RU118740U1 - ADAPTIVE NAVIGATION COMPLEX - Google Patents

Abstract

An adaptive navigation complex containing a block of magnetic field sensors, a block of linear acceleration sensors, a block for correcting the readings of magnetic field and linear acceleration sensors, a block for calculating horizontal projections of the Earth's magnetic field (MPF), a synchronization block, a displacement sensor, a block for calculating the angle of the direction of motion of a moving object ( PO), block for calculating the increment of coordinates per unit of increment in the amount of movement, the first block of summation, integrator, block for correcting the relative displacement of coordinates, block for calculating correction factors of the amount of movement, multiplier block, second block for summation, receiver of the satellite navigation system (SNS), information interface block exchange, block for analyzing phase intervals and edges, filtering block, block for correcting non-orthogonality and compensating for errors with structural and technological tolerances of manufacturing sensor blocks, register for storing laboratory adjustment coefficients, register for storing initial values coordinates, a block for correcting the magnitude of the acceleration of the software, a block for correcting the magnitude of the magnetic field, a block for calculating the correction coefficients of the side magnetic fields, while the outputs of the blocks of the magnetic field and linear acceleration sensors are respectively connected to the first and second inputs of the block for correcting the readings of the magnetic field and linear acceleration the third input of which is connected to the first output of the register for storing the coefficients of the laboratory setting, the second output of which is connected to the second input of the block for the correction of non-orthogonality and compensation of the error at structural and technological tolerances�

Description

The utility model relates to the field of instrumentation and can be used to continuously determine the coordinates, speed and course of moving objects in hard-to-reach areas with rugged terrain or extreme conditions of movement (tunnels, underground storage and communications, mountain gorges), as well as under the influence of initiated electromagnetic interference and in the absence of signals from satellite navigation systems (SNA).

A device is known that is described in patent RU 2279039С1, January 25, 2005 “Navigation complex”, containing a satellite navigation system receiver, speed and heading meters, a three-degree magnetic direction sensor installed in a connected coordinate system of a moving object PO, roll angle sensors, pitch sensors, angle sensors attacks and glide, linear acceleration and angular velocity sensors, on-board computer, while an indirect stabilized platform with three cardan frames, on which three moment electric servo motor, two ternary accelerometer mechanism with their displacement and a linear displacement velocity meter is operably linked to an onboard calculator.

During the operation of the complex, determining the speed of software consists in measuring the total acceleration by accelerometers at the time of their meeting with mutual movement in parallel directions to meet each other. In this case, the difference of the readings is determined in the form of the difference of the components of the accelerations on the sensitivity axes of the accelerometers in accordance with the equation relating the corresponding component of the velocity of the software, the speed of the accelerometers, the radius of curvature of the motion path of the software, through the parameters that determine the mutual orientation of the reference systems in which the acceleration is measured and moving software.

In the process of processing the above measurements, a complex mathematical apparatus is used, which does not provide sufficient accuracy for determining the parameters of software motion, due to the inconstancy of the parameters of external factors that have a significant impact on the software, and the integration of navigation subsystems that are different in principle, which does not allow to obtain the invariance of determining the parameters of software motion . Moreover, the use of parametric optimization of the algorithm for integrating signals from sensors operating on different physical principles and having an inadequate response to external influences when determining navigation measurements does not lead to the desired result.

Known devices for determining location based on the use of SNA, characterized by the simplicity of their use due to the improvement of electronic components in terms of their miniaturization and cost reduction. At the same time, to ensure reliable reception of the SNA, the antenna module must be installed in the software location, providing maximum visibility to the upper hemisphere, which complicates the design and reduces the tactical characteristics of the software. It should be noted that the use of the SNA is limited to:

- in the case of intentional radio interference, when the signals from the SNA will be noisy (distorted) and the calculation of coordinates will not take place;

- in the case of geographical features of the area (movement along the forest, dense urban development with high-rise buildings) or in case of adverse weather conditions, when the signals from the SNA will be weakened or re-reflected, which introduces a significant error in the accuracy of determining the coordinates or makes calculation impossible;

- in the case of movement of the facility through underground utilities or inside buildings (tunnels, underground warehouses, parking lots), while receiving SNA signals is not possible, and also if it is necessary to determine location coordinates in a small limited area where a high degree of accuracy of coordinates determination is required (less than 3 meters) (for example, the territory of a large warehouse) when it is impossible to use the SNA, since the accuracy of determining the location when using it is determined by a radius of 10 to 100 meters.

To ensure the determination of the coordinates of the location of the object with high accuracy, in the above conditions, a geomagnetic navigation system can be used, which is free from the influence of the above factors and the principle of operation, which consists in determining the distance traveled by the object per unit time of measurement, as well as in determining the direction of movement based on the measurement of the effective value of the Earth's magnetic field (MPZ). The use of the method of determining coordinates based on the geomagnetic principle makes it possible to determine location coordinates with an error of not more than 1% of the distance traveled (100 meters of the path 1 meter error) and an error in the azimuthal angle of the direction of movement of not more than 0.5 degrees.

A device is known described in patent RU 2221991, G01C 21/08, 17/38, 01/20/2004, "Method for determining the location of moving ground objects and a device for its implementation."

The device contains magnetic field sensors; vertical sensors; displacement sensor; conversion and averaging block; block for calculating horizontal projections of the magnetic field; the first unit for calculating the correction coefficients of the magnetic field; magnetic field correction unit; navigation block; Control block; Remote Control; indication unit; longitudinal acceleration calculation unit; acceleration correction unit; block control values of horizontal projections MPZ; the second unit for calculating the correction coefficients of the magnetic field.

At the starting point of the route, the operator enters the initial data from the control panel output: the coordinates of the starting point and the magnetic declination value for a given area, which are received at the input of the navigation unit. In the measurement mode, two magnetic field sensors and linear acceleration sensors generate analog signals at their outputs that are proportional to the values of the projections H _X , H _{Y of the} magnetic field and the projections A _X , A _Y of gravity on the axis of the instrument coordinate system. The analog signals of the sensors are fed to the first and second inputs of the conversion and averaging unit, which ensures their conversion to a digital code and averaging in each working cycle. The duration of the averaging period is determined by the control unit according to the information received from its output to the input of the conversion and averaging unit.

The averaged values of H _X , H _y are fed to the input of the magnetic field correction unit, in which the correction of the values of H _X , H _{y is} carried out taking into account the correction coefficients obtained in the calibration cycle.

The adjusted values of H _X , H _Y are fed to the input of the block for calculating the horizontal projections of the magnetic field, to the other input of which the projection values A _X , A _U are received from the output of the conversion and averaging block through the acceleration correction block. Based on the adjusted values of Н _Х , Н _У and values of А _X А _У in the block for calculating horizontal projections of the magnetic field, the horizontal projections of the MPZ Н _XB , Н _YB are calculated, which are fed to the input of the navigation block.

The navigation unit in each working cycle calculates the increment of the coordinates and coordinates of the object. In this case, information is used on increments of the distance traveled from the displacement sensor to the input of the navigation unit, as well as the value of the correction of the direction of movement and the coordinates of the starting point, which are entered by the operator using the control panel and the control unit before starting measurements received at the input of the navigation unit.

The calculation of the magnetic azimuth of the direction of movement is carried out by the navigation unit.

Before starting the measurement of coordinates, a calibration cycle is carried out in which the values of the horizontal projections of the total vector N _XB , N _{YB of the MPF} intensity and the magnetic field of the object are determined. From the output of the control unit to the input of the unit for calculating the coefficients of correction of the magnetic field, a command is received, according to which the measured values of H _X , H _Y from the output of the conversion and averaging unit are received without change through the unit of correction of the magnetic field to the input of the unit for calculating horizontal projections of the magnetic field, the other input of which receives the measured values of the projections A _X A _U. The block for calculating horizontal projections determines the projections H _XB H _YB , and sends them to the first block for calculating the correction coefficients of the magnetic field. After completing the measurements, the correction coefficients (hodograph of the horizontal component) of the magnetic field are calculated — the displacement of the center of the ellipse δH _X , δH _Y , and the semiaxis of the ellipse a and b.

Correction coefficients are stored in the first block for calculating the magnetic field correction coefficients and are used in the duty cycle to correct the measured values of H _X , N _U.

In the process of moving the software, the unit for calculating longitudinal acceleration from the information received from the displacement sensor determines the change in the path increment and determines the acceleration of the object in the direction of movement.

Using the values of projections H _X , H _U so measured, the block of control values of the horizontal projections of the MPZ determines the average values of the horizontal component of the MPZ and the angle of the direction of movement, the values of which are sent to the second block for calculating the correction factors for the magnetic field, to the input of which from the first block for calculating the correction coefficients of the magnetic field, the values of the correction coefficients and the values of the horizontal component of the MPZ received in the calibration cycle are received.

