A Semi-physical Simulation Test Method for an Injection-Type Inertial Measurement Device

Abstract

This invention relates to a semi-physical simulation test method for injection-type inertial measurement units (IPMs), belonging to the field of simulation testing. The method of this invention bypasses the gyroscope and accelerometer components of the IPM by employing signal injection. Instead, it directly injects the angular acceleration signals in the pitch, yaw, and roll directions, as well as the acceleration signals in the x, y, and z directions, calculated by the simulation computer, into the IPM via a simulation information interface. This excites the IPM to perform navigation calculations, thereby obtaining the attitude angle and position information of the carrier. This solves the problem that traditional IPM semi-physical simulation test methods heavily rely on a turntable for testing.

Description

Technical Field

[0001] This invention belongs to the field of simulation testing, specifically relating to a semi-physical simulation test method for an injection-type inertial measurement device. Background Technology

[0002] Inertial measurement units (INS) are primarily used to measure the attitude angles and position information of a carrier. This information mainly includes pitch angle, yaw angle, roll angle, pitch rate, yaw rate, roll rate, x-position, y-position, z-position, x-velocity, y-velocity, z-velocity, x-acceleration, y-acceleration, and z-acceleration. Traditional hardware-in-the-loop (HIL) simulation testing methods for INS are designed around a three-axis turntable. The technical solution involves mounting the INS under test on the turntable, which provides angular motion data in the pitch, yaw, and roll directions of the carrier. The INS is sensitive to the movement of the turntable, measuring the carrier's attitude angles and position information in real time. A data recording device collects and records the output information of the INS for analysis and evaluation after the experiment. Traditional hardware-in-the-loop simulation testing methods for inertial measurement devices require the use of a large simulation device called a three-axis turntable. However, the investment in a three-axis turntable is huge. Generally speaking, the construction cost of a three-axis turntable is about 3 million yuan, and the construction cost of some three-axis turntables with higher technical requirements can be as high as 4 million yuan. For application units that do not have the conditions to purchase a three-axis turntable due to tight funds, such simulation tests cannot be carried out. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The technical problem to be solved by this invention is: how to provide a hardware-in-the-loop simulation test method for injection-type inertial measurement devices, so as to solve the problem that traditional hardware-in-the-loop simulation test methods for inertial measurement devices heavily rely on turntables for testing.

[0005] (II) Technical Solution

[0006] To address the aforementioned technical problems, this invention provides a semi-physical simulation test method for an injection-type inertial measurement device, comprising the following steps:

[0007] Step 1: Define the carrier coordinate system. Place the origin o of the coordinate system at the centroid of the carrier. The ox axis coincides with the longitudinal axis of the carrier and points towards the head of the carrier as positive. The oy axis is located in the longitudinal symmetry plane of the carrier and is perpendicular to the ox axis. Pointing upwards is positive. The oz axis is perpendicular to the oxy plane and its direction is determined by the right-hand rectangular coordinate system. The carrier coordinate system is a moving coordinate system and is fixed to the carrier.

[0008] Step 2: During the flight test of the carrier, the simulation computer calculates the angular acceleration signals in the pitch, yaw, and roll directions of the carrier coordinate system in real time, as well as the acceleration signals in the x, y, and z directions, and outputs them to the communication network.

[0009] Step 3: The simulation information interface reads the output parameters of the simulation computer in Step 3 from the communication network, and injects them into the inertial measurement device under test after interface conversion. After receiving the injected information, the inertial measurement device under test performs calculations to obtain the attitude angle information and position information of the carrier.

[0010] Step 4: The data recording device collects and records the output information of the inertial measurement device through the simulation information interface. After the test is completed, the results data are analyzed and evaluated.

[0011] The calculation formulas for the angular acceleration signals in the pitch, yaw, and roll directions, as well as the acceleration signals in the x, y, and z directions of the carrier in step 2 are as follows:

[0012] Fzj wx =step*wx (1)

[0013] Fzj wy =step*wy (2)

[0014] Fzj wz =step*wz (3)

[0015] Fzj ax =step*(Fxq+Fxp+Fxk) / mass (4)

[0016] Fzj ay =step*(Fyq+Fyp+Fyk) / mass (5)

[0017] Fzj az =step*(Fzq+Fzp+Fzk) / mass (6)

[0018] In formulas (1) to (6), Fzj wx 、Fzj wy 、Fzj wz 、Fzj ax 、Fzj ay 、Fzj az To simulate the six parameters output by the computer, Fzj wx 、Fzj wy 、Fzj wz These are the increments of roll angular velocity, yaw angular velocity, and pitch angular velocity of the carrier coordinate system calculated by the simulation computer, respectively. ax 、Fzjay 、Fzj az , representing the x-axis velocity increment, y-axis velocity increment, and z-axis velocity increment of the carrier coordinate system calculated by the simulation computer; wx, wy, and wz representing the carrier roll angular velocity, yaw angular velocity, and pitch angular velocity in the carrier coordinate system; Fxq, Fyq, and Fzq representing the components of aerodynamic force in the x, y, and z directions in the carrier coordinate system; Fxp, Fyp, and Fzp representing the components of engine thrust in the x, y, and z directions in the carrier coordinate system; Fxk, Fyk, and Fzk representing the components of the carrier control force in the x, y, and z directions in the carrier coordinate system; step representing the calculation period of the inertial measurement device under test; and mass representing the mass of the carrier.

