阅读说明：本技术 一种基于陀螺寻北仪的连续寻北方位更新方法和系统 (Continuous north-seeking azimuth updating method and system based on gyro north-seeking instrument ) 是由 彭闯 刘建 许友哲 于 2020-11-09 设计创作，主要内容包括：本发明公开一种基于陀螺仪寻北仪的连续寻北方位更新方法和系统,所述方法具体包括：S101：利用寻北仪进行第n次寻北,获取多方位测量数据和惯组角位置数据,所述寻北仪对所述多方位测量数据方位解算,获得第n次寻北的方位和姿态数据；S102：主控上位机将所述第n次寻北的所述方位和姿态数据作为第n+1次姿态更新解算的初值；S103：所述主控上位机将所述初值发送给所述寻北仪以进行第n+1次寻北,直到寻北时长大于等于预定时长时终止寻北,其中n为自然数。(The invention discloses a continuous north-seeking azimuth updating method and system based on a gyroscope north-seeking instrument, wherein the method specifically comprises the following steps: s101: carrying out nth north seeking by using a north seeker to obtain multi-azimuth measurement data and inertial measurement angular position data, wherein the north seeker carries out azimuth calculation on the multi-azimuth measurement data to obtain azimuth and attitude data of nth north seeking; s102: the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation; s103: and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.)

1. A continuous north-seeking azimuth updating method based on a gyro north-seeking instrument is characterized in that,

the north seeker comprises: the device comprises a navigation computer, an inertia measurement unit, an embedded driving plate, a motor and a transposition mechanism;

the master control upper computer is used for controlling the north seeker;

the method comprises the following steps:

s101: carrying out north seeking for the nth time by using a north seeker to obtain multi-azimuth measurement data and inertial measurement unit angular position data, obtaining a posture matrix of the inertial measurement unit relative to a north seeker coordinate system by using the inertial measurement unit angular position data, and carrying out azimuth calculation on the multi-azimuth measurement data by using the north seeker to obtain azimuth and posture data of the north seeking for the nth time;

s102: the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation;

s103: and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.

2. The method of claim 1,

the nth north-seeking specifically comprises the following steps:

the master control upper computer sends a north-seeking indexing instruction;

the embedded driving board controls the motor and the indexing mechanism to index according to the north-seeking indexing instruction;

the motor and the indexing mechanism drive the inertia measurement unit to rotate to a preset angular position and obtain inertia set angular position data;

the inertial measurement unit sending measurement data of different angular positions to the navigation computer;

the navigation computer carries out north seeking real-time calculation according to the measurement data to obtain azimuth and attitude data and sends the azimuth and attitude data to a master control upper computer, the navigation computer receives the inertial measurement unit angular position data, obtains an attitude matrix of the inertial measurement unit relative to a north finder coordinate system by using the inertial measurement unit angular position data, and reversely solves the inertial measurement unit data by using the attitude matrix.

3. The method of claim 2,

the inertial measurement unit includes a gyroscope and an accelerometer.

4. The method of claim 1,

the multi-azimuth measurement data includes acceleration and angular velocity.

5. The method of claim 1,

the data obtained by attitude updating and resolving comprises azimuth data and attitude data.

6. A continuous north-seeking azimuth updating system based on a gyro north-seeking instrument is characterized by comprising:

a main control upper computer and a north seeker,

the north seeker carries out north seeking for the nth time to obtain multi-azimuth measurement data and inertial measurement angular position data, and carries out azimuth calculation on the multi-azimuth measurement data to obtain azimuth and attitude data of the north seeker for the nth time;

the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation;

and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.

7. The system of claim 6,

the north seeker comprises: a navigation computer, an inertia measurement unit, an embedded driving plate, a motor and a transposition mechanism,

wherein the content of the first and second substances,

the master control upper computer sends a north-seeking indexing instruction;

the embedded driving board controls the motor and the indexing mechanism to index according to the north-seeking indexing instruction;

the motor and the indexing mechanism drive the inertia measuring unit to rotate to a preset angle position;

the inertial measurement unit sending measurement data of different angular positions to the navigation computer;

the navigation computer carries out north seeking real-time calculation according to the measurement data to obtain azimuth and attitude data and sends the azimuth and attitude data to a master control upper computer, the navigation computer receives inertial group angular position data sent by a motor and a transposition mechanism, an attitude matrix of the inertial measurement unit relative to a north seeker coordinate system is obtained by utilizing the inertial group angular position data, and the inertial measurement unit data is subjected to inverse solution by utilizing the attitude matrix.

Technical Field

The invention relates to a north-seeking method of a gyro north-seeking instrument, in particular to a continuous north-seeking azimuth updating method and system based on the gyro north-seeking instrument.

Background

The laser gyro north finder is one of important application achievements of the inertia technology, determines the north direction by the component of the high-precision laser gyro sensitive earth rotation angular velocity in a carrier coordinate system, can work all weather and reliably, is not influenced by external environments such as earth magnetic field, terrain, weather and the like, can realize the autonomous north finding function under the condition of no external azimuth information, and measures the included angle between the local position and the true north direction of a north finding system.

