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A laser velocimeter data modeling method for integrated navigation hardware-in-the-loop simulation

A laser velocimeter and hardware-in-the-loop simulation technology, applied in the field of inertial navigation, can solve the problems that the simulation results cannot fully reflect the actual situation, the environment is complex, and the noise characteristics of the laser velocimeter cannot be fully reflected.

Active Publication Date: 2017-07-28
HUNAN BINGQI YUEJIN ELECTRO MECHANICAL CO LTD
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  • Application Information

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Problems solved by technology

The environment of the carrier in the actual movement is relatively complex, and the given simulation noise cannot fully reflect the noise characteristics of the laser speedometer, so the simulation results cannot fully reflect the actual situation

Method used

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  • A laser velocimeter data modeling method for integrated navigation hardware-in-the-loop simulation
  • A laser velocimeter data modeling method for integrated navigation hardware-in-the-loop simulation
  • A laser velocimeter data modeling method for integrated navigation hardware-in-the-loop simulation

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Embodiment Construction

[0041] See figure 1 , figure 2 , the present invention is a kind of laser velocimeter data modeling method that is used for combined navigation hardware-in-the-loop simulation, and the concrete steps of this method are as follows:

[0042] Step 1. Install the inertial navigation / laser speedometer combination system on the carrier, and power it on to start.

[0043] Step 2, binding the initial parameters (including the initial longitude, latitude, height, laser speedometer scale value, laser speedometer installation angle, inertial navigation installation angle) to the navigation computer.

[0044] Step 3. The carrier remains stationary, and the inertial navigation system performs static initial alignment for 5 minutes.

[0045] Step 4. After the alignment is completed, the carrier starts to move. During the movement, the inertial navigation performs inertial navigation calculations, collects and saves the speed value output by the inertial navigation, the attitude matrix ou...

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Abstract

The invention discloses a laser velocimeter data modeling method for combined navigation semi-physical simulation. The method comprises the six steps of 1, installing an inertial navigation / laser velocimeter system on a carrier and starting the system by power, 2, setting initial parameters in a navigation computer, 3, keeping a carrier static state and carrying out static initial alignment on the inertial navigation unit for 5min, 4, moving the carrier, carrying out inertial navigation calculation, and acquiring and storing inertial navigation output rate values, attitude matrix and a laser velocimeter output speed in 50s after motion, 5, projecting the rate to a laser velocimeter rate direction to obtain a reference rate, and calculating the difference of the rate and the reference rate to obtain a noise value of the laser velocimeter output rate, and 6, setting a simulation locus to obtain an attitude matrix and a velocity component of the carrier, calculating a laser velocimeter speed standard value by velocity component and laser velocimeter installation angle computation and inertial navigation installation angle computation, carrying data fusion on the speed standard value, standard error value and the noise value obtained by the step 5 so that the laser velocimeter rate for the combined navigation semi-physical simulation is obtained.

Description

Technical field: [0001] The invention relates to a laser velocimeter data modeling method for combined navigation semi-physical simulation, belonging to the technical field of inertial navigation. Background technique: [0002] The laser velocimeter can measure the speed of the moving carrier relative to the ground in real time according to the Doppler frequency shift, and its measurement error does not accumulate over time. It can complement the advantages of the inertial navigation system and can realize fully autonomous and high-precision navigation and positioning. [0003] In the simulation research of inertial navigation / laser velocimeter integrated navigation, the simulation trajectory (including the moving speed, position and attitude of the carrier) is generally set, and the speed standard value of the laser velocimeter is calculated by calculating the moving speed of the carrier in the set simulation trajectory , and given the scale error value and noise of the las...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01P21/02
CPCG01C25/00G01S7/497
Inventor 张小跃张春熹刘鹏博牛燕雄易晓静时海涛
Owner HUNAN BINGQI YUEJIN ELECTRO MECHANICAL CO LTD