[0019] When the carrier type is an aircraft, the six parameters output by the simulation computer can be obtained by using formulas (1)-(6).

[0020] When the carrier type is a projectile, when the carrier is outside the launch tube, the six parameters output by the simulation computer can be obtained by calculation using formulas (1)-(6);

[0021] When the carrier is inside the launch tube, it is only subjected to thrust in the x-direction and not to aerodynamic or control forces. In the y and z directions, it is constrained by the launch tube and is not subjected to any other forces. The attitude angles inside the launch tube will not change, and the values ​​of wx, wy, and wz are zero.

[0022] For projectile-type carriers, when they are inside the launch tube, the simulation computer calculates the injected signal using the following formula:

[0023] Fzj wx =0 (7)

[0024] Fzj wy =0 (8)

[0025] Fzj wz =0 (9)

[0026] Fzj ax =step*Fxp / mass (10)

[0027] Fzj ay =0 (11)

[0028] Fzj az =0 (12)

[0029] (III) Beneficial Effects

[0030] Compared with the prior art, the present invention has the following advantages: it solves the drawback of the traditional inertial measurement device semi-physical simulation test method, which relies heavily on the turntable to conduct the test. The method is simple in design, effective, practical and versatile, and has great potential for promotion and application. Attached Figure Description

[0031] Figure 1 Schematic diagram of the working principle of the semi-physical simulation test method for traditional inertial measurement devices;

[0032] Figure 2 Schematic diagram of the carrier coordinate system of this invention;

[0033] Figure 3 Schematic diagram of the working principle of the method of this invention. Detailed Implementation

[0034] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0035] Example 1

[0036] To address the aforementioned technical problems, this embodiment provides a semi-physical simulation test method for an injection-type inertial measurement device, such as... Figures 1-3 As shown, it includes the following steps:

[0037] Step 1: Place the inertial measurement device under test on the operating table, connect the inertial measurement device under test and the simulation equipment, define the carrier coordinate system, take the origin o of the coordinate system on the centroid of the carrier, the ox axis coincides with the longitudinal axis of the carrier and points to the head of the carrier as positive, the oy axis is located in the longitudinal symmetry plane of the carrier and is perpendicular to the ox axis, and points upward as positive, the oz axis is perpendicular to the oxy plane, and the direction is determined by the right-hand rectangular coordinate system, and the carrier coordinate system is fixed to the carrier;

[0038] Step 2: During the flight test of the carrier, the simulation computer calculates the angular acceleration signals in the pitch, yaw, and roll directions of the carrier coordinate system in real time, as well as the acceleration signals in the x, y, and z directions, and outputs them to the communication network.

[0039] Step 3: The simulation information interface reads the output parameters of the simulation computer in Step 3 from the communication network, and injects them into the inertial measurement device under test after interface conversion. After receiving the injected information, the inertial measurement device under test excites its internal attitude calculation algorithm to perform calculations and obtain the attitude angle information and position information of the carrier.

[0040] Step 4: The data recording device collects and records the output information of the inertial measurement device through the simulation information interface. After the test is completed, the results data are analyzed and evaluated.

[0041] The calculation formulas for the angular acceleration signals in the pitch, yaw, and roll directions, as well as the acceleration signals in the x, y, and z directions of the carrier in step 2 are as follows:

[0042] Fzj wx =step*wx (1)

[0043] Fzj wy =step*wy (2)

[0044] Fzj wz =step*wz (3)

[0045] Fzj ax =step*(Fxq+Fxp+Fxk) / mass (4)

[0046] Fzj ay =step*(Fyq+Fyp+Fyk) / mass (5)

[0047] Fzj az =step*(Fzq+Fzp+Fzk) / mass (6)

[0048] In formulas (1) to (6), Fzj wx 、Fzj wy 、Fzj wz 、Fzj ax 、Fzj ay 、Fzj az To simulate the six parameters output by the computer, Fzj wx 、Fzj wy 、Fzj wz These are the increments of roll angular velocity, yaw angular velocity, and pitch angular velocity of the carrier coordinate system calculated by the simulation computer, respectively. ax 、Fzj ay 、Fzj az , representing the x-axis velocity increment, y-axis velocity increment, and z-axis velocity increment of the carrier coordinate system calculated by the simulation computer; wx, wy, and wz representing the carrier roll angular velocity, yaw angular velocity, and pitch angular velocity in the carrier coordinate system; Fxq, Fyq, and Fzq representing the components of aerodynamic force in the x, y, and z directions in the carrier coordinate system; Fxp, Fyp, and Fzp representing the components of engine thrust in the x, y, and z directions in the carrier coordinate system; Fxk, Fyk, and Fzk representing the components of the carrier control force in the x, y, and z directions in the carrier coordinate system; step representing the calculation period of the inertial measurement device under test; and mass representing the mass of the carrier.

