WO2020062792A1 - 一种动态变形下传递对准过程中角速度解耦合方法 - Google Patents
一种动态变形下传递对准过程中角速度解耦合方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005452 bending Methods 0.000 claims abstract description 47
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- 238000010168 coupling process Methods 0.000 claims abstract description 23
- 238000005859 coupling reaction Methods 0.000 claims abstract description 23
- 230000014509 gene expression Effects 0.000 claims abstract description 16
- 239000013598 vector Substances 0.000 claims description 47
- 239000011159 matrix material Substances 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
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- 230000003068 static effect Effects 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims 1
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Classifications
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- 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
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Definitions
- the invention relates to an angular velocity decoupling method during transfer alignment under dynamic deformation, and belongs to the technical field of inertial navigation.
- the load capacity of the aircraft is limited, especially the wing part. Therefore, the dynamic deformation measurement of the aircraft wing has very strict requirements on the weight and size of the measurement equipment.
- the measurement accuracy of the IMU unit is directly proportional to the weight and size. At the same time, a high-precision IMU is installed.
- aircraft wing deformation measurement uses a high-precision POS mounted on the fuselage, while the wing part uses a low-precision IMU unit.
- the high-precision position and attitude of each positioning point are obtained by transferring alignment between the main inertial navigation system and the sub-inertial navigation system. information.
- the additional speed, angular velocity, and angle caused by the bending deformation between the main and the child are the main factors that affect its accuracy.
- the current dynamic deformation measurement of aircraft wing treats the wing as a rigid body and does not consider the bending deformation. It is difficult to achieve the required precision with quasi-precision.
- the purpose of the present invention is to provide a method for decoupling angular velocity during transfer alignment under dynamic deformation, and to perform error angle and angular velocity caused by coupling between body movement and dynamic deformation during transfer alignment measurement of aircraft wings.
- Geometric modeling and mathematical analysis the expressions of coupling angle and angular velocity are deduced, which are used to transfer the angular velocity matching process to improve the accuracy of transfer alignment.
- a method for decoupling angular velocity during transfer alignment under dynamic deformation includes the following steps:
- the trajectory generator generates the attitude, velocity and position information of the main inertial navigation system and the output of the inertial device, and uses a second-order Markov to simulate the bending deformation angle between the main inertial navigation system and the sub inertial navigation system And bending angular velocity
- step (2) The high-frequency and low-amplitude vibration deformation in step (2) is regarded as noise, and the low-frequency and high-amplitude bending deformation is geometrically analyzed to derive the relationship between the main inertial navigation system and the sub inertial navigation system Angle of error between main inertial navigation system and sub inertial navigation system caused by dynamic deformation
- step (3) Substitute the coupling error angular velocity expression And it is applied in the process of matching the angular velocity of the transmission alignment to improve the accuracy of the transmission alignment.
- step (2) refers to dynamic elastic deformation including bending and vibration, where the bending is Low-frequency, high-amplitude motion, vibration indicates high-frequency, low-amplitude motion;
- step (2) The establishment of the angular velocity model under dynamic deformation of the wing described in step (2), specifically: the angular velocity of the main inertial navigation system and the sub inertial navigation system is expressed as:
- the error angle between the main inertial navigation system and the sub inertial navigation system caused by the dynamic deformation between the main inertial navigation system and the sub inertial navigation system described in step (3) is derived
- the specific method is: geometric analysis of the dynamic deformation coupling angle vector, in which the angular velocity change due to vibration deformation in the dynamic angular velocity vector Seen as noise, and the angular velocity change due to bending deformation take
- the subscripts x, y, and z indicate three directions: east, north, and sky.
- the angular vector of the error between the main inertial navigation system and the sub inertial navigation system caused by the bending deformation coupling angular velocity, that is, versus Angle there are:
- step (4) Substitute the coupling error angular velocity expression Specifically: the difference in angular velocity between the main inertial navigation system and the sub inertial navigation system Expressed as:
- the error angle vector between the main inertial navigation system and the sub inertial navigation system is Then the transformation matrix between the main inertial navigation system and the sub inertial navigation system is expressed as The angular velocity of error between the main inertial navigation system and the sub inertial navigation system is expressed as:
- ⁇ is the antisymmetric matrix
- the present invention takes into account the coupling errors between rigid body motion and dynamic elastic deformation between the main inertial navigation system of the carrier and the sub-inertial navigation system.
- the angular and angular velocity errors are modeled by spatial geometry and mathematical analysis.
- the coupling angle error between the main inertial navigation system and the sub inertial navigation system under dynamic deformation is obtained, and the main inertial navigation system and the sub inertial navigation system under dynamic deformation are derived.
- the expression of the angular velocity error between the two; the traditional transfer alignment process treats the dynamic deformation angular velocity as being collinear with the sub-system angular velocity in the ideal state.
- the present invention performs geometric analysis on the coupling angle between the main inertial navigation system and the sub inertial navigation system to obtain the expression of the coupling angle. Further mathematically model the coupling angular velocity between the main inertial navigation system and the sub-inertial navigation system. This model is used to transfer the alignment angular velocity During the matching process, the accuracy of transfer alignment can be improved.
- Figure 1 is a flowchart of decoupling angular velocity between the main inertial navigation system and the sub inertial navigation system under dynamic deformation
- Figure 2 shows the coupling angle between the main and sub inertial navigation under dynamic deformation (projected to the yoz plane);
- Figure 3 shows the spatial relationship between the angular velocity vector and the additional dynamic bending angular velocity vector.
