A vehicle-mounted turret navigation method and device based on shooting on the move

Abstract

The application discloses a vehicle-mounted turret navigation method based on shooting in movement, which can acquire a first coordinate system and first navigation information of a navigation device, a second coordinate system, first motion navigation information and preset navigation information of a turret device; then, coordinate relative position information is obtained according to the first coordinate system and the second coordinate system; then, according to the coordinate relative position information, the first navigation information and the first motion navigation information, second navigation information of the turret device in the first coordinate system is obtained; then, the navigation of the turret device is adjusted according to the second navigation information and the preset navigation information. The application can adjust the navigation of the turret device, ensure that the turret device can be adjusted for navigation again when the turret device is displaced due to vibration, and guarantee the accuracy of navigation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of navigation equipment, and particularly relates to a vehicle-mounted turret navigation method based on shooting in travel and a vehicle-mounted turret navigation equipment based on shooting in travel. BACKGROUND

[0002] With the development of modern aerospace, military and other fields, especially in the field of light terminal air defense and portable air defense, there is an increasing demand for rapid airspace search, air situation analysis and target discovery under the conditions of position or travel, and short shooting after target discovery. Therefore, a servo turret device is often added to a vehicle to realize rapid reaction of the system. The servo turret device is installed with an angle measuring device and an attitude angle measuring device. However, when a missile or a gun is launched, the servo turret device generates a large vibration. How to realize accurate navigation of the servo turret device in a high dynamic environment of vehicle travel and a high vibration environment of missile or gun launching has become a difficult problem to be solved. SUMMARY

[0003] In order to solve the problems of the prior art, the present application provides a vehicle-mounted turret navigation method based on shooting in travel. The method combines a first coordinate system and first navigation information of a navigation equipment and a second coordinate system and first motion navigation information of a turret device to confirm second navigation information of the turret device in the first coordinate system. The navigation of the turret device is adjusted according to the second navigation information and preset navigation information, so that the turret device can be navigated again after displacement in vibration, and the accuracy of navigation is ensured.

[0004] The technical effects achieved by the present application are realized by the following solutions.

[0005] In a first aspect, the present application provides a vehicle-mounted turret navigation method based on shooting in travel, applied to a vehicle provided with a turret device and a navigation equipment. The navigation equipment and the turret device are arranged on the vehicle. The method comprises the following steps.

[0006] Obtaining a first coordinate system and first navigation information of the navigation equipment, and a second coordinate system, first motion navigation information and preset navigation information of the turret device;

[0007] Obtaining coordinate relative position information according to the first coordinate system and the second coordinate system;

[0008] Obtaining second navigation information of the turret device in the first coordinate system according to the coordinate relative position information, the first navigation information and the first motion navigation information;

[0009] Adjusting the navigation of the turret device according to the second navigation information and the preset navigation information.

[0010] Optionally, the first navigation information comprises vehicle position information, vehicle speed information, vehicle travel distance information, and altitude information.

[0011] Optionally, the first motion navigation information comprises turret attitude angle information, and angle information of the turret device relative to the vehicle.

[0012] Optionally, the first coordinate system comprises a first lateral axis, a first vertical axis, and a first horizontal axis, and the second coordinate system comprises a second lateral axis, a second vertical axis, and a second horizontal axis; and the obtaining the coordinate relative position information according to the first coordinate system and the second coordinate system comprises:

[0013] obtaining the first lateral axis, the first vertical axis, the first horizontal axis, the second lateral axis, the second vertical axis, and the second horizontal axis;

[0014] confirming the coordinate relative position information according to the first lateral axis, the first vertical axis, the first horizontal axis, the second lateral axis, the second vertical axis, and the second horizontal axis.

[0015] Optionally, the coordinate relative position information comprises lateral axis relative position information, vertical axis relative position information, and horizontal axis relative position information; and the confirming the coordinate relative position information according to the first lateral axis, the first vertical axis, the first horizontal axis, the second lateral axis, the second vertical axis, and the second horizontal axis comprises:

[0016] confirming the lateral axis relative position information according to the first lateral axis and the second lateral axis;

[0017] confirming the vertical axis relative position information according to the first vertical axis and the second vertical axis;

[0018] confirming the horizontal axis relative position information according to the first horizontal axis and the second horizontal axis.

[0019] Optionally, the obtaining the second navigation information of the turret device in the first coordinate system according to the coordinate relative position information, the first navigation information, and the first motion navigation information comprises:

[0020] confirming second motion navigation information in the first coordinate system according to the coordinate relative position information and the first motion navigation information;

[0021] confirming the second navigation information of the turret device in the first coordinate system according to the second motion navigation information and the first navigation information.

[0022] Optionally, the adjusting the navigation of the turret device according to the second navigation information and the preset navigation information comprises:

[0023] obtaining a navigation information difference according to the second navigation information and the preset navigation information;

[0024] adjusting the navigation of the turret device according to the navigation information difference.

[0025] In a second aspect, the application provides a vehicle-mounted turret navigation device based on shooting on the move, the device comprising:

[0026] an acquisition module configured to acquire a first coordinate system and first navigation information of the navigation device, and a second coordinate system, first motion navigation information and preset navigation information of the turret;

[0027] a first confirmation module configured to obtain coordinate relative position information according to the first coordinate system and the second coordinate system;

[0028] a second confirmation module configured to obtain second navigation information of the turret device in the first coordinate system according to the coordinate relative position information, the first navigation information and the first motion navigation information;

[0029] an adjustment module configured to adjust the navigation of the turret device according to the second navigation information and the preset navigation information.

