CN115077566A - Inertial navigation system resolving method - Google Patents
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Abstract
The invention relates to the technical field of inertial navigation system application, and provides a resolving method of an inertial navigation system. The inertial navigation system resolving method comprises the following steps: establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system; converting original data of an inertial measurement unit for calculating a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula to obtain a first error parameter; and converting the first error parameter into a resolving mathematical platform coordinate system according to a second conversion formula for resolving. According to the invention, the virtual mathematical platform coordinate system is established, so that the calibration of the inertia measurement unit is not restricted by a carrier structure or an installation form, the observation and calibration tasks in the virtual mathematical platform coordinate system can be realized under the condition of not damaging a system hardware structure, and then the calculation and calibration results are mapped to the calculation mathematical platform coordinate system for calculation, so that the observability and convenience of error parameter calculation and calibration are improved.
Description
Technical Field
The invention relates to the technical field of inertial navigation system application, in particular to a resolving method of an inertial navigation system.
Background
The self-calibration method of the high-precision Inertial navigation system is a calibration method for identifying system error parameters by taking a resolving error as an observed quantity, wherein each error quantity of a gyroscope and an accelerometer influences the resolving output of the system through error propagation, each calibration parameter of an IMU (Inertial Measurement Unit) can be estimated by acquiring all or part of information of the resolving error, all error parameters of an error model need to be excited in a reasonable excitation sequence, and all the error parameters can be observed.
However, due to the constraint of the carrier structure or installation form of the existing inertia element, the error parameters cannot be directly calibrated and observed in a resolving mathematical platform.
Disclosure of Invention
The invention provides a resolving method of an inertial navigation system, which is used for solving the defect that error parameters can not be directly calibrated and observed in a resolving mathematic platform in the prior art, finishing the estimation of the error parameters based on a virtual mathematic platform coordinate system and realizing the observability of the calibration of the error parameters.
The invention provides a resolving method of an inertial navigation system, which comprises the following steps:
establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system;
converting original data of an inertial measurement unit for calculating a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula for observation to obtain a first error parameter;
and converting the first error parameter into a resolving mathematical platform coordinate system according to a second conversion formula for resolving.
According to the inertial navigation system resolving method provided by the invention, in the step of establishing a virtual mathematical platform coordinate system and obtaining a first conversion formula between the virtual mathematical platform coordinate system and the resolving mathematical platform coordinate system, the resolving mathematical platform coordinate system comprises a reference coordinate system, a to-be-calibrated gyro coordinate system and a to-be-calibrated accelerometer coordinate system, the virtual mathematical platform coordinate system comprises a virtual reference coordinate system, a virtual gyro coordinate system and a virtual accelerometer coordinate system, wherein the reference coordinate system and the virtual reference coordinate system are orthogonal coordinate systems, and the to-be-calibrated gyro coordinate system, the to-be-calibrated accelerometer coordinate system, the virtual gyro coordinate system and the virtual accelerometer coordinate system are non-orthogonal coordinate systems.
According to the inertial navigation system calculating method provided by the invention, the original data of the inertial measurement unit for calculating the mathematical platform coordinate system is converted into the virtual mathematical platform coordinate system according to a first conversion formula, and in the step of obtaining a first error parameter, the first conversion formula is as follows:
wherein the content of the first and second substances,pa reference table coordinate system;p 1 a virtual reference table coordinate system;ga gyroscope coordinate system to be calibrated;g 1 is a virtual gyro coordinate system, and is characterized in that,aan accelerometer coordinate system to be calibrated;a 1 in order to be a virtual accelerometer coordinate system,
a matrix is transformed for the accelerometer body coordinate system to the virtual accelerometer body coordinate system,
a transformation matrix for the gyro body coordinate system to the virtual gyro body coordinate system,
and converting the matrix from the reference table coordinate system to the virtual reference table coordinate system.
