CN102135431B - Method for precision compensation of inertial measurement unit - Google Patents
Method for precision compensation of inertial measurement unit Download PDFInfo
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Abstract
The invention provides a method for precision compensation of an inertial measurement unit, which comprises that: A. an attitude heading reference system collects a pose angle of a carrier relative to the horizontal plane outputted by an accelerometer within the set time after the attitude heading reference system is electrified; B. after time setting, the attitude heading reference system collects angular velocity information outputted by a fiber optic gyroscope, and calculates a pose angle based on the angular velocity information; C. whether the error between the pose angle outputted by the accelerometer and the pose angle calculated by the attitude heading reference system based on the angular velocity information measured by the fiber optic gyroscope exceeds a set value is determined, and if it is, the accelerometer corrects the pose angle in step A, and the pose angle combined with a course angle in the pose angle calculated in step B is used to the calculation of attitude heading reference parameters, or step B is repeated. By time-sharingly and preferentially adopting the output of an inertial measurement unit of one of the gyroscope and the accelerometer as the input for the calculation of attitude heading reference parameters of the attitude heading reference system, the precision of the output data of the whole inertial measurement unit is improved.
Description
Technical field
The present invention relates to a kind of method of precision compensation of inertial measurement unit.
Background technology
As the device of boat appearance systematic survey object three-axis attitude angle (or angular speed) and acceleration, Inertial Measurement Unit (IMU, Inertial Measurement Unit) normally is comprised of gyroscope, accelerometer and processing unit.Wherein, especially have the greatest impact with the serviceability of gyroscope and the accelerometer accuracy to measurement data.Gyroscope is used for gathering angular velocity or the angle of movable body, and adopts the mode of pulse signal to export.Accelerometer is used for gathering movable body angle of inclination and luffing angle with respect to the horizontal plane, thereby obtains the variable quantity of movable body speed, position, by the information of serial communication interface output system tilt angle varied.
These data of gyroscope and accelerometer output are sent to carries out real-time attitude matrix in the boat appearance system navigational computer and resolves.Because gyroscope is two equipment that output accuracy is different from accelerometer, if with the data while computing of two equipment outputs, the operation result precision is relatively poor.The carrier that especially ought be loaded with Inertial Measurement Unit is in the motion starting stage, because self violent vibration causes the output of gyroscope and accelerometer to differ very large, thereby affects the precision of whole Inertial Measurement Unit output data.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of method of precision compensation of inertial measurement unit, the output of by timesharing, preferentially adopting gyroscope or one of them inertia measurement device of accelerometer is as the input of boat appearance system boat appearance parameter calculation, to improve the precision of whole Inertial Measurement Unit output data.
The method of a kind of precision compensation of inertial measurement unit provided by the invention is characterized in that, comprises step:
In A, the setting-up time after boat appearance system powers on, the carrier attitude angle with respect to the horizontal plane of boat appearance system acquisition accelerometer output, namely luffing angle and roll angle are used for boat appearance parameter calculation;
Behind B, the setting-up time, the angular velocity information of boat appearance system acquisition optical fibre gyro output, and calculate the attitude angle according to this angular velocity information by boat appearance system, i.e. luffing angle, roll angle and course heading;
Whether the attitude angular error that the angular velocity information that C, the attitude angle of judging above-mentioned accelerometer output and boat appearance system measure according to optical fibre gyro calculates surpasses setting value, if, luffing angle in the accelerometer correction steps A and roll angle, integrating step B resolves the course heading in the attitude angle that draws simultaneously, be used for boat appearance parameter calculation, otherwise return step B.
As seen from the above, the said method step can reduce the impact of the carrier vibration that the Inertial Measurement Unit initial phase is subject to, and has improved whole Inertial Measurement Unit in the precision of initial phase output data.
The method of above-mentioned precision compensation of inertial measurement unit is characterized in that, the described setting-up time of steps A is 5 minutes.
As seen from the above, the setting-up time of said method step can farthest reduce in the impact of initial phase vibration on Inertial Measurement Unit output data precision.
The method of above-mentioned precision compensation of inertial measurement unit is characterized in that, the setting value of the described error of step C is 0.8 degree.
As seen from the above, the said method step is set as 0.8 when spending with error, helps maximum to the raising of Inertial Measurement Unit precision.
