CN117968679B - Inertial navigation system - Google Patents
Inertial navigation system Download PDFInfo
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- CN117968679B CN117968679B CN202410365700.4A CN202410365700A CN117968679B CN 117968679 B CN117968679 B CN 117968679B CN 202410365700 A CN202410365700 A CN 202410365700A CN 117968679 B CN117968679 B CN 117968679B
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- 238000001514 detection method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses an inertial navigation system, belonging to the technical field of navigation systems; the problem that the existing inertial navigation system has high requirements on gyroscopes and accelerometers, so that the cost of the navigation system is high is solved; the system comprises an MEMS inertial measurement unit, a single gyro north-seeking component, a control system and a system case; the MEMS inertial measurement unit, the single-gyro north-seeking component and the control system are all arranged in the system case; the single gyro north-seeking assembly comprises an electric rotating platform, and the electric rotating platform is arranged at the bottom of the system chassis; and the electric rotating platform is provided with a high-precision gyroscope. According to the invention, the high-precision gyroscope is driven to rotate to different directions through the electric rotating table, and then the course angle is calculated according to the angular rate information of the different directions, so that navigation is realized; compared with the traditional inertial navigation system, the high-precision gyroscope has the advantages of reducing the use amount of the high-precision gyroscope, reducing the precision requirement on the gyroscope, along with low cost, high cost performance and light weight.
Description
Technical Field
The invention relates to the technical field of navigation systems, in particular to an inertial navigation system.
Background
The inertial navigation system is a navigation parameter resolving system which uses a gyroscope and an accelerometer as sensitive devices, and the system can realize autonomous navigation without depending on external information or radiating energy to the outside; the basic working principle of the device is based on Newton's law of mechanics, acceleration and angular velocity of a carrier in an inertial reference system are measured through an inertial sensor, the acceleration and angular velocity are integrated with time, and the integrated acceleration and angular velocity are transformed into a navigation coordinate system, so that information such as yaw angle, attitude angle, position and velocity in the navigation coordinate system can be obtained.
The common pure inertial navigation system in the prior art mainly comprises three gyroscopes, three accelerometers and a control circuit; because the inertial navigation system does not have external auxiliary reference navigation information, the accuracy of the inertial navigation system mainly depends on the accuracy of the gyroscope and the accelerometer, and the higher the accuracy requirement of the inertial navigation system is, the higher the accuracy requirement of the corresponding gyroscope and accelerometer is, so the inertial navigation system in the prior art has the problems of high cost, high space occupancy rate and poor light weight.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an inertial navigation system to solve the technical problems of high cost and high space occupation rate caused by higher requirements on gyroscopes and accelerometers of the existing inertial navigation system.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
An inertial navigation system comprises an MEMS inertial measurement unit, a single gyro north-seeking component, a control system and a system case; the MEMS inertial measurement unit, the single-gyro north-seeking component and the control system are all arranged in the system case; the single gyro north-seeking assembly comprises an electric rotating platform, and the electric rotating platform is arranged at the bottom of the system chassis; the electric rotating platform is provided with a high-precision gyroscope; the electric rotating table drives the high-precision gyroscope to rotate to a specified position, and the high-precision gyroscope detects angular rate information of the specified position and sends the angular rate information to the control system; the MEMS inertial measurement unit collects inertial measurement information of the inertial navigation system and sends the inertial measurement information to the control system; the control system performs a navigation solution based on the angular rate information and the inertial measurement information.
In the scheme, a high-precision gyroscope is used for providing high-precision initial azimuth and attitude information for an inertial navigation system, and an MEMS inertial measurement unit is used for providing inertial measurement information; compared with the traditional inertial navigation system, the high-precision gyroscope has the advantages of reducing the use amount of the high-precision gyroscope, reducing the precision requirement on the gyroscope, and realizing low cost, high cost performance and light weight.
Further, the electric rotating table comprises a rotating motor, and the rotating motor is arranged at the bottom of the system chassis; the output shaft transmission of rotating electrical machines is connected with the rotary disk, and the rotary disk level sets up, and the high accuracy gyroscope is installed on the rotary disk.
In this scheme, drive high accuracy gyroscope through the rotary disk and rotate for high accuracy gyroscope can be steady rotatory, has improved the precision of navigation result.
