CN115183768A - Optical fiber inertia base combined navigation system - Google Patents
Optical fiber inertia base combined navigation system Download PDFInfo
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- CN115183768A CN115183768A CN202210811357.2A CN202210811357A CN115183768A CN 115183768 A CN115183768 A CN 115183768A CN 202210811357 A CN202210811357 A CN 202210811357A CN 115183768 A CN115183768 A CN 115183768A
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- 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
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- 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
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Abstract
The invention provides an optical fiber inertia base combined navigation system which comprises an inertia sensitive module, a visual angle information acquisition module, an antenna module, a power supply module and a data acquisition module. The inertial sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer and is used for measuring the angular velocity and the acceleration of the carrier in real time, the antenna module is used for measuring the course angle of the carrier in real time, and the data acquisition module is used for synchronously acquiring the signal data of the angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to the upper computer and receiving a control command of the upper computer. The navigation system is arranged on carriers such as an unmanned aerial vehicle and a rotary table, high-precision position information can be acquired, when the carriers can receive satellite signals, navigation is carried out through the antenna module, when the carriers are in a rejection environment, inertial navigation is achieved through the inertial sensitive module, and the real-time navigation requirement of the carriers is met.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an optical fiber inertia base combined navigation system.
Background
In the process of flying in the air, carriers such as unmanned planes, turntables and the like are generally positioned through satellite signals. However, when the carrier is in a rejection environment, the satellite signal is lost, and the flight path of the carrier is seriously affected.
When the carrier is in a rejection environment, navigation can be performed through an inertial navigation system, and the inertial navigation system generally measures angular velocity and acceleration of the carrier in an inertial reference system by using a gyroscope and an accelerometer, so as to continuously estimate information such as velocity, position and attitude of the carrier in a navigation coordinate system. However, the error of the inertial navigation system is dispersed with time, which is not favorable for long-time high-precision navigation.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the above-mentioned shortcomings of the prior art, and to provide a fiber-optic inertial-based combined navigation system, which overcomes or at least partially solves the above-mentioned problems, and comprises:
the inertia sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer, the triaxial fiber-optic gyroscope is used for measuring triaxial angular velocity of the carrier in real time, and the triaxial accelerometer is used for measuring acceleration of the carrier in real time;
the visual angle information acquisition module is used for acquiring a visual angle signal of the carrier;
the antenna module is used for receiving satellite signals and measuring the course angle of the carrier in real time;
the navigation system comprises a power supply module, a power supply module and a control module, wherein a secondary power supply circuit is arranged in the power supply module and is used for converting an externally input direct-current power supply into a secondary power supply required by each component in the navigation system;
and the data acquisition module is used for synchronously acquiring the signal data of the three-axis angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to an upper computer and receiving a control instruction of the upper computer.
Optionally, the data acquisition module sends the signal data to an upper computer after packing according to a preset communication protocol, and the data acquisition module includes:
after the signal data are collected, the data collection module converts the signal data into a data packet of a preset communication protocol, wherein the data packet comprises 20 bytes, and the data packet comprises 10 bytes of inertia sensitive data at the head and 4 bytes of verification data at the tail.
Optionally, the navigation system further includes a table body, the inertia sensitive module and the data acquisition module are both disposed on the table body, the table body is a cavity hexahedron, adjacent surfaces of the cavity hexahedron are mutually perpendicular, the three-axis fiber-optic gyroscope includes three fiber-optic gyroscopes, and the three fiber-optic gyroscopes are respectively mounted on three mutually perpendicular adjacent surfaces of the table body.
Optionally, the three-axis accelerometer includes three accelerometers, and the accelerometer adopts a quartz accelerometer.
Optionally, the inertia sensitive module adopts an ISA structure, the data acquisition module includes a ZYNQ chip, a FLASH chip, a JTAG interface, a clock circuit, an RS422 asynchronous serial port and an RS232 asynchronous serial port, and the ZYNQ chip is provided with a plurality of different data interfaces for acquiring the signal data synchronously.