The method of above-mentioned precision compensation of inertial measurement unit is characterized in that, also comprises step behind the step C:
The angular velocity that D, judgement optical fibre gyro measure, whether the attitude angle that boat appearance system calculates according to this angular velocity information is greater than setting value, if, the attitude angle that the appearance system of then will navigating calculates according to this angular velocity information, namely luffing angle, roll angle and course heading are used for navigating the appearance parameter calculation; Otherwise in setting-up time, revise the described attitude angle of steps A by accelerometer, and return this step.
As seen from the above, the said method step is at angular velocity during greater than setting value, adopts the optical fibre gyro that has than the high bit rate can shorten boat appearance system and navigates time of appearance parameter calculation.
The method of above-mentioned precision compensation of inertial measurement unit is characterized in that, the described setting value of step D is 0.5 degree/second.
As seen from the above, the magnitude of angular velocity of setting in the said method is of moderate size, and can farthest shorten boat appearance system and navigate time of appearance parameter calculation.
The method of above-mentioned precision compensation of inertial measurement unit is characterized in that, the value of the described setting-up time of step D is 2 minutes.
As seen from the above, the time value of setting in the said method is of moderate size, and neither can reduce the real-time of boat appearance system, also can frequently not take the resource of the navigational computer of boat appearance system.。
Description of drawings
Fig. 1 is the method flow diagram of precision compensation of inertial measurement unit of the present invention.
Embodiment
Cardinal principle of the present invention is, when the carrier that is loaded with Inertial Measurement Unit is moving the starting stage, be that corresponding Inertial Measurement Unit is initialised to the stable output stage from power on, by mode stage by stage, first employing is subjected to the output of the little accelerometer of initialization procedure vibration effect as the input of boat appearance parameter calculation, after basicly stable, adopt again gyrostatic output as the main input of boat appearance parameter calculation, thereby reduced the impact of the carrier vibration that the Inertial Measurement Unit initial phase is subject to, improved whole Inertial Measurement Unit in the precision of initial phase output data.
Below in conjunction with Fig. 1 the inventive method is described in detail.
Step 101-102: on the Inertial Measurement Unit behind the electric preheating, accelerometer is finished initialization within the predefined time, and begin to export carrier attitude angle with respect to the horizontal plane and give boat appearance system, with by the navigational computer of boat appearance system according to this attitude angle appearance parameter calculation that navigates.Wherein, the attitude angle of directly measuring output by accelerometer is luffing angle and roll angle.
The carrier of present embodiment, such as aircraft, ship, especially guided missile or torpedo etc. need very large power before motion, and therefore this carrier has very strong vibration in 5 minutes before the carrier emission.At this moment, use the carrier attitude angle (luffing angle and roll angle) with respect to the horizontal plane of accelerometer output of less affected by vibration as the input of boat appearance system boat appearance parameter calculation.Specifically can be: this angle is brought into by the calculating of carrier coordinate system to direction second wife's matrix of platform coordinate system after error compensation (such as the vibration error compensation), realization the information conversion of carrier coordinate system axial acceleration to navigation coordinate system axially, it is carrier attitude angle (luffing angle and roll angle) with respect to the horizontal plane, and then can carry out the calculating of required navigational parameter, and finally send to host computer by the CAN bus control system, such as control instrument system, testing apparatus etc.Because vibration error compensates non-inventive point of the present invention, so locate to repeat no more.
Step 103: whether the time of setting in the determining step 102 finishes: if finish, enter step 104; Otherwise return step 102, continue to adopt the attitude angle of accelerometer output, i.e. luffing angle and roll angle are as the input of boat appearance system boat appearance parameter calculation.
Step 104: after time of above-mentioned setting finished, boat appearance system began to gather the angular velocity information of optical fibre gyro output, and adopted Attitude Algorithm to calculate attitude angle in this angular velocity information by the navigational computer of boat appearance system, and with this attitude angle output.Wherein, its attitude angle that calculates is luffing angle, roll angle and course heading.
In the present embodiment, the Attitude Algorithm that the navigational computer of boat appearance system adopts is the algorithms most in use in the present boat appearance system, for example can adopt Quaternion Algorithm, this algorithm characteristic is: required parameter is few, calculated amount is little, computational accuracy is high, can avoid singularity, only need carry out plus-minus method and multiplying and full attitude work without skew ratio, when carrying out angular velocity Integration Solving attitude angle.
