CN108592873A - Vehicle-mounted altimeter and its method based on LDV/INS combinations - Google Patents
Vehicle-mounted altimeter and its method based on LDV/INS combinations Download PDFInfo
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- CN108592873A CN108592873A CN201810441421.6A CN201810441421A CN108592873A CN 108592873 A CN108592873 A CN 108592873A CN 201810441421 A CN201810441421 A CN 201810441421A CN 108592873 A CN108592873 A CN 108592873A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
It is a kind of based on LDV/INS combination vehicle-mounted altimeter and its method, the vehicle-mounted altimeter include inertial navigation system, Laser Doppler Velocimeter, signal solving unit and elevation information display unit；The inertial navigation system, Laser Doppler Velocimeter are installed on vehicle；Inertial navigation system inertial navigation system measures the real-time pitch angle in vehicle travel process, and the real-time pitching angle information measured is transferred to signal solving unit；Laser Doppler Velocimeter measures the real-time speed in vehicle travel process, and the real time speed information measured is transferred to signal solving unit；Signal solving unit resolves the height gain that vehicle rises in the unit interval set according to velocity information and pitching angle information, and add up height gain all between initial point to tested point, finally calculates the elevation of tested point.The present invention has the characteristics that not influenced by meteorology variation, is influenced that small, work efficiency is high, high certainty of measurement by Atmosphere Refraction.
Description
Technical field
The present invention relates to laser and Technology of Precision Measurement field, more particularly to it is a kind of based on inertial navigation system (INS) and
The implementation method of the novel on-vehicle altimeter of Laser Doppler Velocimeter (LDV), is mainly used for the measurement to land Terrain Elevation.
Background technology
Currently, about ground point height measurement method there are many, such as：The measurement of the level, the GPS measurements of higher degree, triangle are high
Journey measures and barometric leveling.
The measurement of the level utilizes a horizontal line of sight, by means of the scale being erected on ground point, measure on ground 2 points it
Between height difference the elevation of tested point is extrapolated according to the elevation of initial point.The precision highest of the measurement of the level, is mainly used for establishing
The vertical control network of country.The basic principle of the GPS measurements of higher degree is that the geodetic height number of measurement point is obtained by GPS technology
According to by the normal high data of measurement of the level acquisition measurement point, geodetic height is height anomaly with normal high difference, according to elevation
Abnormal data can be fitted quasigeoid, then obtain the elevation of tested point in measured zone.The GPS measurements of higher degree
Precision can reach the requirement of three, fourth-order leveling.Trigonometric levelling to aiming point according to being observed from survey station point
Horizontal distance between vertical angle and 2 points calculates the depth displacement between survey station point and aiming point.Trigonometric levelling is main
For replacing three, fourth-order leveling.The rule that barometric leveling changes according to atmospheric pressure with elevation utilizes barometer
2 points of draught head is measured, and then calculates depth displacement, the elevation of initial point is recycled, extrapolates the elevation of tested point.
Leveling measuring instrument is divided into optical level and digital level two major classes：Optical level is grasped in measurement process
Make it is relatively complicated, measure heavy workload, observed efficiency is relatively low, and since the halt production of instrument can no longer meet reality at present
It needs；In recent years digital level because its automation mechanized operation it is more and more universal, but digital level is by extraneous complex environment
Influence, measure stability and show slightly insufficient, it is practical to there is larger probability the phenomenon that resurveying of doing over again occur when measuring.The measurement of the level has
Intervisibility requirement is influenced when limiting the length of single station leveling line, and being aligned using horizontal line of sight by Atmosphere Refraction, two
Distance is remoter between point, and measurement error is bigger.The elevation of ground point, normal high, the GPS measurement point the earth of measurement point are measured using GPS
Precision high, that the GPS measurements of higher degree can be all influenced on the existing error of quasigeoid fitting；Also to choose suitable measurement point
Quantity ensures that it is evenly distributed, and workload is very big；When receiver is between tunnel, bridge, mountain area, high-rise, GPS
The ephemeris signal of reception is insufficient, and positioning accuracy can be caused, which to decline, cannot even position.Shadow of the trigonometric levelling by Atmosphere Refraction
It rings, the horizontal distance and vertical angle of observation all become larger so that the height difference finally measured also becomes larger, and this error is with survey station
Point increases at a distance from aiming point and is increased.And when Pneumatic type elevation meter measurement atmospheric pressure, it is affected by meteorology variation,
Measurement accuracy is minimum, is mainly used for the investigation and prospecting in hilly ground and mountain area.
