CN1322311C - vehicle-carrying quick positioning and orienting method - Google Patents
vehicle-carrying quick positioning and orienting method Download PDFInfo
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- CN1322311C CN1322311C CNB200510057162XA CN200510057162A CN1322311C CN 1322311 C CN1322311 C CN 1322311C CN B200510057162X A CNB200510057162X A CN B200510057162XA CN 200510057162 A CN200510057162 A CN 200510057162A CN 1322311 C CN1322311 C CN 1322311C
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- odometer
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Abstract
The present invention relates to a quick position and orientation method on vehicles, which comprises the steps that the optimal-selection mode order is executed by a data processor via a software system and a hardware system which are composed of inertial navigation of laser gyro on the vehicles, a milometer, an altimeter, a GPS, a GLONASS, a BD, a geographic information and data processor. The method comprises the following procedures: aligning initially; obtaining mileage information by the milometer; combining the mileage information of navigation solution; obtaining height information by the altimeter; correcting error by the milometer, and latitude and longitude of the geographic information; outputting and displaying a geography coordinate and course angles by the data processor. The present invention has the advantages that the present invention integrates the position and orientation advantages of the inertial navigation system and the position advantages of the satellite, the functions can be mutually complementary, and the present invention can independently carry out the autonomous and accurate position and orientation, and height output.
Description
Technical field
The present invention relates to the quick positioning and directing of a kind of novel on-vehicle system, particularly provide a kind of zero-speed correction, good reliability, precision high vehicle-mounted quick positioning and directing system.
Background technology
One of tactical characteristic of modern war under the high-technology condition is to disperse deployment, concentrated, the precision strike of firepower.Therefore, just need guided missile and launch truck that course, geographic coordinate position, the elevation of car launcher under static and the current intelligence are provided in real time, mission to scout car is scouted operation exactly in battlefield surroundings, finish the search to target, the task of location.For this reason, guided missile and launch truck, battle reconnaissance car etc. just must be equipped advanced detecting devices, require operation quick and precisely, and good concealment is changed rapidly, and adaptive capacity to environment is strong.Thisly can provide course, position, the isoparametric system of elevation, be exactly the vehicle positioning orientation system.
At present, vehicle-mounted positioning and directing system kind is more, and according to the application difference, technical scheme is different, but can be divided three classes substantially:
(1) platform-type inertial measurement system
Use high-accuracy mechanical gyro and accelerometer, constitute three ring Platform INS Inertial, adopt the zero-speed correction technique, suppress the emission of navigation error, horizon location error, generally below 30 meters (CEP), course error is less than 1.5mil (1).ULISS30 (France), FILS-3 (Britain), GEO-SPN (U.S.) system etc. and 618 in China, 707 geodesic systems of being developed belong to this type of.But this system's shortcoming is the zero-speed correction will stop, and reliability is very poor, and setup time is long, complex structure, maintenance difficult.
(2) the course maintaining body adds odometer
Adopt the two-axis table structure, follow the tracks of local level.The course keeps gyro then to use the strapdown mode, by course information and odometer output, infers carrier positions, and system architecture is simple, but precision is on the low side, and reliability is relatively poor.This type systematic has FNA55 (Germany), NFS (Israel), LNS, ANS2000 (U.S.) or the like.
(3) strapdown inertia adds the integrated navigation system of out of Memory source (GPS, odometer, geography information etc.)
Many based on inertial navigation information, odometer, GPS, geography information etc. are auxilliary with optical gyroscope (laser gyro, optical fibre gyro) and accelerometer formation strapdown inertia, and the optimal synthesis of realizing information with Kalman Filter Technology is to obtain navigational parameter.This external series products has: FNA2012, the FIN1155 of Britain, LLN-80, II-726 of the U.S. or the like of SIGMA30, the EPSILON of France, Germany.Domestic have how tame unit also developing homogeneous system, but that this series products relies on satellite is more, when pure inertial navigation navigation, still needs the zero-speed correction of stopping, otherwise precision still can not meet the demands, and also has defectives such as the integrated mode of many information is single.