In addition, the navigational computer of boat appearance system also will carry out to it accuracy compensation of some row, for example temperature compensation, sound attitude error compensation etc. after calculating attitude angle (luffing angle, roll angle and course heading).The attitude angle appearance system of being navigated after compensation sends to host computer by the CAN bus control system, such as control instrument system, testing apparatus etc.Temperature compensation, the non-inventive point of the present invention of sound attitude error compensation is so locate to repeat no more.
Step 105: the attitude angle (luffing angle, roll angle and course heading) that the angular velocity information that the navigational computer of the attitude angle (luffing angle and roll angle) of above-mentioned accelerometer output and boat appearance system is measured according to optical fibre gyro calculates compares computing: when its result greater than the value of setting, when spending such as 0.8, enter step 106; Otherwise, return step 104 and adopt Attitude Algorithm again to calculate attitude angle (luffing angle, roll angle and course heading) in the angular velocity information that optical fibre gyro collects again by the navigational computer of boat appearance system.Wherein, the attitude angle that compares computing can be luffing angle or roll angle.
The comparison operation of present embodiment is for to compare luffing angle, roll angle respectively, i.e. luffing angle in the attitude of carrier angle that the navigational computer that luffing angle in the attitude angle of accelerometer output deducts boat appearance system calculates according to the angular velocity information of optical fibre gyro output; Roll angle in the attitude of carrier angle that the navigational computer that roll angle in the attitude angle of accelerometer output deducts boat appearance system calculates according to the angular velocity information of optical fibre gyro output.If described comparison operation result has one absolute value at least greater than 0.8 degree, when namely the luffing angle of accelerometer and optical fibre gyro or roll angle measurement error are spent greater than 0.8, enter step 106.
Step 106: also export the carrier attitude angle with respect to the horizontal plane that records at its initial phase by the accelerometer correction, namely revise luffing angle and roll angle in the step 102, the angular velocity information that simultaneously combination collects according to optical fibre gyro resolves the course heading in the attitude angle that draws, and the navigational computer that these three angle informations is offered boat appearance system resolves with the appearance of navigating.
In the present embodiment, when the luffing angle in the attitude angle that the navigational computer of the luffing angle in the attitude angle of accelerometer output and boat appearance system calculates differs 0.8 degree when above, accelerometer is by measuring the variation of static weight acceleration, and the variation that this variation converts the inclination angle to exported carrier luffing angle with respect to the horizontal plane afterwards, finish the correction of the carrier luffing angle with respect to the horizontal plane that the accelerometer initial phase is recorded; When the roll angle in the attitude angle that the navigational computer of the roll angle in the attitude angle of accelerometer output and boat appearance system calculates differs 0.8 degree when above, accelerometer uses said method that the roll angle is revised.In like manner, when above-mentioned luffing angle and roll angle measurement error were spent greater than 0.8 simultaneously, accelerometer used said method that luffing angle and roll angle are revised.Finally, above-mentioned three angles (luffing angle, roll angle and course heading) are sent to host computer by the CAN bus control system, such as control instrument system, testing apparatus etc. by the appearance system of being navigated.
Step 107-step 108: judge that the angular velocity of optical fibre gyro output of boat appearance system acquisition is whether greater than 0.5 meter per second: if greater than this numerical value, adopt Attitude Algorithm to calculate attitude angle in this angular velocity information by the navigational computer of boat appearance system, be luffing angle, roll angle and course heading, and with this attitude angle output; Otherwise, enter step 109.
Because the important hardware parameter baud rate of optical fibre gyro will be higher than the baud rate of accelerometer, therefore the boat appearance system of present embodiment can gather the angular velocity information of optical fibre gyro output as relatively accurately input when angular velocity is larger, adopt Attitude Algorithm to calculate attitude angle (luffing angle, roll angle and course heading) in this angular velocity information by the navigational computer of boat appearance system, and with this attitude angle output.The Attitude Algorithm that the navigational computer of boat appearance system adopts is the algorithms most in use in the present boat appearance system, routine Quaternion Algorithm described above.
In addition, the navigational computer of boat appearance system also will carry out to it accuracy compensation of some row, for example temperature compensation, sound attitude error compensation etc. after calculating attitude angle (luffing angle, roll angle and course heading).The attitude angle appearance system (luffing angle, roll angle and course heading) of being navigated after compensation sends to host computer by the CAN bus control system, such as control instrument system, testing apparatus etc.