Invention content
For defect existing for existing measurement of higher degree method, the object of the present invention is to provide one kind to be combined based on LDV/INS
Vehicle-mounted altimeter and its method.The present invention measures the speed of vehicle type carrier using LDV, and INS measures the attitude angle of vehicle type carrier,
From measuring principle with the difference of aforementioned four kinds of methods.The invention firstly uses INS, accurately to measure the real-time attitude angle of vehicle same
Shi Liyong LDV accurately measure the speed of vehicle traveling, and then calculate the speed of carrier in the vertical direction, are obtained by integral
The height that carrier rises, the elevation of tested point can be obtained in conjunction with the elevation of initial point, to realize to land Terrain Elevation
It measures.The present invention has and is not influenced by meteorology variation, influenced that small, work efficiency is high, measurement accuracy height etc. by Atmosphere Refraction
Feature.
Purpose to realize the present invention, is achieved using following technical scheme：
It is a kind of based on LDV/INS combination vehicle-mounted altimeter, the vehicle-mounted altimeter include inertial navigation system (INS),
Laser Doppler Velocimeter (LDV), signal solving unit and elevation information display unit；The inertial navigation system, laser
Doppler anemometer is installed on vehicle；
The output end of the inertial navigation system is electrically connected with signal solving unit, and inertial navigation system measures vehicle traveling
Real-time pitch angle in the process, and the real-time pitching angle information measured is transferred to signal solving unit；
The output end of the Laser Doppler Velocimeter is electrically connected with signal solving unit, and Laser Doppler Velocimeter measures
Real-time speed size and Orientation in vehicle travel process, and the real time speed information measured is transferred to signal and resolves list
Member；
The output end of the signal solving unit is electrically connected with elevation information display unit；Signal solving unit is according to speed
Information and pitching angle information resolve the height gain that vehicle rises in the unit interval set, add up from initial point
It is obtained when being initially aligned by inertial navigation system to the elevation information of height gain all between tested point, wherein initial point,
The elevation information of the tested point calculated is sent to elevation by the final elevation for calculating tested point, last signal solving unit again
Information display unit carries out result output.
Further, in order to improve the measurement of higher degree precision of invention, the invention also includes Kalman filter, the laser
The output end of Doppler anemometer is all connected with Kalman filter and signal solving unit, and Laser Doppler Velocimeter will be surveyed
The real time speed information simultaneous transmission measured is to Kalman filter and signal solving unit；The output end of inertial navigation system
It is all connected with Kalman filter and signal solving unit, the speed that Kalman filter is measured using Laser Doppler Velocimeter
Degree information is modified the real-time pitch angle that inertial navigation system measures, the real time speed information that Doppler anemometer measures
It is transmitted to signal solving unit with revised pitching angle information, the elevation for resolving tested point.Wherein inertial navigation system
The angular speed and acceleration of vehicle real time kinematics can be measured, Kalman filter is measured using Laser Doppler Velocimeter
Velocity information is modified the angular speed that inertial navigation system measures, and what Kalman filter exported is the amendment of angular speed
The correction amount of obtained angular speed is fed back to Inertial Measurement Unit by amount, Kalman filter, and Inertial Measurement Unit is further according to anti-
The correction amount angular velocity of feedback is modified to obtain revised angular speed, then to revised angular speed integrate again
To corresponding revised three attitude angle, that is, course angles, roll angle, pitch angles.What the measurement of higher degree of the present invention applied to is inertia
Pitch angle during the vehicle movement that navigation system measures.
Further, vehicle-mounted altimeter of the present invention integrally can be all installed on vehicle, i.e. inertial navigation system
(INS), Laser Doppler Velocimeter (LDV), signal solving unit and elevation information display unit are installed on vehicle.Institute
State inertial navigation system, Laser Doppler Velocimeter is fixedly mounted on by fixed frame on the lateral surface of vehicle, and laser is more
The general laser exit for strangling tachymeter is towards vehicle tread, that is, ground.
