JP3313169B2 - Calibration method of set value of coordinate system of inertial reference device in moving object - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for setting initial values of a coordinate system of an inertial reference device for navigation provided on an unmanned moving body which flies and moves from a fixed moving base point. With the aircraft as the moving base, the set values of each axis of the coordinate system of the inertial reference device included in the moving body such as a missile, a torpedo, an unmanned aerial vehicle, etc., which move by flying or navigating to the target point on the navigation coordinates based on the aircraft Instead of initial setting at the movement base point, by sequentially updating and setting while moving,
The present invention relates to a method of calibrating a set value of an inertial device coordinate system in a moving object, which can be equivalent to setting an accurate initial value.

[0002]

2. Description of the Related Art A missile that is launched from a missile launcher or an aircraft to fly through a predetermined program and reach a destination via a travel path has an inertial reference device. Then, it moves to the destination while correcting the deviation from the normal movement route (trajectory) with time from the movement base point. Therefore, for example, when the northern slave local horizontal coordinate system (X: north, Y: east, Z: vertical lower side) is used as a reference navigation coordinate system, the normal movement route is instructed by this reference navigation coordinate system. Therefore, it is necessary that the initial value of the coordinate system of the inertial reference device of the missile, which is the moving object, with respect to the reference navigation coordinates be set accurately.

[0003] The initial value of the coordinate system of the conventional inertial reference device of a moving body is set by detecting the method of the earth's rotation angular velocity and gravity using a gyroscope and an accelerometer which are inertial detecting elements of the inertial reference device. A method of setting an initial value for the coordinate system (this is usually referred to as a self-reference setting method) is used, or the speed and / or position of the mobile object with respect to the reference navigation coordinate system is measured on the mobile object. The measurement is performed using a means to obtain measurement data of the speed and / or position of the moving object, and the obtained measurement data is compared with the speed and / or position data obtained from the inertial reference device of the moving object. In this way, a deviation of the coordinate system of the inertial reference device is obtained, and an initial value of the coordinate system of the inertial reference device of the moving body is calculated and set from the obtained deviation value (this is referred to as an inertia based on an external reference). Two methods referred to as a location reference setting method) it has been taken roughly.

[0004]

However, in the former conventional method, it is necessary that the moving object is substantially stationary with respect to the navigation coordinate system, and furthermore, a sufficient time for setting the initial value is required. is necessary. Therefore, it is difficult to apply this conventional method to the initial value setting of the coordinate system of the inertial reference device of the missile for which the short preparation time is an absolute requirement.

On the other hand, the latter method does not require a preparation time in a substantially stationary state on a navigation coordinate system, but it is necessary to mount measuring means such as a Doppler radar, a GPS and a star sensor on a moving body. Therefore, the missile which is necessarily a moving object requires a storage space for these measuring means, and has a problem that the size and weight are considerably increased. Therefore, there is still a need for developing means and methods that can solve such problems.

Accordingly, a main object of the present invention is to omit the initial value setting of the coordinate system of the inertial reference device of the moving body to achieve instantaneous movement start, and to provide no special new means separately. It is an object of the present invention to provide a method of calibrating a set value of each axis of a coordinate system of an inertial reference device of a movable body which can be performed.

Another object of the present invention is to provide a method for setting an initial value of a coordinate system of an inertial reference device mounted on a moving body without increasing the size and weight of the moving body from the current scale without using existing external measurement. The aim is to provide a way to accomplish this by means of means. Still another object of the present invention is to make it possible to set an initial value of a coordinate system of an inertial reference device provided in a moving body while the moving body is moving after the start of the movement, so that the coordinate system at the start of the movement of the moving body can be set. It is an object of the present invention to provide a method of calibrating a set value of each axis of a coordinate system of an inertial reference device of a moving body, which enables a time required for setting an initial value to be substantially zero.

