CN118376240B - Inertial navigation information reflux reconstruction method and device - Google Patents
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- G—PHYSICS
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- 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- 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
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- 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
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- G—PHYSICS
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- 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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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The application relates to the technical field of inertial navigation, in particular to a method and a device for reconstructing inertial navigation information backflow. In the application, in the inertial navigation alignment preparation work, alignment resolving work is executed, and triaxial angular speed information, triaxial acceleration information and initial position information in the static alignment process of the gyroscope are recorded in real time; after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time; after the underwater navigation work is completed by the target carrier, satellite positioning information of a global navigation satellite system is received at the time t when the target carrier emerges from the water surface, the satellite positioning information at the current time is recorded, and three-wheel forward and/or reverse navigation work is carried out; and after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result. According to the embodiment of the application, the accuracy of the full range navigation result can be improved by fully utilizing the sparse position reference and inhibiting the error of autonomous positioning during inertial navigation long-range navigation.
Description
Technical Field
The application relates to the technical field of inertial navigation, in particular to a method and a device for reconstructing inertial navigation information backflow.
Background
The inertial navigation system (Inertial Navigation System, INS) is an autonomous navigation system that does not depend on external information nor radiate energy to the outside. The working environment not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and information such as speed, yaw angle and position in a navigation coordinate system can be obtained by measuring acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system.
The rotary inertial navigation has the advantages of high precision, high robustness, low cost and the like, so that the rotary inertial navigation is widely applied to long-endurance underwater navigation systems. The rotational modulation technique is derived from a strapdown inertial sensor unit rotational technique, which can modulate the various short time-varying deviations (scale, zero offset, etc.) of the inertial sensor by rotating the inertial measurement unit (inertial measurement unit, IMU) about two sensitive axes.
As the rotation modulation technique is mature gradually, researchers have conducted many studies on the related technique for improving the accuracy of the rotation inertial navigation. Rotational modulation systems are limited primarily by two factors. One factor is a rotational modulation scheme, which can greatly improve the navigation accuracy of rotational inertial navigation. Yu et al analyze the relationship between the biaxial inertial navigation indexing speed and the indexing accuracy, compare the navigation errors of various indexing modes, and provide an improved indexing scheme for inhibiting the navigation positioning errors, and the advantages and disadvantages of 8-position and 16-position are analyzed. Rotating the IMU during initial alignment may also modulate errors in the IMU and improve observability of pose estimates, thereby improving alignment accuracy of rotational inertial navigation. Another factor is the accuracy of the calibration model, which is essential to ensure navigation performance, while rotation of the frame in rotational inertial navigation can improve observability of the error parameters. Due to uncertainty of attitude reference, rotational inertial navigation often adopts an indirect calibration method that performs indirect filtering based on the relationship between position and velocity errors and IMU errors. However, in the field of high-precision inertial sensors, very small factors can cause very large navigation errors.
Therefore, a solution to the problem of insufficient underwater calibration in inertial navigation and poor positioning performance in long voyages is needed.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
Therefore, the embodiment of the application at least provides a method and a device for reconstructing inertial navigation information reflux, which can improve the accuracy of the full range navigation result.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for reconstructing inertial navigation information reflux, where the method includes:
In the inertial navigation alignment preparation work, performing alignment resolving work, and recording three-axis angular velocity information, three-axis acceleration information and initial position information in the static alignment process of the gyroscope in real time;
after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time;
after the target carrier completes underwater navigation work, in The method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out;
And after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result.
In a second aspect, the embodiment of the application also provides an inertial navigation information reflux reconstruction device, which comprises a first alignment recording module, a second real-time recording module, an underwater navigation module and a navigation result output module; wherein:
the first alignment recording module is used for executing alignment resolving work in inertial navigation alignment preparation work and recording triaxial angular speed information, triaxial acceleration information and initial position information in a static alignment process of the gyroscope in real time;
the second real-time recording module is used for entering navigation work of the target carrier after the alignment is finished, completing underwater navigation calculation and recording three-axis angular velocity information and three-axis acceleration information of the gyroscope in real time;
The underwater navigation module is used for after the underwater navigation work of the target carrier is completed The method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out;
and the navigation result output module is used for outputting the full range navigation result after the three-wheel forward navigation and/or reverse navigation work is finished.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the inertial navigation information reflow reconstruction method described in the first aspect or any of the possible implementation manners of the first aspect.
