CN114234974A - Underwater vehicle navigation method based on emission coordinate system - Google Patents
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Abstract
The invention discloses an underwater vehicle navigation method based on a transmitting coordinate system, which comprises the following steps: 1) carrying out initial alignment on the underwater vehicle in the mooring state to obtain an initial value of the attitude angle of the vehicle; 2) after initial alignment, the roll angle is initially 0 °.3) Launching the underwater vehicle and calculating the attitude angle of the underwater vehicle in the navigation process. The invention can solve the problem of navigation resolving of the navigation body in the launching coordinate system under the conditions that the periodic rotation towards the zenith axis is carried out in the mooring state of the underwater navigation body and the angle change of 3 attitude angles after launching can exceed 90 degrees.
Description
Technical Field
The invention relates to the field of inertial navigation, in particular to an underwater vehicle navigation method based on a transmitting coordinate system.
Background
In some specific underwater vehicle motion track test applications, the initial position of the underwater vehicle cannot be determined, and the motion track and the relative position information of the underwater vehicle relative to the launching initial point need to be tested. In practical tests, the navigation body is in a mooring state at the launching starting point, and X, Y, Z three attitude axes (X, Y, Z three attitude axes conform to right-hand rule) are definedAs shown in fig. 1. During the initial alignment, the vehicle is in a moored state and the X-axis rotates periodically. During the course of the launch, the X axis gradually changes from the heaven direction to the horizontal direction (the angle changes by more than 90 degrees), and either the Y axis or the Z axis gradually changes to the heaven direction or the earth direction (the angle changes by more than 90 degrees). In the above situation, accurate X-axis direction initial angle information cannot be obtained during initial alignment, and meanwhile, the motion trajectory of the underwater vehicle after transmission causes a large range of change of the attitude angle, and in the field of inertial navigation, the definition of the attitude angle generally follows the following definition domain: course angle
Pitch angle θ [ -90 °,90 ° ]]The roll angle γ is (-180 °,180 °)]. In summary, to obtain the motion trajectory and the relative position information of the navigation body relative to the emission starting point, the initial alignment problem in this case must be solved to obtain 3 initial values of attitude angle.
Disclosure of Invention
The invention aims to provide an underwater vehicle navigation method based on a transmitting coordinate system, which comprises the following steps:
1) and carrying out initial alignment on the underwater vehicle in the mooring state to obtain an initial value of the attitude angle of the vehicle.
The attitude angle includes a heading angle, a roll angle and a pitch angle.
In a mooring state, one horizontal attitude angle in the initial alignment of the navigation body is an initial value of a course angle, the other horizontal attitude angle is an initial value of a pitch angle, and an attitude angle in the direction of a zenith axis is an initial value of a roll angle.
The method for acquiring the initial value of the attitude angle of the navigation body comprises a strapdown inertial navigation autonomous alignment method.
2) After initial alignment, the roll angle is initially 0 °.
3) Launching the underwater vehicle and calculating the attitude angle of the underwater vehicle in the navigation process.
The step of calculating the attitude angle of the underwater vehicle in the navigation process comprises the following steps:
3.1) establishing a coordinate system comprising an underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZn。
Underwater vehicle body coordinate system oXbYbZbX of (2)bThe axis coinciding with the longitudinal axis of the navigation body and being XbThe positive direction of the axis points to the head.
Underwater vehicle body coordinate system oXbYbZbY of (A) isbAxis in longitudinal symmetry of the aircraft body, with XbThe axis is vertical and the positive direction is upward.
Underwater vehicle body coordinate system oXbYbZbZ of (A)bAxis and XbAxis, YbThe axes form a right-hand coordinate system.
Navigation system oXnYnZnAnd taking a horizontal coordinate system of the location domain of the lower navigation body as an emission coordinate system, and taking the emission point as an origin.
When the underwater vehicle is initially aligned, the X axis faces the sky, and the navigation system oXnYnZnY of (A) isnAxis, ZnThe axis is in the horizontal plane of the ground. Y isnBody coordinate system Y of underwater vehicle pointed by positive axial directionbProjection of the axis at local level, XnThe axis is on the local plumb line, and the positive direction points upwards. XnAxis and YnAxis, ZnThe axes form a right-hand coordinate system.
The underwater navigation body rotates around the X axis to roll, rotates around the Y axis to turn to the course, and rotates around the Z axis to turn to pitch.
Underwater vehicle body coordinate system oXbYbZbThe origin of (2) is defined at the center of mass of the flight body and is coincident with the origin of the transmitting system.