[0008]

According to the present invention, there is provided a measuring means provided at a known point with respect to a moving base point of a moving body, for example, when a missile is launched from a missile launcher or an aircraft and flies. The missile's orbital data is measured in the reference navigation coordinate system by actually measuring the movement path (orbit) of the missile after the start of its flight using radar provided on the missile launcher or aircraft and the inertial reference system of the ship or aircraft itself. From the position in the reference navigation coordinates at the time of the actual measurement, the data of each axis of the coordinate system of the inertial reference device of the missile is obtained, and the obtained data is input to the inertial reference device of the missile by the communication means as a set value for each axis, It updates and sets the previous set value.

That is, according to the present invention, there is provided a method of calibrating a set value of a coordinate system of an inertial reference device provided in a moving body which flies or travels from a moving base point in a reference navigation coordinate system. A time course of the moving body in the navigation coordinates during the movement is measured by a route measuring means provided at a predetermined known point with respect to the moving base point, and a position of the time course of the moving body measured by the route measuring means is measured. Based on the data, a set value of each axis of the coordinate system of the inertial reference device included in the moving body in the reference navigation coordinate system is obtained, and the set value of each axis of the obtained coordinate system is obtained via the wireless communication unit. It is input to the inertial reference device of the moving body, and the previous set value is updated by the input set value of each axis in the coordinate system of the inertial reference device of the moving body, whereby the inertia of the moving body in the reference navigation coordinate system is updated. There is provided a set value calibration method for inertial reference unit coordinate system in a moving body the set value of the coordinate system of quasi-devices to sequentially calibrated from the initial value. Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of applying a method of calibrating a set value of a coordinate system of an inertial reference device in a moving object according to the present invention, in which a missile that is a moving object is fired from a missile launching ship that is a moving mother. FIG. 2 is a schematic explanatory view illustrating an embodiment in which the inertial reference device of the radar and the missile launcher is used as missile trajectory measuring means when calibrating the set values of the axes of the coordinate system of the inertial reference device of the missile.
FIG. 4 is a graph for explaining calibration of a set value of an azimuth axis of a missile inertial device in the embodiment, and FIGS. 3 to 6 are diagrams for explaining a moving body according to another embodiment to which the present invention can be applied. It is.

In FIG. 1, a missile launching ship 10 is equipped with a navigation inertial reference system (SINS) 12, and the inertial reference system 12 includes a navigational coordinate system of the ship 10, for example, a latitude on the earth, The navigation device outputs the navigation data by measuring the position, speed, and attitude azimuth of the ship 10 in the reference navigation coordinate system with the longitude and the local horizontal true north as the axes (direction of the ship 10 in the front-rear axis direction). 22 to obtain ship maneuvering data. The SINS 12 serves as a reference for the attitude and azimuth of the radar device 20 installed on the deck of the missile ship 10 and the missile 16 fired from the missile launch tower 14.

The missile 16 has an inertial reference unit (MINS) 18 of the missile itself, and the MINS 18 also has a coordinate system. In other words, the coordinate system of MINS 18 and the SI of ship 10
If there is a perfect 1: 1 relationship with the reference navigation coordinate system, which is the coordinate system of the NS 12, the missile 16 can be regarded as flying in the reference navigation coordinate system.

The missile 16 is launched from the launch tower 14 of the missile launcher 10 and has its own inertial reference device 18.
Inertia navigation according to the output data of, and heads for the target arrival point. At this time, it is generally necessary to initialize each axis of the coordinate system of the MINS 18 with respect to the reference navigation coordinate system. However, in the present invention, in the initial movement process in which the missile 16 is fired, The initialization is not performed while maintaining the set value of each axis of the coordinate system at that time so as to be fired immediately. Therefore, initially only turn on the power,
A method has been established in which the set values of each axis of the MINS 18 are sequentially calibrated and updated from the set values at the time of initial movement in the process after the start of flight by firing.

That is, in the present invention, the missile launcher 10
, The distance, azimuth (Ψ), and depression (θ) of the missile 16 launched from the launch tower 14 to the ship 10 are measured over time, and the control device 2
The data of the measurement result is sent to 2. On the other hand, at this time, the SINS 12 of the ship 10 detects the attitude and azimuth of the ship 10 and sends it to the control device 22 every moment. For this reason, the control device 22 transmits the measurement data of the radar device 20 to the SINS 12
And the orbit data of the missile 16 in the reference navigation coordinate system is obtained from the received measurement data and detection data. That is, data on which point the missile 16 flies over time can be obtained.

