CN116465432A - Course error-based four-position horizontal gyro zero bias residual error compensation method - Google Patents
Course error-based four-position horizontal gyro zero bias residual error compensation method Download PDFInfo
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Abstract
The invention discloses a course error-based four-position horizontal gyro zero bias residual error compensation method, and belongs to the technical field of inertial navigation; the method utilizes the alignment result of the turntable and the inertial navigation system to compensate zero offset residual error of the horizontal gyroscope, does not need priori knowledge of the inertial navigation system, is particularly suitable for system precision improvement and calibration parameter readjustment of the inertial navigation system before use and is also suitable for parameter correction of the inertial navigation system stored for a long time.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a zero-bias residual error compensation method of a four-position horizontal gyroscope based on course errors.
Background
The inertial navigation system is widely applied to the military and civil fields because of strong autonomy and comprehensive navigation information output, and can autonomously and real-timely provide the position, speed and attitude information of the carrier. However, the solution of the inertial navigation system belongs to the integral operation, and zero offset of the inertial element, especially zero offset of the gyro, will cause divergence of the navigation error. Therefore, in order to improve the navigation precision of the inertial navigation system, the realization of zero offset compensation of the gyro of the inertial navigation system, especially the secondary compensation of the gyro residual error of the inertial navigation system after calibration, is particularly critical.
At present, the estimation of the zero bias of the gyroscope is usually carried out in the fine alignment stage of initial alignment, and the zero bias residual error of the gyroscope is estimated through Kalman filtering, for example, the invention CN106092140B is authorized to provide a gyroscope zero bias estimation method, and the invention CN110887507B is authorized to disclose a method for rapidly estimating all zero bias of an inertial measurement unit. However, these methods require correct setting of the critical error matrix parameters of the filter based on the efficient knowledge of the systematic error parameters, to achieve error estimation. In addition, the fine alignment requires a long time to enable the zero bias residual error convergence of the estimated gyroscope to be stable, and the accuracy of the estimation is influenced by alignment attitude errors and observability.
Disclosure of Invention
The invention aims to overcome the defects of the technology, and provides a four-position horizontal gyroscope zero bias residual error compensation method based on a course error, which is used for compensating the horizontal gyroscope zero bias residual error by utilizing the alignment result of a turntable and an inertial navigation system, does not need prior knowledge of the inertial navigation system, is particularly suitable for improving the precision of the system before the use of the inertial navigation system and readjusting calibration parameters, is also suitable for correcting parameters of the inertial navigation system stored for a long time, and can quickly finish secondary compensation of the horizontal gyroscope residual error while realizing precision test of the inertial navigation system based on the turntable.
In order to achieve the above object, the present invention is realized by the following means:
a zero bias residual error compensation method of a four-position horizontal gyroscope based on course error comprises the following specific steps:
step 1, horizontally mounting an inertial navigation system on a table top of a turntable, and ensuring that a course axis of the inertial navigation system is parallel to the direction of an outer frame axis of the turntable;
step 2, pointing an inertial navigation system on the plane of the turntable to true north;
step 3, recording a heading value when the heading of the inertial navigation system is 0 DEG, and taking the heading value as a first heading value psi 0 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 90 degrees is recorded as a second course value psi 90 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 180 degrees is recorded as a third course value psi 180 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the heading value when the heading of the inertial navigation system is 270 degrees is recorded as a fourth heading value psi 270 ；
Step 4, repeating the step 3 for three times, recording the alignment results of each time, and calculating the average value of the alignment values of 0 degree, 90 degree, 180 degree and 270 degree of the turntable
Wherein, psi is 0i ，ψ 90i ，ψ 180i ，ψ 270i 3 alignment values of 0 DEG, 90 DEG, 180 DEG and 270 DEG of the turntable respectively;
step 5, according to the recorded four heading values of the inertial navigation systemAnd->Calculating the course deviation of the course value and four directions:
step 6, according to an initial alignment heading error limit formula:
wherein Deltapsi is U Delta epsilon as heading alignment error E Zero offset of the equivalent east gyro, L is the geographic latitude and omega of the position where the inertial navigation system is located ie Is the rotation angular velocity of the earth;
the following equivalent zero offset calculation formula is converted:
δε E ＝Δψ U ω ie cos(L) (6)
when the heading of the inertial navigation system is 0 degrees and 180 degrees, namely, the Y axis of the inertial navigation system faces north and south, the X axis of the inertial navigation system faces east and west, then:
δε E ＝Δψ 0 ω ie cos(L) (7)
-δε E ＝Δψ 180 ω ie cos(L) (8)
the gyro zero bias residual error in the horizontal x-axis direction is obtained by formulas (7) - (8):
wherein, delta epsilon x 、δε y Zero offset residual error of the horizontal gyroscope of the inertial navigation system;
the latitude information of the position where the inertial navigation system is located is needed to calculate the zero offset of the horizontal gyroscope, and the latitude information L can be acquired by a Beidou or GPS satellite positioning method, so that the positioning error is acceptable within 100 m; angular velocity of earth rotation omega ie Is a known constant, 15.04106 DEG/h;
step 7, obtaining zero bias residual delta epsilon of the horizontal gyroscope of the inertial navigation system in the step 6 x 、δε y And respectively compensating an X gyroscope and a Y gyroscope which enter the inertial navigation system.
Further, in the step 2:
for a turntable with true north orientation, directly starting an inertial navigation system to perform quick alignment;
and for the turntable without true north orientation, performing angular position offset compensation by using turntable transposition. The bias compensation process is as follows: firstly, starting the inertial navigation system to perform quick alignment, recording an initial aligned heading value, then taking the heading value as a bias item of the azimuth zero position of the turntable, rotating the turntable to enable the heading of the inertial navigation system to be zero, and then restarting the inertial navigation system again to perform quick alignment.
Compared with the prior art, the invention has the advantages that:
the zero offset residual error calculation method has the advantages of no need of knowing the prior error characteristic of the inertial navigation system, high accuracy of zero offset residual error calculation, short time, being particularly suitable for realizing the secondary compensation of the gyro residual error while testing the inertial navigation precision based on the turntable, along with rapidness, simplicity in operation, high precision and good practicability.
Drawings
Zero bias residual error compensation flow chart of four-position horizontal gyroscope of figure 1
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples.
Referring to fig. 1, the line-of-sight process of the present invention is as follows:
step 1, horizontally mounting an inertial navigation system on a table top of a turntable, wherein the mounting needs to ensure that a course axis of the inertial navigation system is parallel to the direction of an outer frame axis of the turntable, or is generally smaller than 5 degrees in a certain small angle range, starting the turntable, and running to a zero position of the turntable;
step 2, for a turntable with geographic azimuth direction (true north), directly starting an inertial navigation system to perform quick alignment; for a turntable without true north, angular position offset compensation is performed by using turntable indexing. The method comprises the following steps: firstly, starting an inertial navigation system to perform quick alignment, recording an initial aligned course value, then taking the course value as a bias item of a direction zero position of a turntable, rotating the turntable to enable the course of the inertial navigation system to be zero (north), and then restarting the inertial navigation system again to perform quick alignment;
step 3, after the quick alignment in step 2 is completed, recording a heading value when the heading of the inertial navigation system is 0 DEG, and taking the heading value as a first heading value psi 0 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 90 degrees is recorded as a second course value psi 90 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 180 degrees is recorded as a third course value psi 180 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the heading value when the heading of the inertial navigation system is 270 degrees is recorded as a fourth heading value psi 270 ；
Step 4, repeating the step 3 for three times, recording the alignment results of each time, and calculating the average value of the alignment values of 0 degree, 90 degree, 180 degree and 270 degree of the turntable
Wherein, psi is 0i ，ψ 90i ，ψ 180i ，ψ 270i The alignment values are 3 times of the turntable of 0 DEG, 90 DEG, 180 DEG and 270 DEG respectively.
