RU2195632C2 - Complex coordinate reckoning equipment - Google Patents

Abstract

FIELD: navigation of transport facilities; complex navigational equipment on base of coordinate reckoning (odometric) equipment and position navigational (satellite) equipment. SUBSTANCE: method includes joint processing of readings of coordinate reckoning equipment and navigational equipment of satellite navigational system on base of automatic control of first ones by second ones. EFFECT: enhanced accuracy of determination of coordinates without manual introduction of coordinates of origin, without determination of initial azimuth and without calibration of compass and directional systems. 3 dwg

Description

 The invention relates to the field of navigation, and in particular to integrated (integrated) navigation equipment based on coordinate reckoning equipment (odometric) and positional navigation equipment (satellite).

 According to the principle of determining the coordinates of an object, navigation equipment (ON) can be divided into coordinate calculating equipment (HACK), which determines coordinates based on measurement of motion parameters (speed or acceleration) and direction of movement, and positional ON (PNA), which automatically determines its coordinates by information about their position relative to some landmarks (fixed or moving), the coordinates of which are known.

 The first type is based on the use of speed sensors relative to the environment (airspeed sensors of aircraft and logs of ships), based on the use of speed sensors relative to the Earth's surface (Doppler speed sensors, correlation), and also on the basis of the use of acceleration sensors (accelerometers).

 The second type includes the ND, which determines its coordinates based on the reception of radio signals from ground-based sources or from satellites (astro-orientators, radio-technical positional and satellite).

 Currently, on land vehicles (NTS) in our country, HACK is used using mechanical and Doppler speed sensors (MDS and DDS) and navigation equipment for the user of satellite navigation systems (Glonass, GPS) of the Breeze, Grotto type is starting to be installed.

 The block diagram of the HACK NTS is presented in figure 1.

 This equipment consists of a motion velocity value sensor, called a track system (PS1), a motion speed direction sensor, called a course system (KC2), a coordinate velocity calculator (BKS3), an integrator (I4), an adder (Σ5) and an input unit for initial coordinates ( BVNK6), the corresponding inputs of VKS3 are connected to the outputs of PS1 and KS2, and the outputs are connected to the corresponding inputs of I4, the outputs of which are connected to the first inputs Σ5, and the second inputs of which are connected at the initial coordinates with the outputs of BVNK6, and the outputs Σ5 are the outputs of the apparatus tours by coordinates.

где

- комплексные координаты;
R - радиус-вектор (модуль) от начальной точки до текущей;
V - величина скорости движения;
α_V - угол направления движения;
α_R - направление текущего радиуса-вектора.The coordinate numbering algorithm, which is implemented in this equipment, looks like this:

Where

- complex coordinates;
R is the radius vector (module) from the starting point to the current;
V is the magnitude of the speed of movement;
α _V is the angle of the direction of motion;
α _R is the direction of the current radius vector.

- координаты точки в момент начала движения.

- coordinates of the point at the moment of the start of movement.

счисляемые координаты тоже будут без погрешностей. Однако реальные ПС и КС вырабатывают сигналы в виде V(1+δV) и (α_V+Δα), где δV - относительная погрешность измерения величины скорости, а Δα - абсолютная погрешность определения направления движения.It is clear that with an absolutely exact definition of V,

reckoned coordinates will also be without errors. However, real PSs and CSs produce signals in the form of V (1 + δV) and (α _V + Δα), where δV is the relative error in measuring the velocity and Δα is the absolute error in determining the direction of motion.

где

- постоянная относительная погрешность датчика скорости движения,

- постоянная абсолютная погрешность датчика направления скорости движения,

- координатная погрешность от переменных составляющих погрешностей ПС и КС.In this case, the calculated coordinates will be equal to:

Where

- constant relative error of the speed sensor,

- constant absolute error of the speed direction sensor,

- coordinate error from the variable component errors PS and CS.

 Practice shows that the constant errors of PS and CS make an overwhelming "contribution" to the coordinate calculation error, some of them due to tolerances for the manufacture and installation of DDS and CS, by turning the NTS body on the suspension, etc., which are removed specially made for this calibration of equipment on a measured site. The rest, as before, provides the main “contribution” to the error in the numbering of coordinates and decreases only when the design of the PS and CS is changed.