The corrected values are sent to the first block for calculating the magnetic field correction coefficients and are used in the duty cycle to correct the measured values of H _X , H _Y.

The disadvantage of this device is the presence of significant errors when measuring the coordinates of software under conditions of maneuvering and when it is subjected to angular velocity in the process of moving on the ground with different angles of inclination, leading to errors in determining the azimuth and coordinates of the object. In hard-to-reach areas with a rugged terrain, when satellite navigation systems are malfunctioning, and when electromagnetic interference is applied, errors occur in the navigation algorithm computational algorithm due to the initiated measurement errors of the magnetic field and linear acceleration sensors due to local magnetization reversal and changes in the gravitational component in the process movements (strikes associated with the terrain profile of the software movement, as well as during maneuvering). Changing the direction of movement during bends, during acceleration, braking, and slipping of the wheels leads to standard errors in the process of determining the azimuth, displacement, and coordinates of the software. Temporal and spatial variations of magnetic fields, the influence of magnetic fields of neighboring objects, atmospheric and initiated electromagnetic interference also lead to an error in determining the coordinates of the PO and azimuthal angle of direction of movement. In this case, the arising systematic error increases on each working cycle of the measurement.

The closest in technical essence to the proposed known device, described in patent RU 100232 U1 GO1C 21/08, 07/07/2010 "Integrated navigation system for determining the coordinates of moving ground objects."

The functional diagram of the device is a prototype shown in figure 1, where the following notation:

1 - block of magnetic field sensors;

2 - block of linear acceleration sensors;

3 - block correction of the readings of the sensors of the magnetic field and linear acceleration;

4 - block calculation of horizontal projections MPZ;

5 - block synchronization;

6 - displacement sensor;

7 - block calculating the angle of the direction of movement of a moving object (ON);

8 - unit for calculating the increment of coordinates per unit of increment of the amount of displacement;

9 - the first block summation;

10 - integrator;

11 - block correction of the relative displacement of coordinates;

12 is a block for calculating the correction coefficients of the magnitude of the displacement and angular orientation;

13 - block multiplier;

14 - second block summation;

15 - receiver of the satellite navigation system of the SNA;

16 - information exchange interface unit;

17 - block analysis of phase intervals and fronts;

18 - filtering unit;

19 is a block for correcting non-orthogonality and error compensation for structural and technological tolerances of the manufacture of devices;

20 - register storage coefficients laboratory settings;

21 - a register for storing initial coordinates;

22 is a block for correcting a value of software acceleration;

23 - block correction of the magnitude of the magnetic field;

24 - block calculation of the correction coefficients of secondary magnetic fields.

The prototype device contains a block of magnetic field sensors 1, a block of linear acceleration sensors 2, a block for correcting the readings of magnetic field sensors and linear acceleration 3, a unit for calculating horizontal projections MPZ 4, a synchronization unit 5, a displacement sensor 6, a unit for calculating the direction of travel direction PO 7, block for calculating the increment of coordinates per unit of increment of the amount of displacement 8, the first 9 and second 14 summation blocks, integrator 10, the block for correcting the relative displacement of the coordinates 11, the block for calculating the correction coefficients of the magnitude of ne displacements and angular orientation 12, multiplier unit 13, SNA receiver 15, information exchange interface unit 16, phase interval and fronts analysis unit 17, filtering unit 18, non-orthogonality correction and error compensation unit for design and technological manufacturing tolerances of devices 19, coefficient storage register laboratory settings 20, the register for storing the initial values of the coordinates 21, the correction unit for the magnitude of the acceleration software 22, the unit for calculating the correction coefficients of secondary magnetic fields 24 and the unit for correcting values magnetic field 23, the output of which is connected to the second input of the block for calculating the horizontal projections of the MPZ 4. In this case, the outputs of the blocks of the magnetic field sensors 1 and the linear acceleration sensors 2 are connected respectively to the first and second inputs of the correction block of the readings of the magnetic field sensors and linear acceleration 3, output which through the filtering unit 18 is connected to the first input of the error compensation unit for structural and technological tolerances of manufacturing devices 19, the first output of which is connected to the first input of the block the acceleration value of software 22, the second output is with the first input of the magnetic field correction block 23, and the second input is with the second output of the laboratory settings coefficient storage register 20, the first output of which is connected to the third input of the magnetic field sensors and linear acceleration readings 3 ; the output of the displacement sensor 6 is connected to the first input of the block for analyzing the phase intervals and fronts 17, the output of which is connected to the second input of the block for correcting the magnitude of the acceleration software 22, the output of which is connected to the first input of the block for calculating horizontal projections MPZ 4 and the second input of the block for calculating the angle of direction of movement of the software 7, the third input of which is connected to the second output of the block for calculating the correction coefficients of the displacement and angular orientation 12, as well as with the first input of the block for calculating the correction coefficients of secondary magnetic x fields 24, whose output is connected to a second input of the correction magnetic field 23; the first output of the synchronization block 5 is connected to the second input of the phase interval and edge analysis block 17, the second output is to the third input of the phase interval and edge analysis block 17 and the second input of the coordinate increment calculation unit per unit of increment of the displacement value 8, and the third output of the synchronization block 5 connected to the third input of the block for calculating horizontal projections MPZ 4, the output of which is connected to the third input of the block for the interface of information exchange 16, the second input of the block for calculating the coefficients of correction of secondary magnetic fields 24 and the first input of the block for calculating the direction of movement direction of the software 7, the output of which is connected to the first input of the block for calculating the increment of coordinates per unit of increment of displacement value 8 and the fourth input of the information exchange interface block 16, the first output of which is connected to the storage register of the initial coordinates 21 the fourth input of the block for calculating the correction coefficients of the displacement and angular orientation 12, the third input of the block for the correction of the relative displacement of coordinates 11 and the second input of the first block and summing 9, the output of which is connected to the second input of the information exchange interface unit 16, the second output of which is connected to the second input of the block for calculating the correction coefficients of the displacement and angular orientation 12, the first output of which is connected to the second input of the multiplier unit 13, the first input of which is connected to the output of the unit for analyzing phase intervals and fronts 17, and the output is connected to the third input of the unit for calculating the increment of coordinates per unit of increment of displacement value 8, the output of which is connected to the first the input of the second summing block 14, the output of which is connected to the input of the first summing block 9 and the first input of the relative coordinate offset correction block 11, the output of which is connected to the second input of the second summing block 14, and the second input - with the first input of the information exchange interface block 16, output SNA receiver 15 and the third input of the block for calculating the correction coefficients of the displacement and angular orientation 12; the third output of the information exchange interface unit 16 is connected to the input of the laboratory settings coefficient storage register 20 and the third input of the side magnetic field correction coefficient calculation unit 24, in addition, the output of the coordinate increment calculation unit per unit of increment of displacement value 8 is connected via the integrator 10 to the first input of the block the calculation of the correcting coefficients of the displacement and angular orientation 12.

The prototype device operates as follows.

In the production and laboratory conditions, with the help of a three-axis rotary stand, the magnetic field sensors Hx, Нy of block 1 and the sensors Аx, Аy of block 2 are set up.

During the laboratory setup operation, the values of the MPZ projections are received from the output of block 4 to input 3 of block 16 for analysis and calculation of correction factors, then via the information exchange interface, an array of laboratory settings coefficients is sent from the computer to block 16 and from the output 3 of block 16 to the input of block 20.

Analog signals from block 1 of the magnetic field sensors and block 2 of linear acceleration sensors are fed to the corresponding inputs 1, 2 of block 3, where the analog signals are converted to digital form.

Then, the corrected values from the output of block 3 go to the input of block 18, where the signal is filtered.

From the output of block 18, the filtered readings of the sensors go to the input of block 19, in which mathematical correction is performed according to the values of the correction coefficients received at the input 2 of block 19 from the output 2 of block 20.

To determine the effective value of the magnetic field at the measurement point, the device uses blocks 23, 4, 24 in this case: filtered and corrected signals Нx, Нy from output 2 of block 19 are fed to input 1 of block 23, in which the measured value of Нx and Нy in accordance with the signals received at the input 2 of block 23 from the output of block 24. Then the values of Hx, Нy are supplied from the output of block 23 to the input 2 of block 4 for calculating the horizontal projections of the MPZ. The results of the calculation of horizontal projections of the MPZ then come from the output of block 4 simultaneously to three blocks: to input 3 of block 16 in which information about the projections is transmitted to the user, to input 2 of block 24 and to input 1 of block 7 in which directional angles of orientation of the sensor block are calculated.

