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CN112729264B - An Arbitrary Four-Position Single Gyro North Finding Method - Google Patents

An Arbitrary Four-Position Single Gyro North Finding Method Download PDF

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CN112729264B
CN112729264B CN202011550057.0A CN202011550057A CN112729264B CN 112729264 B CN112729264 B CN 112729264B CN 202011550057 A CN202011550057 A CN 202011550057A CN 112729264 B CN112729264 B CN 112729264B
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accelerometer
gyroscope
sin
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north
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CN112729264A (en
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芦佳振
赵雪松
郭昱良
于振华
韩松来
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Central South University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • 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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Abstract

本发明公开一种任意四位置单陀螺寻北方法，包括以下步骤：安装惯性器件；获取惯性器件中陀螺仪和加速计在初始位置的静态数据；陀螺仪和加速计同步转动一定角度，获取惯性器件在该位置的静态数据；陀螺仪和加速计继续同步转动一定角度，获取惯性器件在该位置的静态数据；陀螺仪和加速计再次同步转动一定角度，获取惯性器件在该位置的静态数据；将上述获取的陀螺输出均值和加速度计输出均值代入独特的方位角求解公式中求解出方位角。应用本发明的方法，效果是：本发明因减少转动位置和敏感元件数量的约束，能解决传统四位置方案中必须相差固定或者对称位置进行数据测量的问题；本发明具有操作方便且可靠性强的特点，应用领域广泛。

Figure 202011550057

The invention discloses an arbitrary four-position single gyro north-seeking method, comprising the following steps: installing an inertial device; obtaining static data of the gyroscope and accelerometer in the inertial device at the initial position; synchronously rotating the gyroscope and the accelerometer at a certain angle to obtain the inertial device The static data of the device at this position; the gyroscope and the accelerometer continue to rotate synchronously to a certain angle to obtain the static data of the inertial device at this position; the gyroscope and the accelerometer rotate again synchronously to a certain angle to obtain the static data of the inertial device at this position; The azimuth angle is obtained by substituting the above-obtained mean value of the gyro output and the mean value of the accelerometer output into the unique azimuth angle solving formula. By applying the method of the present invention, the effect is: the present invention can solve the problem that the traditional four-position scheme must have a fixed phase difference or a symmetrical position for data measurement due to the constraints of reducing the rotational position and the number of sensitive elements; the present invention has the advantages of convenient operation and strong reliability. characteristics and a wide range of applications.

