JPH0611354A - Method and equipment for setting initial coordinate values of inertia detecting means of moving body - Google Patents

Abstract

PURPOSE:To set initial coordinate values of navigation of an inertia detecting means of a moving body by a method wherein motion of shaking, rotation or the like is given to a moving body from a moving parent body, the motion is detected by the inertia detecting means of the moving body and the moving parent body and a detected value of the moving body is corrected with the detected value of the moving parent body used as a reference. CONSTITUTION:Acceleration is given to an inertial navigation system (MINS) 18 of a missile by shaking or rotating a missile launcher 10 intentionally, and this acceleration is detected by an accelerometer which the MINS 18 has. An inertial navigation system (SINS) 12 is installed in the vicinity of the center of shaking or rotation of the launcher and it can measure the acceleration of the launcher precisely. Based on a detected value of the SINS 12, accordingly, an acceleration vector at the time of roll to be detected at the position of the MINS 18 can be obtained by computation precisely from the relative positional relationship between the SINS 12 and the MINS 18. Three orthogonal coordinate axes of acceleration vectors of the SINS 12 and the MINS 18 thus obtained are compared and a difference value of each coordinate axis is set correctively in the MINS 18 as a corrective value for the MINS 18 and stored therein as an initial coordinate value. Using as references the coordinate values thus obtained, the missile 16 can fly to a target point correctly from a warship 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inertial detecting means (usually an inertial navigation device equipped with a gyroscope and an accelerometer) mounted on a moving body which moves in a navigation coordinate system. , A velocity, acceleration, angle, angular velocity, angular acceleration, etc.) is a detection means for detecting a physical quantity) and a method and apparatus for setting initial coordinate values, particularly, a moving object such as a missile is a ship, A mother body of an aircraft (also called a moving mother body because it also moves in the navigation coordinate system)
Initial values of the coordinate axes (three-axis system of x-axis, y-axis, and z-axis) of the inertial detection means mounted on the moving body when flying from, specifically, the north slave local horizontal coordinate system (X:
When north, Y: east, Z: vertically downward) is used as a reference navigation coordinate system, the initial angular relationship of the x-axis, y-axis, and z-axis, which are the coordinate axes on the moving object side, with respect to the reference navigation coordinate A method for performing initial value setting of the coordinate system on the moving body side at a desired time within a short time in view of the fact that the moving body can move and navigate within the reference navigation coordinate system if detected and set as the initial value. And the device.

[0002]

2. Description of the Related Art For example, taking a missile as an example of a moving body, it is generally desirable that the time from power-on to launch is as short as possible.
For the inertial navigation system in the missile, it is necessary to quickly set the warm-up including the rotational speed run-up of the drive system motor of various sensors (gyro, accelerometer, etc.) and the initial value of the coordinate system for navigation. It has been recognized from the past.

[0003]

Conventionally, so-called gyro-compassing, which detects the directional displacement due to the rotation of the earth by a gyro, is used to determine the azimuth (the angle in the horizontal plane to the north in the navigation coordinate system space) and the earth. The angle of two axes (horizontal plane) was obtained using so-called leveling, which detects the directional displacement with respect to gravity, using the so-called leveling, but even if there is no movement of the moving body, it takes several minutes to several tens of minutes to set the initial value. (It is several times this when there is a movement of the moving body), and the accuracy was not good. Especially in the direction, this tendency was remarkable.

Further, when an inertial navigation device serving as a reference is provided on the moving base, the coordinate values of the moving base, for example, the ship, with respect to the reference navigation coordinate system in the navigation space can be obtained by the above-mentioned method, but it is intended. Determining the relationship between the coordinate system of the inertial device mounted on the missile and the coordinate system of the ship makes it difficult to determine the angle between the input shaft of the sensor of the inertial device mounted on the missile and the mounting part for mounting the missile on the ship. There is a problem that it is structurally difficult for the reason. Therefore, the object of the present invention is to solve the problems encountered by the above-mentioned conventional techniques.

[0005]

In view of the above-mentioned object of the present invention, a moving body having an inertial detecting means for detecting a physical quantity or inertial force necessary for inertial navigation is attached to a moving mother body, and then a reference is provided from there. When navigating in the navigation coordinate system, a motion such as shaking or rotation is intentionally given to the moving body from the moving mother side, and the motion is detected by the inertia detecting means of each of the moving body and the moving mother, The detection value on the moving body side is corrected on the basis of the detection value on the side, and the initial coordinate value in the navigation coordinates of the inertial detection means of the moving body is set.

