CN117589193A - Rapid alignment method of MEMS inertial navigation system based on reference plane - Google Patents
Rapid alignment method of MEMS inertial navigation system based on reference plane Download PDFInfo
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- CN117589193A CN117589193A CN202311506360.4A CN202311506360A CN117589193A CN 117589193 A CN117589193 A CN 117589193A CN 202311506360 A CN202311506360 A CN 202311506360A CN 117589193 A CN117589193 A CN 117589193A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention provides a quick alignment method of an MEMS inertial navigation system based on a reference plane, which utilizes the reference plane with known installation state under the offshore dynamic condition, uses MEMS gyro zero offset estimation to compensate the device error of MEMS and uses main inertial navigation attitude to carry out assignment, thereby realizing MEMS high-precision alignment under the dynamic condition and prolonging the navigation precision holding time.
Description
Technical Field
The invention belongs to the technical field of MEMS inertial measurement, and particularly relates to a quick alignment method of an MEMS inertial navigation system based on a reference plane.
Background
With the continuous development of modernization and automation, the demands of inertial navigation positioning systems with low cost, high precision, modularization and high integration are also becoming stronger in civil and military fields. With the continuous development of semiconductor technology and sensor technology, MEMS inertial sensing devices have grown. The MEMS inertial measurement unit comprises an MEMS gyroscope and an MEMS accelerometer, so that real-time measurement of attitude information can be realized, but in the process of attitude calculation by independently relying on the MEMS inertial measurement unit, an accumulated error inevitably exists in attitude update, and the attitude measurement precision is further reduced. While offshore use equipment employing MEMS inertial navigation systems requires maintenance of a corresponding level of accuracy for a certain hold time. Meanwhile, the traditional methods such as zero-speed correction and complementary filtering are not suitable for high-precision attitude measurement in the sailing process, so that a method capable of effectively inhibiting the divergence of attitude errors caused by MIMU drift in a short time is required to be designed.
Disclosure of Invention
In view of the above, the present invention is directed to a method for rapidly aligning a MEMS inertial navigation system based on a reference plane.
A MEMS inertial navigation system rapid alignment method based on a reference plane comprises the following steps:
step one: fixing a reference surface on the ship body of the ship, then fixing the MEMS inertial navigation system carrier on the reference surface, and entering a quick alignment mode;
step two: after the step one is completed, the MEMS inertial navigation system carrier and the reference surface are in a relatively static state for a set time;
step three: in a relative static state, acquiring an angular velocity output value of a main inertial navigation gyroscope and an angular velocity output value of an MEMS inertial navigation gyroscope, and carrying out zero offset drift estimation of the MEMS to obtain a zero offset drift value epsilon;
step four: transmitting the main inertial navigation attitude matrix to MEMS inertial navigation sub inertial navigation:
in the method, in the process of the invention,direction cosine matrix representing MEMS gyroscope in navigation coordinate system, < >>Direction cosine matrix of ship main inertial navigation itself at last moment of alignment mode, sent by communication equipment,/or%>Representing a cosine matrix of the installation angle direction of a reference plane calibrated in advance and the ship body; during the subsequent operation of the device +.>As an initial value of strapdown gesture calculation;
step five: in the subsequent actual broadside angle measurement process, firstly correcting the angular velocity output value of the gyroscope of the MEMS-IMU by using the zero offset drift estimated value calculated in the step three;
and then using the corrected gyroscope angular velocity output value of the MEMS-IMU and the gesture matrix transmitted in the step fourAnd carrying out gesture calculation to obtain a heading measurement value at the next moment.
Preferably, in the third step, the calculation process of the zero offset drift value of the MEMS gyroscope includes:
in the method, in the process of the invention,the angular velocity output values of the gyroscopes of the main inertial navigation and the sub inertial navigation at the ith data point are respectively represented, and N represents the total number of data points acquired.
Preferably, the set time is 5 minutes.
