CN114167754A - Model-based inertial navigation system simulation platform and simulation method - Google Patents
Model-based inertial navigation system simulation platform and simulation method Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of simulation, and discloses a model-based inertial navigation system simulation platform and a simulation method. The simulation platform comprises: the system comprises a simulation host machine, a simulation target machine and an inertia integrated navigation component which are sequentially connected; the simulation host is used for building a system simulation model of the inertial navigation system and transmitting the system simulation model to the simulation target machine; the simulation target machine is used for generating an excitation signal after the system simulation model is simulated and solved, and sending the excitation signal to the inertial integrated navigation component; and the inertia combined navigation component is used for generating a feedback signal according to the excitation signal and returning the feedback signal to the simulation target machine so as to realize the closed-loop test of the inertia combined navigation component. The simulation platform provided by the embodiment of the invention can shorten the development period of the inertial navigation system, reduce the development cost, improve the development efficiency and improve the system development capability.
Description
Technical Field
The embodiment of the invention relates to the technical field of simulation, in particular to a model-based inertial navigation system simulation platform and a simulation method.
Background
With the development of aviation technology, the requirements on each subsystem of an aircraft are higher and higher, the requirements on the function and performance indexes of an inertial navigation system are also higher and higher, and it is important to perform experimental research on the function and performance of the inertial navigation system and verify some key technical problems in the research and development process.
The conventional test method is adopted to research the inertial navigation system, joint test needs to be carried out by combining external equipment, some tests need to be carried out with a host unit, the test cost is high, the period is long, optimization iteration tests are inconvenient to carry out, and some tests even cannot be carried out; the qualitative research of the inertial navigation algorithm can be realized by adopting full-digital simulation, but the reliability of the quantitative research is not high, and the reliability of the obtained test data is to be verified.
It can be seen that the platform for performing experimental research on the inertial navigation system provided in the prior art has the problem that feasibility and reliability cannot be considered at the same time.
Disclosure of Invention
The embodiment of the invention aims to provide a model-based inertial navigation system simulation platform and a simulation method, so as to solve the problem that the platform for experimental research on an inertial navigation system in the prior art cannot simultaneously take both feasibility and reliability into consideration.
In order to solve the above technical problem, an aspect of an embodiment of the present invention provides a model-based inertial navigation system simulation platform, including: the system comprises a simulation host machine, a simulation target machine and an inertia integrated navigation component which are sequentially connected;
the simulation host is used for building a system simulation model of the inertial navigation system and transmitting the system simulation model to the simulation target machine;
the simulation target machine is used for generating an excitation signal after the system simulation model is simulated and solved, and sending the excitation signal to the inertial integrated navigation component;
and the inertia combined navigation component is used for generating a feedback signal according to the excitation signal and returning the feedback signal to the simulation target machine so as to realize the closed-loop test of the inertia combined navigation component.
In the embodiment of the invention, the inertial navigation combination navigation part adopts real objects, the associated environment is replaced by the algorithm model, the model and the real objects are combined through the simulation system to form the simulation closed-loop system, the experimental research on the inertial navigation system can be realized on the premise of meeting the feasibility and the reliability, and the function and the performance of the inertial navigation system under the limit working mode and the condition can be verified. The problems that in the prior art, the all-digital simulation confidence is low, the requirements of the function and performance test research of the inertial navigation system cannot be completely met, the all-digital simulation result cannot be used as a test result, and a complete physical verification test has high test cost and long period, is inconvenient to optimize an iterative test, and even cannot be performed in some tests are solved. The simulation platform provided by the embodiment of the invention can shorten the development period of the inertial navigation system, reduce the development cost, improve the development efficiency and improve the system development capability.
In addition, still include: and the interface auxiliary equipment is connected between the simulation target machine and the inertial integrated navigation component and is used for realizing signal conditioning and interface adaptation between the simulation target machine and the inertial integrated navigation component.
In addition, the interface auxiliary equipment comprises a board card integrated with one or more of a radio frequency interface, a 1394 interface, an I/O interface, an RS-422, an ARINC429, a 1553B bus and an FC bus.
In addition, the simulation host is used for building a system simulation model of the inertial navigation system in an off-line manner; the simulation target machine is used for simulating and resolving the system simulation model in real time and/or simulating and resolving the system simulation model in an off-line mode.
In addition, the system simulation model comprises one or more of an atmospheric data model, a satellite system model, a self-driving flight control system model and a Doppler sensor model.
In addition, the simulation host is also used for developing a comprehensive display system, and the inertial combination navigation component is used for sending the feedback signal to the simulation host through the simulation target machine so as to realize information display of the feedback signal.