In a fourth aspect, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to perform the steps of the inertial navigation information reflow reconstruction method according to the first aspect or any possible implementation manner of the first aspect.
According to the inertial navigation information reflux reconstruction method and device, in the inertial navigation alignment preparation work, alignment calculation work is executed, and triaxial angular velocity information, triaxial acceleration information and initial position information in a static alignment process of a gyroscope are recorded in real time; after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time; after the target carrier completes the underwater navigation work, atThe method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out; and after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result. According to the embodiment of the application, the accuracy of the full range navigation result can be improved by fully utilizing the sparse position reference and inhibiting the error of autonomous positioning during inertial navigation long-range navigation.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a method for reconstructing inertial navigation information reflow provided by an embodiment of the application;
fig. 2 shows a schematic diagram of a rotational inertial navigation information reflow reconstruction procedure based on sparse reference position information according to an embodiment of the present application;
FIGS. 3a-3c are schematic diagrams illustrating pre-correction position errors in a test run provided by an embodiment of the present application;
FIGS. 4a-4c are schematic diagrams illustrating corrected position errors in a test run provided by embodiments of the present application;
FIG. 5 shows a functional block diagram of an inertial navigation information reflow reconstruction device according to an embodiment of the present application;
Fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art based on embodiments of the application without making any inventive effort, fall within the scope of the application.
In order to enable those skilled in the art to make and use the present disclosure, the following embodiments are provided in connection with a particular application scenario "inertial navigation", and the generic principles defined herein may be applied to other embodiments and applications scenarios to one skilled in the art without departing from the spirit and scope of the present disclosure.
The method, the device, the electronic equipment or the computer readable storage medium can be applied to any scene needing inertial navigation, the embodiment of the application does not limit specific application scenes, and any scheme using the method and the device for reconstructing the inertial navigation information reflow provided by the embodiment of the application is within the protection scope of the application.
It is worth noting that, before the present application proposes, in the related scheme, it is difficult to perform reliable accuracy assessment on the reference equipment due to lack of accurate navigation information during inertial navigation underwater navigation. From the foregoing analysis, the available position reference information is only satellite signals acquired on the surface before entry into the water and after completion of the underwater mission. With the rapid development of navigation computers, a large amount of data can be stored in real time and processed in a short time, and researchers research retrospective navigation algorithms to accelerate the convergence speed of the kalman filter and improve the accuracy of the alignment result. Chang et al propose an initial alignment backtracking scheme. Lu et al use a newly derived backward filter for in-flight alignment. However, the backtracking scheme based on sparse position references is less studied, and filter modeling about zero bias of the equivalent geographic system is also rarely studied by scholars.
In order to solve the problems, in the embodiment of the application, in the inertial navigation alignment preparation work, alignment calculation work is executed, and triaxial angular velocity information, triaxial acceleration information and initial position information in the static alignment process of the gyroscope are recorded in real time; after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time; after the target carrier completes the underwater navigation work, atThe method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out; and after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result. According to the embodiment of the application, the accuracy of the full range navigation result can be improved by fully utilizing the sparse position reference and inhibiting the error of autonomous positioning during inertial navigation long-range navigation.
In order to facilitate understanding of the present application, the following detailed description of the technical solution provided by the present application is provided in connection with specific embodiments.
Fig. 1 is a flowchart of a method for reconstructing inertial navigation information reflow according to an embodiment of the present application. As shown in fig. 1, the inertial navigation information reflux reconstruction method provided by the embodiment of the application includes the following steps:
S101: in the inertial navigation alignment preparation work, an alignment resolving work is executed, and triaxial angular velocity information, triaxial acceleration information and initial position information in the static alignment process of the gyroscope are recorded in real time.