The invention has the following beneficial effects:
the invention provides a quick alignment method of an MEMS inertial navigation system based on a reference plane, which utilizes the reference plane with known installation state under the offshore dynamic condition, uses MEMS gyro zero offset estimation to compensate the device error of MEMS and uses main inertial navigation attitude to carry out assignment, thereby realizing MEMS high-precision alignment under the dynamic condition and prolonging the navigation precision holding time.
Drawings
FIG. 1 is a schematic illustration of the docking of a reference surface of the present invention on a ship hull;
wherein, 1-ship hull, 2-MEMS inertial navigation system carrier, 3-MEMS inertial navigation system, 4-reference plane.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The existing MEMS inertial measurement unit performs the following gesture resolving process:
selecting an east-north-sky geographic coordinate system as a navigation reference coordinate system of a strapdown inertial navigation system, and taking an n-system as a posture differential equation of the reference system as
Wherein the matrixSince the gyroscope output in MEMS inertial navigation is the angular velocity of b relative to the inertial system (i)>Whereas angular velocity information +.>Cannot be obtained by direct measurement, and the differential equation (1) needs to be transformed as follows:
wherein,representing the rotation of the n-series relative to the i-series, comprising two parts: navigation system rotation caused by earth rotation and n-system rotation caused by earth surface bending of the inertial navigation system moving near the earth surface, namely +.>Wherein:
wherein omega is ie For the earth rotation angular rate, L and h are geographic latitude and altitude, respectively.
And matrix differential equationIn contrast, although equation (2) is also linear and time-varying, its discretization solution is more cumbersome, and the equation is generally not directly solved, but the pose array update problem is solved by adopting the following method.
According to the matrix chain multiplication rule, there are:
wherein the symbol m in the angle brackets represents t m Time of day. Because the i system is an absolute motionless inertial reference coordinate system, the i system is irrelevant to time and does not need to mark time; and the n system and the b system are dynamic coordinate systems relative to the i system, and are related to time, so that the time is required to be marked.The transformation matrix of the m-th time n system with respect to the geocentric coordinate system is represented.
According to the differential equation of the attitude matrixAnd->Update algorithms for inertial frame respectively available
Wherein the matrixThe representation is based on i, b is from t m-1 From time to t m The rotational change of the moment of time is,can be defined by the angular velocity of the gyro->Determining; />The representation is based on i series as reference, n series from t m From time to t m-1 Rotational change of time of day->Can be calculated from the angular velocity +.>And (5) determining.
Substituting the formulas (6) and (7) into the formula (5) to obtain
Wherein,and->Respectively represent t m-1 And t m And a strapdown gesture matrix at the moment. If the gyro is in the time period [ t ] m-1 ，t m ]Inner (t=t) m -t m-1 ) Sampling at equal intervals twice, wherein the angle increment is delta theta m1 And delta theta m2 The two subsampled cone error compensation algorithm is adopted, and comprises the following steps:
typically during a navigation update period t m-1 ，t m ]In what can be considered to be caused by speed and positionLittle change, i.e. visual->Is given as a constant value, recorded as +.>Then there are:
combining the formula (11) and the formula (8) to obtain the attitude rotation matrix of the MEMS under the navigation system at the current momentAnd then the main inertial navigation attitude information sent by the information transmission device is required to be quickly calibrated with the installation angle of the reference plane. After the coordinate system of the device and the MEMS are overlapped, the attitude cosine matrix with poorer current precision of the device can be obtained as +.>The device is docked at the reference plane. Setting a direction cosine matrix corresponding to an installation error angle of a reference surface relative to a carrier main inertial navigation as +.>This information may be stored in the device in advance after calibration. The direction cosine matrix of the main inertial navigation relative to the navigation coordinate system of the carrier sending device is +.>From this a directional cosine matrix of the reference plane with respect to the navigation coordinate system can be obtained:
because the MEMS inertial navigation system carrier is stopped on the reference plane at the moment, the posture of the MEMS inertial navigation system at the moment is considered to be coincident with the reference plane, and therefore, the corrected direction cosine matrix and heading angle of the MEMS inertial navigation system can be obtained:
where head represents the MEMS heading at the current time. And taking the difference value of the heading and the main inertial navigation heading as the accommodation angle measurement value of the measured target.
