CN114136340A - Method for eliminating influence of misalignment angle error on initial alignment - Google Patents

Method for eliminating influence of misalignment angle error on initial alignment Download PDF

Info

Publication number
CN114136340A
CN114136340A CN202111437812.9A CN202111437812A CN114136340A CN 114136340 A CN114136340 A CN 114136340A CN 202111437812 A CN202111437812 A CN 202111437812A CN 114136340 A CN114136340 A CN 114136340A
Authority
CN
China
Prior art keywords
error
inertial navigation
navigation system
attitude
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111437812.9A
Other languages
Chinese (zh)
Other versions
CN114136340B (en
Inventor
王福亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Huayu Electric Instrument Group Co Ltd
Original Assignee
Chongqing Huayu Electric Instrument Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Huayu Electric Instrument Group Co Ltd filed Critical Chongqing Huayu Electric Instrument Group Co Ltd
Priority to CN202111437812.9A priority Critical patent/CN114136340B/en
Publication of CN114136340A publication Critical patent/CN114136340A/en
Application granted granted Critical
Publication of CN114136340B publication Critical patent/CN114136340B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a method for eliminating the influence of misalignment angle error on initial alignment, which comprises the following steps: 1) acquiring an attitude angle of the carrier through a local inertial navigation system and a sub inertial navigation system; 2) acquiring attitude angle information of the local inertial navigation system and the sub inertial navigation system, outputting the attitude angle information to a specified coordinate system, and acquiring a projection difference through projection to be used as an observed quantity; 3) inputting the observed quantity into a Kalman filter, and estimating navigation calculation information errors and inertia sensitive element errors of the sub-inertial navigation system through the Kalman filter; and when the estimated error value meets the precision requirement, the estimated error value is fed back to the sub inertial navigation system, the navigation parameters of the sub inertial navigation system are corrected, the error of an inertial device is compensated, and the initial alignment is completed. The method can ensure that the sub-inertial navigation system does not need to pass through a long-time self-alignment process and a high-precision sensitive device, and can realize the quick and accurate alignment by the method.

