CN116429096A - Geomagnetic inertial fusion navigation method and geomagnetic inertial fusion navigation system - Google Patents
Geomagnetic inertial fusion navigation method and geomagnetic inertial fusion navigation system Download PDFInfo
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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
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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Abstract
The invention provides a geomagnetic inertial fusion navigation method and a geomagnetic inertial fusion navigation system, wherein the method comprises the following steps: carrying out quick estimation on the geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer; using the estimated geomagnetic abnormal field model as a basis, inputting a measurement result of continuously tracking the geomagnetic abnormal field by a magnetometer, and estimating position change information; correcting a position drift of the inertial navigation using the estimated position change; and repeating the steps to determine the position information and realize geomagnetic inertia fusion autonomous navigation. The invention has the advantages that: the method is different from a geomagnetic matching navigation method, and does not need the support of regional geomagnetic diagrams. The system can provide autonomous navigation service for the low-altitude unmanned aerial vehicle and the underwater vehicle in any global scope, lays a foundation for autonomous operation of the system in any global scope, is a subversion of geomagnetic matching navigation technology, and has great significance and application value.
Description
Technical Field
The invention belongs to the field of autonomous navigation of low-altitude vehicles and underwater submarines, and particularly relates to a geomagnetic inertial fusion navigation method and system.
Background
The geomagnetic navigation is to measure the geomagnetic field by utilizing a magnetometer, compare the geomagnetic measured value with a geomagnetic model or geomagnetic map, and determine the current position of the platform through a navigation algorithm, so that the geomagnetic navigation is a navigation mode which has strong autonomy and high anti-interference capability and can be used all the day. Autonomous navigation services may be provided for various mobile platforms in the event that a Global Navigation Satellite System (GNSS) is disturbed, or even destroyed.
From the technical route realized by geomagnetic navigation, geomagnetic navigation is divided into two modes of geomagnetic filtering navigation and geomagnetic matching navigation. Geomagnetic filtering navigation is carried out by comparing geomagnetic measurement data with geomagnetic main magnetic field model data, and the position of a platform is determined through a navigation algorithm, so that the method is suitable for high altitude and orbital vehicles; geomagnetic matching type navigation is used for comparing geomagnetic measurement data with geomagnetic map data of geomagnetic abnormal fields, and the position of the platform is determined through a matching method, so that the method is suitable for low-altitude aircrafts and underwater submarines.
Because geomagnetic matching navigation needs to utilize geomagnetic map data and geomagnetic measurement data to match so as to determine the position information of the platform, geomagnetic field information of an application area needs to be measured in advance and a geomagnetic map is constructed when the technology is applied; or geomagnetic matching type navigation can only be used in an area with a priori geomagnetic map, so that geomagnetic matching type navigation cannot provide autonomous navigation service for a platform in a non-cooperative area or an area without the priori geomagnetic map, namely if a low-altitude unmanned plane and an underwater vehicle in China use geomagnetic matching navigation technology, intelligent autonomous operation in the non-cooperative area cannot be realized, and autonomous operation of global content cannot be realized.
The geomagnetic navigation technology independent of the priori geomagnetic map is studied, so that the geomagnetic navigation technology can be used in any global area, and the low-altitude unmanned aerial vehicle and the underwater vehicle in China can have autonomous navigation capability in any global area, thereby laying a foundation for autonomous operation in any global area.
Disclosure of Invention
The invention aims to overcome the defect that the prior geomagnetic navigation technology is required to depend on a priori geomagnetic map.
In order to achieve the above object, the present invention provides a geomagnetic inertial fusion navigation method, which includes:
step 1: carrying out quick estimation on the geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer;
step 2: using the estimated geomagnetic abnormal field model as a basis, inputting a measurement result of continuously tracking the geomagnetic abnormal field by a magnetometer, and estimating position change information;
step 3: correcting a position drift of the inertial navigation using the estimated position change;
step 4: and (3) repeating the steps 1-3, determining position change information, and realizing geomagnetic inertia fusion autonomous navigation.
As an improvement of the above method, the step 1 specifically includes:
calculating differential information between two measurements of position and geomagnetic field, respectively, using inertial navigation measurement data and magnetometer measurement data
And->
Wherein,,
is a measurement value of adjacent two inertial navigation; />
Geomagnetic anomaly field value measured for i+1 magnetometer,/g>
Geomagnetic abnormal field values measured by the magnetometer i times;
by means of
And->
And carrying out geomagnetic abnormal field model estimation.