That is, according to the present invention, a second inertial navigation data detecting unit for a moving body mounted on a moving mother body having a first inertial detecting means for detecting inertial navigation data and moving separately from the moving mother body. In the method for setting the initial coordinate value of the reference navigation coordinate of the inertia detection means, the moving mother body has acceleration data generated by the movement of the moving mother body within the reference navigation coordinate before the moving body separates and moves. The first inertial detecting means detects the acceleration data due to the movement of the moving mother body by the second inertial detecting means of the moving body, and simultaneously detects the first and second inertial points in the reference navigation coordinates. From the known amount of relative position deviation between the detection means, the acceleration data by the above-mentioned motion to be detected by the second inertial detection means is calculated as calculation data, and the calculation data is calculated. A mobile body that calculates the difference between the acceleration data actually detected by the second inertial detection means with respect to the data, obtains the initial coordinate value in the navigation coordinates from this, and stores the initial coordinate value in the second inertial detection means. An initial coordinate value setting method for the inertial means is provided.

According to the present invention, there is further provided a first inertial detecting means, which is provided on the moving mother body and detects acceleration data due to a rotational motion within the reference navigation coordinates generated on the moving mother body, and is mounted on the moving mother body. A second inertial detection means that is provided on a movable body that can be separated from the movable mother body, and that detects acceleration data due to the rotational movement of the movable body that accompanies the rotational movement that occurs in the movable mother body; A correction value of acceleration data associated with the rotational movement of the moving body detected by the second inertial detection means is calculated from the known amount of the relative position difference between the inertial detection means and the second inertial detection means in the reference navigation coordinates. And a correction value of the navigation coordinates of the second inertial detection means based on the correction value calculated by the calculation means as an initial value in the reference navigation coordinates in the second inertial detection means. And an initial coordinate of the inertial means of the moving body for setting the initial coordinate value in the reference navigation coordinates for the second inertial detection means before the moving body separates from the moving base body. A value setting device is provided. Hereinafter, the present invention will be described in more detail based on the embodiments shown in the accompanying drawings.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where the present invention is applied to an embodiment in which a missile launched from a missile launching ship forming a moving mother body is used as a moving body will be described with reference to the drawings. In the accompanying drawings, FIG. 1 shows an inertial navigation system (hereinafter referred to as SINS) which constitutes an initial coordinate value setting device of a missile inertial navigation system (hereinafter referred to as MINS) as an application example of the present invention. FIG. 2 is an enlarged view of a missile launcher equipped with a missile launcher, and FIG.
Is a block diagram showing the inertial navigation system of the missile launching ship, which is a moving body, that is, the MINS and the inertial navigation system of the missile that is a moving body, that is, the internal configuration and the signal transmission / reception path with the MINS, and FIG. Figure explaining the standard navigation coordinate system, Figure 5
Is an explanatory diagram illustrating the acceleration acting on the MINS which is the inertial navigation system of the missile which is a moving body when rolling is given to the missile launcher which is a moving body.
FIG. 7 and FIG. 8 are flow charts of the process of setting the initial coordinate values of MINS in the standard navigation coordinates, and FIG. 9 is the moving matrix. 2 is a schematic diagram showing the arrangement and configuration of an inertial navigation device when the vehicle is an aircraft and the moving body is an air-to-air or air-to-ship missile.

1 and 2, the missile launch ship 10 has a SINS 12 in the ship and has a north slave local horizontal coordinate system (X: north direction, Y: east direction, Z: local vertical direction). SINS 12 navigates within the same navigation coordinates as the standard navigation coordinate system while detecting navigation data. The above SINS12 is
It has the x, y, and z axes as three orthogonal coordinate axes, and is mounted and held at a fixed position in the missile launch ship 10. Also,
In the missile launch tower 14 of the missile launch ship 10, a missile 16 as a moving body is mounted separately from the missile launch ship 10 so that the missile 16 can fly to a destination, and the missile 16 stores and mounts a MINS 18. ing. This MINS 18 also has three orthogonal coordinate axes of xm, ym and zm,
When mounted on the missile launch tower 14 and fixed, MI
The data of the relative position difference on the ship between the origin of the orthogonal coordinate axes of NS18 and the origin of the orthogonal coordinate axes of SINS12 is known as known data in the navigation coordinates from the time of designing and manufacturing the missile launch ship 10.