Inertial navigation system in the present invention using Laser-gym Inertial Navigation System, by three laser gyroes and
Three accelerometer orthogonal configurations form, and inertial navigation system are directly anchored on vehicle, you can pass through inertial navigation system
The three-dimensional angular velocity and acceleration for measuring vehicle real time kinematics can obtain three of them attitude angle i.e. to three-dimensional angular velocity integral
Course angle, roll angle, pitch angle.The present invention measures the pitch angle during vehicle movement by inertial navigation system.
Laser Doppler Velocimeter in the present invention, including laser, semi-transparent semi-reflecting lens, diaphragm, attenuator, speculum,
Optical filter and detector, the wavelength that the laser is sent out are that the laser beam of λ is divided into two beams of isocandela through semi-transparent semi-reflecting lens
Light；
Wherein light beam is incident on after attenuator on speculum, is reflected into again after attenuator decayed through speculum
Semi-transparent semi-reflecting lens are incident on, the light beam transmitted from semi-transparent semi-reflecting lens is incident on after optical filter on the photosurface of detector, is made
For reference light；
Wherein another light beam is incident on ground after diaphragm, wherein being incident on the angle theta between the light beam on ground and ground
That is Laser emission inclination angle；The part scattering light on ground can be returned along original optical path, i.e. the part scattering light on ground enters through diaphragm
Semi-transparent semi-reflecting lens are mapped to, the light beam reflected from semi-transparent semi-reflecting lens is incident on through optical filter onto the photosurface of detector, as
Signal light；
Reference light and signal light are mixed on the photosurface of detector, and the difference on the frequency of signal light and reference light is more
General Le frequency fD.Doppler frequency fDIt is directly proportional to the movement velocity v of vehicle
Wherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is the movement velocity of vehicle.
By detecting Doppler frequency, you can calculate the movement velocity of vehicle
When being moved forward and backward with identical speed due to vehicle, obtained Doppler frequency be it is identical, i.e., it is above-mentioned swash
Light Doppler anemometer is the direction that can not distinguish vehicle movement.The purpose of the present invention is realizing the measurement of determinand elevation,
If vehicle is retreating, then the height gain of fallback procedures should be negative value, it should give and cut, determinand elevation not so can be caused to survey
Amount is inaccurate.
For this purpose, further, the present invention is bonded with piezoelectric ceramics on the speculum in above-mentioned Laser Doppler Velocimeter,
Piezoelectric ceramics is electrically connected with piezoelectric ceramics controller, and piezoelectric ceramics controller acts on piezoelectric ceramics for generating drive signal,
Piezoelectric ceramics pushes and pulls speculum under the action of drive signal.The effect of piezoelectric ceramics and piezoelectric ceramics controller setting is to distinguish
The direction of other vehicle movement.When stationary vehicle, since piezoelectric ceramics pushes and pulls speculum under the action of drive signal, keep vehicle quiet
Reference light when only is different from signal light frequency, that is, has difference on the frequency, due to difference on the frequency signal control driven, referred to as control frequency
Difference.In this way, when vehicle advances or retreats, the frequency of Laser Doppler Velocimeter output signal is on the basis of control frequency difference
On be moved to the left or right a Doppler frequency.Same Doppler frequency is used to resolve the size of the movement velocity of vehicle, leads to
It crosses and judges that the frequency of signal to the left or is moved right on the basis of controlling frequency difference, so that it may to differentiate the side of vehicle movement
To.It is positive direction to define the direction that vehicle advances, and the direction of vehicle rollback is negative direction.The vehicle resolved when vehicle advances
Movement velocity be positive value, the movement velocity of the vehicle resolved when vehicle rollback is negative value.