Here, in order to simplify the description, the missile 1 based on the orbit data of the missile 16 described above is used.
Calibrate the set value of the azimuth axis in the coordinate system of MINS18 of 6,
A method of updating will be described. Referring to FIG. 2, the trajectory of the missile 16 that has flew from the missile launcher 10 is now based on the measurement of the radar device 20, as shown in FIG. Therefore, it is assumed that a straight line is obtained like a line Tr (the position at that time is Pm). This orbit data T
At position Pm on r, the missile 16
Flight direction is Ψm0 with respect to the north in the reference navigation coordinate system.
And is obtained by calculation. That is, the value of the measurement angle の of the azimuth axis measured by the MINS 18 of the missile 16 at that time should be Ψm0 in principle.
Here, the navigation coordinate system (horizontal plane) at the time of the missile launch (position Ps0) detected by the SINS 12 of the ship 10, as well as the north and east of FIG. 2, is shown.

Accordingly, if the azimuth axis of the MINS 18 at the measurement time point Pm is 持 続 m, the value of the azimuth angle Ψ that has been maintained is
Calibration and correction are performed for Ψm0− 分 m, and the set value is set to Ψm0. At this time, in the present invention, the angle data Ψm0 of the azimuth axis is input to the MINS 18 by the data link communication means of the missile launching ship 10. Although the trajectory of the missile 16 is a straight line from the viewpoint of the graph illustration, it should not be a straight line in actuality.
By repeating the process of calibration and update setting, the missile 16 is directed to the target point by inertial navigation.

The above description describes the method of calibrating and updating the set values of the coordinate system of the MINS 18 when the missile 16 having the MINS 18 flies as a moving object from the missile launcher 10 forming the moving base. Although the description has been given with respect to the axis, the calibration and updating of the axis set value are similarly performed for the other two axes (pitch axis and roll axis). In this case, the pitch axis is a traveling direction component of the flight distance obtained from the MINS 18 in the horizontal plane, and the roll axis is a component perpendicular to the traveling direction of the flight distance obtained from the MINS 18 in the horizontal plane, corresponding to the movement of the missile obtained from the radar device 60. Compare with distance.

FIGS. 1 and 2 show a missile launcher 10.
Although the description has been given based on the embodiment in which the missile 16 is fired from FIG. 3, FIG. 3 shows a case where the missile 16 fired from the missile launch tower 34 on the ground is measured by the radar device 40 and the missile orbit is obtained by the control device. , The reference navigation coordinates are
A fixed coordinate system on the ground surface is used.

FIG. 4 also shows that the aircraft 50 is used as a moving base, the orbit Tr1 of the missile 56 is obtained based on the SINS 52, the control device 54, and the radar device 60 of the aircraft 50, and the coordinate system of the MINS 58 of the missile 56 is obtained. An example in which calibration and updating of set values are performed by a data link is shown. FIG.
Indicates that the submarine 70 has the SINS 72 and the sonar 74 as a means for measuring the orbit Tr2 of the torpedo 76, and the MINS that the torpedo 76 has
FIG. 7 illustrates that the method of the present invention can be applied to an embodiment of calibrating and updating 78 coordinate system settings. FIG. 6 shows a coordinate system of the inertial reference device 80 when the inertial reference device 88 of the unmanned aerial vehicle 80 flies from the ground. This is an example in which the flight trajectory is measured from 90 and each axis in the coordinate system of the inertial reference device 88 of the aircraft 80 is set as described above.

As is apparent from the above description, the present invention is basically applicable to the case where the moving object is not moving without setting the initial value of the coordinate system of the inertial reference device of the moving object. Measure the trajectory of the moving object by external measuring means, and determine the points to sequentially calibrate and update the setting values of each axis of the inertial reference device of the moving object from the initial setting values from the trajectory data. As a feature, at the time of initial movement, it can be applied as a very effective method of calibrating the set value of the coordinate system to missiles and the like that require quickness because the setting time of the axis of the coordinate system of the inertial reference device may be zero. is there.