The basic technical idea of the present invention is to intentionally rock or rotate the missile launch ship 10 (for example, to roll the missile launch ship 10 but to intentionally use the rocking that naturally occurs due to the influence of waves at sea). Good) An acceleration is applied to the MINS 18, and this acceleration is detected by an accelerometer (not shown) included in the MINS 18. In this case, the gyro (not shown) in MINS is used to detect the angular velocity of rolling,
There is also a method of setting the initial coordinate values of the MINS 18 in the same procedure as in the case of the accelerometer, but the accelerometer requires a much shorter preparation time than the gyro.
In other words, the accelerometer has no start preparation time equivalent to the run-up time of the gyro rotation drive motor in the case of a gyro, and measurement can be performed immediately after turning on the power. Therefore, it is advantageous for the purpose of obtaining the initial value in a short time. Is.

On the other hand, as described above, the missile launch ship 10
Is equipped with SINS12 as a navigation reference device for navigating a ship from a destination to another destination in the navigation coordinate system, and the SINS12 of the missile launcher 10 is actually designed to maintain high accuracy. Since it is installed near the center of gravity and / or near the center of sway / rotation where there is little acceleration disturbance due to the motion of the ship so that the angular velocity of the ship can be measured with high accuracy, the value detected by this SINS12 is detected at the position of MISN18. SINS1 is the acceleration vector during rolling.
2. It can be obtained with high accuracy by calculation from the relative positional relationship between the MINS 18. SINS 12 of this missile launch ship 10
The acceleration data obtained by the calculation is much more accurate than the acceleration data obtained from the detection value of the MINS 18 of the missile 16 itself because of the accuracy of the SINS 12 which was originally manufactured to guarantee the high accuracy of ship navigation. It is high and can be used sufficiently as a reference for setting the initial coordinate value of the MINS 18 of the missile 16 (hereinafter referred to as reference acceleration vector).

Orthogonal 3 of the reference acceleration vector thus obtained
If the three orthogonal coordinate axes of the acceleration vector detected by the MINS 18 of the missile 16 are compared with the coordinate axes, and the difference value in each coordinate axis is corrected and set in the MINS 18 as the correction value of the MINS 18, and stored as the initial coordinate value, When the missile 16 flies from the missile launch ship 10 based on the initial coordinate values, it can accurately fly to the destination using the navigation data up to the set flight destination. The rolling of the ship shown in FIG. 1 is an example in which the longitudinal axis of the ship is rolling in the X direction (north).

Referring now to FIG. 3, SINS 12 and MI
The internal structure of the NS 18 and its communication path are shown by a block diagram. As shown in FIG. 3, the SINS 12 of the missile launch ship 10 includes an inertia detection unit 30 and an arithmetic processing unit (CPU) 3
2, a memory unit 34 having a data memory and a program memory, and a signal interface 36, and the MINS 18 of the missile 16 similarly has an inertial detection unit 40, an arithmetic processing unit (CPU) 42, and a data memory. And a program interface, and a memory unit 44 having a program memory and a signal interface 6.
Reference numerals 6 and 46 have communication paths connected to each other so that signals can be exchanged. Then, each inertial detection unit 30, 40
In this configuration, measurement data such as angular velocity and acceleration as navigation data are input to the corresponding arithmetic processing units 32 and 42. Therefore, the above-mentioned actual measurement and calculation of the navigation data can be executed.

As shown in FIG. 4, the navigation coordinate system of SINS 12 (X: north direction, Y: east direction, Z: gravity direction) and the navigation coordinate system of MINS 18 (x :
Considering it separately in the north direction, y: east direction, and z: gravity direction, the rolling with the X axis as the rotation axis generated in the missile launch ship 10 acts on both SINS 12 and MINS 18 with the same effect. Therefore, it can be understood that the angular velocities ω _s act simultaneously around the X axis and the x axis in FIG. 4.

Considering the influence of such angular velocity ω _s , FIG. 5 shows that when the rolling occurs in the missile launch ship 10, it acts on the MINS 18 of the missile 16 stopped in the missile launch tower 14 of the missile launch ship 10. The acceleration α _c is illustrated. ^{_{That, α c = aω s 2 Sin}} ω s t ··· (1) ω s: rolling frequency 2a: the chord length 2 [Phi: it can be seen that the rolling angle is (1) is established. Thus, the illustration of FIG. _{5, α c = h × Φ} × ω s 2 Sin ω s t ··· (2) (h is the difference in height on the missile ship 10 between SINS12 and MINS18 It can be understood that the equation (2) of (shown) holds.