The continuous north-seeking is an effective method for realizing the long-time work duty of the north-seeking instrument and keeping the data updating, and the core of the method is that after the first north-seeking is finished, the attitude updating is carried out by utilizing the characteristic of short-time high-precision navigation of a high-precision laser gyro, the current true north direction is output in real time, the true north direction output can be kept between two effective time nodes for north-seeking, and the purpose of updating the north direction of the system by the north-seeking instrument in real time is achieved.

The conventional north-seeking method generally adopts a multi-position north-seeking method and combines a corresponding error compensation method to counteract the influence of gyro constant zero offset and random drift on north-seeking precision. The method needs to operate a motor to drive a transposition mechanism under the control of an upper computer or an embedded control board, an inertia measurement unit continuously rotates at a constant angular speed, and an attitude matrix is periodically changed through continuous rotation, so that the average value of slowly-changing errors of the system is close to zero as much as possible in a rotation period. This kind of method can reduce the accumulation of system error and increase the observable degree of system alignment, but it also causes the preparation time of north-seeking process to be lengthened.

In view of the long preparation time required by the conventional inertial high-precision north-seeking method, the conventional north-seeking method cannot meet the requirement of the space-time reference system on rapidity. In order to further improve the service efficiency of the high-precision laser gyro north seeker, a north-seeking azimuth updating method needs to be optimized, and a space-time reference solution which is high in rapidity and high in precision is searched.

Disclosure of Invention

To solve at least one of the above problems, the present invention provides a continuous north-seeking method and system based on gyro north-seeking instrument,

in one aspect, the invention discloses a continuous north-seeking method based on a gyro north-seeking instrument, which comprises the following steps

The north seeker comprises: the device comprises a navigation computer, an inertia measurement unit, an embedded driving plate, a motor and a transposition mechanism;

the master control upper computer is used for controlling the north seeker;

the method comprises the following steps:

s101: carrying out north seeking for the nth time by using a north seeker to obtain multi-azimuth measurement data and inertial measurement unit angular position data, obtaining a posture matrix of the inertial measurement unit relative to a north seeker coordinate system by using the inertial measurement unit angular position data, and carrying out azimuth calculation on the multi-azimuth measurement data by using the north seeker to obtain azimuth and posture data of the north seeking for the nth time;

s102: the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation;

s103: and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.

The nth north-seeking specifically comprises the following steps:

the master control upper computer sends a north-seeking indexing instruction;

the embedded driving board controls the motor and the indexing mechanism to index according to the north-seeking indexing instruction;

the motor and the indexing mechanism drive the inertia measurement unit to rotate to a preset angular position and obtain inertia set angular position data;

the inertial measurement unit sending measurement data of different angular positions to the navigation computer;

the navigation computer carries out north seeking real-time calculation according to the measurement data to obtain azimuth and attitude data and sends the azimuth and attitude data to a master control upper computer, the navigation computer receives the inertial measurement unit angular position data, obtains an attitude matrix of the inertial measurement unit relative to a north finder coordinate system by using the inertial measurement unit angular position data, and reversely solves the inertial measurement unit data by using the attitude matrix.

The inertial measurement unit includes a gyroscope and an accelerometer.

The multi-azimuth measurement data includes acceleration and angular velocity.

The data obtained by attitude updating and resolving comprises azimuth data and attitude data.

In another aspect, the present invention provides a north-seeking orientation updating system based on a gyro north-seeking instrument, including:

a main control upper computer and a north seeker,

the north seeker carries out north seeking for the nth time to obtain multi-azimuth measurement data and inertial measurement angular position data, and carries out azimuth calculation on the multi-azimuth measurement data to obtain azimuth and attitude data of the north seeker for the nth time;

the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation;

and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.

The north seeker comprises: a navigation computer, an inertia measurement unit, an embedded driving plate, a motor and a transposition mechanism,

wherein the content of the first and second substances,

the master control upper computer sends a north-seeking indexing instruction;

the embedded driving board controls the motor and the indexing mechanism to index according to the north-seeking indexing instruction;

the motor and the indexing mechanism drive the inertia measuring unit to rotate to a preset angle position;

the inertial measurement unit sending measurement data of different angular positions to the navigation computer;

the navigation computer carries out north seeking real-time calculation according to the measurement data to obtain azimuth and attitude data and sends the azimuth and attitude data to a master control upper computer, the navigation computer receives inertial group angular position data sent by a motor and a transposition mechanism, an attitude matrix of the inertial measurement unit relative to a north seeker coordinate system is obtained by utilizing the inertial group angular position data, and the inertial measurement unit data is subjected to inverse solution by utilizing the attitude matrix.

The invention has the following beneficial effects:

compared with the prior art, the invention further improves the use efficiency of the high-precision laser gyro north finder, optimizes the north-seeking azimuth updating method, gives consideration to rapidity and high-precision space-time reference, and avoids north-seeking errors caused by azimuth changes due to complex conditions of use sites.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

FIG. 1 shows a flow chart of a continuous north-seeking orientation update method based on a gyro north-finder in accordance with one embodiment of the present invention;

FIG. 2 is a block diagram of a continuous north-seeking orientation update system based on a gyro north seeker, according to an embodiment of the present invention;

Detailed Description

In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.

In one aspect, an embodiment of the present invention provides a continuous north-seeking azimuth updating method based on a gyro north seeker, which utilizes a processing method in which north seeking and navigation processes are parallel to maintain accurate attitude updating in the north seeking process, as shown in fig. 1, specifically including the following steps:

according to the investigation task condition, presetting the north-seeking duration to be 24 hours;

it should be understood by those skilled in the art that the above 24 hours is only an example, and the specific time period is determined according to the circumstances.

The execution main body comprises a main control upper computer and a gyro north seeker,

the gyro north seeker comprises: navigation computer, embedded drive plate, motor and indexing mechanism and inertia measuring unit.

Starting a first north finding, wherein a main control upper computer sends a north finding transposition instruction to an embedded driving plate, the embedded driving plate controls a motor and a transposition mechanism to drive an inertia measurement unit to complete set transposition in the instruction, and the inertia measurement unit collects measurement data of different angles, including acceleration and angular velocity; encoder disc uploading inertia group angle of indexing mechanismPosition data, the navigation computer obtains the attitude matrix of the inertial measurement unit relative to the coordinate system of the north seeker by utilizing the inertial group angular position data, the navigation computer receives the measurement data, and carries out north seeking real-time calculation on the measurement data to obtain azimuth and attitude data (a)₁And b₁) And a is₁And b₁And sending the data to a master control upper computer.

Continuously executing a continuous north-seeking instruction, sending a north-seeking indexing instruction to an embedded driving plate by a master control upper computer, controlling a motor and an indexing mechanism by the embedded driving plate to drive an inertia measurement unit to complete set indexing in the instruction, and acquiring measurement data of different angles by the inertia measurement unit, wherein the measurement data comprises acceleration and angular velocity; the navigation computer receives the measurement data, and carries out attitude updating calculation on the measurement data, wherein the attitude updating calculation is carried out on the azimuth and attitude data (a) obtained by the last north-seeking_nAnd b_n) Calculating initial value of the attitude update, wherein the calculated value of the attitude update comprises azimuth and attitude data, and calculating a_n+1And b_n+1Sending the data to a master control upper computer; and the navigation computer obtains an attitude matrix of the inertial measurement unit relative to a coordinate system of the north seeker by using the inertial group angular position data, and reversely solves the data of the inertial measurement unit by using the attitude matrix, wherein the data reverse solution comprises rotation angle compensation.

Wherein n is a natural number greater than 1.

The inertial measurement unit comprises a gyroscope and an accelerometer, is fixed on the indexing mechanism and reaches a preset angular position along with the indexing mechanism; including but not limited to laser gyroscopes and fiber optic gyroscopes.

The rotation angle compensation refers to the rotation angle of the motor and the indexing mechanism from the angle position 1 to the angle position 2, the angle position of the inertial measurement unit is changed, and the navigation computer can compensate the rotated angle when carrying out north-seeking azimuth calculation in order to keep the consistency of the carrier coordinate system during calculation.

If the north-seeking duration is longer than 24 hours, the master control upper computer sends a termination command, and the north-seeking instrument stops north-seeking.

In practical use, people in a place set by the north seeker can cause the north seeker to displace due to walking, engine vibration and the like, the angle second and even the angle grading change which cannot be perceived by human eyes can always change the north seeker direction, and the embodiment realizes high-precision tracking through continuous update of the north seeker direction and solves at least one of the problems.

In another embodiment, the invention provides a continuous north-seeking orientation updating system based on a gyro north-seeker, as shown in fig. 2, specifically comprising

A main control upper computer and a north seeker,

the north seeker carries out north seeking for the nth time to obtain multi-azimuth measurement data and inertial measurement angular position data, and carries out azimuth calculation on the multi-azimuth measurement data to obtain azimuth and attitude data of the north seeker for the nth time;

the main control upper computer takes the azimuth and attitude data of the nth north finding as initial values for the (n + 1) th attitude updating calculation;

and the master control upper computer sends the initial value to the north seeker to carry out north seeking for the (n + 1) th time, and the north seeking is terminated until the north seeking duration is greater than or equal to a preset duration, wherein n is a natural number.

The north seeker comprises: a navigation computer, an inertia measurement unit, an embedded driving plate, a motor and a transposition mechanism,

wherein the content of the first and second substances,

the master control upper computer sends a north-seeking indexing instruction;

the embedded driving board controls the motor and the indexing mechanism to index according to the north-seeking indexing instruction;

the motor and the indexing mechanism drive the inertia measuring unit to rotate to a preset angle position;

the inertial measurement unit sending measurement data of different angular positions to the navigation computer;

and the navigation computer carries out north finding real-time calculation according to the measurement data, obtains azimuth and attitude data and sends the azimuth and attitude data to the master control upper computer, and receives the inertial measurement unit angular position data sent by the motor and the indexing mechanism and carries out indexing mechanism rotation angle compensation.

Wherein

The inertial measurement unit includes an accelerometer and a gyroscope.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.