 Therefore, in the practice of navigation, HACK correction options are used [1], including using PNA.

 The block diagram of the integrated navigation equipment for calculating coordinates (CASK) based on HACK and PNA [1], which can be taken as a prototype, is shown in figure 2.

 The prototype device includes HACK (track system (PS1), course system (KS2), coordinate velocity calculator (VKS3), integrator (I4), adder (Σ5), initial coordinate input unit (BVNK6), PNA7, comparison blocks parameters (BSP8, BSP9), input blocks for corrections or corrections (BVPK10, BVPK11) and filters F12, F13, while the corresponding inputs of VKS3 are connected to the outputs of PS1 and KS2, and the outputs with the first inputs of BVPK10 and BVPK11, the outputs of which are connected to the corresponding inputs I4, and the outputs of the latter are connected to the corresponding inputs of Σ5 in increments coordinates, the inputs of which at the initial coordinates are connected to the corresponding outputs of BVNK6, and the outputs are the outputs of the device by coordinates and connected to the first inputs of the corresponding BSP8 and BSP9, the second inputs of which are connected to the corresponding outputs of the PNA7, and the outputs through F12 and F13 are connected to the second inputs BVPK10 and BVPK11, respectively.

This equipment implements a system of automatic regulation of HACK readings according to PNA readings taken as controllers, and corrections are entered not in coordinates, but in their derivatives (V _X and V _U ), i.e. The device implements the principle of I-regulator.

продифференцировав которое, получим:
X' = Х'_с + (Х_П - Х)_Ф - дифференциальное уравнение работы И-регулятора (ФАПЧ), индекс "ф" означает, что величина профильтрована.The operation of such a device for each coordinate is described by the equation:

differentiating which, we get:
X '= X' _s + (X _P - X) _Ф - differential equation of operation of the I-controller (PLL), the index "f" means that the value is filtered.

The properties of such a system are described in [2] and allow us to state:
- the average output coordinates of KASK are equal to the average coordinates of the PNA;
- Variable (fluctuating) errors are equal to PNA errors passed through the filter.

 Thus, the combination of HACK with PNA removed HACK errors and suppressed variable PNA errors, i.e. CASK is more precisely the most accurate ON of its constituents.

 The disadvantage of the prototype equipment is the need for continuous simultaneous operation of both components of the CASK: HACK and PNA, because it does not provide for HACK calibration according to PNA, which immediately increases the requirements for HACK accuracy and increases the error upon termination of PNA operation.

 The invention is aimed at increasing the accuracy of determining the coordinates of KASK in pauses of the PNA due to the introduction of HACK calibration according to the indications of navigation equipment of consumers of satellite navigation systems (NAP SNA).

 The essence of the invention lies in the fact that in KASK, consisting of a track system, a course system, a coordinate velocity calculator, an integrator, an adder, an input unit for the initial coordinates and positional navigation equipment in the form of navigation equipment for consumers of satellite navigation equipment, as well as two correction channels in the form series-connected blocks for comparing parameters, a filter and a block for inputting corrections or corrections, in which the outputs of the track and course systems are connected to the corresponding inputs of the calculation coordinate coordinates, and the outputs of the input unit for inputting the initial coordinates are connected to the corresponding inputs of the adder, whose outputs are KASK outputs according to the coordinates, and to increase the accuracy of determining the coordinates, two converters of increments of planned coordinates to radial are introduced, one converter of radial coordinates to increments of planned coordinates, a shaper of increments positional coordinates, initial setting mode block, differentiation block and filter, the corresponding outputs of the coordinate calculator with The axes through the integrator are connected to the corresponding inputs of the first transducer of increments of the planned coordinates to radial, the outputs of which in modulus and angle of the radius vector are connected to the second inputs of the respective input blocks of the correction or correction and the first inputs of the corresponding blocks of comparison of parameters the corresponding inputs of the Converter of radial coordinates in increments of the planned coordinates, the outputs of which are connected to the corresponding inputs of the total by incrementing the planned coordinates, the outputs of the positioning navigation equipment are connected to the corresponding inputs of the positional increment former and the input unit, the outputs of the positional increment former are connected to the corresponding inputs of the second radial increment converter, the corresponding outputs of which are connected to the second inputs of the corresponding blocks comparing the parameters modulo and the angle of the radius vector, the second inputs of the shaper increment position coordinates are connected to the corresponding outputs of the initial coordinate input unit, the quality of work of the positioning navigation equipment output is connected to the control inputs of both parameter comparison blocks, the outputs of the initial installation mode block are connected to the control inputs of the position coordinate increment generator, integrator and initial coordinate input block, respectively, and the output of the parameter comparison unit comparing the angles of the radius vectors obtained from the first and second converters is dinan with the input of the differentiation unit, the output of which through the entered filter is connected to the control input of the exchange rate system.