Figure 202011550057

Description

Arbitrary four-position single gyroscope north-seeking method
Technical Field
The invention relates to the technical field of inertia, in particular to a north seeking method for a single gyroscope at any four positions.
Background
The gyro north finder is a high-precision inertial instrument capable of automatically indicating the direction in all weather in a static state, and has wide application prospect in military and civil departments.
The gyro north finder mainly has the function of providing attitude and azimuth reference for a carrier, and most of the current north finders adopt a fiber optic gyro and an accelerometer as main sensitive elements to realize north finding.
In the prior art, the north-seeking scheme based on the transposition has two-position, four-position, multi-position and continuous rotation methods, and the traditional methods have the following defects: part of north-seeking methods require fixed position measurement, such as 90 degrees of rotation orthogonality at four positions, 45 degrees of rotation in psi-type scheme, 90 degrees of included angle between two gyros in two-position scheme and 180 degrees of rotation; the partial north-seeking method has high requirements on constant-speed control of the motor (a continuous rotation method) and has strong conditional constraints.
Therefore, the method which is convenient to operate, few in constraint conditions and high in north-seeking reliability is provided, and the method is of great significance.
Disclosure of Invention
The invention provides a north-seeking method for an arbitrary four-position single gyroscope, which solves the problem that data measurement must be carried out at a fixed or symmetrical position due to the fact that the constraints of the rotating position and the number of sensitive elements are reduced in the traditional four-position scheme, has the characteristics of convenience in operation and high reliability, and can be widely applied to the fields of accurate orientation of weapon systems such as military missile artillery and the like, mine engineering, through measurement and the like which require accurate azimuth reference. The specific technical scheme is as follows:
a single gyro north-seeking method at any four positions comprises the following steps:
the method comprises the following steps of firstly, installing an inertial device, wherein the inertial device comprises a gyroscope and an accelerometer;
secondly, acquiring static data of the gyroscope and the accelerometer in the inertial device at the initial position to obtain a gyroscope output mean value omegax 1And accelerometer output mean
Figure BDA0002857505110000011
Thirdly, synchronously rotating the gyroscope and the accelerometer by an angle mu1Obtaining static data of the gyroscope and the accelerometer in the inertial device at the position to obtain a gyroscope output mean value omegax 2And accelerometer output mean
Figure BDA0002857505110000012
Step four, synchronizing rotation angles mu of gyroscope and accelerometer2Obtaining static data of the gyroscope and the accelerometer in the inertial device at the position to obtain gyroscope outputValue omegax 3And accelerometer output mean
Figure BDA0002857505110000013
Fifthly, synchronously rotating the gyroscope and the accelerometer by an angle mu3Obtaining static data of the gyroscope and the accelerometer in the inertial device at the position to obtain a gyroscope output mean value omegax 4And accelerometer output mean value omegax 4；
And step six, substituting the gyro output mean value and the accelerometer output mean value obtained in the step two to the step five into an expression 1) to solve the azimuth angle alpha:
Figure BDA0002857505110000021
wherein:
Figure BDA0002857505110000022
Figure BDA0002857505110000023
A＝ωnor[(1-cos μ1)cosθ-sin μ1 sin θ sin γ]；
B＝ωnor sin μ1 cosγ；C＝ωu[(cos μ1-1)sin θ-sin μ1 cos θ sin γ]；
X＝ωnor{[cos(μ1+μ2)-cos(μ1+μ2+μ3)]cos θ+[sin(μ1+μ2)-sin(μ1+μ2+μ3)]sin θ sin γ}；
Y＝-ωnor[sin(μ1+μ2)-sin(μ1+μ2+μ3)]cosγ；
Z＝ωu{[cos(μ1+μ2+μ3)-cos(μ1+μ2)]sin θ+(sin(μ1+μ2)-sin(μ1+μ2+μ3))cos θ sin γ}；
Figure BDA0002857505110000024
Figure BDA0002857505110000025
Figure BDA0002857505110000026
Figure BDA0002857505110000027
Figure BDA0002857505110000028
Figure BDA0002857505110000029
g is the local earth gravitational acceleration; omegaieIs the rotational angular velocity of the earth;
Figure BDA00028575051100000210
and taking the local latitude.
Preferably, the gyroscope and the accelerometer sensitive shaft are arranged in the same direction, and the shaft is driven to rotate by a motor.
Preferably, the motor drives the shaft to rotate at a constant speed; and the time from the second step to the fifth step is 50-150 seconds when the static data is acquired. And the static data are kept for a period of time, so that enough static data are obtained, and further more accurate gyro output mean value and accelerometer output mean value are obtained.
Preferably, the gyroscope and the accelerometer are both one.
Preferably, said mu1、μ2And mu3Are all 0 DEG to 360 DEG, and preferably mu1、μ2And mu3All are 0 to 90 degrees.
The scheme of the invention has the following effects:
1. according to the invention, north finding can be realized only by one gyroscope and one accelerometer, so that the constraint of the use number of sensitive elements is reduced.