In addition, the interface auxiliary equipment is also connected with human-computer interaction equipment, and the human-computer interaction equipment is used for generating a manipulation signal and sending the manipulation signal to the inertial integrated navigation component.
In addition, the human-computer interaction device comprises one or more of a hand wheel mechanism, a pedal mechanism and a switch mechanism.
In addition, the simulation host is used for transmitting the system simulation model to the simulation target machine through a TCP/IP protocol.
In another aspect, an embodiment of the present invention provides a method for simulating an inertial navigation system based on a model, including:
building a system simulation model of the inertial navigation system;
the system simulation model is simulated and solved, and an excitation signal is generated;
the inertial integrated navigation component generates a feedback signal according to the excitation signal and returns the feedback signal to the system simulation model;
and adjusting simulation parameters on line in the process of solving the system simulation model through the simulation.
The semi-physical simulation method in the embodiment of the invention can shorten the development period of the inertial navigation system, reduce the development cost, improve the development efficiency and improve the system development capability. On the premise of not influencing simulation calculation, simulation parameters can be adjusted.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic structural diagram of a model-based inertial navigation system simulation platform according to an embodiment of the present invention;
fig. 2 is a flowchart of a simulation method of a model-based inertial navigation system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
An Inertial Navigation System (INS, hereinafter referred to as an Inertial Navigation System) is an autonomous Navigation System that does not depend on external information and does not radiate energy to the outside. The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
The applicant finds that based on the working environment requirement of the inertial navigation system, the traditional test method in the prior art has the problems of incompleteness and low feasibility because the traditional test method cannot completely meet the working environment requirement and even is inconvenient to provide limit conditions for testing although the test result accuracy is high; although the testing method adopting full-digital simulation can meet the requirements of working environment and can also provide limit conditions, the reliability of the obtained testing result is to be verified.
Through research of the inventor, the inertial navigation system can be tested in a semi-physical simulation mode, wherein the inertial navigation combination navigation component adopts real objects, the associated environments can be replaced by algorithm models, and the reliability of the test result is high.
An aspect of an embodiment of the present invention relates to a model-based inertial navigation system simulation platform, as shown in fig. 1, including: the simulation host 100, the simulation target machine 200 and the inertial integrated navigation component 300 are connected in sequence;
the simulation host 100 is configured to build a system simulation model of the inertial navigation system, and transmit the system simulation model to the simulation target machine 200;
the simulation target machine 200 is configured to generate an excitation signal after the system simulation model is simulated and solved, and send the excitation signal to the inertial integrated navigation component 300;
the inertial integrated navigation unit 300 is configured to generate a feedback signal according to the excitation signal, and return the feedback signal to the simulation target machine 200, so as to implement a closed-loop test of the inertial integrated navigation unit 300.
In the embodiment of the invention, the inertial navigation combination navigation part adopts real objects, the associated environment is replaced by the algorithm model, the model and the real objects are combined through the simulation system to form the simulation closed-loop system, the experimental research on the inertial navigation system can be realized on the premise of meeting the feasibility and the reliability, and the function and the performance of the inertial navigation system under the limit working mode and the condition can be verified. The problems that in the prior art, the all-digital simulation confidence is low, the requirements of the function and performance test research of the inertial navigation system cannot be completely met, the all-digital simulation result cannot be used as a test result, and a complete physical verification test has high test cost and long period, is inconvenient to optimize an iterative test, and even cannot be performed in some tests are solved. The simulation platform provided by the embodiment of the invention can shorten the development period of the inertial navigation system, reduce the development cost, improve the development efficiency and improve the system development capability.
Considering that the protocols or buses of the inertial integrated navigation unit 300 for receiving various information are different, the model-based inertial navigation system simulation platform further comprises: an interface auxiliary device 400 connected between the simulation target machine 200 and the inertial integrated navigation unit 300, wherein the interface auxiliary device 400 is used for implementing signal conditioning and interface adaptation between the simulation target machine 200 and the inertial integrated navigation unit 300. The requirement of model simulation is met by arranging the interface auxiliary equipment 400, so that the test result is more real and reliable.
Specifically, the interface accessory 400 includes a board card integrated with one or more of a radio frequency interface, a 1394 interface, an I/O interface, an RS-422, an ARINC429, a 1553B bus, and an FC bus. Through each interface or protocol, the interconnection and intercommunication of information among the simulation host 100, the simulation target machine 200 and the inertia integrated navigation component 300 are realized, and the organic combination of each single-machine device in the inertia integrated navigation component 300 is also realized to form a complete inertial navigation system, so that the semi-physical simulation test of the complete inertial navigation system can be performed.