According to the inertial navigation system calculating method provided by the invention, in the step of converting the first error parameter into the mathematical platform coordinate system for calculation according to the second conversion formula, the first error parameter comprises the first gyro error parameter, the second conversion formula comprises the first sub-conversion formula for converting the first gyro error parameter into the mathematical platform coordinate system for calculation, and the first sub-conversion formula is as follows:
wherein the content of the first and second substances,
is a scale factor of a gyroscope coordinate system,
for the installation error of the gyro coordinate system,
is a scale factor of the virtual gyro coordinate system,
installing errors for a virtual gyroscope coordinate system;
wherein the content of the first and second substances,
、
、
are respectively the scale factors of the gyro coordinate system,
、
、
respectively, are scale factors of a virtual gyro coordinate system,
、
、
、
、
、
respectively, the installation errors of the gyro coordinate system,
、
、
、
、
、
respectively, the virtual gyro coordinate system installation errors.
According to the inertial navigation system resolving method provided by the invention, in the resolving step of converting the first error parameter into the resolving mathematic platform coordinate system according to the second conversion formula, the first error parameter comprises a first accelerometer error parameter, the second conversion formula comprises a second sub-conversion formula for converting the first accelerometer error parameter into the resolving mathematic platform coordinate system, and the second sub-conversion formula is as follows:
wherein the content of the first and second substances,
for scaling factors of accelerometer coordinate systemThe number of the first and second groups is,
in order to provide for mounting errors in the accelerometer coordinate system,
is a scale factor of the virtual accelerometer coordinate system,
installing errors for a virtual accelerometer coordinate system;
wherein the content of the first and second substances,
、
、
respectively, are the scale factors of the accelerometer coordinate system,
、
、
respectively, the scale factors of the coordinate system of the virtual accelerometer,
、
、
、
、
、
respectively, the installation error of the coordinate system of the accelerometer,
、
、
、
、
、
respectively, the installation error of the virtual accelerometer coordinate system.
According to the inertial navigation system resolving method provided by the invention, the step of converting the original data of the inertial measurement unit for resolving the mathematical platform coordinate system into the virtual mathematical platform coordinate system according to the first conversion formula to obtain the first error parameter comprises the following steps:
and carrying out rotation excitation sequence processing on the original data converted into the virtual mathematic platform coordinate system, and estimating a first error parameter in the virtual mathematic platform coordinate system by using a Kalman filter.
According to the inertial navigation system resolving method provided by the invention, when original data converted into a virtual mathematic platform coordinate system is resolved, rotation excitation sequence processing is carried out, and in the step of estimating error parameters in the virtual mathematic platform coordinate system by using a Kalman filter, the method comprises the following steps:
and predicting the error state through an error equation of the Kalman filter, updating the predicted error state through an observation equation of the Kalman filter, and resolving and calibrating the first error parameter.
The inertial navigation system resolving method provided by the invention further comprises the following steps:
and converting the second error parameter directly obtained by resolving the mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a third conversion formula, and verifying the second error parameter through the virtual mathematical platform coordinate system.
According to the inertial navigation system resolving method provided by the invention, the second error parameter comprises a second gyro error parameter, the third conversion formula comprises a third sub-conversion formula for converting the second gyro error parameter to a virtual mathematical platform coordinate system, and the third sub-conversion formula comprises:
wherein the content of the first and second substances,
is a gyro scale factor;
is a gyro mounting error.
According to the inertial navigation system resolving method provided by the invention, the second error parameter includes a second accelerometer error parameter, the third conversion formula includes a fourth sub-conversion formula for converting the second accelerometer error parameter to a virtual mathematical platform coordinate system, and the fourth sub-conversion formula is as follows:
wherein the content of the first and second substances,
scaling a factor for an accelerometer;
an accelerometer installation error.
