Inertial navigation four-position turn stopping method, system, device and medium in high dynamic situation

Abstract

The application provides a high-dynamic inertial navigation four-position rotation and stop method, system, device and medium, belongs to the technical field of inertial navigation, and first controls an inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate, and collects a heading angle of the inertial measurement combination in a rotation period; then the heading angle of the inertial measurement combination is used to calculate the stop time of four positions in the next rotation period, and the step of "controlling the inertial measurement combination to adopt the four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate" is returned until navigation is completed, so that the stop time of the four positions in the next rotation period is dynamically adjusted, the influence of dynamic changes of the heading angle on the rotation modulation accuracy is minimized, and the inertial navigation rotation modulation error caused by turning of the carrier is compensated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inertial navigation technology, and particularly relates to a four-position rotation and stop method, system, device and medium for single-axis rotation modulation strapdown inertial navigation in high dynamic situations. BACKGROUND

[0002] An inertial navigation system is a completely autonomous navigation technology, which relies on inertial devices installed on a carrier to complete a navigation task autonomously through a navigation computer, and can not have any optical or electrical contact with the outside world. Therefore, the inertial navigation system has good concealment and is not limited by environmental conditions, and this unique advantage makes the inertial navigation system a widely used navigation method in the fields of aviation, aerospace and navigation. However, there is still a high technical difficulty in realizing a high-precision inertial navigation system, because the inertial navigation system is a dead reckoning navigation method, which obtains the attitude and velocity according to the linear motion and angular motion parameters measured by the inertial device, and further calculates the position of the carrier. However, in the integral process of navigation calculation, the system error caused by the inertial device error will grow with time, so the precision of the inertial navigation system is mainly restricted by the precision of the inertial device. In order to realize a long-time and high-precision inertial navigation system, it is necessary to reduce the navigation error caused by various error factors in the output of the inertial device.

[0003] The error accumulation of the inertial navigation system is mainly determined by the precision of the initial alignment, the precision of the inertial device, and the dynamic environmental characteristics of the carrier motion, so the error will quickly diverge after a long time of independent work. In order to obtain a long-time and high-precision strapdown inertial navigation system, there are mainly three ways to solve the problem:

[0004] (1) Improve the precision of the inertial device itself, mainly rely on the development of new materials, new processes and new technologies to improve the precision of the inertial device, or develop new high-precision inertial devices;

[0005] (2) Study the error propagation characteristics of the inertial navigation system itself, set a certain specific motion mode (the typical motion mode is periodic rotation modulation) for the inertial measurement combination to suppress the navigation error caused by various error factors of the inertial navigation system;

[0006] (3) Use a combined navigation method to estimate and correct the inertial device error and navigation parameters by using external information.

[0007] Currently, the second approach is usually used to solve the problem of error accumulation, and a single-axis rotation modulation strapdown inertial navigation system is generally used. However, the inertial device bias in two horizontal directions is modulated into a periodic change signal due to the rotation of the inertial measurement unit around the vertical axis, and the average value in one rotation period is zero. The inertial device bias in the direction of the rotation axis is not modulated, which causes the positioning error of the strapdown inertial navigation system to accumulate over time. Therefore, the error modulation technology of the rotation of the inertial measurement unit can only modulate the constant bias of the inertial device in the direction perpendicular to the rotation axis, and the navigation error of the inertial navigation system caused by the bias of the inertial device in the direction along the rotation axis still propagates according to the original rule.

[0008] The single-axis rotation modulation strapdown inertial navigation system can move in the form of uniform rotation, or can stop at symmetrical positions for the same time, for example, stop at four positions with an interval of 90° for the same time, as long as the following condition is met: ε n 、 The term related to the constant drift of the corresponding inertial device is zero in one rotation period, which can achieve the same average drift error effect. The essence of the error modulation of the four-position rotation and stop scheme is to make the inertial measurement unit stop at symmetrical positions for the same time through the rotation of the inertial measurement unit, so that the error term caused by the constant error of the gyroscope and the accelerometer in the error propagation equation is zero or close to zero after integration, thereby reducing the accumulation of system error and improving the navigation accuracy.

