CN110514200A - A kind of inertial navigation system and high revolving speed posture of rotator measurement method - Google Patents
A kind of inertial navigation system and high revolving speed posture of rotator measurement method Download PDFInfo
- Publication number
- CN110514200A CN110514200A CN201910744521.0A CN201910744521A CN110514200A CN 110514200 A CN110514200 A CN 110514200A CN 201910744521 A CN201910744521 A CN 201910744521A CN 110514200 A CN110514200 A CN 110514200A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- attitude
- geomagnetic
- angle
- projectile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of inertial navigation system and high revolving speed posture of rotator measurement method.This method comprises: measuring the normal direction Inertia information and Geomagnetism Information of rotary body respectively for currently resolving the period；Earth magnetism attitude algorithm coordinate system is established, attitude algorithm is carried out in earth magnetism attitude algorithm coordinate system using Geomagnetism Information and normal direction Inertia information, the posture calculated is coordinately transformed, posture information of the missile coordinate system relative to geographic coordinate system is obtained.The present invention can reduce sensor cost, and solve the problem of in existing inertia/earth magnetism assembled gesture measuring system that roll angle range is insufficient and measurement accuracy rapid divergence at any time.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and relates to an inertial navigation system and a method for measuring the attitude of a high-rotation-speed rotating body.
Background
Attitude information is the core measurement data of a navigation guidance system, and generally refers to the attitude angle of a missile coordinate system relative to a geographic coordinate system, specifically including a roll angle, a pitch angle and a heading angle. For a high-speed rotating body such as a guided rotating bullet, the roll angle rate is as high as 8-15 revolutions per second and far exceeds the range of a typical gyroscope device, and a conventional inertial attitude measurement system cannot measure the roll angle.
The geomagnetic information is utilized to calculate the roll angle and the pitch angle, so that the method has the advantages of large measuring range, no error accumulation along with time and the like, but other course angle information is usually required to assist or assume that the course angle is constant, so that the application of the method is limited; in addition, the measurement accuracy is easily affected by an external ferromagnetic environment such as a transmitter.
Disclosure of Invention
The purpose of the invention is: the inertial navigation system and the attitude measurement method of the high-speed rotating body are provided, the cost of the sensor is reduced, and the problems that the roll angle range is insufficient and the measurement precision is rapidly dispersed along with time in the existing inertial/geomagnetic combined attitude measurement system are solved.
The technical scheme of the invention is as follows:
in a first aspect, an inertial navigation system is provided, comprising:
the device comprises a three-axis magnetometer, a single-axis gyroscope and a processor, wherein the axial direction of a sensor of the three-axis magnetometer is coincident with the axial direction of a projectile coordinate system and is used for measuring geomagnetic information of a rotating body under the projectile coordinate system; the axial direction of the sensor of the single-axis gyroscope coincides with the normal axial direction of the projectile coordinate system and is used for measuring the inertial information of the rotating body on the normal axis of the projectile coordinate system, and the processor collects the information of the measurement of the three-axis magnetometer and the single-axis gyroscope.
In a second aspect, a method for measuring the attitude of a rotating body with high rotating speed is provided, which is applied to an inertial navigation system and comprises the following steps:
for the current resolving period, respectively measuring normal inertial information and geomagnetic information of the rotating body;
establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and normal inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system.
Further, establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system, including:
acquiring the current latitude and longitude in the current resolving period;
establishing a conversion matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the latitude and the longitude;
calculating a pitch angle and a roll angle of a projectile coordinate system relative to a geomagnetic attitude resolving coordinate system by using geomagnetic information;
calculating a course angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system according to pitch angle, roll angle and normal inertia information of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
and resolving the pitch angle, the roll angle and the heading angle of the coordinate system and the conversion matrix according to the missile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the heading angle of the missile coordinate system relative to the geographic coordinate system.