The calculated values of the directional angle of direction from the output of block 7 go to input 1 of block 8, in which the coordinate offset is calculated for the last time interval of measurement, and also go to input 4 of block 16 for transmitting information parameters to the user.

In block 24, based on the values of the horizontal projections of the values of Hx, Hy, the effective magnetic field vector Hb is calculated and further analyzed in comparison with the value of the magnetic field vector (Hb0) determined under the conditions of production and laboratory settings and stored as a constant value in non-volatile block memory 24.

By the magnitude of the deviation of the value of Hb from Hb0, as well as by the magnitude of the change in the values of the projections Hx and Hy relative to the values obtained in the previous working cycle of the measurements, as well as by the magnitude of the changes in the correction of the angle of direction coming from the output 2 of block 12 to the input 1 of block 24, the values of the correction factors are estimated.

In block 22, there is a conversion of the acceleration values Ax, Ay coming from the output 1 of block 19 to the input 1 of block 22, taking into account the change in the values of the displacement traveled by the object and coming from the output of block 6 to the input 1 of block 17.

The synchronization of the measurement work cycles is controlled by block 5, from the output of 3 of which the synchronizing signal of the origin of the horizontal projection of the MPZ is fed to the input 3 of block 4, and also from the output of 1 block 5 to the input 2 of block 17, a signal is received that analyzes the duration of the phase intervals of the signal received from block 6 of the displacement sensor.

From the output of block 17, the measuring signal is fed to input 1 of block 13, in which the value of the displacement value is generated.

The values of the increment of coordinates from the output of block 8 simultaneously go to the input 1 of block 14 and the input of block 10. Block adder 10 and block adder 14 - calculate the projections of the total vector of displacement of the object relative to the coordinates of the source point.

According to the values of the total vector of displacement of the software relative to the coordinates of the starting point, calculated from the values of the autonomous mode, which are received at the input 1 of block 12 and from the output of block 10, and according to the coordinates received from the SNA, from the output of block 15 to the input 3 of block 12 , in block 12, the vector is calculated, formed by the displacement of the object, calculated according to the satellite coordinates relative to the coordinates of the starting point, the value of which is input 4 of block 12 from the output of block 21.

The value of the vector of accumulated displacement from the output of block 14 goes to the input 1 of block 9 in which, according to this value and the value of the initial coordinates coming to the input 3 of block 11 from the output of block 21, the coordinates of the autonomous system are calculated and the values of these coordinates, as well as the value coordinates of the satellite navigation system received at the input 2 of block 11 from the output of block 15, the magnitude of the deviation of the vectors is calculated and the total displacement vector is corrected.

From the output of block 11, the correction value is input to input 2 of block 14 as a result of which, in block 14, the value of the accumulated value of the total displacement vector changes and the error of the deviation of the vectors decreases.

The signal of the adjusted value of the total displacement from the output of block 14 goes to input 1 of block 9, in which the coordinates of the current location of the software are calculated taking into account the coordinates of the starting point, coming from the output of block 21 to input 2 of block 9. Signals of the actual coordinates of the location received in block 9 , from its output, they enter input 2 of block 16 for sending to the user.

The disadvantage of the prototype device is the presence of errors when measuring the motion parameters of software under extreme and rapidly changing characteristics of external factors: the effects of angular velocities, magnetic deviation, electromagnetic interference and gravitational overloads during movement, as well as the complex effect of the above factors on the characteristics of the measuring subsystems inadequate response to external influences, which makes it difficult to obtain the invariance of measurements of navigation parameters of software motion, drive boiling errors, inconsistent with modern requirements for precision positioning indicators in determining the parameters of motion software.

The technical task is the development of an adaptive navigation complex that automatically changes the algorithms of its functioning with the provision of additional correction for calculating the parameters of the motion of the software in the process of exposure to rapidly changing environmental factors, for the continuous determination of the current navigation parameters in the process of moving the software.

The technical result is an increase in the accuracy of measuring the motion parameters and the speed of the process of continuously determining the speed, magnetic azimuth of the direction of motion and coordinates of the software in extreme conditions of movement and exposure to gravitational and electromagnetic interference.

The specified result is achieved by the fact that in the navigation complex containing a block of magnetic field sensors, a block of linear acceleration sensors, a block for correcting readings of magnetic field sensors and linear acceleration, a block for calculating horizontal projections of MPZ, a synchronization block, a displacement sensor, a block for calculating the angle of direction of movement of software, unit for calculating the increment of coordinates per unit of increment of the amount of displacement, the first summing unit, integrator, unit for correcting relative displacement of coordinates, unit for calculating corrective displacement magnitude factors, multiplier unit, second summing unit, SNA receiver, information exchange interface unit, phase interval and edge analysis unit, filtering unit, non-orthogonality correction and error compensation unit for constructive and technological tolerances of manufacturing of sensor units, laboratory settings storage register, the register of storage of the initial values of the coordinates, the unit for correcting the magnitude of the acceleration software, the unit for correcting the magnitude of the magnetic field, the unit for calculating the coefficients side magnetic field corrections, while the outputs of the magnetic field and linear acceleration sensor blocks are respectively connected to the first and second inputs of the magnetic field and linear acceleration sensor readings correction unit, the third input of which is connected to the first output of the laboratory tuning coefficient storage register, the second output of which is connected with the second input of the block of non-orthogonality correction and error compensation for structural and technological tolerances of the manufacture of sensor blocks, the output of the block The section of the readings of the magnetic field and linear acceleration sensors is connected to the input of the filtration unit, the output of which is connected to the first input of the non-orthogonality correction unit and error compensation for structural and technological tolerances of device manufacturing, the first output of which is connected to the first input of the correction unit of the software acceleration value, and the second output connected to the first input of the magnetic field correction block, the second input of which is connected to the first output of the block of magnetic fields, the first input of which is connected to the input of the laboratory settings coefficients storage register and to the third output of the information exchange interface unit, the output of the displacement sensor unit is connected to the first input of the phase interval and edge analysis unit, the output of which is connected to the second input of the software unit for acceleration correction and the first input of the multiplier block, the second input of which is connected to the output of the block for calculating the correcting coefficients of the displacement value, and the output is connected to the third input of the block for calculating the pr coordinate increments per unit of increment of the amount of movement of the software, the first input of which is connected to the output of the block for calculating the angle of the direction of motion of the software, and the second input is connected to the second output of the synchronization unit and the third input of the analysis unit of phase intervals and fronts, the second input of which is connected to the first output of the synchronization unit , the third output of which is connected to the third input of the block for calculating the horizontal projections of the MPZ, the first input of which is connected to the output of the block for correcting the magnitude of the acceleration of software and the second input of the calculation block the direction of motion of the software, the first input of which is connected to the output of the block for calculating the horizontal projections of the MPZ and the third input of the interface unit of the information exchange, the fourth input of which is connected to the output of the block of calculating the angle of the direction of the software, the second input of the block for calculating the horizontal projections of the MPZ is connected to the output of the correction unit magnitude of the magnetic field, the output of the unit for calculating the increment of coordinates per unit of increment of the amount of displacement of the software is connected to the first input of the integrator block and the first input of the second block of sums the output of which is connected to the first input of the first summing unit, the second input of which is connected to the output of the register unit for storing the initial coordinates, the input of which is connected to the first output of the information exchange interface unit, the second input of which is connected to the output of the first summing unit, and the first input is connected with the output of the SNA receiver unit and the second input of the relative coordinate offset correction unit, the output of which is connected to the second input of the second summing unit, according to the utility model, a unit for analyzing the contents of the matrix for correcting the angle of the direction of motion, a block for generating and storing the matrix for correcting the angle of the direction of motion, a unit for calculating the difference in angles, a unit for calculating the parameters of the displacement vector according to the SNA, a unit for calculating the parameters of the displacement vector for the autonomous navigation system, a unit for analyzing the value and angle of the direction of motion and displacement values, a unit for storing coordinate values according to the SNA, a unit for analyzing a magnitude of a magnetic field vector, a unit for generating and storing a matrix for correcting values of a magnetic field, while the second output of the information exchange interface unit is connected to the first input of the block for analyzing the contents of the matrix of the correction of the direction of motion direction, the second input of which is connected to the first output of the block for the formation and storage of the matrix of the correction of the direction of motion axis and with the third input of the magnetic field vector value analysis block , the first output of the block for analyzing the contents of the matrix of the correction of the angle of the direction of motion of the software is connected to the fourth input of the block of the increment of coordinates per unit increment the software moves, and the second output of the block for analyzing the contents of the matrix of the correction of the angle of the direction of motion is connected to the first input of the block for generating and storing the matrix of the correction of the angle of the direction of motion, the second output of which is connected to the third input of the block of analysis of the value of the angle of the direction of motion and the magnitude of the movement, and the second input is connected to the second output of the block of analysis of the value of the angle of the direction of motion of the magnitude of the displacement and to the third input of the block of formation and storage of the matrix of correction of the values of the magnetic field, ne whose first input is connected to the output of the magnetic field vector value analysis unit, the second input is connected to the second output of the side magnetic field correction coefficient calculation unit, and the output is connected to the second input of the side magnetic field correction coefficient calculation unit, the first input of the magnetic field vector value analysis unit with the output of the block for calculating the horizontal projections of the MPZ and with the inputs of one block for calculating the angle of the direction of motion of the software and three blocks of the information exchange interface, the second input is connected to to the third output of the block for calculating the correction coefficients of incidental magnetic fields, the fourth input is connected to the output of the block for calculating the angle of the direction of motion of the software and to the fourth input of the block of the interface for information exchange, the first input of the block for calculating the increment of coordinates per unit of increment of the amount of movement of the software and the second input of the block for analyzing the value of the direction angle movement and magnitude of movement, the first output of this block is connected to the first input of the storage unit for coordinate values by SNA, with the fourth input of the formation and storage unit the matrix of the correction of the values of the magnetic field, with the third input of the block forming and storing the matrix of the correction of the angle of the direction of movement and the second input of the integrator unit, and the first input of the analysis unit of the value of the angle of the direction of movement of the displacement value is respectively connected to the output of the multiplier block and the third input of the block for calculating the increment of coordinates per unit increment of the amount of displacement, the second input of the information exchange interface unit is connected to the first input of the relative displacement correction unit of coordinates, the output of the integrator block is connected to the input of the block for calculating the parameters of the displacement vector through an autonomous navigation system, the output of which is respectively connected to the first input of the block for calculating the correcting coefficients of the displacement value and the second input of the block for calculating the difference in angles, the output of which is connected to the fourth input of the block for generating and storing the matrix correction of the direction direction angle, the first input of the block for calculating the difference of angles is connected to the output of the block for calculating the parameters of the displacement vector along the SNA and to the second to the input of the block for calculating the correcting coefficients of the displacement value, the first input of the block for calculating the parameters of the displacement vector for SNA is connected to the output of the block for storing the coordinate values for the SNA, the second input of which is connected to the second input of the block for calculating the parameters of the displacement vector for the SNA and the output of the SNA receiver unit, the output of the the register of storage of the initial coordinate values is connected to the third input of the second summing unit.

