CN118089716B - Direction gyro error estimation and compensation method for platform body direction rotation inertial navigation - Google Patents
Direction gyro error estimation and compensation method for platform body direction rotation inertial navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
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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
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Abstract
The invention relates to the technical field of navigation, in particular to a method for estimating and compensating an azimuth gyro error of a platform azimuth rotation inertial navigation, which comprises the following steps: adopting a platform azimuth rotation technology to obtain a longitude error relation of platform azimuth rotation inertial navigation in an undamped mode; obtaining a longitude error relation of the azimuth rotation inertial navigation of the platform body in a damping working mode; establishing a first relation between the longitude error and the azimuth gyro drift and scale error; establishing a second relation between the longitude error and the azimuth gyro drift and scale error; obtaining a calculation formula of azimuth gyro drift and scale error; and compensating and updating the azimuth gyro drift and the scale parameters of the inertial navigation system by using an azimuth gyro drift and scale error calculation formula. The method and the system provided by the invention eliminate the influence of azimuth gyro drift and scale error on the accuracy of the inertial navigation output navigation parameters, and improve the navigation accuracy of the system.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a method for estimating and compensating an azimuth gyro error of a platform azimuth rotation inertial navigation.
Background
Horizontal north-finger inertial navigation systems are the most basic type of platform-type inertial navigation. The ideal coordinate system established by the gyro platform is completely coincident with the geographic coordinate system. The method has the advantages that the navigation coordinate system is directly simulated, the calculation is simple, the angular movement of the carrier can be isolated, the course angle, the roll angle and the pitch angle can be directly read from the platform frame shaft, and the system accuracy is high. But the navigation error of the horizontal north-orientation inertial navigation system diverges rapidly along with time, which affects the use of the system.
The rotating inertial navigation of the platform body is that on the basis of the horizontal north-finger azimuth inertial navigation, a fixed command angular velocity is applied to the azimuth gyroscope, and the platform body is controlled to rotate around the azimuth axis. Errors of the horizontal gyroscope and the horizontal accelerometer can be effectively modulated through azimuth rotation, and therefore working accuracy of the inertial navigation system is improved.
The rotation of the azimuth of the platform body is realized by applying moment to the azimuth gyroscope, the working current of the torquer of the azimuth gyroscope is larger than that of the horizontal north-orientation inertial navigation system, the influence of the azimuth gyroscope scale error on the navigation error is also increased, and in addition, the influence of the azimuth gyroscope drift on the navigation error is also larger, so that the azimuth gyroscope drift and the scale error are calculated and compensated, the influence of the azimuth gyroscope scale error on the navigation error is reduced, and the navigation precision of the navigation system is ensured.
Disclosure of Invention
The invention aims to provide a method for estimating and compensating the azimuth gyro error of a platform azimuth rotation inertial navigation system, which utilizes the longitude error change value of the inertial navigation system to autonomously estimate and compensate the azimuth gyro error and improve the navigation precision of the system according to the error propagation mechanism of the inertial navigation system by the rotation of the platform azimuth.
The invention is realized by the following technical scheme:
A method for estimating and compensating the azimuth gyro error of a platform body azimuth rotation inertial navigation comprises the following steps:
S1: according to an error equation of the fixed north-seeking inertial navigation system in the undamped mode, adopting a platform azimuth rotation technology to obtain a longitude error relation of platform azimuth rotation inertial navigation in the undamped mode;
S2: damping the oscillation term of the longitude error relation of the platform body azimuth rotation inertial navigation in the undamped mode to obtain the longitude error relation of the platform body azimuth rotation inertial navigation in the damped working mode;
S3: after a platform body azimuth rotation inertial navigation system is started under the condition of a static base and initial alignment is carried out, the control platform body rotates around an azimuth axis at a first set angular speed, and a first relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation under a damping working mode after a first set navigation time length;
S4: the console body rotates around the azimuth axis at a second set angular speed, and after a second set navigation time length, a second relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation in a damping working mode;
s5: combining a first relation of the longitude error and the azimuth gyro drift and the scale error and a second relation of the longitude error and the azimuth gyro drift and the scale error to obtain an azimuth gyro drift and scale error calculation formula;
s6: and compensating and updating the azimuth gyro drift and the scale parameters of the inertial navigation system by using an azimuth gyro drift and scale error calculation formula.
