RU2617147C1 - Method for initial orienting gyroscopic navigation system for land mobiles - Google Patents

Abstract

FIELD: measuring equipment.

SUBSTANCE: source directional angle of the longitudinal object axis α_ref is determined in the gyroscopic navigation system for land mobiles, consisting of a gyro course indicator (GCI), a calculator (mapper), a track sensor, and a satellite navigation system (SNS) sensor, by the SNS parameters, GCI and the track sensor in the following order: the object coordinate definition is carried out acc. to the SNS at the starting track point, the object movement is carried out for short distances, and the rectilinear movement distances of the moving object are calculated relative to the last SNS data about the location, the object is stopped, the SNS data are again received about the object location in the stop place, the vector of the directional object angle is calculated acc. to the information received from the satellite navigation system and autonomous (odometrical) channels, the calculated vector is used to determine the correction Δα_ref in the current directional object angle, the resulting amendment is summed up with the current directional angle and, the obtained directional angle is used as the source directional angle α_ref like the initial orientation parameter.

EFFECT: expanding the functional capabilities.

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Description

The invention relates to the field of measuring equipment and can be used in navigation systems, topographic location and orientation of ground moving objects.

It is known to use odometric navigation systems on ground moving objects, generally consisting of a gyroscopic meter, an electromechanical track sensor, and a coordinator or electronic cartographer. Such navigation systems are generally intended for:

- continuous automatic determination and indication of coordinates and directional angle of the object;

- continuous automatic determination and indication of the directional angle of the object to the destination;

- calculating the coordinates of targets on the range entered into the equipment to the target and the angle of sight on the target.

As a rule, the operation sequence diagram of such a navigation system includes the following stages: initial exhibition (gyrocompassing) or initial orientation and navigation (work), which consists in determining the location of an object in motion. Options for the execution of these stages may be different. In particular, there may be several options for performing an initial exhibition or initial orientation, depending on the conditions of the exhibition and the availability of external information about the coordinates and orientation angles of the object.

There is a method of determining the angular orientation (RF patent No. 228008004), based on the reception of signals from spacecraft of global navigation satellite systems to spaced signal receivers located on the object so that they do not lie on one straight line. The receivers of the signal are GPS receivers of at least three. According to their readings, the coordinates of each signal receiver are determined, based on which the position of the vectors defining the coordinate system associated with the object is calculated.

One of the disadvantages of this method is the need for at least three spaced signal receivers, which significantly complicates the system and increases the dimensions of the product.

There is a known system of self-orienting gyroscopic heading and roll indication (RF patent 2316730), providing operation in the gyrocompass mode while the object is stationary and gyro azimuth when the object is moving. Such systems are called dual-mode. At the beginning, after switching on, the system operates in a gyrocompass mode, and the initial azimuth of the object is analytically calculated from the signals of the horizontal component of the angular velocity of the Earth's rotation from gyroscopic sensitive elements. After completion of the gyrocompass mode (determination of the initial azimuth), the system operates in the azimuth storage mode. In this mode, the azimuth (directional angle) of the moving object, as well as the slopes of the moving object, and the navigation tasks are solved from the information about the turns of the instrument case at the heading.

A disadvantage of the known gyroscopic system is the difficulty of implementing algorithms for solving the problem of determining the initial azimuth of an object; considerable time is required to determine the azimuth and the high cost of the equipment.

A known method of solving navigation problems, carried out by means of a ground-based gyroscopic navigation system for moving objects (RF patent No. 2308681), adopted as a prototype based on the decomposition of elementary segments of the path into two components in a rectangular coordinate system and the subsequent algebraic summation of these components with the original coordinates.

The indicated gyroscopic navigation system is made on the basis of an astatic gyroscope using the method of reckoning the path in which combined navigation equipment is implemented, which has: autonomous (odometric) mode of operation from the gyrometer (GKI) (gyro azimuth); operating mode from a satellite navigation system (SNA); an integrated mode of operation with correction of the current coordinates of the autonomous channel according to more accurate satellite channel information, which ensures increased accuracy of the equipment, and the use of microprocessor technology elements, the use of a cartographer with a digital electronic terrain map allows you to expand the functionality of the equipment and implement signal processing using additional algorithms to solve additional navigation tasks.

A gyroscopic navigation system consists of a gyro course meter (GKI), a cartographer (calculator), an electromechanical track sensor, and a satellite navigation system (SNA) as part of the receiver and antenna.

Working with the system when solving navigation problems includes initial orientation and determining the location of an object in motion. Before the initial orientation, the coordinates of the starting point of the route X _ref , Y _ref are determined. As a starting point, as a rule, contour points on the terrain (points of the state geodetic network, monuments, bridges, special points in permanent parks, etc.) are chosen, in the absence of attached contour points, their coordinates are determined by map or SNA.

The initial orientation of the object, depending on the initial data, can be done in several ways, for example, determining the initial directional angle α _ref from a known orientation direction or using a compass.

