RU2375680C1 - Integrated inertial-satellite orientation and navigation system for objects moving on ballistic trajectory with rotation around longitudinal axis - Google Patents

Abstract

FIELD: physics; navigation.

SUBSTANCE: invention relates to navigation instrument making. The set problem is solved by that, conditions are created in which substantial connection appears and is used on a section of a ballistic trajectory between error models of inertial measurement modules when solving the problem of orientation and navigation. This connection appears and can be used in providing the following conditions: presence of fast rotation around a longitudinal axis and coning motion of precession of the control object about the centre of mass or only rotation of the object around a longitudinal axis on a ballistic trajectory; placing a unit of accelerometres of inertial measurement modules and a reception antenna for the satellite navigation system at a certain distance (basically on a transverse axis) from the centre of mass of the control object; solving the problem of orientation and navigation in the inertial measurement modules at the point of placing the unit of accelerometres at high frequency - approximately an order higher than frequency of rotation of the control object (due to necessity of generation of dynamic components in navigation parametres without distortions); formation of measured values of primary navigation parametres in the reception apparatus of the satellite navigation system where the reception antenna is placed using tracking measuring devices with bandwidth greater than the frequency of rotation of the control object. Also values of primary navigation parametres are calculated in the computer of the inertial measurement modules and these values are also used in the feedback in the reception apparatus of the satellite navigation system for narrowing the frequency band in tracking systems of carrier frequency and code delay.

EFFECT: increased accuracy and noise immunity of integrated systems of orientation and navigation (ISON), which have inertial measurement modules (IMM) on "rough" micromechanical gyroscopes and a miniature reception apparatus of satellite navigation systems (RA SNS), in generating orientation parametres of control objects (CO) on a section of its ballistic trajectory for a long period of time, ie provision for stationary character and limited level of errors of integrated systems of orientation and navigation in solving the problem of orientation of a control object on a ballistic trajectory, as well as high level of noise immunity.

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Description

The invention relates to the field of navigation instrumentation.

As you know, based on the need to ensure high operational characteristics (mass and dimensional characteristics - MGH, reliability, availability, etc.), the basis of promising on-board navigation equipment for moving objects for various purposes will be frameless inertial navigation systems (SINS) or inertial measuring modules (BIIM). This is one of the main trends in the development of navigation equipment for modern mobile objects for various purposes. For small-sized BIIM of medium and low level of accuracy, intended for use on small-sized dynamic control objects (OS), part of the movement of which occurs along a ballistic trajectory, it is preferable to use BIIIM as gyroscopes of angular velocity sensors (DLS) in measuring blocks (IS).

The peculiarity of the requirements for BIIIM IS for their application on the op-amp of the class under consideration should be considered, first of all, high requirements for reliability and ensuring its operability outside a sealed enclosure under the influence of radiation and a significant temperature gradient over a sufficiently long time interval. In addition, these OSs are characterized by significant dynamic ranges (in which they are required to provide appropriate accuracy characteristics): angular velocity - up to 1000 ... 2000 deg / s, linear acceleration - up to 150 ... 200 g. And also withstand starting loads - up to 30,000 g (Guy E. Guidance missiles with an inertial navigation system based on micromechanical sensors integrated with GPS. - Materials of the V St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and navigation. -1998 .-№3 (22), p. 72 ... 81).

The modern small-sized DUS that can be used as part of the BIIM IS for its use in the op-amp of the class under consideration include, first of all, fiber-optic (FOG) and micromechanical (MMG) gyroscopes (Guy E. "Guided projectiles with inertial navigation system on micromechanical sensors integrated with GPS ". - Materials of the V St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and Navigation.-1998. -№3 (22), p.72 ... 81. Lobanov BC, Tarasenko N.V. "Use of adjustments SINS based on fiber-optic gyroscopes and quartz accelerometers for controlling the motion of interplanetary spacecraft. Proceedings of the XIII St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and Navigation. -2006. -№3 (54), p.88 )

Fulfillment of modern requirements for the accuracy of solving the problems of orientation and navigation of moving objects through the use of BIIM in stand-alone operation over a long period of time is a complex problem, the solution of which requires significant financial and time costs. Therefore, based on the cost criterion, as world experience shows, it is customary to look for a solution to this problem by ways of integrating information from gimballess inertial modules with receiving equipment (PA) of satellite navigation systems (SNA). That is, on the paths to building integrated orientation and navigation systems (ISON) based on the BIIM, informationally and structurally integrated with the SNA PA (Guy E. Guided Shells with an Inertial Navigation System on Micromechanical Sensors Integrated with GPS ".

- Materials of the V St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and navigation. -1998.-No. 3 (22), S. 72 ... 81. Dichelle V.D., Bykov A.K. et al. "Analysis of the results of the first flight test of the integrated inertial-satellite navigation, orientation and tractor control system of the launch vehicle and upper stage during the launch of the Amos-2 spacecraft into geostationary orbit." Proceedings of the XI St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and navigation. 2004. -№3 (46), p. 80. LINS-2510. INS / GPS Internal Navigation System with embedded Global Positioning System, prospectus from Litton (USA).

Anuchin O.N., Emelyantsev G.I. “Integrated orientation and navigation systems for marine moving objects” / under the general editorship of the academician of the RAS V.G. Peshekhonov /. -SPb .: Central Research Institute "Elektropribor", 2003. - 389 p.). The aim is not to provide not only the initial exhibition, calibration of sensitive elements (SE) and periodic correction of the output data of the BIIM to increase the information autonomy of the system, but also the solution to the problem of increasing the noise immunity of the PA SNA and monitoring the integrity of the satellite system.