Here, the inertial navigation system needs to perform initial alignment before the target carrier is navigated to determine initial pose, velocity, and position information of the carrier. Only initial values of the posture, the speed and the position of the target carrier are obtained, and the posture, the speed and the position information of each moment in the future can be calculated through mechanical arrangement based on the initial values. Therefore, all positioning information of the target carrier is obtained by continuous mechanical arrangement in an initial state. Initial alignment of an inertial navigation system is one process used to determine the relative relationship of the target carrier coordinate system and the navigation coordinate system. Common initial alignment techniques are algorithms such as static base coarse alignment, static base static alignment, and moving base alignment.
S102: after the alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time.
In a specific implementation, three-axis gyroscopic sensors and three-axis acceleration sensors are common inertial sensors capable of detecting angular velocity and acceleration of an object. The tri-axis gyro sensor measures a rotational motion of an object by detecting an angular velocity of the object. The working principle is based on gyroscopic effect, namely that a rotating object has a stable rotation shaft when no external force acts. The gyro sensor uses this principle to detect the direction and angular velocity of the rotation shaft. Three-axis gyroscope sensors typically consist of three mutually perpendicular axes of sensitivity, the X-axis, the Y-axis and the Z-axis, respectively. Each shaft contains a gyroscopic sensor for measuring the angular velocity of the corresponding shaft.
S103: after the target carrier completes underwater navigation work, inAnd the satellite positioning information of the global navigation satellite system is received when the vehicle is out of the water surface, the satellite positioning information of the current time is recorded, and three-wheel forward and/or reverse navigation work is carried out.
It should be noted that the global navigation satellite system (global navigation SATELLITE SYSTEM, GNSS) is also called a global satellite navigation system, and is an air-based radio navigation positioning system that can provide all-weather 3-dimensional coordinates and speed and time information to a user at any place on the earth's surface or near-earth space.
S104: and after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result.
In the embodiment of the application, the alignment resolving work is executed in the inertial navigation alignment preparation work, and the triaxial angular velocity information, the triaxial acceleration information and the initial position information in the static alignment process of the gyroscope are recorded in real time; after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time; after the target carrier completes the underwater navigation work, atThe method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out; and after the three-wheel forward and/or backward navigation operation is finished, outputting the full range navigation result. According to the embodiment of the application, the accuracy of the full range navigation result can be improved by fully utilizing the sparse position reference and inhibiting the error of autonomous positioning during inertial navigation long-range navigation.
In one possible embodiment, three rounds of forward and/or reverse navigation operations are performed in S103 according to the following steps: initializing a Kalman filter by utilizing the attitude information, the speed information and the position information of the navigation terminal moment;
Step 1031: repeatedly using the stored three-axis angular velocity information and three-axis acceleration information of the gyroscope to carry out navigation updating;
Step 1032: when the backward calculation is traced back to the initial moment, the Kalman filter measurement updating is carried out by adopting the position information of the initial moment, and the forward navigation is switched; when forward navigation is resolved to At moment, the stored satellite positioning information is used for measuring and updating the Kalman filter;
step 1033: and continuously storing the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information in the forward/reverse navigation process, and using the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information for the latest forward/reverse navigation calculation.
Here, fig. 2 shows a schematic diagram of a rotational inertial navigation information reflow reconstruction procedure based on sparse reference position information according to an embodiment of the present application. The overall content shown in fig. 2 is shown in a longitudinal form, specifically, the rotational inertial navigation information reflow reconstruction program based on sparse reference position information in fig. 2 mainly includes three operations, namely an alignment preparation operation, a navigation preparation operation in the second aspect and a water surface operation in the third aspect, wherein the ultra-long period navigation includes a multi-round forward navigation process and a multi-round reverse navigation process, and satellite positioning information is utilized in the navigation process, so as to output a navigation result.
In one possible implementation, the navigation update in step 1032 using stored three-axis angular velocity information and three-axis acceleration information of the gyro includes the following steps: in the reverse navigation process, the zero offset of the equivalent geographic system gyroscope and the rotation angular velocity of the earth are reversed, and gyroscope data are processed by adopting a gyroscope motion recursion formula; the gyro motion recursion formula is as follows:
；
Wherein, The gyro angular velocity used in the reverse navigation process is used; The gyro angular velocity is originally measured in the forward navigation process; Acceleration used in the reverse navigation process; The acceleration is originally measured in the forward navigation process; in order to sample the period of time, Is a matrix of units which is a matrix of units,For angular movement the sampling instants are discrete,Discrete sampling instants for line motion.