The functional diagram of the proposed adaptive navigation system is presented in figure 2, where the following notation:

1 - block of magnetic field sensors;

2 - block of linear acceleration sensors;

3 - block correction of the readings of the sensors of the magnetic field and linear acceleration;

4 - block calculation of horizontal projections MPZ;

5 - block synchronization;

6 - displacement sensor;

7 - block calculating the angle of the direction of movement;

8 - unit for calculating the increment of coordinates per unit of increment of the amount of displacement;

9 - the first block summation;

10 - integrator;

11 - block correction of the relative displacement of coordinates;

12 - block calculation of the correction factors of the magnitude of the displacement;

13 - block multiplier;

14 - second block summation;

15 - SNA receiver;

16 - information exchange interface unit;

17 - block analysis of phase intervals and fronts;

18 - filtering unit;

19 is a block for correcting non-orthogonality and error compensation, with structural and technological tolerances for the manufacture of sensor blocks;

20 - register storage coefficients laboratory settings;

21 - a register for storing initial coordinates;

22 is a block for correcting a value of software acceleration;

23 - block correction of the magnitude of the magnetic field;

24 - block calculation of the correction coefficients of secondary magnetic fields;

25 is a block analysis of the contents of the matrix of the correction of the angle of the direction of movement;

26 is a block for the formation and storage of a matrix for correcting the angle of direction of movement;

27 - block calculating the difference in angles;

28 is a block for calculating the parameters of the displacement vector according to the SNA;

29 is a block calculating the parameters of the displacement vector for an autonomous navigation system;

30 - block analysis of the value of the angle of the direction of movement and the magnitude of the movement;

31 - block storage of coordinate values according to the SNA;

32 - block analysis of the magnitude of the magnetic field vector;

33 is a block for the formation and storage of a matrix for correcting magnetic field values.

The inventive device comprises a block of magnetic field sensors 1, a block of linear acceleration sensors 2, a block for correcting the readings of magnetic field sensors and linear acceleration 3, a block for calculating horizontal projections MPZ 4, a synchronization unit 5, a displacement sensor 6, a block for calculating the direction of movement of a moving object PO 7 , a unit for calculating an increment of coordinates per unit of an increment of a value of displacement 8, a first summing unit 9, an integrator 10, a unit for correcting a relative displacement of coordinates 11, a unit for calculating correction factors in displacement values 12, multiplier unit 13, second summing unit 14, SNA receiver 15, information exchange interface unit 16, phase interval and fronts analysis unit 17, filtering unit 18, non-orthogonality correction unit and error compensation unit for structural and technological tolerances of manufacturing of sensor units 19 , the register of storage of coefficients of laboratory settings 20, the register of storage of the initial values of the coordinates 21, the block correction of the magnitude of the acceleration PO 22, the block correction of the magnitude of the magnetic field 23, the block calculating the coefficient in the correction of incidental magnetic fields 24, a block for analyzing the contents of the matrix for correcting the angle of the direction of movement of software 25, a block for generating and storing the matrix for correcting the angle of the direction of movement of 26, a block for calculating the difference in angles 27, a block for calculating the parameters of the displacement vector according to SNA 28, a block for calculating the parameters of the displacement vector according to autonomous navigation system 29, a unit for analyzing the value and angle of the direction of movement and displacement 30, a unit for storing coordinate values according to the SNA 31, a unit for analyzing the magnitude of the magnetic field vector 32, the unit is formed I and storing the matrix of correction of magnetic field values 33, while the outputs of blocks 1, 2 are respectively connected to the first and second inputs of block 3, the third input of which is connected to the first output of block 20, the second output of which is connected to the second input of block 19, the output of block 3 connected to the input of block 18, the output of which is connected to the first input of block 19, the first output of which is connected to the first input of block 22, and the second output is connected to the first input of block 23, the second input of which is connected to the first output of block 24, the first input of which is connected to in ohm of block 20 and with the third output of block 16, the output of block 6 is connected to the first input of block 17, the output of which is connected to the second input of block 22 and to the first input of block 13, the second input of which is connected to the output of block 12, and the output is connected to the third input block 8, the first input of which is connected to the output of block 7, and the second input is connected to the second output of block 5 and the third input of block 17, the second input of which is connected to the first output of block 5, the third output of which is connected to the third input of block 4, the first input of which connected to the output of block 22 and the second input block 7, the first input of which is connected to the output of block 4 and the third input of block 16, the fourth input of which is connected to the output of block 7, the second input of block 4 is connected to the output of block 23, the output of block 8 is connected to the first input of block 10 and the first input of the block 14, the output of which is connected to the first input of block 9, the second input of which is connected to the output of block 21, the input of which is connected to the first output of block 16, the second input of which is connected to the output of block 9, and the first input is connected to the output of block 15 and the second input of the block 11, the output of which is connected to the second block 14, the second output of block 16 is connected to the first input of block 25, the second input of which is connected to the first output of block 26 and to the third input of block 32, the first output of block 25 is connected to the fourth input of block 8, and the second output of block 25 is connected to the first the input of block 26, the second output of which is connected to the third input of block 30, and the second input is connected to the second output of block 30 and the third input of block 33, the first input of which is connected to the output of block 32, the second input is connected to the second output of block 24, and the output connected to the second input of block 24, the first input d block 32 is connected to the output of block 4 and with the first input of block 7 and the third input of block 16, the second input is connected to the third output of block 24, the fourth input of block 32 is connected to the output of block 7 and to the fourth input of block 16, the first input of block 8 and the second input of block 30, the first output of which is connected to the first input of block 31, with the fourth input of block 33, with the third input of block 26 and the second input of block 10, and the first input of block 30 is respectively connected to the output of block 13 and the third input of block 8, the second the input of block 16 is connected to the first input of block 11, the output of block 10 s connected to the input of block 29, the output of which is respectively connected to the first input of block 12 and the second input of block 27, the output of which is connected to the fourth input of block 26, the first input of block 27 is connected to the output of block 28 and to the second input of block 12, the first input of block 28 connected to the output of block 31, the second input of which is connected to the second input of block 28 and the output of block 15, the output of block 21 is connected to the third input of block 14.

