阅读说明：本技术 基于地磁装置的高速旋转系统运动速度计算方法及装置 (Geomagnetic device-based high-speed rotation system movement speed calculation method and device ) 是由 邹思远 尚克军 邓继权 刘冲 郭玉胜 刘洋 杨研蒙 闫红松 钟锋 周亚男 于 2021-06-03 设计创作，主要内容包括：本发明提出的基于地磁装置的高速旋转系统运动速度计算方法及装置,首先通过判断地磁装置输出的数据变化规律建立轮轴旋转整周期的基准时刻,再计算轮轴旋转的整周期时间,同时结合惯导陀螺角速率输出,判断高速旋转系统是否处于静止状态,最后计算高速旋转系统运动速度。本发明基于地磁传感器测量精度高,没有累积误差特点,得到车体实时行驶速度,作为车载定位定向惯导系统的参考信息,由此可提高车载定位定向系统的自主可靠性。(The invention provides a method and a device for calculating the movement speed of a high-speed rotating system based on a geomagnetic device. The method is based on the characteristics of high measurement precision and no accumulated error of the geomagnetic sensor, obtains the real-time running speed of the vehicle body, and uses the real-time running speed as the reference information of the vehicle-mounted positioning and orientation inertial navigation system, thereby improving the autonomous reliability of the vehicle-mounted positioning and orientation system.)

1. A method for calculating the moving speed of high-speed rotation system based on geomagnetic device includes such steps as judging the variation rule of data output by geomagnetic device, creating the reference time of whole rotation period of wheel axle, calculating the time of whole rotation period of wheel axle, judging if the high-speed rotation system is in static state, and calculating the moving speed of high-speed rotation system.

2. The method of claim 1, wherein the computing method of the moving speed of the high speed rotation system based on the geomagnetic device,

setting geomagnetic device at t_iTime output data is recorded as S_i，i＝1,2,3,...,n，

For n sampling points, firstly, judging data true values of m continuous sampling points, namely: s_i-m+1,S_i-m+2,…,S_iIf both are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is greater than 0, then the time t is determined_iRecording the time as a whole-period reference for the rotation of the wheel shaft: t is₀＝t_i。

3. The method of claim 2, wherein the method of calculating the movement speed of the high-speed rotation system based on the geomagnetic device comprises:

1) establishing a mark time of a half-cycle of rotation

For n sampling points, firstly, judging data true values of m continuous sampling points, namely: s_j-m+1,S_j-m+2,…,S_jJ is 1,2, …, n, if all are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jIs a wheelSetting a wheel axle rotation half period mark at the shaft rotation half period mark time;

2) calculating the time of the whole period

For n sampling points, judging the data true values of m continuous sampling points, namely: s_k-m+1,S_k-m+2,…,S_kK is 1,2, …, n, if all are greater than the rotation threshold S_AIf the geomagnetic data difference of the sampled data of two adjacent points is greater than 0, determining the sampling time t_kNamely the end time of the whole period of the wheel axle, and recording the time as T_F＝t_kSimultaneously clearing the mark of the rotating half period of the wheel shaft;

the whole period time of the rotation of the wheel shaft is as follows: delta T_p＝T_F-T₀Where p denotes the p-th revolution of the axle.

4. The method as claimed in claim 3, wherein if the angular rate of the inertial navigation gyro is less than or equal to 2 °/s, the vehicle is considered to be in a stationary state, and the axle rotation half-period flag is cleared.

5. The method according to claim 2 or 3, wherein the value of the sample m is: 3< m < 8.

6. A high-speed rotation system movement speed calculation device based on a geomagnetic device is characterized by comprising a full-period reference establishing unit, a rotation half-period mark time establishing unit, a full-period time calculating unit, an axle static state judging unit and an axle speed calculating unit,

the whole-period reference establishing unit is used for judging the data change rule output by the geomagnetic device and establishing the reference time of the whole period of rotation of the wheel axle;

the rotating half-cycle mark time establishing unit is used for determining the rotating half-cycle mark time of the wheel axle;

the whole period time calculation unit is used for determining the whole period ending time of the wheel axle and calculating the current rotation period of the wheel axle;

the wheel axle static state judging unit is used for judging whether the high-speed rotating system is in a static state or not by combining the output condition of the gyro angular rate of the inertial navigation system;

and the wheel axle speed calculating unit is used for calculating the wheel axle speed.