Further, in step S1, a longitude error relation of the rotational inertial navigation of the table body orientation in the undamped mode is obtained by the following method:
S11: the fixed north-seeking inertial navigation system error equation (1) in the undamped mode is rewritten into a matrix form equation as (2):
（1）；
（2）；
Wherein: representing an east speed error of the inertial navigation system, Representation pairThe derivative is obtained by the method,Represents the north speed error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the east error angle of the inertial navigation system platform,Representation pairThe derivative is obtained by the method,Representing the north error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Represents the azimuth error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the latitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing a longitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Indicating zero offset of the east accelerometer of the inertial navigation system,Indicating zero offset of the north accelerometer of the inertial navigation system,Indicating that the inertial navigation system drifts towards the gyro,Indicating the north gyro drift of the inertial navigation system,Indicating the azimuth gyro drift of the inertial navigation system,For the latitude of the inertial navigation system,Is the rotational angular velocity of the earth,For the acceleration of the earth's gravity,For the radius of the earth,A state variable is represented and a state variable is represented,Representation pairThe derivative is obtained by the method,A state matrix is represented and is used to represent,Representing a noise matrix;
S12: and (3) performing solution differentiation on the matrix form equation to obtain a solution differentiation equation (3):
（3）；
Wherein: for the duration of the navigation period of time, Representation ofInertial navigation system longitude errors of the navigation duration,Is the miller frequency;
S13: modulating east gyro drift of inertial navigation system by adopting platform azimuth rotation technology North gyroscope drift of inertial navigation systemIntroducing azimuth gyro scale error, and obtaining a longitude error relation formula (4) of the azimuth rotation inertial navigation of the platform body under the undamped mode by solving a differential equation:
（4）；
Wherein: For the drift of the azimuth gyro, Is the angular velocity of the rotation of the orientation of the table body,Is the azimuth gyro scale error.
Further, the longitude error relation of the table body azimuth rotation inertial navigation in the damping working mode obtained in the step S2 is formula (5):
（5）。
Further, the first relation between the longitude error and the azimuth gyro drift and scale error established in step S3 is formula (6):
（6）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,The angular velocity is set for the first.
Further, the second relation between the longitude error and the azimuth gyro drift and scale error established in step S4 is formula (7):
（7）；
Wherein: For a second set duration of the navigation time, A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
Further, the azimuth gyro drift and scale error calculation formula obtained in step S5 is formula (8):
（8）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,For the first set angular velocity of the wheel,For a second set duration of the navigation time,A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
Further, in step S6, the inertial navigation system azimuth gyro drift obtained according to the formula (8) is performedScale error of azimuth gyroSubstituting the inertial navigation system azimuth gyro drift and the scale parameter into the formula (9) to carry out compensation updating:
（9）；
Wherein: to compensate for the updated azimuth gyro scale, To compensate for the pre-update azimuth gyro scale,To compensate for the updated compensated azimuth gyro drift,To compensate for pre-update azimuth gyro drift.
Preferably, in step S3, the first set angular velocity isThe first set navigation time length isThe time period of the time period,Is a positive integer.
Preferably, the second set angular velocity in step S4 isThe second set navigation time length isThe time period of the time period,Is a positive integer.