2. According to the invention, the gyroscope and the accelerometer rotate at any angle to obtain the position data of the inertial devices at four positions, and a unique azimuth angle calculation expression is adopted, so that north finding can be accurately realized, the condition constraint on the measured data position in application is greatly reduced, and the operation is convenient; the rotation angle can be selected at will, north finding can be realized in a short time, and the practicability is strong.
Drawings
FIG. 1 is a schematic flow chart of a single gyro north-seeking method at any four positions according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a configuration of north-seeking and indexing of a single gyro at any four positions in the embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings so that the advantages and features of the invention can be more easily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined.
Example (b):
a single gyro north-seeking method at any four positions specifically comprises the following steps, which are detailed as shown in figure 1:
the method comprises the following steps that firstly, an inertia device is installed, the inertia device comprises a gyroscope and an accelerometer, only one gyroscope and one accelerometer are needed, a sensitive shaft of the gyroscope and the sensitive shaft of the accelerometer are installed in the same direction, and a motor drives the shafts to rotate; x, Y, Z are shown in FIG. 2, with O being the origin of the coordinates and the gyroscope and accelerometer being mounted on the X-axis.
Secondly, after receiving a north seeking instruction, the motor is locked at the current position P1, stays for a period of time (the initial position data of the gyroscope and the accelerometer in the inertial device is selected for 100 seconds according to requirements of visual conditions, accuracy and the like), and the initial position data of the gyroscope and the accelerometer in the inertial device is obtained to obtain the gyro output mean value omegax 1And accelerometer output mean
Figure BDA0002857505110000031
Thirdly, controlling the motor to stably drive the gyroscope and the accelerometer to synchronously rotate at an angle mu at a constant speed1The motor is locked at the current position P2, stays for a period of time (the time is selected to be 100 seconds according to requirements of visual working conditions, precision and the like), static data of the gyroscope and the accelerometer in the inertial device at the position are obtained, and the gyro output mean value omega is obtainedx 2And accelerometer output mean
Figure BDA0002857505110000032
Fourthly, controlling the motor to stably drive the gyroscope, the accelerometer gyroscope and the accelerometer to synchronously rotate at an angle mu at a constant speed2The motor is locked at the current position P3, stays for a period of time (the time is selected to be 100 seconds according to requirements of visual working conditions, precision and the like), static data of the gyroscope and the accelerometer in the inertial device at the position are obtained, and the gyro output mean value omega is obtainedx 3And accelerometer output mean ax 3。
Fifthly, controlling the motor to stably drive the gyroscope and the accelerometer to synchronously rotate at an angle mu at a constant speed3The motor is locked at the current position P4, stays for a period of time (the time is selected to be 100 seconds according to requirements of visual working conditions, precision and the like), static data of the gyroscope and the accelerometer in the inertial device at the position are obtained, and the gyro output mean value omega is obtainedx 4And accelerometer output mean value omegax 4。
And step six, substituting the gyro output mean value and the accelerometer output mean value obtained in the step two to the step five into an expression 1) to solve the azimuth angle alpha:
Figure BDA0002857505110000033
wherein:
Figure BDA0002857505110000034
Figure BDA0002857505110000035
A＝ωnor[(1-cos μ1)cos θ-sin μ1 sin θ sin γ]；
B＝ωnor sin μ1 cos γ；C＝ωu[(cos μ1-1)sin θ-sin μ1 cos θ sin γ]；
X＝ωnor{[cos(μ1+μ2)-cos(μ1+μ2+μ3)]cos θ+[sin(μ1+μ2)-sin(μ1+μ2+μ3)]sin θ sin γ}；
Y＝-ωnor[sin(μ1+μ2)-sin(μ1+μ2+μ3)]cosγ；
Z＝ωu{[cos(μ1+μ2+μ3)-cos(μ1+μ2)]sin θ+(sin(μ1+μ2)-sin(μ1+μ2+μ3))cos θ sin γ}；
Figure BDA0002857505110000048
Figure BDA0002857505110000041
Figure BDA0002857505110000042
Figure BDA0002857505110000043
Figure BDA0002857505110000044
Figure BDA0002857505110000045
g is the local earth gravitational acceleration; omegaieIs the rotational angular velocity of the earth;
Figure BDA0002857505110000046
and taking the local latitude.
The scheme of the present embodiment is simulated (without considering device errors), and details are as follows:
setting simulation initial conditions: see table 1 for details.
According to the input, the output data of the gyroscope and the accelerometer at each position is generated through simulation, and the details are shown in table 1.
TABLE 1 statistics of data under different simulation conditions
Figure BDA0002857505110000047
Figure BDA0002857505110000051
As can be seen by combining simulation 1-simulation 5 in the table 1, no matter the data of the initial set azimuth angle is changed (simulation 1 is compared with simulation 4), the set rotation angle is changed (simulation 1, simulation 2 and simulation 3), or the initial values of theta and gamma are changed (simulation 1 is compared with simulation 5), the data of the azimuth angle obtained by the azimuth angle calculation formula of the invention is completely consistent with the setting, and the scheme of the invention can accurately find north at any four positions and has strong practicability.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (6)

