CN114779660A - Semi-physical simulation method for flight position difference compensation - Google Patents
Semi-physical simulation method for flight position difference compensation Download PDFInfo
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- CN114779660A CN114779660A CN202210409705.3A CN202210409705A CN114779660A CN 114779660 A CN114779660 A CN 114779660A CN 202210409705 A CN202210409705 A CN 202210409705A CN 114779660 A CN114779660 A CN 114779660A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The invention relates to a flight position difference compensation semi-physical simulation method, which comprises the following steps: initializing local inertial navigation turntable equipment; inertial navigation turntable apparatus comprising: the simulation rotary table and inertial navigation equipment strapdown thereon; acquiring local geographical position information of inertial navigation turntable equipment, geographical position information of an actual flight place of an aircraft and attitude information of the aircraft; compensating the geographical position difference between the actual flight ground and the local ground by using the local geographical position information, the actual flight ground geographical position information and the aircraft attitude information to generate flight position difference compensation information; and performing position difference compensation processing on the driving of the simulation turntable by using the flight position difference compensation information, and locally compensating the measurement result of the inertial navigation equipment to the flight ground. The technical scheme provided by the invention can effectively solve the technical problem that the flight directly using the local geographic information in the semi-physical simulation for navigating the actual flight ground generates larger errors.
Description
Technical Field
The invention relates to the technical field of semi-physical simulation, in particular to a semi-physical simulation method for flight position difference compensation.
Background
The basic working principle of the inertial navigation system is based on Newton's law of mechanics, and navigation information such as speed, attitude angle and position in a geographic coordinate system can be obtained by measuring the acceleration and angular velocity of a carrier in an inertial reference system, integrating the acceleration and angular velocity with time, and transforming the acceleration and angular velocity into the geographic coordinate system.
In the existing semi-physical simulation test, an inertial navigation device of an inertial navigation system is usually strapdown connected to a simulation turntable, the simulation turntable is usually arranged locally to reproduce attitude motion of an aircraft, and the aircraft is turned to a specified attitude at a certain angular speed according to an instruction input into the simulation turntable.
The data sensitive by the inertial navigation equipment is based on an inertial coordinate system, and navigation information formed by inertial measurement data by taking local geographic information as reference in a simulation process under a laboratory condition is quasi-static information. However, the actual flight usually occurs in an actual flight ground far away from the local (different from the local), the actual flight ground is not the same as the local geographic coordinate system (the origin of the coordinate system is different), or the geographic coordinate system is a dynamic system, as shown in fig. 1, fig. 1 is a schematic diagram of the local geographic coordinate system and the actual flight ground geographic coordinate system, therefore, the manner for describing the geographic information of the actual flight ground is different from the manner for describing the local geographic information, and if the local geographic information is directly used for navigating the flight of the actual flight ground, a large error will be generated.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide a semi-physical simulation method for compensating a flight position difference, which solves the technical problem in the prior art that a large error will be generated when local geographic information in semi-physical simulation is directly used for navigating the flight of an actual flight area.
The technical scheme provided by the invention is as follows:
the invention provides a semi-physical simulation method for flight position difference compensation, which comprises the following steps:
initializing local inertial navigation turntable equipment; the inertial navigation turntable apparatus comprises: the simulation rotary table and inertial navigation equipment strapdown thereon;
acquiring local geographical position information of the inertial navigation turntable equipment, geographical position information of an actual flight place of an aircraft and attitude information of the aircraft;
compensating the geographical position difference between the actual flight ground and the local by using the local geographical position information, the actual flight ground geographical position information and the aircraft attitude information to generate flight position difference compensation information;
and performing position difference compensation processing on the driving of the simulation rotating platform by using the flight position difference compensation information, and locally compensating the measurement result of the inertial navigation equipment to the flight ground.
Preferably, the compensating for the difference in geographic position between the actual flight area and the local area by using the local geographic position information, the actual flight area geographic position information, and the aircraft attitude information includes:
calculating a first transfer matrix from the first geographic coordinate system to the geocentric geo-stationary coordinate system; the first geographical coordinate system is used for describing the local geographical position information;
calculating a second transfer matrix from the second geographic coordinate system to the geocentric geostationary coordinate system; the second geographic coordinate system is used for describing the actual flight place geographic position information;
calculating a third transfer matrix from the aircraft body coordinate system to the second geographic coordinate system;
calculating a fourth transfer matrix from the aircraft body coordinate system to the first geographic coordinate system according to the first transfer matrix, the second transfer matrix and the third transfer matrix;
and performing the compensation processing by using the fourth transfer matrix.
