CN114485636A - Bionic compass - Google Patents
Bionic compass Download PDFInfo
- Publication number
- CN114485636A CN114485636A CN202210052584.1A CN202210052584A CN114485636A CN 114485636 A CN114485636 A CN 114485636A CN 202210052584 A CN202210052584 A CN 202210052584A CN 114485636 A CN114485636 A CN 114485636A
- Authority
- CN
- China
- Prior art keywords
- compass
- magnetic
- bionic
- heading
- carrier
- 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.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 61
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 22
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003592 biomimetic effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 238000005070 sampling Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a bionic compass, which comprises an integrated navigation system, a three-axis vector magnetic sensor, a data acquisition module, a data processing module and a result display module, wherein the integrated navigation system is used for acquiring a three-axis vector magnetic field; wherein the integrated navigation system comprises a satellite signal receiver and an inertial sensor; the satellite signal receiver is connected with the inertial sensor, the three-axis vector magnetic sensor and the inertial sensor are connected with the data acquisition module, and the data processing module is connected with the result display module. The bionic compass can solve the problem that the compass navigation performance of the existing magnetic compass is reduced due to low robustness in a dynamic environment by a compensation technology, can realize course correction through simple navigation actions, and has the advantages of high precision, low cost, simple operation and the like.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a bionic compass.
Background
Underwater high-precision navigation is an important technology for developing long-range underwater robots (autonomus underserver vehicles), and the underwater navigation technology is greatly improved in the past 20 years. The magnetic compass is an instrument for providing direction reference for navigation and aviation operation, and is an important tool for solving the heading angle of a carrier by utilizing the vector direction of the earth magnetic field. The high-power-consumption hybrid power supply has the advantages of small volume, low power consumption, good stability and the like, and plays an important role in the fields of aviation, aerospace, robots, navigation and the like.
Due to external magnetic abnormal interference, the magnetic compass has large error in actual use. These errors mainly include installation errors of the sensor, non-orthogonal errors existing in the multi-axis magnetic sensor, magnetic errors caused by an interfering magnetic field, and the like. Currently, different compensation algorithms are often adopted to compensate the error. Compensation methods can be classified into 2 types. One is to compensate the output of the magnetic sensor, and the other is to compensate the error of the magnetic heading measured by the compass by establishing a compass error model. The former usually adopts ellipse fitting and ellipsoid fitting to compensate magnetic field interference, however, in the compensation procedure, the magnetic sensors are required to respectively rotate around three axes, which puts a harsh requirement on the practical use of the magnetic compass, the acquisition quality of data in the compensation procedure directly influences the compensation precision, and the compensation parameters can not be changed along with the environment. When the compass has larger change of the attitude angle, the compensation precision is greatly influenced. The theoretical basis of the latter is solid, and the aircraft is put into aviation flight as early as 1984. The parameters of a fitting equation obtained by a compensation method for the offset cannot change along with the running environment of the carrier, the compensation data acquisition position is inconsistent with the actual navigation position of the carrier in the marine environment, the obtained compensation program cannot be perfectly suitable for the external field environment, especially the magnetic field measurement error is large in the dynamic environment, so that the fitting precision of the offset model is difficult to improve, and the robustness of the compensation algorithm needs to be further researched in the actual use scene.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a bionic compass and a use method thereof, which can solve the problem that the compass navigation performance of the existing magnetic compass is reduced due to low robustness of a compensation technology in a dynamic environment.
In order to achieve the purpose, the invention provides a bionic compass, which comprises an integrated navigation system, a three-axis vector magnetic sensor, a data acquisition module, a data processing module and a result display module; wherein the integrated navigation system comprises a satellite signal receiver and an inertial sensor; the satellite signal receiver is connected with the inertial sensor, the three-axis vector magnetic sensor and the inertial sensor are connected with the data acquisition module, and the data processing module is connected with the result display module.
Further, the inertial sensor includes a gyroscope and a three-axis accelerometer.
Further, the data acquisition module acquires magnetic field measurement data from the three-axis vector magnetic sensor and navigation data from the gyroscope and the three-axis accelerometer, and the data acquisition module enables time stamps of the magnetic field measurement data and the navigation data to be synchronously aligned; the data processing module is used for processing the magnetic field measurement data and the navigation data acquired by the data acquisition module and carrying out course correction through calculation; and the result display module is used for displaying the result obtained by the data processing module in real time.