In one possible implementation, for ultra-high precision long-endurance rotational inertial navigation, we need to derive a higher computational precision reverse navigation algorithm to eliminate the computational errors caused by the traditional reverse navigation algorithm, i.e. to implement a reverse navigation technique without computational errors. Determining the gyroscopic motion recursion formula according to the following steps: the principle of the reverse navigation algorithm is similar to that of the conventional forward navigation, and the inertial navigation is assumed to be in timeTo the point ofNavigating from the point A to the point B to obtain a reverse navigation formula; and determining the gyroscopic motion recursion formula based on the reverse navigation formula.
In one possible implementation, the reverse navigation formula is:
；
；
；
Wherein, For angular movement the sampling instants are discrete,To at the same timeThe attitude matrix is inertial navigation at the moment,Is a matrix of units which is a matrix of units,，Representation ofIs used for the matrix of the anti-symmetry of (a),Indicating the angular velocity of the gyroscope,In order to sample the period of time,For the speed of the reverse dead reckoning,、、Respectively representThe latitude, longitude and altitude of the time of day reverse dead reckoning,、、Respectively representEast, north and sky speeds of time reverse dead reckoning,Is the principal radius of curvature of the meridian,Is the major radius of curvature of the mortise unitary circle.
Here, p=m-k+1;
In one possible implementation, the alignment solution is performed according to the following steps: determining a geographic equivalent zero bias formula described by adopting a polynomial fitting mode based on the correlation between the numerical fluctuation of the equivalent geographic zero bias and a physical field; determining a first state transition matrix based on the target inertial navigation error equation and the biaxial rotational inertia characteristic; determining a second state transition matrix based on the Kalman filtering model; and performing alignment calculation based on the geographic equivalent zero offset formula, the first state transition matrix and the second state transition matrix.
In one possible implementation, the geographic equivalent zero offset formula is:； Is equivalent to zero offset of the east gyro, Is equivalent to zero offset of a north-oriented gyroscope,Is equivalent to zero offset of the sky-oriented gyroscope,For a first coefficient that changes every power up,、AndFor the second coefficient, the third coefficient and the third coefficient at three different latitudinal locations,Longitude; wherein the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient are determined according to the steps of: under a static condition, at different latitude positions, obtaining an equivalent geographic system zero offset under three latitudes by using a least square method calculation formula through multipoint sampling; performing least square estimation by using a geographic equivalent zero offset formula to obtain a second coefficient, a third coefficient and a fourth coefficient; and determining a first coefficient which changes every time power is applied on the basis of the second coefficient, the third coefficient and the fourth coefficient at the three marked different latitude positions.
In addition, according to the inertial navigation error equation, a related state transition matrix can be obtained, and the state quantity is defined as:； In order to achieve a misalignment angle, the alignment angle, For the speed of dead reckoning,For the inertial navigation position error,Zero bias term for the geo-equivalent G-F-E gyroscope,Is the equivalent acceleration zero offset of the geographic system. According to the Kalman filtering model, a state transition matrix can be obtainedThe method comprises the following steps: ; wherein, ，，，，，，。
Here, it can be seen that both the state model and the metrology model are linear, and thus a kalman filter is employed to estimate the state variables. However, in the stage of the carrier performing the underwater task, there is a long period of time in which the position information cannot be obtained, which has a great challenge for the convergence of the filter, and the next section will discuss the solution.
Here, for the polynomial fit description and observation equation establishment of equivalent zero bias, specifically, the second coefficient, the third coefficient and the fourth coefficient may be calibrated at three different latitude positions, the method is that under static conditions, at different latitude positions, the equivalent geographic system zero bias under more than three latitudes is calculated by a least square method formula through multipoint sampling. Therefore, the observation matrix can be rewritten.