Preferably, the local geographical location information includes: local longitude λ0Local latitude
The calculating a first transfer matrix of the first geographic coordinate system to the geocentric geo-stationary coordinate system comprises:
wherein, G1Representing a first geographical coordinate system and E representing a geocentric coordinate system.
Preferably, the actual ground-of-flight geographic location information includes: actual flight ground longitude lambda, actual flight ground latitude
The calculating a second transfer matrix from the second geographic coordinate system to the geocentric geo-stationary coordinate system includes:
wherein, G2Representing a second geographic coordinate system.
Preferably, the aircraft attitude information includes: the aircraft attitude angle comprises: roll angle gamma, course angle psi and pitch angle theta;
the calculating a third transfer matrix from the aircraft body coordinate system to the second geographic coordinate system includes:
where B denotes the aircraft body coordinate system.
Preferably, said calculating a fourth transfer matrix of the aircraft body coordinate system to the first geographic coordinate system from said first transfer matrix, said second transfer matrix and said third transfer matrix comprises:
wherein gamma ' is the roll angle after compensation, psi ' is the course angle after compensation, theta ' is the pitch angle after compensation.
Preferably, the flight position difference compensation information includes: attitude compensation information for driving the simulation turntable;
the performing the compensation processing by using the fourth transfer matrix comprises:
computing
Wherein, the first and the second end of the pipe are connected with each other,
is composed of
Row 3 and column 2 elements of the matrix,
is composed of
Row 2 and column 2 elements of the matrix,
is composed of
The 1 st row and 3 rd column elements in the matrix,
is composed of
Row 1 and column 1 elements in the matrix,
is composed of
Row 1, column 2 elements in the matrix.
Preferably, the performing of the position difference compensation processing on the driving of the simulation turntable includes:
driving the simulation turntable equipment and driving the inertial navigation equipment according to the attitude compensation information;
the compensating the measurement results of the inertial navigation device from local to ground of flight comprises:
outputting, by the inertial navigation device, the attitude compensation information.
Preferably, the flight position difference compensation information includes: compensated gravitational acceleration;
the performing the compensation processing by using the fourth transfer matrix comprises: calculating the compensated gravity acceleration g:
wherein, g1For local gravitational acceleration:
g0as reference acceleration of gravity, g0＝9.78049，H0The local height of the inertial navigation turntable equipment is located.
Preferably, said compensating the measurement results of the inertial navigation device from local to in-flight comprises:
using the compensated gravitational acceleration g to measure the following results generated by the inertial navigation device: and (3) performing compensation processing on the flying acceleration a to obtain compensated flying acceleration a': a' ═ a + g.
According to the technical scheme provided by the invention, the geographical position difference between the actual flying ground and the local is compensated, so that the position difference compensation is carried out on the driving of the simulation rotating platform, the measurement result of the inertial navigation equipment is compensated to the flying ground from the local, and the technical problem that the large error is generated when the local geographical information in the semi-physical simulation is directly used for navigating the flight of the actual flying ground in the prior art is effectively solved.
Furthermore, in a semi-physical simulation test, based on the technical scheme provided by the embodiment of the invention, the navigation information output by the inertial navigation equipment is compensated, and the semi-physical simulation of dynamic deep integrated navigation is completed with satellite navigation, so that the semi-physical simulation capability is effectively improved.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic illustration of a local geographic coordinate system and an actual flight area geographic coordinate system;
FIG. 2 is a flowchart of a semi-physical simulation method for compensating for differences in flight positions according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
Referring to fig. 2, fig. 2 is a flowchart of a semi-physical simulation method for compensating for a difference in a flight position according to an embodiment of the present invention, where the flowchart may include:
step 201: initializing local inertial navigation turntable equipment; wherein, be used to lead revolving stage equipment includes: the simulation turntable is connected with inertial navigation equipment which is connected with the simulation turntable in a strapdown mode.