[0016] Here, the (2) in right side of equation ^{_{[Φ × ω S 2 Sin ω s}} t ] is the inertial sensor 3 of SINS12
This is data obtained by the calculation in the calculation processing unit 32 based on the measured data of 0. Further, “h” in the above equation (2) is relative position difference data stored in advance as known data in the memory unit 34 of the SINS 12. Therefore, the value of acceleration α _c on the left side of equation (2) is SINS.
12 is a value obtained by calculation based on the measurement data. On the other hand, if the acceleration measured by the inertial detection unit 40 of the MINS 18 of the missile 16 is α _m , the reference navigation coordinates should be the same.

Therefore, as shown in FIG. 6, when α _C and α _m should match, when the arithmetic processing unit 32 of the SINS 12 compares them, there are difference values ΔΦ ₀ and Δx ₀ between them. For example, MI
As for the NS18 3-axis system, the correction amounts of the 2-axis relative to the 3-axis of the navigation coordinate system are ΔΦ ₀ , Δx ₀ to Xm, Zm 2
The initial values of the axes are obtained, and similarly, the correction amount is obtained using the pitching input of the ship 10 (see FIGS. 1 and 2), and thus the initial values of the two axes of Xm and Ym are obtained and obtained. Ultimately, the initial coordinate values of Xm, Ym, and Zm are obtained from the initial values of the set, stored in the data memory of the memory unit 44 of the MINS 18, and the setting process of the initial coordinate values is completed.

FIG. 7 shows SINS 12 when the above-described rolling or the like is generated or imparted to the missile launch ship 10.
3 is a flowchart for explaining the process of setting the initial coordinate values of the three coordinate axes of the MINS 18 by performing actual measurement by the MINS 18 and the MINS 18 and performing the calculation by the calculation processing unit 32 of the SINS 12. In the flowchart, the calculation processing steps for obtaining the coordinate values for each of the two sets of axes of the MINS 18 and finally completing the setting of the initial coordinate values for the coordinate three axes are described in steps 1 to 3.

In the present invention, the rigidity of the missile launcher 10 as a ship is structurally sufficiently high, and the deformation (to be exact, the relative deformation between the SINS 12 and the missile 18) is required to obtain the required accuracy. , A value that can be ignored, but if it cannot be ignored, a measuring means for measuring the amount of deformation,
For example, the present invention can be applied by providing distance measuring and angle measuring means by laser light and performing addition calculation in the calculation process of the reference acceleration vector regarding the MINS 18 described above by correction based on the measurement result of the measuring means.

In FIG. 8, the moving body is an aircraft,
An example is shown in which the moving body is an air-to-air or air-to-ship missile loaded on the same aircraft. That is, in the case of an aircraft navigating in the earth's gravity zone, it is possible to use the north slave local horizontal coordinate system as the reference navigation coordinate system,
Also in this case, the inertial detection means 103 provided in the aircraft 100
If the inertia detecting means 105 provided on the missile 102 mounted on the wing 101 of the aircraft are connected by the communication path 104 as SINS and MINS, respectively, the initial stage according to the above description based on FIGS. It goes without saying that the coordinate value setting method can be applied as it is.

[0021]

According to the present invention, a moving body having an inertial detecting means for detecting a physical quantity and acceleration data necessary for inertial navigation is attached to a moving base body in the reference navigation coordinate system, and then, in the reference navigation coordinate system. When navigating in, the motion is intentionally applied to the moving body from the moving mother side or the generated motion is intentionally used, and the motion is detected by the inertia detecting means of each of the moving body and the moving mother. Detect, compare and calculate the acceleration data on the moving body side and the acceleration data on the moving body side,
It becomes possible to set the initial coordinate value of the unique inertial detection means that sets the initial coordinate value in the reference navigation coordinates of the inertial detection means of the moving body, and moreover, the run-up time immediately before the start of the movement of the moving body, that is, If an accelerometer having a very short preparation time is used not only for setting the initial value of the horizontal direction but also for setting the initial value of the azimuth, the time required for setting the initial coordinate value of the inertial detecting means can be significantly shortened.