[0009] However, the above method only considers the case where the carrier is stationary. It is generally believed that if the heading angle change of the carrier is not isolated, the degree of cancellation of the horizontal constant drift error of the single-axis rotation system will be affected by the turning and other movements of the carrier, and finally the effect of drift error compensation will be reduced. When the carrier is turning, the inertial measurement unit keeps the rotation and stop time consistent in four directions in the carrier coordinate system, but the rotation and stop time of the inertial measurement unit in four directions in the navigation coordinate system has been disturbed. For example, the current carrier has a heading angle of 0 degrees in the navigation coordinate system, and the rotation mechanism also has an angle of 0 degrees. The inertial measurement unit in the navigation coordinate system is 0 degrees. When the rotation mechanism is turned to 90 degrees, the heading angle of the carrier is turned to -90 degrees, and the inertial measurement unit in the navigation coordinate system is still 0 degrees. The rotation modulation does not have the effect of suppressing errors. According to the change of the heading angle of the carrier, the error will be amplified. After the carrier turns several times, the pure inertial navigation system is an integral system, and the error will always accumulate, which will eventually lead to an over-error in the position accuracy.

[0010] Therefore, there is an urgent need for a method for optimizing the existing four-position rotation and stop scheme to reduce the influence of the dynamic change of the heading angle on the rotation modulation accuracy as much as possible and make up for the inertial navigation rotation modulation error caused by the turning of the carrier. SUMMARY

[0011] The application aims to provide a high-dynamic inertial navigation four-position rotation and stop method, system, device and medium, which can reduce the influence of the dynamic change of the heading angle on the rotation modulation accuracy as much as possible and compensate for the inertial navigation rotation modulation error caused by the turning of the carrier.

[0012] To achieve the above-mentioned purpose, the application provides the following technical solutions.

[0013] A high-dynamic inertial navigation four-position rotation and stop method, the rotation and stop method comprising:

[0014] controlling the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate and collecting the heading angle of the inertial measurement combination in the rotation period;

[0015] calculating the stay time of the four positions of the next rotation period according to the heading angle of the inertial measurement combination and returning to the step of "controlling the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate" until the navigation ends.

[0016] A high-dynamic inertial navigation four-position rotation and stop system, the rotation and stop system comprising:

[0017] a rotation module, configured to control the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate and collect the heading angle of the inertial measurement combination in the rotation period;

[0018] a calculation module, configured to calculate the stay time of the four positions of the next rotation period according to the heading angle of the inertial measurement combination and return to the step of "controlling the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period to rotate" until the navigation ends.

[0019] A high-dynamic inertial navigation four-position rotation and stop device, comprising:

[0020] a processor; and

[0021] a memory in which computer readable program instructions are stored,

[0022] wherein the above-mentioned rotation and stop method is performed when the computer readable program instructions are run by the processor.

[0023] A computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the above-mentioned rotation and stop method.

[0024] Compared with existing technologies, the present invention provides an inertial navigation four-position turning and stopping method, system, device and medium under high dynamic conditions. First, the inertial measurement unit is controlled to rotate using a four-position turning and stopping scheme with a four-turn-stop sequence as one rotation cycle, and the heading angle of the inertial measurement unit is collected within the rotation cycle. Then, the dwell time of the four positions in the next rotation cycle is calculated based on the heading angle of the inertial measurement unit. The process returns to the step of "controlling the inertial measurement unit to rotate using a four-position turning and stopping scheme with a four-turn-stop sequence as one rotation cycle" until the navigation ends. This dynamically adjusts the dwell time of the four positions in the next rotation cycle, thereby minimizing the impact of dynamic changes in heading angle on the rotation modulation accuracy and compensating for the inertial navigation rotation modulation error caused by the vehicle turning. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0026] Figure 1 This is a schematic diagram of the single-axis four-position rotary stop scheme provided in Embodiment 1 of the present invention;

[0027] Figure 2 This is a flowchart of the switching and stopping method provided in Embodiment 1 of the present invention;

[0028] Figure 3 This is a flowchart illustrating the dynamic adjustment of dwell time at four positions as provided in Embodiment 1 of the present invention.

