table, Z is
Cube coordinate system relative to true north reference
The attitude transformation matrix of (1).
Further, the attitude transformation matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table is specifically C2＝Cy(θ2) (ii) a Wherein, Cy(θ2) And rotating the middle frame of the turntable around the y axis by a posture conversion matrix of a first preset angle.
Further, the posture constraint equation of the turntable middle frame when the turntable middle frame rotates to the first preset angle is Y3＝XC3Z; wherein X is
Relative to
Attitude transformation matrix of, C3Calculating zero coordinates of current coordinate system of rotary table relative to rotary table for rotary table cornerAn attitude transformation matrix of system, Z is
Cube coordinate system relative to true north reference
The attitude transformation matrix of (1).
Further, the rotating angle of the rotary table is used for calculating the attitude conversion matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table to be C3＝Cx(θ3) (ii) a Wherein, Cx(θ3) And the posture conversion matrix represents that the outer frame of the turntable rotates by a second preset angle around the x axis.
Further, the constraint optimization problem about the initial benchmark is
Wherein, Z is a posture conversion matrix, | Z (i:) | ═ 1, i ═ 1,2, 3.
Further, the method for solving the constraint optimization problem comprises the following steps:
solving the constraint optimization problem by using an interior point method to obtain an estimated value of the attitude transformation matrix Z
From Y1Calculating an estimate of X (XZ)
A computer readable storage medium, which stores a computer program, which when executed by a processor implements the steps of the method for fast calibrating an initial reference for an inertial navigation test.
The quick calibration equipment for the initial reference of the inertial navigation test comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of the quick calibration method for the initial reference of the inertial navigation test when executing the computer program.
Compared with the prior art, the invention has the advantages that:
the method greatly improves the calibration efficiency on the premise of not losing the precision, and has great advantages in both labor and time cost compared with the traditional method.
Drawings
FIG. 1 is a schematic diagram of the rapid calibration scheme of the present invention.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The method for quickly calibrating the initial reference of the inertial navigation test provided by the embodiment of the application is further described in detail below with reference to the accompanying drawings of the specification, and the specific implementation manner may include (as shown in fig. 1):
1) establishing three reference coordinate systems: a turntable zero position coordinate system, a turntable cubic mirror coordinate system and a true north reference cubic mirror coordinate system.
2) And measuring at the zero position of the rotary table, and establishing an attitude constraint equation at the zero position according to the attitude conversion relation.
3) And rotating the middle frame of the rotary table by a certain fixed angle for measurement, and establishing an attitude constraint equation at the position according to the attitude conversion relation.
4) And rotating the outer frame of the turntable by a certain fixed angle to measure, and establishing an attitude constraint equation at the position according to the attitude conversion relation.
5) And (4) eliminating the constraint equation, and establishing a constraint optimization problem about the initial reference according to the characteristic of the attitude transformation matrix.
6) And (4) utilizing an interior point method to solve the constraint optimization to realize the quick calibration of the initial reference.
In the scheme provided by the embodiment of the application, the method specifically comprises the following steps:
1) establishing three reference coordinate systems: zero coordinate system of rotary table
Turntable cube mirror coordinate system
Coordinate system of true north reference cube mirror
2) And measuring at the zero position of the rotary table, and establishing an attitude constraint equation at the zero position according to the attitude conversion relation. The three axes of the rotary table return to the zero position, and a cubic mirror coordinate system of the rotary table can be obtained by measurement
Coordinate system of relative true north reference cube mirror
The attitude transformation matrix of (1), noted as Y1；
Note the book
Relative to
The attitude transformation matrix of (a) is X,
cube coordinate system relative to true north reference
The attitude transformation matrix of (a) is Z, then the following constraint equation can be obtained:
Y1＝XZ (1)
wherein: and both X and Z are unknown attitude matrixes, namely initial benchmarks needing to be determined.
3) And rotating the middle frame of the rotary table by a certain fixed angle for measurement, and establishing an attitude constraint equation at the position according to the attitude conversion relation.
Rotation of the turntable middle frame theta2(0<θ2<360 DEG, measuring the standard of the turntable cubic mirror relative to the true north standard cubic mirror, and recording as Y2；
Calculating an attitude transformation matrix C of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table by using the rotary table corner2：
C2＝Cy(θ2) (2)
Wherein: cy(θ2) Representing rotation theta about the y-axis2The attitude transformation matrix of (i.e. the
From the turntable attitude rotation relationship, the following constraint equation can be obtained:
Y2＝XC2Z (3)
4) and rotating the outer frame of the turntable by a certain fixed angle to measure, and establishing an attitude constraint equation at the position according to the attitude conversion relation.
Rotation of outer frame of turntable theta3(0<θ3<360 DEG, measuring the standard of the turntable cubic mirror relative to the true north standard cubic mirror, and recording as Y3；
Calculating an attitude transformation matrix C of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table by using the rotary table corner3：
C3＝Cx(θ3) (4)
Wherein: cx(θ3) Representing rotation theta about the x-axis3The attitude transformation matrix of (1), that is:
from the turntable attitude rotation relationship, the following constraint equation can be obtained:
Y3＝XC3Z (5)
5) and (4) eliminating the constraint equation, and establishing a constraint optimization problem about the initial reference according to the characteristic of the attitude transformation matrix.