The inventive adaptive navigation system is intended for use as part of mobile ground-based objects equipped with both electronic and mechanical types of speedometers. The navigation system works based on the readings of the magnetic field sensors, acceleration and displacement sensors, regardless of the availability of satellite navigation systems, and is used to determine current navigation parameters, estimate errors and correct parameters during movement.

The inventive adaptive navigation system operates as follows.

In the production and laboratory conditions, using a three-axis rotary bench, the magnetic field sensors Hx, Нy of block 1 and the linear acceleration sensors are adjusted along the mutually orthogonal coordinate axes Ax, Ay of block 2, and block 1 and block 2 are placed in a single structural building.

The sensors are tuned by selecting digital coefficients that take into account and correct the influence of the magnetic field in such a way that in the instrument coordinate system, which is combined with the base of the sensor unit mount, for any angular orientation, the projection value of the effective magnetic field vector Hb on the axis of the instrument coordinate system ( Нх, Нy), formed a magnetic hodograph, which has the shape of an ideal circle centered at the origin, and a certain fixed value of the projection m agnitic field (Нb0), the value of which is stored in the memory of block 32.

During the laboratory tuning operation, the digital values of the MPZ projections come from the output of block 4 to the third input of block 16 and are transferred from it to the computer for analysis and calculation of correction factors, then the array of laboratory tuning coefficients comes from the computer to block 16 and from the third output of the block 16 then go to the input of block 20, where they are subsequently stored in its non-volatile memory.

In the measurement work cycle, block 1 and block 2 continuously generate analog signals at their outputs, measure the effective magnetic field along the orthogonal axes Нx, Нy of the instrument coordinate system, and measure the projection of the effective acceleration on the axis Ax, Аy of the instrument coordinate system.

Analog signals from the outputs of block 1 and block 2, which are proportional to the effective value of the magnetic field and linear acceleration, are respectively sent to the first and second inputs of block 3, where the analog signals are converted to digital form, readings are adjusted with zero values, and scaling in accordance with the value of Нb0 , and alignment of readings along the coordinate axes of the instrument coordinate system. In this case, the correction coefficients and settings come from the first output of block 20 to the third input of block 3.

The parameters Нx, Нy of the magnetic field vector Н and the parameters Аx, Аy of the acceleration vector A are calculated from the readings of the magnetic field and linear acceleration sensors in block 3. In the process of computing operations, the following coefficients are taken into account:

a) Scale amplification factors of the measured values of the magnetic field to ensure alignment of the sensor readings when oriented along the axes of the instrument coordinate system.

b) Coefficients for setting the threshold of digital zero on the positive (direct) and negative (opposite) measurement channels to ensure the symmetry of the measured values of the magnetic field relative to the axes of the instrument coordinate system.

c) Scale amplification factors of the measured values of the effective acceleration to ensure alignment of the sensors when oriented along the axes of the instrument coordinate system.

d) Coefficients for setting the threshold of digital zero on the positive (direct) and negative (opposite) measurement channels to ensure the ratio of the measured values of the magnitude of the effective accelerations relative to the axes of the instrument coordinate system.

Then, the corrected values from the output of block 3 go to the input of block 18, where the signal is filtered based on the frequency integration of the readings (depending on the frequency of occurrence of the measured value of the signal, the sum of the number of measurements that are generated is accumulated and the corresponding value is selected from the maximum value of the sum).

At the same time, with high efficiency, reliable values of the output quantities Нx, Нy, Аx, Аy are obtained for any rapidly changing indications coming from the outputs of blocks 1, 2 when exposed to multidirectional angular accelerations.

From the output of block 18, the filtered sensor readings go to the first input of block 19 — the correction block, in which mathematical correction is performed according to the values of the correction coefficients coming to the second input of block 19 from the second output of block 20, as a result of which the filtered readings of the sensors take values, which takes into account the errors introduced by the elemental base and the features of their structural device.

The magnetic field measured by the sensors of unit 1 is the sum of the magnitude of the magnetic field acting in the measurement point and the magnitude of the magnetic field emitted by objects having ferromagnetic properties and located near the sensor unit 1 and 2. To exclude the influence of secondary magnetic fields when measuring the effective value magnetic field at the measurement point, blocks 23, 4, 24 are used, the operation of which is organized as follows: filtered and corrected signals Hx, NY from the second output of block 19 t to the first input of block 23, in which the correction of the measured value of Hx and Hy is carried out in accordance with the coefficients received at the second input of block 23 from the first output of block 24. Correction occurs in accordance with expressions (1) and (2).

where Нxa and Нya are the adjusted refined components of the magnetic field along the X, Y coordinate axes of the instrument coordinate system. Moreover, the coefficients KMx and KMy, which are included in expressions (1) and (2), are coefficients that scale the magnitude of the magnetic field to compensate for the compression or extension of the semi-axes of the magnetic hodograph, the distortion of which occurs under the influence of side magnetic fields, as well as when changing the magnetic inclination the full vector of the magnetic field, which is associated with the geographical location of the software.

Components SHx and SHy, which are included in formulas (1) and (2), are coefficients that shift the measured values of the magnetic field to the center of the instrument coordinate system to ensure symmetry with respect to the axes of the instrument coordinate system for different software orientations in space.

The shift and distortion of the shape of the hodograph of the magnetic field (the hodograph is obtained when the orientation of the sensor block is changed due to its rotation in the horizontal plane from 0 to 360 degrees) occurs when switching from laboratory settings to installing the sensor block on the object of operation, due to the presence of metal objects at the object of operation and their mutual location.

The described components KMx, KMy and SHx, SHy included in expressions (1) and (2) are slowly varying quantities that depend on the total background of magnetic interference generated by metal objects located at the location of the sensor blocks 1 and 2. The magnitude of these coefficients is determined after the procedure for eliminating deviation during commissioning of the device is carried out, it is further adjusted by an adaptive algorithm for compensating magnetic interference during operation.

The procedure for eliminating the deviation is to measure the effective magnetic field at different orientations of the software, with alternately changing the position of the software with a discrete change in the angle of 30-60 degrees (6-12 positions). When performing the procedure for eliminating deviation, the readings of the measured magnetic field from the output of block 4 are supplied to the third input of block 16 and then transmitted to the user. At the end of the deviation elimination procedure, the calculated correction factors from the third output of block 16 are fed to input 1 of block 24, where they are stored in non-volatile memory.

The components DHx and DHy, which are included in formulas (1) and (2), are coefficients that compensate for the deviation of the magnetic travel time curve from the shape of the regular circle arising from incomplete compensation of side magnetic fields, as well as during magnetization reversal during operation of the device.

The components DHx and DHy are tabular quantities, the value of which is determined by taking into account the deviation of the constantly calculated value of the magnetic field (Нb) from the laboratory value (Нb0) and the angular deviation between the vectors, the first of which is formed by the direction of the software motion calculated from the geographic coordinates calculated from the parameters obtained from the displacement sensors 6, magnetic field 1 and acceleration 2, the second of which is formed by the direction of motion of the software, calculated by geographical coordinates, obtained m from the satellite receiver (which for our device coordinate value is considered reliable).

Part of the complex, including sensor blocks and blocks for processing magnetic field parameters, acceleration, displacement, correction, filtering, and coordinate calculation, represents an autonomous navigation system, and part of the complex in which parameters received from a satellite receiver are processed is a satellite navigation system.

The table in which the correction coefficients DHx and DHy are stored is formed on the basis of 24 discrete values (for each of the two coefficients a separate set of values), which are presented as the numbers of the angular sectors (the value of the angular sector is 15 degrees), to which the software sensors block is oriented. Accordingly, when the sensor block rotates in the range from 0 to 360 degrees, 24 sectors are formed, each of which has a value of 15 degrees.

Then, the corrected values of the magnetic field Hha, Hya come from the output of block 23 to the second input of block 4 for calculating the horizontal projections of the MPZ. The results of the calculation of the horizontal projections of the MPZ then come from the output of block 4 simultaneously to three blocks: to the third input of block 16, in which information about the projections is transmitted to the user, to the first input of block 32, where the magnitude of the projection of the magnetic field vector Hb is calculated and the correspondence of this value is analyzed vector, to the vector (Нb0), determined earlier in the laboratory setup, and to the first input of block 7, in which the orientation angles of the sensor block are calculated: magnetic azimuth and tilt angles (longitudinal, transverse).

The slope angles of the instrument coordinate system in the longitudinal and transverse directions are determined in block 7 by the corresponding expressions.

where Ah is the value of linear acceleration in the projection onto the X axis of the instrument coordinate system;

Ay is the value of linear acceleration in the projection onto the Y axis of the instrument coordinate system;

Az is the value of linear acceleration in the projection onto the Z axis of the instrument coordinate system (the value is calculated by the expression (4));

where A is a constant value corresponding to the value of the acceleration of gravity, equal to 9.81 m / s ² , the digital value of which is determined at the stage of laboratory setup of the device.