Further, according to the pitch angle, the roll angle and the normal inertia information of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system, the calculating the heading angle of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system includes:
acquiring a current pitch angle of a geomagnetic attitude calculation coordinate system in a current calculation period and a last pitch angle of the geomagnetic attitude calculation coordinate system in a last calculation period;
calculating the pitch angle rate of the geomagnetic attitude calculation coordinate system according to the current pitch angle and the last pitch angle;
acquiring the latitude, east speed and north speed which are obtained by the latest calculation of the inertial navigation system;
calculating the angular rate of a projectile coordinate system relative to a geomagnetic attitude calculation coordinate system by utilizing the latitude, east speed, north speed and normal inertia information which are obtained by the latest calculation of an inertial navigation system;
calculating the current course angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system by utilizing the angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system, the pitch angle rate of the geomagnetic attitude calculation coordinate system, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
acquiring the last course angle rate of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period and the last course angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period;
and resolving the course angle of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system according to the last course angular rate, the current course angular rate and the last course angle.
Further, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system are calculated by a first formula, wherein the first formula is as follows:
wherein,the pitch angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained;the roll angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained; hbxIs the component of the geomagnetic information along the transverse axis, HbyIs the component of the geomagnetic information along the normal axis, HbzIs the component of the geomagnetic information along the longitudinal axis.
Further, the pitch angle rate of the geomagnetic attitude calculation coordinate system is calculated by a second formula, where the second formula is:
solving seat for geomagnetic attitude of current solving cycleA pitch angle of the system;calculating a pitch angle of the coordinate system for the geomagnetic attitude in the previous calculation period; t is a resolving period;and solving the pitch angle rate of the coordinate system for the geomagnetic attitude.
Further, the angular rate of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system is calculated by a third formula, where the third formula is:
wherein gamma, theta and psi are respectively a rolling angle, a pitching angle and a heading angle of the newly solved projectile coordinate system relative to the geographic coordinate system; omegaieIs the earth rotation angular rate; l, VE、VNRespectively calculating the latitude, east speed and north speed obtained by the latest calculation of the inertial navigation system; rN、RMRespectively calculating the curvature radius of the earth prime circle and the curvature radius of the meridian circle corresponding to the latitude obtained by the navigation system; omegayNormal inertial information;the angular rate of the coordinate system is resolved for the projectile coordinate system relative to the geomagnetic attitude.
Further, the heading angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system is calculated by a fourth formula, where the fourth formula is:
wherein,is the heading angle of the missile coordinate system in the current resolving period relative to the geomagnetic attitude resolving coordinate systemA rate;the course angle rate of the missile coordinate system in the previous resolving period relative to the geomagnetic attitude resolving coordinate system; t is a resolving period;calculating a course angle of a missile coordinate system in a current calculating period relative to the geomagnetic attitude;and solving the heading angle of the coordinate system of the projectile relative to the geomagnetic attitude in the previous solving period.
Further, the step of calculating the pitch angle, the roll angle and the heading angle of the coordinate system and the conversion matrix according to the missile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the heading angle of the missile coordinate system relative to the geographic coordinate system comprises the following steps:
establishing an attitude matrix between the projectile coordinate system and the geomagnetic attitude resolving coordinate system according to a pitch angle, a roll angle and a course angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system;
converting a conversion matrix between the missile coordinate system and the geomagnetic attitude calculation coordinate system according to the conversion matrix to obtain an attitude matrix of the missile coordinate system relative to a geographic coordinate system;
and acquiring a pitch angle, a roll angle and a heading angle of the projectile coordinate system relative to the geographic coordinate system from the attitude matrix of the projectile coordinate system relative to the geographic coordinate system.
Further, the method further comprises:
acquiring an initial rolling angle, an initial pitch angle and an initial heading angle of a projectile coordinate system relative to a geographic coordinate system;
calculating an initial attitude matrix of the projectile coordinate system relative to a geographic coordinate system according to the initial rolling angle, the initial pitch angle and the initial course angle;
establishing an initial transformation matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the initial latitude and the initial longitude;
and converting the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system through the initial conversion matrix to obtain the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system.
