CN116989823A - Platform type and rotation modulation strapdown type isomerism inertial navigation positioning enhancement method - Google Patents
Platform type and rotation modulation strapdown type isomerism inertial navigation positioning enhancement method Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a platform type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method, and relates to the technical field of multi-inertial navigation information fusion. On the basis of the output of positioning information of longitude and latitude of two inertial navigation, the invention obtains longitude difference and latitude difference by subtracting the positioning information after time synchronization, and eliminates carrier motion information interference; then, respectively carrying out the earth oscillation period (24 hours) and the Shula oscillation period (84.4 minutes) moving average treatment on the longitude difference and the latitude difference to obtain synthesized longitude and latitude divergence errors, and realizing the separation of the divergence errors and the oscillation errors; and finally, subtracting the synthesized position divergence error from the platform type inertial navigation positioning information to obtain fused positioning enhancement information, so that the combination of the platform type inertial navigation periodic oscillation error and the rotation modulation strapdown inertial navigation time divergence error is realized, and the heterogeneous inertial navigation positioning capability is effectively improved.
Description
Technical Field
The invention relates to the technical field of multi-inertial navigation information fusion, in particular to a platform type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method.
Background
The inertial navigation equipment can be divided into two categories of platform type inertial navigation and strapdown inertial navigation according to different working modes. The platform type inertial navigation mainly stabilizes a triaxial gyroscope and an accelerometer sensor in an inertial or other navigation coordinate system through a mechanical platform, and realizes navigation information resolving such as carrier position, speed, gesture and the like by converting sensor measurement data into a geographic coordinate system; the strapdown inertial navigation mainly comprises the steps of directly fixedly connecting a triaxial gyroscope and an accelerometer sensor on a carrier, converting sensor measurement data into a geographic coordinate system through a mathematical platform construction to realize navigation information resolving such as carrier position, speed, gesture and the like, and in actual engineering implementation, in order to further improve strapdown inertial navigation precision, a rotary modulation mechanism is generally added in inertial navigation, and inertial navigation value error cancellation is realized through symmetrical multi-azimuth modulation.
According to the inertial navigation working principle, the positioning error mainly comprises a time divergence error excited by gyro drift and a periodic oscillation term error excited by initial alignment error, and the characteristics of the platform type inertial navigation positioning error and the rotation modulation strapdown inertial navigation positioning error have larger differences due to different working modes. For platform type inertial navigation, because gyro drift cannot be eliminated, and initial alignment errors can be effectively restrained by means of photoplethysmography correction and the like, positioning errors mainly show a divergence characteristic with time, and periodic oscillation amplitude is relatively small; for rotational modulation strapdown inertial navigation, the influence of constant errors such as gyro drift can be effectively counteracted through rotational modulation, and new error items such as shafting installation deviation can be introduced, so that the positioning error has the characteristics of smaller divergence with time and larger periodic oscillation amplitude.
The general navigation system is generally configured with only one of platform type inertial navigation or modulation strapdown inertial navigation, if two different mechanism inertial navigation are configured in the same navigation system, positioning enhancement of the platform type inertial navigation or modulation strapdown inertial navigation cannot be realized due to no effective method for inhibiting offset errors.
Disclosure of Invention
In view of the above, the invention provides a platform type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method, which can realize the effective combination of the periodic oscillation error of the platform type inertial navigation and the divergence error of rotation modulation strapdown type inertial navigation time, thereby obtaining the enhanced output of the two types of inertial navigation positioning and achieving the purpose of improving the comprehensive positioning precision of the platform type/rotation modulation strapdown type heterogeneous inertial navigation.
In order to achieve the above purpose, the positioning enhancement method of platform type and rotation modulation strapdown type heterogeneous inertial navigation provided by the invention is used for positioning enhancement in a navigation system configured with two types of inertial navigation, wherein the two types of inertial navigation comprise platform type inertial navigation and rotation modulation strapdown type inertial navigation, and the specific scheme comprises the following steps:
step one: and respectively outputting time synchronization information to the two types of inertial navigation through the same time reference device, wherein the two types of inertial navigation complete time synchronization by using an external time reference, and marking time stamp information in the longitude and latitude information.
Step two: and the two-type inertial navigation works normally, longitude and latitude positioning information is output, and after the normal operation is set for time, the longitude difference and the latitude difference of the two-type inertial navigation are calculated once in each time step set at intervals.
Step three: sequentially carrying out a Shula oscillation period and a moving average treatment of an earth oscillation period on the longitude difference; and carrying out a moving average treatment of the Schulk oscillation period and the earth oscillation period on the altitude difference in sequence.