Further, an RS485 serial port is selected for communication in a data transmission mode among the triaxial vector magnetic sensor, the gyroscope and the triaxial accelerometer; and data transmission among the satellite signal receiver, the gyroscope and the triaxial accelerometer adopts RS232 serial port communication.
Furthermore, the bionic compass is formed by a single magnetic sensor, the integrated navigation system and the three-axis vector magnetic sensor are rigidly linked on the same horizontal plane, and three coordinate axes of the gyroscope are respectively aligned with three coordinate axes of the vector magnetic sensor.
Furthermore, the bionic compass is a bionic compass composed of a plurality of magnetic sensors and comprises n triaxial vector magnetic sensors, each triaxial vector magnetic sensor is distributed along a semi-circle with equal angle, and the angle between each triaxial vector magnetic sensor is
And the X-axis direction of each three-axis vector magnetic sensorThe center of the circle.
Further, the use method of the bionic compass comprises the following steps:
s1, the data processing module establishes an omnibearing Rogowski distribution model;
s2, solving a Rogowski fitting parameter by using a least square method;
s3, determining a critical angle;
and S4, correcting the heading.
Further, step S1 includes:
rigidly connecting a three-axis vector magnetic sensor with a carrier, wherein a gyroscope provides a carrier attitude angle and a reference course; defining the magnetic field value measured by the triaxial vector sensor under a carrier coordinate system as follows:
[Xb Yb Zb]T
the projection of the magnetic field value under the carrier coordinate system under the horizontal coordinate system is as follows:
[Xh Yh Zh]T
projecting the triaxial magnetic field value in the carrier coordinate system into the horizontal plane by using the following formula, wherein the conversion relationship between the triaxial magnetic field value and the horizontal plane is as the formula:
further, the magnetic heading can be expressed by the following equation:
the heading of the carrier can then be calculated according to the following formula:
wherein X, Y and Z represent magnetic field strength in the north, east and vertical directions, superscript b represents a carrier coordinate system, superscript h represents a horizontal coordinate system, and gamma and theta represent roll and pitch anglesThe angle, xi is the magnetic course of the carrier, upsilon represents the local magnetic declination,
representing the carrier heading estimated from a biomimetic compass;
in order to find the critical angle with the compass deviation of 0, a compass deviation model of the omnidirectional bionic compass needs to be established, and the relationship between the magnetic heading and the compass deviation is expressed by the following formula:
Δψ＝A cos(ξ)+B sin(ξ)+C cos(2ξ)+D sin(2ξ)+E
xi in the formula represents the magnetic heading output by the bionic compass, delta phi is the error, which means the difference between the actual heading of the carrier and the heading estimated by the bionic compass, and can be calculated by the following formula:
the bionic compass collects magnetic heading and error data of N azimuths with the assistance of external equipment, and the error relational expression should satisfy the following equation:
wherein A, B, C, D, E in the above formula is a Rogowski fitting parameter;
in step S2, the error fitting parameters A, B, C, D, E are solved by the least square method.
Further, step S3 includes:
for the bionic compass of the single magnetic sensor, the carrier performs round motion to obtain the omnibearing magnetic heading, and the magnetic heading xi of different directions is solved according to the magnetic heading calculation formula in the step S1;
for the bionic compass with multiple magnetic sensors, the magnitude delta phi of the change of the heading of the carrier is determined according to the number n of the sensors, and the calculation formula is as follows:
and the omnidirectional magnetic heading xi is further calculated according to the magnetic heading calculation formula in the step S1.
Calculating the corresponding error delta psi of different directions according to the magnetic heading calculated in the step S1 and the error fitting parameters A, B, C, D and E calculated in the step S2;
finding the position of the critical angle with the error being 0 or closest to 0 and the error value in the measured error data, and calculating the formula as follows:
where m is the minimum error value, k is the minimum error corresponding sequence index, min () represents the minimum value of the variable in parentheses, then ξkNamely the critical angle.
Further, in step S4, the inertial navigation heading with error is set to ψINSThe inertial navigation indicated course corresponding to the moment of the critical angle of the bionic compass is
After the carrier is turned for t time (t is 0-n), the inertial navigation indicates the course at the moment k + t
And in the time period from k to k + t, the real course change angle of the carrier is as follows:
the magnetic heading of the carrier at the k + t moment can be calculated according to the critical angle as follows:
then the carrier course angle obtained by the bionic compass at the moment k + t is as follows:
wherein γ is the local magnetic declination, and can be obtained by international reference magnetic field database.