The invention has the beneficial effects that:
according to the method, through the configuration design of the sensor and the establishment of the geomagnetic attitude calculation coordinate system, the problem of insufficient gyro range during the roll angle measurement is avoided, the system cost is reduced, the complexity of an attitude algorithm is reduced, and the attitude measurement precision of the high-speed rotating body is effectively improved, so that the navigation guidance performance of the system is improved. The attitude measurement method can be applied to attitude measurement of high-speed rotating bodies such as various rotary missiles, guided munitions and the like.
Drawings
Fig. 1 is a configuration diagram of an inertial/geomagnetic sensor;
the device comprises a 1-projectile coordinate system longitudinal axis, a 2-projectile coordinate system normal axis, a 3-projectile coordinate system transverse axis, a 4-triaxial magnetometer and a 5-uniaxial gyroscope.
FIG. 2 is a block diagram of a geomagnetic attitude calculation coordinate system;
the geomagnetic attitude calculation system comprises a geographic coordinate system, a geomagnetic attitude calculation coordinate system and a geomagnetic attitude calculation coordinate system, wherein 1-a north axis of the geographic coordinate system, 2-a sky axis of the geographic coordinate system, 3-an east axis of the geographic coordinate system, 4-an X axis of the geomagnetic attitude calculation coordinate system, 5-an Y axis of the geomagnetic attitude calculation coordinate system, 6-an Z axis of the geomagnetic attitude calculation coordinate system, 7-a.
Detailed Description
The invention provides a method for measuring the attitude of a high-speed rotating body, which is characterized in that the inertia and geomagnetic information of the rotating body are respectively measured through the configuration design of an inertia/geomagnetic sensor of an attitude measurement system; the attitude calculation is carried out by establishing a geomagnetic attitude calculation coordinate system and comprehensively utilizing geomagnetic information and inertia information, and the attitude information of the projectile coordinate system relative to the geographical coordinate system is obtained through coordinate transformation, so that the attitude measurement of the high-speed rotating body is realized.
As an improvement of the technical scheme, the inertial/geomagnetic sensor structure comprises a gyroscope installed on a normal axis of a projectile coordinate system and a triaxial magnetometer installed on the projectile coordinate system, and is used for measuring normal angular rate information and triaxial geomagnetic information under the projectile coordinate system. The sensor configuration avoids the problem of insufficient gyro range when measuring the roll angle, reduces the system cost and is convenient for engineering realization.
As an improvement of the technical scheme, a geomagnetic attitude resolving coordinate system is established, the attitude of the projectile coordinate system relative to the geomagnetic coordinate system is resolved by utilizing the normal angular rate information and the triaxial geomagnetic information under the projectile coordinate system, and the attitude information of the projectile coordinate system relative to the geographic coordinate system is obtained through coordinate transformation. The geomagnetic attitude calculation coordinate system reduces the complexity of an attitude algorithm.
In fig. 1, the sensor axis of the three-axis magnetometer is coincident with the projectile coordinate system, and is used for measuring the three-axis component of the geomagnetic field in the projectile coordinate system; the axial direction of a sensor of the single-axis gyroscope coincides with the normal axis of the projectile coordinate system and is used for measuring the angular rate of the normal axis of the projectile coordinate system.
In FIG. 2, the coordinate system OXnYnZnBeing a geographical coordinate system, coordinate system OXmYmZmA coordinate system is resolved for the geomagnetic attitude. The magnetic dip angle I is the total field intensity H of the geomagnetic fieldmAnd the declination D is the included angle between the X axis of the geomagnetic attitude calculation coordinate system and the X axis of the geographic coordinate system.
The geomagnetic attitude calculation coordinate system is obtained by rotating the geographical coordinate system twice, firstly rotating the declination D around the Y axis of the geographical coordinate system, and then rotating around the Z axis of the rotated coordinate system, so that the Y axis of the obtained geomagnetic attitude calculation coordinate system is coincided with the negative direction of the total field intensity of the geomagnetic field. The above rotational relationship is expressed as:
the method for measuring the attitude of the high-speed rotator by utilizing the inertia/geomagnetic sensor configuration and the geomagnetic attitude calculation coordinate system comprises the following steps of:
according to local latitude and longitude, calculating to obtain a declination angle D and a declination angle I by using a global geomagnetic field model;
step two, measuring value H by using a three-axis magnetometerbx、Hby、HbzCalculating the pitch angle of the missile coordinate system relative to the geomagnetic attitude solution coordinate systemAnd roll angle
Step three, the pitch angle of the geomagnetic attitude calculation coordinate system in the current calculation period and the previous calculation periodAndcalculating pitch angle rate of geomagnetic attitude solution coordinate system
Wherein T is a resolving period.