Description

Method for eliminating influence of misalignment angle error on initial alignment
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a method for eliminating influence of misalignment angle errors on initial alignment.
Background
In recent years, with the rapid development of inertial navigation technology, various tactical weapons using an inertial navigation system as a main navigation device have been developed. The inertial navigation system of the weapon equipment needs to be initially aligned on a moving base before the weapon equipment is launched from a carrier, and transfer alignment is a key technology. The inertial navigation system transfer alignment means that when the carrier navigates, an inertial navigation system (called a sub inertial navigation system) needing to be aligned on the carrier utilizes the aligned inertial navigation system (called a local inertial navigation system) on the carrierInertial navigation system) for initial alignment. Namely, the data of the local inertial navigation system is compared and matched with the corresponding data of the sub inertial navigation system. The fiducial reference data is from the local inertial navigation system in transfer alignment, so the progress of the local inertial navigation system affects the progress of the transfer alignment. However, due to the influence of factors such as installation error, lever arm effect and elastic deformation of the carrier, the sub inertial navigation and the local inertial navigation have a misalignment angle
Figure BDA0003382357640000011
Therefore, the sub inertial navigation has a large error in navigation calculation according to the initial attitude information. For the problem, more theoretical and simulation schemes are provided at present, but the engineering practicability is very little.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present invention provides a method for eliminating the influence of misalignment angle error on initial alignment, so as to solve the problem of large initial alignment error of the sub-inertial navigation system in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of eliminating the effect of misalignment angle error on initial alignment, comprising the steps of:
1) acquiring an attitude angle of the carrier through a local inertial navigation system and a sub inertial navigation system;
2) acquiring attitude angle information of the local inertial navigation system and the sub inertial navigation system, outputting the attitude angle information to a specified coordinate system, and acquiring a projection difference through projection to be used as an observed quantity;
3) inputting the observed quantity into a Kalman filter, and estimating navigation calculation information errors and inertia sensitive element errors of the sub-inertial navigation system through the Kalman filter; and when the estimated error value meets the precision requirement, the estimated error value is fed back to the sub inertial navigation system, the navigation parameters of the sub inertial navigation system are corrected, the error of an inertial device is compensated, and the initial alignment is completed.
Preferably, when the azimuth angle error of each installation is not more than 0.4 degrees, the azimuth data is directly bound; otherwise, transfer alignment is carried out by adopting a Kalman filtering method of speed + attitude matching.
Preferably, in the kalman filtering estimation process, the kalman filtering state quantity is:
Figure BDA0003382357640000012
wherein the installation error angle phi is [ phi ]x φy φz]TSatisfies the following conditions:
Figure BDA0003382357640000013
δVEfor east velocity error, δ VNFor north velocity error, δ VUIn order to be an error in the speed in the direction of the day,
Figure BDA0003382357640000021
in order to be an east-oriented attitude error corner,
Figure BDA0003382357640000022
for the north-orientation attitude error angle,
Figure BDA0003382357640000023
is the attitude error angle of the sky direction, phixFor setting the error angle x-axis, phiyTo install the error angle y-axis, phizIs the installation error angle z-axis.
Preferably, the transfer alignment is performed by using an attitude observation equation of kalman filtering, where the attitude observation equation of kalman filtering is:
Figure BDA0003382357640000024
wherein the attitude error
Figure BDA0003382357640000025
By passing
Figure BDA0003382357640000026
The calculation results in that,
Figure BDA0003382357640000027
an attitude cosine matrix of a navigation coordinate system n;
Figure BDA0003382357640000028
inertial navigation attitude error on the carrier;
Figure BDA0003382357640000029
is a local basis to navigation system cosine matrix; thetaJIs a local base attitude error, thetaJMuch less than
Figure BDA00033823576400000210
This was taken as the observation noise.
Preferably, the measurement matrix H is
Figure BDA00033823576400000211
The speed and attitude are observed, i.e., Z ═ HX.
Compared with the prior art, the invention has the following beneficial effects:
the method of the invention uses the projection difference of the output information of the local inertial navigation system and the sub inertial navigation system in the appointed coordinate system as the observed quantity, uses the Kalman filter to estimate the navigation calculation information errors of the attitude, the speed and the like of the sub inertial navigation system and the errors of the main inertial sensing elements, returns the estimated value to the sub inertial navigation system when the estimated value is stable and the estimated errors meet the precision requirement, corrects the navigation parameters and compensates the errors of the inertial elements to complete the initial alignment, and the sub inertial navigation system can realize the rapid and accurate alignment by a transfer alignment method without long-time self-alignment process and high-precision sensing elements.
Drawings
FIG. 1 is a schematic view of transfer alignment.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
The invention provides a method for eliminating the influence of misalignment angle error on initial alignment, which comprises the following steps:
1) and acquiring the three-axis attitude angle of the carrier through the local inertial navigation system and the sub inertial navigation system.
2) And outputting the attitude angle information acquired by the local inertial navigation system and the sub inertial navigation system to a specified coordinate system, and acquiring the difference of projections through projection as an observed quantity, namely an error angle.
3) Inputting the observed quantity into a Kalman filter, and estimating navigation calculation information errors and inertia sensitive element errors of the sub-inertial navigation system through the Kalman filter; and when the estimated error value meets the precision requirement, the estimated error value is fed back to the sub inertial navigation system, the navigation parameters of the sub inertial navigation system are corrected, the error of an inertial device is compensated, and the initial alignment is completed. Wherein the navigation computation information error comprises an attitude angle error and an azimuth angle error. The inertia sensitive element errors include gyroscope zero offset error, accelerometer zero offset error, and scale factor error.
In specific implementation, when the azimuth angle error of each installation is not more than 0.4 degrees, the azimuth data is directly bound; and when the attitude relationship between the inertial navigation and the local inertial navigation datum on the carrier cannot be guaranteed or needs to be measured or the attitude relationship between the inertial navigation and the local inertial navigation datum on the carrier is unknown at the early stage, the transfer alignment is carried out by adopting a Kalman filtering method of speed + attitude matching.
In the kalman filtering method, a kalman filtering state quantity is:
Figure BDA0003382357640000031
wherein the installation error angle phi is [ phi ]x φy φz]TSatisfies the following conditions:
Figure BDA0003382357640000032
δVEfor east velocity error, δ VNFor north velocity error, δ VUIn order to be an error in the speed in the direction of the day,
Figure BDA0003382357640000033
in order to be an east-oriented attitude error corner,
Figure BDA0003382357640000034
for the north-orientation attitude error angle,
Figure BDA0003382357640000035
is the attitude error angle of the sky direction, phixFor setting the error angle x-axis, phiyTo install the error angle y-axis, phizIs the installation error angle z-axis.
The following is the attitude observation equation derivation process of kalman filtering. Ideally, the attitude cosine matrix measured by the inertial navigation on the carrier and the local base inertial navigation relative to the navigation coordinate system n
Figure BDA0003382357640000036
Local basis to navigation system cosine matrix should be equal
Figure BDA0003382357640000037
Due to mounting errors and various measurement errors bs≠bJ、ns≠nJNot n, according to a small angle approximation, define:
Figure BDA0003382357640000038
transforming the relation by coordinates to obtain:
Figure BDA0003382357640000039
in the formula [ theta ]cFor attitude measurement error of local inertial navigation, θ is used belowJIndicating that phi is the installation error angle,
Figure BDA00033823576400000310
and measuring errors of the sub inertial navigation attitude. Ignoring small amounts above second order, we get:
Figure BDA00033823576400000311
the vector form is:
Figure BDA00033823576400000312
the above derivation can obtain the attitude observation equation of Kalman filtering, and the attitude error in the equation
Figure BDA00033823576400000313
Is obtained by the formula
Figure BDA00033823576400000314
Calculating to obtain;
Figure BDA00033823576400000315
the carrier inertial navigation is the attitude error of the local reference and the sub inertial navigation;
Figure BDA00033823576400000316
is a local basis to navigation system cosine matrix; thetaJIs a local attitude error due to thetaJMuch less than
Figure BDA0003382357640000041
And thus it is taken as observation noise. With the velocity error added, the measurement matrix H can be expressed as:
Figure BDA0003382357640000042
the speed and attitude are observed, i.e., Z ═ HX.
By adopting the method, the alignment is completed by simulation analysis for 6 seconds, and higher positioning precision is achieved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims (5)