Compared with the prior art, the invention has the following beneficial effects: the bionic compass comprises a compass system structure and a compass using method, and the bionic compass system structure is simple and easy to realize. The use method of the bionic compass is divided into two stages. In the first stage, an omnidirectional compass distribution model is established in open water using a navigation device (e.g., an integrated navigation system) carried by the aircraft. And in the second stage, the invention is inspired by the magnetic compass mechanism of birds, a real-time course correction method based on the stability characteristic of the compass critical angle in the marine environment is established according to the characteristic of high stability of the compass critical angle, the critical angle with the compass difference of 0 is found through circular motion, and course correction is realized by using the correction program provided by the invention, so that the problems of low compensation precision and strict requirements on the action and the posture of a magnetic sensor in the calibration process in the dynamic environment of the existing method are solved, and the navigation precision of the compass in the dynamic environment is improved.
Drawings
Fig. 1 is a schematic structural diagram of a system of a bionic compass according to an embodiment of the present invention;
FIG. 2 is a layout diagram of a multi-magnetic sensor bionic compass according to an embodiment of the invention;
FIG. 3 is a schematic flow chart of a bionic compass using method according to an embodiment of the invention;
FIG. 4 is a schematic view of a vehicle navigation corrected by a single-magnetic bionic compass according to an embodiment of the invention;
FIG. 5 is a distribution diagram of the compass rose according to the embodiment of the present invention;
FIG. 6 shows the error of the bionic compass corrected by the embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Compass, also known as compass, is an instrument manufactured by using the gravitational force of the earth's magnetic field to indicate the geographical orientation and the ship's course. The angle of deviation of the compass meridian and the magnetic meridian is called compass error, and the mathematical expression formula of the compass error is as follows: compass-the magnetic azimuth measured by a compass-the magnetic azimuth of the same object on a topographic map. Compensation for the yaw misalignment needs to be considered when using the compass to determine the correct direction. The bionic compass belongs to the field of magnetic compasses, and is a novel geomagnetic navigation method provided according to the animal geomagnetic navigation principle.
According to the 1 st aspect of the present invention, the system structure of the bionic compass of the present invention comprises the following parts:
a bionic compass 100 mainly comprises a three-axis vector magnetic sensor 101, an inertial sensor 102 (including a gyroscope and a three-axis accelerometer), a satellite signal receiver 103, a data acquisition module 104 and a data processing module 105, as shown in FIG. 1. The three-axis vector magnetic sensor 101 and the inertial sensor 102 are connected to a data acquisition module 104, the satellite signal receiver 103 is connected to the inertial sensor 102, the data acquisition module 104 is connected to a data processing module 105, and the data processing module 105 is connected to a result display module (not shown).
The resolution of the three-axis vector magnetic sensor 101 is 0.1nT, the measuring range is 100 mu T, and the precision is 0.1% of full-range reading.
The gyroscope range of the inertial sensor 102 is 500 degrees/s, and the zero offset stability is 10 degrees/h.
The range of the triaxial accelerometer of the inertial sensor 102 is +/-5 g, and the zero offset stability is not more than 0.1 mg.
Optionally, the data transmission mode among the three-axis vector magnetic sensor 101, the gyroscope and the three-axis accelerometer selects RS485 serial port communication.
Optionally, data transmission between the satellite signal receiver 103 and the gyroscope and between the satellite signal receiver and the triaxial accelerometer adopts RS232 serial port communication.
When the bionic compass 100 works, the gyroscope, the three-axis accelerometer and the satellite signal receiver 103 form an integrated navigation system to provide a reference heading.
Preferably, in the bionic compass formed by a single magnetic sensor, the integrated navigation system is rigidly linked with the three-axis vector magnetic sensor 101 in the same horizontal plane, wherein three coordinate axes of the gyroscope are respectively aligned with three coordinate axes of the three-axis vector magnetic sensor 101. In the bionic compass formed by the multiple magnetic sensors (10 triaxial vector magnetic sensors 101) shown in fig. 2, each triaxial vector magnetic sensor is equiangularly distributed along a half circle, and the angle between the triaxial vector magnetic sensors is 18 °. Fig. 2 shows that the X-axis direction center 106 of each three-axis vector magnetic sensor 101 is directed to the center of the circle.
