Boom arm calibration method and system in dynamic environments

Abstract

The application provides a method and system for calibrating a boom arm in a dynamic environment, comprising: step 1: installing a turret on a moving target and adjusting the turret around an azimuth rotation center, erecting a launcher on the turret around a rotation axis, adjusting the launcher to a horizontal state and adjusting the turret multiple times, and calculating a main inertial navigation boom arm and a boom arm of a sub-inertial navigation relative to the azimuth rotation center of the turret; step 2: erecting the launcher multiple times, and calculating the boom arm of the sub-inertial navigation; step 3: calculating the boom arm of the launcher according to the boom arm of the sub-inertial navigation and the boom arm of the sub-inertial navigation relative to the azimuth rotation center of the turret, and then calculating a boom arm speed and a boom arm acceleration, and obtaining the sub-inertial navigation speed and acceleration after compensation as an input of missile dynamic base alignment and a speed initial value of inertial navigation calculation. The application can realize online calibration of the boom arm in the inertial navigation system in a dynamic motion process, effectively improve the performance of the inertial navigation system, and is suitable for engineering application.

Description

Technical Field

[0001] This invention relates to the field of lever calibration technology, and more specifically, to a lever calibration method and system under dynamic conditions. Background Technology

[0002] The moving base alignment process employs a Kalman filter, where the measurement information used for velocity and acceleration matching needs to compensate for the lever arm velocity and acceleration. Simultaneously, after the moving base alignment is completed, the initial velocity values ​​calculated by the inertial navigation system also need to compensate for the lever arm velocity. Therefore, accurate lever arm values ​​are essential.

[0003] Patent document CN111562554A (application number: CN202010456913.X) discloses a static calibration instrument and calibration method for intelligent truck radar, belonging to the technical field of static calibration instruments for intelligent truck radar. It includes a workbench, on which a power mechanism is provided. The power mechanism is connected to a radar target body. A three-axis adjustment mechanism is provided on the radar target body. The three-axis adjustment mechanism is connected to an angle adjustment mechanism. The angle adjustment mechanism is connected to a reflector. A test station is provided in front of the reflector.

[0004] The theoretical value of the lever arm can usually be obtained from drawings. However, when the dynamics are complex and the angular velocity is large, the starting and ending points of the lever arm cannot be accurately found from drawings alone. Furthermore, there are design tolerances between the actual object and the drawings. When the angular velocity is large and a high-precision lever arm value is required, the theoretical lever arm value is not accurate enough. Therefore, it is necessary to obtain the accurate value of the lever arm through calibration. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a lever arm calibration method and system for dynamic environments.

[0006] The lever calibration method under dynamic conditions provided by the present invention includes:

[0007] Step 1: Install the turret on the moving target and rotate it around the azimuth rotation center. Fix the main inertial navigation system and the rotation axis on the turret. Erect the launcher on the turret around the rotation axis. Fix the sub-inertial navigation system located inside the missile on the launcher. Adjust the launcher to a horizontal state and rotate the turret multiple times. Calculate the main inertial navigation system rod arm and the sub-inertial navigation system rod arm relative to the turret azimuth rotation center.

[0008] Step 2: Erect the launcher multiple times and calculate the sub-inertial guide rod arm;

[0009] Step 3: Calculate the launcher arm based on the sub-INS arm and the arm of the sub-INS relative to the turret azimuth rotation center. Then calculate the arm velocity and arm acceleration. After compensation, obtain the sub-INS velocity and acceleration, which serve as the input for missile dynamic base alignment and the initial velocity value for INS calculation.

[0010] Preferably, the main inertial navigation rod arm is the projection of the rod arm of the main inertial navigation center relative to the turret's azimuth rotation center in the turret coordinate system, and the calculation formula is as follows:

[0011]

[0012] In the formula:

[0013]

[0014] A k With V dk The calculation formula is as follows:

[0015]

[0016]

[0017] Where k = 1, 2, ..., n, The attitude matrix from the relay tower coordinate system to the geographic coordinate system during the k-th rotation is:

[0018]

[0019] Where the subscript k indicates the k-th rotation; ψ z θ is the yaw angle of the turret. z φ is the turret pitch angle. z To adjust the turret's rotation angle; The velocity of the main inertial navigation system in the local geographic coordinate system; This is the projection of the angular velocity of the turret coordinate system relative to the inertial coordinate system onto the turret coordinate system. yes transpose; ω ie It is the Earth's rotation rate; L is latitude; R M R is the radius of curvature of the meridional circle; N R is the radius of curvature of the elliptic circle; E is the radius of the major axis of the Earth; and E is the ellipticity of the Earth.