The beneficial effects of the invention are:
the invention provides a resolving method of an inertial navigation system, which comprises the following steps: establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system; converting original data of an inertial measurement unit for calculating a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula to obtain a first error parameter; the first error parameter is converted into a resolving mathematic platform coordinate system according to a second conversion formula to be resolved, the virtual mathematic platform coordinate system is established, so that the calibration of the inertia measurement unit is not restricted by a carrier structure or an installation form, an observation calibration task in the virtual mathematic platform coordinate system can be realized under the condition of not damaging a system hardware structure, an error parameter calibration result is mapped to the resolving mathematic platform coordinate system to be resolved, and the observability and the convenience of error parameter resolving calibration are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic representation of the steps of a method of solution for an inertial navigation system according to the present invention;
FIG. 2 is a relationship diagram between a virtual mathematic platform coordinate system and a solved mathematic platform coordinate system in the inertial navigation system solution method provided by the invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of 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 embodiments of the present invention, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," 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 an embodiment 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, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The inertial navigation system solution method of the present invention is described below with reference to fig. 1 and 2, and includes the following steps:
establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system;
converting original data of an inertial measurement unit for resolving a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula for observation to obtain a first error parameter;
and converting the first error parameter into a resolving mathematical platform coordinate system according to a second conversion formula for resolving.
In some embodiments, in the step of establishing a virtual mathematical platform coordinate system and obtaining a first conversion formula between the virtual mathematical platform coordinate system and a solving mathematical platform coordinate system, the solving mathematical platform coordinate system includes a reference coordinate system, a to-be-calibrated gyro coordinate system and a to-be-calibrated accelerometer coordinate system, the virtual mathematical platform coordinate system includes a virtual reference coordinate system, a virtual gyro coordinate system and a virtual accelerometer coordinate system, wherein the reference coordinate system and the virtual reference coordinate system are orthogonal coordinate systems, and the to-be-calibrated gyro coordinate system, the to-be-calibrated accelerometer coordinate system, the virtual gyro coordinate system and the virtual accelerometer coordinate system are non-orthogonal coordinate systems.
In some embodiments, the method includes converting raw data of an inertial measurement unit, which resolves a mathematical platform coordinate system, into a virtual mathematical platform coordinate system according to a first conversion formula, and in the step of obtaining the first error parameter, the first conversion formula is:
wherein the content of the first and second substances,pa reference table coordinate system;p 1 a virtual reference table coordinate system;ga gyroscope coordinate system to be calibrated;g 1 is a virtual gyro coordinate system, and is characterized in that,aan accelerometer coordinate system to be calibrated;a 1 in order to be a virtual accelerometer coordinate system,
a matrix is transformed from the accelerometer body coordinate system to the virtual accelerometer body coordinate system,
a matrix is converted from the gyro body coordinate system to the virtual gyro body coordinate system,
and converting the matrix from the reference table coordinate system to the virtual reference table coordinate system.
In some embodiments, the step of resolving is performed by converting the first error parameter to a resolved mathematical platform coordinate system according to a second conversion equation, the first error parameter comprising a first gyro error parameter, the second conversion equation comprising a first sub-conversion equation for converting the first gyro error parameter to the resolved mathematical platform coordinate system, the first sub-conversion equation being:
wherein the content of the first and second substances,
is a scale factor of a gyroscope coordinate system,
for the installation error of the gyro coordinate system,
is a scale factor of the virtual gyro coordinate system,
and (4) setting errors of a virtual gyro coordinate system. In particular, the amount of the solvent to be used,
、
、
are respectively the scale factors of the gyro coordinate system,
、
、
respectively, are scale factors of a virtual gyro coordinate system,
、
、
、
、
、
respectively the installation error of the gyro coordinate system,
、
、
、
、
、
respectively, the virtual gyro coordinate system installation errors.
In some embodiments, the step of resolving is performed by converting the first error parameter to a resolved mathematical platform coordinate system according to a second conversion equation, the first error parameter comprising a first accelerometer error parameter, the second conversion equation comprising a second sub-conversion equation for converting the first accelerometer error parameter to the resolved mathematical platform coordinate system, the second sub-conversion equation being:
wherein the content of the first and second substances,
a scale factor is assigned to the accelerometer coordinate system,
in order to provide for an accelerometer coordinate system mounting error,
is a scaling factor for the virtual accelerometer coordinate system,
and (4) installing errors for the virtual accelerometer coordinate system. Specifically, the method comprises the following steps:
、
、
respectively, are the scale factors of the accelerometer coordinate system,
、
、
respectively, the scale factors of the coordinate system of the virtual accelerometer,
、
、
、
、
、
respectively accelerometer coordinate system mounting error，
、
、
、
、
、
Respectively, the installation error of the virtual accelerometer coordinate system.