It should be noted that, in the embodiment of the application, assuming that the zero offset of the G-F-E gyroscope is kept substantially constant, a set of linear equations with six unknown variables can be established by selecting a plurality of position error points for comprehensive fitting. However, the system of equations is always singular, regardless of the sampling point chosen. Because of the matrixSixth column linear correlation, equivalent east gyro zero offsetAnd initial alignment errorEquivalent, also exactly fits the theoretical precision of the initial alignment: ; therefore, the time domain formula of latitude error and the time domain formula of longitude error are included AndIs combined into (1)Unknown vectorCan be simplified as:。
wherein the equivalent zero bias of the other two gyroscopes can be expressed as AndTo keep the feature root at a similar order of magnitude to prevent the matrix from occurring in a pathological condition.
Wherein the least square formula is；As a state variable, a state variable is used,For sampling timeDownsampling pointThe corresponding rewritten observation matrix is used to determine,Is a calibration equation;，，；，，，， For the rotation angular rate of the earth, Is latitude.
By sampling position errors at various momentsAn observation equation can be established, and the calibration of the equivalent zero offset of the G-F-E IMU can be performed. Under the condition of neglecting the Shula oscillation, the accelerometer is equivalent to east zero offsetAnd equivalent north zero offsetThe generated position error is constant, and when the sampling point is the initial time, the method comprises the following steps: Wherein, AndThe solution can be found by the following equation:； Is the equivalent acceleration zero offset of the geographic system; for the initial alignment error vector to be used, For roll misalignment angles under small angle conditions,For pitch misalignment angles under small angle conditions,For heading misalignment angles under low angle conditions,Is latitude; Is the earth gravitational acceleration.
Here, in the embodiment of the application, two groups of marine navigation data with time longer than 30 days are selected to verify the algorithm provided herein, the test equipment is installed in the cabin of the test ship, the test equipment comprises control equipment (with the function of storing inertial navigation raw data) and inertial navigation equipment, the control equipment is provided with a display screen, the longitude and latitude spans of the two groups of tests are large, and the effectiveness of the inertial navigation information reflux reconstruction method provided by the embodiment of the application can be fully verified. The embodiment of the application divides the full range data into two sections by means of a certain test data, and the two sections are respectively that the test ship returns to the wharf from leaving the wharf to the furthest range. The alignment time of the rotary inertial navigation is 6 hours, and the travel time of the trip and the travel time of the return are both more than one month.
Here, an initial alignment is performed for 6 hours by GPS information before the test, and then a navigation state is entered. Taking the range data from leaving the wharf to the furthest end of the range as a first test; and the range data returned to the wharf from the furthest end of the range is used as a second test. The position errors before and after correction for the two trials are shown in figures 3a-3c and figures 4a-4 c.
FIGS. 3a-3c are schematic diagrams illustrating pre-correction position errors in a test run provided by an embodiment of the present application; wherein fig. 3a shows the longitude error curve before correction in the experimental test, fig. 3b shows the latitude error curve before correction in the experimental test, and fig. 3c shows the total position error curve before correction in the experimental test. In addition, fig. 4a-4c show schematic diagrams of corrected position errors in the test provided by the embodiment of the present application, where fig. 4a shows a longitude error curve corrected in the test, fig. 4b shows a latitude error curve corrected in the test, and fig. 4c shows a total position error curve corrected in the test.
The table of error statistics obtained by the test is shown in table 1.
TABLE 1 Total position error statistics
。
As can be seen from the semi-physical simulation result, the method provided by the embodiment of the application can effectively inhibit the linear divergence term (caused by equivalent north zero offset) and the longitude oscillation term (caused by equivalent east zero offset) of the longitude; meanwhile, the latitude oscillation term (caused by equivalent east zero offset) can be effectively restrained. The Kalman filtering is used as a linear filtering optimal solution, an approximate mean value can be obtained under the condition of zero bias change of an equivalent geographic system, and the misalignment angle of a mathematical platform can be retrospectively calibrated by means of a reverse navigation technology, so that the navigation result in the whole navigation process is calibrated.
It can be seen that by using the navigation information reconstruction method provided by the embodiment of the application, the position accuracy after off-line calculation is greatly improved compared with uncorrected accuracy, and two groups of test results show that the positioning accuracy is improved by about 44.04%.