The elevation calculation method of vehicle-mounted altimeter based on LDV/INS combinations, it is as follows：
If initial point A, tested point B, the wherein elevation of initial point A are it is known that using the vehicle-mounted elevation combined based on LDV/INS
Meter obtains the depth displacement h between initial point A to tested point BAB；
If the angle of the pitch angle for the vehicle that inertial navigation system the measures i.e. direction of motion of vehicle and horizontal direction is
The real time kinematics speed of α, the vehicle that Laser Doppler Velocimeter measures are v, then the velocity component of vehicle in the vertical direction is
v⊥=vsin α (3)
Wherein v⊥It is the velocity component of vehicle in the vertical direction；
In conjunction withWherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is vehicle
Movement velocity；Then the velocity component of vehicle in the vertical direction can be expressed as
Velocity versus time is integrated, its initial time point punctum institute at the end of is right in the unit interval set
Answer the difference in height between location point
Wherein t is the unit interval of setting, and Δ h is the height that vehicle rises in the unit interval of setting；
Vehicle in the unit interval of setting can thus be measured and move to the height increasing that another point rises from a bit
Amount：If vehicle moves in the plane in unit interval, height gain 0；If vehicle exists in unit interval
It is moved on slope, then there is height gain；
The whole process that vehicle is moved to tested point B from initial point A is regarded as by multiple continuous unit intervals
Motion process composition, calculate the height gain of each unit interval, vehicle finally moved into tested point from initial point A
The height gain in all unit intervals in B whole process is cumulative, you can obtain initial point to tested point depth displacement
hAB：
hAB=∑ Δ h (6)
The elevation of initial point A be it is known that initial point A known to elevation can be selected when measurement, or can be initial by INS
Alignment obtains the elevation information of initial point A, if its elevation of initial point A is HA, according to (6) formula, the height of tested point B can be calculated
Journey.
Beneficial effects of the present invention are as follows：
Present invention advantage compared with the measurement method of existing ground point height is：
(1) provide with the entirely different principle of existing measurement of higher degree technology, do not influenced by meteorology variation when measurement, by
The influence of Atmosphere Refraction is small.
(2) laser gyro in INS is a kind of high-precision angle measurement device；LDV measures the error of motion carrier speed only
Be the 0.1% of measured value, have high certainty of measurement, can take one's bearings, the linearity is good, dynamic response is fast, non-contact measurement etc.
Advantage.The velocity information that Kalman filter is exported according to LDV can be modified the attitude angle that INS is measured；In conjunction with INS and
The high-precision of LDV can effectively improve the precision of elevation information measurement.
(3) according to the elevation of the measurement of higher degree tested point of initial point, intervisibility need not be carried out to initial point and tested point,
It only needs that carrier is made to move to tested point from initial point, so that it may obtain the elevation of tested point, work efficiency is high.
Description of the drawings
Fig. 1 is the application schematic diagram of the present invention；
In figure：1, vehicle；2, fixed frame；3, inertial navigation system；4, Laser Doppler Velocimeter
Fig. 2 is the whole theory structure block diagram of the present invention；
Fig. 3 is the attitude rectification network-control block diagram in the present invention；
Fig. 4 is the light channel structure figure of Laser Doppler Velocimeter；
In figure：401, laser；402, semi-transparent semi-reflecting lens；403, diaphragm；404, attenuator；405, speculum；406, it filters
Mating plate；407, detector；408, piezoelectric ceramics controller；409, piezoelectric ceramics；
Fig. 5 is the schematic diagram that vehicle travels in the plane in the present invention；
Fig. 6 is the schematic diagram that the vehicle in the present invention travels on the slope.
Specific implementation mode
In order to make technical scheme of the present invention and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, it is not used to
Limit the present invention.
Referring to Figures 1 and 2, a kind of vehicle-mounted altimeter based on LDV/INS combinations, the vehicle-mounted altimeter includes that inertia is led
Boat system 3, Laser Doppler Velocimeter 4, signal solving unit and elevation information display unit.The vehicle-mounted altimeter can be with
Entirety is all on vehicle 1, i.e., inertial navigation system 3, Laser Doppler Velocimeter 4, Kalman filter, signal resolve
Unit and elevation information display unit are installed on vehicle 1.The inertial navigation system 3, Laser Doppler Velocimeter 4 are equal
It is fixedly mounted on by fixed frame 2 on the lateral surface of vehicle 1, and the laser exit of Laser Doppler Velocimeter 4 is towards vehicle row
Sail face i.e. ground.As shown in Figure 1, the inertial navigation system 3, Laser Doppler Velocimeter 4 are fixedly mounted by fixed frame 2
On the lateral surface of 1 left/right of vehicle, as left/right side door outside face on.The structure type of fixed frame 2 is unlimited, fixed
Frame can be whole fixed frame, be provided with the mounting platform of inertial navigation system, Laser Doppler Velocimeter, Neng Gougu above
Dingan County fills inertial navigation system, Laser Doppler Velocimeter, and fixed frame Whole-dismountable is installed on vehicle, and spiral shell may be used
It the forms such as connects, be attracted to be installed on vehicle.
