KR101752724B1 - Alignment method for inertial navigation system - Google Patents

Alignment method for inertial navigation system Download PDF

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KR101752724B1
KR101752724B1 KR1020150188943A KR20150188943A KR101752724B1 KR 101752724 B1 KR101752724 B1 KR 101752724B1 KR 1020150188943 A KR1020150188943 A KR 1020150188943A KR 20150188943 A KR20150188943 A KR 20150188943A KR 101752724 B1 KR101752724 B1 KR 101752724B1
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algorithm
alignment
inertial navigation
time
sorting algorithm
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KR1020150188943A
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Korean (ko)
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김태원
남성호
성창기
유명종
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국방과학연구소
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)

Abstract

An alignment method of an inertial navigation device is disclosed. An embodiment of the present invention includes: storing data acquired from an inertial navigation device sensor in a buffer at a predetermined cycle; Receiving a vector stored in the buffer in a FIFO manner from an input position of an initial position of a flight, and repeatedly executing an integrated sorting algorithm every predetermined period; Terminating the integrated sorting algorithm at a predetermined time, and performing self-sorting.

Description

{ALIGNMENT METHOD FOR INERTIAL NAVIGATION SYSTEM}

Field of the Invention [0002] The present invention relates to an alignment method for an inertial navigation system, and more particularly, to an alignment method for an inertial navigation system applicable even in a situation where input of initial position information is delayed.

An inertial navigation system is a device that provides the operator with the current position, speed and attitude of the aircraft. The inertial navigation system internally includes a gyroscope and an accelerometer.

The gyroscope measures the rotational angular velocity of the flight vehicle and the accelerometer measures the specific force acting on the flight vehicle so that the built-in navigation computer can calculate the position, velocity and posture.

Inertial navigation devices can be divided into two types: Gimbal INS and Strapdown INS. Modern inertial navigation systems are often used in a strap-down form where the output of accelerometers and gyroscopes is in a platform frame to avoid mechanical complexity.

According to this form, INS 's navigation computer carries out proper navigation algorithm for navigation, which can be divided into sorting algorithm and navigation algorithm.

The alignment algorithm determines the directional cosine matrix by obtaining the relative attitude angle between the body coordinate system and the navigation frame at the beginning of the navigation. The navigation algorithm is to calculate the position, velocity and posture of the body.

In order to perform the sorting algorithm, a latitude value corresponding to the current position on the earth,

Figure 112015128457748-pat00001
). First, U is the Earth's rotational angular velocity,
Figure 112015128457748-pat00002
Is a vector obtained by measuring the earth rotation angular velocity vector in the inertial coordinate system (x, y, z 3 axis, origin point is the center of the earth) in the navigation coordinate system.

In the alignment process, the calculated angular velocity

Figure 112015128457748-pat00003
And
Figure 112015128457748-pat00004
, The latitude value of the current location
Figure 112015128457748-pat00005
.

Thus, when there is no prior position information about the departure point of the flight vehicle,

Figure 112015128457748-pat00006
, It can not start sorting with existing self-sorting algorithms.

The present invention relates to an alignment method of an inertial navigation device, which can achieve the same alignment time and performance as that of self alignment even if initial position information is acquired and inputted late, when self alignment can not be performed due to lack of initial position information of a flying object The purpose is to provide.

It is another object of the present invention to provide an alignment method of an inertial navigation apparatus applicable when a current position information is not obtainable from a satellite, such as a GNSS jamming state.

To this end, an alignment method for an inertial navigation system according to an embodiment of the present invention includes: storing data acquired from an inertial navigation device sensor in a buffer at a predetermined cycle; Receiving a vector stored in the buffer in a FIFO manner from an input position of an initial position of a flight, and repeatedly executing an integrated sorting algorithm every predetermined period; And terminating the integrated sorting algorithm at a predetermined time and performing self-alignment.

In one embodiment, the data stored in the buffer is characterized by including non-reciprocity, rotational angular velocity vector and time.