Therefore, improving vehicle-mounted zero-speed correction, improve system reliability and precision, then is that problem to be solved is arranged in the prior art.
Summary of the invention
At the prior art above shortcomings, the purpose of this invention is to provide the high vehicle-mounted quick positioning and directing system of a kind of zero-speed correction, good reliability, precision.
The object of the present invention is achieved like this: vehicle-mounted quick positioning and directing system is characterized in that containing vehicle-mounted laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information, data processor and software; The output terminal of odometer, altitude gauge, GPS/GLONASS/BD and geography information connects the input end of data processor, and the output terminal output of data processor also shows geographic coordinate and course angle; In order to weaken the accumulated error of inertia system, improve reliability, when certain part broke down, system automatically switched to other pattern and works on, and described data processor is carried out the following step:
(1) initial alignment;
(2) obtain mileage information by odometer, simultaneously with odometer duty Input Data Process;
(3) mileage information is resolved in integrated navigation, simultaneously to data processor output information pattern 5;
(4) obtain elevation information by altitude gauge, simultaneously with altitude gauge duty Input Data Process;
(5) carry out altimetric compensation by altitude gauge, and to data processor output information pattern 4;
(6) by 1. electronic chart 2. the geography information of the autonomous mapping of inertial navigation system obtain geography information, simultaneously with geography information duty Input Data Process;
(7) carry out error correction by the longitude and latitude in odometer, the geography information, to data processor output information mode 3;
(8) obtain GPS/GLONASS/BD information, to data processor output information pattern 2; Simultaneously with GPS duty Input Data Process;
(9) by Kalman filtering, to data processor output information pattern 1;
(10) data processor output and demonstration geographic coordinate and course angle.
Described data processor is carried out preference pattern:
Laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information;
Pure GPS/GLONASS/BD;
Laser gyro inertial navigation+odometer+altitude gauge+geography information;
Laser gyro inertial navigation+geography information;
Mileage information is resolved in integrated navigation.
Compared to existing technology, the present invention has following advantage:
(1) combining the advantage and the function of the positioning and directing of inertial navigation system and satnav can be complementary.
(2) system model of laser inertial system/odometer/altitude gauge combination can independently carry out the directed and output highly of autonomous positioning.
(3) laser inertial/GPS/GLONASS/BD geography information/odometer/height indicator can be formed the multiple mode of operation of system, can realize under the available condition of satellite resource accurately positioning and directing and elevation output.
(4) system can realize the normal fault distinguishing that uses of satellite, and system discerns automatically and changes the mode of operation of switching other.
(5) this system possesses the function of satellite location data and laser gyro inertial positioning directional data being carried out fusion treatment, and fast positioning and directing, stopping to continue to travel keeps very high positioning and directing precision.
Description of drawings
The process flow diagram of Fig. 1 vehicle-carrying quick positioning and orienting method of the present invention.
Fig. 2 is a structure principle chart of the present invention.
Fig. 3 is circuit theory diagrams of the present invention.
Embodiment
The quick positioning and directing of novel on-vehicle of the present invention system, comprise vehicle-mounted laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information and data processor, data processor adopts the industrial computer that carries out data processing and message exchange to get final product.The used hardware of the present invention all adopts existing mature technology.