Step four, measuring the angular rate omega by using a normal axis gyroscopeyResolving the angular rate of the projectile coordinate system relative to the geomagnetic attitude resolution coordinate system
Wherein gamma, theta and psi are respectively the latest calculated elastic body coordinate system relative to the geographic coordinate systemRoll angle, pitch angle and course angle; omegaieIs the earth rotation angular rate; l, VE、VNRespectively calculating the latitude, east speed and north speed obtained by the latest calculation of the inertial navigation system; rN、RMAnd respectively calculating the curvature radius of the earth prime unitary circle and the curvature radius of the meridian circle corresponding to the latitude obtained by the navigation system.
Step five, resolving course angular rate of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system
Sixthly, utilizing the heading angular rate of the missile coordinate system in the current resolving period and the last resolving period relative to the geomagnetic attitude resolving coordinate systemAndheading angle of resolved projectile coordinate system relative to geomagnetic attitude resolved coordinate system
Wherein T is a resolving period.Initial value of (2)The calculation is as follows:
initial values gamma of a rolling angle, a pitch angle and a course angle relative to a geographic coordinate system by utilizing a projectile coordinate system0、θ0、ψ0Calculating an initial attitude matrix
Obtaining an initial attitude matrix of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system by using coordinate transformation
WhereinIs composed ofThe transpose matrix of (a) is,as already given above. By usingTo obtain a corresponding element ofInitial value of (2)
The value range is 0-360 degrees.
And seventhly, calculating to obtain a pitch angle theta, a roll angle gamma and a course angle psi of the projectile coordinate system relative to the geographic coordinate system through coordinate transformation:
wherein the pitch angle theta ranges from-90 degrees to 90 degrees, the roll angle gamma ranges from-180 degrees to 180 degrees, and the course angle psi ranges from 0 degree to 360 degrees.As a matrix of gesturesCorresponding element of (2), attitude matrixObtained by coordinate transformation as follows:
whereinGiven above, the attitude matrix between the projectile coordinate system and the geomagnetic attitude solution coordinate systemSolving the pitch angle of the coordinate system relative to the geomagnetic attitude by a projectile coordinate systemRoll angleAnd course angleDetermining:
the inertia/geomagnetic combined attitude measurement system comprehensively utilizes inertia information and geomagnetic information to measure the attitude, and has the characteristics of good autonomy and strong anti-interference capability. The typical inertia/geomagnetic combined attitude measurement system utilizes a gyroscope to measure the roll angle, and the range of a gyroscope device limits the measurement range of the roll angle; in addition, the other type of the device utilizes the combination of normal and lateral gyro information and geomagnetic attitude angle information to calculate course angle rate information, and then integrates to obtain a course angle, and because the influence of inertial device errors on measurement accuracy is amplified, the measurement errors are rapidly accumulated along with time.
Claims (10)
1. An inertial navigation system, comprising:
the device comprises a three-axis magnetometer, a single-axis gyroscope and a processor, wherein the axial direction of a sensor of the three-axis magnetometer is coincident with the axial direction of a projectile coordinate system and is used for measuring geomagnetic information of a rotating body under the projectile coordinate system; the axial direction of the sensor of the single-axis gyroscope coincides with the normal axial direction of the projectile coordinate system and is used for measuring the inertial information of the rotating body on the normal axis of the projectile coordinate system, and the processor collects the information of the measurement of the three-axis magnetometer and the single-axis gyroscope.
