CN116086488A - Polar region moving base alignment method, equipment and medium based on unified modeling principle - Google Patents

Polar region moving base alignment method, equipment and medium based on unified modeling principle Download PDF

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CN116086488A
CN116086488A CN202211423278.0A CN202211423278A CN116086488A CN 116086488 A CN116086488 A CN 116086488A CN 202211423278 A CN202211423278 A CN 202211423278A CN 116086488 A CN116086488 A CN 116086488A
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time
earth
unified modeling
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徐祥
程玉
陈帅
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention discloses a polar region moving base alignment method, equipment and medium of a unified modeling principle, wherein the method comprises the following steps: acquiring sensor data and satellite receiver data; constructing a vector observer model by adopting a unified modeling method; discretizing a vector observer model, designing a vector difference value method to optimize the discretized vector observer model, and carrying out initial moment speed error; based on the optimized vector observer model, carrying out attitude estimation through an OBA algorithm; and calibrating based on the attitude estimation value, and repeating the steps until the set calibration time length or iteration times are reached. The invention can eliminate the influence of the singular points of the polar region on the initial alignment by adopting the unified modeling method to construct the vector observer model, and solves the problem that the azimuth is influenced by the convergence of the longitude in the polar region alignment process.

Description

Polar region moving base alignment method, equipment and medium based on unified modeling principle
Technical Field
The invention relates to the field of inertial navigation systems, in particular to a polar moving base alignment method, equipment and medium based on a unified modeling principle.
Background
Current navigational positioning systems typically employ navigational aids for navigational positioning of gestures, speeds, and positions. The method is widely applied to middle and low latitude. However, as latitude increases, longitude lines converge rapidly, which leads to ambiguities in errors, especially azimuth angles, with undefined singularities in the polar region, which makes navigation positioning difficult. In the initial alignment field, the azimuth angle cannot be determined, so that the alignment process cannot be completed.
The Chinese patent with the publication number of CN114910097A and the name of initial velocity disturbance elimination polar region moving base alignment method adopts a grid coordinate system to carry out error modeling, and the constructed model is based on converted high-latitude data, and can be suitable for polar region navigation, but has the problem of calculating singularity at middle and low latitudes.
Disclosure of Invention
The invention aims to provide a polar region moving base alignment method, equipment and medium based on a unified modeling principle, which not only can be applied to polar regions, but also can be applied to middle and low latitudes, and can eliminate the influence of polar region singular points on initial alignment.
An alignment method of a polar moving base of a unified modeling principle is provided. The invention adopts a unified modeling principle to construct a vector observer, and weakens the influence of an initial speed error by using a vector difference value, thereby realizing the aim of aligning the polar region moving base.
The technical solution for realizing the purpose of the invention is as follows:
the polar region moving base alignment method based on the unified modeling principle comprises the following steps:
acquiring sensor data and satellite receiver data;
constructing a vector observer model by adopting a unified modeling method; the constructed vector observer model is:
Figure BDA0003943667850000011
in the method, in the process of the invention,
Figure BDA0003943667850000012
representing the output acceleration of the accelerometer at any latitude; />
Figure BDA0003943667850000013
A direction cosine matrix of the carrier system relative to the initial carrier system at the moment t is represented; />
Figure BDA0003943667850000014
Representing reference vectorsAn amount of; />
Figure BDA0003943667850000015
Representing a mapping of the velocity output by the satellite navigation receiver in the earth coordinate system; />
Figure BDA0003943667850000016
A directional cosine matrix of the earth system relative to the initial earth system at the time t; />
Figure BDA0003943667850000017
Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; />
Figure BDA0003943667850000018
A map indicating the rotational angular velocity of the earth on the earth system; g e Representing a mapping of gravity vectors on the earth system;