The invention has the beneficial effects that:
According to the azimuth gyro error estimation and compensation method for the platform azimuth rotation inertial navigation, provided by the invention, the azimuth gyro drift and the scale error of the platform azimuth rotation inertial navigation are calculated and compensated by utilizing the longitude error relation of the platform azimuth rotation inertial navigation under the damping working mode and according to the error propagation mechanism of the inertial navigation system through the platform azimuth rotation, the influence of the azimuth gyro drift and the scale error on the accuracy of the inertial navigation output navigation parameters is eliminated, and the navigation accuracy of the system is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The azimuth gyro error estimating and compensating method for the azimuth rotation inertial navigation of the platform body comprises the following steps:
s1: according to an error equation of the fixed north-seeking inertial navigation system in the undamped mode, adopting a platform azimuth rotation technology to obtain a longitude error relation of platform azimuth rotation inertial navigation in the undamped mode; the orientation rotation technology of the platform body is to control the drift of the modulation gyro by uniformly rotating the platform body.
Specifically, the longitude error relation of the azimuth rotation inertial navigation of the table body in the undamped mode can be obtained by the following method:
S11: the fixed north-seeking inertial navigation system error equation (1) in the undamped mode is rewritten into a matrix form equation as (2):
（1）；
（2）；
Wherein: representing an east speed error of the inertial navigation system, Representation pairThe derivative is obtained by the method,Represents the north speed error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the east error angle of the inertial navigation system platform,Representation pairThe derivative is obtained by the method,Representing the north error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Represents the azimuth error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the latitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing a longitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Indicating zero offset of the east accelerometer of the inertial navigation system,Indicating zero offset of the north accelerometer of the inertial navigation system,Indicating that the inertial navigation system drifts towards the gyro,Indicating the north gyro drift of the inertial navigation system,Indicating the azimuth gyro drift of the inertial navigation system,For the latitude of the inertial navigation system,Is the rotational angular velocity of the earth,For the acceleration of the earth's gravity,For the radius of the earth,A state variable is represented and a state variable is represented,Representation pairThe derivative is obtained by the method,A state matrix is represented and is used to represent,Representing a noise matrix;
S12: and (3) performing solution differentiation on the matrix form equation to obtain a solution differentiation equation (3):
（3）；
Wherein: for the duration of the navigation period of time, Representation ofInertial navigation system longitude errors of the navigation duration,In order for the frequency to be a degree of the miller,；
S13: modulating east gyro drift of inertial navigation system by adopting platform azimuth rotation technologyNorth gyroscope drift of inertial navigation systemIntroducing azimuth gyro scale error, and obtaining a longitude error relation formula (4) of the azimuth rotation inertial navigation of the platform body under the undamped mode by solving a differential equation:
（4）；
Wherein: For the drift of the azimuth gyro, Is the angular velocity of the rotation of the orientation of the table body,Is an azimuth gyro scale error, wherein the product of the azimuth gyro scale error and the rotation speed is equivalent to azimuth gyro drift.
S2: damping the oscillation term of the longitude error relation of the platform body azimuth rotation inertial navigation in the undamped mode to obtain the longitude error relation of the platform body azimuth rotation inertial navigation in the damped working mode;
In particular, the damping loop can be used for damping the oscillation item, which belongs to the conventional technical means in the field.
The longitude error relation of the azimuth rotation inertial navigation of the table body in the damping working mode is shown as formula (5):
（5）。
S3: after a platform body azimuth rotation inertial navigation system is started under the condition of a static base and initial alignment is carried out, the control platform body rotates around an azimuth axis at a first set angular speed, and a first relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation under a damping working mode after a first set navigation time length;
The first relation of established longitude error and azimuth gyro drift and scale error is formula (6):
（6）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,The angular velocity is set for the first.
Specifically, it may be preferable that the first set angular velocity isThe first set navigation time length isThe time period of the time period,The navigation time table body is set to be a positive integer, and can just rotate for an integer multiple of turns, so that the influence of related factors can be counteracted.
Specifically, the longitude of the moment of the inertial navigation system transferring to the navigation operation after initial alignment can be respectively recordedThroughLongitude after timeLatitude and longitudeAccording toCan be calculated outAnd then will、By introducing into the formula (6), only one can be obtainedAndIs a function of the equation (c).
S4: the console body rotates around the azimuth axis at a second set angular speed, and after a second set navigation time length, a second relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation in a damping working mode;
The second relation between the established longitude error and the azimuth gyro drift and scale error is as shown in formula (7):
（7）；
Wherein: For a second set duration of the navigation time, A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
In particular, it may be preferable that the second set angular velocity isThe second set navigation time length isThe time period of the time period,Is a positive integer. The navigation time table body can just rotate for integer times, so that the influence of related factors can be counteracted.
In particular, the passes can be respectively recordedLongitude after timeLatitude and longitudeAccording toCan be calculated outAnd then will、By introducing into the formula (7), only one can be obtainedAndIs a function of the equation (c).
S5: combining a first relation of the longitude error and the azimuth gyro drift and the scale error and a second relation of the longitude error and the azimuth gyro drift and the scale error to obtain an azimuth gyro drift and scale error calculation formula;
the obtained azimuth gyro drift and scale error calculation formula is (8):
（8）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,For the first set angular velocity of the wheel,For a second set duration of the navigation time,A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
S6: and compensating and updating the azimuth gyro drift and the scale parameters of the inertial navigation system by using an azimuth gyro drift and scale error calculation formula.
Specifically, inertial navigation system azimuth gyro drift can be obtained according to formula (8)Scale error of azimuth gyroAnd substituting the drift and the scale parameters into the (9) to carry out compensation updating on the azimuth gyro drift and the scale parameters of the inertial navigation system: the updated inertial navigation system can eliminate the influence of azimuth gyro drift and scale error on the accuracy of the inertial navigation output navigation parameters, and improves the navigation accuracy of the system.
（9）；
Wherein: to compensate for the updated azimuth gyro scale, To compensate for the pre-update azimuth gyro scale,To compensate for the updated compensated azimuth gyro drift,To compensate for pre-update azimuth gyro drift.
According to the azimuth gyro error estimation and compensation method for the platform azimuth rotation inertial navigation, the process of supplementing and updating can be performed once at intervals, so that the navigation accuracy of a navigation system is ensured.
In summary, according to the azimuth gyro error estimation and compensation method for the platform azimuth rotation inertial navigation provided by the invention, the azimuth gyro drift and the scale error of the platform azimuth rotation inertial navigation are calculated and compensated through the platform azimuth rotation, so that the influence of the azimuth gyro drift and the scale error on the accuracy of the inertial navigation output navigation parameters is eliminated, and the navigation accuracy of the system is improved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. 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 (7)
1. A method for estimating and compensating the azimuth gyro error of a platform body azimuth rotation inertial navigation is characterized in that: the method comprises the following steps:
S1: according to an error equation of the fixed north-seeking inertial navigation system in the undamped mode, adopting a platform azimuth rotation technology to obtain a longitude error relation of platform azimuth rotation inertial navigation in the undamped mode;
the longitude error relation of the platform azimuth rotation inertial navigation under the undamped mode is obtained by the following method:
S11: the fixed north-seeking inertial navigation system error equation (1) in the undamped mode is rewritten into a matrix form equation as (2):
（1）；
（2）；
Wherein: representing an east speed error of the inertial navigation system, Representation pairThe derivative is obtained by the method,Represents the north speed error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the east error angle of the inertial navigation system platform,Representation pairThe derivative is obtained by the method,Representing the north error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Represents the azimuth error angle of the platform of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing the latitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Representing a longitude error of the inertial navigation system,Representation pairThe derivative is obtained by the method,Indicating zero offset of the east accelerometer of the inertial navigation system,Indicating zero offset of the north accelerometer of the inertial navigation system,Indicating that the inertial navigation system drifts towards the gyro,Indicating the north gyro drift of the inertial navigation system,Indicating the azimuth gyro drift of the inertial navigation system,For the latitude of the inertial navigation system,Is the rotational angular velocity of the earth,For the acceleration of the earth's gravity,For the radius of the earth,A state variable is represented and a state variable is represented,Representation pairThe derivative is obtained by the method,A state matrix is represented and is used to represent,Representing a noise matrix;
S12: and (3) performing solution differentiation on the matrix form equation to obtain a solution differentiation equation (3):
(3) ; wherein: for the duration of the navigation period of time, Representation ofInertial navigation system longitude errors of the navigation duration,Is the miller frequency;
S13: modulating east gyro drift of inertial navigation system by adopting platform azimuth rotation technology North gyroscope drift of inertial navigation systemIntroducing azimuth gyro scale error, and obtaining a longitude error relation formula (4) of the azimuth rotation inertial navigation of the platform body under the undamped mode by solving a differential equation:
（4）；
Wherein: For the drift of the azimuth gyro, Is the angular velocity of the rotation of the orientation of the table body,The scale error is the azimuth gyro;
S2: damping the oscillation term of the longitude error relation of the platform body azimuth rotation inertial navigation in the undamped mode to obtain the longitude error relation of the platform body azimuth rotation inertial navigation in the damped working mode;
the longitude error relation of the azimuth rotation inertial navigation of the table body in the damping working mode is shown as formula (5):
（5）；
S3: after a platform body azimuth rotation inertial navigation system is started under the condition of a static base and initial alignment is carried out, the control platform body rotates around an azimuth axis at a first set angular speed, and a first relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation under a damping working mode after a first set navigation time length;
S4: the console body rotates around the azimuth axis at a second set angular speed, and after a second set navigation time length, a second relation between a longitude error and azimuth gyro drift and scale error is established according to a longitude error relation of the platform body azimuth rotation inertial navigation in a damping working mode;
s5: combining a first relation of the longitude error and the azimuth gyro drift and the scale error and a second relation of the longitude error and the azimuth gyro drift and the scale error to obtain an azimuth gyro drift and scale error calculation formula;
s6: and compensating and updating the azimuth gyro drift and the scale parameters of the inertial navigation system by using an azimuth gyro drift and scale error calculation formula.
2. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the table body according to claim 1, wherein the method comprises the following steps: the first relation between the longitude error, the azimuth gyro drift and the scale error established in the step S3 is formula (6):
（6）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,The angular velocity is set for the first.
3. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the table body according to claim 2, wherein the method comprises the following steps: the second relation between the longitude error, the azimuth gyro drift and the scale error established in the step S4 is represented by formula (7):
（7）；
Wherein: For a second set duration of the navigation time, A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
4. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the table body according to claim 3, wherein the method comprises the following steps: the azimuth gyro drift and scale error calculation formula obtained in the step S5 is formula (8):
（8）；
Wherein: For the first set navigation duration of time, A longitude error indicating the accumulation of the first set navigation duration,Indicating a first set navigation time periodThe latitude of the back inertial navigation system,For the first set angular velocity of the wheel,For a second set duration of the navigation time,A longitude error indicating the accumulation of the second set navigation duration,Indicating the inertial navigation latitude after the second set navigation duration,The angular velocity is set for the second.
5. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the platform body according to claim 4, wherein the method comprises the following steps: in step S6, the azimuth gyro drift of the inertial navigation system obtained according to the formula (8) is carried outScale error of azimuth gyroSubstituting the inertial navigation system azimuth gyro drift and the scale parameter into the formula (9) to carry out compensation updating:
（9）；
Wherein: to compensate for the updated azimuth gyro scale, To compensate for the pre-update azimuth gyro scale,To compensate for the updated compensated azimuth gyro drift,To compensate for pre-update azimuth gyro drift.
6. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the table body according to claim 1, wherein the method comprises the following steps: the first set angular velocity in step S3 isThe first set navigation time length isThe time period of the time period,Is a positive integer.
7. The method for estimating and compensating the azimuth gyro error by using the inertial navigation of the azimuth rotation of the table body according to claim 1, wherein the method comprises the following steps: the second set angular velocity in step S4 isThe second set navigation time length isThe time period of the time period,Is a positive integer.
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| CN109029454A (en) * | 2018-07-13 | 2018-12-18 | 哈尔滨工程大学 | A kind of abscissa system Strapdown Inertial Navigation System damping algorithm based on Kalman filtering |
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