CN117168496A - Three-dimensional combined navigation system and navigation method - Google Patents
Three-dimensional combined navigation system and navigation method Download PDFInfo
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Abstract
The application provides a three-dimensional integrated navigation system and a navigation method, which belong to the technical field of integrated navigation, wherein the system comprises a support frame, a computer board card arranged on the support frame and at least three replaceable IMU array board cards, each IMU array board card is respectively connected with the computer board card, a main control chip and a sensor are arranged on the computer board card, and three IMU array board cards in the IMU array board cards are arranged on the support frame in a pairwise orthogonal manner; the main control chip is used for receiving the IMU data of each IMU array board card and the data of the sensor, respectively carrying out fault diagnosis on each IMU array board card and discarding the fault IMU data, and carrying out integrated navigation data fusion on the IMU data after discarding the fault IMU data and the data of the sensor. By the processing scheme, the overall accuracy, flexibility and practicability of the three-dimensional integrated navigation system are improved.
Description
Technical Field
The application relates to the technical field of integrated navigation, in particular to a three-dimensional integrated navigation system and a navigation method.
Background
The I MU (IMU, inertial Measurement Unit, inertial measurement unit) array method realizes overall performance improvement by fusing a plurality of I MU data. At present, the I MU array scheme mainly adopts an MEMS-I MU sensor, mainly because the MEMS-I MU sensor has the advantages of small volume and weight, low power consumption, low price and the like. However, the MEMS-I MU has various types, different precision, range and use environment, and how to realize the data fusion of various types of I MU under the condition of low cost, and the I MU array system has flexible configuration function is a problem to be solved. In addition, the reliability of the I MU array gradually decreases along with the increase of the number of the I MUs, and how to independently analyze each I MU data before data fusion, isolate a fault sensor and realize system reconstruction is a difficult problem to be solved when the I MU array faces to practical application.
Application numbers CN201810714200.1 and CN202110559678.3 disclose an I MU array system method based on MEMS sensors, respectively. However, in the solutions of both patents, a plurality of I MUs are arranged on a plane, and the problem that the performance of the XY-axis sensor is different from that of the Z-axis sensor due to the influence of the processing technology of the MEMS sensor is not considered. In addition, the I MU in both schemes belongs to one model respectively, and has no replaceability, so that data fusion between different performances and model I MUs cannot be realized.
Patent application number CN201610028254.3 discloses a novel MEMS inertial sensor array redundancy configuration method. According to the application, the redundancy configuration is carried out on the two types of I MUs with different types, so that the two types of I MUs with high and low performances are matched for use, and the information fusion is carried out, so that the overall performance is improved. However, the method does not mention the problem of fault detection after the number of the I MUs is increased, and the two used I MUs cannot be replaced at will, which is not beneficial to practical use.
Therefore, the existing I MU array system is mostly concentrated on schemes with the same model, planar arrangement and irremovable, and related problems such as I MU fault diagnosis and isolation are not mentioned on a fusion algorithm, so that the overall accuracy of the I MU array system is low, and the practicability is poor.
Disclosure of Invention
In view of this, the embodiment of the application provides a three-dimensional integrated navigation system and a navigation method, which can eliminate the anisotropic function of an MEMS inertial sensor, can meet the collocation use of I MU arrays of different types, and perform analysis and fault diagnosis and system reconstruction of each I MU data before a fusion algorithm, thereby improving the overall accuracy of the I MU array system and the practicability.
In a first aspect, an embodiment of the present application provides a three-dimensional integrated navigation system, where the system includes a support frame, a computer board card (1) disposed on the support frame, and at least three replaceable I MU array board cards, each of the I MU array board cards is connected to the computer board card (1) respectively, a main control chip and a sensor are disposed on the computer board card (1), and three I MU array board cards in the I MU array board cards are disposed on the support frame in a pairwise orthogonal manner; the main control chip is used for receiving the I MU data of each I MU array board card and the data of the sensor, respectively carrying out fault diagnosis on each I MU array board card and discarding the fault I MU data, and carrying out integrated navigation data fusion on the I MU data after discarding the fault I MU data by combining the data of the sensor.
