WO2010072917A1 - Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle - Google Patents
Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle Download PDFInfo
- Publication number
- WO2010072917A1 WO2010072917A1 PCT/FR2009/001455 FR2009001455W WO2010072917A1 WO 2010072917 A1 WO2010072917 A1 WO 2010072917A1 FR 2009001455 W FR2009001455 W FR 2009001455W WO 2010072917 A1 WO2010072917 A1 WO 2010072917A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- heading
- value
- north
- heading value
- sensor module
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Definitions
- the present invention relates to a method of searching a heading towards the geographical north.
- Geographical North Search is a pre-departure phase for any sighting, naming, guidance or navigation operation to determine a reference heading from which sighting or navigation data will be determined.
- the system becomes operational after it has been "aligned" on this heading.
- It is known to determine a northbound course using a North searcher that has a gyro firmly secured to the ground in a horizontal position.
- the North researcher precisely determines the direction of the North in the absence of movement of the gyroscope with respect to the earth's surface.
- the accuracy of the determination depends mainly on the drift of the gyroscope, or even the stability of the drift when two measurements are made at opposite ends.
- the smallest movement of the gyro even imperceptible by a human being, rapidly degrades this precision and distorts the search for the North.
- the installation of the researcher of North must therefore be particularly neat to avoid such movements.
- an inertial sensor module comprises three axes accelerometer measuring instruments and three gyro-metric measuring axes.
- the alignment of the equipment consists in either bringing and then physically maintaining the inertial sensor module in a predetermined position with respect to a local or inertial geographical reference, or estimating and then maintaining by calculation the angular differences between the local or inertial geographical reference point and the inertial sensor module.
- An object of the invention is to provide a means for optimizing the North search by means of an inertial sensor module.
- a method for determining a heading towards the geographical north by means of an inertial sensor module comprising three gyrometric measurement axes and three accelerometric measurement axes, comprising the steps of :
- the first heading value is calculated using the inertia sensor module 1 as a North searcher, that is to say by calculating the course from gyrometric data, the accelerometer data not being used in the calculation of the heading. itself but simply to determine the average horizontal plane vis-à-vis the sensor module.
- the second heading value is calculated using the gyrocompass mode, i.e. using the accelerometer data flow in addition to the gyrometric data to estimate the heading and attitude of the inertial unit. This makes it possible to obtain a relatively precise heading value by limiting the risk of a major error related to an angular movement of the inertial unit.
- the calculation of the heading comprises the steps of:
- the method comprises the step of estimating a coherence of the calculated difference with a hypothesis of absence of movement of the inertial unit with respect to the ground and: - if the difference is coherent take the first value of course as heading north,
- the difference does not allow to conclude on the coherence of the difference with the assumption of a lack of rotation of the sensor module with respect to the earth, it is possible to use a combination of the two heading values. to obtain the selected course.
- the coherence estimate comprises the step of comparing the weighted difference of a latitude cosine with at least one threshold and, advantageously, the threshold is equal to the square root of the sum of the square of a difference.
- the threshold is equal to the square root of the sum of the square of a difference.
- This calculation mode is particularly effective for selecting the heading value.
- the calculation of the heading comprises the steps of: weight the first heading value and the second heading value,
- the method comprises the step of detecting a movement of the inertial sensor module by an external detector to the inertial sensor module and of retaining as heading towards the north the second heading value.
- the method of the invention relates to the search for geographic North by means of an inertial sensor or central sensor module 1 comprising a platform 2 provided with accelerometers 3 (only one of which is shown in the figure) and connected by gyrometers. 5 (only one of which is shown in the figure) to a fixed support 4 as a housing. It is understood that the description and representation of the inertial unit are simplified at the extreme, the invention does not relate to the structure of the inertial unit which is known elsewhere.
- the inertial unit 1 is integral with equipment, such as a vehicle, having a frame to which the housing of the inertial unit 1 is rigidly fixed.
- the inertial unit 1 is associated with a computer 6 which executes a control program 7 of the inertial unit 1 arranged to calculate a heading towards the geographical north: - as a researcher from North using the data signals from at least one of the gyrometers 5,
- the method according to the invention thus comprises the steps of:
- the two heading values C CN and C G c are affected by an error comprising a gyrometric component and an accelerometric component.
- the gyrometric heading error component identical for the calculation of the first heading value and the calculation of the second heading value, results from the average drifts of the projected gyrometers on the east-west direction.