discretizing a vector observer model, designing a vector difference value method to optimize the discretized vector observer model, and carrying out initial moment speed error;
based on the optimized vector observer model, carrying out attitude estimation through an OBA algorithm;
and calibrating based on the attitude estimation value, and repeating the steps until the set iteration times are reached.
A polar region motion base alignment apparatus of unified modeling principle, comprising: the system comprises a memory, a processor and a computer program stored on the memory, wherein the processor realizes the polar moving base alignment method of the unified modeling principle when executing the computer program.
A computer storage medium storing an executable program that is executed by a processor to perform steps of a polar region moving base alignment method implementing the unified modeling principle.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention adopts a unified modeling theory to construct a vector observer, weakens the influence of initial speed errors by using a vector difference value, realizes the aim of aligning the polar region moving base, not only can be suitable for polar regions, but also can be used for middle and low latitudes, and avoids the problem of polar region singularity;
(2) The invention adopts a vector difference method, and eliminates the influence of initial speed errors on a vector observer.
Drawings
Fig. 1 is a polar region motion base alignment block diagram of the unified modeling principle.
Fig. 2 is a comparative schematic diagram of the pitch error angle alignment of the conventional method and the inventive method.
Figure 3 is a comparison of roll error angle alignment for a conventional method and a method of the present invention.
FIG. 4 is a graphical representation of alignment heading error angle comparisons for a conventional method and the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and examples:
the invention provides a polar region moving base alignment method based on a unified modeling principle, which is shown in fig. 1 and comprises the following steps:
step 1: acquiring sensor data and satellite receiver data;
from the inertial sensor measurement model, it is known that:
Figure BDA0003943667850000021
in the method, in the process of the invention,
Figure BDA0003943667850000022
representing the output acceleration of the accelerometer at any latitude; f (f) b Representing real acceleration of any latitude; b a Indicating acceleration zero offset; η (eta) a Representing accelerometer measurement noise; />
Figure BDA0003943667850000023
Representing the output angular velocity of any latitude gyroscope; />
Figure BDA0003943667850000024
Representing the real angular velocity of any latitude; b g Indicating zero offset of the gyroscope; η (eta) g Representing gyroscope measurement noise.
When the satellite navigation receiver does not receive data, calculating an angular velocity increment and an acceleration increment by using an inertial sensor:
Figure BDA0003943667850000031
in the method, in the process of the invention,
Figure BDA0003943667850000032
representing the output acceleration of the accelerometer at any latitude; />
Figure BDA0003943667850000033
Representing the output angular velocity of any latitude gyroscope; deltav 1 Representing a carrier velocity subsamples for the first half cycle; deltav 2 Representing a carrier velocity subsamples in the second half period; Δθ 1 Representing a first half period angular increment subsamples; Δθ 2 Representing a second half period angular increment subsamples; Δt (delta t) g Representing a satellite navigation system data sampling period;
step 2: constructing a vector observer by adopting a unified modeling method;
when satellite navigation data is received, constructing a unified modeling theoretical vector observer:
Figure BDA0003943667850000034
in the method, in the process of the invention,
Figure BDA0003943667850000035
representing the output acceleration of the accelerometer at any latitude; />
Figure BDA0003943667850000036
A direction cosine matrix of the carrier system relative to the initial carrier system at the moment t is represented; />
Figure BDA0003943667850000037
Representing a reference vector; />
Figure BDA0003943667850000038
Representing a mapping of the velocity output by the satellite navigation receiver in the earth coordinate system; />
Figure BDA0003943667850000039
A directional cosine matrix of the earth system relative to the initial earth system at the time t; />
Figure BDA00039436678500000310
Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; />
Figure BDA00039436678500000311
A map indicating the rotational angular velocity of the earth on the earth system; g e Representing a mapping of gravity vectors on the earth system;
the discretization calculation is carried out on the above formula to obtain:
Figure BDA00039436678500000312
in the method, in the process of the invention,
Figure BDA00039436678500000313
a reference vector representing the time k; />
Figure BDA00039436678500000314
A reference vector representing time k-1; />