7. The geomagnetic-device-based high-speed rotation system motion speed calculation apparatus according to claim 6,

the whole-period reference establishing unit is used for judging the true data values of continuous m sampling points in the n sampling points, and if the true data values are all larger than a rotation threshold value and the geomagnetic data difference between two adjacent points is all larger than 0, judging the moment t_iRecording the time as a whole-cycle reference for the whole-cycle reference of the rotation of the wheel shaft: t is₀＝t_i。

8. The geomagnetic-device-based high-speed rotation system motion speed calculation apparatus according to claim 7,

the rotating half-cycle mark moment establishing unit is used for judging the data true values of continuous m sampling points in the n sampling points, and if the data true values are all larger than a rotating threshold value S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jSetting a wheel axle rotation half-period mark for marking the wheel axle rotation half-period time;

the whole period time calculation unit is used for judging the data true values of continuous m sampling points in the n sampling points, and if the data true values are all larger than the rotation threshold S_AAnd the geomagnetic data difference between two adjacent points is greater than 0, and the wheel axle rotation half period mark is valid, then the sampling time t is determined_kNamely the end time of the whole period of the wheel axle, and recording the time as T_F＝t_kAnd at the same time, the mark of the half period of the rotation of the wheel shaft is cleared,

determining the current rotation period of the wheel shaft: delta T_p＝T_F-T₀Where p denotes the p-th revolution of the axle.

9. The device for calculating the moving speed of a high-speed rotating system based on a geomagnetic device, according to claim 8, wherein if the inertial navigation gyro angular rate is less than or equal to 2 °/s, the vehicle body is considered to be in a stationary state, and the axle rotation half-period flag is cleared: HalfT ═ 0.

10. The method according to claim 7 or 8, wherein the value of the sample m is: 3< m < 8.

Technical Field

The invention belongs to the technical field of micro inertial navigation systems, and particularly relates to a high-speed rotation system speed calculation method based on a geomagnetic device.

Background

A vehicle-mounted positioning and orientation system is a civil and military dual-purpose system. In the field of national defense, the vehicle-mounted positioning and orienting system is mainly applied to a vehicle-mounted weapon launching platform, and can remarkably improve the maneuverability, the survival capability and the cooperative operation capability of ground troops and ensure the striking precision; in the civil field, the vehicle-mounted positioning and orientation system is mainly applied to vehicle-mounted mobile measurement systems such as geodetic surveying, mapping, geological exploration, cadastral surveying, road monitoring and the like so as to reduce the surveying and mapping cost and improve the mapping efficiency.

The micro inertial navigation system has the characteristics of small volume, light weight, strong autonomy, good concealment and the like, and is widely applied in the field of positioning and orientation. However, the micro inertial navigation system has the defect that errors are accumulated along with time, and needs to be combined with other sensors to correct the errors in real time and improve the precision.

The geomagnetic device can sense geomagnetic field changes, is arranged on the wheel, and rotates at a high speed along with the movement of the vehicle body, the data output by the geomagnetic device is in a sine and cosine periodic change rule, and the average speed of the whole circumference of the wheel can be obtained by utilizing the periodic change data output along with the high-speed rotation of the wheel and the diameter of the wheel. The reference information is used as the reference information of the inertial navigation system, so that the error is corrected in real time, and the positioning and orientation precision is improved. The method is convenient for engineering realization, can improve the reliability of the vehicle-mounted positioning and orientation system, and has very important significance for realizing autonomous navigation.

Disclosure of Invention

The invention aims to provide a method and a device for calculating the speed of a high-speed rotating system based on a geomagnetic device, which are used as reference information of a positioning and orientation inertial navigation system in the high-speed rotating system to improve the autonomous reliability of the positioning and orientation system.

In order to solve the above technical problems, the method for calculating the speed of a rotating system based on a geomagnetic device according to the present invention adopts the following technical solutions:

firstly, establishing a reference moment of a whole wheel axle rotation period by judging a data change rule output by a geomagnetic device, then calculating the whole wheel axle rotation period, simultaneously combining inertial navigation gyro angular rate output to judge whether a high-speed rotation system is in a static state, and finally calculating the movement speed of the high-speed rotation system.