As a result, since the moving body can complete the initial coordinate value in the reference navigation coordinates of the inertial detection means such as the inertial navigation device incorporated within a short time immediately before the start of movement, after the movement, the reference navigation coordinate system is used. It is possible to obtain the effect of significantly improving the movement accuracy to the target position. That is, for example, when launching a missile from a missile launcher, the initial coordinate values of the built-in inertial navigation system are set accurately just before launch, so that the missile reaches the destination point and the accuracy of the hit is greatly improved. Will be done.

[Brief description of drawings]

FIG. 1 is a schematic mechanical diagram of a missile launcher equipped with an inertial navigation system (SINS) that constitutes an initial coordinate value setting device of an inertial navigation system (MINS) for a missile as an application example of the present invention.

FIG. 2 is an enlarged view of the missile launching tower of the missile launching ship, taken along line II-II.

FIG. 3 is a block diagram showing an inertial navigation device of a missile launching ship that is a mobile host, that is, an MINS and an inertial navigation device of a missile that is a mobile object, that is, an internal configuration of the MINS and a signal transmission / reception path.

FIG. 4 is a diagram illustrating a reference navigation coordinate system.

FIG. 5 is an explanatory diagram illustrating acceleration acting on MINS which is an inertial navigation system for a missile which is a moving body when rolling is given to a missile launcher which is a moving body.

FIG. 6 is an explanatory diagram for explaining a relationship between a measured acceleration and a calculated acceleration in reference navigation coordinates and a difference value.

FIG. 7 is the first half of the flowchart of the process of setting the initial coordinate values of the MINS in the reference navigation coordinates.

FIG. 8 is the second half of the flowchart of the process of setting the initial coordinate values of MINS in the reference navigation coordinates.

FIG. 9 is a schematic diagram showing an arrangement and a configuration of an inertial navigation system when a moving body is an aircraft and a moving body is an air-to-air missile.

[Explanation of symbols]

 10 ... Missile launching ship 12 ... SINS 14 ... Missile launching tower 16 ... Missile 18 ... MINS 30 ... Inertia detecting section 32 ... Arithmetic processing section 34 ... Memory 36 ... Signal interface 40 ... Inertial detecting section 42 ... Arithmetic processing section 44 ... Memory 46 … Signal interface

Claims (3)

[Claims] 1. A second inertial navigation data detecting device, which is mounted on a moving body having a first inertial detecting means for detecting inertial navigation data, and which is included in a moving body that separates from the moving mother body.
In the method for setting the initial coordinate values in the reference navigation coordinates of the inertia detection means, the moving mother body has acceleration data due to the motion of the moving mother body occurring in the reference navigation coordinates before the moving body separates and moves. The first inertial detecting means detects the acceleration data by the movement of the moving mother body by the second inertial detecting means of the moving body, and simultaneously the first and second inertial points in the reference navigation coordinates are detected. Acceleration data due to the motion to be detected by the second inertial detection means is calculated as operation data from a known amount of relative position deviation between the detection means, and the second inertial detection means actually operates on the operation data. The difference between the detected acceleration data is calculated, and the initial coordinate value in the navigation coordinates is calculated from this difference and is recorded in the second inertial detection means. Initial coordinate value setting method for inertial means a moving body, characterized in that to. 2. A first inertial detection means, which is provided on a moving base and is capable of detecting acceleration data due to rotational movement within the reference navigation coordinates generated on the moving base, and mounted on the moving base to perform the movement. A second inertial detection unit that is provided in a movable body that can be separated from the mother body and that can detect acceleration data due to the rotational movement of the movable body that accompanies the rotational movement that occurs in the movable mother body; and the first inertial detection unit. And a calculation means capable of calculating a correction value of acceleration data associated with the rotational movement of the moving body detected by the second inertial detection means from a known amount of a relative position difference between the second inertial detection means and the second inertial detection means. And correction means for setting a correction value of the navigation coordinate of the second inertial detection means based on the correction value calculated by the calculation means to the second inertial detection means as an initial value in the navigation coordinate. hand An initial coordinate value setting device for inertial means of a moving body, which is configured to set an initial coordinate value in reference navigation coordinates related to the second inertial detection means before the moving body separates from the moving mother body. 3. The missile-equipped ship, wherein the movable base is equipped with a ship inertial device forming the first inertial detection means, and the second inertial detection means is installed on the missile-equipped ship. The inertial device coordinate system initial value setting method according to claim 2, wherein the inertial device coordinate system is a missile inertial device.