A feature of constructing an ISON for an OS, part of the flight path of which is a ballistic path, is the fact that, to solve the required accuracy of the task of orienting the OS on a ballistic path, using standard PA SNA data for integration with BIIM is inefficient. This is due to the fact that on the ballistic trajectory there is no connection between the error models of the BIIM in solving the problems of orientation and navigation, because under these conditions, the value of the apparent acceleration vector measured by the ISBIEM accelerometers is practically zero (if braking in the upper atmosphere is not taken into account) (Elyasberg PE "Introduction to the satellite’s theory of flight." - M .: Nauka, 1965. - 540 from.).

And, therefore, there is no possibility in estimating the biomath errors in solving the orientation problem (they are not observable) when using data from the standard PA SNA for navigation parameters.

The classical solution to this problem requires the use of either a precision BIIM, or the use of an angular position indication system built on astronomical sensors (Volintsev A.A., Dudko L.A., Kazakov B.A. et al. "Experience in creating high-precision float sensors) instruments used in the systems of angular orientation and stabilization of spacecraft and stations. Materials of the X St. Petersburg International Conference on Integrated Navigation Systems. St. Petersburg: Central Research Institute Elektropribor. - 2003, p.226-234. G. Avanesov and "Star Co RADIATORS OF SPACE AIMS ORIENTATION SYSTEMS "// Izv. Universities. Instrument Making. - 2003, v.4, p.66-70), or multi-antenna PA SNA using phase measurements at the carrier frequency (B. Shebshaevich et al." On-board synchronizing coordinate-time device for spacecraft. Test and simulation results. // 12 ^th Saint-Petersburg International Conference on Integrated Navigation Systems /. - St. Petersburg: Central Research Institute "Elektropribor". - 2005, p.103-108).

The use of BIIM on precision laser gyroscopes or FOG leads to a significant cost (about 100 ... 200 thousand US dollars), significant MHC and energy consumption (LINS-2510. INS / GPS Internal Navigation System with embedded Global Positioning System, prospectus from Litton (USA )).

The use of astro sensors and multi-antenna PA SNA in the dynamic conditions of the OA movement of the considered class under the existing restrictions on their MHC in the near future is not possible.

Known scheme (Guy E. "Guided missiles with an inertial navigation system based on micromechanical sensors integrated with GPS".

- Materials of the V St. Petersburg International Conference on Integrated Navigation Systems. // Gyroscopy and navigation. -1998. No. 3 (22), C.72 ... 81) of the construction of the ISON, selected as an analogue, consists of the ISBIIM, including a block of micromechanical gyroscopes and a block of micromechanical accelerometers with providing electronics, a standard miniature PA SNA and a computer that provides information processing BIIM, and integration of the output of BIIM and PA SNA. The disadvantage of this ISON construction scheme is the impossibility of providing, using the “coarse” gyroscopes of the MMG type, as part of the ISB BIIM, solving the problem of OA orientation on the ballistic section of the trajectory with high accuracy (errors in orientation parameters should not be more than 1 °) for a long time (about 10 ... 20 min) time.

In the considered patents (Diesel, John W. Integrated inertial / GPS navigation System. US Patent No. 6417802 of July 9, 2002. Perlmutter, Michael S. et al. "A way to improve the efficiency of re-detection and capture of a satellite signal in an integrated GPS / INS navigation system ". US Patent No. 6640189 of 10/28/2003. Belov V.D., Gunbin T.A. et al." Integrated inertial-satellite navigation system. "RF Patent No. 2087867 of 08/20/1997. Volzhin AS, Vyazmikin A.A. et al. “Inertial-satellite navigation system.” RF Patent No. 2233431 C1 dated July 27, 2004. Mezentsev A.P., Achildiev V.M. et al. “Universal Navigation Ave. boron traffic control based micromechanical sensing elements and integrated unified strapdown inertial navigation system for the machine. "Russian Patent №2263282 C1 of 27.10.2005.) and the solution of the problem is absent.

The well-known "Integrated complex for navigation and control of marine vessels" described in the patent of the Russian Federation No. 2117253 of 08/10/1998, selected as a prototype.

This integrated system includes a BIIM, which contains an IS consisting of a block of gyroscopes (BG) and a block of accelerometers (BA), a computing device (WU), which, in turn, contains a block for generating orientation parameters (BVPO), a unit for converting apparent speed increments (BPPKS), a block for the development of parameters of translational motion (BVPPD), a unit for complex information processing (BKOI), a data conversion unit (BPD) of the SNA and a block of the BPDIC of the integrated system, as well as a PA SNA with an antenna (A).

The output data of ISON are the current values of the orientation parameters (quaternion and heading, pitch and roll angles) and navigation parameters (components of the linear velocity vector and location coordinates) of the control object.