Figure BDA00039436678500000315
A direction cosine matrix of the k-moment carrier system relative to the initial carrier system is represented; deltav b Representing the carrier train velocity increment, the following formula can be used to calculate:
Figure BDA00039436678500000316
wherein Deltav b Representing the carrier train speed increment; deltav 1 Representing a carrier velocity subsamples for the first half cycle; deltav 2 Representing a carrier velocity subsamples in the second half period; Δθ 1 Representing a first half period angular increment subsamples; Δθ 2 Representing a second half period angular increment subsamples;
similarly, the observation vector discretization can be expressed as:
Figure BDA0003943667850000041
/>
in the method, in the process of the invention,
Figure BDA0003943667850000042
representing an observation vector at the time k; />
Figure BDA0003943667850000043
A directional cosine matrix representing the earth system at time k relative to the initial earth system; />
Figure BDA0003943667850000044
Representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; />
Figure BDA0003943667850000045
Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; beta' v，k Representing the intermediate vector at time k, the following equation can be used to calculate:
Figure BDA0003943667850000046
wherein, beta' v，k Representing a k moment intermediate vector; beta' v，k-1 Representing a k-1 moment intermediate vector;
Figure BDA0003943667850000047
representing the earth system at time k-1A directional cosine matrix relative to the initial earth system; Δt (delta t) g Representing a satellite navigation system data sampling period; />
Figure BDA0003943667850000048
A map indicating the rotational angular velocity of the earth on the earth system; />
Figure BDA0003943667850000049
Representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; />
Figure BDA00039436678500000410
Representing the mapping of the output speed of the satellite navigation receiver at the moment k-1 on the earth coordinate system; />
Figure BDA00039436678500000411
Representing the mapping of the gravity vector at the moment k on the earth system;
step 3: designing a vector difference method;
since the vector observer construction is related to the initial time speed, the initial time speed error is accumulated in the vector observer, and the vector difference method is designed to be optimized:
Figure BDA00039436678500000412
in the method, in the process of the invention,
Figure BDA00039436678500000413
an optimized reference vector representing the time k; />
Figure BDA00039436678500000414
An optimized observation vector at time k is represented; />
Figure BDA00039436678500000415
A reference vector representing the time k; />
Figure BDA00039436678500000416
Representing an observation vector at the time k; />
Figure BDA00039436678500000417
A reference vector representing the instant i; />
Figure BDA00039436678500000418
The observation vector at the moment i is represented;
step 4: performing attitude estimation by using an OBA algorithm;
the pose K matrix can be constructed using an optimization vector observer:
Figure BDA00039436678500000419
wherein K is k Representing a K matrix at time K; k (K) k-1 Representing a K-1 moment K matrix;
Figure BDA00039436678500000420
an optimized reference vector representing the time k;
Figure BDA0003943667850000051
an optimized observation vector at time k is represented; wherein the operation process can be expressed as: />
Figure BDA0003943667850000052
In the method, in the process of the invention,
Figure BDA0003943667850000053
an optimized reference vector representing the time k; />
Figure BDA0003943667850000054
The optimized observation vector at time k is shown.
Step 5: and if k=M, outputting an alignment result to finish the alignment process, and if k < M indicates that the alignment process is not finished, repeating the first to fifth steps until the alignment process is finished.
Fig. 2 to fig. 4 are calibration diagrams of the calibration method and the conventional method according to the present invention, and it can be seen by comparing the diagrams that the calibration error of the present invention is smaller and the convergence is better.
The invention constructs a vector observer based on a unified modeling theory, optimizes the vector observer by using a vector difference method, weakens the influence of initial speed errors, realizes the polar region moving base alignment process, solves the problem that the azimuth is influenced by longitude convergence in the polar region alignment process, not only can be suitable for polar regions, but also can be used for medium and low latitude, and can eliminate the influence of polar region singular points on initial alignment. It should be noted that the innovation point of the present invention is that the vector observer is constructed by adopting unified modeling, which is an improvement on the existing calibration method, and some common knowledge involved will not be described in detail herein.