[0030] In a third aspect, the application provides an electronic device, comprising a processor and a memory storing execution instructions, when the processor executes the execution instructions stored in the memory, the processor executes the method according to the first aspect.

[0031] In a fourth aspect, the application provides a vehicle-mounted turret navigation device based on shooting on the move, applied to a vehicle, the device comprising a turret device and a navigation device, the turret device comprising a turret angle measurement device, the navigation device comprising a laser strapdown inertial measurement unit, a time-frequency navigation device, an electronic odometer, a barometric altimeter and a satellite positioning device, the laser strapdown inertial measurement unit being capable of acquiring turret attitude angle information of the turret device and angle information of the turret device relative to the vehicle, the time-frequency navigation device being capable of acquiring vehicle speed information of the vehicle, the electronic odometer being capable of acquiring vehicle travel distance information of the vehicle, the barometric altimeter being capable of acquiring altitude information of the vehicle, and the satellite positioning device being capable of acquiring vehicle position information of the vehicle.

[0032] The application has the following advantages:

[0033] The application discloses a vehicle-mounted turret navigation method based on shooting in movement, which can acquire a first coordinate system and first navigation information of the navigation device, a second coordinate system, first motion navigation information and preset navigation information of the turret device; then, coordinate relative position information is obtained according to the first coordinate system and the second coordinate system; then, the second navigation information of the turret device in the first coordinate system is obtained according to the coordinate relative position information, the first navigation information and the first motion navigation information; then, the navigation of the turret device is adjusted according to the second navigation information and the preset navigation information. The application can adjust the navigation of the turret device, ensure that the turret device can be navigated again when the turret device is displaced in vibration, and guarantee the accuracy of navigation. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the application or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0035] Figure 1 The flow chart of the vehicle-mounted turret navigation method based on shooting in movement in an embodiment of the application;

[0036] Figure 2 The structural schematic diagram of the vehicle-mounted turret navigation device based on shooting in movement in an embodiment of the application;

[0037] Figure 3 The structural schematic diagram of the electronic device in an embodiment of the application;

[0038] Figure 4 The structural schematic diagram of the vehicle-mounted turret navigation device based on shooting in movement in an embodiment of the application;

[0039] Figure 5 The navigation principle diagram of the vehicle-mounted turret navigation device based on shooting in movement in an embodiment of the application;

[0040] Figure 6 The circuit design diagram of the odometer in an embodiment of the application;

[0041] Figure 7 The alignment timing diagram of the vehicle-mounted turret navigation device based on shooting in movement in an embodiment of the application for long-time hot standby. DETAILED DESCRIPTION

[0042] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in a clear and complete manner with specific embodiments and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0043] The vehicle used in the military field in the prior art generates great vibration when the turret device is in missile or artillery launching, and the vibration causes the turret device to move, affecting the navigation accuracy of the turret device. How to realize accurate navigation of the turret device in the high dynamic environment of vehicle driving and the high vibration environment of missile or artillery launching has become a difficult problem to be solved at present. In view of the above problem, the present application provides a vehicle-mounted turret navigation method based on shooting in driving, which can obtain a first coordinate system and first navigation information of a navigation device, a second coordinate system, first motion navigation information and preset navigation information of the turret device. Then, coordinate relative position information is obtained according to the first coordinate system and the second coordinate system. Then, the second navigation information of the turret device in the first coordinate system is obtained according to the coordinate relative position information, the first navigation information and the first motion navigation information. Then, the navigation of the turret device is adjusted according to the second navigation information and the preset navigation information. The present application can adjust the navigation of the turret device, ensure that the turret device is displaced when vibrating, and can be navigated again to ensure the accuracy of navigation.

[0044] The various non-limiting embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0045] As shown in FIG. 1, a flowchart of a vehicle-mounted turret navigation method based on shooting in driving in an embodiment of the present application is shown, the method is applied to a vehicle provided with a turret device and a navigation device, the navigation device and the turret device are arranged on the vehicle, and the method comprises: Figure 1

[0046] S101: obtaining a first coordinate system and first navigation information of a navigation device, and a second coordinate system, first motion navigation information and preset navigation information of the turret device.

[0047] ​The vehicle is provided with the turret device, and a navigation device on the turret device is used to locate position information of the vehicle. The first coordinate system and first navigation information of the navigation device and the second coordinate system, first motion navigation information and preset navigation information of the turret device are obtained, so as to adjust the navigation of the turret device based on the first coordinate of the vehicle. The preset navigation information is used to navigate the turret device, so that the missile or artillery launching device on the turret device can be aimed at the target. When the missile and artillery are launched, the turret device will rotate or move, and the navigation will be offset, so it is necessary to re-adjust the navigation information of the turret device to be the preset navigation information, and adjust the turret device based on the vehicle coordinate system to improve the navigation accuracy of the turret device.

[0048] In the embodiment, the first navigation information includes vehicle position information, vehicle speed information, vehicle travel distance information and altitude information. The first navigation information mainly monitors the vehicle position information, and obtains the vehicle position information in real time, so as to facilitate the control of the vehicle in driving.