Referring to Fig. 1, vehicle-carrying quick positioning and orienting method, this method is carried out the preference pattern order by containing soft, the hardware system that vehicle-mounted laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information and data processor constitute by data processor; Described quick positioning and orienting method comprises the following steps:
(1) initial alignment, promptly the initial position of inertial navigation system is the north orientation and the earth surface level aligning of the earth;
(2) obtain mileage information by odometer, simultaneously with odometer duty Input Data Process;
(3) mileage information is resolved in integrated navigation, simultaneously to data processor output information pattern 5;
(4) obtain elevation information by altitude gauge, simultaneously with altitude gauge duty Input Data Process;
(5) by pressing altitude gauge to carry out altimetric compensation, to data processor output information pattern 4;
(6) by 1. electronic chart 2. the geography information of the autonomous mapping of inertial navigation system obtain geography information, simultaneously with geography information duty Input Data Process;
(7) carry out error correction by the longitude and latitude in odometer, the geography information, to data processor output information mode 3;
(8) obtain GPS/GLONASS/BD information, to data processor output information pattern 2; Simultaneously with GPS duty Input Data Process;
(9) by Kalman filtering, to data processor output information pattern 1;
(10) data processor output and demonstration geographic coordinate and course angle.
The system works principle:
Referring to Fig. 2, Fig. 3, this system is the integrated navigation system after many information fusion, utilize three laser gyro strap down inertial navigation systems to set up the navigation benchmark, and initial alignment, carry out the coordinates matrix conversion then in real time and measure the kinematic parameter of carrier with respect to inertial space, and, implement navigation task through after calculating.Giving under its starting condition, calculating the attitude and the course angle of speed, position coordinates and the carrier of carrier by navigational computer.Because the precision of pure inertial navigation is when starting working or very high in the short time, but from initial alignment, owing to its error of drift of gyro just accumulates in time, precision reduces in time.In order effectively to weaken the accumulation error of inertial navigation system, satisfy the requirement of car launcher overall process, system has selected GPS/GLONASS/BD+ odometer+geography information+altitude gauge to proofread and correct inertial navigation system in order to the data that provide continually as external information, thereby form a kind of integrated navigation positioning and directing system by the effective information fusion of Kalman filtering, make it under task environment, accurately export desired geographic coordinate and course angle.Under this many information fusion integrated navigation, system follows the principle that satellite information usefulness is not leaned on, and in Design of System Software, cooks up the preferred sequence in many information fusion, makes it be in navigational state in real time.Referring to Fig. 1, its preference pattern is in proper order:
Laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information;
Pure GPS/GLONASS/BD;
Laser gyro inertial navigation+odometer+altitude gauge+geography information;
Laser gyro inertial navigation+geography information.
When certain part broke down, system automatically switched to other pattern and works on, thereby made system have redundance, had improved the reliability of system.In the system design, when the inertia self-navigation is leaned on by system, designed and a kind ofly do not stopped, make up when relying on autonomous geography information of surveying and drawing and inertial navigation, that is: the car that the laser gyro inertial navigation system is installed is started to walk after initial alignment, every 3～4min about 10～20s that stops, on each stop, its speed, acceleration are zero in theory then.But because the influence of systematic error and disturbing gravity field, the velocity amplitude that layout is calculated is not equal to zero, the route that travel is made the laggard line data of zero-speed error measure handle, and obtaining the zero-speed error sequence then is δ V
i, utilize the velocity error curve δ V (t) of smooth and continuous of match such as splines.Then, utilize the analytical expression of this matched curve, press δ V (t)=∫
0δ V (t) dt formula is calculated corresponding site error, and correction position result of calculation, plots the geography information of testing oneself ins error is compensated, and can reach so not stop when executing the task and to make the revised precision of zero-speed the same in parking.
System of the present invention also has following characteristics:
(1) complete function: parameters such as real-time outgoing position, course, can independently determine original state own.
(2) independence is strong: without any external signal the time, system can operate as normal.
(3) degree of accuracy height: absolute fix error (do not stop travel in) is less than 25m, and the initial orientation error is less than 0.05 °, and long-time course keeps precision less than 0.1 °, and the horizontal attitude error is less than 0.01 °.
(4) start rapidly: the preliminary work time was less than 3 minutes.
(5) good concealment: externally unglazed, sound, the radiation of electromagnetism homenergic.
(6) environmental adaptability: chemical contamination and flue dust, strong electromagnetic are had sufficient resistivity, shock-resistant, vibrations, high low temperature working environment, long time continuous working is reliable and stable.