That is, the method for reconstructing the inertial navigation information reflux provided by the embodiment of the application suppresses the long-endurance positioning error of inertial navigation. By exploring the generation mechanism of the equivalent geographic system zero offset and combining measured data to deduce the relation between the equivalent geographic system zero offset and the latitude, the test result shows that the positioning accuracy is improved by about 44.04%. The semi-physical simulation lacks of posture reference evaluation, is difficult to quantify the lifting effect of posture precision, and can be considered for further verification in subsequent experiments.
Based on the same application conception, the embodiment of the application also provides an inertial navigation information reflux reconstruction device corresponding to the inertial navigation information reflux reconstruction method provided by the embodiment, and because the principle of solving the problem of the device in the embodiment of the application is similar to that of the inertial navigation information reflux reconstruction method of the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Fig. 5 is a functional block diagram of an inertial navigation information reflow reconstructing device 500 according to an embodiment of the present application. As shown in fig. 5, the inertial navigation information reflux reconstruction device 500 includes a first alignment recording module 510, a second real-time recording module 520, an underwater navigation module 530, and a navigation result output module 540; wherein:
The first alignment recording module 510 is configured to perform alignment calculation during inertial navigation alignment preparation, and record three-axis angular velocity information, three-axis acceleration information, and initial position information during static alignment of the gyroscope in real time;
The second real-time recording module 520 is configured to perform navigation operation on the target carrier after the alignment is finished, complete underwater navigation calculation, and record three-axis angular velocity information and three-axis acceleration information of the gyro in real time;
the underwater navigation module 530 is configured to, after the underwater navigation operation is completed on the target carrier The method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out;
The navigation result output module 540 is configured to output the full range navigation result after the three rounds of forward and/or backward navigation operations are completed.
In one possible implementation, as shown in fig. 5, the underwater navigation module 530 is configured to perform three-wheeled forward and/or backward navigation operations according to the following steps:
initializing a Kalman filter by utilizing the attitude information, the speed information and the position information of the navigation terminal moment;
repeatedly using the stored three-axis angular velocity information and three-axis acceleration information of the gyroscope to carry out navigation updating;
when the backward calculation is traced back to the initial moment, the Kalman filter measurement updating is carried out by adopting the position information of the initial moment, and the forward navigation is switched; when forward navigation is resolved to At moment, the stored satellite positioning information is used for measuring and updating the Kalman filter;
And continuously storing the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information in the forward/reverse navigation process, and using the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information for the latest forward/reverse navigation calculation.
In one possible implementation, as shown in fig. 5, the underwater navigation module 530 is specifically configured to invert the zero offset of the equivalent geographic system gyroscope and the rotational angular velocity of the earth in the reverse navigation process, and the gyroscope data is processed by using a gyroscope motion recurrence formula.
In one possible implementation, as shown in fig. 5, the underwater navigation module 530 is specifically configured to determine the gyroscopic motion recursion formula according to the following steps:
assuming inertial navigation at time To the point ofNavigating from the point A to the point B to obtain a reverse navigation formula;
and determining the gyroscopic motion recursion formula based on the reverse navigation formula.
In one possible implementation, as shown in fig. 5, the first alignment recording module 510 is configured to perform an alignment calculation according to the following steps:
Determining a geographic equivalent zero bias formula described by adopting a polynomial fitting mode based on the correlation between the numerical fluctuation of the equivalent geographic zero bias and a physical field;
determining a first state transition matrix based on the target inertial navigation error equation and the biaxial rotational inertia characteristic;
determining a second state transition matrix based on the Kalman filtering model;
and performing alignment calculation based on the geographic equivalent zero offset formula, the first state transition matrix and the second state transition matrix.
In one possible implementation, as shown in fig. 5, the first alignment record module 510 is configured to determine the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient according to the following steps: under a static condition, at different latitude positions, obtaining an equivalent geographic system zero offset under three latitudes by using a least square method calculation formula through multipoint sampling; performing least square estimation by using a geographic equivalent zero offset formula to obtain a second coefficient, a third coefficient and a fourth coefficient; and determining a first coefficient which changes every time power is applied on the basis of the second coefficient, the third coefficient and the fourth coefficient at the three marked different latitude positions.