[0049] In the embodiment, the first motion navigation information includes turret attitude angle information and angle information of the turret device relative to the vehicle. The position information of the turret device is the same as the vehicle position information, and the position information refers to longitude data and latitude data, or in a specific position, since the turret device is arranged on the vehicle, the turret device and the vehicle are the same position information. Similarly, the speed information, travel distance and altitude information of the turret device are the same as those of the vehicle, so the speed information, travel distance and altitude information of the turret device are not re-acquired, and the attitude angle information of the turret device and the angle information of the turret device relative to the vehicle are acquired, and then the specific heading information of the turret device can be determined by using the attitude angle information and the angle information relative to the vehicle. That is, the first navigation information of the vehicle acquired by the navigation device and the first motion navigation information of the turret device acquired by the navigation device can be converted according to the relative position information of the first coordinate system of the vehicle and the second coordinate system of the turret device, so that the attitude angle information and the angle information of the vehicle in the first coordinate system can be known. That is, the information of the first navigation information and the first motion navigation information can be supplemented to each other, so that the vehicle position information, vehicle speed information, vehicle travel distance information, altitude information, vehicle attitude angle information of the vehicle can be measured by using a set of navigation device and a set of angle information and attitude angle information measuring device, and the turret position information, turret speed information, turret travel distance information, turret altitude information, turret attitude angle information and angle information of the turret device can also be measured.

[0050] S102: Obtain coordinate relative position information according to the first coordinate system and the second coordinate system.

[0051] The first navigation information of the vehicle is information based on the first coordinate system, the first motion navigation information of the turret device is information based on the second coordinate system, the first navigation information can be converted into information based on the second coordinate system according to the coordinate relative position of the first coordinate system and the second coordinate system, or the first motion navigation information can be converted into information based on the first coordinate system according to the coordinate relative position of the first coordinate system and the second coordinate system, and then the attitude angle of the vehicle is calculated according to the angular position of the turret device and the vehicle, without the need to install a device for detecting the attitude angle on the vehicle. Similarly, after the first motion navigation information is converted into information based on the first coordinate system according to the coordinate relative position of the first coordinate system and the second coordinate system, the position information of the vehicle can be used as a supplement to the position information of the turret device to obtain comprehensive position information of the turret device.

[0052] In the embodiment, the first coordinate system and the second coordinate system are three-dimensional coordinate systems, the first coordinate system includes a first horizontal axis X1, a first vertical axis Y1 and a first horizontal axis C, and the second coordinate system includes a second horizontal axis X2, a second vertical axis Y2 and a second horizontal axis Z2; the coordinate relative position information can be obtained according to the first coordinate system and the second coordinate system, the first horizontal axis X1, the first vertical axis Y1, the first horizontal axis Z1, the second horizontal axis X2, the second vertical axis Y2 and the second horizontal axis Z2; and then the coordinate relative position information is confirmed according to the first horizontal axis X1, the first vertical axis Y1, the first horizontal axis Z1, the second horizontal axis X2, the second vertical axis Y2 and the second horizontal axis Z2. That is, the coordinate relative position information includes a horizontal axis relative position relationship, a vertical axis relative position relationship and a horizontal axis relative position relationship. The horizontal axis relative position relationship is the relative position relationship between the first horizontal axis and the second horizontal axis, the vertical axis relative position relationship is the relative position relationship between the first vertical axis and the second vertical axis, and the horizontal axis relative position relationship is the relative position relationship between the first horizontal axis and the second horizontal axis.

[0053] Specifically, the coordinate relative position information is determined according to the first lateral axis, the first vertical axis, the first horizontal axis, the second lateral axis, the second vertical axis and the second horizontal axis. The lateral axis relative position information can be determined according to the first lateral axis and the second lateral axis. Then, the vertical axis relative position information is determined according to the first vertical axis and the second vertical axis. Then, the horizontal axis relative position information is determined according to the first horizontal axis and the second horizontal axis. The lateral axis relative position information can be that the first lateral axis is rotated by a first angle in a first direction to obtain the second lateral axis, or the second lateral axis is rotated by the first angle in a second direction to obtain the first lateral axis, the first direction and the second direction being opposite directions. Similarly, the vertical axis relative position information can be that the first vertical axis is rotated by a second angle in a third direction to obtain the second vertical axis, or the second vertical axis is rotated by the second angle in a fourth direction to obtain the first vertical axis, the third direction and the fourth direction being opposite directions. Similarly, the horizontal axis relative position information can be that the first horizontal axis is rotated by a third angle in a fifth direction to obtain the second horizontal axis, or the second horizontal axis is rotated by the third angle in a sixth direction to obtain the first horizontal axis, the fifth direction and the sixth direction being opposite directions. The navigation information in the second coordinate system can be obtained by rotating or moving three times in the vertical axis, the horizontal axis and the lateral axis according to the vertical axis relative position information, the horizontal axis relative position information and the horizontal axis relative position information, respectively, to obtain the navigation information in the first coordinate system.

[0054] S103: obtaining the second navigation information of the turret device in the first coordinate system according to the coordinate relative position information, the first navigation information and the first motion navigation information.