According to a specific implementation manner of the embodiment of the application, the I MU array board card is connected with an external interface arranged on the computer board card, and the external interface is provided with a power consumption detection chip, and the power consumption detection chip is used for triggering the power supply of the external interface to be disconnected when detecting that the power consumption of the external interface is greater than the preset power consumption.
According to a specific implementation manner of the embodiment of the application, a driving gain chip connected with the main control chip is further arranged on the computer board card, the I MU array board card is connected with the main control chip through the driving gain chip, and the driving gain chip is used for improving the driving capability of the main control chip.
According to a specific implementation manner of the embodiment of the application, the computer board is further provided with a first voltage conversion module and a second voltage conversion module which are connected, the first voltage conversion module is connected with an external power supply, the first voltage conversion module is used for converting the voltage of the external power supply into the voltage applied by the I MU array board, and the second voltage conversion module is used for converting the voltage output by the first voltage conversion module into the voltage applied by the main control chip and the sensor.
According to a specific implementation of an embodiment of the application, the sensor comprises a GNSS, a magnetometer and a barometer.
According to a specific implementation manner of the embodiment of the present application, at least two of the I MU array cards have different I MU models, and/or,
and the number of the I MUs on at least two I MU array boards in the I MU array boards is different.
In a second aspect, an embodiment of the present application further provides a stereoscopic integrated navigation method, which adopts the stereoscopic integrated navigation system according to any one of the embodiments of the first aspect, where the method includes:
the main control chip sends synchronous pulses to each I MU array board card so as to synchronize the data of each I MU array board card;
the main control chip collects I MU data of each I MU array board card and data of the sensor;
the main control chip performs fault diagnosis on the I MU data of each I MU array board card respectively, discards the fault I MU data and calculates effective I MU data;
and the master control chip performs integrated navigation data fusion on the effective I MU data and the data of the sensor.
According to a specific implementation manner of the embodiment of the present application, the main control chip performs fault diagnosis on the I MU data of each I MU array board card, discards the fault I MU data, and calculates effective I MU data, including:
the main control chip performs fault diagnosis on the I MU data of each I MU array board card by adopting a sliding quartile range method respectively, and determines fault I MU data;
and discarding the fault I MU data, and solving the effective I MU data after discarding the fault I MU data by adopting an average algorithm.
According to a specific implementation manner of the embodiment of the application, the sliding quartile range method comprises the following steps:
all the acquired I MU data of each I MU array board card are orderly sequenced from large to small to obtain a number sequence, and the number sequence is expressed as x 1 ，x 2 ，x 3 ，...，x n-2 ，x n-1 ，x n Wherein x is n For I MU data, n is a multiple of 4;
dividing the array into four parts, the upper quartile Q of the array 3 Median Q 2 Lower quartile Q 1 And a quartile range IQR, respectively expressed as follows:
IQR＝Q 1 -Q 3 ；
wherein Q is 1 、Q 2 And Q 3 Data below this data represents 25%, 50% and 75% of the total I MU data, respectively;
according to Q 2 And IQR designing a threshold range of the I MU data;
determining the I MU data which is not in the threshold range as fault I MU data;
the formula of the averaging algorithm is as follows:
wherein x is the effective I MU data, x i And discarding the failed I MU data in the number column, and then leaving the ith I MU data in the k I MU data.
According to a specific implementation manner of the embodiment of the application, the master control chip combines the effective I MU data with the data of the sensor to perform integrated navigation data fusion by adopting a Kalman filtering algorithm.
