A Synchronous Control Method for Integrated Navigation Semi-Physical Simulation Test

Abstract

The invention discloses a synchronous control method for combined navigation semi-physical simulation test. The invention fully considers the characteristics of each subsystem in the combined navigation semi-physical simulation test system, and adopts the combination of control amount preset, delay amount estimation compensation and synchronous pulse triggering. The synchronization control method eliminates the synchronization error of different data sources in the system operation, and solves the synchronization problem between the GNSS analog signal, the inertial measurement data analog signal and the inertial attitude change excitation of the three-axis turntable in the semi-physical simulation of GNSS / INS integrated navigation.

Description

technical field [0001] The invention relates to a synchronous control method between a satellite navigation simulator and a three-axis position rate turntable device in an integrated navigation semi-physical simulation test system, in particular to a test command issued from a simulation control computer, and a radio frequency generated by a GNSS (Global Navigation Satellite System) signal simulator Signals, sending IMU (InertialMeasurement Unit) simulation data, time synchronization control of turntable rotation to simulate carrier attitude time, ensure the alignment of GNSS signal simulation time, IMU data simulation time, and turntable rotation attitude time, and realize semi-physical simulation test of integrated navigation system authenticity and correctness. Background technique [0002] With the emergence of precision-guided weapons and various complex electromagnetic environments, a single navigation system is increasingly unable to meet the needs of missions. Theref...

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Problems solved by technology

[0011] 2) There is a delay in data transmission when the simulation control computer sends command data to the GNSS / INS integrated navigation simulator and the turntable control computer, and the delay time is not fixed;

[0014] The uncertainty of the time delay of the above-mentioned processes directly leads to the inability to synchronize the simulated GNSS navigation signal, IMU simulation data, and the attitude obtained by the turntable operation. The measurement information obtained by the integrated navigation system is also asynchronous, which cannot simulate real use. environment, and cannot test system performance

[0015] At present, domestic scholars mainly focus on the problem of time asynchrony caused by the different frequencies of IMU and GNSS data output inside the integrated navigation receiver. However, for the joint test of GNSS / INS integrated navigation simulator and turntable in semi-physical simulation test, There is no effective solution on how to ensure the synchronization of radio frequency signals, analog accelerometer data, and turntable attitude changes. The present invention mainly solves this problem

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