 The invention is illustrated by drawings, where in FIG. 1 shows a block diagram of HACK, figure 2 is a block diagram of a CASK prototype, figure 3 is a block diagram of the inventive CASK.

 The inventive complex apparatus for calculating coordinates (CAS), the block diagram of which is shown in figure 3, includes a track system (PS1), course system (KS2), a coordinate velocity calculator (VKS3), an integrator (I4), an adder (Σ5 ), an input unit for the initial coordinates (BVNK6), positional navigation equipment (PNA7) in the form of NAP SNA, blocks for comparing parameters (BSP8, BSP9), input blocks for correction or correction (BVPK10, BVPK11) and filters (F12, F13), and the inputs VKS3 are connected to the outputs PS1 and KS2, respectively, and the outputs are connected to the corresponding inputs And4, in the outputs of BVNK6 are connected to the inputs Σ5 at the initial coordinates, and the outputs of the latter are the outputs of the equipment in coordinates, the outputs of BSP8, BSP9 are connected to the corresponding inputs of BVPK10, BVPK11 through filters F12, F13, respectively, and to ensure accurate operation of the device during pauses of PNA7 operation, converters of planned coordinates to radial (PPKR14, PPKR15), converter of radial coordinates to increments of planned coordinates (PRKPPK16), shaper of increments of positional coordinates (FPPK17) PNA, initial setting mode block (BRNU18) and a differentiation unit (BD19) with a filter (F20), and the PPKR14 inputs are connected to the corresponding I4 outputs, and the radial coordinate outputs are connected to the corresponding inputs of the corresponding BVPK10, BVPK11 and to the corresponding inputs of the corresponding BSP8, BSPK11, BVPK10, BVPK11 outputs connected to the corresponding inputs of PRKPPK16, the outputs of which are connected to the inputs Σ5 in increments of planned coordinates, the PNA7 outputs are connected to the corresponding inputs of BVNK6 and FPPK17, the second inputs of which are connected to the corresponding outputs of BVNK6, and the outputs - with the corresponding inputs of PPKR15, the outputs of which are connected to the corresponding inputs of BSP8, BSP9, and the PNA7 output (NAP SNA) is connected to the control inputs of BSP8, BSP9 by the quality signal of operation, the corresponding outputs of BRNU18 are connected to the corresponding inputs of BVNK6, FPPK17 and I4, in addition The output of BSP8 through BD19 and its Ф20 is connected to the input of KC2 to control the precession of the gyroscope, which compensates for its departure.

The principle of operation of the CASK requires the march of the NTS from a certain starting point of the route (NTM). There are two possible modes:
1. If the coordinates of the NTMs are known and the operational situation allows us to determine the initial angle of movement, then the stop is made in NTMs, the initial direction of motion of the STS (gyrocompassing) is determined, the coordinates of NTM are entered into BVNK6 and, by pressing button 1, BRNU18 sends signals to BVNK18 and I4 for zeroing of the latter and permission to use NTV coordinates from BVNK6 in Σ5 and FPPK17.

 2. If the coordinates are unknown or the operating environment does not allow gyrocompassing, then the operator, when the STV is on the NTM, presses button 2 on the BRNU18, which will result in resetting I4 and entering the NTM coordinates from PNA7 into the BVNK6. In this case, the NTM can serve as a switch point for CASK.