The data processing module 105 is configured to establish an omnidirectional compass deviation distribution model, solve a compass deviation fitting parameter by using a least square method, determine a critical angle, and implement a course correction function.
According to the 2 nd aspect of the present invention, the bionic compass is used as shown in fig. 3.
The method can be divided into two stages, wherein in the first stage, the omnibearing compass difference distribution is established in an open water area by using navigation equipment (such as an integrated navigation system) carried by an aircraft, and compass difference sizes corresponding to different magnetic headings are recorded. In the second stage, the heading of the carrier can be corrected by changing the heading to find a compass critical angle and combining the heading variable quantity provided by the gyroscope in a short time.
The method comprises the following steps:
step S1: establishing an omnibearing error distribution model
The three-axis vector magnetic sensor is rigidly connected with the carrier, and the gyroscope provides a carrier attitude angle and a reference course. Defining the magnetic field value measured by the triaxial vector sensor under a carrier coordinate system as follows:
[Xb Yb Zb]T
the projection of the magnetic field value under the carrier coordinate system under the horizontal coordinate system is as follows:
[Xh Yh Zh]T
projecting the triaxial magnetic field value in the carrier coordinate system into the horizontal plane by using the following formula, wherein the conversion relationship between the triaxial magnetic field value and the horizontal plane is as the formula:
further, the magnetic heading of the carrier can be expressed by the following formula:
the carrier heading estimated from the bionic compass can then be calculated according to the following formula:
wherein X, Y and Z represent the magnetic field intensity in the north direction, east direction and vertical direction, the superscript b represents a carrier coordinate system, the superscript h represents a horizontal coordinate system, gamma and theta represent a roll angle and a pitch angle, ξ is the magnetic heading of the carrier, and γ represents a local magnetic declination,
representing the heading of the carrier estimated from a bionic compass.
In order to find the critical angle with the compass deviation of 0, a compass deviation model of the omnidirectional bionic compass needs to be established, and the following formula can be preferably used for expressing the relationship between the magnetic heading and the compass deviation:
Δψ＝A cos(ξ)+B sin(ξ)+C cos(2ξ)+D sin(2ξ)+E
xi in the formula represents the magnetic heading of the carrier, delta phi is the error, which means the difference between the actual heading of the carrier and the heading of the carrier estimated by the bionic compass, and can be calculated by the following formula:
further, under the assistance of an external device (GPS, gyro), the bionic compass sets a fluxgate sampling rate of 6HZ, and the carrier performs a circular motion on the water surface as shown in fig. 4, in this embodiment, the carrier is an autonomous underwater vehicle (hereinafter abbreviated as AUV), and N498 magnetic headings and compass data in different directions are collected in one circle as shown in fig. 5, where the horizontal axis is the magnetic heading of the carrier, and the vertical axis is the corresponding compass values under different magnetic headings, and the two relations should satisfy the following equation:
step S2: calculating the nonlinear error parameters by using a least square method to obtain the values of unknown coefficients as follows:
A＝-1.21357
B＝-16.4416
C＝0.45654
D＝0.89676
E＝0
step S3: critical angle determination
For the bionic compass with a single magnetic sensor, the AUV is required to do the motion around the circle to obtain the magnetic headings at different angles, and as shown in FIG. 4, the magnetic headings xi at different directions are further calculated according to the magnetic heading calculation formula in the step 1.
Optionally, for the multi-sensor bionic compass, the heading change magnitude Δ Φ of the carrier is determined according to the number n of the sensors, and the calculation formula is as follows:
and further solving the omnibearing magnetic heading xi according to the magnetic heading calculation formula in the step 1.
And calculating the corresponding error delta psi of different azimuths according to the magnetic heading calculated in the step 1 and the error fitting parameters A, B, C, D and E calculated in the step 2.
