CN111781624A - Universal combined navigation system and method - Google Patents
Universal combined navigation system and method Download PDFInfo
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- CN111781624A CN111781624A CN202010792375.1A CN202010792375A CN111781624A CN 111781624 A CN111781624 A CN 111781624A CN 202010792375 A CN202010792375 A CN 202010792375A CN 111781624 A CN111781624 A CN 111781624A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- 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
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention relates to the field of navigation, and provides a universal integrated navigation system, which comprises: combining a navigation module and a universal interface circuit; the integrated navigation module is at least used for completing inertial navigation calculation by utilizing the measurement data of the gyroscope and the accelerometer and completing integrated navigation calculation by combining the measurement data of the sensor; the combined navigation module comprises a hardware layer and a software layer, wherein the hardware layer is connected with the general interface circuit and supports the operation of the software layer; the universal interface circuit is at least used for connecting sensors with different interface types and other system external equipment; the universal interface circuit can be directly connected with sensors in most navigation related industries, and is conveniently applied to airborne, vehicular, shipborne and underwater combined navigation.
Description
Technical Field
The invention relates to the field of navigation, in particular to a universal integrated navigation system and a universal integrated navigation method.
Background
The navigation technologies commonly used in modern times mainly include inertial navigation, satellite navigation, astronomical navigation, radio navigation, and the like. Only inertial navigation is completely autonomous, and signals are not radiated to the outside or received from the outside.
Inertial Navigation (INS) only depends on the movement of a gyroscope and an accelerometer sensitive carrier under an Inertial System, realizes global and all-weather provision of comprehensive Navigation information, and is an independent and autonomous Navigation technology. The method has the outstanding advantages of continuous output of carrier position speed and attitude information, high short-time navigation precision, complete independence and autonomy and the like. The inertial navigation system has been gradually popularized in the fields of aerospace, aviation, navigation, oil development, geodetic survey, marine survey, geological drilling control, robotics, railways and the like, and with the emergence of novel inertial sensitive devices, the inertial technology is applied to the automobile industry and medical electronic equipment. The inertial navigation system not only plays a very important role in national defense modernization, but also increasingly shows its great role in various fields of national economy.
However, the inertial navigation system has the defect that the inertial navigation system cannot overcome the influence of the error drift of the self inertial device, and the navigation error is accumulated along with the time. An actual navigation system usually takes an inertial navigation system as a main navigation system, is assisted by other navigation means such as astronomical navigation, satellite navigation, radio navigation, terrain matching assistance/visual navigation and the like, and performs advantage complementation by combining navigation technologies to improve the overall performance of the navigation system. Combined navigation is the result of recent navigation theory and technology developments. By combining different navigation modes, higher navigation performance can be obtained than when either system is used alone, and therefore, the combined navigation system is researched and applied more and more widely.
In different industrial applications, the existing integrated navigation system usually uses an inertial navigation system as a core, and combines different sensors and integrated navigation models to realize integrated navigation. The combination mode adopted by the combined navigation system of the common carrier is as follows: the airborne integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), altimeter and the like; the vehicle-mounted integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), odometer (ODO) and the like; the shipborne integrated navigation adopts the combination of Inertial Navigation (INS), satellite navigation (GNSS), velocimeter (DVL) and the like; the underwater combined navigation adopts the combination of Inertial Navigation (INS), a velometer (DVL), a depth meter, a baseline system (BL) and the like.
In different types of industrial applications, because the sensor and the combined navigation model are different, the prior art scheme usually adopts different combined navigation systems, needs to adopt different systems, models, hardware and software, and obviously improves the system cost and the application difficulty.
Furthermore, inertial navigation and combined navigation output navigation data in many industrial applications (intelligent driving, track inspection and pipeline survey) are intermediate results and often require the incorporation of additional hardware and technology to achieve the final results and functionality.
Therefore, it is urgently needed to develop a general integrated navigation system, which can meet the requirement that different integrated navigation modes are directly applied to the same integrated navigation system, and can directly resolve and output final industry measurement results through navigation data and sensor data.
Disclosure of Invention
In order to realize that a plurality of different combined navigation modes can be applied to the same combined navigation model and the combined navigation model can calculate navigation data aiming at different combined navigation modes, the invention provides a general combined navigation system and a method thereof.