With reference to Fig. 2, the output end and Kalman filter and signal solving unit of the Laser Doppler Velocimeter are equal
Connection, Laser Doppler Velocimeter measure the real-time speed size and Orientation in vehicle travel process, and real-time by what is measured
Velocity information simultaneous transmission is to Kalman filter and signal solving unit；The output end of inertial navigation system is filtered with Kalman
Wave device and signal solving unit are all connected with, and inertial navigation system measures the real-time pitch angle in vehicle travel process and will measure
To real-time pitching angle information be transferred to Kalman filter and signal solving unit；How general Kalman filter is using laser
It strangles the velocity information that tachymeter measures to be modified the real-time pitch angle that inertial navigation system measures, Doppler anemometer measures
To real time speed information and revised pitching angle information be transmitted to signal solving unit.
The output end of the signal solving unit is electrically connected with elevation information display unit；Signal solving unit is according to speed
Information and pitching angle information resolve the height gain that vehicle rises in the unit interval set, add up from initial point
It is obtained when being initially aligned by inertial navigation system to the elevation information of height gain all between tested point, wherein initial point,
The elevation information of the tested point calculated is sent to elevation by the final elevation for calculating tested point, last signal solving unit again
Information display unit carries out result output.
Inertial navigation system is measured using the velocity information that Laser Doppler Velocimeter measures about Kalman filter
Pitch angle be modified, specific modification method is：
Inertial navigation system can measure the angular speed and acceleration of vehicle real time kinematics, and Kalman filter, which utilizes, to swash
The velocity information that light Doppler anemometer measures is modified the angular speed that inertial navigation system measures, and Kalman filter is defeated
What is gone out is the correction amount of angular speed, and the correction amount of obtained angular speed is fed back to Inertial Measurement Unit by Kalman filter, is used to
Property measuring unit is modified to obtain revised angular speed further according to the correction amount angular velocity of feedback, then again to amendment after
Angular speed integrated to obtain corresponding revised three attitude angles i.e. course angle, roll angle, pitch angle.Elevation of the present invention
What measurement applied to is the pitch angle during the vehicle movement that inertial navigation system measures.
Specifically, in Kalman filter, using the real time speed information that Doppler anemometer measures as measurement, with
Equivalent accelerometer bias and laser gyro drift are as feedback network correction amount, attitude rectification network-control block diagram such as Fig. 3
It is shown.V in figurecxWith VcyIt is component of the speed of Doppler anemometer output on east orientation, north orientation；Hx(s) and Hy(s) it is east
To, horizontal corrective networks of north orientation；Yx、Yy、YzConstitute attitude rectification network.Attitude rectification is carried out on the basis of horizontal modified
's.To the obtained obtained angle of revised angular speed integral, i.e., the revised attitude angle finally obtained, including
Revised pitch angle.
Inertial navigation system in the present invention using Laser-gym Inertial Navigation System, by three laser gyroes and
Three accelerometer orthogonal configurations form, and inertial navigation system are directly anchored on vehicle, you can pass through inertial navigation system
The three-dimensional angular velocity and acceleration for measuring vehicle real time kinematics can obtain three of them attitude angle i.e. to three-dimensional angular velocity integral
Course angle, roll angle, pitch angle.The present invention measures the pitch angle during vehicle movement by inertial navigation system.
