CN114279462B - Inertial navigation periodic error autonomous estimation and prediction method - Google Patents
Inertial navigation periodic error autonomous estimation and prediction method Download PDFInfo
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Abstract
The invention relates to an inertial navigation periodic error autonomous estimation and prediction method, which is technically characterized by comprising the following steps of: observing the difference value of the latitude and longitude errors of the two sets of inertial navigation, and extracting the amplitude and the phase of the earth periodic oscillation item in the difference value; acquiring the amplitude and the phase of the earth periodic oscillation term in the latitude and longitude errors of the two sets of inertial navigation devices, and realizing the estimation of the earth periodic oscillation term in the latitude and longitude errors of the inertial navigation devices; and according to the earth periodic oscillation term in the north speed and east speed errors of the inertial navigation, the earth periodic oscillation term in the latitude and longitude errors of the inertial navigation in a future period is predicted. The invention greatly simplifies the solving difficulty, the predicted value of the method can be used for inertial navigation position output pre-compensation, the quality of the inertial navigation information can be obviously improved, the method can be suitable for deep open sea underwater defending and stopping environments, and the inertial navigation long-term navigation precision can be improved in a completely autonomous mode.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, relates to an underwater autonomous navigation system, and in particular relates to an inertial navigation periodic error autonomous estimation and prediction method.
Background
With the development and rise of various combat/operation underwater platforms, higher requirements are put forward on underwater navigation. At present, the problem of high-precision navigation in an area can be solved through combination of inertial navigation and Doppler sonar, but the requirement of long-time high-precision navigation in deep open sea navigation cannot be met. Because various navigation means such as satellite navigation, astronomical navigation and the like are limited in underwater application, underwater acoustic navigation requires that underwater acoustic beacons are laid in advance, and inertial navigation is still a main means of underwater long-term high-precision navigation. For a damped inertial navigation system, the earth periodic oscillation error is a main cause of fluctuation of the inertial navigation position error, and seriously affects the quality of the inertial navigation information.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an autonomous estimation and prediction method for the periodic error of inertial navigation, overcomes the influence of the periodic oscillation error of the earth on the fluctuation of the position error of the inertial navigation, and improves the quality of the information of the inertial navigation.
The invention solves the technical problems in the prior art by adopting the following technical scheme:
an inertial navigation periodic error autonomous estimation and prediction method comprises the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting phases of earth periodic oscillation items in the 2 sets of inertial navigation north speed errors; observing north speed and east speed difference values between 2 sets of inertial navigation, and extracting the amplitude and phase of an earth periodic oscillation item in the north speed and east speed difference values of 2 sets of inertial navigation; observing a latitude difference value and a longitude difference value between 2 sets of inertial navigation, and extracting the amplitude value and the phase of an earth periodic oscillation item in the difference value;
step 2, decomposing the earth periodic oscillation term amplitude values in the difference values of north speed, east speed, latitude and longitude of 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the earth periodic oscillation term amplitude values in the errors of north speed, east speed, latitude and longitude of 2 sets of inertial navigation; further acquiring phases of the earth periodic oscillation items in respective latitude and longitude errors of 2 sets of inertial navigation, and realizing estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t;
and 3, according to the information of the earth periodic oscillation items in the north speed and east speed errors of the inertial navigation, the prediction of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation in a future period is realized.