Further, the position of the critical angle with the error being 0 or closest to 0 and the error value are found in the measured error data, and the calculation formula is as follows:
wherein, m is the minimum error value, k is the minimum error corresponding sequence index, then the critical angle xi is obtainedk＝174.3145。
Step S4: course correction
Setting the inertial navigation indicating course containing error to be psiINSThe inertial navigation indicated course corresponding to the moment of the critical angle of the bionic compass is
After the AUV turns to the direction at t time (t is 0-n), the inertial navigation indicated course at the time k + t is
And in the time period from k to k + t, the real course change angle of the AUV is as follows:
further, the magnetic heading of the AUV at the k + t moment can be calculated according to the critical angle as follows:
the following formula is then used to obtain the AUV heading angle at time k + t, and the result is shown in FIG. 6. The horizontal axis sampling point is a data sample acquired by the sensor, for example, "N ═ 498 magnetic headings in different orientations are acquired in one circle" here, the sampling point is 498. For another example, a sensor sampling rate of 6HZ means that 6 measurements are made in 1 second, resulting in 6 pieces of measurement data, which can be said to be 6 sampling points when the measurement data amount is counted. The vertical axis represents the carrier heading calculated by the bionic compass. Is calculated by the formula
Wherein, the local magnetic deflection angle γ is 3.78 °, which can be obtained by international reference magnetic field database.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, various embodiments or examples described in this specification and features thereof may be combined or combined by those skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are illustrative and not to be construed as limiting the present invention, and that modifications, alterations, substitutions, and alterations may be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A bionic compass is characterized by comprising an integrated navigation system, a three-axis vector magnetic sensor, a data acquisition module, a data processing module and a result display module; wherein the integrated navigation system comprises a satellite signal receiver and an inertial sensor; the satellite signal receiver is connected with the inertial sensor, the three-axis vector magnetic sensor and the inertial sensor are connected with the data acquisition module, and the data processing module is connected with the result display module.
2. The biomimetic compass of claim 1, wherein the inertial sensor includes a gyroscope and a three-axis accelerometer.
3. The biomimetic compass of claim 2, wherein the data acquisition module acquires magnetic field measurement data from a three-axis vector magnetic sensor and navigation data from a gyroscope and a three-axis accelerometer, and the data acquisition module synchronizes alignment of timestamps of the magnetic field measurement data and the navigation data;
the data processing module is used for processing the magnetic field measurement data and the navigation data acquired by the data acquisition module and carrying out course correction through calculation;
and the result display module is used for displaying the result obtained by the data processing module in real time.
4. The bionic compass according to claim 2, wherein the data transmission mode among the triaxial vector magnetic sensor, the gyroscope and the triaxial accelerometer is RS485 serial port communication; and data transmission among the satellite signal receiver, the gyroscope and the triaxial accelerometer adopts RS232 serial port communication.
5. The bionic compass according to claim 2 is a bionic compass formed by a single magnetic sensor, the integrated navigation system and the three-axis vector magnetic sensor are rigidly linked on the same horizontal plane, and three coordinate axes of the gyroscope are respectively aligned with three coordinate axes of the vector magnetic sensor.
6. The bionic compass according to claim 2, wherein the bionic compass is a multi-magnetic sensor bionic compass, and comprises n three-axis vector magnetic sensors, each three-axis vector magnetic sensor is distributed along a half circle at equal angles, and the angle between each three-axis vector magnetic sensor is
And the X axis of each triaxial vector magnetic sensor points to the center of a circle.
7. The biomimetic compass according to any one of claims 1-6, wherein the use method of the biomimetic compass comprises the steps of:
s1, the data processing module establishes an omnibearing Rogowski distribution model;
s2, solving a Rogowski fitting parameter by using a least square method;
s3, determining a critical angle;
and S4, correcting the heading.
8. The bionic compass according to claim 7, wherein the step S1 includes:
rigidly connecting a three-axis vector magnetic sensor with a carrier, and providing a carrier attitude angle and a reference course by a gyroscope; defining the magnetic field value measured by the triaxial vector sensor under a carrier coordinate system as follows:
[Xb Yb Zb]T
the projection of the magnetic field value under the carrier coordinate system under the horizontal coordinate system is as follows:
[Xh Yh Zh]T
the magnetic field value measured by the triaxial vector sensor in the carrier coordinate system is projected to the horizontal plane by the following formula, and the conversion relationship between the magnetic field value and the horizontal plane is as the formula:
further, the magnetic heading can be expressed by the following equation:
the heading of the carrier can then be calculated according to the following formula:
wherein X, Y and Z represent magnetic field intensity in the north direction, east direction and vertical direction, the superscript b represents a carrier coordinate system, the superscript h represents a horizontal coordinate system, gamma and theta respectively represent a roll angle and a pitch angle, ξ is the magnetic heading of the carrier, and γ represents a local magnetic declination,
representing the carrier heading estimated from a biomimetic compass;
in order to find the critical angle with the compass deviation of 0, a compass deviation model of the omnidirectional bionic compass needs to be established, and the relationship between the magnetic heading and the compass deviation is expressed by the following formula:
Δψ＝Acos(ξ)+Bsin(ξ)+Ccos(2ξ)+Dsin(2ξ)+E
where xi represents the magnetic heading output by the bionic compass, A, B, C, D, E is a compass error fitting parameter, and Δ ψ is a compass error, which means the difference between the actual heading of the carrier and the heading estimated by the bionic compass, and can be calculated by the following formula:
the bionic compass collects magnetic heading and error data of N azimuths with the assistance of external equipment, and the error relational expression should satisfy the following equation:
in step S2, the error fitting parameters A, B, C, D, E are solved by the least square method.