3.2) based on underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZnEstablishing an attitude matrix of the underwater vehicle in the process of navigation
Namely:
wherein psi is a heading angle, theta is a pitch angle, and gamma is a roll angle.
And
are in a transposed relationship to each other.
Underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZnThe conversion relationship is as follows: navigation system oXnYnZnThe angle phi of rotation about the Y axis is transformed into a coordinate system oX1Y1Z1. Navigation system oX1Y1Z1The angle theta of rotation about the Z axis is transformed into a coordinate system oX2Y2Z2. Coordinate system oX2Y2Z2The rotation angle gamma around the X axis is converted into a coordinate system oX of the underwater vehicle bodybYbZb。
3.3) solving the attitude matrix
And obtaining the attitude angle of the underwater vehicle in the process of sailing.
The technical effect of the invention is undoubted, and the invention can carry out the arrangement design of the navigation algorithm on the specific condition, and can meet the requirement of the full-attitude navigation solution of the navigation body under the emission coordinate system. The invention can solve the problem of navigation resolving of the navigation body in the launching coordinate system under the conditions that the periodic rotation towards the zenith axis is carried out in the mooring state of the underwater navigation body and the angle change of 3 attitude angles after launching can exceed 90 degrees.
Drawings
FIG. 1 shows a mooring state, X, Y, Z with three attitude axes;
FIG. 2 is a navigation body;
FIG. 3 is a transformation of a navigation system into a body system.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 3, a method for navigating an underwater vehicle based on a transmission coordinate system includes the following steps:
1) and carrying out initial alignment on the underwater vehicle in the mooring state to obtain an initial value of the attitude angle of the vehicle.
The attitude angle includes a heading angle, a roll angle and a pitch angle.
In a mooring state, one horizontal attitude angle in the initial alignment of the navigation body is an initial value of a course angle, the other horizontal attitude angle is an initial value of a pitch angle, and an attitude angle in the direction of a zenith axis is an initial value of a roll angle.
The method for acquiring the initial value of the attitude angle of the navigation body comprises a strapdown inertial navigation autonomous alignment method.
2) After initial alignment, the roll angle is initially 0 °.
3) Launching the underwater vehicle and calculating the attitude angle of the underwater vehicle in the navigation process.
The step of calculating the attitude angle of the underwater vehicle in the navigation process comprises the following steps:
3.1) establishing a coordinate system comprising an underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZn。
Underwater vehicle body coordinate system oXbYbZbX of (2)bThe axis coincides with the longitudinal axis of the navigation body, anXbThe positive direction of the axis points to the head.
Underwater vehicle body coordinate system oXbYbZbY of (A) isbAxis in longitudinal symmetry of the aircraft body, with XbThe axis is vertical and the positive direction is upward.
Underwater vehicle body coordinate system oXbYbZbZ of (A)bAxis and XbAxis, YbThe axes form a right-hand coordinate system.
Navigation system oXnYnZnAnd taking a horizontal coordinate system of the location domain of the lower navigation body as an emission coordinate system, and taking the emission point as an origin.
When the underwater vehicle is initially aligned, the X axis faces the sky, and the navigation system oXnYnZnY of (A) isnAxis, ZnThe axis is in the horizontal plane of the ground. Y isnBody coordinate system Y of underwater vehicle pointed by positive axial directionbProjection of the axis at local level, XnThe axis is on the local plumb line, and the positive direction points upwards. XnAxis and YnAxis, ZnThe axes form a right-hand coordinate system.
The underwater navigation body rotates around the X axis to roll, rotates around the Y axis to turn to the course, and rotates around the Z axis to turn to pitch.
Underwater vehicle body coordinate system oXbYbZbThe origin of (2) is defined at the center of mass of the flight body and is coincident with the origin of the transmitting system.
3.2) based on underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZnEstablishing an attitude matrix of the underwater vehicle in the process of navigation
Namely:
wherein psi is a heading angle, theta is a pitch angle, and gamma is a roll angle.
And
are in a transposed relationship to each other. n is a navigation system, and b is a navigation body coordinate system.
Underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZnThe conversion relationship is as follows: navigation system oXnYnZnThe angle phi of rotation about the Y axis is transformed into a coordinate system oX1Y1Z1. Navigation system oX1Y1Z1The angle theta of rotation about the Z axis is transformed into a coordinate system oX2Y2Z2. Coordinate system oX2Y2Z2The rotation angle gamma around the X axis is converted into a coordinate system oX of the underwater vehicle bodybYbZb。
3.3) solving the attitude matrix
And obtaining the attitude angle of the underwater vehicle in the process of sailing.
Example 2:
an underwater vehicle navigation method based on a transmitting coordinate system comprises the following steps:
1) in actual use, the heading angle is selected as a horizontal attitude angle in the initial alignment.
In other words, the initial heading angle is obtained from the horizontal attitude alignment. Two horizontal angle initial values are obtained by using a strapdown inertial navigation autonomous alignment method of earth gravity acceleration information in an inertial space, wherein one horizontal angle initial value is used as a course angle initial value, the other horizontal angle initial value is used as a pitch angle initial value, a roll angle is taken in the direction of a zenith axis, and 0 is set at the first moment after the initial alignment is finished. Generally, the heading angle of a vehicle is defined as the rotation about the zenith axis. However, under the underwater mooring condition, the navigation body can rotate back and forth around the zenith axis and the initial alignment of the course angle cannot be performed, so that the subsequent navigation calculation cannot be performed. By the design, the initial value of the course angle is skillfully obtained by initial horizontal alignment under a relative coordinate system, and the initial values of the roll angle and the pitch angle under an emission coordinate system are simultaneously obtained, so that the algorithm has the condition of strapdown navigation calculation, and the relative position and attitude information of the navigation body relative to an emission point under the emission coordinate system can be obtained.
2) After initial alignment is completed in a mooring state, aiming at the condition that the motion track of an underwater vehicle in the navigation process can cause the attitude angle to change in a large range, the strapdown matrix conversion method can be used for designing a full-attitude navigation algorithm meeting the measurement of the track of the vehicle.
Example 3:
an underwater vehicle navigation method based on a transmitting coordinate system comprises the following steps:
1) the coordinate system is defined as follows:
navigation body coordinate system oXbYbZbThe origin is defined as the center of mass of the aircraft and coincides with the origin of the transmitting system. XbThe axis is coincident with the longitudinal axis of the navigation body, and the positive direction points to the head; y isbAxis in longitudinal symmetry of the aircraft body, with XbThe axis is vertical, and the positive direction points upwards; zbAxis and XbAxis, YbThe axis forms a right-hand coordinate system;
navigation system oXnYnZnTaking a local horizontal coordinate system as a transmitting coordinate system, and taking a transmitting point as an origin;
2) and (3) solving each attitude angle in the initial alignment stage:
defined as roll about the X axis, course about the Y axis, and pitch about the Z axis.
2.1) obtaining an initial alignment result of a course angle and a pitch angle by utilizing a strapdown inertial navigation autonomous alignment method of earth gravity acceleration information in an inertial space, and using the initial alignment result as an initial value of the course angle and the pitch angle at the starting moment of navigation calculation.
2.2) after the initial alignment is finished, the initial value of the roll angle at the moment of entering the navigation resolving process is 0 degree.
3) The navigation algorithm attitude matrix solving process comprises the following steps:
the navigation system reaches a body coordinate system through three rotations, and three attitude angles (psi is a heading angle, theta is a pitch angle, and gamma is a roll angle) can be uniquely determined through the three rotations. The navigation system is uniquely determined after the initial alignment is finished, and the attitude angle is uniquely determined by the conversion relation between the main system and the navigation system at the moment.
The navigation body is initially aligned with the X-axis facing the sky, the navigation system (oX)nYnZn)YnAxis, ZnThe axis being in the horizontal plane of the ground, YnThe positive direction of the axis points to the body system YbProjection of the axis at local level, XnThe axis is on the local plumb line, and the positive direction points upwards; xnShaft axis and YnAxis, ZnThe axes form a right-hand coordinate system. Defined as roll around the X axis, heading around the Y axis, pitch around the Z axis, and Y, Z, X for the sequence of rotation; the three rotations are shown below.
The specific rotational relationship is as follows:
from which an attitude matrix of navigation calculations is derived
Comprises the following steps:
and performing navigation calculation through the attitude transformation matrix listed above to calculate the horizontal attitude angle and the course angle of the underwater vehicle in the navigation process after the initial alignment is completed.
Example 4:
a simulation verification of an underwater vehicle navigation method based on a transmitting coordinate system comprises the following steps:
and carrying out algorithm simulation analysis by using actual underwater test data. The inertial measurement instruments adopted by the measurement inertial navigation of the navigation body are an MEMS gyroscope and a quartz accelerometer. The precision of the zero bias stability of the MEMS gyroscope is 20 degrees/h (full temperature domain), and the precision of the zero bias stability of the quartz accelerometer is 0.3mg (full temperature domain). The test time of the underwater vehicle from the start of launch to the end of the voyage is about 40s (including 20s of initial alignment data before launch). The navigation attitude angle error and the relative position error in 20s after the underwater vehicle is launched for 3 times are respectively given in the table 1, the table 2 and the table 3, the attitude angle error and the position error in the table are obtained by comparing and carrying measured high-precision inertial navigation, and the navigation of the high-precision inertial navigation is resolved by taking a geographic coordinate system as a navigation coordinate system.
TABLE 1
The full-attitude navigation resolving result under the emission coordinate system can be obtained to be matched with the precision of the test inertial navigation instrument, and the full-attitude navigation resolving under the emission coordinate system can meet the test precision requirement of the underwater vehicle.
Claims (9)
1. An underwater vehicle navigation method based on a transmitting coordinate system is characterized by comprising the following steps:
1) and carrying out initial alignment on the underwater vehicle in the mooring state to obtain an initial value of the attitude angle of the vehicle.
2) After initial alignment, the roll angle is initially 0 °.
3) Launching the underwater vehicle and calculating the attitude angle of the underwater vehicle in the navigation process.
2. The underwater vehicle navigation method based on the emission coordinate system as claimed in claim 1, wherein: the attitude angle includes a heading angle, a roll angle and a pitch angle.
3. The underwater vehicle navigation method based on the emission coordinate system as claimed in claim 2, wherein: in a mooring state, one horizontal attitude angle in the initial alignment of the navigation body is an initial value of a course angle, the other horizontal attitude angle is an initial value of a pitch angle, and an attitude angle in the direction of a zenith axis is an initial value of a roll angle.
4. The underwater vehicle navigation method based on the emission coordinate system as claimed in claim 1, wherein: the method for acquiring the initial value of the attitude angle of the navigation body comprises a strapdown inertial navigation autonomous alignment method.
5. The underwater vehicle navigation method based on the emission coordinate system as claimed in claim 1, wherein: the step of calculating the attitude angle of the underwater vehicle in the navigation process comprises the following steps:
1) establishing a coordinate system comprising an underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZn；
2) Based on body coordinate system oX of underwater vehiclebYbZbAnd navigation system oXnYnZnEstablishing an attitude matrix of the underwater vehicle in the process of navigation
Namely:
in the formula, psi is a course angle, theta is a pitch angle, and gamma is a roll angle;
and
are in a transposed relationship with each other;
3) solving an attitude matrix
And obtaining the attitude angle of the underwater vehicle in the process of sailing.
6. The underwater vehicle navigation method based on the emission coordinate system according to claim 5, wherein: underwater vehicle body coordinate system oXbYbZbThe origin of the transmission system is defined as the center of mass of the aircraft body and is coincided with the origin of the transmission system;
underwater vehicle body coordinate system oXbYbZbX of (2)bThe axis coinciding with the longitudinal axis of the navigation body and being XbThe positive direction of the axis points to the head;
underwater vehicle body coordinate system oXbYbZbY of (A) isbAxis in longitudinal symmetry of the aircraft body, with XbThe axis is vertical, and the positive direction points upwards;
underwater vehicle body coordinate system oXbYbZbZ of (A)bAxis and XbAxis, YbThe axis forms a right-hand coordinate system;
navigation system oXnYnZnAnd taking a horizontal coordinate system of the location domain of the lower navigation body as an emission coordinate system, and taking the emission point as an origin.
7. The underwater vehicle navigation method based on the emission coordinate system according to claim 5, wherein: when the underwater vehicle is initially aligned, the X axis faces the sky, and the navigation system oXnYnZnY of (A) isnAxis, ZnThe axis is in the horizontal plane of the ground; y isnBody coordinate system Y of underwater vehicle pointed by positive axial directionbProjection of the axis at local level, XnThe axis is on the local plumb line, and the positive direction points upwards; xnAxis and YnAxis, ZnThe axes form a right-hand coordinate system.
8. The underwater vehicle navigation method based on the emission coordinate system according to claim 5, wherein: the underwater navigation body rotates around the X axis to roll, rotates around the Y axis to turn to the course, and rotates around the Z axis to turn to pitch.
9. The underwater vehicle navigation method based on the emission coordinate system as claimed in claim 5, wherein: underwater vehicle body coordinate system oXbYbZbAnd navigation system oXnYnZnThe conversion relationship is as follows: navigation system oXnYnZnThe angle phi of rotation about the Y axis is transformed into a coordinate system oX1Y1Z1(ii) a Navigation system oX1Y1Z1The angle theta of rotation about the Z axis is transformed into a coordinate system oX2Y2Z2(ii) a Coordinate system oX2Y2Z2The rotation angle gamma around the X axis is converted into a coordinate system oX of the underwater vehicle bodybYbZb。
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