CN111189447A - Low-pass filtering method of position measurement inertial navigation system - Google Patents
Low-pass filtering method of position measurement inertial navigation system Download PDFInfo
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- CN111189447A CN111189447A CN201811363081.6A CN201811363081A CN111189447A CN 111189447 A CN111189447 A CN 111189447A CN 201811363081 A CN201811363081 A CN 201811363081A CN 111189447 A CN111189447 A CN 111189447A
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- 238000001914 filtration Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 238000003672 processing method Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention belongs to the technical field of inertial navigation, and particularly relates to a low-pass filtering method of a position measurement inertial navigation system. According to the method, an ultra-low frequency filtering algorithm is added after the output data of the inertial device is compensated and before navigation calculation, so that the influence of high-frequency noise such as random error of the inertial device on the position measurement precision is eliminated. The method comprises the three steps of selecting a second-order low-pass filtering method, determining a gyroscope and an accelerometer, and obtaining a low-pass filtering processing formula. According to the method, Chebyshev low-pass filtering is added into error compensation of the inertial navigation system for the first time, and the ultralow-pass filtering parameters are designed according to the application characteristics of the track detection device.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a low-pass filtering method of a position measurement inertial navigation system.
Background
An inertial navigation system applied to a track detection position measuring device needs to accurately measure position data of a track. The inertial navigation system mainly comprises an inertial information sensitive device optical fiber gyroscope and an accelerometer, position measurement data also brings certain noise due to the fact that the inertial device has high-frequency noise such as random constants, random slopes and the like, when the inertial navigation system is applied to a general inertial navigation system, the noise error of the inertial device can be ignored due to the fact that the navigation resolving process is equivalent to integral processing of the inertial device, but when the track detection device is applied, firstly, the requirement on position measurement accuracy is high, and secondly, a data calculation method is different from other inertial navigation systems, and therefore the error must be processed.
Disclosure of Invention
The invention provides a low-pass filtering processing method for an inertial navigation system for measuring a track detection position.
According to the method, an ultra-low frequency filtering algorithm is added after the output data of the inertial device is compensated and before navigation calculation, so that the influence of high-frequency noise such as random error of the inertial device on the position measurement precision is eliminated.
In order to realize the purpose, the invention adopts the technical scheme that:
a low-pass filtering method of a position measurement inertial navigation system comprises the following three steps of selecting a second-order low-pass filtering method, determining a gyroscope and an accelerometer, and obtaining a low-pass filtering processing formula.
A low-pass filtering method of a position measurement inertial navigation system comprises the following steps of firstly, selecting a second-order low-pass filtering method;
according to the characteristics of the output data of the inertial device, a second-order low-pass filtering method is selected, and the transfer function is as follows:
the implementation form of formula (1) is:
y(k)＝a0x(k)+a1x(k-1)+a2x(k-2)-b1y(k-1)-b2y(k-2)……………(2)
(1) in formulae (2) and
a0、a1、a2、b1、b2is a filtering parameter;
y (k), y (k-1) and y (k-2) are respectively the filtering output results at the current moment (k moment), the k-1 moment and the k-2 moment;
x (k), x (k-1) and x (k-2) are filter input values at the current time (k time), k-1 time and k-2 time, respectively.
The second step is to determine a gyroscope and an accelerometer;
and determining that the gyroscope adopts 0.5Hz second-order low-pass filtering and the accelerometer adopts 1Hz second-order low-pass filtering according to the requirement characteristic of the track detection device on the position measurement data.
A low-pass filtering method of a position measurement inertial navigation system, the third step is to obtain a low-pass filtering processing formula;
respectively substituting the filtering parameters of the gyroscope and the accelerometer into the formula (2) to obtain a low-pass filtering processing formula, wherein the gyroscope filtering processing method is as the formula (3),
the filtering processing method of the accelerometer is as the formula (4).
The calculation in the formula (3) and the formula (4) is added in the inertial navigation system software, so that the low-pass filtering processing method is realized.
A low-pass filtering method for a position measurement inertial navigation system, byCalculating to obtain a filtering parameter of the gyroscope as a0＝0.0000098259，a1＝0.0000196518，a2＝0.0000098259， b1＝-1.99111429，b2＝0.9911535958。
A low-pass filtering method for position measurement inertial navigation system features that the accelerometer has the filtering parameter b0＝0.0000391302，b1＝0.0000782604，b2＝0.0000391302，a1＝1.9822289298， a2＝-0.9823854506。
The invention has the beneficial effects that:
according to the method, Chebyshev low-pass filtering is added into error compensation of the inertial navigation system for the first time, and the ultralow-pass filtering parameters are designed according to the application characteristics of the track detection device.
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Detailed Description
The present invention will be described in detail with reference to specific examples.