Further, a geomagnetic device is arranged at t_iTime output data is recorded as S_i，i＝1,2,3,...,n，

For n sampling points, firstly, judging data true values of m continuous sampling points, namely: s_i-m+1,S_i-m+2,…,S_iIf both are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is greater than 0, then the time t is determined_iRecording the time as a whole-period reference for the rotation of the wheel shaft: t is₀＝t_i。

Further, the method for calculating the time of the whole period of the rotation of the wheel shaft comprises the following steps:

1) establishing a mark time of a half-cycle of rotation

For n sampling points, firstly, judging data true values of m continuous sampling points, namely: s_j-m+1,S_j-m+2,…,S_jJ is 1,2, …, n, if all are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jSetting a wheel axle rotation half-period mark for marking the wheel axle rotation half-period time;

2) calculating the time of the whole period

For n sampling points, judging the data true values of m continuous sampling points, namely: s_k-m+1,S_k-m+2,…,S_kK is 1,2, …, n, if all are greater than the rotation threshold S_AIf the geomagnetic data difference of the sampled data of two adjacent points is greater than 0, determining the sampling time t_kNamely the end time of the whole period of the wheel axle, and recording the time as T_F＝t_kSimultaneously clearing the mark of the rotating half period of the wheel shaft;

the whole period time of the rotation of the wheel shaft is as follows: delta T_p＝T_F-T₀Where p denotes the p-th revolution of the axle.

And if the angular rate of the inertial navigation gyro is less than or equal to 2 degrees/s, the vehicle body is considered to be in a static state, and the rotating half-period mark of the wheel axle is cleared.

The value of the sampling point m is as follows: 3< m < 8.

According to still another aspect of the present invention, there is provided a high speed rotation system movement speed calculation apparatus based on a geomagnetic device, comprising a full period reference establishment unit, a half-period mark time of rotation establishment unit, a full period time calculation unit, an axle stationary state judgment unit, and an axle speed calculation unit,

the whole-period reference establishing unit is used for judging the data change rule output by the geomagnetic device and establishing the reference time of the whole period of rotation of the wheel axle;

the rotating half-cycle mark time establishing unit is used for determining the rotating half-cycle mark time of the wheel axle;

the whole period time calculation unit is used for determining the whole period ending time of the wheel axle and calculating the current rotation period of the wheel axle;

the wheel axle static state judging unit is used for judging whether the high-speed rotating system is in a static state or not by combining the output condition of the gyro angular rate of the inertial navigation system;

and the wheel axle speed calculating unit is used for calculating the wheel axle speed.

Further, in the above-mentioned case,

the whole-period reference establishing unit is used for judging the true data values of continuous m sampling points in the n sampling points, and if the true data values are all larger than a rotation threshold value and the geomagnetic data difference between two adjacent points is all larger than 0, judging the moment t_iRecording the time as a whole-cycle reference for the whole-cycle reference of the rotation of the wheel shaft: t is₀＝t_i。

The rotating half-cycle mark moment establishing unit is used for judging the data true values of continuous m sampling points in the n sampling points, and if the data true values are all larger than a rotating threshold value S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the judgment is madeAt the time t_jAnd setting a wheel axle rotation half-period mark for marking the moment of the wheel axle rotation half-period.

The whole period time calculation unit is used for judging the data true values of continuous m sampling points in the n sampling points, and if the data true values are all larger than the rotation threshold S_AAnd the geomagnetic data difference between two adjacent points is greater than 0, and the wheel axle rotation half period mark is valid, then the sampling time t is determined_kNamely the end time of the whole period of the wheel axle, and recording the time as T_F＝t_kAnd at the same time, the mark of the half period of the rotation of the wheel shaft is cleared,

determining the current rotation period of the wheel shaft: delta T_p＝T_F-T₀Where p denotes the p-th revolution of the axle.

If the angular rate of the inertial navigation gyro is less than or equal to 2 degrees/s, the vehicle body is considered to be in a static state, and the rotating half-period mark of the wheel axle is cleared: HalfT ═ 0.

Wherein, the value of sampling point m is: 3< m < 8.