The specific implementation method of the step 1 is as follows: let 2 sets of inertial navigation north speed be v 1 、v 2 East speed v' 1 、v′ 2 The north speed of Doppler sonar is v d 2 sets of inertial navigation north speed errors E are observed by taking Doppler sonar north speed as a reference v1d ＝v 1 -v d 、E v2d ＝v 2 -v d The method comprises the steps of carrying out a first treatment on the surface of the 2 sets of inertial navigation north speed difference values are E v21 ＝v 2 -v 1 The east speed difference value is E' v21 ＝v′ 2 -v′ 1 The method comprises the steps of carrying out a first treatment on the surface of the Read E v1d 、E v2d 、E v21 、E′ v21 The corresponding time of the earth period oscillation peak value closest to the current time in the signal is respectively recorded as t 1d 、t 2d 、t 21 、t′ 21 Then E v1d 、E v2d 、E v21 、E′ v21 The phase of the medium earth period oscillation term is as follows:
read E v21 、E′ v21 Medium earth period oscillation term amplitude A v21 、A′ v21 T is the earth period; 2 sets of inertial navigation latitude output are lat 1 、lat 2 Extracting 2 sets of inertial navigation latitude difference value Elat 21 ＝lat 2 -lat 1 The amplitude of the middle earth period oscillation term is marked as A 21 The phase is marked as->
2 sets of inertial navigation longitude outputs are lon 1 、lon 2 Extracting 2 sets of inertial navigation longitude difference value Elon 21 ＝lon 2 -lon 1 Medium earth period oscillation term amplitude A' 21 Phase->
The specific implementation method of the step 2 is as follows:
(1) Solving the earth periodic oscillation amplitude A in the north speed errors of 2 sets of inertial navigation by constructing a group of triangles v1 、A v2 Amplitude A 'of the earth periodic oscillation in east speed error' v1 、A′ v2 Amplitude A of earth periodic oscillation in latitude error 1 、A 2 Amplitude A 'of earth periodic oscillation term in longitude error' 1 、A′ 2 The method comprises the steps of carrying out a first treatment on the surface of the A group of triangle solving steps are constructed: the passing point A is a straight line b which rotates anticlockwise around A
The degree gets the straight line a, b to rotate anticlockwise about A +.>
Obtaining a straight line c; on the straight line b, a distance A is drawn v21 、A′ v21 、A 21 、A′ 21 The parallel lines passing through V, V1, P, P1 as c intersect a at points W, W1, Q, Q1, and the length of the measured line segments WA, WV, W1A, W1V1, QA, QP, Q1A, Q1P1 is A v1 、A v2 、A′ v1 、A′ v2 、A 1 、A 2 、A′ 1 、A′ 2 ；
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following method
The 2 sets of inertial navigation latitude error earth period oscillation terms are as follows:
(3) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation longitude errors according to the following method
The 2 sets of inertial navigation longitude error earth period oscillation terms are as follows:
the specific implementation method of the step 3 is as follows:
(1) The values of the earth period oscillation items of the 2 sets of inertial navigation latitude errors at the future time t+delta t according to the earth period oscillation items in the respective north speed errors of the 2 sets of inertial navigation are respectively as follows:
(2) The prediction values of the earth periodic oscillation items of the 2 sets of inertial navigation longitude errors at the future time t+delta t according to the earth periodic oscillation items in the respective east speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein the method comprises the steps of
The invention has the advantages and positive effects that:
the invention separates out the earth periodic oscillation items in the respective position and speed errors of 2 sets of inertial navigation from the 2 sets of inertial navigation position and speed difference values based on the observed phase information, and solves the problem of decomposing the earth periodic oscillation item amplitude values in the north speed, east speed, latitude and longitude difference values of 2 sets of inertial navigation into the earth periodic oscillation amplitude values in the north speed, east speed, latitude and longitude errors of 2 sets of inertial navigation by constructing a group of triangles, thereby greatly simplifying the solving difficulty; predicting an earth period oscillation term of longitude and latitude errors of inertial navigation in a future period by utilizing the advance characteristic of the speed, wherein the predicted value of the earth period oscillation term can be used for pre-compensating the output of the inertial navigation position, and the quality of the inertial navigation information is obviously improved; the invention is suitable for deep open sea underwater defending and rejecting environment, and improves the long-term navigation precision of inertial navigation in a completely autonomous mode.
Drawings
FIG. 1 is a schematic diagram of the difference value of the north speed, east speed, latitude and longitude of 2 sets of inertial navigation and the periodic oscillation amplitude of the earth in the difference value of the north speed, east speed, latitude and longitude of 2 sets of inertial navigation are decomposed into the periodic oscillation amplitude of the earth in the respective north speed, east speed, latitude and longitude errors.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The invention is realized on an underwater autonomous navigation system consisting of 2 sets of high-precision inertial navigation and Doppler sonar. The high-precision inertial navigation in the system works in a damping state, and the earth periodic oscillation term in the longitude and latitude errors of the inertial navigation is estimated and predicted based on mutual observation information among devices.
Based on the above description, the invention provides an inertial navigation periodic error autonomous estimation and prediction method, which comprises the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting phases of earth periodic oscillation items in the 2 sets of inertial navigation north speed errors; observing north speed and east speed difference values between 2 sets of inertial navigation, and extracting the amplitude and phase of an earth periodic oscillation item in the north speed and east speed difference values of 2 sets of inertial navigation; and observing a latitude difference value and a longitude difference value between 2 sets of inertial navigation, and extracting the amplitude value and the phase of the earth periodic oscillation term in the difference value.