[0029] Figure 4 This is a system block diagram of the stop system provided in Embodiment 2 of the present invention. Detailed Implementation

[0030] To facilitate a clear description of the technical solutions in the embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in the present invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] Example 1:

[0032] Assume that the inertial measurement unit's coordinate system (s-coordinate system) initially coincides with the carrier's coordinate system (b-coordinate system). Then, the inertial measurement unit is controlled to rotate continuously around the vertical direction at a constant angular velocity ω. The relationship between the inertial measurement unit's coordinate system and the carrier's coordinate system at time t is as follows:

[0033]

[0034] In equation (1), Let be the transformation matrix for converting the inertial measurement combined coordinate system to the carrier coordinate system at time t; Let t be the transformation matrix for converting the carrier coordinate system to the inertial measurement combined coordinate system at time t.

[0035] Let ε E ε N ε U For the constant drift of the Northeast Sky Gyroscope, The accelerometer in the northeast is zero bias. Since the inertial navigation system calculation process is performed in the navigation coordinate system, for the sake of simplicity and intuitiveness in the analysis, we assume that the carrier coordinate system coincides with the navigation coordinate system (n coordinate system), i.e., b = n. Then, the modulation form of the inertial device deviation in the navigation coordinate system at time t can be expressed as:

[0036]

[0037]

[0038] In the above formula, Let be the transformation matrix from the inertial measurement combined coordinate system to the navigation coordinate system at time t; These represent the constant drift of the gyroscope along the x, y, and z axes in the inertial measurement combined coordinate system, respectively. ω represents the zero bias of the accelerometer along the x, y, and z axes in the inertial measurement combined coordinate system; ω is the angular velocity of the indexing mechanism; and ωt is the angle of the indexing mechanism at time t.

[0039] As can be seen from equations (2) and (3), the inertial device deviations in the two horizontal directions are modulated into periodically changing signals due to the rotation of the inertial measurement unit around the vertical axis. The amplitude of the signals is greater than the constant deviation of the inertial devices, but their mean value within one rotation cycle is zero, so they do not affect the navigation accuracy of the system. However, the inertial device deviations in the rotation axis direction are not modulated, causing the positioning error of the strapdown inertial navigation system to accumulate over time. Therefore, the error modulation technique using the rotation of the inertial measurement unit can only modulate the constant deviation of the inertial devices in the direction perpendicular to the rotation axis, while the navigation error of the inertial navigation system caused by the inertial device deviations along the rotation axis direction still propagates according to the original law.

[0040] The strapdown inertial navigation system employs a mature four-position rotation and stop scheme, limiting the maximum rotation angle of the inertial measurement unit to less than 360°. The system does not use slip rings, thus significantly improving its reliability. Figure 1 As shown, the single-axis four-position rotation and stop process is as follows:

[0041] Sequence 1: Starting from position A, rotate 180° clockwise to position C, and stay for T C ;

[0042] Sequence 2: Starting from position C, rotate 90° clockwise to position D, and stay for T D ;

[0043] Sequence 3: Starting from position D, rotate 180° counterclockwise to position B, and stay for T B ;

[0044] Sequence 4: Starting from position B, rotate 90° counterclockwise to position A, and stay for T A .

[0045] The above four rotations are a rotation cycle, and then the sequence of 1-4 is cycled, clockwise rotation means counterclockwise rotation, and counterclockwise rotation means clockwise rotation. Among them,

[0046]

[0047] T B =T S ; (5)

[0048] T C =T S ; (6)

[0049]

[0050] In the above formula, ω is the rotation speed of the rotation mechanism of the inertial measurement combination; Ts is the preset stay time.