Further, the single gyroscope north-seeking assembly further comprises a first bracket and a second bracket, and the high-precision gyroscope is arranged on the first bracket; the first bracket is arranged on the rotating disc; the second bracket is rotationally connected to the top of the first bracket, and the bottom of the second bracket is arranged on the system chassis;
The first bracket is provided with a zero pointer, and the second bracket is provided with a photoelectric switch; the zero pointer and the photoelectric switch are positioned at the same height; the rotating motor drives the first bracket to rotate through the rotating disc, and the zero pointer in rotation sweeps through a detection area of the photoelectric switch;
The rotating motor drives the high-precision gyroscope to rotate through the first bracket, and the position of the zero pointer, which sweeps through the detection area of the photoelectric switch, is recorded as a system zero position; the high-precision gyroscope rotates to four angle positions of 0 degree, 90 degrees, 180 degrees and 270 degrees relative to the zero position of the system, and the output angular rate information of the four angle positions is sent to the control system, and the control system calculates the course angle of the zero position of the system according to the angular rate information of the four angle positions.
In the scheme, zero pointers and photoelectric switches are respectively designed at the bottoms of a first bracket and a second bracket, a system zero pointed by the zero pointers is detected through the photoelectric switches, a high-precision gyroscope is rotated from the system zero to obtain angular rate information of four positions, and then the course angle of the system zero is obtained based on the four angular rate information, so that the direction of an inertial navigation system is positioned; the design does not need to search course angles through the cooperation of a plurality of gyroscopes, and a navigation system with low cost is realized.
Further, the control system comprises a resolving board and a power panel, wherein the resolving board is respectively and electrically connected with the high-precision gyroscope and the MEMS inertial measurement unit; the power panel is electrically connected with the calculating panel.
In the scheme, a resolving board is arranged to process the angular rate information, and a power board is arranged to provide working power for the resolving board.
Further, the top of the first bracket is provided with a slip ring, and the high-precision gyroscope is electrically connected with the resolving plate through the slip ring.
In this scheme, realize the electric connection of high accuracy gyroscope and resolving board through the sliding ring that sets up, prevent the wire winding in the rotation of high accuracy gyroscope.
Further, the system case comprises a system shell, and a system base is detachably arranged at the bottom of the system shell; the single gyro north-seeking assembly is arranged on the system base; the control system is arranged on the system shell.
In the scheme, the system shell and the system base are designed, so that the installation of a power panel and a resolving panel is facilitated, and a good protection effect can be achieved on the power panel and the resolving panel; the system base can be detached and arranged, so that maintenance work of the power panel and the resolving panel is facilitated.
Further, a mounting groove is formed in the system shell, and a system panel is mounted in the mounting groove; the system shell is also provided with a power interface, and a power plug is arranged in the power interface; the system panel and the power plug are electrically connected with the control system.
In the scheme, a system panel is designed, so that the control system is conveniently operated through the control panel.
Further, the rotating motor is connected with the rotating disc through a transmission shaft.
The beneficial effects of the invention are as follows:
The inertial navigation system provided by the invention has only one high-precision gyroscope, the electric rotating table drives the high-precision gyroscope to rotate to four directions relative to the zero position of the system, and the angular rate information of the four directions is respectively output, and the course angle of the zero position of the system is calculated according to the angular rate information, so that high-precision navigation is realized, the navigation cost is reduced, and the inertial navigation system is lighter; the MEMS inertial measurement unit, the single-gyro north-seeking component and the control system are integrated on the system case, so that the space utilization rate is improved.
Drawings
FIG. 1 is a schematic diagram of an inertial navigation system according to the present invention;
FIG. 2 is a schematic diagram of the north-seeking component of the single gyroscope of the present invention;
FIG. 3 is a schematic view of a first bracket structure according to the present invention;
FIG. 4 is a schematic diagram of a system chassis according to the present invention;
FIG. 5 is a schematic view of the structure of the mounting groove of the present invention.
Reference numerals:
1. A MEMS inertial measurement unit; 21. a high precision gyroscope; 22. a first bracket; 23. a slip ring; 24. a second bracket; 25. an optoelectronic switch; 26. a zero pointer; 27. an electric rotating table; 31. a power panel; 32. a power plug; 33. a resolving board; 41. a system base; 42. a system housing; 43. a system panel; 44. and a mounting groove.