Wherein, the Radio Frequency (RF) interface is a Radio RF interface. The 1394 interface is a serial interface based on the IEEE1394 standard. The I/O interface is a common interface for data exchange between the host and the external device. RS-422 is a series of data transmission protocols that specify the use of 4-wire, full duplex, differential transmission, and multicast. ARINC429, the digital information transmission system DITS, is widely used in advanced civil airliners. The 1553B bus is an information transmission bus standard specially established for equipment on an airplane, namely a protocol for transmission among the equipment. The FC bus, i.e., the optical fiber bus, is a high-speed serial transmission bus. Of course, other board cards can be provided according to the actual requirements of the inertial navigation system, and no specific limitation is made herein.
In one embodiment, the simulation host 100 is configured to build a system simulation model of the inertial navigation system offline; the simulation target machine 200 is used for real-time simulation calculation of the system simulation model and/or off-line simulation calculation of the system simulation model. The simulation target machine 200 can simulate the solution system simulation model in a real-time/off-line mode. According to the test case and the design time sequence of the off-line design of the simulation host 100, when the real-time simulation calculation is performed on each system simulation model, the interface auxiliary equipment 400 sends an excitation signal to the inertial integrated navigation component 300, and similarly, a feedback signal generated by the inertial integrated navigation component 300 is collected and converted by the interface auxiliary equipment 400 and then returns to the corresponding system simulation model, so that a dynamic closed-loop test is formed, and the reliability of the test result of the inertial navigation system is improved.
In one embodiment, the system simulation model includes one or more of an atmospheric data model, a satellite system model, a self-driving flight control system model, and a doppler sensor model. It is understood that the system simulation model may also include other models related to the inertial navigation system, and is not limited in any way.
In an embodiment, in consideration of actual test requirements of the inertial navigation system, the simulation host 100 is further used for development of an integrated display system, and the inertial integrated navigation component 300 is used for sending the feedback signal to the simulation host 100 through the simulation target 200 to realize information display of the feedback signal, so that convenience can be brought to an operator.
In an embodiment, the interface assisting apparatus 400 is further connected with a human-computer interaction apparatus 500, and the human-computer interaction apparatus 500 is configured to generate a manipulation signal and send the manipulation signal to the inertial integrated navigation component 300 to implement human-computer interaction.
Specifically, the human-computer interaction device 500 includes one or more of a hand wheel mechanism, a pedal mechanism, and a switch mechanism.
In one embodiment, the simulation host 100 is configured to transmit the system simulation model to the simulation target 200 via a TCP/IP protocol. The TCP/IP Protocol (Transmission Control Protocol/Internet Protocol) refers to a Protocol cluster capable of implementing information Transmission among a plurality of different networks. The TCP/IP protocol includes a protocol cluster composed of FTP, SMTP, TCP, UDP, IP and the like.
It can be seen that the simulation host 100 is an upper computer service level of the simulation platform provided in the embodiment of the present invention, and is responsible for the offline design and development work of the whole service work. The operation platform is mainly used for completing the development of simulation models of various systems related to the inertial navigation system, the development of a comprehensive display system and the like, and can realize the human-computer interaction of the whole simulation system. Wherein, the simulation mainframe 100 may adopt a high-performance commercial workstation computer.
The simulation target machine 200 is a lower machine business level of the simulation platform provided in the embodiment of the present invention, and all the offline system simulation models developed by the simulation host machine 100 and corresponding test cases are executed offline and/or in real time on the simulation target machine 200, so as to execute the test of the system. When the real-time simulation operation is performed on the system simulation model, specifically, the operation is performed according to the test case of the off-line design and the designed time sequence, and an excitation signal is sent to the inertial integrated navigation component 300 through the interface auxiliary equipment 400; similarly, the feedback signal generated by the inertial integrated navigation component 300 after reacting according to the excitation signal is also collected by the interface auxiliary device 400 and then returned to the corresponding system simulation model to form a dynamic closed-loop test.
In summary, the model-based inertial navigation system simulation platform provided by the embodiment of the invention is used for research, development and test of the whole life cycle of the inertial navigation system. The model can be used for simulating the peripheral working condition of the inertial navigation system which cannot be built in a laboratory, so that the inertial navigation system joint test in the laboratory is realized, the test of the inertial navigation system is shortened in development period, the development cost is reduced, the development efficiency is improved, and the system research and development capability is improved.
In another aspect, an embodiment of the present invention relates to a method for simulating a model-based inertial navigation system, and with reference to fig. 2, the method includes:
and S601, building a system simulation model of the inertial navigation system.