[0051] Assuming Ts is 300s and ω is 17° / s, analyze the proportion of the rotation mechanism's idle time in the total system working time.

[0052] (1) From position A to position C, the rotation time is 11.59s; stay at position C for 300s;

[0053] (2) From position C to position D, the rotation time is 6.29s; stay at position D for 306.74s;

[0054] (3) From position D to position B, the rotation time is 11.59s; stay at position B for 300s;

[0055] (4) From position B to position A, the rotation time is 6.29s; stay at position A for 306.74s;

[0056] The proportion of the rotation mechanism's idle time in the total system working time in one rotation cycle is:

[0057] 1213.48 / 1249.24 = 97.14%

[0058] It can be seen that the static time ratio is high, which can greatly improve the reliability of the system operation.

[0059] However, if the heading angle change of the carrier is not isolated, the degree of cancellation of the horizontal constant drift error of the single-axis rotation system will be affected by the turning and other movements of the carrier, ultimately resulting in a reduced effect of drift error compensation. Under dynamic conditions, the horizontal constant drift error of the inertial device is cancelled by adjusting the four-position dwell time, thereby achieving the same effect as after isolating the heading angle change of the carrier. This embodiment studies the error propagation characteristics of the inertial navigation system itself, sets a certain specific motion mode (typical motion mode is single-axis rotation modulation) for the inertial measurement combination, and suppresses the navigation errors caused by various error factors of the inertial navigation system. For long-time, high-precision strapdown inertial navigation, the single-axis rotation modulation mode and the four-position rotation and stop scheme are used to solve the problem of multiple turns of the navigation body (carrier) during actual navigation. The dwell time of the four positions is dynamically adjusted by integrating the sine and cosine of the heading angle, thereby reducing the influence of dynamic changes in the heading angle on the rotation modulation accuracy. The simulation and test results show that this method is simple to implement in engineering and effective, and achieves the state of practical engineering application.

[0060] To achieve the above purpose, the embodiment is used to provide a four-position rotation and stop method for inertial navigation under high dynamic conditions, as shown in Figure 2 The rotation and stop method comprises:

[0061] S1: control the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period, and collect the heading angle of the inertial measurement combination in the rotation period;

[0062] As shown in Figure 1 The four-position rotation and stop scheme used in this embodiment comprises: starting from position A and counterclockwise rotating 180 degrees to reach position C, the dwell time at position C is T C ; starting from position C and counterclockwise rotating 90 degrees to reach position D, the dwell time at position D is T D ; starting from position D and clockwise rotating 180 degrees to reach position B, the dwell time at position B is T B ; and starting from position B and clockwise rotating 90 degrees to reach position A, the dwell time at position A is T A .

[0063] S2: calculate the dwell time of the four positions of the next rotation period according to the heading angle of the inertial measurement combination, and return to the step of "controlling the inertial measurement combination to adopt a four-position rotation and stop scheme with four rotation and stop sequences for one rotation period".

[0064] The purpose of the embodiment is to dynamically adjust the dwell time of the four positions A, B, C and D in each rotation cycle. The following will analyze how to offset the constant drift error of the inertial device by adjusting the dwell time of the four positions under dynamic conditions, so as to achieve the same effect as the change in the heading angle of the carrier. As can be seen from equation (2) and equation (3), the offset of the constant drift error corresponds to the integral of the error angular velocity of the mathematical platform being zero in a certain time. Ignoring the change in the roll and pitch angles of the carrier, the integral of the error angular velocity of the mathematical platform is also corresponding to the integral of the sine and cosine of the heading angle of the inertial measurement combination, so the integral value of the sine and cosine of the heading angle of the inertial measurement combination can be selected as the calculation reference value of the dwell time of the inertial measurement combination at the positions A, B, C and D.