In block 22, the values of the linear accelerations Ah, Au coming from the first output of block 19 to the first input of block 22 are corrected, taking into account the change in the values of the displacement traveled by the software, the value of which goes to the second input of block 22 from the output of the block - 17. That is , in the presence of accelerations arising from the movement of the software, which are determined by the change in its speed, the analysis of the values of the measured accelerations obtained in the device from the measured values of the sensors of block 2 is performed, and the corrective values that compensate for acceleration indications associated with software maneuvers during acceleration, braking, and cornering. The compensated acceleration values are determined in accordance with expression (5), and from the output of block 22 are received simultaneously at the first input of block 4 and at the second input of block 7. Data for calculating the movements of the object for the last measured interval is received at the first input of block 17 from the output of block 6 , which implements the formation of pulses whose durations are proportional to the increment of the speed of the software.

where ν ⁱ -ν ^i-1 is the change in speed over the period of time in which the acceleration is measured,

Δt is the time interval for measuring the speed of the software,

Ay` - measured values of the effective acceleration after filtering and correction.

The mathematical processing performed in block 4 compensates for the values of Hx and Hy entering the second input of block 4 from the output of block 23, taking into account the compensated readings of the values of Ax and Ay, the signal of which goes to the first input of block 4 from the output of block 22, as a result which, for any inclinations of blocks 1 and 2, the shape of the magnetic hodograph remains unchanged (an ideal circle of radius Hb0 is maintained, centered at the origin).

The calculated values of the orientation angles from the output of block 7 go to the first input of block 8, in which the coordinate offset for the last measurement time interval is calculated, and also go to the fourth input of block 16 for transmitting information parameters to the user, also go to the second input of block 30 for determining the number of the angular sector in which direction the software is oriented, and to the fourth input of block 32, in which the projection is analyzed according to the value of the measured angle of orientation of the sensor block vector of the measured magnetic field vector with projections corresponding to the values of the laboratory for this orientation.

The start of counting of numbers of angular sectors is made from the northern direction of the geographic meridian determined by the SNA.

Simultaneously with the determination of the orientation angle, calculated according to the parameters of the sensors of block 1, the values of which come from the output of block 7 to the first input of block 8, the value of the angle correction coefficient, which corrects the orientation angle of blocks 1, 2, is received at the fourth input of block 8 from the first output of block 25 sensors to determine the directional angle of the direction of motion of the software in the system of geographical coordinates. In the value of the angle correction coefficient, the magnetic declination corrections for a given area are taken into account, as well as the correction due to the technological error that occurs when the sensor blocks 1, 2 are structurally mounted on the software housing, as well as the correction of the deviation error when determining the magnetic azimuth. The initial value of the angle correction coefficient is supplied to the first input of block 25 from the second output of block 16, which in turn is sent to block 16 from the host computer.

The second parameter, according to which the coordinate offset is calculated in block 8, is the distance traveled by the software for the last measurement time interval; the value of this parameter is supplied to the third input of block 8 and to the first input of block 30 from the output of block 13. In block 30, the value of the angle of the direction of motion of the software received from the output of block 7 and the amount of movement obtained from block 13 are analyzed. the distance traveled by the software based on the readings received at the first input of block 13 from the output of block 17, taking into account the path correction coefficient, in which the gear ratios of the wheel axis and the speedometer drive shaft are taken into account, the state of the chassis and is long Wheel of circles, the value of which is fed to the second input unit 13 from the output unit 12. The calculation of the offset coordinates, the projections GXS, GYS total displacement vector is determined in software block 8 according to the expressions (6) and (7).

where KN - coefficient taking into account the direction of movement when moving: "forward" - coefficient "1", "back" - coefficient "-1";

S is the value of the displacement of the software when moving for the measurement time interval;

Al is the angle of the direction of motion of the PO relative to the northern direction of the geographic meridian;

Gpr - the angle of orientation of the longitudinal axis of the vehicle relative to the horizon;

Lm - coefficient taking into account the transition from a linear measurement of displacement to degree. This is the value corresponding to 1 ° of the meridian, which can take values in the range from 111120 to 111212 meters, depending on the applied model of the Earth's ellipsoid. The proposed complex uses an ellipsoid model corresponding to the international coordinate system WGS-84;

cos (φ) is the cosine of the approach angle of the meridians for various latitudes of the current location, φ is the angle of latitude of the current location.

In block 5, the measurement cycles are synchronized, and from the third output of block 5, the synchronizing signal of the origin of the horizontal projection of the MPZ (1/16 second period) is fed to the third input of block 4; at the same time, a high-frequency signal (with a duration of 20 μs) is received from the first output of block 5 to the second input of block 17, according to which the phase switching period of the signal fed to the first input of block 17 from the output of block 6 is analyzed. The selected period 1/16 seconds associated with the peculiarity of the device when filtering the measured readings using a binary system. The selected period of 20 μs is determined by the type of variable used for the pulse counter to determine the current state of the phase of the displacement sensor of block 6. From the second output of block 5, the control signal (with a period of 1 second) is simultaneously transmitted to the third input of block 17, over which the interval of the passed distance for the last observation time interval, and to the second input of block 8, which starts the procedure for calculating the coordinate offset for the last measurement time interval.

The calculated values of the increment of coordinates, which are the coordinates of the software, determined by the autonomous system, from the output of block 8 simultaneously arrive at the first input of block 14 and the first input of block 10.

Block 14 calculates the projections of the total vector of displacement of the software relative to the coordinates of the source point, which can be adjusted to clarify the coordinates of the location of the software.

The value of the total displacement vector accumulated in block 14, from its output goes to the first input of block 9, in which the current values are calculated from this output and the value of the initial coordinates determined by the autonomous system, coming to the second input of block 9, from the output of block 21 the coordinates of the software location, which from the output of block 9 go to the second input of block 16 to send the calculation results to the user and to the first input of block 11 to calculate the correction of the values of the total displacement vector.

The calculation of coordinates in block 9 is carried out in accordance with expressions (8) and (9).

where GXA, GYA are the geographical coordinates of the current software position along the X-axis and Y-axis, respectively, on the plane of the geographic coordinate system, determined by the calculated parameters when the system is working offline.

GXO, GYO - geographical coordinates of the initial position of the software from where the movement count began.

GXS, GYS - the value of the projections of the vector of the total displacement of the software relative to the installation point of the initial coordinates on the X, Y axis in the plane of the geographic coordinate system.

Using the values of the coordinates received from the satellite navigation system 15, arriving at the second input of the block 11 from the output of the block 15, and the values of the coordinates of the autonomous navigation system, arriving at the first input of the block 11 from the output of block 9, the value of the deviation vector satellite system (we consider the coordinates of the satellite system reliable). Upon reaching the deviation vector of a more predetermined threshold value, the correction values of the correction of the relative displacement of the coordinates of the autonomous system are calculated, and the calculation of the correction values occurs during the period when the block 15 returns the coordinates of the software that are accepted as reliable. Also, the coordinate values from the satellite navigation receiver from the output of block 15 are sent to input 1 of block 16, for transmission to the user for the purpose of his knowledge of the software location according to the parameters of the satellite navigation system.

From the output of block 11, the above correction values are sent to the second input of block 14, as a result of which, in block 14, during the next measurement cycle, the values of the total displacement vector are corrected, and as a result, the error of the deviation of the coordinates of the autonomous system from the coordinates of the satellite system is reduced.

The accumulation of the total value of the magnitude of the projections of the displacement vector in block 14 begins to be carried out from the moment the coordinates of the initial point of the software location are set, and each time the coordinates of the initial point are set, the total value of the displacement vector is zeroed. Such an operation is carried out by a command coming from the output of block 21 to the third input of block 14. Also, the coordinates of the starting point from the output 1 of block 16 are sent to the input of block 21, which are stored in the non-volatile memory of block 21 and each time the power is turned on, their values are restored, until the operator sets their new values.

After turning on the power supply of the complex, in block 30, a team is formed to determine the number of the angular sector, in which the software is oriented, and when determining the number of the angular sector, a cycle for calculating the motion correction coefficients (CFC) is launched. During the KKPD calculation cycle, the calculation and subsequent analysis of the parameters of the motion of the software are carried out: determination of the magnitude of the correction of the magnetic azimuth of the direction of movement of the software and the correction of the distance traveled.

The KKPD calculation cycle begins with three operations, the first of which stores the current values of the software coordinates received from the SNA, the values of which come from the output of block 15 to the second input of block 31, while the command comes from the first output of block 30 to the first input of block 31, the second operation initializes to zero the value of the displacement accumulation vector by the autonomous navigation system, the command arrives from the first output of block 30 to the second input of block 10, the third operation resets the counter and distance traveled from the beginning of the calculation cycle CCRC, wherein operation process is performed within the block 30. The calculation cycle start condition is CCRC issuing verified coordinate value PO from the satellite navigation system (precision values not less than 30 meters), SNA defined characteristics.

During the cycle time for calculating the CKPD in block 10, projections of the total displacement vector calculated based on the increment of the coordinates of the autonomous navigation system coming from the output of block 8 to the first input of block 10 are determined. From the output of block 10, the calculated values of the total displacement vector are sent to the input of block 29 in which the analysis of the values of the projections of the displacement vector and the calculation of its parameters: the magnitude and orientation of the direction of motion of the software in the system of geographical coordinates. At the same time, in block 28, an analysis is also made of the values of the projections of the displacement vector and the calculation of the parameters of the vector formed by the satellite system. For this, the first input of block 28 from the output of block 31 receives the stored value of the coordinates of the satellite navigation system, recorded in memory at the beginning of the KKPD cycle, as well as the current value of coordinates determined by the satellite navigation system, which are received at the second input of block 28 from the output of block 15 Moreover, the calculation occurs at the moment when the block 15 provides reliable coordinates (the accuracy of the values is not worse than 30 meters). Then, the angular orientation parameters of the vectors calculated by the autonomous and satellite navigation systems from the output of block 29 and the output of block 28, respectively, go to input 2 and input 1 of block 27. Also, the parameters of the magnitude of vectors calculated by the autonomous and satellite navigation systems from the output of block 29 and from the output of block 28, respectively, enter input 1 and input 2 of block 12, in which the proportionality coefficient of the ratios of their values is calculated - Ks (correction coefficient of the distance traveled).

A digital coefficient that matches the amount of movement traveled by the moving object, and the number of pulses from the sensor of unit 6 per unit of distance traveled, is input 2 of block 13 from the output of block 12.

Block 27 calculates the difference in angular orientations of the above vectors. The calculation result is received from the output of block 27 to the fourth input of block 26. In block 26, the values of the difference in the angles of the above vectors are analyzed, and depending on the calculated value, the values of the matrix of the correction of the angle of the direction of motion of the software are adjusted in accordance with the determined number of the angular sector, and the number the angular sector comes from the second output of block 30 to the second input of block 26. The matrix for correcting the angle of the direction of motion of the software is generated and stored in block 26 and is a set of memory cells in which digital values of the angular coefficients used to correct the specified parameter are stored.

When the conditions for completing the KKPD calculation cycle are met, block 30 will form a command to complete the cycle, which is also the command to start a new KKPD calculation cycle, which is fed from the first output of block 30 simultaneously to the first input of block 31, to the second input of block 10 and to the fourth input of the block 33.

The command for completing the KKPD calculation cycle is also transmitted from the first output of block 26 to the second input of block 25, in which the algorithm for analyzing the constant component of the angle, which is present in the matrix for correcting the angle of direction of motion of the software, is launched.

The analysis of the constant component of the angle consists in finding the arithmetic mean value of all nonzero elements in the matrix of correction of the angles of direction of movement and further subtraction of this value for all nonzero elements of the matrix. For this, from the second output of block 25, the control signal and the value of the constant component are transmitted to the first input of block 26. The calculated value of the constant component is also added taking into account the sign of the angle correction coefficient, which was mentioned earlier.

The angular direction correction coefficients generated in block 26 fix the presence of magnetic field distortions in this angular sector of the PO orientation, which arise due to the influence of residual values of secondary magnetic fields that were not eliminated during the deviation elimination procedure.

The main objective of the proposed adaptive navigation complex is the formation of such correctional compensation coefficients of the correction of the magnetic field (formation takes place in block 33), under the influence of which, the calculated value of the magnetic field would give such a value of the magnetic azimuth, according to which the coordinates calculated using the autonomous system , completely coincided with the coordinates provided by the satellite system, as a result of which the values in the matrix of angle correction coefficients (contained in block 26) will go to zero.

To improve the accuracy of determining the orientation angles of the direction of movement of the software during the measurement of the magnetic field and eliminate the influence of secondary magnetic fields, additional processing has been introduced, which is carried out in blocks 32, 33, 23, 24, which operate as follows: horizontal projections of the magnetic field come from the output of block 4 at the first input of block 32; they calculate the magnitude of the effective magnetic field vector Hb, and compare it with the magnitude of the vector Hb0 defined in the production and laboratory settings, which is stored as a constant value in the non-volatile memory of block 32, which is supplied to the second input of block 32 from the third output block 24 at the stage of production and laboratory settings. In case of deviations of the magnitude of the magnetic field vectors, the magnitude of the correction coefficient of the correction of the angular direction is analyzed, which is fed to the third input of the block 32 from the first output of the block 26, and the correction coefficients of the magnitudes of the projections of the magnetic field are generated, which enter the matrix of correction coefficients at the first block 33 from the output of block 32, in accordance with the number of the angular sector, which is fed to the third input of block 33 from the second output of block 30, and the matrix is corrected according to Manda start a new cycle KKPD, which is fed to the fourth input of block 33 from the first output of block 30.

From the output of block 33, the correction factors for the projection of the magnetic field DHx and DHy, which are valid when the software is oriented in a given angular sector, are fed to the second input of block 24, which are transmitted from the first output of block 24 to the second input of block 23 for correcting the magnetic field in accordance with expressions (1) and (2). In block 24, the content of the matrix of the magnetic field correction matrix is also analyzed and the correction values for the coefficients KMx, KMy, SHx, SHy, which were determined at the stage of eliminating the deviation, are extracted from the contents of the matrix, and in case of correction of the above coefficients, by a command from the second output block 24 to the second input of block 33 in the matrix stored in block 33, the content is also corrected.

When the device’s power is turned off, the coefficients stored in block 33, in block 26, in block 25, in block 24 are memorized in their non-volatile memory.

Since in block 24, when forming the coefficients correcting the measured value of the magnetic field, the values of the matrix of correction coefficients of the magnetic field generated and stored in block 33 and coming from its output to the second input of block 24 are taken into account, and they, in turn, change under the influence of coefficients coming in the opposite direction connection, from the first output of block 26 to the third input of block 32, then the compensation adjustment of the correction coefficients of the magnetic field occurs in case of a change in the magnetic situation around the first block Occupancy of the magnetic field.

In block 33, the magnetic field correction coefficients are non-zero, based on which, in block 23, the measured values of the magnetic field are continuously corrected, due to which the magnetic field projections received to calculate the directional angle form the directional orientation angle of the software relative to the north Meridian As a result of the above, there is no calculation of the error in the mismatch of the direction angles between the autonomous and satellite systems, and the angle correction matrix stored in block 26 is filled with zero values.

When the magnetic situation changes around the sensor unit 1, a deviation of the calculated values of the magnetic field projections arises, which leads to a compensating calculation of the orientation angle of the software, and as a result, the deviation of the software direction determined by the autonomous navigation system from the software direction determined by the satellite navigation system is recorded. This value is fixed in the matrix of correction of the angular coefficients of block 26, which, in turn, due to the presence of feedback, leads to a change in the values stored in the matrix of the correction of the magnetic field of block 33. The changed coefficients arrive to calculate the parameters of the magnetic field and the magnitude of the error in calculating the projections of the magnetic field decreases , and as a result, the error in calculating the directional angle of the direction of motion of the software is reduced, which ultimately reduces to zero, and zeroing the values in the matrix of correction of angles in block 26 dit to stop magnetic field correction coefficients in the block 33.

The technical implementation of block 1 is possible using magnetically sensitive sensors based on flux gates or integrated magnetoresistors (for example, NMS1002 from Honeywell) with a resolution of 27 ugauss, measuring range ± 6 gauss, sensitivity 0.2 mV / gauss.

The technical implementation of block 2 is possible using accelerometers of the form STMicroelectonics (LIS3L06AL) or Analog Devices (ADXL325) with a resolution of 0.5 mG, a measurement range of ± 2G, and a sensitivity of 0.6 V / G.

The displacement sensor, which is part of the device, is implemented using three Hall sensors and four different-pole magnets mounted on an axis that connects to the gap of the vehicle speedometer shaft cable. Thus, a three-channel sensor is formed, in which 6 impulses of the phase state of the angle of rotation are generated per revolution of the wheel, which is sufficient to determine the distance traveled and the speed of movement when moving at speeds above 5 km / h. When using an electronic speedometer, the accuracy of dead reckoning will be limited by the distance traveled by the vehicle’s wheel in one full revolution.