которые поступают в БВПК10, БВПК11 и исправляют вырабатываемые в HACK R и α_R по правилу: R=R_C•R_П/R_С=R_П и

а также в БД19, откуда

через Ф20 поступает в КС1 для создания компенсирующей уход прецессии.With further movement in the CASK, 2 sets of coordinate increment are calculated (with both input data input modes): from HACK and PNA, from which the current radius vector of the position point on the route and the angle of its direction in the coordinate system used are calculated. The same values (R _P and R _C , α _RC and α _RP ) arrive at BSP8, BSP9, where the values are determined:

which enter BVPK10, BVPK11 and correct those generated in HACK R and α _R according to the rule: R = R _C • R _P / R _C = R _P and

as well as in BD19, where

through F20 enters KC1 to create a compensatory care precession.

In the application materials it is shown that the constant errors RC and α _RC are equal to the corresponding errors of the PS and KS, therefore, it is possible to perform the equivalent KASK with the installation of BVPK at the outputs of the PS and KS, respectively. The corrected (adjusted) radial coordinates are received in PRKPPK16, from the output of which the corrected increments of the planned coordinates are received at Σ5, where they are summed with the initial coordinates and form the current coordinates (X, Y) of the location of the NTS.

 So KASK works during the intermittent operation of the PNA (NAP SNA).

 In case of loss of information from the NAP SNA, the development of corrections and corrections stops and the output coordinates are determined by the HACK on their last values.

 The technical idea of KASK was experimentally tested on equipment implemented in the form of a set of sensors: a mechanical sensor for velocity, a gyroscopic sensor for the angle of direction of speed, a position sensor for coordinates (NAP SNA type "Breeze-K") and Baguette-21 computer.

 With such equipment several marches were made on different tracks. The test results confirm the authors' conclusions regarding the performance of the claimed KASK.

The analysis of the work of the CASC and the test results show that the claimed CASC provides not only an increase in the accuracy of the generation of coordinates compared to one HACK, but at the same time provides:
- reducing the requirement for accuracy to HACK (and hence reducing the complexity of its manufacture and cost);
- reduction in the availability of navigation equipment and the ability to provide firing of the NTS "immediately";
- operation of CASK without calibration on a specially prepared track (measured area);
- operation of the CASK without initial orientation (exclusion of the device for determining the initial azimuth of the NTS);
- reduction of qualification requirements for staff.

Sources of information
1. V.P. Seleznev. Navigation devices. M .: Mechanical Engineering, 1974.

 2. G.I. Tuzov. Isolation and processing of information in Doppler systems. M .: Sov. radio, 1967.

Claims (1)

 Integrated coordinate calculating equipment, which includes a track system, a course system, a coordinate velocity calculator, an integrator, an adder, an initial coordinate input unit and positional navigation equipment in the form of navigation equipment for satellite navigation system consumers, as well as two parameter comparison units, two filters and two blocks for entering corrections or corrections, and the inputs of the coordinate velocity calculator are connected to the outputs of the track and course systems, respectively, and the outputs, respectively by the integrator inputs, the output of each parameter comparison block through the corresponding filter is connected to the first input of the corresponding correction or correction input block, the outputs of the input coordinate input block are connected to the corresponding inputs of the adder, the outputs of which are the outputs of the equipment, characterized in that three coordinate converters are introduced into it , a shaper of increments of positional coordinates, an initial setting mode unit and a differentiation unit with a filter, the integrator outputs being connected to the corresponding inputs of the first transducer, the outputs of which are connected to the second inputs of the corresponding correction or correction input blocks, the outputs of the positioning navigation equipment in coordinates are connected to the corresponding inputs of the position increment increment former and the input coordinates input unit, and the outputs of the former are connected to the corresponding inputs of the second transducer, the outputs of which connected to the first inputs of the respective parameter comparison blocks, the second inputs of which are connected to by the corresponding outputs of the first converter, the outputs of the correction or correction input blocks are connected to the corresponding inputs of the third converter, the outputs of which are connected to the corresponding inputs of the adder in increments of the plan coordinates, the outputs of the input coordinates input block are connected to the corresponding inputs of the shaper of increments of position coordinates, the third output of positional navigation equipment is connected with the control inputs of both parameter comparison blocks, and the corresponding outputs of the mode block initial settings are connected to the control inputs of the input unit input coordinates, the shaper increments of positional coordinates and the integrator, respectively, in addition, the output of the unit for comparing the parameters of the radius vector is connected to the input of the differentiation block, the output of which through the corresponding filter is connected to the input of the course system for controlling the precession .

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