According to a first aspect of the present invention, there is provided a universal integrated navigation system comprising: combining a navigation module and a universal interface circuit; wherein,
the integrated navigation module is at least used for completing inertial navigation calculation by utilizing the measurement data of the gyroscope and the accelerometer and completing integrated navigation calculation by combining the measurement data of other sensors;
the combined navigation module comprises a hardware layer and a software layer, the hardware layer is connected with a plurality of universal interface circuits and supports the operation of the software layer, and the software layer comprises a navigation resolving module, a system error correcting module, an optimal estimation module and a result output module;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation by utilizing measurement data of the gyroscope and the accelerometer;
the optimal estimation module performs optimal estimation on system errors by using the output result of the navigation resolving module and the measurement data of the sensor, and is used for realizing the functions of attitude integrated navigation, speed integrated navigation and position integrated navigation;
the system error correction module is at least used for correcting the system error according to the output result of the optimal estimation module;
the result output module is used for outputting measurement result data;
the universal interface circuit is at least used for connecting sensors with different interface types and other external equipment of the system.
According to an exemplary embodiment of the present invention, the software layer of the integrated navigation module further includes an industry measurement calculation module, and the industry measurement calculation module is connected to the navigation calculation module, the optimal estimation module and the result output module, and is configured to complete measurement model calculation and error compensation in an onboard, shipborne or underwater specific industry application.
According to an example embodiment of the present invention, the software layer of the integrated navigation module further includes one or more of an error compensation module, a fault detection module, a gravity anomaly resolving module, a dynamics resolving module and a motion constraint resolving module; wherein,
the error compensation module is used for carrying out error compensation on the accessed sensor data;
the fault detection module is used for carrying out fault detection on the data output by the error compensation module;
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation resolving module;
the dynamic resolving module is used for resolving a dynamic motion model and compensating errors;
the motion constraint solving module is used for solving a motion constraint model and compensating errors in specific industry application.
According to an example embodiment of the present invention, the system error correction module is further configured to correct a gravity anomaly error.
According to an example embodiment of the present invention, the integrated navigation module further includes a data storage module, and the data storage module is configured to store various raw data and result data in real time, including inertial navigation data (gyro and accelerometer data and result data of inertial navigation solution), navigation data of other sensors and inertial navigation data combination, system state data, external sensor data, servo control data, and intelligent driving data.
According to an example embodiment of the present invention, the hardware layer of the integrated navigation module includes an SOC chip, an FPGA, a DRAM, and a solid state disk;
the SOC chip provides support for operation and control for the software layer;
the FPGA is connected with the SOC chip and the universal interface circuit and at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip;
the DRAM is connected with the SOC chip and used for storing data;
the solid state disk is connected with the SOC chip and used for storing data.
According to an example embodiment of the present invention, each universal interface circuit includes four hardware interfaces, respectively a synchronous interface, an analog interface, a digital interface, and a communication interface;
the synchronous interface is used for synchronizing the input signal and the output signal;
the analog interface is used for connecting the sensor and analog interfaces of other system external devices;
the digital interface is used for connecting the sensor and other digital interfaces of external devices of the system;
the communication interface is used for connecting the sensor and communication interfaces of other system external devices, and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface.
According to an example embodiment of the present invention, each communication interface circuit includes a four-layer structure, which is an interface link layer, an interface device layer, a device driver layer, and a device application layer in sequence;
the interface link layer is used for providing electrical connection and level standard conversion hardware of the sensor and other system external equipment and the four interfaces;
the interface equipment layer is used for providing function realization hardware of a synchronous interface, an analog interface, a digital interface and a communication interface, and comprises an FPGA circuit, an ADC circuit, a DAC circuit, an operational amplifier circuit and an SOC communication interface circuit;
the device driver layer is used for providing a general interface driver;
the device application layer is used for completing the functions of interface device initialization, state monitoring, data communication and device control.
According to an example embodiment of the present invention, the universal integrated navigation system further includes an external temperature sensor, the external temperature sensor being connected to the universal interface circuit.
According to an example embodiment of the present invention, the general integrated navigation system further includes an inertial device circuit, the inertial device circuit is connected to the FPGA of the hardware layer of the integrated navigation module, and is configured to connect the gyros, the accelerometers, and the temperature sensors of different interface types;
the inertial device circuit comprises an ADC, an operational amplifier circuit, an I/F conversion circuit, a laser gyro interface circuit, a fiber-optic gyro interface circuit and an MEMS digital interface circuit;
the operational amplifier circuit is used for collecting analog voltage signals and comprises analog voltage signals of a temperature sensor, an MEMS gyroscope and an MEMS accelerometer which output analog voltages;
the ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA;
the I/F conversion circuit is used for receiving an analog current signal, converting the analog current signal into a digital signal and sending the digital signal to the FPGA, wherein the analog current signal comprises an analog current signal of the quartz accelerometer;
the laser gyro interface circuit is used for connecting and processing an output signal of the laser gyro and sending the output signal to the FPGA;
the optical fiber gyroscope interface circuit is used for connecting and processing an output signal of the optical fiber gyroscope and sending the output signal to the FPGA;
the MEMS digital interface circuit is used for acquiring signals of the MEMS gyroscope and the MEMS accelerometer with the digital interface to the FPGA.