As an improvement of the above method, the step 2 specifically includes:
obtaining estimated position change information using
Wherein,,
differential information which is the information of the geomagnetic field measurement for two times; mu (mu) 0 Is vacuum magnetic permeability; />
A magnetic moment of a geomagnetic abnormal field represented by a magnetic dipole; />
Position information from a measuring point to the center of a magnetic moment of the geomagnetic abnormal field; r is the position scalar information from the measuring point to the magnetic moment center of the geomagnetic abnormal field; t is the vector transpose.
As an improvement of the above method, the step 3 specifically includes:
by means of
Substitute->
Performing inertial navigation recursion to make the real position change information equal to +.>
The invention also provides a geomagnetic inertial fusion navigation system, which comprises:
the geomagnetic abnormal field estimation module is used for rapidly estimating a geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer;
the position change estimation module is used for inputting a measurement result of continuously tracking the geomagnetic abnormal field by the magnetometer by using the estimated geomagnetic abnormal field model as a basis, and estimating position change information;
a modified inertial navigation position drift module for modifying a position drift of the inertial navigation using the estimated position change;
and the position information determining module is used for determining position change information and realizing geomagnetic inertia fusion autonomous navigation.
As an improvement of the above system, the processing procedure of the geomagnetic abnormal field estimation module includes:
calculating differential information between two measurements of position and geomagnetic field, respectively, using inertial navigation measurement data and magnetometer measurement data
And->
Wherein,,
is a measurement value of adjacent two inertial navigation; />
Geomagnetic anomaly field value measured for i+1 magnetometer,/g>
Geomagnetic abnormal field values measured by the magnetometer i times;
by means of
And->
And carrying out geomagnetic abnormal field model estimation.
As an improvement of the above system, the processing procedure of the position change estimation module includes:
obtaining estimated position change information using
Wherein,,
differential information which is the information of the geomagnetic field measurement for two times; mu (mu) 0 Is vacuum magnetic permeability; />
A magnetic moment of a geomagnetic abnormal field represented by a magnetic dipole; />
Position information from a measuring point to the center of a magnetic moment of the geomagnetic abnormal field; r is the position scalar information from the measuring point to the magnetic moment center of the geomagnetic abnormal field; t is the vector transpose.
As an improvement of the above system, the process of modifying the inertial navigation position drift module includes:
by means of
Substitute->
Performing inertial navigation recursion to make the real position change information equal to +.>
Compared with the prior art, the invention has the advantages that:
1. the geomagnetic inertial fusion navigation method is different from a geomagnetic matching navigation method, and does not need the support of regional geomagnetic diagrams.
2. The geomagnetic inertial fusion navigation method can provide autonomous navigation service for the low-altitude unmanned aerial vehicle and the underwater vehicle in any global range, lays a foundation for autonomous operation of the low-altitude unmanned aerial vehicle and the underwater vehicle in any global range, is a subversion of geomagnetic matching navigation technology, and has great significance and application value.
Drawings
FIG. 1 is a schematic diagram of a geomagnetic inertial fusion navigation method;
FIG. 2 is a flow chart showing the core processing of the geomagnetic inertial fusion navigation method;
FIG. 3 is a flow chart of a geomagnetic inertial fusion navigation method.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings.
The invention provides a novel autonomous navigation method which is different from geomagnetic matching navigation in that geomagnetic abnormal field geomagnetic images of a navigation application area need to be acquired in advance and only the geomagnetic abnormal field needs to be tracked and measured, so that geomagnetic/inertial fusion autonomous navigation is realized under the participation of inertial navigation. The basic principle is as follows: firstly, carrying out online quick estimation on geomagnetic abnormal fields in a certain area by utilizing inertial navigation position information; then tracking and measuring geomagnetic anomalies by utilizing a magnetometer, and inverting the change information of the position; and finally, correcting the position drift of inertial navigation by utilizing the inverted position change information, and realizing a high-precision geomagnetic/inertial fusion autonomous navigation technology. The schematic diagram is shown in fig. 1.
The invention relates to a geomagnetic inertial fusion navigation method, which uses inertial navigation and magnetometer as measurement sensors. Firstly, a measured value of inertial navigation is utilized to rapidly estimate a geomagnetic anomaly, then, the position change information is inverted based on continuous tracking measurement of a magnetometer on the anomaly field, and finally, the position drift information of inertial navigation is corrected by utilizing the position change information, so that a geomagnetic/inertial fusion navigation technology with high precision is realized. As shown in fig. 2, the core of the algorithm is: quick estimation of geomagnetic abnormal field, tracking measurement of geomagnetic abnormal field, inversion estimation of position change information and correction of inertial navigation position drift.