на частоте опроса гироскопов в проекциях на связанные с ИБ БИИМ оси x_by_bz_b (здесь

- вектор угловой скорости ОУ относительно инерциального пространства в проекциях на связанные с ИБ оси x_by_bz_b), поступают на один из входов блока БВПО, назначением которого является выработка параметров ориентации ИБ БИИМ и объекта:

- кватерниона углового положения и углов K, ψ, θ - курса, тангажа и крена, характеризующих положение связанных с ИБ БИИМ x_by_bz_b и объектом x₀y₀z₀ осей относительно навигационных географических осей ENH. На второй вход блока БВПО поступают расчетные значения вектора угловой скорости вращения навигационного трехгранника ENH с одного из выходов блока БВППД через блок БКОИ. На вход блока БВПО поступают также оценки погрешностей параметров ориентации и оценки погрешностей гироскопов, вычисляемые в блоке БКОИ.The functioning of the considered IZON is as follows. The output of IB BIIM, which are increments of the rotation angle vector

at the frequency of interrogation of gyroscopes in projections on the axis x _b y _b z _b associated with the ISB BIIM (here

- the angular velocity vector of the OS relative to the inertial space in the projections onto the axis x _b y _b z _b associated with IS, is fed to one of the inputs of the BVPO block, the purpose of which is to develop orientation parameters of the BI BIIM and the object:

- the quaternion of the angular position and angles K, ψ, θ - of the course, pitch and roll characterizing the position of the axes associated with the BIIM information security system x _b y _b z _b and x ₀ y ₀ z ₀ object relative to the navigational geographic axes ENH. At the second input of the BVPO block, the calculated values of the vector of the angular rotation speed of the navigation trihedron ENH come from one of the outputs of the BVPD block through the BKOI block. The input of the BVPO block also receives the error estimates of the orientation parameters and the error estimates of the gyroscopes, calculated in the BKOI block.

на частоте опроса акселерометров в точке их размещения и в проекциях на связанные с ИБ БИИМ оси x_by_bz_b (здесь

- вектор кажущегося ускорения в проекциях на связанные с ИБ оси x_by_bz_b), поступают через блок БППКС на один из входов блока БВППД, назначением которого является выработка составляющих вектора линейной скорости

в проекциях на навигационные оси ENH и координат

(составляющих радиус-вектора в проекциях на гринвичские оси и геодезических сферических координат φ, λ, h) ОУ в точке размещения акселерометров. На вход блока БВППД поступают также оценки погрешностей навигационных параметров и оценки погрешностей акселерометров, вычисляемые в блоке БКОИ.The output of the BA BIIM block, which is an increment of the apparent linear velocity and linear displacement vectors

at the polling frequency of the accelerometers at the point of their placement and in projections onto the x _b y _b z _b axes associated with the IS BIIM (here

- the vector of the apparent acceleration in the projections onto the axis x _b y _b z _b associated with the information security system, is transmitted through the BPCS block to one of the inputs of the BVPPD block, the purpose of which is to develop the components of the linear velocity vector

in projections on the navigational axis ENH and coordinates

(components of the radius vector in projections onto the Greenwich axes and geodetic spherical coordinates φ, λ, h) of the op-amp at the location of the accelerometers. The input of the BVPPD block also receives the error estimates of the navigation parameters and the error estimates of the accelerometers calculated in the BKOI block.

в проекциях на навигационные оси ENH и координат

(составляющих радиус-вектора в проекциях на гринвичские оси и геодезических сферических координат φ_снс, λ_снс, h_снс) объекта управления. Выходные данные ПА СНС через блок БПД СНС поступают на один из входов блока БКОИ, на второй вход которого поступают данные БИИМ из блока БВППД.Information from the SNA receiving antenna is fed to the SNA PA containing a radio receiving device (RPU), N independent receiving and measuring channels — PIK, and a navigation task solution block (BRNZ), at the output of which we have the current values of the linear velocity vector components

in projections on the navigational axis ENH and coordinates

(components of the radius vector in the projections on the Greenwich axis and geodetic spherical coordinates φ _sns , λ _sns , h _sns ) of the control object. The output data of the PA SNA through the BPD block of the SNA are fed to one of the inputs of the BKOI block, the second input of which receives BIIM data from the BVPPD block.

It should be noted that the carrier frequency tracking (CCH) and code delay tracking (CVD) systems of the standard SNA PA include a discriminator, a broadband filter (FS) and a controlled oscillator (UG).

The estimates developed in the BKOI block are fed into feedback for correcting the biometric errors in the development of orientation parameters and compensating for gyro errors, for correcting the biometric errors in the development of navigation parameters and accelerometer errors.

The disadvantage of the ISON construction scheme, selected as a prototype, is its limited noise immunity and the impossibility of providing, using the “coarse” gyroscopes of the MMG type as part of the ISB BIIM, solving the problem of OA orientation on the ballistic section of the trajectory with high accuracy.

If, however, more accurate gyroscopes of the VOG type are used as part of the BIIIM IS, then this will lead to a significant increase in the mass-dimensional characteristics and cost of the ISON.

The objective of the invention is to improve the accuracy and noise immunity of the ISON, containing BIIM on "coarse" gyroscopes of the type MMG and miniature PA SNA, in the development of parameters for the orientation of the op-amp in the section of the ballistic trajectory of its movement for a long time, i.e. providing a stationary nature and a limited level of errors in the ISON in solving the problem of orientation of the op-amp on a ballistic trajectory, as well as a high level of noise immunity.

The problem is solved by the fact that conditions are created in which a significant connection appears on the ballistic trajectory between the error models of the BIIM in solving orientation and navigation problems. This connection appears and can be used to provide the following conditions:

- the presence of rapid rotation around the longitudinal axis and the conical movement of the OS precession relative to the center of mass (ts.m.) or only rotation of the object around the longitudinal axis on a ballistic trajectory;

- placing the block of accelerometers BIIM and the receiving antenna of the SNA at a certain distance from the m OS mainly on the transverse axis (distance from the axis of rotation);

- solving the problems of orientation and navigation in the BIIM at the point of placement of the block of accelerometers at a high frequency - about an order of magnitude higher than the speed of the op-amp (due to the need to develop dynamic components in the navigation parameters without distortion);

- the formation of the measured values of the primary navigation parameters (distances and radial velocities for the observed HC _i ) in the SNA PA at the location of the receiving antenna by tracking meters with a passband approximately an order of magnitude greater than the speed of the op-amp.