In some embodiments, the step of converting the raw data of the inertial measurement unit, which is used for solving the mathematical platform coordinate system, into the virtual mathematical platform coordinate system according to a first conversion formula to obtain the first error parameter includes:
and carrying out rotation excitation sequence processing on the original data converted into the virtual mathematical platform coordinate system, and estimating a first error parameter in the virtual mathematical platform coordinate system by using a Kalman filter.
In some embodiments, the step of estimating error parameters in the virtual mathematical platform coordinate system by using a kalman filter includes:
and predicting the error state through an error equation of the Kalman filter, updating the predicted error state through an observation equation of the Kalman filter, and resolving and calibrating the first error parameter.
In some embodiments, the method further comprises the steps of:
and converting the second error parameter directly obtained by resolving the mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a third conversion formula, and verifying the second error parameter through the virtual mathematical platform coordinate system.
In some embodiments, the second error parameter comprises a second gyro error parameter, and the third transformation comprises a third sub-transformation that transforms the second gyro error parameter to the virtual mathematical platform coordinate system, the third sub-transformation being:
wherein the content of the first and second substances,
is a gyro scale factor;
is a gyro mounting error.
In some embodiments, the second error parameter comprises a second accelerometer error parameter, the third transformation comprises a fourth sub-transformation that transforms the second accelerometer error parameter to the virtual mathematical platform coordinate system, the fourth sub-transformation being:
wherein the content of the first and second substances,
scaling a factor for an accelerometer;
an accelerometer installation error.
The invention provides a resolving method of an inertial navigation system, which specifically comprises the following steps:
s10, establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system;
the resolving mathematical platform coordinate system comprises a reference coordinate system, a to-be-calibrated gyro coordinate system and a to-be-calibrated accelerometer coordinate system;
the virtual mathematical platform coordinate system comprises a virtual reference coordinate system, a virtual gyro coordinate system and a virtual accelerometer coordinate system;
furthermore, the reference coordinate system and the virtual reference coordinate system are orthogonal coordinate systems, and the gyroscope coordinate system to be calibrated, the accelerometer coordinate system to be calibrated, the virtual gyroscope coordinate system and the virtual accelerometer coordinate system are non-orthogonal coordinate systems;
as shown in fig. 2, in the present embodiment,
three axes of a reference table coordinate system;
three axes of a virtual reference table coordinate system;
is composed ofThree axes of a gyroscope coordinate system to be calibrated;
are the three axes of a virtual gyroscopic coordinate system,
three axes of an accelerometer coordinate system to be calibrated;
three axes of the virtual accelerometer coordinate system.
S20, converting the original data of the inertial measurement unit for calculating the mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula to obtain a first error parameter;
that is, the raw pulse data of the inertial measurement unit is obtained based on solving the mathematical platform coordinate system, wherein the raw pulse data of the gyroscope is recorded as
Original of accelerometerPulse data is recorded as
;
And S21, establishing a conversion relation between the resolving mathematic platform coordinate system and the virtual mathematic platform coordinate system, namely a first conversion formula. In this embodiment, the first conversion formula specifically includes:
wherein the content of the first and second substances,pis a reference table coordinate system;p 1 a virtual reference table coordinate system;ga gyroscope coordinate system to be calibrated;g 1 is a virtual gyro coordinate system, and is characterized in that,aan accelerometer coordinate system to be calibrated;a 1 in order to be a virtual accelerometer coordinate system,
a matrix is transformed from the accelerometer body coordinate system to the virtual accelerometer body coordinate system,
a matrix is converted from the gyro body coordinate system to the virtual gyro body coordinate system,
and converting the matrix from the reference table coordinate system to the virtual reference table coordinate system.