With reference to Fig. 4, the Laser Doppler Velocimeter in the present invention, including laser 401, semi-transparent semi-reflecting lens 402, diaphragm
403, attenuator 404, speculum 405, optical filter 406 and detector 407, the wavelength that the laser 401 is sent out are swashing for λ
Light beam is divided into the two-beam of isocandela through semi-transparent semi-reflecting lens 402；
Wherein light beam is incident on after attenuator 404 405 on speculum, and attenuator is reflected into again through speculum 405
404 decayed after be incident on semi-transparent semi-reflecting lens 402, the light beam transmitted from semi-transparent semi-reflecting lens 402 is incident after optical filter 406
Onto the photosurface of detector 407, as with reference to light；
Wherein another light beam is incident on ground after diaphragm 403, wherein being incident on the folder between the light beam on ground and ground
Angle θ, that is, Laser emission inclination angle；The part scattering light on ground can be returned along original optical path, i.e., the part scattering light on ground is through diaphragm
403, which are incident on the light beam that semi-transparent semi-reflecting lens 402 are reflected from semi-transparent semi-reflecting lens 402, is incident on through optical filter to detector 406
On photosurface, as signal light；
Reference light and signal light are mixed on the photosurface of detector, and the difference on the frequency of signal light and reference light is more
General Le frequency fD.Doppler frequency fDIt is directly proportional to the movement velocity v of vehicle
Wherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is the movement velocity of vehicle.
By detecting Doppler frequency, you can calculate the movement velocity of vehicle
When being moved forward and backward with identical speed due to vehicle, obtained Doppler frequency be it is identical, i.e., it is above-mentioned swash
Light Doppler anemometer is the direction that can not distinguish vehicle movement.The purpose of the present invention is realizing the measurement of determinand elevation,
If vehicle is retreating, then the height gain of fallback procedures should be negative value, it should give and cut, determinand elevation not so can be caused to survey
Amount is inaccurate.
For this purpose, further, the present invention is bonded with piezoelectricity pottery on the speculum 405 in above-mentioned Laser Doppler Velocimeter
Porcelain 409, piezoelectric ceramics 409 are electrically connected with piezoelectric ceramics controller 408, and piezoelectric ceramics controller 408 is for generating drive signal
Piezoelectric ceramics 409 is acted on, piezoelectric ceramics 409 pushes and pulls speculum 405 under the action of drive signal.Piezoelectric ceramics 409 and
The effect that piezoelectric ceramics controller 408 is arranged is to distinguish the direction of vehicle movement.When stationary vehicle, since piezoelectric ceramics is driving
Speculum is pushed and pulled under the action of signal, keeps reference light when stationary vehicle different from signal light frequency, that is, has difference on the frequency, due to this
Difference on the frequency signal control driven, referred to as controls frequency difference.In this way, when vehicle advances or retreats, Laser Doppler Velocimeter
The frequency of output signal is that a Doppler frequency is moved to the left or right on the basis of controlling frequency difference.Same Doppler frequency
Size for the movement velocity for resolving vehicle, by judge the frequency of signal be on the basis of controlling frequency difference to the left or to
It moves right, so that it may to differentiate the direction of vehicle movement.It is positive direction to define the direction that vehicle advances, and the direction of vehicle rollback is negative
Direction.The movement velocity of the vehicle resolved when vehicle advances is positive value, the vehicle resolved when vehicle rollback
Movement velocity is negative value.
The elevation calculation method of vehicle-mounted altimeter based on LDV/INS combinations, it is as follows：
If the angle of the pitch angle for the vehicle that inertial navigation system the measures i.e. direction of motion of vehicle and horizontal direction is
The real time kinematics speed of α, the vehicle that Laser Doppler Velocimeter measures are v, then the velocity component of vehicle in the vertical direction is
v⊥=vsin α (3)
Wherein v⊥It is the velocity component of vehicle in the vertical direction.
In conjunction withWherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is vehicle
Movement velocity.Then the velocity component of vehicle in the vertical direction can be expressed as
Velocity versus time is integrated, its initial time point punctum institute at the end of is right in the unit interval set
Answer the difference in height between location point
Wherein t is the unit interval (usual 10ms) of setting, and Δ h is that vehicle rises in the unit interval of setting
Height.