The determination of the initial directional angle α _ref in the known reference direction is performed in the following sequence:

- the object is installed at a control point with known coordinates and a directional angle to the landmark α _ор , so that the projection of the axis of rotation of the sighting device coincides with the control point with an error of not more than 0.5 m;

- with the help of the sighting device it is necessary to communicate to a landmark, the directional angle of which is known, and to determine the angle of sight to the landmark β _visas ;

- determine the initial directional angle of the longitudinal axis of the object α _ref in accordance with the formulas:

α _ref = α _op -β _visas

The disadvantage of this method of initial orientation in a known landmark direction is the impossibility of its application in cases where there are no objects with known coordinates and a direction angle to the landmark α _op or in conditions of insufficient visibility to a known landmark.

The second method for determining the initial directional angle using a compass can be used in the absence of landmarks or in conditions of poor visibility. The initial directional angle of the longitudinal axis of the object α _ref is determined using the PAB-2A compass in the following sequence:

- set the object to the starting point;

- install the compass at a distance of at least 50 m from the facility;

- prepare the compass for operation in accordance with maintenance and IE for compass;

- communicate with the sighting device of the object to the center of the compass and record the angle β of _visas ;

- to communicate through the monocular bushes on the optical sight of the object;

- write the value of the magnetic azimuth AM _M on the optical target of the object;

- determine the initial directional angle α _{ref of the} object by the formulas:

α _ref = 30-00 + Am + (P) -β _visas , or

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The disadvantage of the second method of initial orientation using a compass is, firstly, the impossibility of its use in conditions of insufficient visibility up to 50 m, and both the first method and the second require additional equipment that is not included in the navigation system. Highlighted disadvantages significantly limit the operational capabilities of the navigation system and reduce the mobility of the product.

Therefore, the development of an initial orientation method without additional funds is an urgent problem.

The aim of the invention is to expand the operational capabilities of the gyroscopic navigation system for ground moving objects by using for the initial orientation the parameters of the satellite navigation system (SSS), gyrometer (GKI) and track sensor, respectively, to determine the coordinates of the object, measure the directional angle and the distance traveled by a certain algorithm in a certain relationship.

The stated technical problem is solved in that in a gyroscopic navigation system for ground moving objects, consisting of a GKI, a calculator (cartographer), a track sensor and a satellite navigation system (SNA) and requiring initial orientation, when solving navigation problems, according to the claimed invention,

The initial orientation method is carried out in the following sequence:

(a) determine the location of the object at the starting point of the route according to information from the SNA;

(b) carry out the movement of the object over short distances and determine the coordinates of the moving object of the moving odometer channel relative to the source data of the SNA on the location of the object;

(c) the object is stopped;

(d) retransmit SNA data about the location of the object at the stopping place;

(e) calculating direction vectors (directional angles from the starting point to the end) of the traveled section from the information received from the SNA and autonomous (odometric) channels;

(f) the calculated directions of the vectors are used to determine the correction Δα _ref to the current directional angle of the object;

(g) summarizing the correction obtained with the current directional angle of the object and using the obtained directional angle as the initial directional angle α _ref as a parameter of the initial orientation.

The proposed method for the initial orientation of the gyroscopic navigation system for ground moving objects can be applied in the absence of control points with known coordinates and directional angles to landmarks, lack of time to conduct a full cycle of initial orientation, in the absence of landmarks and in conditions of poor visibility.

The indicated method of initial orientation of the gyroscopic navigation system for moving objects allows, within the framework of the existing hardware, to determine the directional angle of the object by jointly processing the coordinates determined by the SNA and the SR odometer channel while the object is moving with accuracy sufficient for navigation.

The analysis of the prior art, including a search by patent and scientific and technical sources of information and identification of sources containing information about analogues of the claimed technical solution, made it possible to find that no analogues were found that are characterized by signs identical to the totality of the features of the proposed method for the initial orientation of the gyroscopic navigation system for moving objects. This allows us to conclude that the proposed system meets the criterion of "novelty."

A comparison of the proposed method for the initial orientation of the gyroscopic navigation system for moving objects with other technical solutions shows that some distinctive features in the technique are widely known. So it is known to use the SNA to obtain data on the location of an object. It is known to use the calculation of the distance of the rectilinear movement of a moving object relative to the latest SNA location data for solving navigation problems. However, it has not been found that these features are used in this relationship with other features to achieve the above technical result, therefore, the inventive method for the initial orientation of the gyroscopic navigation system for moving objects can be considered as “inventive step” that meets the criteria of the invention.

The invention is illustrated by drawings, where:

In FIG. 1 is a structural diagram of a gyroscopic navigation system for moving objects;

in FIG. Figure 2 shows the measurement of the directional angle in the Gauss-Krueger system, which is a rectangular coordinate system whose X axis coincides with the direction to the North, and the Y axis coincides with the direction to the East. The directional angle of the object α _i in the Gauss-Krueger coordinate system is the angle between the projection of the longitudinal axis of the object onto the horizontal plane and the X axis.