Compared with the prior art, the invention has the following beneficial effects:

according to the rotation of the wheel shaft, the data output by the geomagnetic device is in a sine-cosine periodic variation rule, the average speed of the whole wheel circumference is obtained, and the real-time running speed of the vehicle body is obtained by combining the gyro angular rate output of the inertial navigation system to carry out abnormal correction and static information judgment. The method is based on the characteristics of high measurement precision and no accumulated error of the geomagnetic sensor, obtains the real-time running speed of the vehicle body, and uses the real-time running speed as the reference information of the vehicle-mounted positioning and orientation inertial navigation system, thereby improving the autonomous reliability of the vehicle-mounted positioning and orientation system.

Drawings

Fig. 1 is a flowchart illustrating a method for calculating a movement speed of a high-speed rotation system based on a geomagnetic device according to an embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the embodiment of the present invention, the proposed method for calculating the movement speed of the high-speed rotation system, as shown in fig. 1, adopts the following technical solutions: firstly, establishing a reference moment of a whole wheel axle rotation period by judging a data change rule output by a geomagnetic device, then calculating the whole wheel axle rotation period, meanwhile, judging whether a vehicle body is in a static state by combining inertial navigation gyro angular rate output, and finally calculating the vehicle body movement speed.

The specific calculation method comprises the following steps:

step 1, establishing a whole-period reference

When the vehicle body runs and the wheel shaft rotates at a high speed, a sensitive surface formed by the X axis and the Y axis of the magnetic sensor is parallel to the cross section of the wheel, the X axis and the Y axis rotate along with the rotation of the wheel shaft, and magnetic field components sensed by the X axis and the Y axis are changed in a sine periodic mode. Geomagnetic device at t_i(i ═ 1,2, 3.., n) output data at time point is recorded as S_iSetting the rotation output threshold of the geomagnetic device to S_AIf S is_i＞S_AThen, it is determined that the geomagnetic device is in a rotation state at the moment.

It should be noted that n is the number of sampling points, and n is>8，t_iIs the sampling moment corresponding to the ith sampling point.

The geomagnetic data difference between adjacent sampling moments can be recorded as:

k_i＝S_i-S_i-1

firstly, judging data truth values of m continuous sampling points, namely: s_i-m+1,S_i-m+2,…,S_iIf both are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is greater than 0, then the time t is determined_iIs a wheelThe shaft rotates for a full period reference. Therein, 3<m<8。

Recording the time as a whole-cycle reference: t is₀＝t_i。

Step 2, calculating the whole period time

1) Establishing a mark time of a half-cycle of rotation

For n sampling points, firstly, judging data true values of m continuous sampling points, namely: s_j-m+1,S_j-m+2,…,S_j(j ═ 1,2, …, n; 3< m < 8), if greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jAnd setting a wheel axle rotation half-period mark for marking the moment of the wheel axle rotation half period, wherein HalfT is 1.

2) Calculating the time of the whole period

Repeating the step 1, and judging the data true values of the continuous m sampling points for the n sampling points, namely: s_k-m+1,S_k-m+2,…,S_k(k is 1,2, …, n; 3< m < 8), if all are greater than the rotation threshold S_AIf the geomagnetic data difference of the sampled data of two adjacent points is greater than 0, determining the sampling time t_kNamely the end time of the whole period of the wheel axle. Record the time as T_F＝t_kAnd simultaneously clearing the mark of the rotation half period of the wheel shaft: HalfT ═ 0.

Calculating the rotation period of the wheel shaft as follows: delta T_p＝T_F-T₀. Where p denotes the p-th revolution of the axle.

Step 3, judging the static state of the wheel axle and calculating the speed

By inertial navigation system t_iThe angular rate of the time-of-day output is noted as ω_xiReal-time judging the motion state of the vehicle body, if omega_xiAnd 2 DEG/s, considering that the vehicle body is in a static state, and clearing the mark of the half-period rotation of the wheel shaft: HalfT ═ 0.

Based on the above conditions, axle speedThe calculation method is as follows:

wherein D is the wheel circumference.

The present invention will be further explained with reference to the following embodiment in which the number m of sampling points is 6.