According to an example embodiment of the present invention, the universal integrated navigation system further comprises an internal temperature sensor, the internal temperature sensor is electrically connected to the inertial device for measuring the temperature of the gyroscope, the accelerometer and the circuit of the universal integrated navigation system.
According to an example embodiment of the present invention, the general integrated navigation system further comprises a gyro and an accelerometer, the gyro comprising a laser gyro, a fiber optic gyro or a MEMS gyro; the accelerometer comprises a quartz accelerometer or a MEMS accelerometer.
According to an example embodiment of the present invention, the other sensors include a satellite navigation receiver, an odometer, a speedometer, an altimeter, a depth meter, an external temperature sensor, an industry measurement sensor, and a star sensor, and the other system external devices include an intelligent driving system, a servo control system, and an upper computer.
According to an exemplary embodiment of the present invention, the universal integrated navigation system further includes a power supply circuit for converting an external input power into various power required inside the system.
According to a second aspect of the present invention, there is provided a universal integrated navigation method, comprising the steps of:
s101: collecting measurement data of a gyroscope, an accelerometer and a sensor;
s102: carrying out inertial navigation calculation by using measurement data of a gyroscope and an accelerometer;
s103: performing optimal estimation on system errors by using inertial navigation data resolved by inertial navigation and measurement data of a sensor;
s104: correcting errors of the combined navigation system according to the optimal estimation result;
s105: and outputting the measurement result.
According to an example embodiment of the present invention, in step S101, the sensor data includes temperature data, satellite navigation data, odometer data, altimeter data, speedometer data, depth meter data, and smart driving data.
According to an exemplary embodiment of the present invention, in step S101, after acquiring data of the gyroscope, the accelerometer, and the sensor, error compensation and fault detection are performed on the data.
According to an exemplary embodiment of the present invention, step S101 further includes performing dynamics calculation after performing fault detection on the intelligent driving data, where the dynamics calculation method includes: and the motion parameter calculation and error compensation are carried out by using data such as an accelerator, a brake, a steering wheel, a rudder, a wheel speed, an airspeed and the like provided by the intelligent driving system and a motion model.
According to an example embodiment of the present invention, in step S102, the inertial navigation solution method includes:
correcting the system error by combining the gravity anomaly data;
and combining the gyroscope data, the accelerometer data and the data after system error correction to complete attitude calculation, speed calculation and position calculation of inertial navigation, and improving navigation calculation precision by adopting cone error compensation, paddle error compensation and scroll error compensation methods in the calculation process.
According to an exemplary embodiment of the present invention, in step S103, the method for optimally estimating includes optimally estimating the system error by using kalman filtering, extended kalman filtering, unscented kalman filtering or least square method.
According to an exemplary embodiment of the present invention, in step S103, when performing the optimal estimation, performing the combined navigation calculation and the optimal estimation through the attitude data measured by one or more sensors or devices having the attitude measurement function, thereby implementing the attitude combined navigation function; the data measured by a single or a plurality of sensors or equipment with speed measurement function is optimally estimated, so that the speed combined navigation function is realized; the position data measured by a single or a plurality of sensors or devices with position measurement function is optimally estimated, thereby realizing the position combination navigation function.
According to an example embodiment of the present invention, a sensor or device with attitude measurement functionality includes a satellite navigation receiver, a star sensor, a photogrammetric camera, a lidar, a smart driving system, a total station, or other inertial navigation system. Sensors or devices with speed measurement capabilities include odometers, speedometers, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other navigation systems. Sensors or devices with position measurement capabilities include odometers, speedometers, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, smart driving systems or other inertial navigation systems.
According to an example embodiment of the present invention, step S103 further includes performing an optimal estimation on the motion constraint solved data.
According to an exemplary embodiment of the present invention, in step S103, after performing the optimal estimation, the industry measurement calculation is performed on the data of the industry measurement sensor and the result of the optimal estimation.
The invention has the beneficial effects that:
the invention provides a universal combined navigation system, which can be flexibly applied to airborne, vehicle-mounted, shipborne and underwater combined navigation compared with the existing combined navigation system, and has the specific advantages that:
1) the invention adopts a novel universal combined navigation system and a sensor access method, has the capability of flexibly accessing different sensors and combined navigation, can be conveniently applied to airborne, vehicular, shipborne and underwater combined navigation, and can be directly accessed to the sensors of most related industries.