[0065] Specifically, as shown in FIG. 2, in S2, calculating the dwell time of the four positions of the next rotation cycle according to the heading angle of the inertial measurement combination can include: Figure 3

[0066] (1) performing sine integral and cosine integral on the heading angle of the inertial measurement combination respectively to obtain a sine integral value and a cosine integral value;

[0067] performing sine integral on the heading angle of the inertial measurement combination by using a sine integral formula to obtain the sine integral value; and performing cosine integral on the heading angle of the inertial measurement combination by using a cosine integral formula to obtain the cosine integral value.

[0068] The sine integral formula used in the embodiment is as follows:

[0069]

[0070] In equation (8), E Sin is the sine integral value; and φ u is the heading angle of the inertial measurement combination.

[0071] The cosine integral formula used in the embodiment is as follows:

[0072]

[0073] In equation (9), E Cos is the cosine integral value.

[0074] The integral square value of the sine and cosine of the heading angle of the inertial measurement combination is defined as follows:

[0075]

[0076] In equation (10), E CS is the integral square value.

[0077] ​The embodiment calculates the correction time ΔT Cos of the inertial measurement unit at each position dynamically according to the values of E Sin , E CS . A B C D From the beginning of the formal operation of the strapdown inertial navigation system, the navigation computer starts to accumulate the values of E Cos , E Sin and E CS at the current time, and at the same time, ΔT A , ΔT B , ΔT C , ΔT D are set to zero. The navigation computer performs the motion of the first rotation cycle in the order defined by the four-position rotation and stop scheme. When a complete rotation cycle is just completed, the inertial measurement unit returns to position A and stops at position A for T A , at which time the heading angle of the inertial measurement unit is φ' u , the values of E Cos , E Sin and E CS are E Cos , E Sin and E CS respectively.

[0078] (2) Taking the sine integral value and the cosine integral value as inputs, the correction time of the inertial measurement unit at the four positions and the integral sum corresponding to each position are calculated respectively by using the integral square sum formula.

[0079] The integral square sum formula used in the embodiment includes:

[0080] ΔE = (E' cos + cos(φ' u + α)ΔT) 2 + (E' sin + sin(φ' u + α)ΔT) 2 ; (11)

[0081] In formula (11), ΔE is the integral sum; E' Cos is the cosine integral value; φ' u is the last heading angle of the inertial measurement unit obtained in the rotation cycle; α is a preset angle; ΔT is the correction time; E' Sin is the sine integral value.

[0082] ​​​Based on the integral square sum formula, the integral square sum formula is used to calculate the correction time of the inertial measurement combination at the four positions and the integral sum corresponding to each position with the sine integral value and the cosine integral value as inputs, which can include:

[0083] With the sine integral value and the cosine integral value as inputs, let α be 0 degrees, and use the integral square sum formula to calculate ΔT when ΔE takes the minimum value, at this time, ΔT is the correction time of position A, and ΔE is the integral sum of position A; with the sine integral value and the cosine integral value as inputs, let α be 90 degrees, and use the integral square sum formula to calculate ΔT when ΔE takes the minimum value, at this time, ΔT is the correction time of position B, and ΔE is the integral sum of position B; with the sine integral value and the cosine integral value as inputs, let α be 180 degrees, and use the integral square sum formula to calculate ΔT when ΔE takes the minimum value, at this time, ΔT is the correction time of position C, and ΔE is the integral sum of position C; with the sine integral value and the cosine integral value as inputs, let α be 270 degrees, and use the integral square sum formula to calculate ΔT when ΔE takes the minimum value, at this time, ΔT is the correction time of position D, and ΔE is the integral sum of position D.

[0084] Next, it will be solved that when α is 0 degrees, 90 degrees, 180 degrees, and 270 degrees, respectively, the value of formula (11) is the minimum value, obviously, formula (11) is a quadratic equation of ΔT, and the minimum value of ΔE can be easily obtained. When α is 0°, ΔT is obtained as ΔT A , and ΔE has the minimum value ΔE A ; when α is 90°, ΔT is obtained as ΔT B , and ΔE has the minimum value ΔE B ; when α is 180°, ΔT is obtained as ΔT C , and ΔE has the minimum value ΔE C ; when α is 270°, ΔT is obtained as ΔT D , and ΔE has the minimum value ΔE D .