2. A method for measuring the attitude of a high-rotating-speed rotating body is applied to an inertial navigation system and is characterized by comprising the following steps:
for the current resolving period, respectively measuring normal inertial information and geomagnetic information of the rotating body;
establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and normal inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system.
3. The method according to claim 2, wherein establishing a geomagnetic attitude solution coordinate system, performing attitude solution in the geomagnetic attitude solution coordinate system using geomagnetic information and inertial information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system comprises:
acquiring the current latitude and longitude in the current resolving period;
establishing a conversion matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the latitude and the longitude;
calculating a pitch angle and a roll angle of a projectile coordinate system relative to a geomagnetic attitude resolving coordinate system by using geomagnetic information;
calculating a course angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system according to pitch angle, roll angle and normal inertia information of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
and resolving the pitch angle, the roll angle and the heading angle of the coordinate system and the conversion matrix according to the missile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the heading angle of the missile coordinate system relative to the geographic coordinate system.
4. The method of claim 3, wherein resolving the heading angle of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system based on the pitch angle, the roll angle, and the normal inertial information of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system comprises:
acquiring a current pitch angle of a geomagnetic attitude calculation coordinate system in a current calculation period and a last pitch angle of the geomagnetic attitude calculation coordinate system in a last calculation period;
calculating the pitch angle rate of the geomagnetic attitude calculation coordinate system according to the current pitch angle and the last pitch angle;
acquiring the latitude, east speed and north speed which are obtained by the latest calculation of the inertial navigation system;
calculating the angular rate of a projectile coordinate system relative to a geomagnetic attitude calculation coordinate system by utilizing the latitude, east speed, north speed and normal inertia information which are obtained by the latest calculation of an inertial navigation system;
calculating the current course angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system by utilizing the angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system, the pitch angle rate of the geomagnetic attitude calculation coordinate system, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
acquiring the last course angle rate of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period and the last course angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period;
and resolving the course angle of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system according to the last course angular rate, the current course angular rate and the last course angle.
5. The method according to claim 4, wherein the pitch angle of the projectile coordinate system with respect to the earth-magnetic attitude solution coordinate system and the roll angle of the projectile coordinate system with respect to the earth-magnetic attitude solution coordinate system are calculated by a first formula:
wherein,the pitch angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained;the roll angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained; hbxIs the component of the geomagnetic information along the transverse axis, HbyIs the component of the geomagnetic information along the normal axis, HbzIs the component of the geomagnetic information along the longitudinal axis.
6. The method according to claim 4, wherein the pitch rate of the geomagnetic attitude solution coordinate system is calculated by a second formula:
calculating a pitch angle of a coordinate system for the geomagnetic attitude of the current calculation period;calculating a pitch angle of the coordinate system for the geomagnetic attitude in the previous calculation period; t is a resolving period;and solving the pitch angle rate of the coordinate system for the geomagnetic attitude.
7. The method according to claim 4, wherein the angular rate of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system is calculated by a third equation:
wherein gamma, theta and psi are respectively a rolling angle, a pitching angle and a heading angle of the newly solved projectile coordinate system relative to the geographic coordinate system; omegaieIs the earth rotation angular rate; l, VE、VNRespectively calculating the latitude, east speed and north speed obtained by the latest calculation of the inertial navigation system; rN、RMRespectively calculating the curvature radius of the earth prime circle and the curvature radius of the meridian circle corresponding to the latitude obtained by the navigation system; omegayNormal inertial information;the angular rate of the coordinate system is resolved for the projectile coordinate system relative to the geomagnetic attitude.
8. The method according to claim 4, wherein the heading angle of the projectile coordinate system with respect to the geomagnetic attitude solution coordinate system is calculated by a fourth formula:
wherein,the course angular rate of the missile coordinate system in the current resolving period relative to the geomagnetic attitude resolving coordinate system;the course angle rate of the missile coordinate system in the previous resolving period relative to the geomagnetic attitude resolving coordinate system; t is a resolving period;calculating a course angle of a missile coordinate system in a current calculating period relative to the geomagnetic attitude;and solving the heading angle of the coordinate system of the projectile relative to the geomagnetic attitude in the previous solving period.