Vehicle in the unit interval of setting can thus be measured and move to the height increasing that another point rises from a bit
Amount：If vehicle this period moves (as shown in Figure 5) in the plane, height gain 0；If vehicle exists in this period
(as shown in Figure 6) is moved on slope, there are height gains.If initial point A, vehicle is moved to from initial point A and is waited for by tested point B
The whole process of measuring point B regards that the motion process by multiple continuous unit intervals forms, and calculates each unit interval as
The height gain at interval finally moves to vehicle in all unit intervals in tested point B whole process from initial point A
Height gain it is cumulative, you can obtain initial point to tested point depth displacement hAB：
hAB=∑ Δ h (6)
The elevation of initial point A be it is known that initial point A known to elevation can be selected when measurement, or can be initial by INS
Alignment obtains the elevation information of initial point A, if its elevation of initial point A is HA, according to (6) formula, the height of tested point B can be calculated
Journey.
In conclusion although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention, any
Those of ordinary skill in the art, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore this hair
Bright protection domain is subject to the range defined depending on claims.
Claims (9)
1. a kind of vehicle-mounted altimeter based on LDV/INS combinations, it is characterised in that：The vehicle-mounted altimeter includes inertial navigation system
System, Laser Doppler Velocimeter, signal solving unit and elevation information display unit；The inertial navigation system, laser are more
General Le tachymeter is installed on vehicle,
The output end of the inertial navigation system is electrically connected with signal solving unit, and inertial navigation system measures vehicle travel process
In real-time pitch angle, and the real-time pitching angle information measured is transferred to signal solving unit；
The output end of the Laser Doppler Velocimeter is electrically connected with signal solving unit, and Laser Doppler Velocimeter measures vehicle
Real-time speed size and Orientation in driving process, and the real time speed information measured is transferred to signal solving unit；
The output end of the signal solving unit is electrically connected with elevation information display unit；Signal solving unit is according to velocity information
And pitching angle information resolves the height gain that vehicle in the unit interval set rises, it is cumulative from initial point to waiting for
All height gains between measuring point, the elevation information of wherein initial point obtain when being initially aligned by inertial navigation system, finally
The elevation of tested point is calculated, the elevation information of the tested point calculated is sent to elevation information by last signal solving unit again
Display unit carries out result output.
2. the vehicle-mounted altimeter according to claim 1 based on LDV/INS combinations, it is characterised in that：The inertial navigation
System, Laser Doppler Velocimeter are fixedly mounted on by fixed frame on the lateral surface of vehicle, and Laser Doppler Velocimeter
Laser exit towards vehicle tread, that is, ground.
3. the vehicle-mounted altimeter according to claim 1 based on LDV/INS combinations, it is characterised in that：Further include Kalman
Filter, output end and the Kalman filter and signal solving unit of the Laser Doppler Velocimeter are all connected with, laser
Doppler anemometer is by the real time speed information simultaneous transmission measured to Kalman filter and signal solving unit；Inertia
The output end of navigation system is all connected with Kalman filter and signal solving unit, and how general Kalman filter is using laser
The velocity information that tachymeter measures is strangled to be modified the pitch angle that inertial navigation system measures, what Doppler anemometer measured
Real time speed information and revised pitching angle information are transmitted to signal solving unit, the elevation for resolving tested point.
4. the vehicle-mounted altimeter according to claim 1 based on LDV/INS combinations, it is characterised in that：Inertial navigation system
Using Laser-gym Inertial Navigation System, is formed, will be used to by three laser gyroes and three accelerometer orthogonal configurations
Property navigation system is directly anchored on vehicle, you can the three-dimensional angular velocity of vehicle real time kinematics is measured by inertial navigation system
And acceleration, three of them attitude angle i.e. course angle, roll angle, pitch angle can be obtained to three-dimensional angular velocity integral.
5. the vehicle-mounted altimeter according to claim 1 based on LDV/INS combinations, it is characterised in that：Laser-Doppler is surveyed
Fast instrument, including laser, semi-transparent semi-reflecting lens, diaphragm, attenuator, speculum, optical filter and detector, the laser are sent out
Wavelength be λ laser beam be divided into the two-beam of isocandela through semi-transparent semi-reflecting lens；
Wherein light beam is incident on after attenuator on speculum, is reflected into again after attenuator is decayed through speculum incident
To semi-transparent semi-reflecting lens, the light beam transmitted from semi-transparent semi-reflecting lens is incident on after optical filter on the photosurface of detector, as ginseng
Examine light；
Wherein another light beam is incident on ground after diaphragm, wherein the angle theta being incident between the light beam on ground and ground swashs
Light emitting inclination angle；The part scattering light on ground can be returned along original optical path, i.e. the part scattering light on ground is incident on through diaphragm
Semi-transparent semi-reflecting lens, the light beam reflected from semi-transparent semi-reflecting lens is incident on through optical filter onto the photosurface of detector, as signal
Light；
Reference light and signal light are mixed on the photosurface of detector, and the difference on the frequency of signal light and reference light is Doppler
Frequency fD, by detecting Doppler frequency fD, you can calculate the movement velocity of vehicle.