2) The universal integrated navigation system provided by the invention has the advantages that the industrial measurement sensor access function and the industrial measurement model resolving and error compensating functions are added, the measurement result data required by industrial application can be directly output, and the integration level, reliability and usability of the system are obviously improved.
3) The universal integrated navigation system provided by the invention is added with the functions of gravity anomaly calculation, dynamics calculation, motion constraint calculation and related error compensation, and can effectively improve the measurement accuracy and reliability of the system.
4) The universal integrated navigation system adopts the fault detection module and the method with the unified structure to detect the abnormality and the fault of the external sensor data and the internal sensor data, and can effectively improve the reliability of the system.
5) The universal interface circuit has the functions of high-precision hardware synchronization, high-precision analog input and output, customized digital input and output and various standard communications (network, serial port, CAN, USB and the like), and CAN meet the connection requirements of external sensors and equipment of most (airborne, vehicular, shipborne, underwater and the like) combined navigation systems; the general interface circuit divides the related hardware and software of the interface circuit into four layers, and adopts a hardware and software deep optimization method, so that the universality, reliability and convenience of the interface circuit can be obviously improved; meanwhile, the universal interface circuit has a software configurable function, and can change the interface function and connect different external sensors and equipment by modifying the configuration parameters of the equipment driving layer.
6) The invention adopts the inertial device circuit, can receive signals of different types of gyros and accelerometers, and improves the universality of the system.
7) By adopting the optimal estimation module, the attitude integrated navigation function, the speed integrated navigation function and the position integrated navigation function can be realized.
Drawings
FIG. 1 is a structural relationship diagram of a generic integrated navigation system;
FIG. 2 is a block diagram of the module relationship within the integrated navigation module;
FIG. 3 is a diagram of the hardware connections inside and outside the combined navigation module;
FIG. 4 is a diagram of the hardware connections of the inertial device circuit;
FIG. 5 is an interface block diagram of a universal interface circuit;
FIG. 6 is a hierarchical diagram of a generic interface circuit.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
According to a first embodiment of the present invention, the present invention provides a general integrated navigation system, as shown in fig. 1, comprising: the system comprises a gyroscope, an accelerometer, a combined navigation module, an inertial device circuit, a plurality of universal interface circuits, an internal temperature sensor, an external temperature sensor and a power supply circuit.
The gyroscope includes a laser gyroscope, a fiber optic gyroscope, or a MEMS gyroscope. The accelerometer comprises a quartz accelerometer or a MEMS accelerometer.
The integrated navigation module is at least used for completing inertial navigation calculation by utilizing the measurement data of the gyroscope and the accelerometer and completing integrated navigation calculation by combining the measurement data of the sensor, and the integrated navigation module can adopt a navigation computer or other equipment.
The combined navigation module comprises a hardware layer and a software layer, wherein the hardware layer is connected with a plurality of universal interface circuits and inertia device circuits and supports the operation of the software layer.
As shown in fig. 2, the software layer includes a plurality of error compensation modules, a plurality of fault detection modules, a navigation solution module, a gravity anomaly solution module, a system error correction module, a dynamics solution module, a motion constraint solution module, an optimal estimation module, an industry measurement solution module, a result output module, and a data storage module.
The error compensation module is used for carrying out error compensation on the accessed sensor data, and the accessed sensor data comprises: industry measurement sensor data, gyroscopic data, accelerometer data, temperature data, satellite navigation data, odometer data, velocimeter data, altimeter data, depth meter data, other sensor data, and intelligent driving data.
The fault detection module is used for carrying out fault detection on the data output by the error compensation module, so that the interference of abnormity and fault data can be avoided, and the reliability and the measurement precision of the system are obviously improved.
The navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation according to the gyro data, the accelerometer data and the data output by the system error correction module, and transmitting the attitude resolving, the speed resolving and the position resolving to the optimal estimation module.
The gravity anomaly calculation module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation calculation module.
And the system error correction module is used for correcting the system error and the gravity abnormal error according to the data and the gravity abnormal data output by the optimal estimation module and outputting the system error and the gravity abnormal error to the navigation calculation module.
The dynamics resolving module carries out motion parameter resolving and error compensation based on motion constraint characteristics applied in specific industries such as vehicle-mounted and ship-mounted industries.
The motion constraint solving module is used for solving motion constraint models of the intelligent driving data in specific industry application and compensating errors.
And the optimal estimation module is used for performing optimal estimation on the system error.
The industry measurement calculating module is used for completing measurement model calculation and error compensation in specific industry application by combining the data of the industry measurement sensor and the data of the optimal estimation module.