[0055] The first navigation information is the position information of the vehicle detected by the navigation device, the first navigation information changes with the movement of the vehicle, the vehicle position changes, the first navigation information changes with the vehicle position, so the first navigation information is more accurate, and the first navigation information does not need to be adjusted for error. Because the turret device will be displaced under the vibration generated by the launch of the missile or the artillery fire after the turret device launches the missile or the artillery fire, it is necessary to adjust the position of the turret device to ensure the accuracy of the navigation of the turret device and improve the hit rate of the missile or the artillery fire. Because the first coordinate system of the vehicle is not affected by the vibration generated by the launch of the missile or the artillery fire, the navigation in the first coordinate system is more accurate, and the first coordinate system is used as the navigation coordinate of the turret device, which can avoid the navigation error of the turret device. The second navigation information of the turret device in the first coordinate system is obtained according to the coordinate relative position information, the first navigation information and the first motion navigation information. Because the information contained in the first navigation information and the first motion navigation information is of different dimensions, in order to obtain comprehensive navigation information of the turret device, the position information of the first navigation information is needed to supplement the position and navigation information of the turret device. For example, the first navigation information contains vehicle position information, vehicle speed information, vehicle travel distance information and altitude information. Because the turret device is on the vehicle, the vehicle position information, vehicle speed information, vehicle travel distance information and altitude information of the vehicle are also the position information, speed information, travel distance information and altitude information of the turret device. After the first motion navigation information is converted into the navigation information of the first coordinate system according to the coordinate relative position information, the first navigation information can obtain the second navigation information with more comprehensive position information. In the first coordinate system, the second navigation information includes the position information, speed information, travel distance information, altitude information, turret attitude angle information and angle information of the turret device relative to the vehicle of the turret device.

[0056] In this embodiment, the second navigation information of the turret device in the first coordinate system is obtained according to the coordinate relative position information, the first navigation information and the first motion navigation information. The second motion navigation information in the first coordinate system is determined according to the coordinate relative position information and the first motion navigation information. Then, the second navigation information of the turret device in the first coordinate system is determined according to the second motion navigation information and the first navigation information. The second navigation information includes the position information, the speed information, the distance information, the altitude information, the turret attitude angle information and the angle information of the turret device relative to the vehicle in the first coordinate system. The turret attitude angle information in the first coordinate system and the angle information of the turret device relative to the vehicle are converted from the turret attitude angle information and the angle information of the turret device relative to the vehicle in the second coordinate system. The position information, the speed information, the distance information and the altitude information of the turret device in the first coordinate system are supplemented by the vehicle position information, the vehicle speed information, the vehicle distance information and the altitude information of the vehicle in the first coordinate system. Since the turret device is on the vehicle, the position information, the speed information, the distance information and the altitude information of the turret device in the first coordinate system are the same as the vehicle position information, the vehicle speed information, the vehicle distance information and the altitude information of the vehicle in the first coordinate system.

[0057] S104: Adjust the navigation of the turret device according to the second navigation information and the preset navigation information.

[0058] When the missile or artillery is launched, the turret device is displaced. After the second navigation information of the turret device after displacement is determined, the navigation of the turret device needs to be adjusted to ensure the accuracy of the navigation. The preset navigation information is the final navigation information of the turret device. The preset navigation information can be changed, and the turret device in the first coordinate system needs to be navigated according to the preset navigation information. The previous step is to determine the second navigation information of the turret device after displacement under the vibration of the missile or artillery. The accuracy of the second navigation information is high. After the second navigation information of the turret device after displacement is determined, the second navigation information is adjusted to the preset navigation information according to the preset navigation information. The turret device navigates according to the preset navigation information.

[0059] In the embodiment, the navigation of the turret device is adjusted according to the navigation difference between the second navigation information and the preset navigation information. The second navigation information of the turret device after the vibration caused by the missile or artillery firing is determined, and the second navigation information is compared with the preset navigation information. If the second navigation information is the same as the preset navigation information, the navigation of the turret device does not need to be adjusted. If the second navigation information is not the same as the preset navigation information, the navigation of the turret device needs to be adjusted to the preset navigation information.

[0060] In the second aspect, in the embodiment, as shown in the accompanying drawings, a vehicle-mounted turret navigation device based on on-the-move shooting is further provided, and the device comprises: Figure 2

[0061] An acquisition module is configured to acquire a first coordinate system and first navigation information of the navigation device, and a second coordinate system, first motion navigation information and preset navigation information of the turret;

[0062] A first confirmation module is configured to acquire coordinate relative position information according to the first coordinate system and the second coordinate system;

[0063] A second confirmation module is configured to acquire second navigation information of the turret device in the first coordinate system according to the coordinate relative position information, the first navigation information and the first motion navigation information;

[0064] An adjustment module is configured to adjust the navigation of the turret device according to the second navigation information and the preset navigation information.

[0065] Figure 3 FIG. 1 is a structural schematic diagram of an electronic device provided by the embodiment. At the hardware level, the electronic device comprises a processor, and optionally further comprises an internal bus, a network interface and a memory. The memory can contain a memory such as a random-access memory (RAM), and can also comprise a non-volatile memory such as at least one disk memory. Of course, the electronic device can also comprise other hardware required by a business.

[0066] ​The processor, the network interface and the memory can be connected with each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 3 Only one bidirectional arrow is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0067] The memory is used to store execution instructions. Specifically, the execution instructions are computer programs that can be executed. The memory can include an internal memory and a non-volatile memory, and provides the processor with execution instructions and data.

[0068] In a possible implementation manner, the processor reads corresponding execution instructions from the non-volatile memory into the internal memory and then runs, or obtains corresponding execution instructions from other devices, to form the vehicle-mounted turret navigation method based on shooting in progress at a logical level. The processor executes the execution instructions stored in the memory, so as to implement the vehicle-mounted turret navigation method based on shooting in progress provided in any of the embodiments of the present application through the executed execution instructions.