In one embodiment, the step of executing the integrated sorting algorithm comprises the steps of: executing a first algorithm to calculate and update the navigation data of the inertial navigation device, and a second algorithm to apply a control angular velocity to the horizontal axis of the inertial navigation device And executing a third algorithm indicating a reference of a starting point of the navigation, wherein the first algorithm, the second algorithm, and the third algorithm are repeatedly executed in order.

In one embodiment, the step of executing the integrated sorting algorithm comprises the steps of receiving data stored in the buffer as input data and selecting an alignment corresponding to the mode time of the rough horizontal alignment, the rough azimuth alignment, and the precision azimuth alignment, And outputting, as output data, the navigation data including the coordinate transformation matrix and the alignment precision.

In one embodiment, loop counting is performed at each execution of the integrated sorting algorithm from the initial position input of the air vehicle, sensor counting is performed at predetermined intervals from the time of storing the first sensor data in the buffer, And terminates the integrated sorting algorithm at a time when the counts match.

In one embodiment, the maximum number of iterations per clock of the integrated sorting algorithm is determined in consideration of the task load of the predetermined period.

As described above, according to the embodiment of the present invention, even if the aircraft is unable to acquire the current position information from the satellite, even if the initial position information is acquired late and the INS alignment is performed, Can be obtained.

FIG. 1 is a view for explaining an operation according to the conventional self-alignment.
FIG. 2 is a view showing steps of GCAWP (Gyro Compassing Alignment without Initial Position) according to an embodiment of the present invention.
FIG. 3 is a view showing steps of an integrated sorting algorithm according to an embodiment of the present invention.
Figure 4 compares the performance of GCAWP with that of existing self-alignment, according to an embodiment of the present invention.
5 is a representative flowchart for explaining an alignment method of an inertial navigation device according to an embodiment of the present invention.

First, it is revealed beforehand that the embodiment of the present invention can be applied to all environments requiring self-alignment of the air vehicle

In addition, the present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinals such as first, second, etc. described herein can be used to describe various elements, but the elements are not limited to these terms. That is, the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term " and / or " includes any combination of a plurality of related listed items or any of a plurality of related listed yields.

Also, when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between have. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Also, the terms used in the present application are used only to describe certain embodiments and are not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, Should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The description will be omitted.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings,

Figure 112015128457748-pat00007
.

FIG. 1 is a view for explaining an operation according to the existing self-alignment.

Referring to the conventional alignment of the inertial navigation apparatus, the process is sequentially performed in the order of coarse horizontal alignment, coarse azimuth alignment, and fine alignment as shown in FIG.

The built-in sensors of the inertial navigation system used for the test of the present invention output non-force and rotational angular velocity at regular intervals. This is done through a series of steps

Figure 112017020699558-pat00008
And is output as non-reciprocal force and rotational angular velocity data. In keeping with this,
Figure 112017020699558-pat00009
On a regular basis
Figure 112017020699558-pat00010
Time horizontally aligned for time,
Figure 112017020699558-pat00011
Rough azimuth alignment over time,
Figure 112017020699558-pat00012
Perform precise azimuth alignment sequentially for a period of time.

At this time, the inertial navigation device alignment time, which can achieve sufficient alignment accuracy,

Figure 112015128457748-pat00013
When you say
Figure 112015128457748-pat00014
.

The performance evaluation of GCAWP

Figure 112015128457748-pat00015
Start the algorithm in
Figure 112015128457748-pat00016
The final posture of the vehicle is calculated, and the result is the same condition (
Figure 112015128457748-pat00017
from
Figure 112015128457748-pat00018
), Which is the same as the result when performing the self-alignment.

In the present invention, even if the inertial navigation device does not know the current position of the airplane, the non-reciprocating force and the rotational angular velocity are stored in advance as a sensor output period in preparation for knowing the current position at a later time. Then, when the current position is learned late, alignment is performed at a high speed from that point, and the same alignment time and the same performance as the conventional self alignment can be achieved.