The implementation of these conditions is the main difference between the proposed device and the prototype, which requires the introduction of appropriate changes in both the BIIM blocks and PA SNA blocks. In addition, the calculated values of the primary navigation parameters (distances and radial velocities for the observed HC _i ) are generated in the BIIM calculator, which are also used in feedback in the SNA PA to narrow the passband in tracking systems for the carrier frequency (SSN) and code delay (CVD) )

The list of drawings.

Figure 1 and 2 shows a structural diagram of the proposed IZON.

Figures 3 and 4 show the results of modeling the errors of ISON, from which it follows that, subject to the conditions given above, a stationary character and a limited level of errors of ISON in solving the problem of orientation of the OS when moving along a ballistic trajectory are ensured.

Figures 5 and 6 show the errors (angular min.) Of the EAS by the orientation parameters Δψ (1), ΔK (2) in the absence of a distance of the BIIM accelerometer block from the OS mass center and if there is a distance of the BIIM accelerometer block from the OS mass center, respectively.

In figure 1, the following notation:

BIIM - gimballess inertial measuring module;

PA SNA - receiving equipment for satellite navigation systems;

1 - block gyroscopes (BG);

2 - block of accelerometers (BA);

3 - block generating orientation parameters (BVPO);

4 - block development of the parameters of the translational motion (BVPPD);

5 - data conversion unit of the integrated system (BAP);

6 - a block for the formation of difference measurements (BFRI);

7 - block integrated information processing (BKOI);

8 - antenna device (AU);

9 - radio receiving device (RPU);

10 - block allocation of radio navigation parameters and special information (BVRNPiSI);

11 - block solving navigation problems (BRNZ).

In figure 2, the following notation:

CCH - tracking system for the carrier frequency;

Ω _i - Doppler shift of the carrier frequency of the i-th NS _i , determined according to the BIIM;

Ui is the control signal for switches switching the CCH and CVD bands when switching to the support mode from the BIIM;

12 - code delay tracking system (CVD);

13 is a diagram of the allocation of special information - the values of the ephemeris HC ₁ (SHSI);

14 - discriminator (Disc.);

15 - broadband filter in the composition of the CCH (FSH);

16 - narrow-band filter in the composition of the CCH (FU);

17 - switch (Switch);

18 - controlled generator CCH and controlled generator CVD (UG).

The difference from the prototype lies in the fact that an additional block for the formation of difference measurements 6 (BFRI) is additionally introduced. Additional feedback has been introduced from block 6 (BFRI) to block 11 (BRNZ) of the PA SNA, providing the input of calculated values (calculated from the BIIM and ephemeris information of NS _i ) of primary navigation parameters (distances and radial velocities for the observed HC _i ) in PA SNA . Additional feedback has also been introduced from block 7 (BKOI) to block 11 (BRNZ), which ensures that the PA SNA error estimates calculated in block 7 (BKOI) arrive in the PA SNA.

To increase the noise immunity of the SNA PA, additional feedback was introduced from block 11 (BRNZ) to block 10 (BVRNPiSI), which provides the input of calculated data (Doppler shift of the carrier frequency of the ith HC _i determined by the BIIM data) and control signals to the SSN circuit of each PIC . At the same time, in the SSN of each PIK of block 10 (BVRNPiSI) (Fig. 2), additional blocks 16 (FU), 17 (Switch) and an adder are introduced. The filter 16 (FU), having a narrow band, is included in the SSN loop instead of the broadband filter 15 (FS) by the switch 17 after receiving information support from the BIIM, which increases the noise immunity of the SNA PA.

In addition, an additional connection was introduced between the output of unit 5 (BAP) of the integrated system and the input of unit 6 (BFRI), which recalculates the BIIM navigation data from the location of block 2 (BA) on the object to the location of block 8 (AU) of the SNA PA.

Distinctive is also that block 2 (BA) and block 8 (AU) should be installed at the maximum distance from the square meter. Shelter along the transverse axis.

Algorithmic support of blocks 3 (BVPO), 4 (BVPPD) is similar to the algorithms of operation of similar blocks of the prototype. The difference lies in the fact that the frequency of solving problems in blocks 3 (BVPO), 4 (BVPPD) should be approximately an order of magnitude higher than the speed of the op-amp (due to the need to develop dynamic components in the navigation parameters without distortion) at the location of the accelerometer block.

In block 6 (BFRI), difference measurements, in contrast to the prototype, are formed at the level of the primary navigation parameters (distances and radial velocities for the observed HC _i ), and they are also linearized.

The bandwidth of the tracking systems should be greater than the speed of the op-amp (due to the need to develop dynamic components in the primary navigation parameters without distortion for each NS _i ).