[0069] The above-mentioned embodiments provided by the present application Figure 1 The method executed by the vehicle-mounted turret navigation method based on shooting in progress provided by the above-mentioned embodiments of the present application can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above-mentioned processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0070] The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware coding processing executed by a processor, or a combination of hardware and software modules in the coding processor. The software module can be located in a storage medium such as random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, or the like. The storage medium is located in the storage of the memory, and the processor reads information in the memory to combine hardware to complete the steps of the above method.

[0071] As shown in the accompanying Figure 4 A vehicle-mounted turret navigation device based on shooting in motion is applied to a vehicle, and the device comprises a turret device and a navigation equipment. The turret device comprises a turret angle measuring device, and the navigation equipment comprises a laser strapdown inertial unit, a time-frequency navigation device, an electronic odometer, a barometric altimeter, and a satellite positioning device. The laser strapdown inertial unit can obtain the turret attitude angle information of the turret device and the angle information of the turret device relative to the vehicle. The time-frequency navigation device can obtain the vehicle speed information of the vehicle. The electronic odometer can obtain the vehicle travel distance information of the vehicle. The barometric altimeter can obtain the altitude information of the vehicle. The satellite positioning device can obtain the vehicle position information of the vehicle.

[0072] The multi-information fusion mode of the laser strapdown inertial unit / satellite positioning equipment / dual-antenna time-frequency navigation device is adopted to realize the real-time and high-precision positioning, orientation, speed measurement and other functions of the turret and the vehicle in the static and motion states. Through actual testing, the following precision indexes can be achieved: the alignment time is not greater than 180 s, the alignment orientation precision is not greater than 0.03° (1σ), the azimuth precision in motion is not greater than 0.05° (1σ), and the pitch angle and roll angle precision is not greater than 0.018° (1σ).

[0073] In terms of inertial positioning precision, the inertial positioning error is not greater than 6 m when D≤3 km, and the inertial positioning error is not greater than 0.2% D when D>3 km, where D is the uncalibrated travel distance of the vehicle.

[0074] In terms of satellite positioning precision, the satellite positioning error (CEP, 95%) is not greater than 10 m. In terms of speed measurement precision, the output three-direction speed measurement error (1σ) is not greater than 0.14 m / s (with the main machine as the output origin).

[0075] In terms of angular velocity precision, under the condition that the vehicle turning angular velocity is not greater than 30° / s, the azimuth angular velocity precision (1σ) is not greater than 0.1 (°) / s, and the pitch angle and roll angle angular velocity precision (1σ) is not greater than 0.1 (°) / s.

[0076] The vehicle-mounted turret navigation device of the application can be compatible with multiple communication modes such as RS422, RS232, network, CAN, etc. The navigation device has the communication capability of data cross-linking with the host computer and display controller through multiple modes such as Ethernet port (100 / 1000 Mbps), CAN interface (compatible with TJA1040T), RS232 serial port, RS422 serial port, etc. The RS-422 standard serial port provides a second pulse signal for the host computer.

[0077] The communication rate of the RS422 serial port is as high as 921600 bits / s, and the rate of the CAN interface is 1M bits / s. Under the condition of long-time work, the Ethernet and CAN communication both have the self-recovery capability in a single cycle after being offline or blocked.

[0078] The laser strapdown inertial unit is a non-relocation pure strapdown laser strapdown inertial unit with "two 90-type laser gyroscopes (zero bias stability: 0.003° / h 1σ) and one 50-type laser gyroscope (zero bias stability: 0.01° / h 1σ)" and "three 90-type laser gyroscopes (zero bias stability: 0.003° / h 1σ)" as the core, realizes the functions of long north-seeking, in-motion heading keeping and real-time attitude measurement, and outputs the angular velocity and acceleration information in the inertial coordinate system. The laser strapdown inertial unit is designed with two-stage shock-absorbing devices inside and outside to reduce the strong impact damage caused by the firing of the gun, and has the dual effects of shock-absorbing and shock-isolating. The laser strapdown inertial unit is also connected with a radar attitude instrument and a vehicle-mounted power supply. The radar attitude instrument is used to measure the attitude angle of the turret device, and the vehicle-mounted power supply is used to power the vehicle-mounted turret navigation device based on in-motion firing.

[0079] The satellite positioning receives BD and GPS signals, rapidly calculates satellite positioning, speed measurement and time service information at a frequency of 20Hz, provides timing data with an accuracy of 100ns when the satellite signal is good, and uses a high-stability crystal oscillator to improve the timing data by not less than 0.5ms / h when the satellite signal is lost.

[0080] The barometric altimeter uses an altimeter with RS422 communication function, measures the air pressure of the horizontal plane where the vehicle is located, performs data compensation in the full temperature range, and outputs the height in real time.

[0081] The electronic odometer is compatible with the vehicle transfer case interface, and outputs proportional RS422 differential pulse signals in real time to sense the distance of the vehicle advancing or retreating.

[0082] The time-frequency navigation mainly includes a master antenna all-in-one machine, a slave antenna all-in-one machine, a display control terminal and a matching cable, and cooperates to realize the satellite orientation and speed measurement of the vehicle (chassis).