And step S602, carrying out simulation calculation on the system simulation model and generating an excitation signal.
Step S603, the inertial integrated navigation component generates a feedback signal according to the excitation signal and returns the feedback signal to the system simulation model; and adjusting simulation parameters on line in the process of solving the system simulation model through the simulation.
According to the model-based inertial navigation system simulation method, the inertial navigation combined navigation component adopts a real object, and the associated environmental conditions are replaced by the algorithm model. The method comprises the steps of building system simulation model models such as an atmospheric data model, a Doppler sensor model and a self-driving flight control system model in a simulation host 100, downloading each system simulation model into a simulation target machine 200 through a TCP/IP protocol for real-time simulation calculation, sending a calculation result to an inertial navigation integrated navigation part, enabling the inertial navigation integrated navigation part to perform corresponding action, and feeding back the result to the simulation target machine 200 so as to adjust or optimize the simulation calculation of the corresponding system simulation model, and therefore the real-time simulation closed-loop system is formed. The simulation method can also adjust the simulation parameters on the premise of not influencing the simulation calculation, and immediately input the adjusted simulation parameters into the subsequent simulation calculation.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A model-based inertial navigation system simulation platform, comprising: the system comprises a simulation host machine, a simulation target machine and an inertia integrated navigation component which are sequentially connected;
the simulation host is used for building a system simulation model of the inertial navigation system and transmitting the system simulation model to the simulation target machine;
the simulation target machine is used for generating an excitation signal after the system simulation model is simulated and solved, and sending the excitation signal to the inertial integrated navigation component;
and the inertia combined navigation component is used for generating a feedback signal according to the excitation signal and returning the feedback signal to the simulation target machine so as to realize the closed-loop test of the inertia combined navigation component.
2. The model-based inertial navigation system simulation platform of claim 1, further comprising: and the interface auxiliary equipment is connected between the simulation target machine and the inertial integrated navigation component and is used for realizing signal conditioning and interface adaptation between the simulation target machine and the inertial integrated navigation component.
3. The model-based inertial navigation system simulation platform according to claim 2, wherein the interface accessory comprises a board integrated with one or more of a radio frequency interface, a 1394 interface, an I/O interface, an RS-422, an ARINC429, a 1553B bus, and a FC bus.
4. The model-based inertial navigation system simulation platform according to claim 1 or 2, wherein the simulation host is configured to set up a system simulation model of the inertial navigation system offline; the simulation target machine is used for simulating and resolving the system simulation model in real time and/or simulating and resolving the system simulation model in an off-line mode.
5. The model-based inertial navigation system simulation platform of claim 4, wherein the system simulation model comprises one or more of an atmospheric data model, a satellite system model, a self-driving flight control system model, a Doppler sensor model.
6. The model-based inertial navigation system simulation platform according to claim 2, wherein the simulation host is further configured to develop a comprehensive display system, and the inertial integrated navigation component is configured to send the feedback signal to the simulation host through the simulation target to realize information display of the feedback signal.
7. The model-based inertial navigation system simulation platform according to claim 2 or 6, wherein the interface auxiliary device is further connected with a human-computer interaction device, and the human-computer interaction device is configured to generate a manipulation signal and send the manipulation signal to the inertial integrated navigation unit.
8. The model-based inertial navigation system simulation platform of claim 7, wherein the human-machine interaction device comprises one or more of a hand wheel mechanism, a foot pedal mechanism, and a switch mechanism.
9. The model-based inertial navigation system simulation platform according to any one of claims 1 to 8, wherein the simulation host is configured to transmit the system simulation model to the simulation target via a TCP/IP protocol.
10. A model-based inertial navigation system simulation method is characterized by comprising the following steps:
building a system simulation model of the inertial navigation system;
the system simulation model is simulated and solved, and an excitation signal is generated;
the inertial integrated navigation component generates a feedback signal according to the excitation signal and returns the feedback signal to the system simulation model;
and adjusting simulation parameters on line in the process of solving the system simulation model through the simulation.
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| CN110928201A (en) * | 2019-12-26 | 2020-03-27 | 上海科梁信息工程股份有限公司 | Semi-physical test method and system for airplane avionics system |
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|---|---|---|---|---|
| CN102004447A (en) * | 2010-11-11 | 2011-04-06 | 西北工业大学 | Integrated-navigation and control hardware-in-the-loop simulation test system of underwater vehicle |
| CN107976915A (en) * | 2017-11-24 | 2018-05-01 | 长光卫星技术有限公司 | A kind of small-sized unmanned plane semi-physical system and emulation mode |
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