If the inertial navigation apparatus can not receive the initial position information for a long time, it is possible to achieve a considerable alignment accuracy by performing alignment from several minutes to several tens of minutes from the time when the initial position information is input. However, It is possible to achieve a fast and accurate alignment precision within a few seconds from the point in time when the input is made.

The present invention relates to a method and apparatus for automatically aligning a Strapdown Inertial Navigation System mounted on a vehicle suspended on the ground when the GCAWP (Self Alignment) Gyro Compassing Alignment without Initial Position) to obtain the same alignment time and alignment performance as that of the self alignment even if the initial position is input at a late time when the initial position information is acquired.

That is, according to the proposal of the present invention, even if the stationary flight vehicle equipped with the INS is in a state in which it is impossible to acquire the current position information from the satellite, such as the GNSS jamming state, The same sorting performance can be achieved with the same time as the self-alignment in the given state of information.

FIG. 2 is a flowchart illustrating a GCA Compression Alignment without Initial Position (GCAWP) process according to an embodiment of the present invention.

FIG. 3 is a step-by-step illustration of an integrated sorting algorithm process according to an embodiment of the present invention.

When the inertial navigation device mounted on the stationary airplane detects a reference point

Figure 112017020699558-pat00019
from
Figure 112017020699558-pat00020
The initial position information is not received,
Figure 112017020699558-pat00021
When the initial location information can be received, the GCAWP
Figure 112017020699558-pat00022
Starting from the point of time, the GCAWP, as shown in Figures 2 and 3,
Figure 112017020699558-pat00023
from
Figure 112017020699558-pat00024
And the angular velocity vector and time obtained from the sensor up to
Figure 112017020699558-pat00025
It is stored in the buffer in advance.

Then, the user inputs the initial position information

Figure 112015128457748-pat00026
The inertial navigation apparatus inputs the vectors stored in the buffer in the order of the stored order
Figure 112015128457748-pat00027
Each cycle has an integrated sorting algorithm
Figure 112015128457748-pat00028
As many times as
Figure 112015128457748-pat00029
Time.

The integrated sorting algorithm includes the inertial navigation system pure navigation data calculation and updating algorithm, the sorting algorithm, the horizontal axis control angular velocity applying algorithm, and the sorting precision algorithm that indicates the reference of the starting point of the navigation, This, in turn,

Figure 112015128457748-pat00030
The process to be performed until
Figure 112015128457748-pat00031
It can be completed only by

However, when the integrated sorting algorithm operates

Figure 112015128457748-pat00032
The sensor is still outputting the ineffective force and the rotational angular velocity, so the process of storing this information in the buffer must also be performed simultaneously.

That is, each time the integrated sorting algorithm is executed, the counter is incremented by one,

Figure 112015128457748-pat00033
Matches the number of data stored in the buffer in increments of one cycle.
Figure 112015128457748-pat00034
At the end of the integrated sorting algorithm,
Figure 112015128457748-pat00035
Perform self-alignment from the point of view.

thereafter,

Figure 112015128457748-pat00036
After the point in time, you can not miss a single sensor output data and use it for sorting.

At this time,

Figure 112015128457748-pat00037
Of the system
Figure 112015128457748-pat00038
The size is set so as not to be burdened on the cycle task.

As described above, even when the stationary vehicle equipped with the INS is in a situation where it is impossible to acquire the current position information from the satellite, such as the GNSS jamming state, even if the initial position information is acquired late and the INS alignment is performed, The same alignment performance as that of the self alignment can be expected.

Next, FIG. 4 compares the performance of the conventional self-alignment and GCAWP, according to an embodiment of the present invention.

Figure 4 is a cross-

Figure 112017020699558-pat00039
GCAWP was performed in the second,
Figure 112017020699558-pat00040
By entering the initial position in seconds,
Figure 112017020699558-pat00041
The graph shows the alignment precision of the content that has been sorted by seconds.