S22, recording the raw pulse data of the gyroscope as
Raw pulse data of the accelerometer is recorded as
Correspondingly substituting the obtained data into the first conversion formula, and obtaining virtual gyro original pulse data and virtual accelerometer original pulse data corresponding to the virtual mathematical platform coordinate system according to the corresponding conversion matrixThe initial pulse data is recorded as:
；
the virtual accelerometer raw pulse data is recorded as:
。
and S23, performing rotation excitation sequence processing on the original data converted into the virtual mathematical platform coordinate system, estimating a first error parameter in the virtual mathematical platform coordinate system by using a Kalman filter, namely, performing rotation excitation sequence on the original pulse data of the virtual gyroscope and the original pulse data of the virtual accelerometer, predicting an error state by using an error equation of the Kalman filter, updating the predicted error state by using an observation equation of the Kalman filter, and resolving and calibrating the first error parameter to realize the observability of the first error parameter in the virtual mathematical platform coordinate system.
S30, converting the first error parameter into a mathematical platform coordinate system according to a second conversion formula for resolving, specifically, the first error parameter includes a first gyro error parameter, the second conversion formula includes a first sub-conversion formula for converting the first gyro error parameter into the mathematical platform coordinate system, and the first sub-conversion formula is:
among them, in the present embodiment,
is a scale factor of a gyroscope coordinate system,
for the installation error of the gyro coordinate system,
scaling factors for a virtual gyro coordinate systemThe number of the first and second groups is,
and (4) setting errors of a virtual gyro coordinate system. Specifically, the method comprises the following steps:
、
、
are respectively the scale factors of the gyro coordinate system,
、
、
respectively, are scale factors of a virtual gyro coordinate system,
、
、
、
、
、
respectively, the installation errors of the gyro coordinate system,
、
、
、
、
、
respectively setting errors of a virtual gyroscope coordinate system;
the first gyro error parameter is converted from the virtual mathematical platform coordinate system to the resolving mathematical platform coordinate system, and the observation requirement of the first gyro error parameter on the resolving mathematical platform coordinate system is met.
Further, the first error parameter includes a first accelerometer error parameter, and the second transformation equation includes a second sub-transformation equation for transforming the first accelerometer error parameter to a mathematical platform coordinate system, where the second sub-transformation equation is:
wherein the content of the first and second substances,
is a scaling factor for the accelerometer coordinate system,
in order to provide for mounting errors in the accelerometer coordinate system,
is a scaling factor for the virtual accelerometer coordinate system,
and (4) installing errors for the virtual accelerometer coordinate system. In particular, the method comprises the following steps of,
、
、
respectively, are the scale factors of the accelerometer coordinate system,
、
、
respectively, the scale factors of the coordinate system of the virtual accelerometer,
、
、
、
、
、
respectively, the installation error of the coordinate system of the accelerometer,
、
、
、
、
、
respectively setting errors of a virtual accelerometer coordinate system;
the method realizes that the error parameter of the first accelerometer is converted from the virtual mathematical platform coordinate system to the resolving mathematical platform coordinate system, and meets the observation requirement of the error parameter of the first accelerometer on the resolving mathematical platform coordinate system.
Firstly, it should be noted that, the invention takes the external orientation and internal orientation three-axis rotation type inertial navigation system as an example, the core of self-calibration is to design a set of reasonable rotation sequence, observability of excitation error parameters, the rotation excitation sequence of the general internal orientation three-axis rotation type inertial navigation system can not be directly used for the external orientation three-axis rotation type inertial navigation system, and similarly, the rotation excitation sequence of the external orientation three-axis rotation type inertial navigation system can not be directly used for the internal orientation three-axis rotation type inertial navigation system, the self-calibration rotation excitation sequence of the current internal orientation three-axis rotation type inertial navigation system is relatively mature, the invention realizes observability of the error of the external orientation three-axis rotation type inertial navigation system in the virtual calculation platform coordinate system by defining a virtual mathematical calculation platform on the basis of actually calculating the mathematical platform coordinate system under the condition of the rotation excitation sequence of the internal orientation three-axis rotation type inertial navigation system, the observability of the error parameters of the inertial navigation system with different structural forms under the condition of unchanged self-calibration excitation sequence is realized.