[0085] (3) Compare the integral sums of the four positions to determine the position with the minimum integral sum, and obtain the position to be corrected;

[0086] (4) Correct the dwell time of the position to be corrected according to the correction time of the position to be corrected, and keep the dwell times of the other positions unchanged to obtain the dwell times of the four positions in the next rotation period.

[0087] The correction of the dwell time of the position to be corrected according to the correction time of the position to be corrected can include: correcting the dwell time of the position to be corrected using a correction formula according to the correction time of the position to be corrected.

[0088] Specifically, the residence time of the inertial measurement combination at the four positions A, B, C and D can be obtained by correcting the original residence time. When the position to be corrected is position A, the correction formula is:

[0089] T A = T S + 2 / ω + ΔT A ; (12)

[0090] In formula (12), T A is the residence time of position A; T S is the preset residence time; ω is the rotation angular velocity of the inertial measurement combination; and ΔT A is the correction time of position A.

[0091] When the position to be corrected is position B, the correction formula is:

[0092] T B = T S + ΔT B ; (13)

[0093] In formula (13), T B is the residence time of position B; and ΔT B is the correction time of position B.

[0094] When the position to be corrected is position C, the correction formula is:

[0095] T C = T S + ΔT C ; (14)

[0096] In formula (14), T C is the residence time of position C; and ΔT C is the correction time of position C.

[0097] When the position to be corrected is position D, the correction formula is:

[0098] T D = T S + 2 / ω + ΔT D ; (15)

[0099] In formula (15), T D is the residence time of position D; and ΔT D is the correction time of position D.

[0100] The comparison of the embodiments obtains ΔE A , ΔE B , ΔE C , ΔE DThe minimum value is taken, and its corresponding correction time ΔT remains unchanged, while the correction times at other positions are set to zero. For example, if the minimum value is ΔE... C Then keep ΔT C Keep it unchanged, let ΔT A ΔT B ΔT D The result is zero, and T is calculated according to equations (12) to (15). A T B T C T D Let T be the dwell time at positions A, B, C, and D in the next rotation cycle. In the next rotation cycle, let the dwell time at each of the four positions in the four-position rotation scheme be the dwell time calculated above. Then, after each complete rotation cycle, T is recalculated according to the above process. A T B T C T D This process continues in a loop until navigation ends.

[0101] In the above-mentioned rotation and stopping method, the dwell time of the inertial measurement unit at the four positions is dynamically adjusted to ensure that E is completed after one rotation cycle. CS The value of φ should be minimized, which means minimizing the heading angle φ of the inertial measurement unit. u The integral sine and cosine values ​​are kept as low as possible, so that the constant drift error of the horizontal inertial element is offset to the greatest extent and is not affected by the change of the carrier's heading angle.

[0102] For long-endurance, high-precision strapdown inertial navigation systems (INS), a single-axis rotation modulation method and a four-position stop-and-go scheme are employed. While this scheme offers high system reliability, it does not isolate changes in the carrier's heading angle. This embodiment studies the four-position stop-and-go scheme under high dynamic conditions, implementing closed-loop control of the four-position stop-and-go time of the rotation mechanism. By integrating the sine and cosine of the heading angle, the dwell time of the four positions in the next rotation cycle is dynamically adjusted, thereby minimizing the impact of dynamic changes in the heading angle on the rotation modulation accuracy and compensating for INS rotation modulation errors caused by carrier turning. Experimental results show that this method is simple to implement, effective, and meets practical engineering application requirements, demonstrating high application and promotion value.

[0103] Example 2:

[0104] This embodiment provides an inertial navigation four-position turn-stop system under high dynamic conditions, such as... Figure 4 As shown, the transfer system includes:

[0105] The rotation module M1 is used to control the inertial measurement unit to rotate using a four-position rotation and stop scheme with four rotation and stop sequences as one rotation cycle, and to collect the heading angle of the inertial measurement unit within the rotation cycle.