Example 1:
the invention provides a geomagnetic inertial fusion navigation method, which comprises the following steps:
step 1: carrying out quick estimation on the geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer; the geomagnetic abnormal field model used in the method is a geomagnetic abnormal field model which is universal in the prior art.
Step 2: continuously tracking measurement information of a geomagnetic abnormal field by using a magnetometer as input, and estimating position change information of a carrier by using an estimated geomagnetic abnormal field model as a basis;
step 3: correcting the position drift of the inertial navigation by using the estimated position change of the carrier;
step 4: and (3) repeating the steps 1-3, optimally determining carrier position information, and realizing geomagnetic/inertial fusion autonomous navigation.
The geomagnetic inertial fusion navigation method comprises the following specific implementation steps:
step 1: fast estimation of geomagnetic anomaly field model based on differential information
Calculating differential information between two measurements of position and geomagnetic field, respectively, using inertial navigation measurement data and magnetometer measurement data
And->
Wherein:
in the method, in the process of the invention,
for the measurement of two adjacent inertial navigation systems, +.>
For drift information of the respective inertial navigation, in two adjacent measurements, the drift information of the inertial navigation is very close and can be considered equal.
In the method, in the process of the invention,
for measurement values of i+1 magnetometer, < >>
For the measurement value of i times magnetometer, the measurement value contains geomagnetic abnormal field +.>
And geomagnetic Main magnetic field->
In the course of the measurement of two adjacent magnetometers, it is considered that the change in the main magnetic field is small, i.e.>
Differential measurement information using inertial navigation
Differential measurement information with magnetometer +.>
The geomagnetic abnormal field model can be estimated quickly. The differential measurement information not only effectively eliminates the drift information of inertial navigation, but also removes the information of the main magnetic field of the earth, so that the high-precision estimation of geomagnetic abnormal field models can be realized, and a foundation is laid for the estimation of the subsequent position change information.
Step 2: position change information estimation based on geomagnetic anomaly field module tracking measurement
Geomagnetic anomaly fields can be represented as:
the difference operation is performed on the above equation, and the following can be obtained:
wherein,,
for geomagnetic field measurement information +.>
Differential information which is the information of the geomagnetic field measurement for two times; mu (mu) 0 Is vacuum magnetic permeability; />
A magnetic moment of a geomagnetic abnormal field represented by a magnetic dipole; />
Position information from a measuring point to the center of a magnetic moment of the geomagnetic abnormal field; r is the position scalar information from the measuring point to the magnetic moment center of the geomagnetic abnormal field; />
For the position change information corresponding to geomagnetic measurement difference information, there is +>
T is the vector transpose. Thus from the measured value +.>
Position change information can be obtained->
Laying a foundation for subsequent inertial navigation correction.
Step 3: inertial navigation position drift correction
When using geomagnetic anomaly estimation position change information, since the geomagnetic anomaly field model has high estimation accuracy, the estimated position change information
Does not contain drift over time. So use->
The uncorrected inertial navigation contains position change information of drift, and the inertial navigation comprises the following steps in the two measuring processes:
the method comprises the following steps:
By means of
Substitute->
Performing inertial navigation recursion, namely, order
The inertial navigation position drift error information delta P can be removed, and high-precision geomagnetic/inertial fusion navigation information is further achieved.
Step 4: optimal estimation of the most value information
And continuing to optimize the geomagnetic abnormal field model by using the corrected inertial navigation measurement information and magnetometer measurement information, and continuing to perform geomagnetic/inertial fusion navigation in an iterative mode to realize optimal position information estimation.
The geomagnetic inertial fusion navigation method provided by the invention can realize autonomous navigation of low-altitude aircrafts and underwater submarines without depending on prior maps. The navigation technique can be used in any region of the world since it does not rely on any external support. Autonomous navigation is a foundation for realizing autonomous operation of an operation platform, and the geomagnetic/inertial fusion navigation method independent of priori geomagnetic diagrams can lay a foundation for global autonomous operation of a low-altitude unmanned aerial vehicle and an underwater vehicle.