[0020] Preferably, the lever arm of the sub-inertial navigation system relative to the turret azimuth rotation center is the projection in the turret coordinate system / launcher coordinate system, where the turret coordinate system coincides with the launcher coordinate system, and the expression is:

[0021]

[0022] In the formula:

[0023]

[0024] B k With V sk The calculation formula is as follows:

[0025] Bk =A k ,

[0026] In the formula, It is the velocity of the neutron inertial navigation system in the local geographic coordinate system during the k-th rotation.

[0027] Preferably, the sub-inertial navigation rod arm is the projection of the rod arm of the sub-inertial navigation system relative to the launcher's height and rotation center in the launcher coordinate system, and its expression is:

[0028]

[0029] In the formula:

[0030]

[0031] C i With V′ si The calculation formula is as follows:

[0032]

[0033] Where i = 1, 2, ..., m, The attitude matrix from the coordinate system to the geographic coordinate system for the i-th erection of the transfer tower:

[0034]

[0035] Let be the attitude matrix from the launcher coordinate system to the turret coordinate system during the i-th erection:

[0036]

[0037] Where the subscript i indicates the i-th erection; ψ' z θ′ is the turret yaw angle. z φ is the pitch angle of the turret. z 'θ' is the turret roll angle; j Erect the launch pad at a vertical angle; The launcher's pitch angular velocity; The velocity of the inertial navigation system in the local geographic coordinate system.

[0038] Preferably, the launcher arm is the projection of the launcher's elevation rotation center relative to the turret's azimuth rotation center into the turret coordinate system, expressed as:

[0039]

[0040] The lever calibration system for dynamic environments provided by the present invention includes:

[0041] Module M1: Rotate the turret mounted on the moving target around the azimuth rotation center, fix the main inertial navigation system and the rotation axis on the turret, erect the launcher on the turret around the rotation axis, fix the sub-inertial navigation system located inside the missile on the launcher, adjust the launcher to a horizontal state and rotate the turret multiple times, and calculate the main inertial navigation system rod arm and the sub-inertial navigation system rod arm relative to the turret azimuth rotation center.

[0042] Module M2: Performs multiple erections of the launch pad and calculates the sub-inertial guide arm;

[0043] Module M3: Based on the sub-INS rod arm and the rod arm of the sub-INS relative to the turret azimuth rotation center, calculate the launcher rod arm, then calculate the rod arm velocity and rod arm acceleration, and after compensation, obtain the sub-INS velocity and acceleration, which serve as the input for missile dynamic base alignment and the initial velocity value for INS calculation.

[0044] Preferably, the main inertial navigation rod arm is the projection of the rod arm of the main inertial navigation center relative to the turret's azimuth rotation center in the turret coordinate system, and the calculation formula is as follows:

[0045]

[0046] In the formula:

[0047]

[0048] A k With V dk The calculation formula is as follows:

[0049]

[0050]

[0051] Where k = 1, 2, ..., n, The attitude matrix from the relay tower coordinate system to the geographic coordinate system during the k-th rotation is:

[0052]

[0053] Where the subscript k indicates the k-th rotation; ψ z θ is the yaw angle of the turret. z φ is the turret pitch angle. z To adjust the turret's rotation angle; The velocity of the main inertial navigation system in the local geographic coordinate system; This is the projection of the angular velocity of the turret coordinate system relative to the inertial coordinate system onto the turret coordinate system. yes transpose; ω ie It is the Earth's rotation rate; L is latitude; R M R is the radius of curvature of the meridional circle; NR is the radius of curvature of the elliptic circle; E is the radius of the major axis of the Earth; and E is the ellipticity of the Earth.

[0054] Preferably, the lever arm of the sub-inertial navigation system relative to the turret azimuth rotation center is the projection in the turret coordinate system / launcher coordinate system, where the turret coordinate system coincides with the launcher coordinate system, and the expression is:

[0055]

[0056] In the formula:

[0057]

[0058] B k With V sk The calculation formula is as follows:

[0059] B k =A k ,

[0060] In the formula, It is the velocity of the neutron inertial navigation system in the local geographic coordinate system during the k-th rotation.