Step 202: and acquiring local geographical position information of the inertial navigation turntable equipment, geographical position information of an actual flying place of the aircraft and attitude information of the aircraft.
The simulation turntable is typically located locally to replicate the attitude motion of the aircraft.
Step 203: and compensating the geographical position difference between the actual flight ground and the local by using the local geographical position information, the actual flight ground geographical position information and the aircraft attitude information to generate flight position difference compensation information.
Step 204: and performing position difference compensation processing on the driving of the simulation turntable by using the flight position difference compensation information, and locally compensating the measurement result of the inertial navigation equipment to the flight ground.
The inertial navigation system in which the inertial navigation device is located relates to a series of reference coordinate systems, and the coordinate systems required by the application are listed as follows:
the earth inertial coordinate system: the inertial coordinate system is a reference coordinate system suitable for Newton's law of motion, has no acceleration term, has a far point at the center of mass of the earth, an X axis falling on the equatorial plane of the earth, a Z axis extending along the rotation axis of the earth, and a Y axis completing a right-hand orthogonal coordinate system with the X axis and the Z axis;
a geographic coordinate system: the system G is a north-east-ground (or east-north-sky) orthogonal coordinate system defined by a relative geodesic plane; the origin of the geographic coordinate system is the projection of the origin of the inertial platform on a geodetic level, the ground axis is perpendicular to the reference elliptical surface and points to the inside of the earth, the north axis points to true north, the east axis points to east horizontally and completes a right-hand orthogonal coordinate system;
aircraft body coordinate system: the coordinate system is a reference coordinate system fixedly connected with the carrier, the origin of the coordinate system is usually fixed at the origin position of the carrier, the x axis points to the front, the z axis points to the lateral direction of the carrier, and the y axis, the x axis and the z axis complete a right-hand orthogonal coordinate system;
geocentric coordinate system: the origin of the coordinate system is the centroid of the earth, the x-axis extends through the intersection of this elementary meridian (longitude 0 degrees) and the equator, the z-axis extends through the north pole, coinciding with the earth's rotation axis, and the y-axis completes the right-hand coordinate system.
In the embodiment of the invention, the simulation turntable can be controlled and driven by preset simulation equipment, wherein the simulation equipment instructs the simulation turntable to rotate to a specified posture at a certain angular speed by inputting a control instruction to the simulation turntable.
The step 201 may specifically include:
the simulation equipment drives the simulation turntable with a local static initial value, so that the axial direction of the simulation turntable is coaxial with a local geographic coordinate system; wherein, the local static initial value may include: the initial value of the attitude angle servo for driving the simulation turntable is 0 °.
The related information acquired in step 202 includes:
the local geographical position information of the inertial navigation turntable equipment comprises the following information: local longitude λ0Local latitude
The information of the geographical position of the actual flight place of the aircraft comprises the following steps: actual flight ground longitude λ, actual flight ground latitude
In the initial stage, the two values are the initial longitude and latitude values of the flight place;
the aircraft attitude information includes: an aircraft attitude angle, comprising: roll angle gamma, course angle psi and pitch angle theta; in the initial stage, the three angles are attitude angles of the aircraft in the initial state.
In this embodiment of the present invention, the specific implementation of step 203 may include:
s1: calculating a first transfer matrix from the first geographic coordinate system to the geocentric geo-stationary coordinate system; the first geographic coordinate system is used for describing local geographic position information; first transfer matrix
Comprises the following steps:
wherein G is1Representing a first geographic coordinate system, and E representing a geocentric coordinate system;
s2: calculating a second transfer matrix from the second geographic coordinate system to the geocentric geostationary coordinate system; the second geographic coordinate system is used for describing the actual flight place geographic position information; second transfer matrix
Comprises the following steps:
wherein G is2Representing a second geographic coordinate system;
s3: calculating a third transfer matrix from the aircraft body coordinate system to the second geographic coordinate system; third transfer matrix
Comprises the following steps:
wherein B represents an aircraft body coordinate system; the aircraft attitude information includes: an aircraft attitude angle, comprising: roll angle gamma, course angle psi and pitch angle theta;
s4: calculating a fourth transfer matrix from the aircraft body coordinate system to the first geographic coordinate system according to the first transfer matrix, the second transfer matrix and the third transfer matrix
Wherein gamma ' is the roll angle after compensation, psi ' is the course angle after compensation, theta ' is the pitch angle after compensation;
s5: the compensation processing of the geographical position difference between the actual flight ground and the local ground by using the calculated fourth transfer matrix comprises the following steps:
the flight position difference compensation information includes: attitude compensation information for driving the simulation turntable, then, calculating:
wherein the content of the first and second substances,
is composed of
Row 3 and column 2 elements in the matrix,
is composed of
Row 2 and column 2 elements of the matrix,
is composed of
Row 1 and column 3 elements in the matrix,
is composed of
Row 1 and column 1 elements of the matrix,
is composed of
Row 1, column 2 elements in the matrix;
the flight location discrepancy compensating information further includes: compensated gravitational acceleration; then the compensation process using the fourth transfer matrix comprises: calculating the gravity acceleration g after compensation:
wherein, g1For local gravitational acceleration:
g0as a reference acceleration of gravity, g0＝9.78049，H0The local height of the inertial navigation turntable equipment is.
In the specific implementation described in S1 to S5, the local geographic location information described in the first geographic coordinate system is projected onto the geocentric-geostationary coordinate system, and the actual flight-site geographic location information described in the second geographic coordinate system is also projected onto the geocentric-geostationary coordinate system, so as to obtain a corresponding transfer matrix, and further, based on the obtained third transfer matrix, a fourth transfer matrix for performing location compensation is calculated, so that a series of location compensation processes can be performed using the fourth transfer matrix, such as the obtaining of g described above.
In an embodiment of the present invention, in step 204, the performing the position difference compensation process on the driving of the simulation turntable may include:
driving the simulation turntable equipment and driving the inertial navigation equipment according to the attitude compensation information;
in step 204, compensating the measurement result of the inertial navigation device from the local to the ground of flight includes: outputting attitude compensation information by inertial navigation equipment; and measuring results generated by the inertial navigation equipment by using the compensated gravity acceleration g: and (3) performing compensation processing on the flying acceleration a to obtain compensated flying acceleration a': a + g.
In the specific implementation of the invention, the inertial navigation equipment can calculate the flight speed of the aircraft by carrying out integral processing on the calculated compensated flight acceleration a'; and further integrating the flight speed to obtain the flight distance, calculating the latitude and longitude of the aircraft at that time according to the flight distance, substituting the obtained latitude and longitude value into the second transfer matrix, and recalculating the fourth transfer matrix, thereby realizing the real-time update of the driving of the simulation turntable, and simultaneously outputting related navigation information in real time by the inertial navigation equipment, wherein the navigation information is as follows: flight angular velocity (obtained by performing differential calculation on attitude compensation information), flight acceleration, flight speed, flight distance and the like.
In practical application, the latitude and longitude of the inertial navigation equipment are reinitialized by taking the initial value of the ground warp latitude as injection data; reinitializing the attitude of the inertial navigation device with the adjusted attitude as the injected data; the integrated navigation is started. And starting flight track simulation, taking the actual flight ground position as satellite simulator driving information, taking the compensated attitude value as turntable driving information, taking the compensated flight acceleration as injection data, injecting the injection data into the inertial navigation equipment, and fusing the injection data with the measured data to realize dynamic deep combination navigation simulation.
According to the technical scheme provided by the invention, the geographical position difference between the actual flying ground and the local is compensated, so that the position difference compensation is carried out on the driving of the simulation rotating platform, the measurement result of the inertial navigation equipment is compensated to the flying ground from the local, and the technical problem that the large error is generated when the local geographical information in the semi-physical simulation is directly used for navigating the flight of the actual flying ground in the prior art is effectively solved.
Furthermore, in a semi-physical simulation test, based on the technical scheme provided by the embodiment of the invention, the navigation information output by the inertial navigation equipment is compensated, and the semi-physical simulation of dynamic deep integrated navigation is completed with satellite navigation, so that the semi-physical simulation capability is effectively improved.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. A semi-physical simulation method for flight position difference compensation is characterized by comprising the following steps:
initializing local inertial navigation turntable equipment; the inertial navigation turntable apparatus includes: the simulation rotary table and inertial navigation equipment strapdown thereon;
acquiring local geographical position information of the inertial navigation turntable equipment, geographical position information of an actual flight place of an aircraft and attitude information of the aircraft;
compensating the geographical position difference between the actual flight ground and the local by using the local geographical position information, the actual flight ground geographical position information and the aircraft attitude information to generate flight position difference compensation information;
and performing position difference compensation processing on the driving of the simulation rotating platform by using the flight position difference compensation information, and locally compensating the measurement result of the inertial navigation equipment to the flight ground.