A low-pass filtering method of a position measurement inertial navigation system comprises the steps of selecting a second-order low-pass filtering method, determining a gyroscope and an accelerometer, and obtaining a low-pass filtering processing formula.
Step one, selecting a second-order low-pass filtering method
According to the characteristics of the output data of the inertial device, a second-order low-pass filtering method is selected, and the transfer function is as follows:
the implementation form of formula (1) is:
y(k)＝a0x(k)+a1x(k-1)+a2x(k-2)-b1y(k-1)-b2y(k-2)……………(2)
(2) in formulae (2) and
a0、a1、a2、b1、b2is a filtering parameter;
y (k), y (k-1) and y (k-2) are respectively the filtering output results at the current moment (k moment), the k-1 moment and the k-2 moment;
x (k), x (k-1) and x (k-2) are respectively filtering input values at the current moment (k moment), the k-1 moment and the k-2 moment;
step two, determining a gyroscope and an accelerometer
And determining that the gyroscope adopts 0.5Hz second-order low-pass filtering and the accelerometer adopts 1Hz second-order low-pass filtering according to the requirement characteristic of the track detection device on the position measurement data.
The filtering parameter of the gyroscope is calculated to be a0＝0.0000098259 a1＝0.0000196518 a2＝0.0000098259 b1＝-1.99111429 b2＝0.9911535958
The filter parameter of the accelerometer is b0＝0.0000391302 b1＝0.0000782604 b2＝0.0000391302a1＝1.9822289298 a2＝-0.9823854506
Step three, acquiring a low-pass filtering processing formula
And (3) respectively substituting the filtering parameters of the gyroscope and the accelerometer into the formula (2) to obtain a low-pass filtering processing formula. The gyro filtering processing method is as formula (3).
The filtering processing method of the accelerometer is as the formula (4).
The calculation in the formula (3) and the formula (4) is added in the inertial navigation system software, so that the low-pass filtering processing method is realized.
Claims (7)
1. A low-pass filtering method of a position measurement inertial navigation system comprises three steps, and is characterized in that: selecting a second-order low-pass filtering method, determining a gyroscope and an accelerometer, and acquiring a low-pass filtering processing formula.
2. A method of low-pass filtering of a position measurement inertial navigation system, as claimed in claim 1, wherein: the first step is to select a second-order low-pass filtering method;
according to the characteristics of the output data of the inertial device, a second-order low-pass filtering method is selected, and the transfer function is as follows:
the implementation form of formula (1) is:
y(k)＝a0x(k)+a1x(k-1)+a2x(k-2)-b1y(k-1)-b2y(k-2)……………(2)
(1) in formulae (2) and
a0、a1、a2、b1、b2is a filtering parameter;
y (k), y (k-1) and y (k-2) are respectively the filtering output results at the current moment (k moment), the k-1 moment and the k-2 moment;
x (k), x (k-1) and x (k-2) are filter input values at the current time (k time), k-1 time and k-2 time, respectively.
3. A method of low-pass filtering of a position measurement inertial navigation system, as claimed in claim 1, wherein: secondly, determining a gyroscope and an accelerometer;
and determining that the gyroscope adopts 0.5Hz second-order low-pass filtering and the accelerometer adopts 1Hz second-order low-pass filtering according to the requirement characteristic of the track detection device on the position measurement data.
4. A method of low-pass filtering of a position measurement inertial navigation system, as claimed in claim 1, wherein: thirdly, acquiring a low-pass filtering processing formula;
respectively substituting the filtering parameters of the gyroscope and the accelerometer into the formula (2) to obtain a low-pass filtering processing formula, wherein the gyroscope filtering processing method is as the formula (3),
the filtering processing method of the accelerometer is as the formula (4).
The calculation in the formula (3) and the formula (4) is added in the inertial navigation system software, so that the low-pass filtering processing method is realized.
5. A method of low-pass filtering of a position measurement inertial navigation system according to claim 3, characterized in that: the filtering parameter of the gyroscope is calculated to be a0＝0.0000098259，a1＝0.0000196518，a2＝0.0000098259，b1＝-1.99111429，b2＝0.9911535958。
6. A method of low-pass filtering of a position measurement inertial navigation system according to claim 3, characterized in that: the filter parameter of the accelerometer is b0＝0.0000391302，b1＝0.0000782604，b2＝0.0000391302，a1＝1.9822289298，a2＝-0.9823854506。
7. A method of low-pass filtering of a position measurement inertial navigation system, as claimed in claim 1, wherein: the method is applied to an inertial navigation system for measuring the track detection position.
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Cited By (1)
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| CN112378418A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨理工大学 | Gyro signal high-order low-pass filtering and hysteresis compensation method |
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