As shown,

Figure 112015128457748-pat00042
The final posture in seconds is shown in the table,
Figure 112015128457748-pat00043
Second,
Figure 112015128457748-pat00044
Second compared to self alignment.

In the case of the self alignment, it can be confirmed that the GCAWP is reduced to less than 1 in tens of seconds immediately after inputting the initial position information, while it takes several minutes to decrease from the maximum value of the alignment precision to 1 or less. In addition,

Figure 112015128457748-pat00045
When comparing the INS final postures in seconds, we can see that GCAWP has almost the same performance as the self alignment.

5 is a flowchart illustrating an alignment method of an inertial navigation system according to an embodiment of the present invention.

(S10) of preliminarily storing the data acquired from the inertial navigation device sensor in a buffer (S10), a step (S20) of repeatedly performing an integrated sorting algorithm based on the data stored in the buffer, , And a process of performing self-alignment (S30).

First, in step (S10) of previously storing the obtained data in the buffer, the non-reciprocal angular velocity vector obtained from the inertial navigation device sensor and the time

Figure 112015128457748-pat00046
. In addition, the obtained data is stored using a queue buffer following a First-In-First-Out (FIFO) scheme. Thus, the input data can be output first.

Next, in the process (S20) of repeatedly performing the integrated sorting algorithm,

Figure 112015128457748-pat00047
And sequentially receives the vectors stored in the buffer. That is, the initial position input point
Figure 112015128457748-pat00048
The sensor data stored in the buffer is received in the input order,
Figure 112015128457748-pat00049
Each cycle has an integrated sorting algorithm
Figure 112015128457748-pat00050
As many times as
Figure 112015128457748-pat00051
Time. At this time, the integrated sorting algorithm
Figure 112015128457748-pat00052
Lt; / RTI >

On the other hand, in one embodiment, the above-described steps S10 and S20 can be performed concurrently. Specifically,

Figure 112015128457748-pat00053
Since the sensor continues to output non-force and rotational angular velocity even during the time, the process of storing this information in the buffer can also be performed at the same time.

Here, when the integrated sorting algorithm is ended

Figure 112015128457748-pat00054
The point of time is the time point
Figure 112015128457748-pat00055
A loop counter which is incremented by one every time the integrated sorting algorithm is executed, and a loop counter that stores the initial sensor data in a buffer
Figure 112015128457748-pat00056
From the moment
Figure 112015128457748-pat00057
It is defined as the point in time when the sensor counter increases by one every cycle.

Here, the integrated sorting algorithm includes a first algorithm for calculating and updating the navigation data of the inertial navigation device, a second algorithm for applying the control angular velocity to the horizontal axis of the inertial navigation device, and a third algorithm (Alignment precision algorithm) are all included. And, the first algorithm, the second algorithm, and the third algorithm

Figure 112015128457748-pat00058
It is repeatedly executed in order every cycle. In addition, the maximum number of iterations of the integrated sorting algorithm may be determined in consideration of the task load of the predetermined period.

In addition, the integrated sorting algorithm receives the data stored in the buffer as input data, performs sorting by selecting the alignment corresponding to the mode time in the rough horizontal alignment, the rough azimuth alignment, and the precise azimuth alignment, Outputs navigation data and alignment precision as output data.

next,

Figure 112015128457748-pat00059
From the point of view
Figure 112015128457748-pat00060
(S30) is performed.

As described above, according to the embodiment of the present invention, even if the aircraft is unable to acquire the current position information from the satellite, even if the initial position information is acquired late and the INS alignment is performed, Can be obtained.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, And may be modified, changed, or improved in various forms. Further, the method according to the present invention described herein can be implemented in software, hardware, or a combination thereof. For example, a method according to the present invention may be stored in a software program that can be stored in a storage medium (e.g., terminal internal memory, flash memory, hard disk, etc.) and executed by a processor May be implemented with embedded codes or instructions.