Obtaining X ═ Y from the step (2)1Z-1Substituting into steps (3) and (4) may eliminate X, resulting in an equation for Z:
since Z is the attitude transformation matrix, Z satisfies the following constraint:
‖Z(i,:)‖＝1,i＝1,2,3 (7)
so that an equality constraint optimization problem about Z can be obtained, wherein the functional index is
The equation is constrained to be | Z (i:) | 1, i ═ 1,2, 3.
6) And (4) utilizing an interior point method to solve the constraint optimization to realize the quick calibration of the initial reference.
Taking an initial estimate of Z as
The constrained optimization problem composed of the formula (8) and the formula (7) is solved by using an interior point method to obtain an estimated value of Z, which is recorded as
Will be provided with
The estimated value of X obtained by substituting the formula (1) is recorded as
Given by:
and completing the quick calibration of the initial reference of the navigation test.
A computer-readable storage medium having stored thereon computer instructions which, when executed on a computer, cause the computer to perform the method of fig. 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A method for quickly calibrating an initial reference of an inertial navigation test is characterized by comprising the following steps:
establishing three reference coordinate systems: zero coordinate system of rotary table
Turntable cube mirror coordinate system
Coordinate system of true north reference cube mirror
Measuring at the zero position of the rotary table, and establishing an attitude constraint equation at the zero position according to the attitude conversion relation;
rotating the turntable; measuring when the rotary table middle frame rotates by a first preset angle, and establishing an attitude constraint equation when the rotary table middle frame rotates to the first preset angle according to the attitude conversion relation;
the outer frame of the rotary table rotates by a second preset angle for measurement, and an attitude constraint equation when the middle frame of the rotary table rotates to the second preset angle is established according to the attitude conversion relation;
establishing a constraint optimization problem about an initial reference according to the three attitude constraint equations and the characteristics of the attitude transformation matrix;
and solving the constraint optimization problem to realize the quick calibration of the initial reference.
2. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 1, characterized in that: the attitude constraint equation at the zero position is Y1-XZ; wherein X is
Relative to
Z is
Cube coordinate system relative to true north reference
The attitude transformation matrix of (1).
3. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 1, characterized in that: the attitude constraint equation of the rotary table middle frame when the rotary table middle frame rotates to a first preset angle is Y2＝XC2Z; wherein X is
Relative to
Attitude transformation matrix of, C2Is an attitude transformation matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table, Z is
Cube coordinate system relative to true north reference
The attitude transformation matrix of (1).
4. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 3, characterized in that: the attitude transformation matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table is C2＝Cy(θ2) (ii) a Wherein, Cy(θ2) And rotating the middle frame of the turntable around the y axis by a posture conversion matrix of a first preset angle.
5. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 1, characterized in that: the attitude constraint equation of the rotary table middle frame when the rotary table middle frame rotates to a first preset angle is Y3＝XC3Z; wherein X is
Relative to
Attitude transformation matrix of, C3Calculating an attitude transformation matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table for the rotary table corner, wherein Z is
Cube coordinate system relative to true north reference
Attitude moment ofAnd (5) arraying.
6. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 5, characterized in that: and calculating the attitude conversion matrix of the current coordinate system of the rotary table relative to the zero position coordinate system of the rotary table into C by the rotary table corner3＝Cx(θ3) (ii) a Wherein, Cx(θ3) And the posture conversion matrix represents that the outer frame of the turntable rotates by a second preset angle around the x axis.
7. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 1, characterized in that: the constraint optimization problem about the initial benchmark is
Wherein, Z is a posture conversion matrix, | Z (i:) | ═ 1, i ═ 1,2, 3.
8. The method for quickly calibrating the initial reference of the inertial navigation test according to claim 1, wherein the method for solving the constraint optimization problem comprises the following steps:
solving the constraint optimization problem by using an interior point method to obtain an estimated value of the attitude transformation matrix Z
From Y1Calculating an estimate of X (XZ)
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
10. An inertial navigation test initial reference rapid calibration device, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, characterized in that: the processor, when executing the computer program, performs the steps of the method according to any one of claims 1 to 8.
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|---|---|---|---|---|
| CN101074880A (en) * | 2007-07-24 | 2007-11-21 | 北京控制工程研究所 | Method for scanning entry safety landing area in moon detector suspension stage |
| CN103256928A (en) * | 2013-04-28 | 2013-08-21 | 南京航空航天大学 | Distributed inertial navigation system and posture transfer alignment method thereof |
| US20160033279A1 (en) * | 2014-07-31 | 2016-02-04 | Seiko Epson Corporation | Position calculation method and position calculation device |
| CN112348902A (en) * | 2020-12-03 | 2021-02-09 | 苏州挚途科技有限公司 | Method, device and system for calibrating installation deviation angle of road end camera |
-
2021
- 2021-09-10 CN CN202111062053.2A patent/CN113819924A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101074880A (en) * | 2007-07-24 | 2007-11-21 | 北京控制工程研究所 | Method for scanning entry safety landing area in moon detector suspension stage |
| CN103256928A (en) * | 2013-04-28 | 2013-08-21 | 南京航空航天大学 | Distributed inertial navigation system and posture transfer alignment method thereof |
| US20160033279A1 (en) * | 2014-07-31 | 2016-02-04 | Seiko Epson Corporation | Position calculation method and position calculation device |
| CN112348902A (en) * | 2020-12-03 | 2021-02-09 | 苏州挚途科技有限公司 | Method, device and system for calibrating installation deviation angle of road end camera |
Non-Patent Citations (1)
| Title |
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| 郝晗，等: "基于改进型遗传算法的六自由度机械臂轨迹优化", 组合机床与自动化加工技术, no. 12, pages 56 - 59 * |
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