[0061] Preferably, the sub-inertial navigation rod arm is the projection of the rod arm of the sub-inertial navigation system relative to the launcher's height and rotation center in the launcher coordinate system, and its expression is:

[0062]

[0063] In the formula:

[0064]

[0065] C i With V s ' i The calculation formula is as follows:

[0066]

[0067] Where i = 1, 2, ..., m, The attitude matrix from the coordinate system to the geographic coordinate system for the i-th erection of the transfer tower:

[0068]

[0069] Let be the attitude matrix from the launcher coordinate system to the turret coordinate system during the i-th erection:

[0070]

[0071] Where the subscript i indicates the i-th erection; ψ' z θ′ is the turret yaw angle. zφ is the pitch angle of the turret. z 'θ' is the turret roll angle; j Erect the launch pad at a vertical angle; The launcher's pitch angular velocity; The velocity of the inertial navigation system in the local geographic coordinate system.

[0072] Preferably, the launcher arm is the projection of the launcher's elevation rotation center relative to the turret's azimuth rotation center into the turret coordinate system, expressed as:

[0073]

[0074] Compared with the prior art, the present invention has the following beneficial effects:

[0075] This invention calculates the launcher arms based on the sub-inertial navigation link arms and the link arms of the sub-inertial navigation system relative to the turret azimuth rotation center. Then, it calculates the link arm velocity and acceleration, and after compensation, obtains the sub-inertial navigation system velocity and acceleration, which serve as inputs for missile dynamic base alignment and initial velocity values ​​for inertial navigation system calculation. This invention enables online calibration of the link arms in the inertial navigation system during dynamic motion, effectively improving the performance of the inertial navigation system and making it suitable for engineering applications. Attached Figure Description

[0076] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0077] Figure 1 Flowchart for lever arm calibration;

[0078] Figure 2 This is a schematic diagram of a lever arm calibration system under dynamic conditions. Detailed Implementation

[0079] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0080] Example:

[0081] This invention provides a method for calibrating lever arms in dynamic environments, with the relevant coordinate system defined as follows:

[0082] Inertial reference coordinate system (ox) i y i z i ): A reference coordinate system in space that is at rest or in uniform linear motion.

[0083] Earth coordinate system (ox) e y e z e ): The origin o is located at the Earth's center; oz e The axis is along the polar axis direction; ox e The axis lies on the intersection of the equatorial plane and the prime meridian; oy e The axis is determined by the right-hand rule.

[0084] Geographic coordinate system (ox) t y t z t ): The origin o is taken at the missile's center of mass; ox t The axis points north; oy t The axis points to the sky; oz t The axis points east.

[0085] Turret coordinate system (o z x z y z z z ): origin o z Take it at the center of the turret's rotation; o z x z The axis points in the forward direction of the launching device (and is consistent with the projection direction of the launcher onto the launching device platform); o z y z Perpendicular to the plane of the launching device, upward is positive; z z z Perpendicular to x z o z y z Plane, and with o z x z axis and o z y z The axis satisfies the right-hand rule.

[0086] Launcher coordinate system o j x j y j z j :Origin o j The launch pad's height and rotation center; o j x j The direction along the launcher's elevation is positive, pointing towards the warhead; j y j In the plane of longitudinal symmetry of the launch container, perpendicular to o j x j Upward is positive; o j z j Perpendicular to x j o j y j Plane, and with o j xj axis and o j y j The axis satisfies the right-hand rule.

[0087] like Figure 1 Specifically, it includes the following steps:

[0088] Step 1: Return the launcher to horizontal (erect angle is zero), rotate the turret multiple times, and calculate the main inertial navigation rod arm and the rod arm of the sub-inertial navigation system relative to the turret's azimuth rotation center.

[0089] The main inertial navigation rod arm (the projection of the rod arm whose center of rotation is relative to the turret's azimuth center in the turret coordinate system) is:

[0090]

[0091] In the formula:

[0092]

[0093] A k (k = 1, 2…n) and V dk The calculation formula for (k = 1, 2, ..., n) is as follows:

[0094]

[0095]

[0096] The attitude matrix from the relay tower coordinate system to the geographic coordinate system during the k-th rotation is:

[0097]

[0098] Where the subscript k represents the k-th rotation, ψ z For the turret yaw angle, θ z For the turret pitch angle, φ z The turret roll angle (relative to the local geographic coordinate system, where the turret yaw angle ψ) is... z North by east is positive, and the domain is [0°, 360°). The velocity of the main inertial navigation system in the local geographic coordinate system (output of the main inertial navigation system); This is the projection of the rotational angular velocity of the turret coordinate system relative to the inertial coordinate system onto the turret coordinate system (main inertial navigation output); yes transpose; ω ie =7.2915E-5 rad / s is the Earth's rotation rate; L is latitude (main inertial navigation output); R M =R(1-2e+3esin) 2 L)+h is the radius of curvature of the meridional circle; R N=R(1+esin) 2 L)+h is the radius of curvature of the ramusoidal circle; R=6378137m is the radius of the Earth's major axis; e=3.353E-3 is the Earth's ellipticity;