1. A method of eliminating the effect of misalignment angle error on initial alignment, comprising the steps of:
1) acquiring an attitude angle of the carrier through a local inertial navigation system and a sub inertial navigation system;
2) acquiring attitude angle information of the local inertial navigation system and the sub inertial navigation system, outputting the attitude angle information to a specified coordinate system, and acquiring a projection difference through projection to be used as an observed quantity;
3) inputting the observed quantity into a Kalman filter, and estimating navigation calculation information errors and inertia sensitive element errors of the sub-inertial navigation system through the Kalman filter; and when the estimated error value meets the precision requirement, the estimated error value is fed back to the sub inertial navigation system, the navigation parameters of the sub inertial navigation system are corrected, the error of an inertial device is compensated, and the initial alignment is completed.
2. The method of eliminating the effect of misalignment angle error on initial alignment of claim 1, wherein when the azimuth angle error of each installation is not more than 0.4 °, the azimuth data is directly bound; otherwise, transfer alignment is carried out by adopting a Kalman filtering method of speed + attitude matching.
3. The method for eliminating the influence of misalignment angle errors on initial alignment according to claim 1, wherein in the kalman filtering estimation process, the kalman filtering state quantity is:
Figure FDA0003382357630000011
wherein the installation error angle phi is [ phi ]x φy φz]TSatisfies the following conditions:
Figure FDA0003382357630000012
east speed error, north speed error, and sky speedThe degree error is an east attitude error angle, a north attitude error angle, a sky attitude error angle, an installation error angle x-axis, an installation error angle y-axis, and an installation error angle z-axis.
4. The method of eliminating the effect of misalignment angle errors on initial alignment of claim 3, wherein transfer alignment is performed by Kalman filtering's attitude observation equation:
Figure FDA0003382357630000013
wherein the attitude error
Figure FDA0003382357630000014
By passing
Figure FDA0003382357630000015
The calculation results in that,
Figure FDA0003382357630000016
an attitude cosine matrix of a navigation coordinate system n;
Figure FDA0003382357630000017
inertial navigation attitude error on the carrier;
Figure FDA0003382357630000018
is a local basis to navigation system cosine matrix; thetaJIs a local base attitude error, thetaJMuch less than
Figure FDA0003382357630000019
This was taken as the observation noise.
5. The method of claim 4, wherein the measurement matrix H is
Figure FDA00033823576300000110
CN202111437812.9A 2021-11-29 2021-11-29 Method for eliminating influence of misalignment angle error on initial alignment Active CN114136340B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111437812.9A CN114136340B (en) 2021-11-29 2021-11-29 Method for eliminating influence of misalignment angle error on initial alignment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111437812.9A CN114136340B (en) 2021-11-29 2021-11-29 Method for eliminating influence of misalignment angle error on initial alignment

Publications (2)

Publication Number Publication Date
CN114136340A true CN114136340A (en) 2022-03-04
CN114136340B CN114136340B (en) 2023-06-16

Family

ID=80389385

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111437812.9A Active CN114136340B (en) 2021-11-29 2021-11-29 Method for eliminating influence of misalignment angle error on initial alignment

Country Status (1)