In this step, let 2 sets of inertial navigation north speed be v 1 、v 2 East speed v' 1 、v′ 2 The north speed of Doppler sonar is v d 2 sets of inertial navigation north speed errors E are observed by taking Doppler sonar north speed as a reference v1d ＝v 1 -v d 、E v2d ＝v 2 -v d The method comprises the steps of carrying out a first treatment on the surface of the 2 sets of inertial navigation north speed difference values are E v21 ＝v 2 -v 1 The east speed difference value is E' v21 ＝v′ 2 -v′ 1 The method comprises the steps of carrying out a first treatment on the surface of the Read E v1d 、E v2d 、E v21 、E′ v21 The corresponding time of the earth period oscillation peak value closest to the current time in the signal is respectively recorded as t 1d 、t 2d 、t 21 、t′ 21 Then E v1d 、E v2d 、E v21 、E′ v21 The phase of the medium earth period oscillation term is as follows:
read E v21 、E′ v21 Medium earth period oscillation term amplitude A v21 、A′ v21 T is the earth period.
2 sets of inertial navigation latitude output are lat 1 、lat 2 Extracting 2 sets of inertial navigation latitude difference value Elat 21 ＝lat 2 -lat 1 The amplitude of the middle earth period oscillation term is marked as A 21 The phase is recorded as
2 sets of inertial navigation longitude outputs are lon 1 、lon 2 Extracting 2 sets of inertial navigation longitude difference value Elon 21 ＝lon 2 -lon 1 Medium earth period oscillation term amplitude A' 21 Phase->
Step 2, decomposing the earth periodic oscillation term amplitude values in the difference values of north speed, east speed, latitude and longitude of 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the earth periodic oscillation term amplitude values in the errors of north speed, east speed, latitude and longitude of 2 sets of inertial navigation; and further acquiring phases of the earth periodic oscillation items in respective latitude and longitude errors of 2 sets of inertial navigation, and realizing estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t.
The specific implementation method of the steps is as follows:
(1) Solving the earth periodic oscillation amplitude A in the north speed errors of 2 sets of inertial navigation by constructing a group of triangles v1 、A v2 Amplitude A 'of the earth periodic oscillation in east speed error' v1 、A′ v2 Amplitude A of earth periodic oscillation in latitude error 1 、A 2 Amplitude A 'of earth periodic oscillation term in longitude error' 1 、A′ 2 . A group of triangle solving steps are constructed: the passing point A is a straight line b which rotates anticlockwise around A
The degree gets the straight line a, b to rotate anticlockwise about A +.>
Obtaining a straight line c; on the straight line b, a distance A is drawn v21 、A′ v21 、A 21 、A′ 21 The parallel lines passing through V, V1, P, P1 as c intersect a at points W, W1, Q, Q1, and the length of the measured line segments WA, WV, W1A, W1V1, QA, QP, Q1A, Q1P1 is A v1 、A v2 、A′ v1 、A′ v2 、A 1 、A 2 、A′ 1 、A′ 2 . A family of triangle solutions is constructed as shown in fig. 1.
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following method
The 2 sets of inertial navigation latitude error earth period oscillation terms are as follows:
(3) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation longitude errors according to the following method
The 2 sets of inertial navigation longitude error earth period oscillation terms are as follows:
and 3, according to the information of the earth periodic oscillation items in the north speed and east speed errors of the inertial navigation, the prediction of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation in a future period is realized.
The specific implementation method in the step is as follows:
(1) The values of the earth period oscillation items of the 2 sets of inertial navigation latitude errors at the future time t+delta t according to the earth period oscillation items in the respective north speed errors of the 2 sets of inertial navigation are respectively as follows:
(2) The prediction values of the earth periodic oscillation items of the 2 sets of inertial navigation longitude errors at the future time t+delta t according to the earth periodic oscillation items in the respective east speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein the method comprises the steps of
It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.