Optionally, the power module includes a dc conversion module, and the secondary power circuit is configured to convert an externally input dc power into a secondary power required by each component in the navigation system, and includes:
the power supply module is used for providing a working power supply for the triaxial fiber-optic gyroscope, the triaxial accelerometer and the antenna module after filtering 28V direct-current voltage input from the outside;
and the direct current conversion module converts the externally input 28V direct current voltage into 5V, 3.3V, 2.5V and 1.2V direct current voltage respectively, and is used for providing a working power supply for the ZYNQ chip, the FLASH chip, the clock circuit, the RS422 asynchronous serial port and the RS232 asynchronous serial port respectively.
Optionally, the RS422 asynchronous serial port employs a MAX4388ESA chip, and is configured to implement acquisition of signal data of the three-axis angular velocity, the acceleration, and the course angle.
Optionally, the RS232 asynchronous serial port adopts a MAX232M chip for sending the signal data to an upper computer.
Optionally, the FLASH chip employs an XCF02SVO20, and the clock circuit provides a clock signal with a frequency of 25 MHz.
Optionally, the antenna module employs a dual GNSS antenna.
The embodiment of the invention provides an optical fiber inertia base combined navigation system which comprises an inertia sensitive module, a visual angle information acquisition module, an antenna module, a power supply module and a data acquisition module. The inertial sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer and is used for measuring triaxial angular velocity and triaxial acceleration of a carrier in real time, the antenna module is used for measuring a course angle of the carrier in real time, the power supply module is used for providing a secondary power supply required by each component in the navigation system, and the data acquisition module is used for synchronously acquiring signal data of the angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to an upper computer and receiving a control instruction of the upper computer. The navigation system is arranged on carriers such as an unmanned aerial vehicle and a rotary table, high-precision position information can be acquired, when the carriers can receive satellite signals, navigation is carried out through the antenna module, when the carriers are in a rejection environment, and the antenna module cannot provide navigation signals, inertial navigation is achieved through the inertial sensitive module, and the real-time navigation requirement of the carriers is met.
Drawings
Fig. 1 is a schematic diagram of an optical fiber inertia based integrated navigation system according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Fig. 1 is a schematic diagram of an optical fiber inertial-based combined navigation system according to an embodiment of the present invention, where the navigation system includes an antenna module, a viewing angle information acquisition module, an inertial sensing module, a power supply module, and a data acquisition module.
The antenna module can adopt a dual GNSS antenna and is used for receiving satellite navigation signals and measuring the course angle of the carrier in real time. When setting up this navigation on carriers such as unmanned aerial vehicle, revolving stage, can navigate through antenna module. It should be noted that the antenna module may be replaced by one or more of the united states Global Positioning System (GPS), russian GLONASS satellite navigation system (GLONASS), and european union GALILEO positioning system (GALILEO).
The inertia sensitive module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer, wherein the triaxial fiber-optic gyroscope comprises three fiber-optic gyroscopes and is used for measuring triaxial angular velocity of the carrier in real time, the triaxial accelerometer comprises three accelerometers, the triaxial accelerometer is used for measuring acceleration of the carrier in real time, and the accelerometer can adopt a quartz accelerometer.
The visual angle information acquisition module can adopt a USB camera to realize the acquisition of visual information, and realizes the real-time integration of inertia/vision by compiling a high-speed visual information processing program, thereby improving the inertial navigation precision when the GNSS is rejected.
And a secondary power supply circuit is arranged in the power supply module and used for converting an externally input direct-current power supply into a secondary power supply required by each part in the navigation system.
The data acquisition module is used for synchronously acquiring signal data of the angular speed, the acceleration and the course angle of the carrier, packaging the signal data according to a preset communication protocol, sending the packaged signal data to the upper computer and receiving a control instruction of the upper computer.
The embodiment of the invention provides an optical fiber inertia base combined navigation system which comprises an inertia sensitive module, an antenna module, a power supply module and a data acquisition module. The inertial sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer and is used for measuring triaxial angular velocity and triaxial acceleration of a carrier in real time, the antenna module is used for measuring a course angle of the carrier in real time, the power supply module is used for providing a secondary power supply required by each component in the navigation system, and the data acquisition module is used for synchronously acquiring signal data of the angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to an upper computer and receiving a control instruction of the upper computer. The navigation system is arranged on carriers such as an unmanned aerial vehicle and a rotary table, high-precision position information can be acquired, when the carriers can receive satellite signals, navigation is carried out through the antenna module, when the carriers are in a rejection environment, and the antenna module cannot provide navigation signals, inertial navigation is achieved through the inertial sensitive module, and the real-time navigation requirement of the carriers is met.