[0083] The vehicle-mounted turret navigation device based on shooting in marching further comprises a display controller, which comprises a display controller mainboard, a liquid crystal screen, a touch screen and waterproof film keys, is compatible with multiple communication modes such as RS422, RS232, CAN, gigabit network and the like, is designed with a sunshade cover overturning mechanism, is subjected to overall electromagnetic, vapor and the like sealing and reinforcement treatment, is expanded with a USB interface and has a real-time data download function. The display control integrated machine is installed with an MGIS platform, can control map matching in combination with combined positioning data sent by a laser strapdown inertial unit, can further select different navigation states and realize automatic navigation, manual route change (immediate position change and route point change) and route selection according to given route points.

[0084] The turret angle measuring device is used to measure angle information of the turret device relative to the vehicle, the turret angle measuring device takes the navigation device laser strapdown inertial unit as an origin, measures a true north value of the turret by a high-precision gyro north finder, realizes calibration of a carrier coordinate system of the laser strapdown inertial unit to a turret coordinate system based on a pose matrix conversion principle, then combines angle measuring information μ z (0-360°) and a horizontal installation error angle μ x and μ y , realizes a pose transmission function of the pose information (supposed as b system) of the marching turret device to the vehicle body coordinate system (supposed as b0 system), and the solving method is as follows:

[0085]

[0086]

[0087] Therefore, the pose matrix of the vehicle body coordinate system b0 system is:

[0088]

[0089] Wherein, n system is a geographical coordinate system used for navigation solving.

[0090] Finally, a single satellite positioning device and a laser strapdown inertial unit are identified and corrected in real time, a rotation speed error compensation is realized through the angle measuring information of the turret device, and finally the inverse derivation of the navigation information (pose, speed and the like) in the turret coordinate system is completed, so that the vehicle body position, pose, speed information and the like are outputted simultaneously by a set of navigation device, this method not only can reduce the installation quantity of the vehicle-mounted navigation device and reduce the cost, but also can fully utilize the vehicle-mounted navigation information, reduce redundant information and increase the reliability of the system.

[0091] As shown in the accompanying Figure 5, the laser strapdown inertial measurement unit, single satellite positioning equipment, altimeter, odometer and other multi-sensor information fusion combined navigation technology, take the filter algorithm based on iterative extended Kalman filter, using Taylor series expansion to realize the approximation of the state of nonlinear system, the filter with inertial position error, attitude error, velocity error, position error, arm parameter, odometer scale factor error, installation error, gyroscope accelerometer error as state variables, with inertial calculation and satellite / odometer positioning output speed and position error as observation, using the navigation device installed in the continuous rotating turret platform characteristics, effectively stimulate the observation of gyroscope zero position, accelerometer zero position, estimate the zero drift and attitude error of these inertial devices through Kalman filter, on the one hand, improve the attitude and posture keeping ability after alignment, on the other hand, save the estimated drift, improve the attitude accuracy of the next alignment in another direction, so as to prolong the recalibration period of laser strapdown inertial measurement unit IMU.

[0092] The navigation device has a working task in the running process, can meet the maximum driving speed of 60km / h of the vehicle, and the maximum turning angular rate of 80° / s; the maximum turning angular velocity of the navigation device installed in the turret is 60° / s, and the maximum turning angular acceleration is 60° / s2, so the attitude calculation frequency of the navigation device is required to be more than 500Hz. The project starts from the strapdown inertial navigation system, and takes into account the hardware running speed of the navigation computer board; the gyro is directly connected with the carrier, and directly senses the angular motion of the carrier. In the harsh angular dynamic environment of the carrier, there is a serious conical error in the attitude update. Therefore, in order to compensate the conical error, the software is designed to sample at a high speed of 5KHz, and the double sample optimization algorithm is used to solve the rotation vector Ф after smoothing at a frequency of 1KHz.

[0093] On the other hand, the error compensation of the system under high dynamic calculation is maintained. Firstly, the sampling frequency of the satellite and the odometer is improved without reducing the precision, and secondly, the software efficiency is optimized. The Kalman error compensation is improved from 10Hz to 100Hz. Through the actual dynamic application of the vehicle, the high-frequency information output by the navigation equipment meets the demand of the weapon system combat unit for high dynamic azimuth and attitude calculation.

[0094] The turret vehicle body navigation information transmission method based on the turret angle measurement device takes the laser strapdown inertial measurement unit of the navigation equipment as the origin, measures the true value of the north direction of the turret through the high-precision gyro north seeker, realizes the calibration of the carrier coordinate system of the laser strapdown inertial measurement unit to the turret coordinate system based on the attitude matrix conversion principle, and then combines the angle measurement information and the horizontal installation error angle μ x and μ yThe small amount of features, the posture information of the traveling turret device to the vehicle coordinate system, the posture transfer function, and finally the real-time identification and correction of the single satellite positioning device and the laser strapdown inertial measurement unit, through the angle measurement information of the turret device, the rotation speed error compensation, and finally the reverse derivation of the navigation information (attitude, speed, etc.) in the turret coordinate system, and then a set of navigation equipment output with relative motion of the turret device, the attitude, the speed and the vehicle body, etc. This method not only can reduce the number of navigation equipment installed on the vehicle, but also can make full use of the navigation information of the vehicle, reduce the redundancy information, and increase the reliability of the system.