первичных навигационных параметров (расстояний и радиальных скоростей от ОУ до каждого из наблюдаемых НС_i) в точке размещения приемной антенны на частоте не ниже 5÷30 Гц (из-за необходимости измерения динамических составляющих, обусловленных вращением вокруг продольной оси и возможным коническим движением ОУ относительно его ц.м.). На выходе блока БРНЗ формируются также из эфемеридной информации откорректированные значения

(j=1, 2, 3) декартовых координат и составляющих вектора абсолютной линейной скорости HC_i в проекциях на гринвичские оси для каждого наблюдаемого HC_i, синхронизированные с данными ρ_{i_z} и

.Information from block 8 (AU) of the PA SNA through blocks 9 (RPU) and 10 (BVRNPiSI) enters block 11 (BRNZ), at the output of which we have the current corrected “measured” values ρ _{i_z} and

primary navigation parameters (distances and radial speeds from the op-amp to each of the observed NS _i ) at the location of the receiving antenna at a frequency of at least 5 ÷ 30 Hz (due to the need to measure dynamic components due to rotation around the longitudinal axis and possible conical movement of the op-amp with his c.m.). At the output of the BRNZ block, the corrected values are also formed from ephemeris information

(j = 1, 2, 3) Cartesian coordinates and components of the absolute linear velocity vector HC _i in projections onto the Greenwich axes for each observable HC _i , synchronized with the data ρ _{i_z} and

.

и

(j=1, 2, 3) ПА СНС поступают на один из входов блока 6 (БФРИ). На второй вход блока 6 (БФРИ) поступают данные БИИМ о декартовых координатах e_{j_pr} и составляющих

(j=1, 2, 3) вектора абсолютной линейной скорости объекта в проекциях на гринвичские оси, по которым с использованием данных

(j=1, 2, 3) формируются расчетные значения

и

первичных навигационных параметров для наблюдаемых HC_i и разностные измерения

,

.Output data ρ _{i_z} ,

and

(j = 1, 2, 3) PA SNS arrive at one of the inputs of block 6 (BFRI). The second input of block 6 (BFRI) receives data from the BIIM on the Cartesian coordinates e _{j_pr} and the components

(j = 1, 2, 3) of the absolute linear velocity vector of the object in projections onto the Greenwich axes, along which using data

(j = 1, 2, 3) calculated values are formed

and

primary navigation parameters for observed HC _i and differential measurements

,

.

,

поступают на вход блока 7 (БКОИ). Оценки, выработанные в блоке 7 (БКОИ), поступают в обратную связь для коррекции погрешностей БИИМ в выработке параметров ориентации и компенсации погрешностей гироскопов (на вход блока 3 (БВПО)), коррекции погрешностей БИИМ в выработке навигационных параметров и погрешностей акселерометров (на вход блока 4 (БВППД)), а также коррекции погрешностей ПА СНС (на вход блока 11 (БРНЗ)).From the output of block 6 (BFRI) measurements

,

arrive at the input of block 7 (BKOI). The estimates developed in block 7 (BKOI) are fed into feedback for correcting biometric errors in the generation of orientation parameters and compensating for gyro errors (at the input of block 3 (BVPO)), for correcting biometric errors in generating navigation parameters and accelerometer errors (at the input of the block 4 (BVPPD)), as well as error correction for the PA SNA (at the input of block 11 (BRNZ)).

The essence of the proposed solution is as follows.

в осях связанного с ОУ трехгранника x_oy_oz_o от его ц.м., то вектор

кажущегося ускорения в точке m при допущении, что объект является абсолютно жестким и обладает вектором угловой скорости

(из-за вращения вокруг продольной оси и возможного конического вращения относительно ц.м.), может быть представлен в виде (Анучин О.Н., Емельянцев Г.И. "Интегрированные системы ориентации и навигации для морских подвижных объектов”/ под общ. редакц. акад. РАН В.Г.Пешехонова/. - СПб.: ЦНИИ «Электроприбор», 2003. - 389 с.):If IB BIIM is placed on the OS at point m with some distance

in the axes of the trihedron x _o y _o z _o associated with the op-amp, from its c.m., then the vector

apparent acceleration at point m under the assumption that the object is absolutely rigid and has an angular velocity vector

(due to rotation around the longitudinal axis and possible conical rotation relative to the meter), it can be represented as (Anuchin ON, Emelyantsev GI "Integrated orientation and navigation systems for marine moving objects” / under general Ed., Acad. RAS V.G. Peshekhonova /. - SPb .: Central Research Institute "Elektropribor", 2003. - 389 p.):

- значение вектора кажущегося ускорения в ц.м. ОУ (на участке баллистической траектории его значение равно нулю).Where

- the value of the vector of apparent acceleration in m OS (in the section of the ballistic trajectory its value is zero).

- есть значения вектора кажущегося ускорения точки установки акселерометров ИБ БИИМ в проекциях на оси объекта, тогда проекции вектора кажущегося ускорения точки m на оси географического сопровождающего трехгранника ENH будут равны:Let be

- there are values of the vector of the apparent acceleration of the installation point of the ISBIEM accelerometers in projections on the axis of the object, then the projections of the vector of the apparent acceleration of the point m on the axis of the geographic accompanying ENH trihedral will be equal to:

- матрица ориентации, характеризующая положение связанных с ОУ осей относительно осей географического сопровождающего трехгранника.Where

- an orientation matrix characterizing the position of the axes associated with the OC relative to the axes of the geographic accompanying trihedron.

≠0 в условиях быстрого вращения объекта и (или) конического движения

≠0.From the expression (1) it follows that, with a corresponding distance of the IS BIII from the square meter OS, i.e. at

≠ 0 under conditions of rapid rotation of the object and (or) conical movement

≠ 0.

≠0 приводит к наличию связи на баллистической траектории между моделями погрешностей БИИМ в решении задач ориентации и навигации, что является необходимым условием для положительного решения рассматриваемой проблемы.We show that this condition

≠ 0 leads to the presence of a relationship on the ballistic trajectory between the error models of BIIM in solving problems of orientation and navigation, which is a necessary condition for a positive solution to the problem under consideration.