9. The bionic compass according to claim 8, wherein step S3 includes:
for the bionic compass of the single magnetic sensor, the carrier performs round motion to obtain the omnibearing magnetic heading, and the magnetic heading xi of different directions is solved according to the magnetic heading calculation formula in the step S1;
for the bionic compass with multiple magnetic sensors, the magnitude delta phi of the change of the heading of the carrier is determined according to the number n of the sensors, and the calculation formula is as follows:
then, the magnetic heading xi of the omnibearing is calculated according to the magnetic heading calculation formula in the step S1;
calculating the corresponding error delta psi of different azimuths according to the magnetic heading calculated in the step S1 and the error fitting parameters A, B, C, D and E calculated in the step S2;
finding the position of the critical angle with the error being 0 or closest to 0 and the error value in the measured error data, and calculating the formula as follows:
where m is the minimum error value, k is the minimum error corresponding sequence index, min () represents the minimum value of the variable in parentheses, then ξkNamely the critical angle.
10. The bionic compass according to claim 9, wherein in step S4, the inertial navigation indicated heading containing error is set to ψINSThe inertial navigation indicated course corresponding to the moment of the critical angle of the bionic compass is
After the carrier is turned for t time (t is 0-n), the inertial navigation indicates the course at the moment k + t
And in the time period from k to k + t, the real course change angle of the carrier is as follows:
the magnetic heading of the carrier at the moment k + t can be calculated according to the critical angle as follows:
then the carrier course angle obtained by the bionic compass at the moment k + t is as follows:
wherein γ is the local magnetic declination, and can be obtained by international reference magnetic field database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052584.1A CN114485636A (en) | 2022-01-18 | 2022-01-18 | Bionic compass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052584.1A CN114485636A (en) | 2022-01-18 | 2022-01-18 | Bionic compass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114485636A true CN114485636A (en) | 2022-05-13 |
Family
ID=81512717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210052584.1A Pending CN114485636A (en) | 2022-01-18 | 2022-01-18 | Bionic compass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114485636A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040123474A1 (en) * | 2002-12-30 | 2004-07-01 | Manfred Mark T. | Methods and apparatus for automatic magnetic compensation |
| CN102297687A (en) * | 2011-05-13 | 2011-12-28 | 北京理工大学 | Calibrating method for electronic compass |
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| US20130332098A1 (en) * | 2012-06-12 | 2013-12-12 | Trx Systems, Inc. | Methods for improved heading estimation |
| CN104965102A (en) * | 2015-05-25 | 2015-10-07 | 厦门大学 | Method of effectively improving flow direction measurement precision of acoustic doppler current profiler |
| WO2017063387A1 (en) * | 2015-10-13 | 2017-04-20 | 上海华测导航技术股份有限公司 | Method for updating all attitude angles of agricultural machine on the basis of nine-axis mems sensor |
| CN106918352A (en) * | 2017-05-02 | 2017-07-04 | 桂林电子科技大学 | A kind of correction of course method of hand-held MEMS magnetometers |
-
2022
- 2022-01-18 CN CN202210052584.1A patent/CN114485636A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040123474A1 (en) * | 2002-12-30 | 2004-07-01 | Manfred Mark T. | Methods and apparatus for automatic magnetic compensation |
| CN102297687A (en) * | 2011-05-13 | 2011-12-28 | 北京理工大学 | Calibrating method for electronic compass |
| US20130332098A1 (en) * | 2012-06-12 | 2013-12-12 | Trx Systems, Inc. | Methods for improved heading estimation |