9. The method of claim 3, wherein the obtaining the pitch angle, the roll angle and the heading angle of the projectile coordinate system relative to the geographic coordinate system by solving the pitch angle, the roll angle and the heading angle of the projectile coordinate system relative to the geomagnetic attitude and the transformation matrix comprises:
establishing an attitude matrix between the projectile coordinate system and the geomagnetic attitude resolving coordinate system according to a pitch angle, a roll angle and a course angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system;
converting a conversion matrix between the missile coordinate system and the geomagnetic attitude calculation coordinate system according to the conversion matrix to obtain an attitude matrix of the missile coordinate system relative to a geographic coordinate system;
and acquiring a pitch angle, a roll angle and a heading angle of the projectile coordinate system relative to the geographic coordinate system from the attitude matrix of the projectile coordinate system relative to the geographic coordinate system.
10. The method of claim 9, further comprising:
acquiring an initial rolling angle, an initial pitch angle and an initial heading angle of a projectile coordinate system relative to a geographic coordinate system;
calculating an initial attitude matrix of the projectile coordinate system relative to a geographic coordinate system according to the initial rolling angle, the initial pitch angle and the initial course angle;
establishing an initial transformation matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the initial latitude and the initial longitude;
and converting the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system through the initial conversion matrix to obtain the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910744521.0A CN110514200B (en) | 2019-08-13 | 2019-08-13 | Inertial navigation system and high-rotation-speed rotating body attitude measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910744521.0A CN110514200B (en) | 2019-08-13 | 2019-08-13 | Inertial navigation system and high-rotation-speed rotating body attitude measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110514200A true CN110514200A (en) | 2019-11-29 |
| CN110514200B CN110514200B (en) | 2023-03-14 |
Family
ID=68624779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910744521.0A Active CN110514200B (en) | 2019-08-13 | 2019-08-13 | Inertial navigation system and high-rotation-speed rotating body attitude measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110514200B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986926A (en) * | 2019-12-05 | 2020-04-10 | 南京理工大学 | A method for measuring the rotation attitude of flying projectile based on geomagnetic elements |
| CN112146661A (en) * | 2020-09-28 | 2020-12-29 | 北京理工大学 | Geomagnetic auxiliary inertial attitude error coupling method |
| CN112729222A (en) * | 2020-12-14 | 2021-04-30 | 北京航空航天大学 | Real-time measurement method for position of pile digging rotating rod |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001174283A (en) * | 1999-12-15 | 2001-06-29 | Daikin Ind Ltd | Rotary flying object attitude measurement device |
| US7341221B1 (en) * | 2005-07-28 | 2008-03-11 | The United States Of America As Represented By The Sectretary Of The Army | Attitude determination with magnetometers for gun-launched munitions |
| CN103940425A (en) * | 2014-04-22 | 2014-07-23 | 北京信息科技大学 | Magnetic-inertial combination strapdown measuring method |
| CN105841698A (en) * | 2016-03-28 | 2016-08-10 | 中国船舶重工集团公司第七研究所 | AUV rudder angle precise real-time measurement system without zero setting |
| CN107063254A (en) * | 2016-12-27 | 2017-08-18 | 南京理工大学 | A kind of attitude algorithm method of gyro earth magnetism combination |
| CN107314718A (en) * | 2017-05-31 | 2017-11-03 | 中北大学 | High speed rotating missile Attitude estimation method based on magnetic survey rolling angular rate information |
| CN109211232A (en) * | 2018-09-07 | 2019-01-15 | 东南大学 | A kind of shell Attitude estimation method based on least squares filtering |
-
2019
- 2019-08-13 CN CN201910744521.0A patent/CN110514200B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001174283A (en) * | 1999-12-15 | 2001-06-29 | Daikin Ind Ltd | Rotary flying object attitude measurement device |