Step five: and subtracting the longitude difference and the latitude difference error after the earth oscillation period moving average processing from the longitude and latitude information of the platform type inertial navigation respectively to obtain fused longitude and latitude information.
Further, the time synchronization information includes TOD and a second pulse.
Further, the longitude difference and the latitude difference of the two inertial navigation are calculated once every set time step, specifically:
the longitude difference and the latitude difference of the two inertial navigation are calculated once every second, and the formula isWherein Deltalambda k Is the k second two-type inertial navigation longitude difference lambda 1k Is the kth second platform type inertial navigation longitude, lambda 2k Modulation strapdown inertial navigation longitude for kth second rotation; />For k second two inertial navigation altitude difference, < >>For k second platform type inertial navigation latitude, < ->And modulating the strapdown inertial navigation latitude for the kth second rotation.
Further, the longitude difference sequentially performs a sliding average process of a schlar oscillation period and an earth oscillation period, specifically:
wherein Deltalambda m ' is the longitude difference after the m second Shula oscillation period moving average processing, T 1 Is a schulna oscillation period; Δλ (delta lambda) i "longitude difference after being processed by i-th second earth oscillation period moving average", T 2 Is the period of earth oscillation.
Further, the sliding average processing of the schla oscillation period and the earth oscillation period is sequentially performed on the altitude difference, specifically:
wherein the method comprises the steps ofThe altitude difference after the moving average treatment of the m second Shula oscillation period is obtained; />For the difference in altitude after the i-th second earth oscillation period moving average processing, T 1 For the period of the Shula oscillation, T 2 Is the period of earth oscillation.
Further, subtracting the longitude difference and the latitude difference error after the earth oscillation period moving average processing from the longitude and latitude information of the platform type inertial navigation to obtain fused longitude and latitude information, wherein the fused longitude and latitude information specifically comprises: lambda (lambda) k ＝λ 1k -Δλ k ″；λ k Is longitude information after k seconds fusion, < + >>And the latitude information after the k second fusion is obtained.
The beneficial effects are that:
aiming at the difference of the positioning error characteristics of platform type/rotation modulation strapdown type heterogeneous inertial navigation, the invention eliminates carrier motion information interference by subtracting the position information of the two inertial navigation; and then eliminating the influence of the Shula periodic oscillation and the earth periodic oscillation by the sliding average treatment of the Shula oscillation period and the earth oscillation period respectively to obtain two-type inertial navigation positioning divergence error difference values, and finally subtracting the positioning divergence error difference values from the platform-type inertial navigation positioning information to obtain the fused positioning enhancement information. Compared with the single positioning precision of platform type and rotation modulation strapdown inertial navigation, the method realizes the effective combination of the periodic oscillation error and the rotation modulation strapdown inertial navigation time divergence error of the platform type inertial navigation, thereby obtaining the enhanced output of the positioning of the two types of inertial navigation and achieving the purpose of improving the comprehensive positioning precision of the platform type/rotation modulation strapdown heterogeneous inertial navigation.
Drawings
Fig. 1 is a flow chart of steps implemented by a partial discharge positioning method based on electroacoustic joint detection signal propagation delay compensation.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a platform type/rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method, which is used for obtaining longitude differences and latitude differences through subtraction of positioning information after time synchronization on the basis of longitude and latitude positioning information output of two types of inertial navigation, and eliminating carrier motion information interference; then, respectively carrying out the earth oscillation period (24 hours) and the Shula oscillation period (84.4 minutes) moving average treatment on the longitude difference and the latitude difference to obtain synthesized longitude and latitude divergence errors, and realizing the separation of the divergence errors and the oscillation errors; and finally, subtracting the synthesized position divergence error from the platform type inertial navigation positioning information to obtain fused positioning enhancement information, so that the combination of the platform type inertial navigation periodic oscillation error and the rotation modulation strapdown inertial navigation time divergence error is realized, and the heterogeneous inertial navigation positioning capability is effectively improved.
A platform type/rotation modulation strapdown type isomerism inertial navigation positioning enhancement method is shown in a figure 1, and comprises the following steps:
step one: and outputting TOD+second pulse time synchronization information to the platform type inertial navigation and the rotation modulation strapdown inertial navigation through the same time reference device, completing time synchronization by the two types of inertial navigation by using an external time reference, and marking time stamp information in the output longitude and latitude information.
Step two: the two-type inertial navigation works normally, outputs longitude and latitude positioning information, and calculates the longitude and latitude difference of the two-type inertial navigation once every 1 second after the normal operation for 24 hours:
Δλ k ＝λ1 k -λ2 k
wherein Deltalambda k Is the k second two-type inertial navigation longitude difference, lambda 1 k Is the kth second platform inertial navigation longitude, lambda 2 k Modulation strapdown inertial navigation longitude for kth second rotation;for k second two inertial navigation altitude difference, < >>For k second platform type inertial navigation latitude, < ->And modulating the strapdown inertial navigation latitude for the kth second rotation.
Step three: the longitude differences are sequentially subjected to the process of the moving average of the Shula oscillation period and the earth oscillation period as follows:
wherein Deltalambda m ' is the longitude difference after the m second Shula oscillation period moving average processing, T 1 5064 seconds (84.4 minutes) for the schla oscillation period; Δλ (delta lambda) i "longitude difference after being processed by i-th second earth oscillation period moving average", T 2 The period of the earth oscillation is 86400 seconds (24 hours).
Step four: the altitude difference is sequentially subjected to the following treatment of the moving average of the Shula oscillation period and the earth oscillation period:
wherein the method comprises the steps ofThe altitude difference after the moving average treatment of the m second Shula oscillation period is obtained; />The processed altitude difference is the i second earth oscillation period moving average.
Step five: subtracting the longitude difference and the latitude difference error after the earth oscillation period moving average processing from the platform type inertial navigation longitude and latitude information to obtain fused longitude and latitude information:
λ k ＝λ1 k -Δλ k ″
wherein lambda is k Is longitude information after the kth second fusion,and the latitude information after the k second fusion is obtained.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The platform type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method is characterized by being used for positioning enhancement in a navigation system configured with two types of inertial navigation, wherein the two types of inertial navigation comprise platform type inertial navigation and rotation modulation strapdown type inertial navigation, and specifically comprises the following steps of:
step one: respectively outputting time synchronization information to two types of inertial navigation through the same time reference device, wherein the two types of inertial navigation finish time synchronization by using an external time reference, and marking time stamp information in the output longitude and latitude information;
step two: the two-type inertial navigation works normally, longitude and latitude positioning information is output, and after normal operation setting time, longitude difference and latitude difference of the two-type inertial navigation are calculated once in each time step set at intervals:
step three: sequentially carrying out a Shula oscillation period and a moving average treatment of an earth oscillation period on the longitude difference; sequentially carrying out a Shula oscillation period and a moving average treatment of an earth oscillation period on the altitude difference;
step five: and subtracting the longitude difference and the latitude difference error after the earth oscillation period moving average processing from the longitude and latitude information of the platform type inertial navigation respectively to obtain fused longitude and latitude information.
2. The platform-like and rotational modulation strapdown inertial navigation positioning enhancement method of claim 1, wherein said time synchronization information includes TOD and pulse-per-second.
3. The platform-type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method as claimed in claim 1, wherein the longitude difference and the latitude difference of the two types of inertial navigation are calculated once per set time step, specifically:
the longitude difference and the latitude difference of the two inertial navigation are calculated once every second, and the formula isWherein Deltalambda k Is the k second two-type inertial navigation longitude difference lambda 1k Is the kth second platform type inertial navigation longitude, lambda 2k Modulation strapdown inertial navigation longitude for kth second rotation; />For k second two inertial navigation altitude difference, < >>For k second platform type inertial navigation latitude, < ->And modulating the strapdown inertial navigation latitude for the kth second rotation.
4. The platform-type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method as claimed in claim 3, wherein the longitude difference sequentially carries out a sliding average processing of a schrader oscillation period and an earth oscillation period, specifically:
wherein Deltalambda' m The difference of longitude after the m second Shula oscillation period moving average processing is T 1 Is a schulna oscillation period; Δλ (delta lambda) i "longitude difference after being processed by i-th second earth oscillation period moving average", T 2 Is the period of earth oscillation.
5. The platform-type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method as claimed in claim 4, wherein the sliding average processing of the schrader oscillation period and the earth oscillation period is sequentially performed on the altitude difference, specifically:
wherein the method comprises the steps ofThe altitude difference after the moving average treatment of the m second Shula oscillation period is obtained; />For the difference in altitude after the i-th second earth oscillation period moving average processing, T 1 For the period of the Shula oscillation, T 2 Is the period of earth oscillation.
6. The platform-type and rotation modulation strapdown type heterogeneous inertial navigation positioning enhancement method as claimed in claim 5, wherein longitude and latitude information of platform-type inertial navigation are respectively used for subtracting longitude and latitude difference errors after earth oscillation period moving average processing to obtain fused longitude and latitude information, specifically: lambda (lambda) k ＝λ 1k -Δλ k ″；λ k Is longitude information after k seconds fusion, < + >>And the latitude information after the k second fusion is obtained.
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