Claims (3)
1. An inertial navigation periodic error autonomous estimation and prediction method is characterized in that: the method comprises the following steps:
step 1, observing 2 sets of inertial navigation north speed errors by taking the Doppler sonar north speed as a reference, and extracting phases of earth periodic oscillation items in the 2 sets of inertial navigation north speed errors; observing north speed and east speed difference values between 2 sets of inertial navigation, and extracting the amplitude and phase of an earth periodic oscillation item in the north speed and east speed difference values of 2 sets of inertial navigation; observing a latitude difference value and a longitude difference value between 2 sets of inertial navigation, and extracting the amplitude value and the phase of an earth periodic oscillation item in the difference value;
step 2, decomposing the earth periodic oscillation term amplitude values in the difference values of north speed, east speed, latitude and longitude of 2 sets of inertial navigation according to the phase information obtained in the step 1 to obtain the earth periodic oscillation term amplitude values in the errors of north speed, east speed, latitude and longitude of 2 sets of inertial navigation; further acquiring phases of the earth periodic oscillation items in respective latitude and longitude errors of 2 sets of inertial navigation, and realizing estimation of the earth periodic oscillation items in the latitude and longitude errors of the inertial navigation at the current time t;
step 3, according to the information of the earth periodic oscillation item in the north speed and east speed errors of the inertial navigation, the prediction of the earth periodic oscillation item in the latitude and longitude errors of the inertial navigation in a future period is realized;
the specific implementation method of the step 2 is as follows:
(1) Solving the earth periodic oscillation amplitude A in the north speed errors of 2 sets of inertial navigation by constructing a group of triangles v1 、A v2 Amplitude A 'of the earth periodic oscillation in east speed error' v1 、A′ v2 Amplitude A of earth periodic oscillation in latitude error 1 、A 2 Amplitude A 'of earth periodic oscillation term in longitude error' 1 、A′ 2 The method comprises the steps of carrying out a first treatment on the surface of the A group of triangle solving steps are constructed: the passing point A is a straight line b which rotates anticlockwise around A
The degree gets the straight line a, b to rotate anticlockwise about A +.>
Obtaining a straight line c; on the straight line b, a distance A is drawn v21 、A′ v21 、A 21 、A′ 21 The parallel lines passing through V, V1, P, P1 as c intersect a at points W, W1, Q, Q1, and the length of the measured line segments WA, WV, W1A, W1V1, QA, QP, Q1A, Q1P1 is A v1 、A v2 、A′ v1 、A′ v2 、A 1 、A 2 、A′ 1 、A′ 2 ；
(2) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation latitude errors according to the following method
The 2 sets of inertial navigation latitude error earth period oscillation terms are as follows: />
(3) Calculating the earth periodic oscillation phase in 2 sets of inertial navigation longitude errors according to the following method
The 2 sets of inertial navigation longitude error earth period oscillation terms are as follows: />
2. The inertial navigation periodic error autonomous estimation and prediction method according to claim 1, wherein: the specific implementation method of the step 1 is as follows: let 2 sets of inertial navigation north speed be v 1 、v 2 East speedv′ 1 、v′ 2 The north speed of Doppler sonar is v d 2 sets of inertial navigation north speed errors E are observed by taking Doppler sonar north speed as a reference v1d ＝v 1 -v d 、E v2d ＝v 2 -v d The method comprises the steps of carrying out a first treatment on the surface of the 2 sets of inertial navigation north speed difference values are E v21 ＝v 2 -v 1 The east speed difference value is E' v21 ＝v′ 2 -v′ 1 The method comprises the steps of carrying out a first treatment on the surface of the Read E v1d 、E v2d 、E v21 、E′ v21 The corresponding time of the earth period oscillation peak value closest to the current time in the signal is respectively recorded as t 1d 、t 2d 、t 21 、t′ 21 Then E v1d 、E v2d 、E v21 、E′ v21 The phase of the medium earth period oscillation term is as follows:
read E v21 、E′ v21 Medium earth period oscillation term amplitude A v21 、A′ v21 T is the earth period; 2 sets of inertial navigation latitude output are lat 1 、lat 2 Extracting 2 sets of inertial navigation latitude difference value Elat 21 ＝lat 2 -lat 1 The amplitude of the middle earth period oscillation term is marked as A 21 The phase is marked as->
2 sets of inertial navigation longitude outputs are lon 1 、lon 2 Extracting 2 sets of inertial navigation longitude difference value Elon 21 ＝lon 2 -lon 1 Medium earth period oscillation term amplitude A' 21 Phase->
3. The inertial navigation periodic error autonomous estimation and prediction method according to claim 1, wherein: the specific implementation method of the step 3 is as follows:
(1) The values of the earth period oscillation items of the 2 sets of inertial navigation latitude errors at the future time t+delta t according to the earth period oscillation items in the respective north speed errors of the 2 sets of inertial navigation are respectively as follows:
(2) The prediction values of the earth periodic oscillation items of the 2 sets of inertial navigation longitude errors at the future time t+delta t according to the earth periodic oscillation items in the respective east speed errors of the 2 sets of inertial navigation are respectively as follows:
wherein the method comprises the steps of
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