2. The semi-physical simulation method according to claim 1, wherein the compensating for the geographical position difference between the actual flight area and the local area by using the local geographical position information, the geographical position information of the actual flight area, and the attitude information of the aircraft comprises:
calculating a first transfer matrix from the first geographic coordinate system to the geocentric coordinate system; the first geographical coordinate system is used for describing the local geographical position information;
calculating a second transfer matrix from the second geographic coordinate system to the geocentric geostationary coordinate system; the second geographic coordinate system is used for describing the actual flight place geographic position information;
calculating a third transfer matrix from the aircraft body coordinate system to the second geographic coordinate system;
calculating a fourth transfer matrix from the aircraft body coordinate system to the first geographic coordinate system according to the first transfer matrix, the second transfer matrix and the third transfer matrix;
and performing the compensation processing by using the fourth transfer matrix.
3. The semi-physical simulation method according to claim 2,
the local geographical location information includes: local longitude lambda0Local latitude
The calculating a first transfer matrix of the first geographic coordinate system to the geocentric geo-stationary coordinate system comprises:
wherein G is1Representing a first geographic coordinate system, and E representing a geocentric geocoordinate system.
4. The semi-physical simulation method according to claim 3,
the actual flight place geographic position information comprises: actual flight ground longitude λ, actual flight ground latitude
The calculating a second transfer matrix from the second geographic coordinate system to the geocentric geo-stationary coordinate system includes:
wherein, G2Representing a second geographical coordinate system.
5. The semi-physical simulation method according to claim 4,
the aircraft attitude information includes: the aircraft attitude angle, comprising: roll angle gamma, course angle psi and pitch angle theta;
the calculating a third transfer matrix from the aircraft body coordinate system to the second geographic coordinate system includes:
wherein B denotes the aircraft body coordinate system.
6. The semi-physical simulation method of claim 5, wherein said calculating a fourth transfer matrix from the aircraft body coordinate system to the first geographic coordinate system based on the first transfer matrix, the second transfer matrix, and the third transfer matrix comprises:
wherein gamma ' is the roll angle after compensation, psi ' is the course angle after compensation, theta ' is the pitch angle after compensation.
7. The semi-physical simulation method according to claim 6, wherein the flight position difference compensation information includes: attitude compensation information for driving the simulation turntable;
the performing the compensation process by using the fourth transfer matrix includes:
computing
Wherein the content of the first and second substances,
is composed of
Row 3 and column 2 elements in the matrix,
is composed of
Row 2 and column 2 elements in the matrix,
is composed of
Row 1 and column 3 elements in the matrix,
is composed of
Row 1 and column 1 elements in the matrix,
is composed of
Row 1, column 2 elements in the matrix.
8. The semi-physical simulation method according to claim 7,
the position difference compensation processing of the driving of the simulation turntable comprises the following steps:
driving the simulation turntable equipment and driving the inertial navigation equipment according to the attitude compensation information;
the compensating the measurement results of the inertial navigation device from local to ground of flight comprises:
outputting, by the inertial navigation device, the attitude compensation information.
9. The semi-physical simulation method according to claim 6, wherein the flight position difference compensation information includes: compensated gravitational acceleration;
the performing the compensation processing by using the fourth transfer matrix comprises: calculating the compensated gravity acceleration g:
wherein, g1For local gravitational acceleration:
g0as a reference acceleration of gravity, g0＝9.78049，H0The local height of the inertial navigation turntable equipment is located.
10. The semi-physical simulation method of claim 9, wherein the locally compensating the measurement results of the inertial navigation device to ground-of-flight comprises:
using the compensated gravitational acceleration g to measure the following results generated by the inertial navigation device: and (3) performing compensation processing on the flying acceleration a to obtain compensated flying acceleration a': a' ═ a + g.
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