- the gyrometric component of the heading error is equal to Dm E / ( ⁇ ⁇ * cos (L A1 ,)) where Dm E is the average drift on the east direction due to the average drifts of the gyrometers (average over the search duration of North), ⁇ ⁇ is the modulus of the rotation speed of the Earth with respect to an inertial reference (approximately 4375 ⁇ rad / mn or 15,04 ° / h) and L AL is the latitude of alignment of the inertial unit 1 when searching for North.
- the accelerometer component of the heading error is negligible in comparison with the gyro component for the first heading value C CN -
- the error on the first heading value C NC further includes a component which results from the average rotation Rm E of the heart of the inertial unit 1 around the east direction (this rotation is due to the movements of the housing and possibly micros rotations and deformed between the housing and the heart) and which is worth Rm E / ( ⁇ ⁇ * cos (L AL )) .
- the accelerometric component of the heading error for the second heading value C GC results from the ramps of the accelerometers and is equal to (PBm s / g) / ( ⁇ ⁇ * cos (L AL )) where g is local gravity and PBm 3 is the average variation of accelerometer bias towards the South.
- the method includes the step of calculating a deviation or difference ⁇ C between the first heading value and the second heading value both using inertial data measured during the same period.
- the method provides for capturing as a heading the first heading value or the second heading value taking into account the difference between these two values.
- the method comprises the step of estimating a coherence of the calculated difference with a hypothesis of no rotation of the inertial center with respect to the ground and:
- the consistency estimate includes the step of compare the weighted difference of a latitude cosine and the speed modulus of the Earth's rotation with a threshold S.
- the method of the invention comprises the step of detecting a movement of the inertial unit by an outside detector to the inertial unit and of retaining as heading towards the north the second heading value.
- the calculation of the heading comprises the steps of:
- the weighting formula based on the calculated deviation ⁇ C or ⁇ C * ( ⁇ ⁇ * cos (LA L )) being determined to minimize a standard deviation on an error on the obtained heading.
- the course heading North (or, in this variant, weighted heading) is then equal to: ⁇ c * C G c + (l- ⁇ c ) * C C N where the weighting coefficient ⁇ c is such that 0 ⁇ c ⁇ l and ⁇ c is a function of the calculated deviation ⁇ C * ( ⁇ ⁇ * cos (LAL)).
- the course thus calculated is sensitive to the drifts of the gyrometers in a manner identical to the two other calculated heading values described above.
- the error ErrCp ( ⁇ c ) affecting the weighted heading is such as:
- the weighting coefficient ⁇ c can vary as a function of the data ⁇ C * ( ⁇ ⁇ * COS (L AL )) OR as a function of ⁇ C.
- ⁇ C the weighting coefficient
- the invention is not limited to the embodiment described but encompasses any variant within the scope of the invention as defined by the claims.
- the structure of the inertial unit may be different from that described here.
- the number of measurements made for the calculation of heading values may be greater than one.
- inertial unit mounts the inertial unit on an adjustable element in angular position around an axis substantially normal to the ground and to perform a heading calculation for three different angular positions, which allows by averaging the three values. calculated to eliminate the effect of gyrometer drift on heading error (the drift being sinusoidal).