Country Link
CN (1) CN114136340B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060015248A1 (en) * 2004-07-16 2006-01-19 Huddle James R Transfer alignment of navigation systems
CN103226022A (en) * 2013-03-27 2013-07-31 清华大学 Alignment method and system for movable base used for integrated navigation system
CN104236586A (en) * 2014-09-05 2014-12-24 南京理工大学 Moving base transfer alignment method based on measurement of misalignment angle
CN104567930A (en) * 2014-12-30 2015-04-29 南京理工大学 Transfer alignment method capable of estimating and compensating wing deflection deformation
CN104807479A (en) * 2015-05-20 2015-07-29 江苏华豪航海电器有限公司 Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance
CN105783943A (en) * 2016-04-26 2016-07-20 哈尔滨工程大学 Method for performing transfer alignment on large azimuth misalignment angle of ship in polar region environment based on unscented Kalman filtering
CN107990910A (en) * 2017-11-06 2018-05-04 哈尔滨工业大学 A kind of naval vessel Large azimuth angle Transfer Alignment based on volume Kalman filtering
KR20190001832A (en) * 2017-06-28 2019-01-07 국방과학연구소 Inertial navigation system with adaptive time delay compensation and rapid initial alignment method thereof
CN111351481A (en) * 2020-03-13 2020-06-30 南京理工大学 Transmission alignment method based on emission inertial coordinate system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060015248A1 (en) * 2004-07-16 2006-01-19 Huddle James R Transfer alignment of navigation systems
CN103226022A (en) * 2013-03-27 2013-07-31 清华大学 Alignment method and system for movable base used for integrated navigation system
CN104236586A (en) * 2014-09-05 2014-12-24 南京理工大学 Moving base transfer alignment method based on measurement of misalignment angle
CN104567930A (en) * 2014-12-30 2015-04-29 南京理工大学 Transfer alignment method capable of estimating and compensating wing deflection deformation
CN104807479A (en) * 2015-05-20 2015-07-29 江苏华豪航海电器有限公司 Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance
CN105783943A (en) * 2016-04-26 2016-07-20 哈尔滨工程大学 Method for performing transfer alignment on large azimuth misalignment angle of ship in polar region environment based on unscented Kalman filtering
KR20190001832A (en) * 2017-06-28 2019-01-07 국방과학연구소 Inertial navigation system with adaptive time delay compensation and rapid initial alignment method thereof
CN107990910A (en) * 2017-11-06 2018-05-04 哈尔滨工业大学 A kind of naval vessel Large azimuth angle Transfer Alignment based on volume Kalman filtering
CN111351481A (en) * 2020-03-13 2020-06-30 南京理工大学 Transmission alignment method based on emission inertial coordinate system

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
HAN YINGHONG ET AL.: "Analysis of Three Velocity plus Attitude Matching Methods for Transfer Alignment", 《MATERIALS SCIENCE AND INFORMATION TECHNOLOGY, PTS 1-8》, pages 2802 - 2807 *
杨建强;刘斌;侯建军;刘亮;: "一种改进的速度加姿态匹配传递对准方法", 光学与光电技术, no. 06, pages 61 - 64 *
王跃钢等: "车载导弹低机动条件下的传递对准", 《中国惯性技术学报》, vol. 21, no. 3, pages 324 - 327 *

Also Published As

Publication number Publication date
CN114136340B (en) 2023-06-16

Similar Documents

Publication Publication Date Title
CN106289246B (en) A kind of flexible link arm measure method based on position and orientation measurement system
CN110926468B (en) Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment
CN110672131B (en) UKF (unscented Kalman Filter) alignment method for inertial/polarized light integrated navigation system under large misalignment angle
CN111323050A (en) Strapdown inertial navigation and Doppler combined system calibration method
CN110672130B (en) EKF (extended Kalman filter) alignment method of inertial/polarized light integrated navigation system under large misalignment angle
CN105973268B (en) A kind of Transfer Alignment precision quantitative evaluating method based on the installation of cobasis seat
CN108375383B (en) Multi-camera-assisted airborne distributed POS flexible baseline measurement method and device
CN102853837B (en) MIMU and GNSS information fusion method
CN108387227A (en) The multinode information fusion method and system of airborne distribution POS
CN112504298B (en) GNSS-assisted DVL error calibration method
CN110133692B (en) Inertial navigation technology-assisted high-precision GNSS dynamic inclination measurement system and method
JP2004512517A (en) Posture alignment of slave inertial measurement system
CN107764261B (en) Simulation data generation method and system for distributed POS (point of sale) transfer alignment
CN111307114B (en) Water surface ship horizontal attitude measurement method based on motion reference unit
CN116817896A (en) Gesture resolving method based on extended Kalman filtering
CN112325841B (en) Method for estimating installation error angle of communication-in-motion antenna
CN112284412B (en) Ground static alignment method for avoiding precision reduction caused by singular Euler transformation
CN111707292B (en) Fast transfer alignment method of self-adaptive filtering
CN111220182B (en) Rocket transfer alignment method and system
CN111141285B (en) Aviation gravity measuring device
CN109931956B (en) Error correction method for mounting three-axis magnetometer and inertial navigation in strapdown three-component magnetic measurement system
CN111207734B (en) EKF-based unmanned aerial vehicle integrated navigation method
CN112798014A (en) Inertial navigation self-alignment method for compensating vertical line deviation based on gravitational field spherical harmonic model
CN115655284B (en) Time alignment and compensation method for relative navigation under high dynamic state
CN114136340A (en) Method for eliminating influence of misalignment angle error on initial alignment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant