CN114279462A - Inertial navigation periodic error autonomous estimation and prediction method - Google Patents
Inertial navigation periodic error autonomous estimation and prediction method Download PDFInfo
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Abstract
The invention relates to an inertial navigation periodic error autonomous estimation and prediction method, which is technically characterized by comprising the following steps: observing two sets of inertial navigation latitude and longitude error difference values, and extracting the amplitude and the phase of a periodic earth oscillation item in the error difference values; the amplitude and the phase of the earth periodic oscillation item in respective latitude and longitude errors of the two sets of inertial navigation are obtained, and estimation of the earth periodic oscillation item in the latitude and longitude errors of the inertial navigation is realized; and the prediction of the earth periodic oscillation items in the inertial navigation latitude and longitude errors in a future period of time is realized according to the earth periodic oscillation items in the north and east inertial navigation errors. The method greatly simplifies the solving difficulty, the predicted value can be used for outputting the pre-compensation of the inertial navigation position, the inertial navigation information quality can be obviously improved, the method is suitable for the underwater satellite navigation rejection environment of deep and far sea, and the long-time navigation precision of the inertial navigation is improved in a completely autonomous mode.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, relates to an underwater autonomous navigation system, and particularly relates to an autonomous estimation and prediction method for inertial navigation periodic errors.
Background
With the development and rise of various underwater platforms for battle/operation, higher requirements are put forward for underwater navigation. At present, the problem of high-precision navigation in an area can be solved by combining inertial navigation and Doppler sonar, but the requirement of high-precision navigation during long-term navigation in deep and distant seas cannot be met. Due to the fact that underwater application of various navigation means such as satellite navigation and astronomical navigation is limited, underwater acoustic beacons are required to be arranged in advance in underwater acoustic navigation, and inertial navigation is still a main means of underwater long-time high-precision navigation. For a damping inertial navigation system, the earth periodic oscillation error is a main cause of inertial navigation position error fluctuation, and the inertial navigation information quality is seriously influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an inertial navigation periodic error autonomous estimation and prediction method, overcomes the influence of the earth periodic oscillation error on the inertial navigation position error fluctuation, and improves the inertial navigation information quality.
The invention solves the technical problems in the prior art by adopting the following technical scheme:
an inertial navigation periodic error autonomous estimation and prediction method comprises the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting the earth periodic oscillation phase in the 2 sets of inertial navigation north speed errors; observing the difference value of north speed and east speed between the 2 sets of inertial navigation, and extracting the amplitude and phase of the earth periodic oscillation term in the difference value of north speed and east speed of the 2 sets of inertial navigation; observing a latitude difference value and a longitude difference value between the 2 sets of inertial navigation, and extracting the amplitude and the phase of the earth periodic oscillation term in the difference values;
step 2, decomposing the amplitude of the earth periodic oscillation item in the difference values of north velocity, east velocity, latitude and longitude of the 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the amplitude of the earth periodic oscillation item in the respective north velocity, east velocity, latitude and longitude errors of the 2 sets of inertial navigation; the phases of the earth periodic oscillation items in respective latitude and longitude errors of the 2 sets of inertial navigation are further obtained, and estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t is realized;
and 3, predicting the earth periodic oscillation items in the inertial navigation latitude and longitude errors in a future period of time according to the earth periodic oscillation item information in the north and east inertial navigation errors.
Moreover, the specific implementation method of the step 1 is as follows: let 2 sets of inertial navigation north speeds be v1、v2Dongshu v'1、v′2Velocity of Doppler sonar is vdObserving 2 sets of inertial navigation north speed errors E by taking Doppler sonar north speed as a referencev1d＝v1-vd、Ev2d＝v2-vd(ii) a The north speed difference of the 2 sets of inertial navigation is Ev21＝v2-v1And the east speed difference value is E'v21＝v′2-v′1(ii) a ReadingEv1d、Ev2d、Ev21、E′v21The time corresponding to the earth periodic oscillation peak closest to the current time in the signal is respectively marked as t1d、t2d、t21、t′21Then E isv1d、 Ev2d、Ev21、E′v21The phase of the medium earth periodic oscillation term is as follows:
read Ev21、E′v21Amplitude A of medium earth periodic oscillation termv21、A′v21T is the earth period; 2 sets of inertial navigation latitude outputs as lat1、lat2Extracting 2 sets of inertial navigation latitude difference Elat21＝lat2-lat1The amplitude of the medium earth periodic oscillation term is recorded as A21The phase is recorded as
2 sets of inertial navigation longitude outputs are lon1、lon2Extracting 2 sets of inertial navigation longitude difference value Elon21＝lon2-lon1Medium earth periodic oscillation term amplitude A'21Phase of
Moreover, the specific implementation method of the step 2 is as follows:
(1) solving the earth periodic oscillation amplitude A in respective north speed errors of 2 sets of inertial navigation by constructing a family of trianglesv1、Av2Amplitude of Earth periodic oscillation in east speed error of A'v1、A′v2Amplitude of periodic oscillation of the earth in latitude error A1、A2Amplitude A 'of earth periodic oscillation term in longitude error'1、A′2(ii) a Constructing a family of triangles and solving: passing point A as straight line b, b rotating counterclockwise around A
Degree is obtained that the straight lines a and b rotate around A in a counterclockwise way
Obtaining a straight line c; drawing a distance A from A on the straight line bv21、A′v21、A21、A′21The parallel lines passing through V, V1 and P, P1 as c are intersected with a at points W, W1 and Q, Q1 at points V, V1 and P, P1, and the lengths of line segments WA, WV, W1A, W1V1, QA, QP, Q1A and Q1P1 are measured to be Av1、Av2、A′v1、A′v2、A1、A2、A′1、A′2；
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following formula
2 sets of inertial navigation latitude error earth periodic oscillation terms are as follows:
(3) calculating the earth periodic oscillation phase in 2 sets of inertial navigation longitude errors according to the following formula
The 2 sets of inertial navigation longitude error earth periodic oscillation terms are as follows:
moreover, the specific implementation method of step 3 is as follows:
(1) predicting 2 sets of inertial navigation latitude error earth periodic oscillation term values at the future t + delta t moment according to earth periodic oscillation terms in respective north speed errors of 2 sets of inertial navigation:
(2) the predicted values of the geosynchronous oscillation items of the 2 sets of inertial navigation longitude errors at the future t + delta t moment according to the geosynchronous oscillation items in the respective eastern speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein
The invention has the advantages and positive effects that:
according to the method, based on observed phase information, earth periodic oscillation terms in respective positions and speed errors of 2 sets of inertial navigation are separated from 2 sets of inertial navigation positions and speed difference values, and a family of triangles is constructed to solve the problem that the amplitude of the earth periodic oscillation terms in the north speed, east speed, latitude and longitude difference values of the 2 sets of inertial navigation is decomposed into the amplitude of the earth periodic oscillation in the north speed, east speed, latitude and longitude errors of the 2 sets of inertial navigation, so that the solving difficulty is greatly simplified; the earth periodic oscillation item of the inertial navigation longitude and latitude error in a period of time in the future is predicted by utilizing the advance characteristic of the speed, and the predicted value can be used for pre-compensation of inertial navigation position output, so that the inertial navigation information quality is remarkably improved; the method is suitable for the underwater satellite navigation rejection environment of deep and far sea, and improves the long-time navigation precision of inertial navigation in a completely autonomous mode.
Drawings
FIG. 1 is a schematic diagram of the present invention, in which the 2 sets of inertial navigation differences of north velocity, east velocity, latitude and longitude are decomposed into 2 sets of inertial navigation differences of north velocity, east velocity, latitude and longitude, and the amplitude of the periodic oscillation of the earth is decomposed into 2 sets of inertial navigation errors of north velocity, east velocity, latitude and longitude.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention is realized on an underwater autonomous navigation system consisting of 2 sets of high-precision inertial navigation and Doppler sonar. The high-precision inertial navigation in the system works in a damping state, and the earth periodic oscillation items in longitude and latitude errors of the inertial navigation are estimated and predicted based on mutual observation information among devices.
Based on the above description, the present invention provides an inertial navigation periodic error autonomous estimation and prediction method, including the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting the earth periodic oscillation phase in the 2 sets of inertial navigation north speed errors; observing the difference value of north speed and east speed between the 2 sets of inertial navigation, and extracting the amplitude and phase of the earth periodic oscillation term in the difference value of north speed and east speed of the 2 sets of inertial navigation; and observing a latitude difference value and a longitude difference value between the 2 sets of inertial navigation, and extracting the amplitude and the phase of the periodic earth oscillation term in the difference values.
In this step, let 2 sets of inertial navigation north velocity be v1、v2Dongshu v'1、v′2Velocity of Doppler sonar is vdObserving 2 sets of inertial navigation north speed errors E by taking Doppler sonar north speed as a referencev1d＝v1-vd、Ev2d＝v2-vd(ii) a The north speed difference of the 2 sets of inertial navigation is Ev21＝v2-v1And the east speed difference value is E'v21＝v′2-v′1(ii) a Read Ev1d、Ev2d、Ev21、E′v21The time corresponding to the earth periodic oscillation peak closest to the current time in the signal is respectively marked as t1d、t2d、t21、t′21Then E isv1d、Ev2d、Ev21、E′v21The phase of the medium earth periodic oscillation term is as follows:
read Ev21、E′v21Amplitude A of medium earth periodic oscillation termv21、A′v21And T is the earth period.
2 sets of inertial navigation latitude outputs as lat1、lat2Extracting 2 sets of inertial navigation latitude difference Elat21＝lat2-lat1The amplitude of the medium earth periodic oscillation term is recorded as A21The phase is recorded as
2 sets of inertial navigation longitude outputs are lon1、lon2Extracting 2 sets of inertial navigation longitude difference value Elon21＝lon2-lon1Medium earth periodic oscillation term amplitude A'21Phase of
Step 2, decomposing the amplitude of the earth periodic oscillation item in the difference values of north velocity, east velocity, latitude and longitude of the 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the amplitude of the earth periodic oscillation item in the respective north velocity, east velocity, latitude and longitude errors of the 2 sets of inertial navigation; and further acquiring the phases of the earth periodic oscillation items in respective latitude and longitude errors of the 2 sets of inertial navigation, and realizing the estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t.
The specific implementation method of the step is as follows:
(1) solving 2 sets of inertias by constructing a family of trianglesDeriving amplitude A of periodic oscillation of earth in respective north velocity errorsv1、Av2Amplitude of Earth periodic oscillation in east speed error of A'v1、A′v2Amplitude of periodic oscillation of the earth in latitude error A1、A2Amplitude A 'of earth periodic oscillation term in longitude error'1、A′2. Constructing a family of triangles and solving: passing point A as straight line b, b rotating counterclockwise around A
Degree is obtained that the straight lines a and b rotate around A in a counterclockwise way
Obtaining a straight line c; drawing a distance A from A on the straight line bv21、A′v21、A21、A′21The parallel lines passing through V, V1 and P, P1 as c are intersected with a at points W, W1 and Q, Q1 at points V, V1 and P, P1, and the lengths of line segments WA, WV, W1A, W1V1, QA, QP, Q1A and Q1P1 are measured to be Av1、Av2、A′v1、A′v2、A1、A2、A′1、A′2. Constructing a family of triangles solves for the solution as shown in figure 1.
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following formula
2 sets of inertial navigation latitude error earth periodic oscillation terms are as follows:
(3) calculate 2 sets of inertias byPhase of earth periodic oscillation in longitude error
The 2 sets of inertial navigation longitude error earth periodic oscillation terms are as follows:
and 3, predicting the earth periodic oscillation items in the inertial navigation latitude and longitude errors in a future period of time according to the earth periodic oscillation item information in the north and east inertial navigation errors.