Step 5, according to the recorded four heading values of the inertial navigation system And (unit: °) calculating the course deviation of the course value and the four directions:
step 6, according to an initial alignment heading error limit formula:
wherein Deltapsi is U Delta epsilon as heading alignment error E Zero offset of the equivalent east gyro, L is the geographic latitude and omega of the position where the inertial navigation system is located ie Is the rotation angular velocity of the earth;
the following equivalent zero offset calculation formula is converted:
δε E ＝Δψ U ω ie cos(L) (6)
when the heading of the inertial navigation system is 0 degrees and 180 degrees, namely, the Y axis of the inertial navigation system faces north and south, the X axis of the inertial navigation system faces east and west, then:
δε E ＝Δψ 0 ω ie cos(L) (7)
-δε E ＝Δψ 180 ω ie cos(L) (8)
subtracting (8) from (7), simplifying to obtain a gyro zero bias residual error in the horizontal x-axis direction as follows:
similarly, the zero bias residual error of the gyro in the horizontal y-axis is:
wherein, delta epsilon x 、δε y The zero offset residual error of the horizontal gyroscope of the inertial navigation system is obtained.
The latitude information of the position where the inertial navigation system is needed to be known is calculated by the zero offset of the horizontal gyroscope, and the latitude information L can be obtained by satellite positioning methods such as Beidou, GPS and the like, and the positioning error is acceptable within 100 m; angular velocity of earth rotation omega ie Is a known constant, 15.04106 DEG/h.
Step 7, obtaining zero bias residual delta epsilon of the horizontal gyroscope of the inertial navigation system in the step 6 x 、δε y Respectively are provided withCompensating an X gyroscope and a Y gyroscope which enter an inertial navigation system.
Example 1
In order to verify the correctness and effectiveness of the method provided by the invention, taking a navigation-level laser gyro strapdown inertial navigation system as an example for taking an example for carrying out zero bias residual error calculation compensation of a horizontal gyro, installing the inertial navigation system on a three-axis turntable (taking a north-free turntable as an example), starting the inertial navigation system to carry out quick alignment after the turntable is turned back to zero, and assuming that the recorded alignment heading information is 45.35 degrees, then rotating an outer ring axis of the turntable by-45.35 degrees through a relative position mode, and turning the turntable to stop, wherein the heading of the inertial navigation system is near 0 degrees.
After the operation is finished, the alignment is quickly performed again, and 3 alignment navigation values are recorded after the alignment is finished, wherein the average value is 0.067 degrees;
the 'relative position mode' rotates the turntable by 90 degrees, then the alignment is quickly performed again, the alignment is completed, 3 alignment navigation values are recorded, and the average value is 90.102 degrees;
the 'relative position mode' rotates the turntable by 90 degrees, then the alignment is quickly performed again, the alignment is completed, 3 alignment navigation values are recorded, and the average value is 180.141 degrees;
the 'relative position mode' rotates the turntable by 90 degrees, then the alignment is quickly performed again, the alignment is completed, 3 alignment navigation values are recorded, and the average value is 270.068 degrees;
assuming that the latitude of the inertial navigation system is 40 degrees in north latitude, the residuals of zero bias of the x axis and the y axis of the gyroscope which can be calculated by (9) and (10) are respectively: and 0.0074 degrees/h, -0.0034 degrees/h, and adding the calculated zero offset residual error to the original zero offset value to realize the compensation of the gyro zero offset residual error.
The inertial navigation system is arranged on a carrier for data acquisition, navigation calculation is carried out by using zero offset before and after compensation, and the result is obtained by comparing the zero offset with the true value provided by high-precision inertial navigation: the accuracy of the method provided by the invention is proved by reducing the position error from 50m to 10m, reducing the speed error from 15m/s to 5m/s and reducing the attitude error from 8 to 2 after compensation.