Detailed Description
The invention will be further described with reference to the drawings and specific examples. The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1, the present embodiment provides an inertial navigation system, which rotates a high-precision gyroscope to four directions relative to a system zero position, outputs angular rate information of the four directions respectively, and calculates a course angle of the system zero position according to the angular rate information, thereby improving navigation precision and reducing navigation cost; the method specifically comprises the following steps:
the system comprises an MEMS inertial measurement unit 1, a single gyro north-seeking component, a control system and a system chassis;
The MEMS inertial measurement unit 1, the single gyro north-seeking component and the control system are all arranged in a system case;
The single gyro north seeking assembly comprises an electric rotary table 27, a high-precision gyroscope 21, a first support 22 and a second support 24; as shown in fig. 2, the electric rotating table 27 is mounted at the bottom of the system cabinet; the electric turntable 27 is provided with a high-precision gyroscope 21; the electric rotating table 27 drives the high-precision gyroscope 21 to rotate to a specified position, and the high-precision gyroscope 21 detects angular rate information of the specified position and sends the angular rate information to the control system; the MEMS inertial measurement unit 1 collects inertial measurement information of the inertial navigation system and sends the inertial measurement information to the control system; the control system carries out navigation calculation according to the angular rate information and the inertial measurement information;
The electric rotating table 27 comprises a rotating motor and a rotating disc, and the rotating motor is arranged at the bottom of the system chassis; output shaft of rotary electric machine the transmission is connected with a rotating disk, the rotating disc is horizontally arranged; the rotating disk is provided with a mounting hole through which the high-precision gyroscope 21 is mounted on the rotating disk; the high-precision gyroscope 21 is driven to rotate by the rotating disc, so that the high-precision gyroscope 21 can stably rotate, and the accuracy of a navigation result is improved;
The first bracket 22 is mounted on the rotating disk; the high-precision gyroscope 21 is mounted on the first bracket 22; the top of the first bracket 22 is rotatably connected with the top of the second bracket 24; the bottom of the second bracket 24 is arranged on the system chassis; as shown in fig. 3, a zero pointer 26 is arranged at the bottom of the first bracket 22, and a photoelectric switch 25 is arranged on the second bracket 24; the zero pointer 26 and the photoelectric switch 25 are positioned at the same height; the rotating motor drives the first bracket 22 to rotate through the rotating disc, and the zero pointer 26 in rotation sweeps through the detection area of the photoelectric switch 25; the rotating motor drives the high-precision gyroscope 21 to rotate through the first bracket 22, and the position of the zero pointer 26, which sweeps across the detection area of the photoelectric switch 25, is recorded as a system zero position; the high-precision gyroscope 21 rotates to four angle positions of 0 degrees, 90 degrees, 180 degrees and 270 degrees relative to the zero position of the system, respectively outputs angular rate information of the four angle positions and sends the angular rate information to the control system, and the control system calculates the course angle of the zero position of the system according to the angular rate information of the four angle positions; a zero pointer 26 and a photoelectric switch 25 are respectively arranged at the bottoms of the first bracket 22 and the second bracket 24, the system zero pointed by the zero pointer 26 is detected through the photoelectric switch 25, the high-precision gyroscope 21 starts to rotate from the system zero to obtain four azimuth angular rate information, and the heading angle of the system zero is obtained based on the four angular rate information, so that the azimuth of the inertial navigation system is positioned; the design does not need to search course angles through the cooperation of a plurality of gyroscopes, and low-cost navigation is realized.
As shown in fig. 1, the control system includes a resolving board 33 and a power board 31, the resolving board 33 being electrically connected with the high-precision gyroscope 21 and the MEMS inertial measurement unit 1, respectively; the power panel 31 is electrically connected with the calculating panel 33; the setting resolving board 33 processes the angular rate information, and the setting power board 31 supplies the operating power to the resolving board 33.
As shown in fig. 3, a slip ring 23 is arranged at the top of the first bracket 22, and the high-precision gyroscope 21 is electrically connected with the resolving plate 33 through the slip ring 23; the slip ring 23 is provided to electrically connect the high-precision gyroscope 21 and the resolving plate 33, and prevent the wires from winding during rotation of the high-precision gyroscope 21.