The result output module is used for outputting measurement result data, including inertial navigation data (gyroscope and accelerometer data and result data of inertial navigation resolving), navigation data combined by other sensors and inertial navigation data, system state data, external sensor data, servo control data and intelligent driving data.
The data storage module is used for storing various original data and result data in real time, wherein the original data and the result data comprise inertial navigation data (gyroscope and accelerometer data and result data of inertial navigation calculation), navigation data combined by other sensors and the inertial navigation data, system state data, external sensor data, servo control data and intelligent driving data.
As shown in fig. 3, the hardware layer includes an SOC chip, an FPGA, a DRAM, and a solid state disk. The SOC chip provides operation and control support for the software layer, and the SOC chip adopts series of high-performance low-POWER consumption single-core or multi-core SOC chips such as X86, ARM, POWER or MIPS. The FPGA is connected with the SOC chip and the universal interface circuit, at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip, and used for carrying out high-speed data exchange with the SOC by adopting PCIe, SATA, PATA, eMMC or an SOC local bus interface and also used for controlling external equipment. The DRAM is connected with the SOC chip and used for high-capacity high-speed data dynamic storage, and the type DRAM chips such as SDRAM, DDRSDRAM, DDR2 SDRAM, DDR3 SDRAM, DDR4 SDRAM or DDR5 SDRAM and the like are adopted. The solid state disk is connected with the SOC chip and used for static storage of high-capacity sensor data, state data and result data, and the high-capacity Flash chip adopts an eMMC, PATA, SATA, PCIe or SOC local bus interface.
The inertial device circuit is at least used for acquiring gyro data, accelerometer data and data of an internal temperature sensor of different interface types and sending the gyro data, the accelerometer data and the data of the internal temperature sensor to the FPGA of the combined navigation module. As shown in fig. 4, the inertial device circuit is connected to the FPGA of the hardware layer of the integrated navigation module, and includes an ADC, an operational amplifier circuit, an I/F conversion circuit, a laser gyro interface circuit, a fiber-optic gyro interface circuit, and an MEMS digital interface circuit.
The operational amplifier circuit is used for collecting analog voltage signals and comprises analog voltage signals of an internal temperature sensor, an MEMS gyroscope and an MEMS accelerometer which output analog voltages.
The ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA.
The I/F conversion circuit is used for receiving an analog current signal, converting the analog current signal into a digital signal and sending the digital signal to the FPGA, wherein the analog current signal comprises an analog current signal of the quartz accelerometer.
The laser gyro interface circuit is used for connecting and processing the output signal of the laser gyro and sending the output signal to the FPGA.
The optical fiber gyro interface circuit is used for connecting and processing an output signal of the optical fiber gyro and sending the output signal to the FPGA.
The MEMS digital interface circuit is used for collecting signals of the MEMS gyroscope and the MEMS accelerometer with the digital interface to the FPGA.
The internal temperature sensor is connected with the inertial device circuit and used for measuring the temperature of the gyroscope, the accelerometer and the circuit, performing temperature compensation and improving the measurement precision of the system.
Each universal interface circuit includes a synchronization interface, an analog interface, a digital interface, and a communication interface (as shown in fig. 5), and a plurality of universal interface circuits are used at least for connecting sensors of different interface types and other system external devices.
The universal interface circuit can be connected with system internal temperature sensors, external sensors and other system devices of different interface types, mainly because the universal interface circuit comprises the sensor of different interface types and the access end of the device, as shown in fig. 5, the universal interface circuit is respectively a synchronous interface, an analog interface, a digital interface and a communication interface.
The synchronous interface is used for synchronizing an input signal and an output signal, the synchronous interface can input an external constant signal or a synchronous signal (including PPS (pulse per second) of a satellite navigation receiver and external equipment trigger input) and can also output a clock signal and a synchronous signal (including a trigger signal and a reset signal) in a system, the synchronous interface performs high-precision synchronization by adopting a hardware synchronization method, and the synchronization precision can reach nanosecond level.
The analog interface has high-precision analog signal input and output functions, can be conveniently connected with various analog interface sensors and equipment of the system, and is used for connecting the internal temperature sensor, the external sensor and analog interfaces of other system external equipment.
The digital interface has programmable digital signal input and output functions, can be conveniently connected with various specific digital signal interface sensors and equipment (including an encoder, a counter, a PWM controller, SPI interface equipment, DyMos interface equipment and the like) outside the system, can be conveniently connected with different digital interface sensors by modifying an FPGA program mode, and is used for connecting the digital interfaces of external sensors and other system external equipment.