[0021]

As described above, according to the present invention, there is provided a method for calibrating a set value of a coordinate system of an inertial reference device provided in a moving body which flies or travels from a moving base point in a reference navigation coordinate system. A time course of the moving body in navigation coordinates during the movement of the moving body is measured by a route measuring means provided at a predetermined known point with respect to the moving base point, and the time course of the moving body measured by the route measuring means is measured. Based on the position data of the moving path, a set value of each axis of the coordinate system of the inertial reference device included in the moving body in the reference navigation coordinate system is obtained, and the obtained set value of each axis of the coordinate system is wirelessly communicated. Input to the inertial reference device of the moving body through the means, and updates the previous set value with the input set value of each axis in the coordinate system of the inertial reference device of the moving body, thereby updating the reference navigation coordinate system. Since the set value of the coordinate system of the inertial reference device of the moving object is sequentially calibrated from the initial value, it is possible to obtain the set value of the axis angle of each axis of the inertial reference device of the moving object outside the moving object. Yes, it is not necessary to mount new means on the moving body, so there is no disadvantage such as an increase in weight, and moreover, the mother ship, mother machine,
At the base or the like, the time required for setting the initial value of the inertial reference device of the moving body at the start of the flying movement or the navigating movement of the moving body can be substantially eliminated.

Therefore, it is extremely effective in the case of a mobile object such as a missile, which is required to be fired by an instantaneous preparation time, and the setting value can be updated sequentially in the moving process. The effect is great in that the accuracy of reaching the point can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of applying a method of calibrating a set value of a coordinate system of an inertial reference device in a moving object according to the present invention. FIG. 4 is a schematic explanatory view illustrating an embodiment in which the inertial reference devices of the radar and the missile launcher are used as missile trajectory measuring means when calibrating the set values of the respective axes of the coordinate system of the inertial reference device.

FIG. 2 is a graph for explaining a set value calibration of an azimuth axis of the missile inertial device in the embodiment.

FIG. 3 is a schematic diagram showing another embodiment to which the present invention can be applied.

FIG. 4 is a schematic structural view showing still another embodiment to which the present invention can be applied.

FIG. 5 is a schematic structural view showing still another embodiment to which the present invention can be applied.

FIG. 6 is a schematic diagram showing another embodiment to which the present invention can be applied.

[Explanation of symbols]

 10 Missile launcher 12 SINS 14 Missile launch tower 16 Missile 18 MINS 20 Radar device 22 Control device

Continuation of the front page (56) References JP-A 1-312398 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21/00 G01C 25/00

Claims (3)

(57) [Claims] 1. A method of calibrating a set value of a coordinate system of an inertial reference device provided in a moving body that moves by flight or navigation from a moving base point in a reference navigation coordinate system, the method comprising: Is measured by a route measuring means provided at a predetermined known point with respect to the moving base point, and based on position data of the moving body with time measured by the route measuring means, A set value of each axis of a coordinate system of an inertial reference device provided in the moving body in a navigation coordinate system is determined, and the determined set value of each axis of the coordinate system is determined via wireless communication means. The previous set value is updated by the input set value of each axis in the coordinate system of the inertial reference device of the moving object, and the coordinate system of the inertial reference device of the moving object in the reference navigation coordinate system is input. Setpoint calibration method for inertial reference unit coordinate system in a mobile, characterized in that the value was set to sequentially calibrated from the initial value. 2. The moving base point is a moving base on which the moving body flies or sails, and a radar provided on the moving base and an inertial reference device for navigating the moving base are used as the route measuring means, and the time base is used as the movement measuring point. 2. The method for calibrating a set value of a coordinate system of an inertial reference device in an inertial reference device of a moving body according to claim 1, which measures a dynamic movement path. 3. The inertial reference device coordinate system for a moving body according to claim 1, wherein the updating of the set value is repeated during the movement of the moving body, and the initial value is repeatedly updated. Setting value calibration method.