The practical application of the present method for the initial orientation of the gyroscopic navigation system for ground moving objects will be examined using its example in a gyroscopic navigation system for non-terrestrial moving objects (Fig. 1), consisting of a gyroscopic meter 1, a computer (cartographer) 2, a path sensor 3 and SNA, consisting of an antenna 4 and a receiver, which is not shown conditionally, integrated in the cartographer.

Working with the system when solving navigation problems includes initial orientation and determining the location of an object in motion. The initial orientation operation is carried out in the following sequence:

- the object is installed at any point in an open area where there is no interference with the reception of SNA signals;

- the system turns on and after the readiness time of the odometric and satellite channels is transferred to the "Self-orientation" mode, while the coordinates X _ISHSNS , Y _ISHSNS defined by the satellite channel are entered into the _odometric channel, which are stored in the memory of the microcomputer;

- then begins the movement in an arbitrary direction over short distances Si (Fig. 2), preferably in a straight section with the maximum permissible speed for a given area;

- in this case, the coordinates of the moving object are calculated relative to the initial (initial) SNA data on the location, while moving in the odometer channel, the coordinates are calculated in accordance with the previously described algorithm using the initial coordinates entered into the channel and the direction angle established during this launch;

- after about 1 km of movement, the object is stopped and the system goes into odometric mode. After that, the joint processing of coordinates and directional angles obtained from the odometric and satellite channels at the end point is performed according to the following algorithm:

- the directional angle α _T is calculated from the starting point of the route to the final one according to the coordinates determined by the odometric channel according to the formula:

where X _T , Y _T - coordinates of the end point defined by the odometric channel;

X _ISHSN , Y _ISHSNS - coordinates of the starting point determined by the satellite channel;

- calculates the directional angle α _IST from the starting point of the route to the final one according to the coordinates determined by the satellite channel according to the formula:

where X _TSNS , Y _TCHC - coordinates of the end point, determined by the satellite channel;

- the error Δα _ref in setting the initial directional angle at the starting point is calculated by the formula:

согласно выражению:- the actual value of the current directional angle at the location of the object is calculated

according to the expression:

where α _m is the instrumental value of the directional angle at the end point before correction;

и координаты точки места нахождения объекта Х_{т СНС}, Y_{т СНС} в автономный канал аппаратуры.- directional angle value is automatically entered

and the coordinates of the location point of the object X _{t SNA} , Y _{t SNA} in the autonomous channel of the equipment.

After the operator has entered the coordinates of the destination, they begin to move to the destination.

During the movement of the object, changes in the directional angle of the longitudinal axis of the object occur, which are measured by the gyrometer 1 and transmitted to the computer (microcomputer), and information about the traveled path of the object, measured by the path sensor 3, is received there. _i , after which the current value of the directional angle of the object is calculated as the sum of the initial directional angle α _ref and increments of the directional angle α _i obtained during the movement of the object from starting point to the current. According to the signals of the path sensor 3, carrying information about the path traveled by the object, the current differences in the coordinates of the destination and the object are calculated in the microcomputer according to the well-known algorithm. In accordance with the changed values of the differences in the coordinates of the destination and the object in the microcomputer, the directional angle from the new location of the object is calculated by the appropriate algorithms.

Thus, the output of the microcomputer contains information about the current coordinates and the directional angle of the object, the coordinates of the target, the directional angle to the destination and the distance to it, which goes to external information processing and control devices or to the input of the cartographer 2.

The effectiveness of the proposed technical solution was tested in the products “Topographic Orientation System (STO)“ TRONA-1 ”, serially manufactured at JSC“ Kovrov Electromechanical Plant ”. Without the use of traditional information on the coordinates of the attached contour points and known landmark directions, without the use of additional means such as a compass, the initial orientation by the proposed method provided sufficient accuracy of the initial data, which allowed to obtain final results by mistake in determining the coordinates of the object (1T134 topographic loader based on the Ural car ») On a march with a duration of 24 km, 0.4% of the distance traveled with an allowable error of not more than 0.9% for wheeled objects. Moreover, the time spent on the initial orientation phase did not exceed 10 minutes, which is significantly less than the average statistical value of the initial orientation time by previously used methods.

Claims (7)

A method of initial orientation of a gyroscopic navigation system for ground moving objects based on the use of information from a satellite navigation system (GPS) GPS and (or) GLONASS, a distance sensor, a gyroscopic measuring device of the angle of rotation of the object, characterized in that for the initial orientation of the longitudinal axis of the object is determined the location of the object at the starting point of the route according to information from the SNA, carry out the movement of the object over short distances and determine the coordinates of the moving object by the odometric channel relative to the source data of the SNA on the location of the object, the object is stopped re-determine the location of the object in the stopping place according to information from the SNA, calculate the direction vectors of the directional angles of the object from the start to the end point according to information received from the SNA and autonomous (odometric) channels, the calculated directions of the vectors are used to determine the correction Δα _ref to the current directional angle of the object, summarize the correction with the current directional angle of the odometer channel and use the obtained directional angle as the initial directional angle α _ref as a parameter of the initial orientation.

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