The communication interface is used for connecting an external sensor and communication interfaces of other system external equipment, and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface; the network interface is used for connecting various sensors and devices with network interfaces (including network interfaces with different transmission rates of 10Mbps, 100Mbps, 1000Mbps and the like); the serial port is used for connecting various sensors and devices with serial ports (including serial ports of RS232, RS422, RS485 and the like); the CAN interface is used for connecting various sensors and equipment with the CAN interface; the USB interface is used to connect various sensors and devices having the USB interface.
Through different interfaces, the universal interface circuit can be conveniently connected with common external sensors (comprising a satellite navigation receiver, an altimeter, a speedometer, a velometer, a depth meter, an external temperature sensor, an industry measurement sensor, other sensors and the like) and other equipment (comprising a baseline system, an upper computer, an intelligent driving system, a servo control system and the like) in an airborne, vehicle-mounted, ship-mounted and underwater combined navigation system.
As shown in fig. 6, the universal interface circuit includes four layers, which are an interface link layer, an interface device layer, a device driver layer, and a device application layer in sequence.
The interface link layer is connected with a sensor of the integrated navigation or other system external equipment and is used for providing electrical connection and level standard conversion hardware of the external equipment and the four interfaces.
The interface device layer comprises a synchronous interface, an analog interface, a digital interface and communication interface related function realization hardware, namely an FPGA circuit, an ADC circuit, a DAC circuit, an operational amplifier circuit and an SOC communication interface circuit, and is used for converting the signal circuit and transmitting the converted signal circuit to the device driving layer.
The device driver layer is used for providing a universal interface driver, including universal interface drivers of various devices, and can conveniently change the interface function and connect different sensors and devices for combined navigation by modifying the configuration parameters of the devices.
The device application layer comprises application programs of various interface devices and is used for completing the functions of interface device initialization, state monitoring, data communication and device control.
The interface link layer and the interface device layer are interface related hardware, different links and interface devices are arranged for different interfaces by the interface link layer and the interface device layer, the interface link layer comprises a synchronous interface link, an analog interface link, a digital interface link and a communication interface link, and the interface device layer comprises the synchronous interface device, the analog interface device, the digital interface device and the communication interface device. The device driver layer and the device application layer are interface related software. The general interface circuit carries out a layering method on the functions, logics and standardization of hardware and software related to the interface circuit according to the requirements of the integrated navigation system, and the universality, reliability and convenience of the interface circuit can be obviously improved through deep optimization of the hardware and the software.
The power supply circuit is used for converting an external input power supply into various power supplies required inside the system.
Because the combined navigation system of the airborne, the vehicular, the shipborne and the underwater can be applied to the inertial navigation system, but the interface of a gyro and an accelerometer required by each inertial navigation system is different, and the interface of a sensor used in combination with the inertial navigation system is also different, the gyro and the accelerometer with different interface types can be connected by adopting an inertial device circuit, and the sensor with different interface types and other system equipment (including equipment for inputting data and equipment for outputting data) can be connected by adopting a universal interface circuit. The general integrated navigation system carries out navigation calculation according to the data of the gyroscope and the accelerometer, then combines the data of the sensor to calculate a final result, and then outputs the result through the general interface circuit, so that the general integrated navigation system can be directly applied to different industries such as airborne, vehicle-mounted, ship-mounted and underwater.
The method adopts a general integrated navigation system to carry out integrated navigation, and comprises the following steps:
s101: and collecting the measurement data of the gyroscope, the accelerometer and the sensor, and carrying out error compensation and fault detection on the data. If the intelligent driving data is included in the sensor data, dynamic solution is carried out on the intelligent driving data. The method of kinetic resolution comprises: and the motion parameter calculation and error compensation are carried out by using data such as an accelerator, a brake, a steering wheel, a rudder, a wheel speed, an airspeed and the like provided by the intelligent driving system and a motion model.
S102: correcting the system error by combining the gravity anomaly data; and combining the gyroscope data, the accelerometer data and the data after system error correction to complete attitude calculation, speed calculation and position calculation of inertial navigation, and improving navigation calculation precision by adopting cone error compensation, paddle error compensation and scroll error compensation methods in the calculation process.
S103: and performing optimal estimation on the system error by using optimal estimation methods such as Kalman filtering, extended Kalman filtering, unscented Kalman filtering or least square method and the like on inertial navigation data and sensor data which are subjected to inertial navigation solution.