Converting a second error parameter directly obtained by resolving the mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a third conversion formula, and verifying the second error parameter through the virtual mathematical platform coordinate system; specifically, the second error parameter includes a second gyro error parameter, the third conversion equation includes a third sub-conversion equation for converting the second gyro error parameter to the virtual mathematical platform coordinate system, and the third sub-conversion equation is:
among them, in the present embodiment,
is a scale factor of a gyroscope coordinate system,
for the installation error of the gyro coordinate system,
is a scale factor of the virtual gyro coordinate system,
and (4) setting errors of a virtual gyro coordinate system. In particular, the method comprises the following steps of,
、
、
are respectively the scale factors of the gyro coordinate system,
、
、
are respectively asThe virtual gyro coordinate system is a scale factor,
、
、
、
、
、
respectively, the installation errors of the gyro coordinate system,
、
、
、
、
、
respectively, the installation errors of the virtual gyroscope coordinate system.
Further, the second error parameter includes a second accelerometer error parameter, the third transformation equation includes a fourth sub-transformation equation for transforming the second accelerometer error parameter to the virtual mathematical platform coordinate system, and the fourth sub-transformation equation is:
among them, in the present embodiment,
is a scaling factor for the accelerometer coordinate system,
in order to provide for mounting errors in the accelerometer coordinate system,
is a scale factor of the virtual accelerometer coordinate system,
and (4) installing errors for the virtual accelerometer coordinate system. In particular, the method comprises the following steps of,
、
、
respectively, are the scale factors of the accelerometer coordinate system,
、
、
respectively, the scale factors of the coordinate system of the virtual accelerometer,
、
、
、
、
、
respectively, the installation error of the coordinate system of the accelerometer,
、
、
、
、
、
respectively, the installation error of the virtual accelerometer coordinate system.
The invention provides a resolving method of an inertial navigation system, which comprises the following steps: establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system; converting original data of an inertial measurement unit for calculating a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula to obtain a first error parameter; the first error parameters are converted to a resolving mathematic platform for resolving according to the second conversion formula, the calibration of the inertia measurement unit is not restricted by a carrier structure or an installation form by establishing a virtual mathematic platform coordinate system, a resolving calibration task in the virtual mathematic platform coordinate system can be realized under the condition of not damaging a system hardware structure, a resolving calibration result is mapped to the resolving mathematic platform coordinate system for observation, and the observability and the convenience of resolving calibration of the error parameters are improved.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An inertial navigation system resolving method is characterized by comprising the following steps:
establishing a virtual mathematic platform coordinate system, and obtaining a first conversion formula between the virtual mathematic platform coordinate system and a resolving mathematic platform coordinate system;
converting original data of an inertial measurement unit for calculating a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula for observation to obtain a first error parameter;
and converting the first error parameter into a resolving mathematical platform coordinate system according to a second conversion formula for resolving.
2. The inertial navigation system resolving method according to claim 1, wherein in the step of establishing a virtual mathematic platform coordinate system and obtaining a first conversion formula between the virtual mathematic platform coordinate system and the resolved mathematic platform coordinate system, the resolved mathematic platform coordinate system includes a reference coordinate system, a gyro coordinate system to be calibrated, and an accelerometer coordinate system to be calibrated, the virtual mathematic platform coordinate system includes a virtual reference coordinate system, a virtual gyro coordinate system, and a virtual accelerometer coordinate system, wherein the reference coordinate system and the virtual reference coordinate system are orthogonal coordinate systems, and the gyro coordinate system to be calibrated, the accelerometer coordinate system to be calibrated, the virtual gyro coordinate system, and the virtual accelerometer coordinate system are non-orthogonal coordinate systems.