In some embodiments, the data acquisition module packs the signal data according to a preset communication protocol and sends the signal data to the upper computer, and the data acquisition module converts the signal data into a data packet of the preset communication protocol after acquiring the signal data, wherein the data packet has 20 bytes in total and comprises 10 bytes of inertia sensitive data at the head and 4 bytes of check data at the tail.
In some embodiments, the navigation system further comprises a table body, the inertia sensitive module and the data acquisition module are both arranged on the table body, the table body is a hollow hexahedron, adjacent surfaces of the table body are perpendicular to each other, and the three fiber-optic gyroscopes are respectively arranged on the three perpendicular adjacent surfaces of the table body. The inertia sensitive module adopts an ISA structure, the data acquisition module comprises a ZYNQ chip, a FLASH chip, a JTAG interface, a clock circuit, an RS422 asynchronous serial port and an RS232 asynchronous serial port, and a plurality of different data interfaces are arranged on the ZYNQ chip and used for synchronously acquiring the signal data. The RS422 asynchronous serial port adopts a MAX4388ESA chip and is used for collecting signal data of angular speed, acceleration and course angle. The RS232 asynchronous serial port adopts an MAX232M chip and is used for sending signal data to an upper computer. The FLASH chip adopts XCF02SVO20, and the clock circuit provides a clock signal with the frequency of 25 MHz.
In some embodiments, the power supply module includes a dc conversion module, and the power supply module is configured to filter an externally input 28V dc voltage and provide a working power supply for the triaxial fiber-optic gyroscope, the triaxial accelerometer, and the antenna module; the direct current conversion module converts the externally input 28V direct current voltage into 5V, 3.3V, 2.5V and 1.2V direct current voltage respectively, and is used for providing a working power supply for the ZYNQ chip, the FLASH chip, the clock circuit, the RS422 asynchronous serial port and the RS232 asynchronous serial port respectively.
In some embodiments, the error of the inertial navigation system diverges with time, the signal data acquired by the inertial sensitive module and the data of the viewing angle information acquisition module and the antenna module can be compared, and the inertial navigation system can be adjusted by the upper computer, so that the error is reduced, and the positioning accuracy of the inertial navigation system is improved.
The embodiment of the invention provides an optical fiber inertia base combined navigation system which comprises an inertia sensitive module, an antenna module, a power supply module and a data acquisition module. The inertial sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer and is used for measuring triaxial angular velocity and triaxial acceleration of a carrier in real time, the antenna module is used for measuring a course angle of the carrier in real time, the power supply module is used for providing a secondary power supply required by each component in the navigation system, and the data acquisition module is used for synchronously acquiring signal data of the angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to an upper computer and receiving a control instruction of the upper computer.
Compared with the prior art, the embodiment of the invention has the following advantages: 1. according to the invention, the three-axis fiber-optic gyroscope, the three-axis accelerometer, the vision acquisition module, the antenna module and the like are converted into a uniform hardware interface and a specific data packet protocol through different hardware interfaces and data packet protocols of the data acquisition module based on the ZYNQ chip, so that synchronous acquisition of data is realized, and real-time processing can be realized; 2. aiming at the requirement of long-time high-precision navigation in a GNSS rejection environment, a special visual acquisition processing module is designed, real-time inertia/vision fusion is realized by compiling a high-speed visual information processing program, and the inertial navigation precision in the GNSS rejection is remarkably improved.