[0106] The computing module M2 is configured to calculate the dwell time of the four positions in the next rotation cycle according to the heading angle of the inertial measurement combination, and return to the step of "controlling the inertial measurement combination to adopt the four-position rotation and dwell scheme for the four positions in a rotation cycle", until the navigation is completed.

[0107] The embodiment studies the four-position rotation and dwell scheme in high dynamic conditions, and performs closed-loop control on the four-position rotation and dwell time of the rotating mechanism. The sine and cosine of the heading angle are integrated, and the dwell time of the four positions in the next rotation cycle is dynamically adjusted, so as to reduce the influence of the dynamic change of the heading angle on the rotation modulation accuracy as much as possible, and compensate for the inertial navigation rotation modulation error caused by the turning of the carrier. The test results show that the method is simple in engineering implementation, effective, and reaches the actual engineering application state, and has high application and promotion value.

[0108] Embodiment 3:

[0109] The embodiment is used to provide an inertial navigation four-position rotation and dwell device in high dynamic conditions, which comprises:

[0110] a processor; and

[0111] a memory, wherein computer readable program instructions are stored,

[0112] When the computer readable program instructions are executed by the processor, the rotation and dwell method described in embodiment 1 is performed.

[0113] Embodiment 4:

[0114] The embodiment is used to provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the rotation and dwell method described in embodiment 1.

[0115] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art with reference to the attached drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures are described in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0116] Although the present application has been described in connection with the preferred embodiments thereof with reference to the specific content thereof, it will be apparent to those skilled in the art that various modifications and changes can be made thereto without departing from the spirit and scope of the application. Accordingly, it is intended that the present application cover all such modifications and changes as fall within the scope of the application, along with all equivalents thereof. It will be understood by those within the art that, in general, terms used herein, and especially to the immediately preceding description and claims attached hereto, are intended to be given their broadest interpretation consistent with the specification and the patent statutes.

Claims

1. A four-position turn-off method for inertial navigation in high dynamic situations, characterized in that, The switching method includes: The inertial measurement unit is controlled to rotate using a four-position rotation scheme with four rotation and stop sequences forming one rotation cycle, and the heading angle of the inertial measurement unit is collected within the rotation cycle. Calculate the dwell time of the four positions in the next rotation cycle based on the heading angle of the inertial measurement unit, and return to the step of "controlling the inertial measurement unit to rotate using a four-position turning and stopping scheme with a four-turn-stop sequence as one rotation cycle" until the navigation ends; The four-position rotation-stopping scheme comprises: starting from position A, rotating counterclockwise by 180 degrees to reach position C, and the staying time at position C is T C ; starting from position C, rotating counterclockwise by 90 degrees to reach position D, and the staying time at position D is T D ; starting from position D, rotating clockwise by 180 degrees to reach position B, and the staying time at position B is T B ; starting from position B, rotating clockwise by 90 degrees to reach position A, and the staying time at position A is T A ; The calculation of the dwell time at the four positions in the next rotation cycle based on the heading angle of the inertial measurement unit specifically includes: The heading angle of the inertial measurement unit is integrally obtained by sine and cosine integration, respectively. Using the sine integral value and the cosine integral value as input, the correction time of the inertial measurement unit at the four positions and the integral sum corresponding to each position are calculated using the integral sum of square formula. The sums of the integrals at the four positions are compared, and the position with the smallest sum of integrals is determined to obtain the position to be corrected. The dwell time of the position to be corrected is corrected according to the correction time of the position to be corrected, while the dwell time of the other positions remains unchanged, so as to obtain the dwell time of the four positions in the next rotation cycle.

2. The turn-off method according to claim 1, wherein The specific steps of performing sine and cosine integrals on the heading angle of the inertial measurement unit to obtain the sine and cosine integral values ​​include: The heading angle of the inertial measurement unit is integrally obtained by using the sine integral formula; The cosine integral value is obtained by applying the cosine integral formula to the heading angle of the inertial measurement unit. The sine integral formula is as follows: wherein E Sin is the sine integral value; φ u is the heading angle of the inertial measurement package; The formula for the cosine integral is as follows: where E Cos is the cosine integral value.