- a method for decoupling angular velocity during transfer alignment under dynamic deformation is implemented.
- a trajectory simulator is used to simulate the attitude, velocity, position, and output data of the aircraft main system.
- -Order Markov simulation output of the bending deformation angle between the main inertial navigation system and the sub inertial navigation system And bending angular velocity Combining the dynamic deformation between the main inertial navigation system and the sub inertial navigation system, the dynamic deformation is divided into high frequency and low amplitude vibration deformation and low frequency and high amplitude bending deformation to establish the main inertial navigation system and the sub inertial navigation system.
- the detailed mathematical analysis of this error analysis is as follows:
- Step 1 The trajectory generator generates the attitude, velocity and position information of the main inertial navigation system and the output of the inertial device, and uses a second-order Markov to simulate the bending deformation angle between the main inertial guide and the sub inertial guide. And bending angular velocity
- Step 2 Decompose dynamic deformation into high-frequency, low-amplitude vibration deformation and low-frequency, high-amplitude bending deformation, establish a lever arm and angular velocity model under wing dynamic deformation, and analyze the additional effects of dynamic deformation of aircraft wings Angular velocity, the angular velocity without error between the main inertial navigation system and the sub inertial navigation system can be expressed as:
- Dynamic elastic deformation includes two parts: bending and vibration. Among them, bending is low-frequency and high-valued motion. Vibration indicates high-frequency and low-amplitude motion.
- Step 3 Perform geometric analysis on the dynamic deformation error angle vector in combination with the angular error between the main and sub-inertial inertia guides, where the angular velocity change due to vibration deformation in the dynamic angular velocity vector Can be regarded as noise, and the angular velocity change due to bending deformation take
- the angular velocity output of the subsystem in the actual state It can be expressed as:
- the subscripts x, y, and z indicate three directions: east, north, and sky.
- the angular vector of the error between the main inertial navigation system and the sub inertial navigation system caused by the bending deformation coupling angular velocity versus Angle are:
- Step 4 Based on the spatial relationship between the angular velocity vector and the additional dynamic bending angular velocity vector, perform geometric analysis on the dynamic angular velocity vector. As shown in Figure 3, the angular velocity difference between the main inertial navigation system and the sub inertial navigation system. Can be expressed as:
- the error angle vector between the main inertial navigation system and the sub inertial navigation system is Then the transformation matrix between the main inertial navigation system and the sub inertial navigation system can be expressed as The angular velocity of error between the main inertial navigation system and the sub inertial navigation system can be expressed as:
- ⁇ is the antisymmetric matrix
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- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims (4)
- 一种动态变形下传递对准过程中角速度解耦合方法,其特征在于:该方法包括如下步骤:(2)将动态变形分解为高频率、低幅值的振动变形和低频率、高幅值的弯曲变形,建立机翼动态变形下角速度模型;
- 根据权利要求1所述的动态变形下传递对准过程中角速度解耦合方法,其特征在于:步骤(2)中所述的将动态变形分解为高频率、低幅值的振动变形和低频率、高幅值的弯曲变形是指动态弹性变形包含弯曲和振动两部分,其中弯曲为低频率、高幅值的运动,振动表示高频率、低幅值的运动;步骤(2)中所述的建立机翼动态变形下角速度模型,具体是:主惯导系统与子惯导系统的角速度表示为:其中,
- 根据权利要求2所述的动态变形下传递对准过程中角速度解耦合方法,其特征在于:步骤(3)中所述的推导出由主惯导系统与子惯导系统之间动态变形所引起的主惯导系统与子惯导系统之间的误差角度 的具体方法是:对动态变形耦合角度矢量进行几何分析,其中,动态角速度矢量中由于振动变形所产生的角速度变化 视为噪声,而由于弯曲变形所产生的角速度变化 取则有:由几何关系有:用泰勒级数将反正切函数展开,并略去高次项,得:
- 根据权利要求3所述的动态变形下传递对准过程中角速度解耦合方法,其特征在于:步骤(4)中所述的将步骤(3)推导的误差角度 代入耦合误差角速度表达式 具体是:主惯导系统与子惯导系统之间的角速度之差 表示为:其中,×表示反对称矩阵,故有:其中,U=[1 1 1] T,且有:
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CN118149862A (zh) * | 2024-05-11 | 2024-06-07 | 西安中科华航光电科技有限公司 | 一种用于旋转调制惯导系统的高精度转动传递对准方法 |
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CN109141476B (zh) * | 2018-09-27 | 2019-11-08 | 东南大学 | 一种动态变形下传递对准过程中角速度解耦合方法 |
CN110371318B (zh) * | 2019-05-17 | 2020-12-11 | 东南大学 | 一种动态变形下基于双重滤波器的传递对准方法 |
CN112097728B (zh) * | 2020-09-17 | 2021-07-30 | 中国人民解放军国防科技大学 | 基于反向解算组合惯性导航系统的惯性双矢量匹配形变测量方法 |
CN113188565B (zh) * | 2021-03-23 | 2023-09-29 | 北京航空航天大学 | 一种机载分布式pos传递对准量测异常处理方法 |
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CN117742174A (zh) * | 2023-08-23 | 2024-03-22 | 北京动力机械研究所 | 卫星/惯导组合式旋转炮弹的半实物仿真系统及方法 |
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