Advantageous effects
The embodiment of the application relates to a three-dimensional integrated navigation system, in particular to a replaceable I MU array board card, a support frame, a system shell and a computer board card, wherein the computer board card comprises a main control chip, sensors such as a GNSS, a magnetometer and a barometer and a data processing method thereof, and the three-dimensional integrated navigation system is applicable to the unmanned system fields such as unmanned aerial vehicles, automatic driving and unmanned ships and the scientific research experimental field. According to the method, fault data are discarded by adopting a fault diagnosis and isolation method, then I MU data fusion is carried out to realize system reconstruction, and finally combined navigation data fusion is carried out by combining GNSS, magnetometer and barometer sensor data, so that the overall accuracy of an I MU array system is improved, and meanwhile, the practicability is improved. In addition, the I MU array board card is in an alternative mode, and I MU array board cards with different types and different numbers of I MUs can be replaced according to the use field Jing Suiyi, so that the flexibility of the inertial measurement unit array is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a three-dimensional integrated navigation system according to an embodiment of the present application;
FIG. 2 is a block diagram illustrating the installation of an I/MU array board card according to one embodiment of the present application;
FIG. 3 is a block diagram of a computer board according to an embodiment of the application;
FIG. 4 is a block diagram of an I MU array board card according to an embodiment of the application;
FIG. 5 is a block diagram of a housing according to an embodiment of the application;
fig. 6 is a structural view of a supporting hexahedron according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a three-dimensional integrated navigation system according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a computer board card according to an embodiment of the application;
FIG. 9 is a schematic diagram of an I/MU array board card according to one embodiment of the present application;
fig. 10 is a flowchart of a stereoscopic integrated navigation method according to an embodiment of the present application.
In the figure: 1. a computer board card; 101. a first pair of external interfaces; 102. a main control chip and a peripheral circuit; 2. three I MU array cards; 201. the first I MU array board card; 202. a second I MU array board card; 203. a third I MU array board card; 204. i MU chip; 220. a first mounting hole; 221. a second external interface; 3. a support hexahedron; 301. a second mounting hole; 302. a supporting hexahedral body; 4. a bottom plate; 5. a housing.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
In a first aspect, an embodiment of the present application provides a stereoscopic integrated navigation system, which is described in detail below with reference to fig. 1 to 9.
In this embodiment, the three-dimensional integrated navigation system includes a support frame, a computer board card 1 disposed on the support frame, and at least three replaceable I MU array boards, where each I MU array board card is connected to the computer board card 1, a main control chip and a sensor are disposed on the computer board card 1, three I MU array boards 2 in the I MU array boards are disposed on the support frame in a pairwise orthogonal manner, and the main control chip is configured to receive I MU data of each I MU array board and data of the sensor, perform fault diagnosis on each IMU array board card and discard fault IMU data, and combine IMU data after discarding the fault IMU data with data of the sensor to perform integrated navigation data fusion.
In the embodiment, at least three replaceable IMU array boards are arranged to form a solid IMU array system, and the MEMS sensors (Microelectro Mechanical Systems, micro-electromechanical systems) are arranged in a pairwise orthogonal mode through the IMU array boards, so that the problem of performance difference between the XY-axis sensors and the Z-axis sensors caused by the influence of a processing technology is solved. Further, fault diagnosis is carried out on the IMU data, the fault IMU data are timely isolated, and effective IMU data are utilized for system reconstruction, so that the robustness of the inertial measurement unit array can be effectively improved, and the overall accuracy of the IMU array system is improved; the IMU array board card is replaceable, and IMU array board cards with different types and different numbers of IMUs can be replaced according to the use field Jing Suiyi, so that the flexibility of the inertial measurement unit array and the practicability of the three-dimensional integrated navigation system are improved.
For convenience of description, the following describes each part structure with 3 IMU array cards.
In implementation, referring to fig. 3, the computer board 1 includes a main control chip and a peripheral circuit 102, and three first pair of external interfaces 101 connected to the IMU array board are reserved.
In specific implementation, referring to fig. 4, the IMU array board is a replaceable IMU array board, and different types and numbers of IMU arrays can be designed and welded. The IMU chip 204 used in this embodiment is ICM20602, and may be replaced by ICM20948, MPU6050, MPU9250, SCHA634, ASM330, etc.; in this embodiment, the IMU array is arranged in a manner of 4*4, and includes 16 IMU chips 204 in total, and four first mounting holes 220 are provided at four corners of the IMU array board card, for being connected with the support frame through bolts; the IMU array card is further provided with a second external interface 221 for connection to a computer board. It should be noted that, the IMU array arrangement form on the IMU array board card may be adjusted according to the actual situation, and is not limited to the one illustrated in the embodiment.