In order to further improve the maintaining capability of the device for measuring the shipside angle, the invention utilizes the difference between the original angular rate of the gyroscope sent by the main inertial navigation and the original angular rate of the MEMS inertial navigation itself in the quick alignment process to estimate the zero offset of the MEMS gyroscope, thereby correcting the original angular rate in the subsequent inertial navigation resolving process, and the specific process comprises the following steps:
step one: at the initial running time of the device, a reference surface is fixed on the ship body of the ship, then the MEMS inertial navigation system carrier is fixed on the reference surface, and the device enters a rapid alignment mode.
Step two: after the step one is completed, the MEMS inertial navigation system carrier and the reference surface are in a short-time relative static state for 5 minutes.
Step three: in a relative static state, acquiring an angular velocity output value of a main inertial navigation gyroscope and an angular velocity output value of a MEMS inertial navigation gyroscope, and carrying out zero offset drift estimation of the MEMS:
in the method, in the process of the invention,the angular velocity output values of the gyroscopes of the main inertial navigation and the sub inertial navigation at the ith data point are respectively represented, N represents the total number of data points acquired, and epsilon represents the estimated zero offset drift value of the MEMS gyroscope.
Step four: and transmitting the main inertial navigation attitude matrix to MEMS inertial navigation.
In the method, in the process of the invention,direction cosine matrix representing MEMS gyroscope in navigation coordinate system, < >>The directional cosine matrix of the ship main inertial navigation itself representing the last moment of the five-minute quick alignment mode is sent by the communication equipment,and the cosine matrix of the installation angle direction of the reference plane and the ship body which are calibrated in advance is shown. During the subsequent operation of the device +.>As an initial value for the strapdown gesture solution.
Step five: in the subsequent actual broadside angle measurement process, firstly correcting the angular velocity output value of the gyroscope of the MEMS-IMU by using the zero offset drift estimated value calculated in the step three;
and then using the corrected gyroscope angular velocity output value of the MEMS-IMU and the gesture matrix transmitted in the step fourAnd carrying out gesture calculation to obtain a heading measurement value at the next moment.
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 (3)
1. A method for rapidly aligning a MEMS inertial navigation system based on a reference plane, comprising:
step one: fixing a reference surface on the ship body of the ship, then fixing the MEMS inertial navigation system carrier on the reference surface, and entering a quick alignment mode;
step two: after the step one is completed, the MEMS inertial navigation system carrier and the reference surface are in a relatively static state for a set time;
step three: in a relative static state, acquiring an angular velocity output value of a main inertial navigation gyroscope and an angular velocity output value of an MEMS inertial navigation gyroscope, and carrying out zero offset drift estimation of the MEMS to obtain a zero offset drift value epsilon;
step four: transmitting the main inertial navigation attitude matrix to MEMS inertial navigation sub inertial navigation:
in the method, in the process of the invention,direction cosine matrix representing MEMS gyroscope in navigation coordinate system, < >>Direction cosine matrix of ship main inertial navigation itself at last moment of alignment mode, sent by communication equipment,/or%>Representing a cosine matrix of the installation angle direction of a reference plane calibrated in advance and the ship body; during the subsequent operation of the device +.>As an initial value of strapdown gesture calculation;
step five: in the subsequent actual broadside angle measurement process, firstly correcting the angular velocity output value of the gyroscope of the MEMS-IMU by using the zero offset drift estimated value calculated in the step three;
and then using the corrected gyroscope angular velocity output value of the MEMS-IMU and the gesture matrix transmitted in the step fourAnd carrying out gesture calculation to obtain a heading measurement value at the next moment.
2. The method for quickly aligning a MEMS inertial navigation system based on a reference plane as claimed in claim 1, wherein in the third step, the calculation process of the zero offset drift value of the MEMS gyroscope comprises:
in the method, in the process of the invention,the angular velocity output values of the gyroscopes of the main inertial navigation and the sub inertial navigation at the ith data point are respectively represented, and N represents the total number of data points acquired.
3. A method of rapid alignment of a MEMS inertial navigation system based on a reference plane as defined in claim 1, wherein the set time is 5 minutes.
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