It should be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present invention belongs, unless otherwise defined. In the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily implying any order, quantity, or importance, but rather may be used to distinguish one element from another. The word "a" or "an" does not exclude a plurality. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "top" or "bottom", etc. are used merely to indicate relative positional relationships, which may change when the absolute position of the object being described changes.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other. While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
The optical fiber inertia-based combined navigation system provided by the invention is described in detail above, and the principle and the implementation of the invention are explained in the text by applying specific examples, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A fiber optic inertia based integrated navigation system, comprising:
the inertia sensing module comprises a triaxial fiber-optic gyroscope and a triaxial accelerometer, the triaxial fiber-optic gyroscope is used for measuring triaxial angular velocity of the carrier in real time, and the triaxial accelerometer is used for measuring acceleration of the carrier in real time;
the visual angle information acquisition module is used for acquiring a visual angle signal of the carrier;
the antenna module is used for receiving satellite signals and measuring the course angle of the carrier in real time;
the navigation system comprises a power module, a power supply module and a control module, wherein a secondary power circuit is arranged in the power module and used for converting an externally input direct current power supply into a secondary power supply required by each component in the navigation system;
and the data acquisition module is used for synchronously acquiring the signal data of the three-axis angular velocity, the acceleration and the course angle, packaging the signal data according to a preset communication protocol, sending the packaged signal data to an upper computer and receiving a control instruction of the upper computer.
2. The optical fiber inertia base combined navigation system according to claim 1, wherein the data acquisition module packs the signal data according to a preset communication protocol and then sends the signal data to the upper computer, and the system comprises:
after the signal data are collected, the data collection module converts the signal data into a data packet of a preset communication protocol, wherein the data packet comprises 20 bytes, and the data packet comprises 10 bytes of inertia sensitive data at the head and 4 bytes of check data at the tail.
3. The fiber-optic inertial-based combined navigation system according to claim 1, wherein the navigation system further comprises a table body, the inertial sensor module and the data acquisition module are both disposed on the table body, the table body is a hollow hexahedron, adjacent surfaces of the table body are perpendicular to each other, the three-axis fiber-optic gyroscope comprises three fiber-optic gyroscopes, and the three fiber-optic gyroscopes are respectively mounted on three adjacent surfaces of the table body, which are perpendicular to each other.
4. A combined fiber optic and inertial based navigation system according to claim 1, wherein the three-axis accelerometer comprises three accelerometers, and the accelerometers are quartz accelerometers.
5. The fiber inertia based integrated navigation system of claim 1, wherein the inertia sensitive module adopts an iSA structure, the data acquisition module comprises a ZYNQ chip, a FLASH chip, a JTAG interface, a clock circuit, an RS422 asynchronous serial port and an RS232 asynchronous serial port, and a plurality of different data interfaces are arranged on the ZYNQ chip and used for synchronously acquiring the signal data.
6. The fiber optic inertia based integrated navigation system of claim 5, wherein the power module comprises a dc conversion module, and the secondary power circuit is configured to convert an externally input dc power into a secondary power required by each component inside the navigation system, and comprises:
the power supply module is used for providing a working power supply for the triaxial fiber-optic gyroscope, the triaxial accelerometer and the antenna module after filtering 28V direct-current voltage input from the outside;
and the direct current conversion module converts the externally input 28V direct current voltage into 5V, 3.3V, 2.5V and 1.2V direct current voltage respectively, and is used for providing a working power supply for the ZYNQ chip, the FLASH chip, the clock circuit, the RS422 asynchronous serial port and the RS232 asynchronous serial port respectively.
7. The fiber-optic inertia-based integrated navigation system of claim 5, wherein the RS422 asynchronous serial port employs a MAX4388ESA chip for acquiring the signal data of the three-axis angular velocity, the acceleration and the heading angle.
8. The fiber-optic inertia-based combined navigation system of claim 5, wherein the RS232 asynchronous serial port employs a MAX232M chip for transmitting the signal data to an upper computer.
9. The fiber optic inertia based integrated navigation system of claim 5, wherein the FLASH chip employs XCF02SVO20, and the clock circuit provides a clock signal having a frequency of 25 MHz.
10. The fiber optic inertial based combined navigation system of claim 1, wherein the antenna module employs a dual GNSS antenna.
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| CN202210811357.2A CN115183768A (en) | 2022-07-11 | 2022-07-11 | Optical fiber inertia base combined navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824199A (en) * | 2022-11-07 | 2023-03-21 | 北京自动化控制设备研究所 | Microminiature multi-information fusion autonomous navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824199A (en) * | 2022-11-07 | 2023-03-21 | 北京自动化控制设备研究所 | Microminiature multi-information fusion autonomous navigation system |
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