6. the vehicle-mounted altimeter according to claim 5 based on LDV/INS combinations, it is characterised in that：Doppler frequency fDWith
The movement velocity v of vehicle is directly proportional
Wherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is the movement velocity of vehicle；
Therefore have：
7. the vehicle-mounted altimeter according to claim 5 based on LDV/INS combinations, it is characterised in that：On the speculum
It is bonded with piezoelectric ceramics, piezoelectric ceramics is electrically connected with piezoelectric ceramics controller, and piezoelectric ceramics controller is for generating drive signal
Piezoelectric ceramics is acted on, piezoelectric ceramics pushes and pulls speculum under the action of drive signal.
8. the vehicle-mounted altimeter according to claim 6 based on LDV/INS combinations, it is characterised in that：Piezoelectric ceramics and
The effect of piezoelectric ceramics controller setting is to distinguish the direction of vehicle movement；
When stationary vehicle, since piezoelectric ceramics pushes and pulls speculum under the action of drive signal, make reference light when stationary vehicle
It is different from signal light frequency, that is, there is difference on the frequency, due to difference on the frequency signal control driven, referred to as controls frequency difference；
When vehicle advances or retreats, the frequency of Laser Doppler Velocimeter output signal be on the basis of controlling frequency difference to
The left or Doppler frequency that moves right；Same Doppler frequency is used to resolve the size of the movement velocity of vehicle, by sentencing
The frequency of break signal to the left or is moved right on the basis of controlling frequency difference, so that it may to differentiate the direction of vehicle movement；
It is positive direction to define the direction that vehicle advances, and the direction of vehicle rollback is negative direction；It is resolved when vehicle advances
The movement velocity of vehicle is positive value, and the movement velocity of the vehicle resolved when vehicle rollback is negative value.
9. the elevation calculation method of the vehicle-mounted altimeter based on LDV/INS combinations, which is characterized in that initial point A, tested point B are set,
Wherein the elevation of initial point A using based on the vehicle-mounted altimeter that LDV/INS is combined it is known that obtain between initial point A to tested point B
Depth displacement hAB；
If the angle of the pitch angle for the vehicle that inertial navigation system the measures i.e. direction of motion of vehicle and horizontal direction is α, swash
The real time kinematics speed for the vehicle that light Doppler anemometer measures is v, then the velocity component of vehicle in the vertical direction is
v⊥=vsin α (3)
Wherein v⊥It is the velocity component of vehicle in the vertical direction；
In conjunction withWherein fDIt is Doppler frequency, λ is optical maser wavelength, and θ is Laser emission inclination angle, and v is the movement of vehicle
Speed；Then the velocity component of vehicle in the vertical direction can be expressed as
Velocity versus time is integrated, in the unit interval set its initial time point position corresponding to punctum at the end of
Difference in height between setting a little
Wherein t is the unit interval of setting, and Δ h is the height that vehicle rises in the unit interval of setting；
Vehicle in the unit interval of setting can thus be measured and move to the height gain that another point rises from a bit：Such as
Vehicle moves in the plane in fruit unit interval, then height gain is 0；If vehicle is on the slope in unit interval
, then there is height gain in movement；
The whole process that vehicle is moved to tested point B from initial point A is regarded as by the fortune of multiple continuous unit intervals
Dynamic process composition, calculates the height gain of each unit interval, it is whole that vehicle is finally moved to tested point B from initial point A
The height gain in all unit intervals during a is cumulative, you can obtain initial point to tested point depth displacement hAB：
hAB=∑ Δ h (6).
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