In accordance with the algorithm for the task of converting accelerometer signals to navigation axes ENH according to expression (2), the variations in the apparent acceleration vector in the axes of the geographic accompanying trihedron will be equal

- вектор инструментальных погрешностей акселерометров в осях объекта. Учитывая, что Δ

=-δ

, где δ

- кососимметрическая матрица, соответствующая вектору

погрешностей задачи ориентации (Анучин О.Н., Емельянцев Г.И. "Интегрированные системы ориентации и навигации для морских подвижных объектов”/ под общ. редакц. акад. РАН В.Г.Пешехонова/. - СПб.: ЦНИИ «Электроприбор», 2003. - 389 с.), получимWhere

- vector of instrumental errors of accelerometers in the axes of the object. Given that Δ

= -δ

where δ

- skew-symmetric matrix corresponding to the vector

errors of the orientation problem (Anuchin ON, Emelyantsev GI "Integrated orientation and navigation systems for marine moving objects" / under the general editorship of the academician of the RAS V.G. Peshekhonov /. - St. Petersburg: Central Research Institute "Electropribor" , 2003. - 389 p.), We obtain

или

or

- вектор погрешностей задачи ориентации.Where

is the vector of errors of the orientation problem.

Varying the algorithm for the development of the BIIM components of the linear velocity vector of the point m of the object in the axes of the geographic trihedron

,

- расчетные значения ускорения силы тяжести и кориолисова ускорения, будем иметь с учетом соотношения (4)Where

,

- the calculated values of the acceleration of gravity and Coriolis acceleration, we will have, taking into account the ratio (4)

,

- погрешности формирования соответственно оценок кориолисова ускорения и ускорения силы тяжести, включая и аномалии гравитационного поля Земли.Where

,

- errors in the formation of Coriolis acceleration and gravity acceleration estimates, respectively, including the anomalies of the Earth's gravitational field.

БИИМ в выработке вектора линейной скорости ОУ в точке размещения блока акселерометров в проекциях на навигационные оси в условиях баллистической траектории при

≠0 будут зависеть также и от вектора

погрешностей БИИМ в выработке параметров ориентации объекта.From equation (5) it follows that the errors

BIIM in the development of the linear velocity vector of the op-amp at the point of placement of the block of accelerometers in projections on the navigational axes under conditions of a ballistic trajectory at

≠ 0 will also depend on the vector

errors BIIM in the development of orientation parameters of the object.

БИИМ на конечном интервале времени можно найти оценки искомых погрешностей

БИИМ в выработке параметров ориентации объекта, движущегося по баллистической траектории.Therefore, if BIIM (with an appropriate choice of the dynamic characteristics of inertial elements and the frequency of solving problems of orientation and navigation) will provide a measurement of the dynamic components in the linear velocity vector, due to the rapid rotation of the op-amp around the longitudinal axis and its conical movement with the corresponding distance of its information security from the meter . object, then from the differential measurements based on the data of the PA SNA (which should also contain information about the rotation of the op-amp) by observing the error

BIIM on a finite time interval, you can find estimates of the desired errors

BIIM in the development of orientation parameters of an object moving along a ballistic trajectory.

≠0) для погрешностей выработки крена и тангажа решается без особых проблем.This task in ground conditions (where it is always provided

≠ 0) for roll and pitch errors, it is solved without any problems.

To conduct these studies, a simulation model of the functioning of the ISON was developed in the Matlab (Simulink) package, including:

- a simulation model of the movement of a group of (6) navigation satellites (NS _i ) in orbits close to circular, which contains the formation of the parameters of the translational motion of the c.m. HC _i , in the geocentric Greenwich coordinate system P3-90 (ephemeris information for each HC _i ), taking into account the accepted model of the Earth's gravitational field;

- a simulation model of the movement of the object, which contains the task of the parameters as the translational motion of its c.m. (accelerations, linear velocities, geographical and Cartesian coordinates in the Greenwich coordinate system P3-90), and rotational - relative to the meter;

- generation of the output data of the BI BIIM (the block of gyroscopes of the MMG type and the block of micromechanical accelerometers - MMA) based on the current true values of the angular velocity vectors and the apparent acceleration of the IS placement point on the object (reconstructed from the op-amp motion model) using arrays of implementations of the output data of gyroscopes and accelerometers received during their bench tests;

- discrete recurrence algorithms of the main functional tasks of the BIIM;

- the filtering task for joint processing using the algorithms of the generalized Kalman filter of BIIM data and PA SNA, including:

- the formation of differential measurements at the level of the adjusted values of the range and radial velocity for each HC _i and their linearization relative to the current calculated values;

- Calculation of error estimates of BIIM and correction in feedback at each step of solving the filtering problem;

- ISON error control algorithms in the development of kinematic parameters of the object’s movement, including recording their current values in file.mat and plotting errors.

We present an algorithm for the formation of difference measurements in the problem of joint processing of the BIIM and PA SNA data:

Measurement Formation

- расчетные текущие значения дальности и радиальной скорости до HC_i, полученные по данным БИИМ и эфемеридной информации для НС_i и приведенные к точке расположения антенны ПА СНС;

- их измеренные в ПА СНС значения.Where

- the calculated current values of the range and radial velocity to HC _i , obtained according to the BIIM and ephemeris information for NS _i and reduced to the location point of the antenna of the PA SNA;

- their values measured in the PA SNA.