Step 1, establishing a whole-period reference

Firstly, judging the data true values of continuous 6 sampling points, if all the data true values are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is greater than 0, then the time t is determined_iIs the axle rotation whole period reference. Namely, the following conditions are satisfied:

wherein S is_AIs the rotation threshold.

Recording the time as a whole-cycle reference: t is₀＝t_i。

Step 2, calculating the whole period time

1) Establishing a mark time of a half-cycle of rotation

Judging the data true values of continuous 6 sampling points, if all the data true values are greater than the rotation threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jAnd setting a wheel axle rotation half-period mark for marking the moment of the wheel axle rotation half period, wherein HalfT is 1. Namely, the following conditions are satisfied:

2) calculating the time of the whole period

Judging the data true values of continuous 6 sampling points, if all the data true values are greater than the rotation threshold S_AAnd the geomagnetic data difference of two adjacent points is larger than 0, the geomagnetic data difference of the sampled data of the two adjacent points is calculated, and if the following conditions are met simultaneously, the sampling time t is determined_kNamely the end time of the whole period of the wheel axle:

record the time as T_F＝t_kAnd simultaneously clearing the mark of the rotation half period of the wheel shaft: HalfT ═ 0.

Calculating the rotation period of the wheel shaft as follows: delta T_p＝T_F-T₀. Where p denotes the p-th revolution of the axle.

Step 3, judging the static state of the wheel axle and calculating the speed

By inertial navigation system t_iThe angular rate of the time-of-day output is noted as ω_xiReal-time judging the motion state of the vehicle body, if omega_xiAnd 2 DEG/s, considering that the vehicle body is in a static state, and clearing the mark of the half-period rotation of the wheel shaft: HalfT ═ 0.

Based on the above conditions, axle speedThe calculation method is as follows:

wherein D is the wheel circumference.

According to still another aspect of the present invention, there is provided a geomagnetic device-based high-speed rotation system movement speed calculation apparatus, which may be specifically used to execute the processing flow of the embodiment of the geomagnetic device-based high-speed rotation system movement speed calculation method in the above embodiments.

The device comprises a whole-period reference establishing unit, a rotating half-period mark time establishing unit, a whole-period time calculating unit, an axle static state judging unit and an axle speed calculating unit.

A whole period reference establishing unit for determining the true data value of m continuous sampling points in the n sampling points, and if the true data values are all greater than the rotation threshold and the geomagnetic data difference between two adjacent points is greater than 0, determining that the time t is the moment_iRecording the time of day for the whole period of the wheel shaft rotation referenceAnd (3) reference of the whole period: t is₀＝t_i. Here, it is to be noted that 3<m<8；t_iIs the sampling moment corresponding to the ith sampling point.

A rotating half-cycle mark time establishing unit for judging the data true value of continuous m sampling points in the n sampling points, if all the data true values are greater than the rotating threshold S_AAnd if the difference between the geomagnetic data of two adjacent points is less than 0, then the time t is determined_jAnd setting a wheel axle rotation half-period mark for marking the moment of the wheel axle rotation half period, wherein HalfT is 1.

A whole period time calculation unit for judging the data true value of m continuous sampling points in the n sampling points, if all the true values are greater than the rotation threshold S_AAnd if the geomagnetic data difference between two adjacent points is greater than 0 and satisfies that HalfT is 1, determining the sampling time t_kNamely the end time of the whole period of the wheel axle. Record the time as T_F＝t_kAnd simultaneously clearing the mark of the rotation half period of the wheel shaft: HalfT ═ 0. Determining the current rotation period of the wheel shaft as follows: delta T_p＝T_F-T₀. Where p denotes the p-th revolution of the axle.

And the wheel axle static state judging unit is used for performing abnormal correction and static information judgment by combining the gyro angular rate output of the inertial navigation system. Inertial navigation system t_iThe angular rate of the time-of-day output is noted as ω_xiReal-time judging the motion state of the vehicle body, if omega_xiAnd 2 DEG/s, considering that the vehicle body is in a static state, and clearing the mark of the half-period rotation of the wheel shaft: HalfT ═ 0.

The wheel axle speed calculation unit is used for calculating the wheel axle speed based on the output condition of the gyro angular rate of the inertial navigation systemAnd (4) calculating.

Wherein D is the wheel circumference.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.