[0095] As shown in the accompanying drawings Figure 6 , the long-time alignment and drift suppression technology is proposed according to the long-time (24h) thermal standby condition of the weapon system. The reference information such as the azimuth and the attitude output by the navigation device cannot drift with time. Therefore, for this requirement, the laser strapdown inertial makes full use of the powerful computing and storage capabilities of the navigation computer board. When the azimuth tracking is entered in the initial alignment (170s), the re-alignment is performed at the same time. The azimuth tracking and the Kalman fine alignment are performed synchronously in double threads. After the re-alignment is completed, the alignment result and the azimuth tracking result are filtered by the mean value to generate new attitude data and update the initial value for the azimuth tracking and the alignment in the next period. In this way, the azimuth accuracy is ensured under the long-time standby condition. The azimuth tracking calculation method is as follows:

[0096] The gyro and accelerometer data are collected only for the quaternion attitude update:

[0097]

[0098] The corresponding quaternion differential equation expression is:

[0099]

[0100] The Kalman fine alignment model is as follows:

[0101] A 10-dimensional Kalman filter model is established. The platform misalignment angle φ n , the velocity error δv n , the gyro drift ε n and the accelerometer bias are considered as the state variables, and the state equation is established:

[0102]

[0103] Under the condition of vehicle wireless position motion, the small amount of errors is ignored, the output velocity v n of the navigation solution is taken as the velocity error δv n , and δv nAs a measurement value, the platform's misalignment angle is estimated and corrected in real time.

[0104] As attached Figure 7 To improve mileage accuracy, an electronic odometer is installed on the vehicle, mounted on the transfer case via a flange. Its shaft connects to the transfer case output shaft, rotating the odometer's magnet as the vehicle moves. A Hall effect sensor is placed above the magnet, with two Hall effect bridges arranged orthogonally. These sensors detect magnetic flux and generate two orthogonal electrical signals (sinθ and cosθ, where θ represents the mechanical rotation position). The rotation position is calculated using arctangent calculations, achieving a 12-bit resolution, meaning 4096 pulse signals are output for each rotation. These pulse signals are then acquired, counted, debounced, electronically converted, output, and level-shifted by logic devices, before being output as two differential pulse signals proportional to the mileage via an electrical connector.

[0105] Given that the turret needs to withstand the significant vibrations and impacts from anti-aircraft gun fire, the laser strapdown inertial navigation system employs a two-stage rubber damping system. The first stage damping is designed based on the external vehicle's resonant frequency and the internal laser gyroscope's jitter frequency. The rubber damper is designed with a resonant frequency of 80Hz, a three-directional frequency difference of no more than 10Hz, and a magnification of less than 4. The rubber damper is installed symmetrically at eight points in space, with the load center of gravity deviating from the damper's center of gravity by no more than 1cm. The external damper is installed symmetrically at four points, with strict control over the load center of gravity to ensure it coincides with or is close to the center of the external damper. The single-satellite positioning equipment features a rational arrangement of internal components, a lower center of gravity, and incorporates weight reduction design and full potting sealing.

[0106] The navigation equipment is designed with vibration and displacement sensors to collect vibration spectra under the worst vehicle vibration conditions. These spectra are used as excitation to verify the vibration reduction effect of the navigation equipment. Actual tests show that when the laser strapdown inertial navigation system installation point vibrates at 150g and the single satellite positioning device vibrates at 300g, the navigation data provided by the navigation equipment during the vibration process meets the accuracy requirements, and there is no damage after the vibration.

[0107] The CAN, LAN communication network equipment where the navigation equipment is located has many devices, large data volume and complex electromagnetic environment. To avoid offline congestion and other problems, the product is designed based on the CAN communication module of TMS320F28335ZJZS and ADM3053BRWZ. The CAN adopts bus 2.0, and the data frequency is 500 Hz. To reduce the bus load, the software protocol adopts a combination mechanism of small periods and large periods. The small period is 2 ms, and contains the navigation direction, attitude, angular rate, time and navigation equipment state information. The large period is 8 ms, and sends the longitude, latitude, altitude, date and acceleration. The software design is 4 frames of data cycle, and each frame of data adopts different ID types. In addition, to improve the anti-interference performance of the bus, the bus monitoring module is designed to count the bus error prompted by the CAN global interrupt flag register in real time, the BIT_canaErr is designed to detect the error times of the warning level interrupt flag WLIF0 and the error passive interrupt flag EPIF0, the BIT_canaErrWD is designed to detect the error times of the write-rejected interrupt flag WDIF0 prompted by the BIT_canaErrWD, and the error times of the bus-off interrupt flag BOIF0 are detected. When the error times reach the specified threshold, to avoid problems caused by bus electrical errors or remaining node data transmission errors, the software reconfigures and resets the CAN node of the navigation equipment.

[0108] The navigation equipment is based on LAN9218I-MT to design a LAN communication module, adopts UDP connectionless transmission mode, and realizes real-time interaction of navigation data. The software adopts a "timeout + resend" mechanism to obtain the destination MAC, that is, the LAN9218 network chip searches for the destination MAC according to the pre-set timeout period (default 200 ms), discards all data in the sending buffer if the target is still not found after the pre-set retransmission times (default 8 times), or otherwise the protocol stack sends the UDP data to the network according to the data in the current sending FIFO and the sending length register value. The data frame contains the destination MAC, source MAC, communication protocol, port number, source IP, destination IP and the like. The Ethernet data processing flow of the hardware platform based on LAN9218 is shown in FIG. 2, and in addition, the navigation equipment sets multicast and broadcast filtering principles to prevent thread blocking caused by large network data volume. For on-demand data, only the network packet with the same MAC address as itself is received. If network abnormalities are monitored, the entire data FIFO can be discarded when the received data packet exceeds the set upper limit (*RX_CFG = (RX_CFG_FORCE_DISCARD)). Figure 5

[0109] The embodiment of the application further provides a readable medium, the readable storage medium stores execution instructions, and the stored execution instructions are executed by a processor of an electronic device, so that the electronic device executes the vehicle-mounted turret navigation method based on shooting in marching provided in any embodiment of the application, and is specifically used for executing the vehicle-mounted turret navigation method based on shooting in marching.​

[0110] The electronic device described in each of the foregoing embodiments can be a computer.