When the optimal estimation is carried out, the attitude data measured by a single or a plurality of sensors or equipment with the attitude measurement function is used for carrying out the integrated navigation calculation and the optimal estimation, thereby realizing the attitude integrated navigation function; the data measured by a single or a plurality of sensors or equipment with speed measurement function is optimally estimated, so that the speed combined navigation function is realized; the position data measured by a single or a plurality of sensors or devices with position measurement function is optimally estimated, thereby realizing the position combination navigation function. The sensor or equipment with the attitude measurement function comprises a satellite navigation receiver, a star sensor, a photogrammetric camera, a laser radar, an intelligent driving system, a total station or other inertial navigation systems. Sensors or devices with speed measurement capabilities include odometers, speedometers, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, intelligent driving systems or other navigation systems. Sensors or devices with position measurement capabilities include odometers, speedometers, altimeters, depth meters, satellite navigation receivers, star sensors, photogrammetry cameras, lidar, smart driving systems or other inertial navigation systems.
And after the optimal estimation is carried out, carrying out industry measurement calculation on the data of the industry measurement sensor and the optimal estimation result.
S104: and correcting the error of the combined navigation system according to the optimal estimation result.
S105: and outputting the measurement result.
The general integrated navigation system receives different sensor data through a general interface circuit, performs navigation calculation on the sensor data through the integrated navigation module, outputs inertial navigation data, navigation data of inertial navigation and sensor combination, system state data, various sensor data, servo control data and intelligent driving data, can meet the connection requirements of most sensors and external equipment and the use requirements of various integrated navigation systems, and is high in measurement precision, reliable and firm in calculation and easy to use.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A universal integrated navigation system, comprising: combining a navigation module and a universal interface circuit; wherein,
the integrated navigation module is at least used for completing inertial navigation calculation by utilizing the measurement data of the gyroscope and the accelerometer and completing integrated navigation calculation by combining the measurement data of the sensor;
the combined navigation module comprises a hardware layer and a software layer, the hardware layer is connected with the general interface circuit and supports the operation of the software layer, and the software layer comprises a navigation resolving module, a system error correcting module, an optimal estimation module and a result output module;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving of inertial navigation by utilizing measurement data of the gyroscope and the accelerometer;
the optimal estimation module performs optimal estimation on system errors by using the output result of the navigation resolving module and the measurement data of the sensor, and is used for realizing the functions of attitude integrated navigation, speed integrated navigation and position integrated navigation;
the system error correction module is at least used for correcting the system error according to the output result of the optimal estimation module;
the result output module is used for outputting measurement result data;
the universal interface circuit is at least used for connecting sensors with different interface types and other external equipment of the system.
2. The universal integrated navigation system according to claim 1, wherein the software layer of the integrated navigation module further comprises an industry measurement solution module, and the industry measurement solution module is connected with the navigation solution module, the optimal estimation module and the result output module, and is used for completing measurement model solution and error compensation in airborne, vehicular, shipborne or underwater specific industry applications.
3. The universal integrated navigation system according to claim 1, wherein the software layer of the integrated navigation module further comprises one or more of a gravity anomaly solution module, an error compensation module, a fault detection module, a dynamics solution module, a motion constraint solution module, and a data storage module; wherein,
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted by the navigation resolving module;
the error compensation module is used for carrying out error compensation on the accessed sensor data;
the fault detection module is used for carrying out fault detection on the data output by the error compensation module;
the dynamic resolving module is used for completing dynamic motion model resolving and error compensation;
the motion constraint resolving module is used for resolving a motion constraint model and compensating errors in specific industrial application;
the data storage module is used for storing various original data and result data in real time.
4. The universal integrated navigation system according to claim 1, wherein the hardware layer of the integrated navigation module comprises an SOC chip, an FPGA, a DRAM, and a solid state disk;
the SOC chip provides support for operation and control for the software layer;
the FPGA is connected with the SOC chip and the universal interface circuit and at least used for collecting signals of the gyroscope, the accelerometer and the sensor and transmitting the signals to the SOC chip;
the DRAM is connected with the SOC chip and used for storing data;
the solid state disk is connected with the SOC chip and used for storing data.
5. The universal integrated navigation system according to claim 4, wherein each universal interface circuit includes four hardware interfaces, respectively a synchronization interface, an analog interface, a digital interface, and a communication interface; the synchronous interface is used for synchronizing the input signal and the output signal;
the analog interface is used for connecting the sensor and analog interfaces of other system external devices;
the digital interface is used for connecting the sensor and other digital interfaces of external devices of the system;
the communication interface is used for connecting the sensor and communication interfaces of other system external devices, and comprises a network interface, a serial port, a CAN interface, a USB interface, an optical fiber interface and a wireless interface.