[0099] The arm of the sub-inertial navigation system relative to the turret azimuth rotation center (projected in the turret coordinate system / launcher coordinate system, the turret coordinate system and the launcher coordinate system are basically coincident) is:

[0100]

[0101] In the formula:

[0102]

[0103] B k (k = 1, 2…n) and V sk The calculation formula for (k = 1, 2, ..., n) is as follows:

[0104] B k =A k ,

[0105] In the formula, It is the velocity of the sub-inertial navigation system in the local geographic coordinate system during the k-th turn (the velocity shortly after the sub-inertial navigation system is aligned and navigation calculation begins).

[0106] Step 2: The launcher is erected multiple times, and the inertial guide rod arm is calculated.

[0107] The sub-inertial navigation rod arm (the projection of the sub-inertial navigation rod arm relative to the launcher's height and rotation center in the launcher coordinate system) is:

[0108]

[0109] In the formula:

[0110]

[0111] C i (i = 1, 2…m) and V′ si The calculation formula for (i = 1, 2, ..., m) is as follows:

[0112]

[0113] The attitude matrix from the coordinate system to the geographic coordinate system for the i-th erection of the transfer tower:

[0114]

[0115] The attitude matrix from the launcher coordinate system to the turret coordinate system during the i-th erection:

[0116]

[0117] Where the subscript i indicates the i-th time of erection, ψ' z For the turret yaw angle, θ′ z For the turret pitch angle, φ z 'The turret roll angle (relative to the local geographic coordinate system, where the turret yaw angle ψ)' is the turret roll angle. z North by east is positive, and the domain is [0°, 360°).

[0118] θ j Erect the launch pad at a vertical angle; The launcher's pitch angular velocity (projected onto the launcher's coordinate system); The velocity of the sub-inertial navigation system in the local geographic coordinate system (the velocity shortly after the sub-inertial navigation system is aligned and navigation calculations begin).

[0119] Step 3: Calculate the launcher arm based on the sub-inertial navigation rod arm and the rod arm of the sub-inertial navigation system relative to the turret azimuth rotation center.

[0120] The launcher arm (the projection of the arm of the launcher's elevation rotation center relative to the turret's azimuth rotation center in the turret coordinate system) is:

[0121]

[0122] like Figure 2 The application environment involves a turret mounted on a moving vehicle, capable of rotating around its azimuth center. The main inertial navigation system (INS) is fixedly mounted on the turret, and the launcher can be erected on the turret around its rotation axis (which is fixedly mounted on the turret). The sub-INS, located inside the missile, is fixedly mounted on the launcher. In this environment, through specific motion excitation, the main INS link, launcher link, and sub-INS link are estimated using the least squares method. These are used to calculate the link velocities and accelerations, and after compensation, the sub-INS velocities and accelerations are obtained. These values ​​serve as inputs for missile dynamic base alignment and as initial velocity values ​​for INS calculations.

[0123] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0124] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0125] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for calibrating a boom arm in a dynamic environment, the method comprising: The method comprises the following steps: Step 1: adjusting the turret installed on the moving target around the azimuth rotation center, fixing the main inertial navigation and the rotating shaft on the turret, erecting the launching frame around the rotating shaft on the turret, fixing the sub-inertial navigation inside the missile on the launching frame, adjusting the launching frame to the horizontal state and adjusting the turret multiple times, and calculating the lever arm of the main inertial navigation and the lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret; Step 2: erecting the launching frame multiple times, and calculating the lever arm of the sub-inertial navigation; Step 3: calculating the lever arm of the launching frame according to the lever arm of the sub-inertial navigation and the lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret, and then calculating the lever arm speed and the lever arm acceleration, and obtaining the sub-inertial navigation speed and acceleration after compensation as the input of the missile moving base alignment and the speed initial value of the inertial navigation calculation; The main inertial navigation lever arm is the projection of the lever arm of the main inertial navigation center relative to the azimuth rotation center of the turret in the turret coordinate system, and the calculation formula is as follows: In the formula, A k With V dk The calculation formula is as follows: where k = 1, 2,... n, is the attitude matrix of the kth rotation of the turret coordinate system to the geographic coordinate system. where subscript k represents the kth rotation; ψ z is the turret yaw angle; θ z is the turret pitch angle; φ z is the turret roll angle; is the velocity of the main inertial navigation system in the local geographic coordinate system; is the projection of the rotation angular velocity of the turret coordinate system relative to the inertial coordinate system in the turret coordinate system; is the transpose of ; ω ie is the rotation rate of the earth; L is the latitude; R M is the meridian circle radius of curvature; R N is the prime vertical circle radius of curvature; R is the major axis radius of the earth; e is the ellipticity of the earth; The lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret is the projection in the turret coordinate system / launching frame coordinate system, the turret coordinate system is coincident with the launching frame coordinate system, and the expression is as follows: In the formula, B k With V sk The calculation formula is as follows: In the formula, is the velocity of the kth turning of the inertial navigation system in the local geographic coordinate system; The sub-inertial navigation lever arm is the projection of the lever arm of the sub-inertial navigation relative to the high-low rotating center of the launching frame in the launching frame coordinate system, and the expression is as follows: In the formula, C i V' si The calculation formula is as follows: where i = 1, 2,..., m, is the attitude matrix of the i-th erected transfer tower coordinate system to the geographic coordinate system. The attitude matrix of the launcher coordinate system to the turret coordinate system for the i-th erection: where subscript i represents the i-th time of erecting; ψ z is the turret yaw angle; θ z is the turret pitch angle; φ z is the turret roll angle; θ j is the launching frame erecting angle; is the launching frame pitch angular velocity; is the velocity of the child inertial navigation system in the local geographic coordinate system; The launching frame lever arm is the projection of the lever arm of the high-low rotating center of the launching frame relative to the azimuth rotation center of the turret in the turret coordinate system, and the expression is as follows:

2. A pole arm calibration system in a dynamic environment, characterized by, The method comprises the following steps: Module M1: adjusting the turret installed on the moving target around the azimuth rotation center, fixing the main inertial navigation and the rotating shaft on the turret, erecting the launching frame around the rotating shaft on the turret, fixing the sub-inertial navigation inside the missile on the launching frame, adjusting the launching frame to the horizontal state and adjusting the turret multiple times, and calculating the lever arm of the main inertial navigation and the lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret; Module M2: erecting the launching frame multiple times, and calculating the lever arm of the sub-inertial navigation; Module M3: calculating the lever arm of the launching frame according to the lever arm of the sub-inertial navigation and the lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret, and then calculating the lever arm speed and the lever arm acceleration, and obtaining the sub-inertial navigation speed and acceleration after compensation as the input of the missile moving base alignment and the speed initial value of the inertial navigation calculation; The main inertial navigation lever arm is the projection of the lever arm of the main inertial navigation center relative to the azimuth rotation center of the turret in the turret coordinate system, and the calculation formula is as follows: In the formula, A k With V dk The calculation formula is as follows: where k = 1, 2,... n, is the attitude matrix of the kth rotation of the turret coordinate system to the geographic coordinate system. where subscript k represents the kth rotation; ψ z is the turret yaw angle; θ z is the turret pitch angle; φ z is the turret roll angle; is the velocity of the main inertial navigation system in the local geographic coordinate system; is the projection of the rotation angular velocity of the turret coordinate system relative to the inertial coordinate system in the turret coordinate system; is the transpose of ; ω ie is the rotation rate of the earth; L is the latitude; R M is the meridian circle radius of curvature; R N is the prime vertical circle radius of curvature; R is the major axis radius of the earth; e is the ellipticity of the earth; The lever arm of the sub-inertial navigation relative to the azimuth rotation center of the turret is the projection in the turret coordinate system / launching frame coordinate system, the turret coordinate system is coincident with the launching frame coordinate system, and the expression is as follows: In the formula, B k With V sk The calculation formula is as follows: In the formula, is the velocity of the kth turning of the inertial navigation of the neutron in the local geographic coordinate system; The sub-inertial navigation lever arm is the projection of the lever arm of the sub-inertial navigation relative to the high-low rotating center of the launching frame in the launching frame coordinate system, and the expression is as follows: In the formula, C i V' si The calculation formula is as follows: where i = 1, 2,..., m, is the attitude matrix of the i-th erected tower coordinate system to the geographic coordinate system. The attitude matrix of the launcher coordinate system to the turret coordinate system for the i-th erection: where subscript i represents the i-th time of erecting; ψ z is the turret yaw angle; θ z is the turret pitch angle; φ z is the turret roll angle; θ j is the launching frame erecting angle; is the launching frame pitch angular velocity; is the velocity of the child inertial navigation system in the local geographic coordinate system; The launching frame lever arm is the projection of the lever arm of the high-low rotating center of the launching frame relative to the azimuth rotation center of the turret in the turret coordinate system, and the expression is as follows:

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