Step 109: accelerometer is every setting-up time, as revising the carrier attitude angle with respect to the horizontal plane that records at its initial phase in 2 minutes, namely revise luffing angle and roll angle in the step 102, and resolving course heading in the attitude angle that draws with amended attitude angle with in conjunction with the angular velocity information that collects according to optical fibre gyro, the navigational computer that these three angle informations is offered boat appearance system resolves with the appearance of navigating.
In the present embodiment, accelerometer is by measuring the variation of static weight acceleration, and the variation that this variation converts the inclination angle to exported carrier attitude angle (luffing angle and roll angle) with respect to the horizontal plane afterwards, finish the correction of the carrier attitude angle (luffing angle and roll angle) with respect to the horizontal plane that the accelerometer initial phase is recorded.The above-mentioned attitude angle appearance system of being navigated sends to host computer by the CAN bus control system, such as control instrument system, testing apparatus etc.Accelerometer is unsuitable long for the correction time interval of the carrier attitude angle with respect to the horizontal plane that its initial phase records, and is also unsuitable too short.The correction time interval is long, can reduce the real-time of boat appearance system, directly has influence on the precision of boat appearance system boat appearance parameter; The correction time interval is too short, then can frequently take the resource of the navigational computer of boat appearance system, affects the speed that it carries out other function controls, for example realizes interface sequence control and the peripheral interface address decoding of digital processing unit.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. the method for a precision compensation of inertial measurement unit is characterized in that, comprises step:
In A, the setting-up time after boat appearance system powers on, the carrier attitude angle with respect to the horizontal plane of boat appearance system acquisition accelerometer output, namely luffing angle and roll angle are used for boat appearance parameter calculation;
B, behind above-mentioned setting-up time, the angular velocity information of boat appearance system acquisition optical fibre gyro output, and calculate the attitude angle according to this angular velocity information by boat appearance system, i.e. luffing angle, roll angle and course heading;
C, judge in the attitude angle of above-mentioned accelerometer output luffing angle or/and the luffing angle in the attitude angle that the angular velocity information that roll angle and boat appearance system measure according to optical fibre gyro calculates or/and whether the roll angular error surpasses setting value, if the luffing angle in the accelerometer correction steps A is or/and the roll angle; And integrating step B resolves the course heading in the attitude angle that draws, and is used for boat appearance parameter calculation, otherwise returns step B;
D, judge angular velocity that optical fibre gyro measures whether greater than the setting value of angular velocity, if, the attitude angle that the appearance system of then will navigating calculates according to this angular velocity information, namely luffing angle, roll angle and course heading are used for navigating the appearance parameter calculation; Otherwise in setting-up time, revise the described attitude angle of steps A by accelerometer, and return this step.
2. the method for precision compensation of inertial measurement unit according to claim 1 is characterized in that, the described setting-up time of steps A is 5 minutes.
3. the method for precision compensation of inertial measurement unit according to claim 1 is characterized in that, the setting value of the described error of step C is 0.8 degree.
4. the method for precision compensation of inertial measurement unit according to claim 1 is characterized in that, the setting value of the described angular velocity of step D is 0.5 degree/second.
5. the method for precision compensation of inertial measurement unit according to claim 1 is characterized in that, the described setting-up time of step D is 2 minutes.
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| CN110209186A (en) * | 2019-07-04 | 2019-09-06 | 广州市上赛电子科技有限公司 | Gyro stability control system with drift compensation |
| CN110836620B (en) * | 2019-12-12 | 2025-01-21 | 中国船舶重工集团公司第七一七研究所 | A fiber optic rate gyro combination for civilian launch vehicle control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1664506A (en) * | 2004-03-05 | 2005-09-07 | 清华大学 | A carrier attitude measurement method and system thereof |
| CN101571395A (en) * | 2009-06-15 | 2009-11-04 | 哈尔滨工程大学 | Microminiature inertial-combined navigation parameter measuring unit and measuring method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1664506A (en) * | 2004-03-05 | 2005-09-07 | 清华大学 | A carrier attitude measurement method and system thereof |
| CN101571395A (en) * | 2009-06-15 | 2009-11-04 | 哈尔滨工程大学 | Microminiature inertial-combined navigation parameter measuring unit and measuring method thereof |
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Address after: 100085, Ka Wah building, No. 9, 3 Street, Beijing, Haidian District, F604 Patentee after: Beijing three Chi inertial Polytron Technologies Inc Address before: 100085, Ka Wah building, No. 9, 3 Street, Beijing, Haidian District, F604 Patentee before: Beijing Sanchi Technoogy Development Co., Ltd. |