Example 2:
the invention also provides a geomagnetic inertial fusion navigation system, which comprises:
the geomagnetic abnormal field estimation module is used for rapidly estimating a geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer;
the position change estimation module is used for inputting a measurement result of continuously tracking the geomagnetic abnormal field by the magnetometer by using the estimated geomagnetic abnormal field model as a basis, and estimating position change information;
a modified inertial navigation position drift module for modifying a position drift of the inertial navigation using the estimated position change;
and the position information determining module is used for determining position change information and realizing geomagnetic/inertial fusion autonomous navigation.
The innovation point of the invention is that: tracking and measuring the geomagnetic abnormal field by utilizing a magnetometer, rapidly estimating the geomagnetic abnormal field model on line, inverting the position change information of the carrier, correcting the position drift of inertial navigation, and further realizing geomagnetic/inertial fusion navigation. The technology can realize geomagnetic/inertial fusion navigation of the low-altitude aircraft and the underwater vehicle without relying on a priori geomagnetic map.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (8)
1. A geomagnetic inertial fusion navigation method, the method comprising:
step 1: carrying out quick estimation on the geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer;
step 2: using the estimated geomagnetic abnormal field model as a basis, inputting a measurement result of continuously tracking the geomagnetic abnormal field by a magnetometer, and estimating position change information;
step 3: correcting a position drift of the inertial navigation using the estimated position change;
step 4: and (3) repeating the steps 1-3, determining position change information, and realizing geomagnetic inertia fusion autonomous navigation.
2. The geomagnetic inertial fusion navigation method of claim 1, wherein the step 1 specifically includes:
calculating differential information between two measurements of position and geomagnetic field, respectively, using inertial navigation measurement data and magnetometer measurement data
And->
Wherein,,
is a measurement value of adjacent two inertial navigation; />
Geomagnetic anomaly field value measured for i+1 magnetometer,/g>
Geomagnetic abnormal field values measured by the magnetometer i times;
by means of
And->
And carrying out geomagnetic abnormal field model estimation.
3. The geomagnetic inertial fusion navigation method of claim 2, wherein the step 2 specifically includes:
obtaining estimated position change information using
Wherein,,
differential information which is the information of the geomagnetic field measurement for two times; mu (mu) 0 Is vacuum magnetic permeability; />
A magnetic moment of a geomagnetic abnormal field represented by a magnetic dipole; />
Position information from a measuring point to the center of a magnetic moment of the geomagnetic abnormal field; r is the position scalar information from the measuring point to the magnetic moment center of the geomagnetic abnormal field; t is the vector transpose.
4. The geomagnetic inertial fusion navigation method of claim 3, wherein the step 3 specifically includes:
by means of
Substitute->
Performing inertial navigation recursion to make the real position change information equal to +.>
5. A geomagnetic inertial fusion navigation system, wherein the system includes:
the geomagnetic abnormal field estimation module is used for rapidly estimating a geomagnetic abnormal field model by utilizing differential measurement information of inertial navigation and a magnetometer;
the position change estimation module is used for inputting a measurement result of continuously tracking the geomagnetic abnormal field by the magnetometer by using the estimated geomagnetic abnormal field model as a basis, and estimating position change information;
a modified inertial navigation position drift module for modifying a position drift of the inertial navigation using the estimated position change;
and the position information determining module is used for determining position change information and realizing geomagnetic inertia fusion autonomous navigation.
6. The geomagnetic inertial fusion navigation system of claim 5, wherein the processing of the geomagnetic anomaly field estimation module includes:
calculating differential information between two measurements of position and geomagnetic field, respectively, using inertial navigation measurement data and magnetometer measurement data
And->
Wherein,,
is a measurement value of adjacent two inertial navigation; />
Geomagnetic anomaly field value measured for i+1 magnetometer,/g>
Geomagnetic abnormal field values measured by the magnetometer i times;
by means of
And->
And carrying out geomagnetic abnormal field model estimation.
7. The geomagnetic inertial fusion navigation system of claim 6, wherein the processing of the position variation estimation module includes:
obtaining estimated position change information using
Wherein,,
differential information which is the information of the geomagnetic field measurement for two times; mu (mu) 0 Is vacuum magnetic permeability; />
A magnetic moment of a geomagnetic abnormal field represented by a magnetic dipole; />
Position information from a measuring point to the center of a magnetic moment of the geomagnetic abnormal field; r is the position scalar information from the measuring point to the magnetic moment center of the geomagnetic abnormal field; t is the vector transpose.
8. The geomagnetic inertial fusion navigation system of claim 7, wherein the process of modifying the inertial navigation position drift module includes:
by means of
Substitute->
Performing inertial navigation recursion to make the real position change information equal to +.>
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