Claims (6)

Figure 112017020699558-pat00066
Rotation angular velocity and time data acquired from the inertial navigation device sensor until the initial position of the air vehicle is inputted,
Figure 112017020699558-pat00067
In a buffer;
Figure 112017020699558-pat00068
The rotational angular velocity and the time data stored in the buffer are input in FIFO mode,
Figure 112017020699558-pat00069
The same integrated sorting algorithm
Figure 112017020699558-pat00070
As many times as
Figure 112017020699558-pat00071
Running for hours,
here
Figure 112017020699558-pat00072
Means the number of iterations of the integrated sorting algorithm within a size that is not burdensome to the task execution of the system,
Figure 112017020699558-pat00073
Is the end point of the integrated sorting algorithm; And
The initial position of the flight
Figure 112017020699558-pat00074
A first counter which is incremented by one every time the integrated sorting algorithm is executed; a first counter that is initially stored in the buffer for the first irregular force, rotational angular velocity, and time data acquired from the inertial navigation device sensor;
Figure 112017020699558-pat00075
To
Figure 112017020699558-pat00076
A time point at which the second counter, which is incremented by one every cycle,
Figure 112017020699558-pat00077
To terminate the integrated sorting algorithm,
Figure 112017020699558-pat00078
And performing self-alignment from a starting point of time. delete The method of claim 1, wherein
The predetermined period
Figure 112017020699558-pat00079
An integrated sorting algorithm that runs every:
Executing a first algorithm to calculate and update the navigation data of the inertial navigation device;
Executing a second algorithm that sequentially performs an alignment algorithm and a control angular velocity application to the inertial navigation device;
And executing a third algorithm indicating a reference of a starting point of the navigation, wherein the first algorithm, the second algorithm, and the third algorithm are executed in order. The method of claim 3,
Wherein the sorting algorithm in the step of executing the second algorithm in the integrated sorting algorithm comprises:
A rotation angular velocity, and time data stored in the buffer as input data, and performs sorting by selecting a sorting algorithm corresponding to the time data from the rough horizontal alignment, the rough azimuth alignment, and the precision azimuth alignment, And outputting, as output data, the navigation data and the alignment precision that are included. delete delete
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101988266B1 (en) * 2018-03-09 2019-06-12 국방과학연구소 Rapid initial alignment method of slave inertial navigation system mounted on rotorcraft
CN112284418A (en) * 2020-10-19 2021-01-29 中国人民解放军空军工程大学 Optimized PSO-based double-axis rotation modulation spin-stop scheme parameter selection method
KR102235144B1 (en) * 2020-09-15 2021-04-05 (주)파이버프로 Method and apparatus for navigation

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Publication number Priority date Publication date Assignee Title
JP2009008680A (en) * 2007-06-26 2009-01-15 Honeywell Internatl Inc Low power inertial navigation processing
KR101037001B1 (en) * 2009-12-16 2011-05-25 두산디에스티주식회사 Method for compensating asynchronous error of trapping gyro
JP2012177564A (en) * 2011-02-25 2012-09-13 Seiko Epson Corp Mobile body positioning method, and mobile body positioning device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009008680A (en) * 2007-06-26 2009-01-15 Honeywell Internatl Inc Low power inertial navigation processing
KR101037001B1 (en) * 2009-12-16 2011-05-25 두산디에스티주식회사 Method for compensating asynchronous error of trapping gyro
JP2012177564A (en) * 2011-02-25 2012-09-13 Seiko Epson Corp Mobile body positioning method, and mobile body positioning device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101988266B1 (en) * 2018-03-09 2019-06-12 국방과학연구소 Rapid initial alignment method of slave inertial navigation system mounted on rotorcraft
KR102235144B1 (en) * 2020-09-15 2021-04-05 (주)파이버프로 Method and apparatus for navigation
CN112284418A (en) * 2020-10-19 2021-01-29 中国人民解放军空军工程大学 Optimized PSO-based double-axis rotation modulation spin-stop scheme parameter selection method

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