The specific implementation method in the step is as follows:
(1) predicting 2 sets of inertial navigation latitude error earth periodic oscillation term values at the future t + delta t moment according to earth periodic oscillation terms in respective north speed errors of 2 sets of inertial navigation:
(2) the predicted values of the geosynchronous oscillation items of the 2 sets of inertial navigation longitude errors at the future t + delta t moment according to the geosynchronous oscillation items in the respective eastern speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (4)
1. An inertial navigation periodic error autonomous estimation and prediction method is characterized by comprising the following steps: the method comprises the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting the earth periodic oscillation phase in the 2 sets of inertial navigation north speed errors; observing the difference value of north speed and east speed between the 2 sets of inertial navigation, and extracting the amplitude and phase of the earth periodic oscillation term in the difference value of north speed and east speed of the 2 sets of inertial navigation; observing a latitude difference value and a longitude difference value between the 2 sets of inertial navigation, and extracting the amplitude and the phase of the earth periodic oscillation term in the difference values;
step 2, decomposing the amplitude of the earth periodic oscillation item in the difference values of north velocity, east velocity, latitude and longitude of the 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the amplitude of the earth periodic oscillation item in the respective north velocity, east velocity, latitude and longitude errors of the 2 sets of inertial navigation; the phases of the earth periodic oscillation items in respective latitude and longitude errors of the 2 sets of inertial navigation are further obtained, and estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t is realized;
and 3, predicting the earth periodic oscillation items in the inertial navigation latitude and longitude errors in a future period of time according to the earth periodic oscillation item information in the north and east inertial navigation errors.
2. The inertial navigation cyclic error autonomous estimation and prediction method according to claim 1, characterized in that: said step (c) isThe specific implementation method of 1 is as follows: let 2 sets of inertial navigation north speeds be v1、v2Dongshu v'1、v′2Velocity of Doppler sonar is vdObserving 2 sets of inertial navigation north speed errors E by taking Doppler sonar north speed as a referencev1d＝v1-vd、Ev2d＝v2-vd(ii) a The north speed difference of the 2 sets of inertial navigation is Ev21＝v2-v1And the east speed difference value is E'v21＝v′2-v′1(ii) a Read Ev1d、Ev2d、Ev21、E′v21The time corresponding to the earth periodic oscillation peak closest to the current time in the signal is respectively marked as t1d、t2d、t21、t′21Then E isv1d、Ev2d、Ev21、E′v21The phase of the medium earth periodic oscillation term is as follows:
read Ev21、E′v21Amplitude A of medium earth periodic oscillation termv21、A′v21T is the earth period; 2 sets of inertial navigation latitude outputs as lat1、lat2Extracting 2 sets of inertial navigation latitude difference Elat21＝lat2-lat1The amplitude of the medium earth periodic oscillation term is recorded as A21The phase is recorded as
2 sets of inertial navigation longitude outputs are lon1、lon2Extracting 2 sets of inertial navigation longitude difference value Elon21＝lon2-lon1Medium earth periodic oscillation term amplitude A'21Phase of
3. The inertial navigation cyclic error autonomous estimation and prediction method according to claim 1, characterized in that: the specific implementation method of the step 2 comprises the following steps:
(1)solving the earth periodic oscillation amplitude A in respective north speed errors of 2 sets of inertial navigation by constructing a family of trianglesv1、Av2Amplitude of Earth periodic oscillation in east speed error of A'v1、A′v2Amplitude of periodic oscillation of the earth in latitude error A1、A2Amplitude A 'of earth periodic oscillation term in longitude error'1、A′2(ii) a Constructing a family of triangles and solving: passing point A as straight line b, b rotating counterclockwise around A
Degree is obtained that the straight lines a and b rotate around A in a counterclockwise way
Obtaining a straight line c; drawing a distance A from A on the straight line bv21、A′v21、A21、A′21The parallel lines passing through V, V1 and P, P1 as c are intersected with a at points W, W1 and Q, Q1 at points V, V1 and P, P1, and the lengths of line segments WA, WV, W1A, W1V1, QA, QP, Q1A and Q1P1 are measured to be Av1、Av2、A′v1、A′v2、A1、A2、A′1、A′2；
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following formula
2 sets of inertial navigation latitude error earth periodic oscillation terms are as follows:
(3) calculating the earth periodic oscillation phase in 2 sets of inertial navigation longitude errors according to the following formula
The 2 sets of inertial navigation longitude error earth periodic oscillation terms are as follows:
4. the inertial navigation cyclic error autonomous estimation and prediction method according to claim 1, characterized in that: the specific implementation method of the step 3 is as follows:
(1) predicting 2 sets of inertial navigation latitude error earth periodic oscillation term values at the future t + delta t moment according to earth periodic oscillation terms in respective north speed errors of 2 sets of inertial navigation:
(2) the predicted values of the geosynchronous oscillation items of the 2 sets of inertial navigation longitude errors at the future t + delta t moment according to the geosynchronous oscillation items in the respective eastern speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein
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