Measurement linearization

where for partial derivatives we get the following expressions:

, Δ

(j=1, 2, 3) - погрешности БИИМ в выработке декартовых координат е_{j_pr} и составляющих

(j=1, 2, 3) вектора абсолютной линейной скорости объекта впроекциях на гринвичские оси, которые были представлены через погрешности Δφ, Δλ, Δh выработки географических координат места и погрешности ΔV_E, ΔV_N, ΔV_H в выработке составляющих вектора относительной линейной скорости объекта в проекциях на географические оси;Δ

, Δ

(j = 1, 2, 3) - biomath errors in the development of Cartesian coordinates e _{j_pr} and components

(j = 1, 2, 3) of the absolute linear velocity vector of the object in the projections onto the Greenwich axes, which were represented through the errors Δφ, Δλ, Δh of the geographical coordinates of the place and the errors ΔV _E , ΔV _N , ΔV _H in the development of the components of the relative linear velocity vector object in projections on geographic axes;

(j=1, 2, 3) - известные значения декартовых координат и составляющих вектора абсолютной линейной скорости HC_i в проекциях на гринвичские оси;

(j = 1, 2, 3) are the known values of the Cartesian coordinates and the components of the absolute linear velocity vector HC _i in projections on the Greenwich axes;

- смещения соответственно шкалы времени (в единицах дальности) и частоты опорного генератора (в единицах радиальной скорости) в ПА СНС относительно данных HC_i;

- displacements, respectively, of the time scale (in units of range) and the frequency of the reference generator (in units of radial velocity) in the PA SNA relative to the data HC _i ;

,

- шумы ПА СНС.

,

- the noise of the PA SNS.

Calculation model of errors

In the formation of the computational model of ISON errors, the following approximations were used:

(i = xb, уb, zb) и акселерометров

изменения систематических составляющих погрешностей масштабных коэффициентов ММГ ΔM_gi и MMA ΔM_ai от запуска к запуску и их изменчивость в пуске - были аппроксимированы (из-за отсутствия достоверных данных об их спектральном составе) соответствующими винеровскими процессами;- displacements of zeros of gyroscopes

(i = xb, уb, zb) and accelerometers

changes in the systematic components of the errors in the scale factors MMG ΔM _gi and MMA ΔM _ai from start to start and their variability in start-up were approximated (due to the lack of reliable data on their spectral composition) by the corresponding Wiener processes;

ПА СНС были аппроксимированы соответствующими винеровскими процессами (в данном случае рассматривается общая постановка задачи оценивания величин

при отсутствии достоверной информации о характере их изменения. При конкретизации задачи оценивания величин

возможно описание их изменения полиномами времени, при этом задача оценивания сводится к задаче оценивания коэффициентов этих полиномов);- errors

PA SNAs were approximated by the corresponding Wiener processes (in this case, we consider the general formulation of the problem of estimating quantities

in the absence of reliable information about the nature of their change. When concretizing the problem of estimating quantities

a description of their change by time polynomials is possible, while the estimation problem is reduced to the problem of estimating the coefficients of these polynomials);

ПА СНС аппроксимированы дискретными белыми шумами с известными дисперсиями на частоте 1/T_z;- noises

PA SNS are approximated by discrete white noises with known dispersions at a frequency of 1 / T _z ;

In this case, the calculated model of errors of ISON will have the form

Where

);is the state vector of the system, here α, β, γ are the errors (α - along the course, β, γ - in the vertical modeling of the place) of the orientation problem in constructing the geographic trihedron ENH (calculation of the orientation matrix

);

Ф _{k / k + 1} is the transition matrix at the step T _{z the} state matrix of system (9);

Г _{k + 1} ≅ Ф _{k + 1} · dT - matrix that determines the influence of the input noise vector w _k with covariances Q _k ;

H _{k + 1} is a 2 × 23 measurement matrix for each HC _i , corresponding to equations (7), (8) taking into account the relationship between the errors in the development of the Cartesian and geographical coordinates of the place and the errors in the development of the components of the linear velocity vector of the object in Greenwich projections and geographic axes; v _{k + l} - measurement noise.

The results of modeling the work of ISON in the Matlab package (Simulink)

Modeling was carried out with the following initial data:

- characteristics of the Earth and the gravitational field

R = 6378163 - average equatorial radius of the Earth, (m);

U _e = 7.2921151467 · 10 ^-5 is the angular velocity of the daily rotation of the Earth, (rad / s);

µ _g = 3.98603 · 10 ¹⁴ - gravitational constant of the Earth, (m ³ / s ² ); ε = 2.634 · 10 ²⁵ (m ⁵ / s ² ) and χ = 6.773 · 10 ³⁶ (m ⁷ / s ² ) are the coefficients of the expansion of the gravitational potential (Elyasberg P.E. Introduction to satellite theory of flight. - M .: Nauka, 1965. - 540 p.);

MMG errors in projections on the axis (i = x _b , y _b , z _b ) of the information security:

- ΔM _gi - instability of scale factors - random variables with a level (1σ = 0.006 ... 0.01);

- систематические составляющие дрейфов, которые характеризуют смещение нулей от пуска к пуску - случайные величины с уровнем (1σ=100 о/ч);-

- systematic components of drifts that characterize the shift of zeros from start to start - random variables with a level (1σ = 100 o / h);

- случайные составляющие дрейфов, которые характеризуют дрейф нуля в пуске - марковские процессы первого порядка σ1_gi=30 о/ч, µ_gi=1/600 (с^-1);-

- random components of drifts that characterize zero drift at start-up - first-order Markov processes σ1 _gi = 30 r / h, µ _gi = 1/600 (s ^-1 );