In specific implementation, the supporting frame is set to support the hexahedron 3, the outer portion of the supporting frame is further provided with a shell 5, the shell 5 is set to be a square shell, and the supporting frame is of a thin-wall structure, and referring to fig. 1, 2, 5 and 6, the supporting hexahedron body 302 is arranged on the bottom plate 4, and can be installed through connecting pieces such as screws, and the shell 5 is sleeved outside the supporting hexahedron 3 and is installed on the bottom plate 4 through the screws. One of the faces of the support hexahedral body 302 is used for arranging the computer board card 1, the three faces are used for arranging the I MU array board card, the I MU array board card is installed in a replaceable manner, and the three I MU array board cards are arranged on three mutually orthogonal faces. Referring to fig. 2, a first I MU array board card 201 is mounted on the left side of the supporting hexahedron 3; the second I MU array board card 202 is arranged on the top surface of the supporting hexahedron 3; the third I MU array card 203 is mounted on the rear side of the supporting hexahedron 3. Referring to fig. 6, the inside of the supporting hexahedron 3 is provided with a hollow structure, and six surfaces of the supporting hexahedron 3 are provided with hollowed-out parts, so that the weight of the whole system can be reduced on one hand, and the heat dissipation treatment of the computer board card 1 and the I MU array board card is facilitated on the other hand.
In order to further realize the heat dissipation treatment of the computer board card 1 and the I MU array board card, boss structures are arranged on four corners of each surface of the supporting hexahedron 3, second mounting holes 301 are formed in the upper surfaces of the boss structures, the computer board card 1 and the I MU array board card are arranged on the boss structures, and the fixed connection of the computer board card 1 and the I MU array board card is realized through the cooperation of the connecting piece and the second mounting holes 301. In this embodiment, the connecting member may be a common connecting member such as a bolt, and is not particularly limited. By arranging the boss structure, a certain distance is reserved between the computer board card 1 and the I MU array board card and each surface of the supporting hexahedron 3, and heat dissipation of the computer board card 1 and the I MU array board card is facilitated.
In one embodiment, the I MU array board card is connected with the computer board card 1 through an external interface arranged on the computer board card 1, and the external interface is provided with a power consumption detection chip, where the power consumption detection chip is used for triggering the power supply of the external interface to be disconnected when detecting that the power consumption of the external interface is greater than a preset power consumption. The power supply of the I MU array board card can be monitored by using the power consumption detection chip on the computer board card 1.
As shown in fig. 3, a first external interface 101 on the computer board 1 is an external interface for connecting an I MU array board, where an I MU array board is connected through a first external interface 101, and a power consumption detection chip is set on the first external interface 101, and if the power consumption of a certain interface is greater than a preset power consumption, for example, the power consumption of a certain interface is greater than 150% of the rated power consumption, the I MU array board is considered to have a potential safety hazard, and the 5V power supply of the interface is triggered to be disconnected, so as to protect the safety of the whole system.
In specific implementation, referring to the schematic diagram of the three-dimensional integrated navigation system of fig. 7, the three-dimensional integrated navigation system comprises a computer board card 1 and three replaceable I MU array board cards, wherein the computer board card 1 mainly completes data acquisition, secondary power supply conversion, external interfaces and the like; the scheme of the three IMU array board cards 2 is consistent, the three IMU array board cards are mutually and orthogonally installed, and flexible wires are adopted for connection between the circuit boards. The three IMU array board cards 2 can be used for welding IMU arrays with different types and different numbers according to requirements. A unified interface adopted between the computer board card 1 and the replaceable IMU array board card is 5V power supply and SPI communication; the computer board 1 communicates with the outside by using UART.
Further, referring to the schematic diagram of the computer board 1 in fig. 8, the computer board 1 adopts a six-layer board mode, the main control chip adopts an ARM chip (STM 32F407 processor chip), the GNSS adopts an ublox-M8N satellite navigation positioning chip, the magnetometer adopts an HMC5983 chip, and the barometer adopts an MS5611 barometer chip. Three first external interfaces 101 connected with the IMU array board card and a Type-C debugging interface are reserved on the board card. IIC communication is adopted between the main control chip and the barometer and magnetometer, and UART communication is adopted between the main control chip and the GNSS.