Based on the same application concept, referring to fig. 6, a schematic structural diagram of an electronic device 600 according to an embodiment of the present application includes: a processor 610, a memory 620 and a bus 630, said memory 620 storing machine readable instructions executable by said processor 610, said processor 610 and said memory 620 communicating through said bus 630 when said electronic device 600 is running, said machine readable instructions being executed by said processor 610 to perform the steps of the inertial navigation information reflow reconstruction method as described in any of the above embodiments.
Based on the same application conception, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program executes the steps of the inertial navigation information reflow reconstruction method provided by the embodiment when being run by a processor.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when the computer program on the storage medium is run, the above-mentioned inertial navigation information reflow reconstruction method can be executed, and by fully utilizing a sparse position reference and inhibiting errors of autonomous positioning during inertial navigation, the accuracy of the full range navigation result can be improved.
In the embodiment of the present application, the computer program may also execute other machine readable instructions when executed by the processor to perform the inertial navigation information reflow reconstruction method as described in other embodiments, and the specific implementation steps and principles of the method are referred to in the description of the embodiment and are not described in detail herein.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method for reconstructing inertial navigation information reflux according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The inertial navigation information reflux reconstruction method is characterized by being applied to inertial navigation equipment in an inertial navigation system, wherein the inertial navigation system also comprises control equipment; the inertial navigation information reflux reconstruction method comprises the following steps:
In the inertial navigation alignment preparation work, performing alignment resolving work, and recording three-axis angular velocity information, three-axis acceleration information and initial position information in the static alignment process of the gyroscope in real time;
after alignment is finished, the target carrier enters navigation work, underwater navigation calculation is completed, and triaxial angular velocity information and triaxial acceleration information of the gyroscope are recorded in real time;
after the target carrier completes underwater navigation work, in The method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out; the saidThe moment is any moment after the underwater navigation work of the target carrier is completed;
After the three-wheel forward navigation and/or reverse navigation work is finished, outputting a full range navigation result;
Wherein three rounds of forward and/or reverse navigation work are performed according to the following steps: initializing a Kalman filter by utilizing the attitude information, the speed information and the position information of the navigation terminal moment; repeatedly using the stored three-axis angular velocity information and three-axis acceleration information of the gyroscope to carry out navigation updating; when the backward calculation is traced back to the initial moment, the Kalman filter measurement updating is carried out by adopting the position information of the initial moment, and the forward navigation is switched; when forward navigation is resolved to At moment, the stored satellite positioning information is used for measuring and updating the Kalman filter; continuously storing the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information in the forward/reverse navigation process, and using the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information for the latest forward/reverse navigation calculation;
The alignment solution is performed according to the following steps: determining a geographic equivalent zero bias formula described by adopting a polynomial fitting mode based on the correlation between the numerical fluctuation of the equivalent geographic zero bias and a physical field; determining a first state transition matrix based on the target inertial navigation error equation and the biaxial rotational inertia characteristic; determining a second state transition matrix based on the Kalman filtering model; and performing alignment calculation based on the geographic equivalent zero offset formula, the first state transition matrix and the second state transition matrix.
2. The inertial navigation information reflux reconstruction method according to claim 1, wherein the navigation update using stored three-axis angular velocity information and three-axis acceleration information of the gyro repeatedly includes:
in the reverse navigation process, the zero offset of the equivalent geographic system gyroscope and the rotation angular velocity of the earth are reversed, and gyroscope data are processed by adopting a gyroscope motion recursion formula; the gyro motion recursion formula is as follows:
；
Wherein, The gyro angular velocity used in the reverse navigation process is used; The gyro angular velocity is originally measured in the forward navigation process; Acceleration used in the reverse navigation process; The acceleration is originally measured in the forward navigation process; in order to sample the period of time, Is a matrix of units which is a matrix of units,For angular movement the sampling instants are discrete,Discrete sampling instants for line motion.
3. The inertial navigation information reflux reconstruction method according to claim 2, wherein the gyro motion recursion formula is determined according to the following steps:
assuming inertial navigation at time To the point ofNavigating from the point A to the point B to obtain a reverse navigation formula;
and determining the gyroscopic motion recursion formula based on the reverse navigation formula.