In a word, the present invention has and 1. realizes the zero-speed correction; 2. during many information fusion, mode of operation is various and can be redundant; 3. precision height, the reliability height; 4. the course retention time is long and take a stand and seek advantages such as north is fast.
Adopt the technical solution of the present invention technical indicator to reach:
Bearing accuracy (CEP) :≤30m (travelling continuously)
Orientation accuracy :≤0.05 °
Travel speed :≤80km/h
Start setup time :≤3min
The initial alignment time :≤1min
Time between failures: 〉=2000 hours
Operating ambient temperature :-55 ℃～+ 70 ℃.
Claims (1)
1, vehicle-mounted quick positioning and directing system is characterized in that containing vehicle-mounted laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information, data processor and software; The input end of the output terminal linking number pick processor of odometer, altitude gauge, GPS/GLONASS/BD and geography information, the output terminal output of data processor also shows geographic coordinate and course angle; Described data processor is carried out the following step:
(1) initial alignment;
(2) obtain mileage information by odometer, simultaneously with odometer duty input number pick processor;
(3) mileage information is resolved in integrated navigation, simultaneously to data processor output information pattern 5;
(4) obtain elevation information by altitude gauge, simultaneously with altitude gauge duty Input Data Process;
(5) carry out altimetric compensation by altitude gauge, and to data processor output information pattern 4;
(6) by 1. electronic chart 2. the geography information of the autonomous mapping of inertial navigation system obtain geography information, simultaneously with geography information duty Input Data Process;
(7) carry out error correction by the longitude and latitude in odometer, the geography information, to data processor output information mode 3;
(8) obtain GPS/GLONASS/BD information, to data processor output information pattern 2; Simultaneously with GPS duty input number pick processor;
(9) by Kalman filtering, to data processor output information pattern 1;
(10) data processor output and demonstration geographic coordinate and course angle.
Described data processor is carried out preference pattern:
Laser gyro inertial navigation+odometer+altitude gauge/GPS/GLONASS/BD/ geography information;
Pure GPS/GLONASS/BD;
Laser gyro inertial navigation+odometer+altitude gauge+geography information;
Laser gyro inertial navigation+geography information;
Mileage information is resolved in integrated navigation.
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| CN1322311C true CN1322311C (en) | 2007-06-20 |
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Cited By (3)
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| CN101900573A (en) * | 2010-07-15 | 2010-12-01 | 北京理工大学 | Method for realizing landtype inertial navigation system movement aiming |
| CN101290230B (en) * | 2008-04-14 | 2011-03-30 | 深圳市凯立德软件技术股份有限公司 | Road crossing navigation method and navigation system using the navigation method |
| CN102322858A (en) * | 2011-08-22 | 2012-01-18 | 南京航空航天大学 | Geomagnetic matching navigation method for geomagnetic-strapdown inertial navigation integrated navigation system |
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| CN100419380C (en) * | 2007-01-05 | 2008-09-17 | 北京航空航天大学 | High integral navigation device combined by MIMU/GPS/micromagnetic compass/barometric altimeter |
| CN101592493B (en) * | 2009-07-06 | 2011-07-27 | 北京航空航天大学 | Course updating method in vehicle navigation system |
| CN102183254B (en) * | 2011-02-21 | 2012-11-21 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| CN103162689B (en) * | 2011-12-16 | 2016-01-20 | 希姆通信息技术（上海）有限公司 | The assisted location method of auxiliary vehicle positioning system and vehicle |
| CN104154916B (en) * | 2013-08-30 | 2018-11-30 | 北京航天发射技术研究所 | A kind of vehicle positioning equipment based on the used group of laser gyro strap down |
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| CN104296744A (en) * | 2014-09-25 | 2015-01-21 | 中国科学院嘉兴微电子与系统工程中心 | Vehicle-mounted inertial navigation system |
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