| US7341221B1 (en) * | 2005-07-28 | 2008-03-11 | The United States Of America As Represented By The Sectretary Of The Army | Attitude determination with magnetometers for gun-launched munitions |
| CN103940425A (en) * | 2014-04-22 | 2014-07-23 | 北京信息科技大学 | Magnetic-inertial combination strapdown measuring method |
| CN105841698A (en) * | 2016-03-28 | 2016-08-10 | 中国船舶重工集团公司第七研究所 | AUV rudder angle precise real-time measurement system without zero setting |
| CN107063254A (en) * | 2016-12-27 | 2017-08-18 | 南京理工大学 | A kind of attitude algorithm method of gyro earth magnetism combination |
| CN107314718A (en) * | 2017-05-31 | 2017-11-03 | 中北大学 | High speed rotating missile Attitude estimation method based on magnetic survey rolling angular rate information |
| CN109211232A (en) * | 2018-09-07 | 2019-01-15 | 东南大学 | A kind of shell Attitude estimation method based on least squares filtering |
Non-Patent Citations (2)
| Title |
|---|
| MURTY S. CHALLA等: "A Simple Attitude Unscented Kalman Filter: Theory and Evaluation in a Magnetometer-Only Spacecraft Scenario", 《IEEE ACCESS》 * |
| 曹红松等: "地磁陀螺组合弹药姿态探测技术研究", 《弹箭与制导学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986926A (en) * | 2019-12-05 | 2020-04-10 | 南京理工大学 | A method for measuring the rotation attitude of flying projectile based on geomagnetic elements |
| CN110986926B (en) * | 2019-12-05 | 2022-11-01 | 南京理工大学 | Flight projectile body rotation attitude measurement method based on geomagnetic elements |
| CN112146661A (en) * | 2020-09-28 | 2020-12-29 | 北京理工大学 | Geomagnetic auxiliary inertial attitude error coupling method |
| CN112729222A (en) * | 2020-12-14 | 2021-04-30 | 北京航空航天大学 | Real-time measurement method for position of pile digging rotating rod |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110514200B (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103245360B (en) | Carrier-borne aircraft rotation type strapdown inertial navigation system Alignment Method under swaying base | |
| US10309786B2 (en) | Navigational and location determination system | |
| CN109459027B (en) | A Navigation Method Based on Polarization-Geomagnetic Vector Compact Combination | |
| CN103196445B (en) | Based on the carrier posture measuring method of the earth magnetism supplementary inertial of matching technique | |
| CN103900611B (en) | Method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy | |
| CN103743413B (en) | Heeling condition modulated is sought northern instrument alignment error On-line Estimation and is sought northern error compensating method | |
| CN102901977B (en) | Method for determining initial attitude angle of aircraft | |
| CN104880192B (en) | A kind of carrier heading computing method based on polarization compass | |
| CN104698485A (en) | BD, GPS and MEMS based integrated navigation system and method | |
| US20110248706A1 (en) | Method and system for navigation using magnetic dipoles | |
| CN110926468A (en) | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment | |
| CN107063254B (en) | Gesture resolving method for gyros and geomagnetic combination | |
| US10514261B2 (en) | Gyromagnetic geopositioning system | |
| CN110514200B (en) | Inertial navigation system and high-rotation-speed rotating body attitude measurement method | |
| CN116734887B (en) | Polar region double-inertial navigation collaborative calibration method based on speed error correction model | |
| CN103604428A (en) | Star sensor positioning method based on high-precision horizon reference | |
| CN105910623B (en) | The method for carrying out the correction of course using magnetometer assisted GNSS/MINS tight integration systems | |
| CN108151765A (en) | Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error | |
| US9217639B1 (en) | North-finding using inertial navigation system | |
| CN104501809B (en) | Attitude coupling-based strapdown inertial navigation/star sensor integrated navigation method | |
| CN114322970B (en) | Dual gyroscope north-seeking method, system and storage medium | |
| CN106643726A (en) | Unified inertial navigation calculation method | |
| CN110986926B (en) | Flight projectile body rotation attitude measurement method based on geomagnetic elements | |
| CN115685193A (en) | Transmitting coordinate system integrated navigation method based on radar ranging | |
| CN104864870A (en) | Multi-degree-of-freedom combined attitude measurement method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |