CN103968840A - All-digital control platform type inertial navigation system - Google Patents
All-digital control platform type inertial navigation system Download PDFInfo
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- CN103968840A CN103968840A CN201410219077.8A CN201410219077A CN103968840A CN 103968840 A CN103968840 A CN 103968840A CN 201410219077 A CN201410219077 A CN 201410219077A CN 103968840 A CN103968840 A CN 103968840A
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- support frame
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- imu
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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
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention relates to an all-digital control platform type inertial navigation system. The system comprises a system box, a control system, a support frame and an inertial measurement unit, wherein the control system comprises an embedded computer, a motor driven circuit, an interface circuit and an external communication interface; the support frame comprises an outer support frame and an inner support frame; the inertial measurement unit comprises three fiber-optic gyroscopes and three quartz accelerometers, which are orthogonally arranged and an interface circuit. According to the system disclosed by the invention, the high-precision rate type fiber-optic gyroscopes replacing traditional integrating gyroscopes are used for carrying out the stable control on the platform frame system; the all-digital circuits are adopted to carry out the platform internal control and navigation solution; therefore, the system disclosed by the invention has the advantages of effectively simplifying the electrical system complexity, reducing the system size, reducing the cost and increasing the control accuracy on the premise of realizing the high precision control.
Description
Technical field
The present invention relates to a kind of digital control gimbaled inertial navigation system, be particularly applied to system bulk is had to strict restriction, belong to inertial navigation field.
Background technology
Gimbaled inertial navigation system is that one utilizes gyroscope gyroscopic inertia to drive platform framework system to keep measurement combination stage body to be stabilized in appointment inertial space, thereby measurement stage body linear accelerometer carries out the navigational system of stepping type position calculation.Traditionally, for keeping the dynamic and static characteristic of stage body spatial stability, generally use high-precision integral form position gyroscope, can reach the requirement of high precision inertial navigation.But electrical system relative complex, plateform system volume is larger, and hardware cost is higher.
Along with the continuous progress of inertial technology, the solid-state speed type gyroscope taking optical fibre gyro as representative has reached higher service precision, and the strapdown navigation system application forming with optical fibre gyro is increasingly extensive.Inertia measurement device and the carrier of this navigational system connect firmly completely, calculate digital platform completely by navigational computer, the calculating of navigating.System hardware forms simple, but owing to there not being frame system, self-calibration that cannot completion system with from aiming at; Need extra increase rotating mechanism could realize the rotation modulation of error.
Be badly in need of at present developing that a kind of system bulk is little, cost is low, can realize self-calibration with from aiming at inertial navigation system.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of digital control gimbaled inertial navigation system is provided, adopt New Solid angular rate gyroscope to carry out the stable control of frame system, ensureing under the prerequisite of precision, effectively reduce electrical system complicacy, reduce system bulk, regulate and realized self-calibration and certainly aimed at by control system simultaneously, system is on complete traditional platform formula inertial navigation system basis, have strap-down inertial navigation system feature concurrently, for the development of platform-type navigational system provides new thinking.
Technical solution of the present invention is:
A kind of digital control gimbaled inertial navigation system comprises: system casing, control system, scaffold and IMU, and wherein control system comprises again embedded computer, motor-drive circuit and interface circuit; Scaffold comprises again external support frame and inner support frame, and IMU comprises again three optical fibre gyros of orthogonal installation, three quartz accelerometers;
Described system casing is installed basis for plateform system provides, by other parts of cable system connected system;
The IMU that described scaffold is plateform system provides supporting, external support frame is arranged in system casing by bearing, forward bearing one end mounting torque motor rotates for external support frame, the measurement that negative sense bearing one end installation frame angle transducer rotates for external support frame, inner support frame is arranged in external support frame by bearing, orthogonal with external support frame axle, forward bearing one end mounting torque motor rotates for inner support frame, the measurement that negative sense bearing one end installation frame angle transducer rotates for inner support frame;
Described IMU is arranged in inner support frame by bearing, IMU axle and external support frame axle, the orthogonal formation right hand of inner support frame axle rectangular coordinate system, forward bearing one end mounting torque motor, negative sense bearing one end installation frame angle transducer; The measurement axle of IMU overlaps with each gimbal axis at initial position, and the angular velocity with respect to inertial space that IMU is measured fibre optic gyroscope and frame corners sensor and the attitude information of measuring send to control system;
Control system receives by interface circuit angular velocity and the attitude information that IMU sends, and utilize embedded computer to carry out the decomposition of angular velocity coordinate, and generating digital controlled quentity controlled variable, motor-drive circuit utilizes this digital control amount drive three torque motors and rotate, make the attitude stabilization of plateform system in designated space coordinate system, utilize the acceleration output of quartz accelerometer to carry out plateform system navigation calculating simultaneously.
Described fibre optic gyroscope is angular speed type output inertial sensor part, by digital integration and the filtering link of control system, in order to carry out the frame stability control of platform-type navigational system.
Described control system can make plateform system form platform-type navigational system or strapdown navigational system as the case may be.
The rotation modulation that described control system drives scaffold to carry out error is dispersed for suppressing the lower systematic error of long-time navigation.
The present invention's beneficial effect is compared with prior art:
(1) the present invention adopts Novel digital type fibre optic gyroscope to carry out frame stability circuit controls, ensureing, on the basis of corresponding precision, to have reduced electrical system complicacy, has realized platform structure and electrical system integrated design;
(2) system of the present invention is on complete traditional platform formula inertial navigation system basis, have strap-down inertial navigation system feature concurrently, system can be selected platform or strapdown navigate mode according to different service conditions, can adopt the horizontal gyroscopic drift of rotation modulation mode inhibition, in in long-time navigation procedure, reach degree of precision, be particularly useful for surface car or sea ship.
(3) the present invention is in the situation that using angular speed type gyroscope to carry out platform stable control, the dynamic and static characteristic of platform is suitable with the angle position gyroscope of corresponding precision, the systems stabilisation of platform adopts all-digital controlling circuit, can use easily digital quantity to control torque motor, in realizing accurately rotation, effectively simplify design of electrical system, reduced system bulk.Self-calibration and the automatic aligning function of implementation platform system of the present invention have effectively been simplified electrical system complicacy under the prerequisite that realizes high precision control simultaneously, have reduced system bulk.
(4) rotation modulation that control system of the present invention drives scaffold to carry out error is dispersed for suppressing the lower systematic error of long-time navigation, can be applied to horizontal naval vessels navigation, and range of application is wider.
(5) the present invention uses the inertia measurement information of measuring combination, and in conjunction with the high precision frame corners sensor angle information of installing on scaffold, and the self-calibration of feasible system and from aiming function.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 principle of the invention schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
As shown in Figure 1, 2, a kind of digital control gimbaled inertial navigation system of the present invention comprises: system casing 1, control system 2, scaffold 3 and IMU 4, and wherein control system 2 comprises again embedded computer 21, motor-drive circuit 22 and interface circuit 23 (fibre optic gyroscope interface circuit, quartz accelerometer interface circuit); Scaffold 3 comprises again external support frame 31 and inner support frame 32, and IMU 4 comprises again three quartz accelerometers of three optical fibre gyros (three optical fibre gyros and quartz accelerometer are arranged on respectively three of IMU and measure on axles) of orthogonal installation;
System casing 1 is installed basis for plateform system provides, and by other parts of cable system connected system, and is connected with carrier;
The IMU that scaffold 3 is plateform system provides supporting, external support frame 31 is arranged in system casing 1 by bearing, forward bearing one end mounting torque motor 311 rotates for external support frame 31, the measurement that negative sense bearing one end installation frame angle transducer 312 rotates for external support frame 31, inner support frame 32 is arranged in external support frame 31 by bearing, orthogonal with external support axle, forward bearing one end mounting torque motor 321 rotates for inner support frame 32, the measurement that negative sense bearing one end installation frame angle transducer 322 rotates for inner support frame 31,
IMU 4 is arranged in inner support frame 32 by bearing, with external support frame axle, the orthogonal formation right hand of inner support gimbal axis rectangular coordinate system, forward bearing one end mounting torque motor 41, negative sense bearing one end installation frame angle transducer 42; The measurement axle of IMU 4 overlaps with each gimbal axis axle at initial position, and the attitude information that the angular velocity with respect to inertial space that IMU 4 is measured fibre optic gyroscope 41 and frame corners sensor 312,322 and 42 are measured sends to control system 2;
Control system 2 receives by interface circuit 24 angular velocity and the attitude information that IMU 4 sends, and utilize embedded computer 21 to carry out the decomposition of angular velocity coordinate, and generating digital controlled quentity controlled variable, motor-drive circuit 22 utilizes this digital control amount to drive three torque motors 311,321 and 41, and then make the attitude stabilization of plateform system in designated space coordinate system, utilize the acceleration output of quartz accelerometer 42 to carry out space velocity and the position that computing platform system is calculated in plateform system navigation simultaneously.
Control system 2 can make plateform system form platform-type navigational system or strapdown navigational system as the case may be.
Described fibre optic gyroscope is angular speed type output inertial sensor part, by digital integration and the filtering link of control system 2, in order to carry out the frame stability control of platform-type navigational system.Described control system 2 can make plateform system form platform-type navigational system or strapdown navigational system as the case may be.The rotation modulation that control system 2 drives scaffold 3 to carry out error is dispersed for suppressing the lower systematic error of long-time navigation.
Be angle Sensitive Apparatus because system adopts fibre optic gyroscope, can obtain easily obtaining system angle rate signal.Under specific service condition, can three gimbal axis be locked in to initial position by control system, make IMU indirectly and carrier connects firmly, system works is in strapdown navigational system mode of operation.Under strapdown mode of operation, can carry out accurate angular velocity rotation according to the one or more frameworks of different navigation policy-driven, thereby the drift error of inertia device is rotated to modulation, suppress error and disperse.This function is specially adapted to surface car or the sea ship of long-time inertial navigation requirement.
The content not being described in detail in instructions of the present invention belongs to those skilled in the art's known technology.
Claims (4)
1. a digital control gimbaled inertial navigation system, it is characterized in that comprising: system casing (1), control system (2), scaffold (3) and IMU (4), wherein control system (2) comprises again embedded computer (21), motor-drive circuit (22) and interface circuit (23); Scaffold (3) comprises again external support frame (31) and inner support frame (32), and IMU (4) comprises again three optical fibre gyros (41), three quartz accelerometers (42) of orthogonal installation;
Described system casing (1) is installed basis for plateform system provides, by other parts of cable system connected system;
The IMU that described scaffold (3) is plateform system provides supporting, external support frame (31) is arranged in system casing (1) by bearing, forward bearing one end mounting torque motor (311) rotates for external support frame (31), the measurement that negative sense bearing one end installation frame angle transducer (312) rotates for external support frame (31), inner support frame (32) is arranged in external support frame (31) by bearing, orthogonal with external support frame axle, forward bearing one end mounting torque motor (321) rotates for inner support frame (32), the measurement that negative sense bearing one end installation frame angle transducer (322) rotates for inner support frame (31),
Described IMU (4) is arranged in inner support frame (32) by bearing, IMU (4) axle and external support frame axle, the orthogonal formation right hand of inner support frame axle rectangular coordinate system, forward bearing one end mounting torque motor (41), negative sense bearing one end installation frame angle transducer (42); The measurement axle of IMU (4) overlaps with each gimbal axis at initial position, and the attitude information that the angular velocity with respect to inertial space that IMU (4) is measured fibre optic gyroscope (41) and frame corners sensor (312), (322) and (42) are measured sends to control system (2);
Control system (2) receives by interface circuit (23) angular velocity and the attitude information that IMU (4) sends, and utilize embedded computer (21) to carry out the decomposition of angular velocity coordinate, and generating digital controlled quentity controlled variable, motor-drive circuit (22) utilizes this digital control amount to drive three torque motors (311), (321) and (41) to rotate, make the attitude stabilization of plateform system in designated space coordinate system, utilize the acceleration output of quartz accelerometer (42) to carry out plateform system navigation calculating simultaneously.
2. the digital control gimbaled inertial navigation system of a kind of miniaturization according to claim 1, it is characterized in that: described fibre optic gyroscope is angular speed type output inertial sensor part, by digital integration and the filtering link of control system (2), in order to carry out the frame stability control of platform-type navigational system.
3. the digital control gimbaled inertial navigation system of a kind of miniaturization according to claim 1, is characterized in that: described control system (2) can make plateform system form platform-type navigational system or strapdown navigational system as the case may be.
4. the digital control gimbaled inertial navigation system of a kind of miniaturization according to claim 1, is characterized in that: the rotation modulation that described control system (2) drives scaffold (3) to carry out error is dispersed for suppressing the lower systematic error of long-time navigation.
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| CN201410219077.8A CN103968840B (en) | 2014-05-22 | 2014-05-22 | All-digital control platform type inertial navigation system |
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| CN201410219077.8A CN103968840B (en) | 2014-05-22 | 2014-05-22 | All-digital control platform type inertial navigation system |
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Cited By (7)
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| CN104848859A (en) * | 2014-12-26 | 2015-08-19 | 北京航天控制仪器研究所 | Three-axis inertial stabilization platform and self-positioning and orientation control method thereof |
| CN106681346A (en) * | 2016-12-29 | 2017-05-17 | 立得空间信息技术股份有限公司 | Attitude control method based on united computation of POS data and framework angle |
| CN106767806A (en) * | 2017-04-01 | 2017-05-31 | 北京航空航天大学 | A kind of physical platform for hybrid inertial navigation system |
| CN107607114A (en) * | 2017-09-11 | 2018-01-19 | 北京航天控制仪器研究所 | A kind of digital gyro stabilized platform, the soft test system of online frequency characteristic and method |
| CN107796392A (en) * | 2017-09-11 | 2018-03-13 | 北京航天控制仪器研究所 | A kind of three-axle steady platform, Digital Control System and method |
| CN109459777A (en) * | 2018-11-21 | 2019-03-12 | 北京木业邦科技有限公司 | A kind of robot, robot localization method and its storage medium |
| CN113447017A (en) * | 2021-06-28 | 2021-09-28 | 北京航天控制仪器研究所 | Ultra-small optical fiber inertia platform electromechanical dense all-in-one machine structure |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104848859A (en) * | 2014-12-26 | 2015-08-19 | 北京航天控制仪器研究所 | Three-axis inertial stabilization platform and self-positioning and orientation control method thereof |
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| CN106767806A (en) * | 2017-04-01 | 2017-05-31 | 北京航空航天大学 | A kind of physical platform for hybrid inertial navigation system |
| CN107607114A (en) * | 2017-09-11 | 2018-01-19 | 北京航天控制仪器研究所 | A kind of digital gyro stabilized platform, the soft test system of online frequency characteristic and method |
| CN107796392A (en) * | 2017-09-11 | 2018-03-13 | 北京航天控制仪器研究所 | A kind of three-axle steady platform, Digital Control System and method |
| CN107796392B (en) * | 2017-09-11 | 2020-04-10 | 北京航天控制仪器研究所 | Three-axis stable platform, full-digital control system and method |
| CN107607114B (en) * | 2017-09-11 | 2020-08-14 | 北京航天控制仪器研究所 | Online frequency characteristic soft test method for digital gyroscope stabilization platform |
| CN109459777A (en) * | 2018-11-21 | 2019-03-12 | 北京木业邦科技有限公司 | A kind of robot, robot localization method and its storage medium |
| CN113447017A (en) * | 2021-06-28 | 2021-09-28 | 北京航天控制仪器研究所 | Ultra-small optical fiber inertia platform electromechanical dense all-in-one machine structure |
| CN113447017B (en) * | 2021-06-28 | 2022-07-29 | 北京航天控制仪器研究所 | Super-small optical fiber inertia platform electromechanical dense-distribution all-in-one machine structure |
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