[0111] Those skilled in the art should understand that the embodiments of the present application can be provided as a method or a computer program product. Therefore, the present application can take a form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.

[0112] Each of the embodiments in the present application is described in a progressive manner, and the same or similar parts among the embodiments can be referred to each other. Each of the embodiments mainly explains the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0113] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0114] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A vehicle-mounted turret navigation method based on firing while in motion, applied to a vehicle equipped with a turret device and a navigation device, wherein the navigation device and the turret device are mounted on the vehicle, characterized in that, The method includes: The system acquires a first coordinate system and first navigation information of the navigation device, and a second coordinate system, first motion navigation information, and preset navigation information of the turret device. The first navigation information includes vehicle position information, vehicle speed information, vehicle travel distance information, and altitude information. The first motion navigation information includes turret attitude angle information and the angle information of the turret device relative to the vehicle. The preset navigation information is used to navigate the turret device. The relative position information of the coordinates is obtained based on the first coordinate system and the second coordinate system; The second navigation information of the turret device in the first coordinate system is obtained based on the relative position information of the coordinates, the first navigation information, and the first motion navigation information. The navigation of the turret device is adjusted according to the second navigation information and the preset navigation information; wherein, the second navigation information is the navigation information of the turret device after displacement caused by the vibration of missile or artillery firing, and the accuracy of navigation is ensured by adjusting the navigation after the displacement of the turret device.

2. The vehicle-mounted turret navigation method based on firing while in motion as described in claim 1, characterized in that, The first coordinate system includes a first horizontal axis, a first vertical axis, and a first horizontal axis; the second coordinate system includes a second horizontal axis, a second vertical axis, and a second horizontal axis; obtaining relative position information based on the first and second coordinate systems includes: Obtain the first horizontal axis, the first vertical axis, the first horizontal axis, the second horizontal axis, the second vertical axis, and the second horizontal axis; The relative position information of the coordinates is determined based on the first horizontal axis, the first vertical axis, the first horizontal axis, the second horizontal axis, the second vertical axis, and the second horizontal axis.

3. The vehicle-mounted turret navigation method based on firing while in motion as described in claim 2, characterized in that, The relative position information includes horizontal axis relative position information, vertical axis relative position information, and horizontal axis relative position information. The step of confirming the relative position information based on the first horizontal axis, the first vertical axis, the first horizontal axis, the second horizontal axis, the second vertical axis, and the second horizontal axis includes: The relative position information of the horizontal axis is confirmed based on the first horizontal axis and the second horizontal axis; The relative position information of the vertical axes is confirmed based on the first vertical axis and the second vertical axis; The relative position information of the horizontal axis is confirmed based on the first horizontal axis and the second horizontal axis.

4. The vehicle-mounted turret navigation method based on firing while in motion as described in claim 1, characterized in that, The step of obtaining the second navigation information of the turret device in the first coordinate system based on the relative position information, the first navigation information, and the first motion navigation information includes: Based on the relative position information of the coordinates and the first motion navigation information, the second motion navigation information in the first coordinate system is confirmed; The second navigation information of the turret device in the first coordinate system is confirmed based on the second motion navigation information and the first navigation information.

5. A vehicle-mounted turret navigation method based on firing while in motion as described in claim 1, characterized in that, The step of adjusting the navigation of the turret device according to the second navigation information and the preset navigation information includes: The difference in navigation information is obtained based on the second navigation information and the preset navigation information; The navigation of the turret device is adjusted based on the differences in the navigation information.

6. A vehicle-mounted turret navigation method based on firing while in motion, as described in any one of claims 1-5, characterized in that, The navigation device includes: The acquisition module is used to acquire the first coordinate system and first navigation information of the navigation device, as well as the second coordinate system, first motion navigation information and preset navigation information of the turret; The first confirmation module is used to obtain relative position information based on the first coordinate system and the second coordinate system; The second confirmation module is used to obtain the second navigation information of the turret device in the first coordinate system based on the coordinate relative position information, the first navigation information and the first motion navigation information; An adjustment module is used to adjust the navigation of the turret device according to the second navigation information and the preset navigation information.

7. An electronic device, characterized in that, The electronic device includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor performs the method as described in any one of claims 1-6.

8. A vehicle-mounted turret navigation device based on firing while in motion, applied to a vehicle, characterized in that, The device includes a turret and a navigation device. The turret includes a turret angle measuring device, and the navigation device includes a laser strapdown inertial navigation system, a time-frequency navigation system, an electronic odometer, a barometric altimeter, and satellite positioning. The laser strapdown inertial navigation system can acquire the turret attitude angle information and the angle information of the turret relative to the vehicle. The time-frequency navigation system can acquire the vehicle speed information. The electronic odometer can acquire the vehicle distance traveled. The barometric altimeter can acquire the vehicle altitude information. The satellite positioning system can acquire the vehicle position information. The vehicle-mounted turret navigation device performs the method described in any one of claims 1-6.

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