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200980153002.1A CN102257358B (zh) | 2008-12-22 | 2009-12-18 | 使用惯性测量单元确定真北方向的指向的方法 |
EP09799673.0A EP2361368B1 (fr) | 2008-12-22 | 2009-12-18 | Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle |
BRPI0923466A BRPI0923466A2 (pt) | 2008-12-22 | 2009-12-18 | processo de determinação de um rumo na direção do norte geográfico com o auxílio de um módulo sensor inercial |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0807335A FR2940427B1 (fr) | 2008-12-22 | 2008-12-22 | Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle |
FR0807335 | 2008-12-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010072917A1 true WO2010072917A1 (fr) | 2010-07-01 |
Family
ID=40983336
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2009/001455 WO2010072917A1 (fr) | 2008-12-22 | 2009-12-18 | Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle |
Country Status (7)
Country | Link |
---|---|
US (1) | US8751161B2 (fr) |
EP (1) | EP2361368B1 (fr) |
CN (1) | CN102257358B (fr) |
BR (1) | BRPI0923466A2 (fr) |
FR (1) | FR2940427B1 (fr) |
RU (1) | RU2463558C1 (fr) |
WO (1) | WO2010072917A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105897063A (zh) * | 2016-05-27 | 2016-08-24 | 湖北三江航天万峰科技发展有限公司 | 一种具有自动定心功能的磁悬浮装置 |
Families Citing this family (13)
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CN102466483B (zh) * | 2010-11-15 | 2015-11-25 | 北京航天发射技术研究所 | 摆式陀螺寻北仪的自动数字偏置补偿系统及方法 |
CN102735231B (zh) * | 2012-06-21 | 2014-12-10 | 浙江大学 | 一种提高光纤陀螺寻北仪精度的方法 |
CN103344226B (zh) * | 2013-06-27 | 2015-11-18 | 南京航空航天大学 | 一种基于mems旋转技术的寻北系统及方法 |
CN104266647A (zh) * | 2014-09-02 | 2015-01-07 | 北京航天发射技术研究所 | 一种基于转位寻北技术的抗扰动快速寻北仪及其寻北方法 |
RU2578049C1 (ru) * | 2014-12-03 | 2016-03-20 | федеральное государственное автономное образовательное учреждение высшего профессионального образования "Московский физико-технический институт (государственный университет) | Способ определения направления на географический север с использованием молекулярно-электронного датчика угловых скоростей и датчика угла наклона |
GB201507851D0 (en) * | 2015-05-07 | 2015-06-17 | Putnam Thomas D M And Jenner Mark J | A city navigation device, primarily for use on bicycles (the "Invention") |
KR101567770B1 (ko) * | 2015-06-26 | 2015-11-20 | 국방과학연구소 | 도수 운반형 포 발사체의 실시간 자세 결정을 위한 디지털 가늠자 |
FR3065067B1 (fr) | 2017-04-07 | 2020-02-28 | Airbus Helicopters | Systeme et procede d'analyse et de surveillance des mouvements parasites d'une centrale inertielle pendant une phase d'alignement statique. |
CN108592899A (zh) * | 2018-03-27 | 2018-09-28 | 湖北三江航天万峰科技发展有限公司 | 陀螺定向测量方法 |
CN111854800B (zh) * | 2020-07-27 | 2023-12-01 | 西安航光仪器厂 | 陀螺寻北仪常数自标定及漂移量检测装置及其检测方法 |
CN112146643B (zh) * | 2020-09-25 | 2021-11-23 | 重庆天箭惯性科技股份有限公司 | 光纤陀螺寻北仪 |
WO2024003909A1 (fr) * | 2022-06-28 | 2024-01-04 | Condor Pacific Ltd | Procédé et système de détermination d'un cadre de référence d'un viseur nord |
CN117109635A (zh) * | 2023-08-29 | 2023-11-24 | 北京中捷时代航空科技有限公司 | 寻北式捷联惯性航向效应补偿方法、装置、设备及介质 |
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2008
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2009
- 2009-03-02 US US12/396,246 patent/US8751161B2/en active Active
- 2009-12-18 BR BRPI0923466A patent/BRPI0923466A2/pt not_active IP Right Cessation
- 2009-12-18 CN CN200980153002.1A patent/CN102257358B/zh active Active
- 2009-12-18 RU RU2011130564/28A patent/RU2463558C1/ru active
- 2009-12-18 WO PCT/FR2009/001455 patent/WO2010072917A1/fr active Application Filing
- 2009-12-18 EP EP09799673.0A patent/EP2361368B1/fr active Active
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EP0717264A1 (fr) * | 1994-12-14 | 1996-06-19 | Aerospatiale Societe Nationale Industrielle | Procédé et dispositif pour estimer des biais gyrométriques |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105897063A (zh) * | 2016-05-27 | 2016-08-24 | 湖北三江航天万峰科技发展有限公司 | 一种具有自动定心功能的磁悬浮装置 |
CN105897063B (zh) * | 2016-05-27 | 2017-12-15 | 湖北三江航天万峰科技发展有限公司 | 一种具有自动定心功能的磁悬浮装置 |
Also Published As
Publication number | Publication date |
---|---|
US8751161B2 (en) | 2014-06-10 |
CN102257358B (zh) | 2014-11-19 |
RU2463558C1 (ru) | 2012-10-10 |
FR2940427A1 (fr) | 2010-06-25 |
EP2361368A1 (fr) | 2011-08-31 |
FR2940427B1 (fr) | 2010-12-10 |
US20100161223A1 (en) | 2010-06-24 |
CN102257358A (zh) | 2011-11-23 |
EP2361368B1 (fr) | 2019-03-20 |
BRPI0923466A2 (pt) | 2016-01-12 |
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