3. The inertial navigation system solution method according to claim 2, wherein in the step of converting the raw data of the inertial measurement unit, which is used to solve the mathematical platform coordinate system, into the virtual mathematical platform coordinate system according to a first conversion formula, and obtaining the first error parameter, the first conversion formula is:
wherein p is a reference table coordinate system; p is a radical of 1 A virtual reference table coordinate system; g is a gyroscope coordinate system to be calibrated; g 1 Is a virtual gyro coordinate system, and is characterized in that,aan accelerometer coordinate system to be calibrated;a 1 in order to be a virtual accelerometer coordinate system,
a matrix is transformed from the accelerometer body coordinate system to the virtual accelerometer body coordinate system,
a matrix is converted from the gyro body coordinate system to the virtual gyro body coordinate system,
and converting the matrix from the reference table coordinate system to the virtual reference table coordinate system.
4. The inertial navigation system solution method according to claim 3, wherein in the observation step, the first error parameter comprises a first gyro error parameter according to a second conversion formula, the second conversion formula comprises a first sub-conversion formula for converting the first gyro error parameter to a solution mathematic platform coordinate system, and the first sub-conversion formula is:
wherein the content of the first and second substances,
is a scale factor of a gyroscope coordinate system,
for the installation error of the gyro coordinate system,
is a scale factor of the virtual gyro coordinate system,
setting errors for a virtual gyro coordinate system;
wherein the content of the first and second substances,
、
、
are respectively the scale factors of the gyro coordinate system,
、
、
respectively, are scale factors of a virtual gyro coordinate system,
、
、
、
、
、
respectively, the installation errors of the gyro coordinate system,
、
、
、
、
、
respectively, the virtual gyro coordinate system installation errors.
5. The inertial navigation system solution method according to claim 3, wherein in the step of performing the solution by converting the first error parameter to a solution math platform coordinate system according to a second conversion formula, the first error parameter comprises a first accelerometer error parameter, the second conversion formula comprises a second sub-conversion formula for converting the first accelerometer error parameter to the solution math platform coordinate system, and the second sub-conversion formula is:
wherein the content of the first and second substances,
is a scaling factor for the accelerometer coordinate system,
in order to provide for mounting errors in the accelerometer coordinate system,
is a scale factor of the virtual accelerometer coordinate system,
mounting errors for a virtual accelerometer coordinate system;
wherein the content of the first and second substances,
、
、
respectively, are the scale factors of the accelerometer coordinate system,
、
、
respectively, the scale factors of the coordinate system of the virtual accelerometer,
、
、
、
、
、
respectively the installation error of the coordinate system of the accelerometer,
、
、
、
、
、
respectively, the installation error of the virtual accelerometer coordinate system.
6. The inertial navigation system solution method according to claim 1, wherein the step of converting raw data of an inertial measurement unit for solving a mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a first conversion formula for observation to obtain a first error parameter comprises:
and carrying out rotation excitation sequence processing on the original data converted into the virtual mathematical platform coordinate system, and estimating a first error parameter in the virtual mathematical platform coordinate system by using a Kalman filter.
7. The inertial navigation system solution method according to claim 6, wherein the step of performing a rotation excitation sequence process on the raw data converted into the virtual math platform coordinate system, and estimating error parameters in the virtual math platform coordinate system by using a kalman filter, comprises:
and predicting the error state through an error equation of the Kalman filter, updating the predicted error state through an observation equation of the Kalman filter, and resolving and calibrating the first error parameter.
8. The inertial navigation system solution method according to claim 1, further comprising the steps of:
and converting the second error parameter directly obtained by resolving the mathematical platform coordinate system into a virtual mathematical platform coordinate system according to a third conversion formula, and verifying the second error parameter through the virtual mathematical platform coordinate system.
9. The inertial navigation system solution method according to claim 8, wherein the second error parameter comprises a second gyro error parameter, and the third transformation comprises a third sub-transformation transforming the second gyro error parameter into the virtual mathematical platform coordinate system, the third sub-transformation being:
wherein the content of the first and second substances,
is a gyro scale factor;
is a gyro mounting error.
10. The inertial navigation system solution method according to claim 8, wherein the second error parameter comprises a second accelerometer error parameter, the third transformation comprises a fourth sub-transformation transforming the second accelerometer error parameter to a virtual mathematical platform coordinate system, the fourth sub-transformation being:
wherein the content of the first and second substances,
scaling a factor for an accelerometer;
an accelerometer installation error.
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