The receiver of the satellite navigation system 15 is implemented on the basis of the domestic receiver RNV208, which is produced by the FSUE NII KP. It works with the possibility of receiving 30 channels in the GLONASS / GPS system and has a digital RS-232 information exchange interface with the implementation of a multifunctional information exchange protocol.

The remaining blocks that are part of the inventive adaptive navigation system carry out mathematical transformations, therefore, they can be implemented on the basis of microcontrollers or digital signal processors, in particular, the prototype model on which the proposed device is implemented is built using the DSPIC33FJ128GP708 chip from MicroChip (128 KB memory programs, 16 Kbytes RAM memory, built-in 12-bit ADC controller, two RS-232 interface controllers, SPI interface, clock frequency up to 40 MHz, nine built-in timers); It is also possible to use signal processors from Texas Instruments or Analog Devices, but in the case of signal processors, an external ADC with at least 12 bits is required.

As a feature of the operation of unit 3, it should be noted that it is necessary to use five ADC channels or apply a channel multiplexing chip (for example, domestic production K561KP2).

The technical result from the use of the proposed method and device is limited by the type and characteristics of the used elemental base. In the mock-up version, measurements of directional angles and tilt angles with a resolution of 0.1 degrees were obtained, with an accuracy of determining angles of not more than 0.5 degrees, the error in determining the coordinates of movement was not more than 1%.

Claims (1)

An adaptive navigation system containing a block of magnetic field sensors, a block of linear acceleration sensors, a block for correcting the readings of magnetic field sensors and linear acceleration, a block for calculating horizontal projections of the Earth’s magnetic field (MPZ), a synchronization block, a displacement sensor, a block for calculating the direction of movement of a moving object ( ON), a unit for calculating an increment of coordinates per unit of an increment of a value of displacement, a first summing unit, an integrator, a unit for correcting a relative offset of coordinates, a unit for calculating coding coefficients of the magnitude of the displacement, the multiplier unit, the second summing unit, the satellite navigation system (SNA) receiver, the information exchange interface unit, the phase interval and edge analysis unit, the filtering unit, the non-orthogonality correction and error compensation unit for the design and technological tolerances of the manufacture of sensor units, register for storing laboratory settings coefficients, register for storing initial coordinate values, software acceleration correction unit, value correction unit magnetic field, a block for calculating the correction coefficients of side magnetic fields, while the outputs of the blocks of magnetic field sensors and linear acceleration are respectively connected to the first and second inputs of the block for correcting the readings of magnetic field sensors and linear acceleration, the third input of which is connected to the first output of the laboratory coefficients storage register settings, the second output of which is connected to the second input of the non-orthogonality correction unit and error compensation for structural and technological tolerances x manufacturing of sensor blocks, the output of the magnetic field and linear acceleration sensor readings correction unit is connected to the input of the filtering unit, the output of which is connected to the first input of the non-orthogonality correction unit and error compensation for structural and technological tolerances of manufacturing devices, the first output of which is connected to the first input of the correction unit software acceleration values, and the second output is connected to the first input of the magnetic field correction block, the second input of which is connected to the first output of the unit In order to calculate the correction coefficients of incidental magnetic fields, the first input of which is connected to the input of the laboratory settings coefficient storage register and the third output of the information exchange interface unit, the output of the displacement sensor is connected to the first input of the phase interval and edge analysis unit, the output of which is connected to the second input of the correction unit software acceleration values and with the first input of the multiplier block, the second input of which is connected to the output of the block for calculating the correction coefficients of the displacement value, and the output d is connected to the third input of the unit for calculating the increment of coordinates per unit of increment of the amount of displacement of the software, the first input of which is connected to the output of the unit for calculating the angle of the direction of movement of the software, and the second input is connected to the second output of the synchronization unit and the third input of the unit for analyzing phase intervals and fronts, the second input which is connected to the first output of the synchronization block, the third output of which is connected to the third input of the block for calculating horizontal projections of the MPZ, the first input of which is connected to the output of the value correction block acceleration of software and the second input of the block for calculating the angle of the direction of movement of the software, the first input of which is connected to the output of the block for calculating the horizontal projections of the MPZ and the third input of the block of the interface of the information exchange, the fourth input of which is connected to the output of the block of calculating the angle of the direction of the software, the second input of the block for calculating MPZ projections are connected to the output of the magnetic field magnitude correction unit, the output of the unit for calculating the increment of coordinates per unit of increment of the amount of displacement of the software is connected to the first input of the in the operator and the first input of the second summing unit, the output of which is connected to the first input of the first summing unit, the second input of which is connected to the output of the register unit for storing the initial coordinate values, the input of which is connected to the first output of the information exchange interface unit, the second input of which is connected to the output of the first block summation, and the first input is connected to the output of the SNA receiver unit and the second input of the relative coordinate offset correction unit, the output of which is connected to the second input of the second unit summation, characterized in that a block for analyzing the contents of the matrix for correcting the direction of movement of the direction, a block for generating and storing the matrix for correcting the angle of the direction of movement, a block for calculating the difference in angles, a block for calculating the parameters of the displacement vector for the SNA, a block for calculating the parameters of the displacement vector for the autonomous navigation system, is introduced; analysis of the value and the angle of the direction of movement and the magnitude of the movement, the storage unit for coordinate values according to the SNA, the unit for analyzing the magnitude of the magnetic field vector, the unit for the formation and storage I’m a matrix for correcting the values of magnetic field values, while the second output of the information exchange interface unit is connected to the first input of the content analysis unit of the motion direction angle correction matrix second, the input of which is connected to the first output of the formation and storage unit of the software for correcting the angle of motion of the software and with the third input unit for analyzing the magnitude of the magnetic field vector, the first output of the unit for analyzing the contents of the matrix of the angle correction of the direction of motion of the software is connected to the fourth input of the increment unit to the coordinates per unit increment of the amount of movement of the software, and the second output of the analysis unit of the content of the matrix of the correction of the direction of movement is connected to the first input of the unit for forming and storing the matrix of the correction of the direction of movement, the second output of which is connected to the third input of the analysis unit of the value of the direction of movement and the amount of movement, and the second input is connected to the second output of the block of analysis of the value of the angle of the direction of movement of the displacement value and to the third input of the block for the formation and storage of the correction matrix values of magnetic fields, the first input of which is connected to the output of the unit for analyzing the magnitude of the vector of the magnetic field, the second input is connected to the second output of the unit for calculating the correction coefficients of side magnetic fields, and the output is connected to the second input of the unit for calculating the coefficients of correction of side magnetic fields, the first input of the block analysis of the magnitude of the magnetic field vector is connected to the output of the block for calculating the horizontal projections of the MPZ and to the inputs of one block for calculating the angle of the direction of motion of the software and three blocks of the information interface exchange, the second input is connected to the third output of the block for calculating the correction coefficients of secondary magnetic fields, the fourth input is connected to the output of the block for calculating the angle of the direction of motion of the software and to the fourth input of the information interface interface block, the first input of the block for calculating the increment of coordinates per unit of increment of the value of moving the software and the second input of the block of analysis of the value of the angle of the direction of movement and the magnitude of the movement, the first output of this block is connected to the first input of the block of storage of coordinate values by SNA, with the fourth input of the block for forming and storing the matrix for correcting the values of the magnetic field, with the third input for the block for forming and storing the matrix for correcting the angle of motion and the second input of the integrator unit, and the first input of the block for analyzing the value of the angle of the direction of motion of the displacement value is connected respectively to the output of the multiplier block and the third the input of the unit for calculating the increment of coordinates per unit of increment of the amount of displacement of the software, the second input of the interface unit of the information exchange is connected to the first input the relative coordinate shift correction unit, the output of the integrator block is connected to the input of the block for calculating the parameters of the displacement vector through an autonomous navigation system, the output of which is respectively connected to the first input of the block for calculating the correction coefficients of the displacement value and the second input of the block for calculating the difference of angles, the output of which is connected to the fourth input of the block the formation and storage of the matrix for correcting the angle of the direction of movement, the first input of the block for calculating the difference in angles is connected to the output of the block for calculating the pair meters of the displacement vector along the SNA and to the second input of the block for calculating the correcting coefficients of the displacement, the first input of the block for calculating the parameters of the displacement vector according to the SNA is connected to the output of the block for storing coordinate values according to the SNA, the second input of which is connected to the second input of the block for calculating the parameters of the displacement vector according to the SNA and the output of the SNA receiver unit, the output of the register storage unit of the initial coordinate values is connected to the third input of the second summing unit.