3. The turn signal method of claim 1, wherein, The formula for the sum of squares of integrals includes: ΔE = (E ′ Cos + cos(φ ′ u + α) ΔT) 2 + (E ′ Sin + sin(φ ′ u + α) ΔT) 2 ; wherein, ΔE is an integral sum; E ′ Cos is the cosine integral value; φ ′ u is the last heading angle sampled by the inertial measurement unit during the rotation period; α is a preset angle; ΔT is a correction time; E ′ Sin is the sine integral value.

4. The turn signal method of claim 3, wherein, The step of using the sine integral value and the cosine integral value as inputs to calculate the correction time of the inertial measurement unit at the four positions and the integral sum corresponding to each position using the integral sum of squares formula specifically includes: Using the sine integral value and the cosine integral value as input, and setting α to 0 degrees, the formula for the sum of squares of integrals is used to calculate ΔT when ΔE reaches its minimum value. At this time, ΔT is the correction time of position A, and ΔE is the integral sum of position A. Using the sine integral value and the cosine integral value as input, and setting α to 90 degrees, the formula for the sum of squares of integrals is used to calculate ΔT when ΔE reaches its minimum value. At this time, ΔT is the correction time of position B, and ΔE is the integral sum of position B. Using the sine integral value and the cosine integral value as input, and setting α to 180 degrees, the formula for the sum of squares of integrals is used to calculate ΔT when ΔE reaches its minimum value. At this time, ΔT is the correction time of position C, and ΔE is the integral sum of position C. Using the sine integral and the cosine integral as inputs, and setting α to 270 degrees, the formula for the sum of squares of integrals is used to calculate ΔT when ΔE reaches its minimum value. At this time, ΔT is the correction time of position D, and ΔE is the integral sum of position D.

5. The turn signal method of claim 1, wherein, The correcting the staying time of the to-be-corrected position according to the correction time of the to-be-corrected position specifically comprises: correcting the staying time of the to-be-corrected position according to the correction time of the to-be-corrected position by using a correction formula. When the to-be-corrected position is the position A, the correction formula is: T A = T S + 2 / ω + ΔT A ; wherein T A is the dwell time at the position A; T S is a preset dwell time; ω is the rotational angular velocity of the IMU; ΔT A is the correction time at the position A; When the to-be-corrected position is the position B, the correction formula is: T B = T S + ΔT B ; where T B is the dwell time at the position B; ΔT B is the correction time at the position B; When the to-be-corrected position is the position C, the correction formula is: T C = T S + ΔT C ; wherein T C is the dwell time at the position C; ΔT C is the correction time at the position C; When the to-be-corrected position is the position D, the correction formula is: T D = T S + 2 / ω + ΔT D ; where T D is the dwell time at the location D; ΔT D is the correction time at the location D.

6. A high dynamic inertial navigation four-position turn-off system, characterized in that, The system is used for executing the four-position rotation-stopping method of inertial navigation under high dynamic conditions according to claim 1, and the rotation-stopping system comprises: a rotation module, configured to control the inertial measurement combination to adopt a four-position rotation-stopping scheme with four rotation-stopping sequences for one rotation period to rotate, and collect the heading angle of the inertial measurement combination in the rotation period; a calculation module, configured to calculate the staying time of the four positions of the next rotation period according to the heading angle of the inertial measurement combination, and return to the step of "controlling the inertial measurement combination to adopt a four-position rotation-stopping scheme with four rotation-stopping sequences for one rotation period to rotate", until the navigation ends.

7. A high dynamic inertial navigation four-position turn and hold equipment, characterized by comprise: a processor; and a memory in which computer readable program instructions are stored, wherein the computer readable program instructions, when executed by the processor, perform the rotation-stopping method according to any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the rotation-stopping method according to any one of claims 1-5.

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