Claims (8)

1. The polar region moving base alignment method based on the unified modeling principle is characterized by comprising the following steps:
acquiring sensor data and satellite receiver data;
constructing a vector observer model by adopting a unified modeling method; the constructed vector observer model is:
Figure QLYQS_1
in the method, in the process of the invention,
Figure QLYQS_2
representing the output acceleration of the accelerometer at any latitude; />
Figure QLYQS_3
A direction cosine matrix of the carrier system relative to the initial carrier system at the moment t is represented; />
Figure QLYQS_4
Representing a reference vector; />
Figure QLYQS_5
Representing a mapping of the velocity output by the satellite navigation receiver in the earth coordinate system; />
Figure QLYQS_6
A directional cosine matrix of the earth system relative to the initial earth system at the time t; />
Figure QLYQS_7
Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; />
Figure QLYQS_8
A map indicating the rotational angular velocity of the earth on the earth system; g e Representing a mapping of gravity vectors on the earth system;
discretizing a vector observer model, designing a vector difference value method to optimize the discretized vector observer model, and carrying out initial moment speed error;
based on the optimized vector observer model, carrying out attitude estimation through an OBA algorithm;
and calibrating based on the attitude estimation value, and repeating the steps until the set iteration times are reached.
2. The polar region moving mount alignment method of unified modeling principle of claim 1, wherein said acquiring sensor data comprises:
acquiring acceleration and angular velocity values from an inertial sensor measurement model:
Figure QLYQS_9
in the method, in the process of the invention,
Figure QLYQS_10
representing accelerometer output acceleration in any dimension; f (f) b Representing real acceleration in any dimension; b a Indicating acceleration zero offset; η (eta) a Representing accelerometer measurement noise; />
Figure QLYQS_11
Representing the output angular velocity of any latitude gyroscope; />
Figure QLYQS_12
Representing the real angular velocity of any latitude; b g Indicating zero offset of the gyroscope; η (eta) g Representing gyroscope measurement noise;
calculating an angular velocity increment and an acceleration increment by using an inertial sensor:
Figure QLYQS_13
/>
in the method, in the process of the invention,
Figure QLYQS_14
representing the output acceleration of the accelerometer at any latitude; />
Figure QLYQS_15
Representing the output angular velocity of any latitude gyroscope; deltav 1 Representing a carrier velocity subsamples for the first half cycle; deltav 2 Representing a carrier velocity subsamples in the second half period; Δθ 1 Representing a first half period angular increment subsamples; Δθ 2 Representing a second half period angular increment subsamples; Δt (delta t) g Representing the satellite navigation system data sampling period.
3. The polar region motion base alignment method of unified modeling principle according to claim 1, wherein the discretized vector observer model is:
Figure QLYQS_16
Figure QLYQS_17
in the middle of，
Figure QLYQS_18
A reference vector representing the time k; />
Figure QLYQS_19
A reference vector representing time k-1; />
Figure QLYQS_20
A direction cosine matrix of the k-moment carrier system relative to the initial carrier system is represented; deltav b Representing the carrier train velocity increment, calculated using the following formula:
Figure QLYQS_21
wherein Deltav b Representing the carrier train speed increment; deltav 1 Representing a carrier velocity subsamples for the first half cycle; deltav 2 Representing a carrier velocity subsamples in the second half period; Δθ 1 Representing a first half period angular increment subsamples; Δθ 2 Representing a second half period angular increment subsamples;
in the method, in the process of the invention,
Figure QLYQS_22
representing an observation vector at the time k; />
Figure QLYQS_23
A directional cosine matrix representing the earth system at time k relative to the initial earth system; />
Figure QLYQS_24
Representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; />
Figure QLYQS_25
Representing the mapping of the output speed of the satellite navigation receiver at the initial moment in an earth coordinate system; beta' v，k Representing the intermediate vector at time k, calculated using the following equation:
Figure QLYQS_26
wherein, beta' v，k Representing a k moment intermediate vector; beta' v，k-1 Representing a k-1 moment intermediate vector;
Figure QLYQS_27
a directional cosine matrix of the earth system relative to the initial earth system at the moment k-1; Δt (delta t) g Representing a satellite navigation system data sampling period; />
Figure QLYQS_28
A map indicating the rotational angular velocity of the earth on the earth system; />
Figure QLYQS_29
Representing the mapping of the output speed of the satellite navigation receiver at the moment k on an earth coordinate system; />
Figure QLYQS_30
Representing the mapping of the output speed of the satellite navigation receiver at the moment k-1 on the earth coordinate system; />
Figure QLYQS_31
The map of the gravity vector on the earth system at time k is shown.
4. The polar region motion base alignment method of unified modeling principle according to claim 1, wherein the optimized vector observer model is:
Figure QLYQS_32
in the method, in the process of the invention,
Figure QLYQS_33
an optimized reference vector representing the time k; />
Figure QLYQS_34
An optimized observation vector at time k is represented; />
Figure QLYQS_35
A reference vector representing the time k; />
Figure QLYQS_36
Representing an observation vector at the time k; />
Figure QLYQS_37
A reference vector representing the instant i; />
Figure QLYQS_38
The observation vector at time i is shown.
5. The polar region moving base alignment method according to the unified modeling principle of claim 1, wherein the attitude estimation by the OBA algorithm specifically comprises:
constructing a pose K matrix based on the optimized vector observer model:
Figure QLYQS_39
wherein K is k Representing a K matrix at time K; k (K) k-1 Representing a K-1 moment K matrix;
Figure QLYQS_40
an optimized reference vector representing the time k; />
Figure QLYQS_41
An optimized observation vector at time k is represented; the operation process is as follows:
Figure QLYQS_42
in the method, in the process of the invention,
Figure QLYQS_43
an optimized reference vector representing the time k; />
Figure QLYQS_44
The optimized observation vector at time k is shown.
6. The polar region moving base alignment method according to the unified modeling principle of claim 1, wherein the satellite receiver sampling period is 1s and the set number of iterations is 600.
7. A polar region motion base alignment apparatus of unified modeling principle, comprising: a memory, a processor and a computer program stored on the memory, which processor, when executing the computer program, implements the polar kinematic base alignment method of the unified modeling principle of any of claims 1-6.
8. A computer storage medium storing an executable program that is executed by a processor to perform the steps of the polar motion base alignment method implementing the unified modeling principle of any one of claims 1 to 6.
CN202211423278.0A 2022-11-15 2022-11-15 Polar region moving base alignment method, equipment and medium based on unified modeling principle Pending CN116086488A (en)

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