As shown in fig. 2 and 4, the system chassis includes a system housing 42 and a system base 41; the bottom of the system housing 42 is detachably provided with a system base 41; the single gyro north-seeking component is arranged on the system base 41; the control system is provided on the system housing 42; the system shell 42 and the system base 41 are arranged, so that the installation of the power panel 31 and the resolving panel 33 is facilitated, and good protection effects can be achieved on the power panel 31 and the resolving panel 33; the system base 41 is detachably arranged, so that the maintenance work of the power panel 31 and the resolving panel 33 is facilitated;
As shown in fig. 5, the system housing 42 is provided with a mounting groove 44, and a system panel 43 is mounted in the mounting groove 44; the system shell 42 is also provided with a power interface, and the power interface is internally provided with a power plug 32; the system panel 43 and the power plug 32 are electrically connected with the control system; the system panel 43 is provided to facilitate operation of the control system via the control panel.
The rotating motor is connected with the rotating disk through a transmission shaft.
As a preferred embodiment, the MEMS inertial measurement unit 1 is a low-precision MEMS inertial measurement unit.
As a preferable example of the present embodiment, the high-precision gyroscope 21 may be a 98-type uniaxial high-precision fiber optic gyroscope.
The parameter comparison table with the conventional inertial navigation system provided in this embodiment is shown in table 1:
table 1 low cost inertial navigation and various parameter comparison table for traditional inertial navigation system
The working principle of the embodiment is as follows:
When the inertial navigation system provided by the embodiment is used, the electric rotating table 27 is controlled to rotate through the control system, and the position where the zero pointer 26 rotates to the photoelectric switch 25 is recorded as a system zero position; the control system controls the electric rotating table 27 to rotate by 0 degrees, 90 degrees, 180 degrees and 270 degrees relative to the zero position of the system, and the high-precision gyroscope 21 synchronously rotates along with the electric rotating table 27; the high-precision gyroscope 21 rotates to four angular positions of 0 degree, 90 degrees, 180 degrees and 270 degrees, then outputs angular rate information of four directions respectively, and sends the angular rate information to the resolving board 33, meanwhile, the MEMS inertial measurement unit 1 collects inertial measurement information of an inertial navigation system and sends the inertial measurement information to the resolving board 33, and the resolving board 33 carries out navigation resolving according to the angular rate information of the four directions and the inertial measurement information and outputs navigation information such as the direction, the gesture speed and the like of the carrier.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. An inertial navigation system, characterized by: the system comprises an MEMS inertial measurement unit (1), a single gyro north-seeking component, a control system and a system chassis; the MEMS inertial measurement unit (1), the single-gyro north-seeking component and the control system are all arranged in the system case;
The single-gyro north-seeking assembly comprises an electric rotating table (27), and the electric rotating table (27) is arranged at the bottom of the system chassis; the electric rotating table (27) is provided with a high-precision gyroscope (21); the electric rotating table (27) drives the high-precision gyroscope (21) to rotate to a specified position, and the high-precision gyroscope (21) detects angular rate information of the specified position and sends the angular rate information to the control system; the MEMS inertial measurement unit (1) collects inertial measurement information of an inertial navigation system and sends the inertial measurement information to the control system; the control system performs navigation calculation according to the angular rate information and the inertial measurement information;
the electric rotating table (27) comprises a rotating motor, and the rotating motor is arranged at the bottom of the system chassis; the output shaft of the rotating motor is in transmission connection with a rotating disk, the rotating disk is horizontally arranged, and the high-precision gyroscope (21) is arranged on the rotating disk;
The single gyroscope north-seeking assembly further comprises a first bracket (22) and a second bracket (24), and the high-precision gyroscope (21) is mounted on the first bracket (22); the first bracket (22) is mounted on the rotating disk; the second bracket (24) is rotatably connected to the top of the first bracket (22), and the bottom of the second bracket (24) is arranged on the system chassis;
A zero pointer (26) is arranged on the first bracket (22), and a photoelectric switch (25) is arranged on the second bracket (24); the zero pointer (26) and the photoelectric switch (25) are positioned at the same height; the rotating motor drives the first bracket (22) to rotate through the rotating disc, and the zero pointer (26) sweeps through a detection area of the photoelectric switch (25) during rotation;
The rotating motor drives the high-precision gyroscope (21) to rotate through the first bracket (22), and the position of the zero pointer (26) which sweeps through the detection area of the photoelectric switch (25) is recorded as a system zero position; the high-precision gyroscope (21) rotates to four angle positions of 0 degree, 90 degrees, 180 degrees and 270 degrees relative to the zero position of the system, and respectively sends the output angular rate information of the four angle positions to the control system, and the control system calculates the course angle of the zero position of the system according to the angular rate information of the four angle positions.