6. The universal integrated navigation system according to claim 5, wherein each universal interface circuit comprises a four-layer structure: the device comprises an interface link layer, an interface device layer, a device driving layer and a device application layer;
the interface link layer is used for providing electrical connection and level standard conversion hardware of the sensor and other system external equipment and the four interfaces;
the interface equipment layer is used for providing function realization hardware of a synchronous interface, an analog interface, a digital interface and a communication interface, and comprises an FPGA circuit, an ADC circuit, a DAC circuit, an operational amplifier circuit and an SOC communication interface circuit;
the device driver layer is used for providing drivers of the four interfaces;
the device application layer is used for completing device initialization, state monitoring, data communication and device control functions of the four interfaces.
7. The universal integrated navigation system according to claim 4, further comprising an inertial device circuit connected to the FPGA of the hardware layer of the integrated navigation module for connecting the gyros, accelerometers and temperature sensors of different interface types;
the inertial device circuit comprises an ADC, an operational amplifier circuit, an I/F conversion circuit, a laser gyro interface circuit, a fiber-optic gyro interface circuit and an MEMS digital interface circuit;
the operational amplifier circuit is used for collecting analog voltage signals and comprises analog voltage signals of a temperature sensor, an MEMS gyroscope and an MEMS accelerometer which output analog voltages;
the ADC converts the analog voltage signal into a digital signal and sends the digital signal to the FPGA;
the I/F conversion circuit is used for receiving an analog current signal, converting the analog current signal into a digital signal and sending the digital signal to the FPGA, wherein the analog current signal comprises an analog current signal of the quartz accelerometer;
the laser gyro interface circuit is used for connecting and processing an output signal of the laser gyro and sending the output signal to the FPGA;
the optical fiber gyroscope interface circuit is used for connecting and processing an output signal of the optical fiber gyroscope and sending the output signal to the FPGA;
the MEMS digital interface circuit is used for acquiring signals of the MEMS gyroscope and the MEMS accelerometer with the digital interface to the FPGA.
8. The universal integrated navigation system of claim 7, further comprising an internal temperature sensor coupled to the universal interface circuit for measuring the temperature of the gyros, accelerometers, and circuitry of the integrated navigation system, wherein the error compensation is performed using the measured temperature data and the temperature model.
9. The universal integrated navigation system according to claim 1, wherein the other sensors include a satellite navigation receiver, an odometer, a speedometer, an altimeter, a depth meter, an external temperature sensor, an industry measurement sensor, and a star sensor, and the other system peripherals include an intelligent driving system, a servo control system, and an upper computer.
10. A general integrated navigation method is characterized by comprising the following steps:
s101: collecting measurement data of a gyroscope, an accelerometer and a sensor;
s102: carrying out inertial navigation calculation by using measurement data of a gyroscope and an accelerometer;
s103: performing optimal estimation on system errors by using inertial navigation data resolved by inertial navigation and measurement data of a sensor;
s104: correcting errors of the combined navigation system according to the optimal estimation result;
s105: and outputting the measurement result.
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| CN112860249A (en) * | 2021-03-10 | 2021-05-28 | 上海交通大学 | Modular implementation system of intelligent driving domain controller software |
| CN113254377A (en) * | 2021-05-07 | 2021-08-13 | 哈尔滨工业大学 | Task management computer for unmanned aerial vehicle |
| CN115265536A (en) * | 2022-08-26 | 2022-11-01 | 北京开拓航宇导控科技有限公司 | Computer combined navigation device and method |
| CN118706113A (en) * | 2024-08-29 | 2024-09-27 | 中国船舶集团有限公司第七〇七研究所 | Navigation method, system, equipment and product for unmanned platform gravity measurement vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112711213A (en) * | 2021-01-11 | 2021-04-27 | 中国船舶重工集团公司第七0七研究所 | Navigation acquisition resolving Soc processing system based on RiscV kernel and method thereof |
| CN112860249A (en) * | 2021-03-10 | 2021-05-28 | 上海交通大学 | Modular implementation system of intelligent driving domain controller software |
| CN113254377A (en) * | 2021-05-07 | 2021-08-13 | 哈尔滨工业大学 | Task management computer for unmanned aerial vehicle |
| CN113254377B (en) * | 2021-05-07 | 2023-09-08 | 哈尔滨工业大学 | Task management computer for unmanned aerial vehicle |
| CN115265536A (en) * | 2022-08-26 | 2022-11-01 | 北京开拓航宇导控科技有限公司 | Computer combined navigation device and method |
| CN118706113A (en) * | 2024-08-29 | 2024-09-27 | 中国船舶集团有限公司第七〇七研究所 | Navigation method, system, equipment and product for unmanned platform gravity measurement vehicle |
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