4. The inertial navigation information reflux reconstruction method according to claim 3, wherein the reverse navigation formula is:
；
；
；
Wherein, For angular movement the sampling instants are discrete,To at the same timeThe attitude matrix is inertial navigation at the moment,Is a matrix of units which is a matrix of units,，Representation ofIs used for the matrix of the anti-symmetry of (a),Indicating the angular velocity of the gyroscope,In order to sample the period of time,For the speed of the reverse dead reckoning,、、Respectively representThe latitude, longitude and altitude of the time of day reverse dead reckoning,、、Respectively representEast, north and sky speeds of time reverse dead reckoning,Is the principal radius of curvature of the meridian,Is the major radius of curvature of the mortise unitary circle.
5. The inertial navigation information reflux reconstruction method according to claim 1, wherein the geographic equivalent zero offset formula is:； Is equivalent to zero offset of the east gyro, Is equivalent to zero offset of a north-oriented gyroscope,Is equivalent to zero offset of the sky-oriented gyroscope,For a first coefficient that changes every power up,、AndFor the second coefficient, the third coefficient and the third coefficient at three different latitudinal locations,Longitude;
Wherein the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient are determined according to the steps of: under a static condition, at different latitude positions, obtaining an equivalent geographic system zero offset under three latitudes by using a least square method calculation formula through multipoint sampling; performing least square estimation by using a geographic equivalent zero offset formula to obtain a second coefficient, a third coefficient and a fourth coefficient; and determining a first coefficient which changes every time power is applied on the basis of the second coefficient, the third coefficient and the fourth coefficient at the three marked different latitude positions.
6. The inertial navigation information backflow reconstruction device is characterized by being applied to inertial navigation equipment in an inertial navigation system, and the inertial navigation system further comprises control equipment; the inertial navigation information reflux reconstruction device comprises a first alignment recording module, a second real-time recording module, an underwater navigation module and a navigation result output module; wherein:
the first alignment recording module is used for executing alignment resolving work in inertial navigation alignment preparation work and recording triaxial angular speed information, triaxial acceleration information and initial position information in a static alignment process of the gyroscope in real time;
the second real-time recording module is used for entering navigation work of the target carrier after the alignment is finished, completing underwater navigation calculation and recording three-axis angular velocity information and three-axis acceleration information of the gyroscope in real time;
The underwater navigation module is used for after the underwater navigation work of the target carrier is completed The method comprises the steps that satellite positioning information of a global navigation satellite system is received when the satellite positioning information is floated on the water surface, the satellite positioning information at the current moment is recorded, and three-wheel forward and/or reverse navigation work is carried out; the saidThe moment is any moment after the underwater navigation work of the target carrier is completed;
the navigation result output module is used for outputting a full range navigation result after three rounds of forward and/or backward navigation work are finished;
The underwater navigation module is specifically used for performing three-wheel forward and/or reverse navigation according to the following steps: initializing a Kalman filter by utilizing the attitude information, the speed information and the position information of the navigation terminal moment; repeatedly using the stored three-axis angular velocity information and three-axis acceleration information of the gyroscope to carry out navigation updating; when the backward calculation is traced back to the initial moment, the Kalman filter measurement updating is carried out by adopting the position information of the initial moment, and the forward navigation is switched; when forward navigation is resolved to At moment, the stored satellite positioning information is used for measuring and updating the Kalman filter; continuously storing the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information in the forward/reverse navigation process, and using the triaxial angular velocity information, the triaxial acceleration information and the satellite positioning information for the latest forward/reverse navigation calculation;
The first alignment recording module is specifically configured to perform an alignment calculation according to the following steps: determining a geographic equivalent zero bias formula described by adopting a polynomial fitting mode based on the correlation between the numerical fluctuation of the equivalent geographic zero bias and a physical field; determining a first state transition matrix based on the target inertial navigation error equation and the biaxial rotational inertia characteristic; determining a second state transition matrix based on the Kalman filtering model; and performing alignment calculation based on the geographic equivalent zero offset formula, the first state transition matrix and the second state transition matrix.
7. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the inertial navigation information reflow reconstruction method of any one of claims 1 to 5.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the inertial navigation information reflow reconstruction method according to any one of claims 1 to 5.
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