2. An inertial navigation system according to claim 1, wherein: the control system comprises a resolving board (33) and a power supply board (31), wherein the resolving board (33) is respectively and electrically connected with the high-precision gyroscope (21) and the MEMS inertial measurement unit (1); the power panel (31) is electrically connected with the resolving board (33).
3. An inertial navigation system according to claim 2, wherein: the top of the first support (22) is provided with a slip ring (23), and the high-precision gyroscope (21) is electrically connected with the resolving plate (33) through the slip ring (23).
4. An inertial navigation system according to claim 1, wherein: the system case comprises a system shell (42), wherein a system base (41) is detachably arranged at the bottom of the system shell (42); the single gyro north-seeking component is arranged on the system base (41); the control system is provided on the system housing (42).
5. The inertial navigation system of claim 4, wherein: the system shell (42) is provided with a mounting groove (44), and a system panel (43) is mounted in the mounting groove (44); the system is characterized in that a power interface is further arranged on the system shell (42), a power plug (32) is arranged in the power interface, and the system panel (43) and the power plug (32) are electrically connected with the control system.
6. An inertial navigation system according to any one of claims 1 to 3, wherein: the rotating motor is connected with the rotating disc through a transmission shaft.
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| CN202410365700.4A CN117968679B (en) | 2024-03-28 | 2024-03-28 | Inertial navigation system |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268363A (en) * | 2022-12-30 | 2023-12-22 | 上海傲世控制科技股份有限公司 | Directional attitude measurement system, method and medium based on double-shaft fiber optic gyroscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202126265U (en) * | 2011-06-24 | 2012-01-25 | 西安测绘研究所 | Dynamic rotating and modulating gyro north seeker |
| CN102506848B (en) * | 2011-12-07 | 2014-03-26 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
| IL222221B (en) * | 2012-09-27 | 2019-03-31 | Rafael Advanced Defense Systems Ltd | Improved inertial navigation system and method |
| CN103063205A (en) * | 2012-12-24 | 2013-04-24 | 陕西宝成航空仪表有限责任公司 | Indexing method and mechanism used for four-position north-seeking measuring in north-seeking system |
| CN112484712B (en) * | 2020-11-23 | 2022-08-12 | 重庆华渝电气集团有限公司 | Double-gyroscope north-seeking attitude reference instrument and north-seeking method |
| CN112964241B (en) * | 2021-02-20 | 2023-04-07 | 广州导远电子科技有限公司 | Multi-position north-seeking method and device, electronic equipment and storage medium |
| CN114838721B (en) * | 2022-04-08 | 2024-05-03 | 长安大学 | Optical fiber gyroscope orientation instrument |
| CN116222529A (en) * | 2023-02-08 | 2023-06-06 | 北京大学 | North seeking method, system and storage medium based on fiber-optic gyroscope measurement angular acceleration |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268363A (en) * | 2022-12-30 | 2023-12-22 | 上海傲世控制科技股份有限公司 | Directional attitude measurement system, method and medium based on double-shaft fiber optic gyroscope |
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Address after: Room 305, Building 1, No. 21 Bachelor Road, New Industrial Park, High tech Zone, Xi'an City, Shaanxi Province, China 710100 Patentee after: Xi'an Zhongke Huahang Photoelectric Technology Co.,Ltd. Country or region after: China Address before: 710100 Xi'an Zhongke Huahang Optoelectronic Technology Co., Ltd., Xi'an City, Shaanxi Province Patentee before: Xi'an Zhongke Huahang Photoelectric Technology Co.,Ltd. Country or region before: China |