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| CN104965102A (en) * | 2015-05-25 | 2015-10-07 | 厦门大学 | Method of effectively improving flow direction measurement precision of acoustic doppler current profiler |
| WO2017063387A1 (en) * | 2015-10-13 | 2017-04-20 | 上海华测导航技术股份有限公司 | Method for updating all attitude angles of agricultural machine on the basis of nine-axis mems sensor |
| CN106918352A (en) * | 2017-05-02 | 2017-07-04 | 桂林电子科技大学 | A kind of correction of course method of hand-held MEMS magnetometers |
Non-Patent Citations (8)
| Title |
|---|
| 刘艳霞;方建军;张晓娟;孙建;: "超限学习机在磁罗盘非线性误差补偿中的应用", 仪器仪表学报, no. 09, pages 1923 - 1925 * |
| 吴浩文;杜刚;叶萍;战兴群;: "基于椭圆假设的磁罗盘航向测量算法研究", 计算机仿真, no. 02 * |
| 徐东甫;白越;宫勋;吴子毅;续志军;: "多旋翼无人机在变控制量下的三轴磁罗盘校正", 光学精密工程, no. 08 * |
| 李孟委;蒋孝勇;曹慧亮;张晓峰;王宾;: "基于地磁测向和时间到达差测距的行人航迹推算方法", 中国惯性技术学报, no. 01, 15 February 2017 (2017-02-15) * |
| 王巍;隋丽娜;: "光纤陀螺机载导航系统多信息融合", 中国惯性技术学报, no. 03 * |
| 秦勇;赵杰;王晓宇;: "基于椭圆拟合误差补偿算法的数字磁罗盘", 吉林大学学报(工学版), no. 02, 15 March 2009 (2009-03-15) * |
| 胡士峰;马建仓;孟凡路;: "基于MEMS传感器的微惯性导航系统研究", 计算机测量与控制, vol. 17, no. 05, 25 May 2009 (2009-05-25), pages 1015 - 1017 * |
| 胡士峰;马建仓;孟凡路;: "基于MEMS传感器的微惯性导航系统研究", 计算机测量与控制, vol. 17, no. 05, pages 1015 - 1017 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107270893B (en) | Lever arm and time asynchronous error estimation and compensation method for real estate measurement | |
| CN105203098B (en) | Agricultural machinery all-attitude angle update method based on nine axis MEMS sensors | |
| CN104698486B (en) | A kind of distribution POS data processing computer system real-time navigation methods | |
| CN106289246B (en) | A kind of flexible link arm measure method based on position and orientation measurement system | |
| CN108225324B (en) | Indoor positioning method based on intelligent terminal and integrating geomagnetic matching and PDR | |
| CN108225308A (en) | A kind of attitude algorithm method of the expanded Kalman filtration algorithm based on quaternary number | |
| CN101246012B (en) | Combinated navigation method based on robust dissipation filtering | |
| Guo et al. | The soft iron and hard iron calibration method using extended Kalman filter for attitude and heading reference system | |
| CN105180968A (en) | IMU/magnetometer installation misalignment angle online filter calibration method | |
| CN110954102B (en) | Magnetometer-assisted inertial navigation system and method for robot positioning | |
| CN111380518B (en) | SINS/USBL tight combination navigation positioning method introducing radial velocity | |
| CN110133692B (en) | Inertial navigation technology-assisted high-precision GNSS dynamic inclination measurement system and method | |
| CN109612460B (en) | Plumb line deviation measuring method based on static correction | |
| CN112630813A (en) | Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system | |
| CN104764463A (en) | Inertial platform leveling aiming error self-detection method | |
| de Alteriis et al. | Use of consumer-grade MEMS inertial sensors for accurate attitude determination of drones | |
| CN106595669B (en) | Method for resolving attitude of rotating body | |
| CN113866688B (en) | Error calibration method for three-axis magnetic sensor under condition of small attitude angle | |
| CN105928519B (en) | Navigation algorithm based on INS inertial navigation and GPS navigation and magnetometer | |
| Zhang et al. | A multi-position calibration algorithm for inertial measurement units | |
| CN114485636A (en) | Bionic compass | |
| CN115112103B (en) | LADCP and combined inertial navigation system combined observation system and method | |
| CN114877881A (en) | Fusion method and fusion system for course angle measurement data of unmanned aerial vehicle | |
| CN112683265B (en) | MIMU/GPS integrated navigation method based on rapid ISS collective filtering | |
| CN114518587A (en) | Indoor and outdoor seamless positioning system and method |
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 |