1.一种任意四位置单陀螺寻北方法，其特征在于，包括以下步骤：1. an arbitrary four-position single gyro north-seeking method, is characterized in that, comprises the following steps: 第一步、安装惯性器件，惯性器件包含陀螺仪和加速计；The first step is to install inertial devices, which include gyroscopes and accelerometers; 第二步、获取惯性器件中陀螺仪和加速计在初始位置的静态数据，得到陀螺输出均值ωx 1和加速度计输出均值
Figure FDA0002857505100000011
The second step is to obtain the static data of the gyroscope and accelerometer in the inertial device at the initial position, and obtain the average output value of the gyroscope ω x 1 and the average output value of the accelerometer
Figure FDA0002857505100000011
 第三步、陀螺仪和加速计同步转动角度μ1，获取陀螺仪和加速计在该位置的静态数据，得到陀螺输出均值ωx 2和加速度计输出均值
Figure FDA0002857505100000012
The third step, synchronous rotation angle μ 1 of the gyroscope and accelerometer, obtain the static data of the gyroscope and the accelerometer at this position, and obtain the average output value of the gyroscope ω x 2 and the average output value of the accelerometer
Figure FDA0002857505100000012
 第四步、陀螺仪和加速计同步转动角度μ2，获取陀螺仪和加速计在该位置的静态数据，得到陀螺输出均值ωx 3和加速度计输出均值
Figure FDA0002857505100000013
The fourth step, synchronous rotation angle μ 2 of the gyroscope and accelerometer, obtain the static data of the gyroscope and the accelerometer at this position, and obtain the average output value of the gyroscope ω x 3 and the average output value of the accelerometer
Figure FDA0002857505100000013
 第五步、陀螺仪和加速计同步转动角度μ3，获取陀螺仪和加速计在该位置的静态数据，得到陀螺输出均值ωx 4和加速度计输出均值ax 4；The fifth step, the synchronous rotation angle μ 3 of the gyroscope and the accelerometer, obtains the static data of the gyroscope and the accelerometer at this position, and obtains the average output value of the gyroscope ω x 4 and the average output value of the accelerometer a x 4 ; 第六步、将第二步至第五步获取的陀螺输出均值和加速度计输出均值代入表达式1)中求解出方位角α：Step 6: Substitute the mean value of the gyro output and the mean value of the accelerometer output obtained from the second step to the fifth step into Expression 1) to obtain the azimuth angle α:
Figure FDA0002857505100000014
Figure FDA0002857505100000014
 其中：
Figure FDA0002857505100000015
in:
Figure FDA0002857505100000015
 A＝ωnor[(1-cosμ1)cosθ-sinμ1sinθsinγ]；A=ω nor [(1-cosμ 1 )cosθ-sinμ 1 sinθsinγ]; B＝ωnorsinμ1cosγ；C＝ωu[(cosμ1-1)sinθ-sinμ1cosθsinγ]；B=ω nor sinμ 1 cosγ; C=ω u [(cosμ 1 -1)sinθ-sinμ 1 cosθsinγ]; X＝ωnor{[cos(μ1+μ2)-cos(μ1+μ2+μ3)]cosθ+[sin(μ1+μ2)-sin(μ1+μ2+μ3)]sinθsinγ}；X=ω nor {[cos(μ 1 +μ 2 )-cos(μ 1 +μ 2 +μ 3 )]cosθ+[sin(μ 1 +μ 2 )-sin(μ 1 +μ 2 +μ 3 ) ]sinθsinγ}; Y＝-ωnor[sin(μ1+μ2)-sin(μ1+μ2+μ3)]cosγ；Y=-ω nor [sin(μ 1 +μ 2 )-sin(μ 1 +μ 2 +μ 3 )]cosγ; Z＝ωu{[cos(μ1+μ2+μ3)-cos(μ1+μ2)]sinθ+(sin(μ1+μ2)-sin(μ1+μ2+μ3))cosθsinγ}；Z=ω u {[cos(μ 1 +μ 2 +μ 3 )-cos(μ 1 +μ 2 )]sinθ+(sin(μ 1 +μ 2 )-sin(μ 1 +μ 2 +μ 3 ) )cosθsinγ};
Figure FDA0002857505100000016
Figure FDA0002857505100000016
Figure FDA0002857505100000017
Figure FDA0002857505100000017
 g是当地地球重力加速度；ωie是地球自转角速度；
Figure FDA0002857505100000018
取当地纬度。g is the local gravitational acceleration of the earth; ω ie is the angular velocity of the earth's rotation;
Figure FDA0002857505100000018
Take the local latitude. 2.根据权利要求1所述的任意四位置单陀螺寻北方法，其特征在于，所述陀螺仪和加速计敏感轴安装在同一方向上，通过电机带动轴进行转动。2 . The method for finding north of any four-position single gyro according to claim 1 , wherein the gyroscope and the accelerometer sensitive shaft are installed in the same direction, and the shaft is driven to rotate by a motor. 3 . 3.根据权利要求2所述的任意四位置单陀螺寻北方法，其特征在于，所述电机带动所述轴恒速转动；第二步至第五步获取静态数据时停留50-150秒。3 . The method for finding north of any four-position single gyro according to claim 2 , wherein the motor drives the shaft to rotate at a constant speed; the second to fifth steps stay for 50-150 seconds when acquiring static data. 4 . 4.根据权利要求2所述的任意四位置单陀螺寻北方法，其特征在于，所述陀螺仪和加速计均为一个。4. any four-position single gyro north-seeking method according to claim 2, characterized in that, both the gyroscope and the accelerometer are one. 5.根据权利要求1所述的任意四位置单陀螺寻北方法，其特征在于，所述μ1、μ2和μ3均为0°-360°。5. any four-position single gyro north-seeking method according to claim 1, wherein the μ 1 , μ 2 and μ 3 are all 0°-360°. 6.根据权利要求5所述的任意四位置单陀螺寻北方法，其特征在于，所述μ1、μ2和μ3均为0°-90°。6. The method for finding north of any four-position single gyro according to claim 5, wherein the μ 1 , μ 2 and μ 3 are all 0°-90°.
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