What is not specifically described in the present specification belongs to the technical field that the prior art can be queried as disclosed in the prior art.
Claims (2)
1. A zero bias residual error compensation method of a four-position horizontal gyroscope based on course errors is characterized by comprising the following specific steps:
step 1, horizontally mounting an inertial navigation system on a table top of a turntable, and ensuring that a course axis of the inertial navigation system is parallel to the direction of an outer frame axis of the turntable;
step 2, pointing an inertial navigation system on the plane of the turntable to true north;
step 3, recording a heading value when the heading of the inertial navigation system is 0 DEG, and taking the heading value as a first heading value psi 0 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 90 degrees is recorded as a second course value psi 90 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the course value when the course of the inertial navigation system is 180 degrees is recorded as a third course value psi 180 The method comprises the steps of carrying out a first treatment on the surface of the Then the turntable is rotated by 90 degrees clockwise, the inertial navigation system is aligned again rapidly, and the heading value when the heading of the inertial navigation system is 270 degrees is recorded as a fourth heading value psi 270 ；
Step 4, repeating the step 3 for three times, recording the alignment results of each time, and calculating the average value of the alignment values of 0 degree, 90 degree, 180 degree and 270 degree of the turntable
Wherein, psi is 0i 、ψ 90i 、ψ 180i 、ψ 270i Respectively 0 DEG, 90 DEG, 180 DEG and 270 DEG of the turntable3 alignment values of (2);
step 5, according to the recorded four heading values of the inertial navigation systemAnd->Calculating the course deviation of the course value and four directions:
step 6, according to an initial alignment heading error limit formula:
wherein Deltapsi is U Delta epsilon as heading alignment error E Zero offset of the equivalent east gyro, L is the geographic latitude and omega of the position where the inertial navigation system is located ie Is the rotation angular velocity of the earth;
the following equivalent zero offset calculation formula is converted:
δε E ＝Δψ U ω ie cos(L) (6)
when the heading of the inertial navigation system is 0 degrees and 180 degrees, namely, the Y axis of the inertial navigation system faces north and south, the X axis of the inertial navigation system faces east and west, then:
δε E ＝ Δψ 0 ω ie cos(L) (7)
-δε E ＝ Δψ 180 ω ie cos(L) (8)
the gyro zero bias residual error in the horizontal x-axis direction is obtained by formulas (7) - (8):
wherein, delta epsilon x 、δε y Zero offset residual error of the horizontal gyroscope of the inertial navigation system;
the latitude information of the position where the inertial navigation system is located is needed to calculate the zero offset of the horizontal gyroscope, and the latitude information L can be acquired by a Beidou or GPS satellite positioning method, so that the positioning error is acceptable within 100 m; angular velocity of earth rotation omega ie Is a known constant, 15.04106 DEG/h;
step 7, obtaining zero bias residual delta epsilon of the horizontal gyroscope of the inertial navigation system in the step 6 x 、δε y And respectively compensating an X gyroscope and a Y gyroscope which enter the inertial navigation system.
2. The heading error-based four-position horizontal gyro zero bias residual error compensation method according to claim 1, wherein in the step 2:
for a turntable with true north orientation, directly starting an inertial navigation system to perform quick alignment;
for a turntable without true north azimuth, performing angular position offset compensation by using turntable transposition; the bias compensation process is as follows: firstly, starting the inertial navigation system to perform quick alignment, recording an initial aligned heading value, then taking the heading value as a bias item of the azimuth zero position of the turntable, rotating the turntable to enable the heading of the inertial navigation system to be zero, and then restarting the inertial navigation system again to perform quick alignment.
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| CN117109635A (en) * | 2023-08-29 | 2023-11-24 | 北京中捷时代航空科技有限公司 | North seeking strapdown inertial heading effect compensation method, device, equipment and medium |
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| CN117109635A (en) * | 2023-08-29 | 2023-11-24 | 北京中捷时代航空科技有限公司 | North seeking strapdown inertial heading effect compensation method, device, equipment and medium |
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