Further, a driving gain chip connected with the main control chip is further arranged on the computer board card 1, the IMU array board card is connected with the main control chip through the driving gain chip, and the driving gain chip is used for improving the driving capability of the main control chip.
Specifically, referring to fig. 8, three driving gain chips (74 HC 245) are disposed on the computer board card 1, and the synchronization pulse and three paths of SPI of the main control chip pass through the driving gain chips 74HC245, so as to improve the driving capability of the ARM chip interface.
Further, the computer board card 1 is further provided with a first voltage conversion module and a second voltage conversion module which are connected, the first voltage conversion module is connected with an external power supply, the first voltage conversion module is used for converting the voltage of the external power supply into the voltage applied by the IMU array board card, and the second voltage conversion module is used for converting the voltage output by the first voltage conversion module into the voltage applied by the main control chip and the sensor.
As shown in fig. 8, the first voltage conversion module is an AMS1117-5V module, the second voltage conversion module is an AMS1117-3.3V module, the AMS1117-5V module converts external power supply into 5V for on-board application, the AMS1117-3.3V module converts 5V power supply into 3.3V for use by the ARM chip and related sensors, and meanwhile, the 5V power supply is supplied to three IMU array plugs (first external interface 101) to supply power to the IMU array.
When the ARM chip works specifically, the ARM chip is divided into 3 paths of SPI interfaces and a chip selection and synchronization pulse interface to be given to each external plug. The computer board 1 provides a UART interface as an external interface of the navigation system. The ARM chip on the board firstly sends a synchronous pulse to synchronize the data of the three IMU array boards 2, and the data on the three IMU array boards 2 are collected through three SPI interfaces; the synchronous pulse and the three SPIs pass through the drive gain chip 74HC245 so as to improve the drive capability of the ARM chip interface; meanwhile, the ARM chip collects air pressure data of the barometer and magnetic field data of the magnetometer through an IIC interface, and collects satellite data of the GNSS through a UART interface; and then the ARM chip performs fault diagnosis and isolation on the IMU data through a sliding quartile range method, performs average calculation to obtain fused IMU data, and performs integrated navigation data fusion by adopting Kalman filtering in combination with air pressure data, magnetic field data and satellite positioning data, wherein the finally obtained navigation data is output through a UART communication interface.
In one embodiment, at least two of the IMU array cards have different IMU models, and/or,
and at least two IMU array cards in the IMU array cards are different in number. The IMU array board card of this scheme is the alternative mode, can be according to using field Jing Suiyi replacement install different models, IMU array board card of different quantity IMU, improves the flexibility and the practicality of inertial measurement unit array.
Specifically, referring to FIG. 9, an IMU array card is illustrated, which includes 16 MEMS-IMUs (ICM-20602), a power module (AMS 1117-3.3V) and a single decoder chip (74 HC 154). The power module AMS1117-3.3V converts the 5V power into 3.3V for use by the IMU chip 204, and the decoder chip decodes the 4-way chip select signal introduced by the ARM chip into 16-way chip select signals, which are respectively connected to the 16 IMU chips 204. Each IMU chip 204 communicates externally through an SPI interface on an external plug.
In a second aspect, an embodiment of the present application further provides a stereoscopic integrated navigation method, referring to fig. 10, using the stereoscopic integrated navigation system according to any one of the embodiments of the first aspect, where the method includes:
step S101, the main control chip sends a synchronous pulse to each IMU array board card so as to synchronize the data of each IMU array board card;
step S102, the main control chip collects IMU data of each IMU array board card and data of the sensor;
step S103, the main control chip performs fault diagnosis on the I MU data of each I MU array board card respectively, discards the fault I MU data and calculates effective I MU data;
and step S104, the master control chip performs integrated navigation data fusion on the effective I MU data and the data of the sensor.
In the implementation, the data of the I MU array are subjected to fault analysis and isolation, then I MU data fusion is performed, and finally combined navigation data fusion is performed by combining sensor data such as GNSS, magnetometer and barometer, so that the overall accuracy of the three-dimensional combined navigation system is improved, and meanwhile, the practicability is improved.
Further, the main control chip performs fault diagnosis on the I MU data of each I MU array board card, discards the fault I MU data, and calculates effective I MU data, including:
step S1031, the master control chip performs fault diagnosis on the I MU data of each I MU array board card by using a sliding four-bit distance method, and determines fault I MU data, where the sliding four-bit distance method includes:
all the acquired I MU data of each I MU array board card are orderly sequenced from large to small to obtain a number sequence, and the number sequence is expressed as x 1 ，x 2 ，x 3 ，...，x n-2 ，x n-1 ，x n Wherein x is n For I MU data, n is a multiple of 4;
dividing the array into four parts, the upper quartile Q of the array 3 Median Q 2 Lower quartile Q 1 And a quartile range IQR, respectively expressed as follows:
IQR＝Q 1 -Q 3 ；
wherein Q is 1 、Q 2 And Q 3 Data below this data represents 25%, 50% and 75% of the total IMU data, respectively;
according to Q 2 And IQR design threshold range χ= [ (Q) 2 -1.5IQR),(Q 2 +1.5IQR)]The threshold range can be adjusted according to actual conditions;
IMU data that is not within the threshold range is determined to be faulty IMU data.
Step S1032, discarding the fault IMU data, and solving the IMU data after discarding the fault IMU data by adopting an average algorithm, wherein the average algorithm has the following formula:
wherein,for the effective IMU data, x i And discarding the failed IMU data in the sequence, and then leaving the ith IMU data in the k IMU data.
In one implementation, the following steps are further included before step S1031:
step 1030, according to the fact that the power consumption detection chips are arranged on the three external interfaces of the computer board card 1, if the power consumption of one path of interface is greater than 150% of rated power consumption, the path of IMU array board card is considered to have potential safety hazards, and the 5V power supply of the path of interface is triggered to be disconnected, so that the safety of the whole system is protected.
Furthermore, the main control chip combines the IMU data after discarding the fault IMU data with the data of the sensor, and adopts a Kalman filtering algorithm to perform integrated navigation data fusion. The state vector of the integrated navigation algorithm of the stereoscopic integrated navigation system can be expressed as:
the above state vector is the result that the Kalman filtering algorithm needs to estimate. The variables in the state vector are defined as follows: δV (delta V) E 、δV N 、δV U Respectively the east direction, the north direction and the sky direction speed errors of inertial navigation,δλ, δh are the latitude, longitude, altitude error, Δφ, respectively, of inertial navigation E 、Δφ N 、Δφ U Respectively the east direction, the north direction and the sky direction of inertial navigation, the deflection angle of a platform, delta epsilon X 、Δε Y 、Δε Z For gyro drift of machine body axis delta a X 、Δa Y 、Δa Z Zero offset of the body axis accelerometer.
The measurement vector of the Kalman filtering algorithm can be expressed as:
the above measurement vector is a quantity known to the Kalman filtering algorithm, whereinError amount measurement of eastern direction, northbound direction and heaven direction speed respectively, < >>And->GNSS east and north speeds, respectively, < >>For barometer upward velocity, < >>The east, north and sky speeds of inertial navigation, respectively. />And delta lambda n And latitude and longitude error measures, respectively,>and->And latitude and longitude of GNSS, respectively, +.>And->The latitude and longitude of inertial navigation, respectively.δψ is the course angle error amount measurement MAG For magnetometer heading angle, ψ INS Is the inertial navigation heading angle.
In summary, according to the combined navigation system scheme and the navigation method for the three-dimensional replaceable inertial measurement array disclosed by the application, the computer board card 1 and at least three orthogonal IMU array boards are fixedly connected to a supporting hexahedron. The three-dimensional integrated navigation system can synthesize the problem of unbalanced Z-axis and XY-axis performances of the micro-electromechanical MEMS-IMU on at least three orthogonally installed IMU array boards, can realize flexible replacement of IMU arrays with different types and different numbers, discards fault data by adopting a fault diagnosis and isolation method and reconstructs the system, and finally carries out multi-source information fusion with sensors such as GNSS, magnetometer, barometer and the like on the computer board 1, thereby realizing low-cost, high-precision and strong-robustness integrated navigation positioning.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. The three-dimensional integrated navigation system is characterized by comprising a support frame, a computer board card (1) arranged on the support frame and at least three replaceable IMU array board cards, wherein each IMU array board card is respectively connected with the computer board card (1), a main control chip and a sensor are arranged on the computer board card (1), and three IMU array board cards (2) in the IMU array board cards are arranged on the support frame in a pairwise orthogonal mode; the main control chip is used for receiving the IMU data of each IMU array board card and the data of the sensor, respectively carrying out fault diagnosis on each IMU array board card and discarding the fault IMU data, and carrying out integrated navigation data fusion on the IMU data after discarding the fault IMU data and the data of the sensor.
2. The stereoscopic integrated navigation system according to claim 1, wherein the IMU array board card is connected with the computer board card (1) through an external interface arranged on the computer board card (1), and a power consumption detection chip is arranged on the external interface and is used for triggering the power supply of the external interface to be disconnected when the power consumption of the external interface is detected to be greater than the preset power consumption.
3. The three-dimensional integrated navigation system according to claim 1, wherein the computer board card (1) is further provided with a driving gain chip connected with the main control chip, the IMU array board card is connected with the main control chip through the driving gain chip, and the driving gain chip is used for improving the driving capability of the main control chip.
4. The three-dimensional integrated navigation system according to claim 1, wherein the computer board card (1) is further provided with a first voltage conversion module and a second voltage conversion module which are connected, the first voltage conversion module is connected with an external power supply, the first voltage conversion module is used for converting the voltage of the external power supply into the voltage applied by the IMU array board card, and the second voltage conversion module is used for converting the voltage output by the first voltage conversion module into the voltage applied by the main control chip and the sensor.
5. The integrated navigation system of any of claims 1-4, wherein the sensor comprises a GNSS, a magnetometer, and a barometer.
6. The integrated navigation system of any of claims 1-4, wherein at least two of the IMU array cards have different IMU models, and/or,
and at least two IMU array cards in the IMU array cards are different in number.
7. A stereoscopic integrated navigation method, employing the stereoscopic integrated navigation system according to any one of claims 1 to 6, the method comprising:
the main control chip sends synchronous pulses to the IMU array board cards so as to synchronize the data of the IMU array board cards;
the main control chip collects IMU data of each IMU array board card and data of the sensor;
the main control chip performs fault diagnosis on the IMU data of each IMU array board card respectively, discards the fault IMU data and calculates effective IMU data;
and the main control chip performs integrated navigation data fusion on the effective IMU data combined with the data of the sensor.
8. The method of claim 7, wherein the main control chip performs fault diagnosis on IMU data of each IMU array card and discards the fault IMU data, and calculates effective IMU data, including:
the main control chip performs fault diagnosis on the IMU data of each IMU array board card by adopting a sliding quartile range method, and determines fault IMU data;
discarding the fault IMU data, and solving the effective IMU data after discarding the fault IMU data by adopting an average algorithm.
9. The method of claim 8, wherein the sliding quartile range method comprises:
sequentially sequencing all the acquired IMU data of each IMU array board card from large to small to obtain a number sequence, wherein the number sequence is expressed as x 1 ，x 2 ，x 3 ，...，x n-2 ，x n-1 ，x n Wherein x is n For IMU data, n is a multiple of 4;
dividing the array into four parts, the upper quartile Q of the array 3 Median Q 2 Lower quartile Q 1 And a quartile range IQR, respectively expressed as follows:
IQR＝Q 1 -Q 3 ；
wherein Q is 1 、Q 2 And Q 3 Data below this data represents 25%, 50% and 75% of the total IMU data, respectively;
according to Q 2 And a threshold range of IQR design IMU data;
determining IMU data not within the threshold range as faulty IMU data;
the formula of the averaging algorithm is as follows:
wherein,for the effective IMU data, x i And discarding the failed IMU data in the sequence, and then leaving the ith IMU data in the k IMU data.
10. The method of claim 7, wherein the master control chip performs integrated navigation data fusion by combining the effective IMU data with the data of the sensor using a Kalman filtering algorithm.
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