- fluctuation components of drifts - discrete white noise at the operating frequency σ2 _gi = 300 r / h;

MMA errors in projections on the axis (I = x _b , y _b , z _b ) of the information security:

- ΔMai — instability of the scale factors of linear accelerometers — random variables with a level (1σ = 0.01);

_i - смещение нулей линейных акселерометров - случайные величины с уровнем (1σ=0.1 м/с²);- Δ

_i - displacement of zeros of linear accelerometers - random variables with a level (1σ = 0.1 m / s ² );

- Δa _i - zero drifts of linear accelerometers - first-order Markov processes σ1 _ai = 0.03 m / s ² , (µ _ai = 0.01 (s ^-1 );

- the fluctuation components of the errors of the accelerometers in the projections on the IB axis - discrete white noise at the operating frequency σ2 _ai ; = 0.4 m / s.

PA SNS:

- errors (systematic components) of measurements

=10…20 (м);

= 10 ... 20 (m);

=0.1..0.2 (м/с);

= 0.1..0.2 (m / s);

- measurement noise (1σ)

=10 (м);

= 10 (m);

=0.1 (м/с);

= 0.1 (m / s);

BIIM

- the distance of the block of accelerometers BIIM from the center of mass of the OS

ρ _x0 = 0.1 m; ρ _у0 = 0.2 m; ρ _z0 = 0

• errors of the initial exhibition of BIIM (t = 0):

- according to orientation parameters (α ₀ , β ₀ , γ ₀ ) -1 °;

- according to the components of the linear velocity vector - 0.1 m / s;

- by coordinates - 30 m.

Operating frequencies for simulation

dt = 0.001 s is the discreteness of modeling the OS movement along the trajectory;

dT = 0.005 s - discreteness of operation of the BIIM algorithms;

Tz = 0.1 ... 0.2 s is the discreteness of the arrival of SNA data.

вокруг продольной оси и конического вращения (ε - угол при вершине конуса, ω_k - угловая скорость конического вращения; K_r, ψ_К, ψ_r, ψ_ψ, θ_r, ψ_θ - амплитуда и фаза углового движения соответственно по курсу, тангажу и крену)OS movement in a section of a ballistic trajectory: initial conditions for motion parameters taking into account rotation

around the longitudinal axis and conical rotation (ε is the angle at the apex of the cone, ω _k is the angular velocity of the conical rotation; K _r , ψ _K , ψ _r , ψ _ψ , θ _r , ψ _θ are the amplitude and phase of the angular motion, respectively, in the direction and pitch and roll)

φ ₀ = 60 °; λ ₀ = 30 °; ho = 0.3 · 10 ⁶ m; Vo = 6000 m / s;

K (t) = A _or0 + K _r sin (ω _k t + ψ _K ); A _or0 = 40 °; K _r = -ε; ψ _K = 90 °; ε = 6 °;

ω _k = 0.5, ..., 1.0 (rad / s);

=6,…,10 (рад/с);ψ (t) = ψ _cm0 + ψ _r sin (ω _k t + ψ _ψ ); ψ _cm0 = 40 °; ψ _r = ε; ψ _ψ = 0 °; θ ₀ = 0 °;

= 6, ..., 10 (rad / s);

Figure 3, figure 4 shows the values of the apparent acceleration when the op-amp moves along a ballistic trajectory and the values of the normalized variances of orientation errors (from the covariance channel of the Kalman filter).

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Claims (1)

An integrated orientation and navigation system for objects moving along a ballistic trajectory with rotation around a longitudinal axis, containing a gimballess inertial measuring module (BIIM), including a block of gyroscopes (BG), connected to a block for generating orientation parameters (BVPO), a block of accelerometers (BA), associated with the block for the development of the parameters of translational motion (BVPPD), which, in turn, is associated with the block for the conversion of data of the integrated system (BPS) and the complex information processing unit (BKOI), as well as most of the satellite navigation systems PA SNA equipment containing an antenna device (AU) connected via a radio receiver (RPU) to a unit for extracting radio navigation parameters and special information (BVRNPiSI), consisting of N independent receiving and measuring channels (PIK), and a unit for solving navigation problems ( BRNZ), which has connections with BVRNPiSI and BIIM, with each PIK block BVRNPiSI contains a system for tracking the carrier frequency (SSN), a system for tracking the delay code (CVD) and the allocation of special information (SSSI), The SSN of each PIK includes a discriminator, a broadband filter (FS) and a controlled oscillator (UG), characterized in that the structure of the differential measurement measurements unit (BFRI) is additionally included in the BIIM, the first input of which is connected to one of the outputs of the BJP unit, the second input is connected with the first output of the BRNZ block, the first output of the BFRI block is connected to the input of the BKOI block, and the second output is connected to one of the inputs of the BRNZ block, the second output of which is connected to the second input of the BVRNPiSI block, and an additional input is added to the SSN of each BVRNPiSI block a narrow-band filter (ФУ), a switch and an adder, while the ФУ input is connected to the discriminator output, the ФУ output is connected to the first switch input, the second switch input is connected to the FS output, the switch control input is connected to the BRNZ control output, the switch output is connected to the first the adder input, the second adder input is connected to the second BRNZ information output, the adder output is connected to the UG input, while the BAIIM unit and the AU PA SNA unit should be installed at the maximum distance from the center of mass of the object pressure (OA) along the transverse axis, while also the passband of the BVPO, BVPPD and BVRNPiSI, BRNZ blocks should be higher than the OU oscillation frequency due to rotation around the longitudinal axis.

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