[0049] When the carrier type is an aircraft, the six parameters output by the simulation computer can be obtained by using formulas (1)-(6).

[0050] When the carrier type is a projectile, when the carrier is outside the launch tube, the six parameters output by the simulation computer can be obtained by calculation using formulas (1)-(6);

[0051] When the carrier is inside the launch tube, it is only subjected to thrust in the x-direction and not to aerodynamic or control forces. In the y and z directions, it is constrained by the launch tube and is not subjected to any other forces. The attitude angles inside the launch tube will not change, and the values ​​of wx, wy, and wz are zero.

[0052] For projectile-type carriers, when they are inside the launch tube, the simulation computer calculates the injected signal using the following formula:

[0053] Fzj wx =0 (7)

[0054] Fzj wy =0 (8)

[0055] Fzj wz =0 (9)

[0056] Fzj ax =step*Fxp / mass (10)

[0057] Fzj ay =0 (11)

[0058] Fzj az =0 (12)

[0059] After the experiment begins, the simulation computer calculates six injection signals in real time in the carrier coordinate system according to equations (1) to (6): roll angular velocity increment, yaw angular velocity increment, pitch angular velocity increment, x-axis velocity increment, y-axis velocity increment, and z-axis velocity increment (when they are located in the gun barrel (or launch tube / box), equations (7) to (12) are used for calculation). The simulation information interface reads these parameters from the communication network, and after interface conversion, injects them into the inertial measurement device under test. The inertial measurement device is excited by these parameters and performs navigation calculations to obtain the carrier's attitude angle information and position information. The data recording device collects and records the output information of the inertial measurement device through the simulation information interface for analysis and evaluation of the results data after the experiment.

[0060] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A semi-physical simulation test method for an injection-type inertial measurement device, characterized in that, It includes the following steps: Step 1: Define the carrier coordinate system. Place the origin o of the carrier coordinate system at the center of mass of the carrier. The ox axis coincides with the longitudinal axis of the carrier and points towards the head of the carrier as positive. The oy axis is located in the longitudinal symmetry plane of the carrier and is perpendicular to the ox axis. Pointing upwards is positive. The oz axis is perpendicular to the oxy plane and its direction is determined by the right-hand rectangular coordinate system. The carrier coordinate system is a moving coordinate system and is fixed to the carrier. Step 2: During the flight test of the carrier, the simulation computer calculates the angular acceleration signals in the pitch, yaw, and roll directions of the carrier coordinate system in real time, as well as the acceleration signals in the x, y, and z directions, and outputs them to the communication network. Step 3: The simulation information interface reads the output parameters of the simulation computer in Step 2 from the communication network, converts them through the simulation information interface, and injects them into the inertial measurement unit. After receiving the injected information, the inertial measurement unit performs calculations to obtain the attitude angle information and position information of the carrier. Step 4: The data recording device collects and records the attitude angle information and position information of the inertial measurement device through the simulation information interface. After the hardware-in-the-loop simulation test is completed, the attitude angle information and position information are analyzed and evaluated. The calculation formulas for the angular acceleration signals in the pitch, yaw, and roll directions, as well as the acceleration signals in the x, y, and z directions of the carrier in step 2 are as follows: （1） （2） （3） （4） （5） （6） Among them, in formulas (1) to (6), , , , , , To simulate the six parameters output by the computer, , , These are the increments of roll angular velocity, yaw angular velocity, and pitch angular velocity of the carrier coordinate system calculated by the simulation computer. , , These represent the x-axis, y-axis, and z-axis velocity increments of the carrier in the carrier coordinate system calculated by the simulation computer; wx, wy, and wz represent the carrier's roll angular velocity, yaw angular velocity, and pitch angular velocity in the carrier coordinate system, respectively; Fxq, Fyq, and Fzq represent the components of aerodynamic force in the x, y, and z directions in the carrier coordinate system; Fxp, Fyp, and Fzp represent the components of engine thrust in the x, y, and z directions in the carrier coordinate system; Fxk, Fyk, and Fzk represent the components of the carrier's control force in the x, y, and z directions in the carrier coordinate system; step represents the calculation period of the inertial measurement unit; and mass represents the mass of the carrier.

2. The semi-physical simulation test method for the injection-type inertial measurement device as described in claim 1, characterized in that, When the carrier type is an aircraft, the six parameters output by the simulation computer can be obtained by using formulas (1) to (6).

3. The semi-physical simulation test method for the injection-type inertial measurement device as described in claim 2, characterized in that, When the carrier type is a projectile, when the carrier is outside the launch tube, the six parameters output by the simulation computer can be obtained by calculation using formulas (1)-(6); When the carrier is inside the launch tube, it is only affected by the engine thrust in the x-direction and is not affected by aerodynamic forces or carrier control forces. In the y and z directions, it is constrained by the launch tube and is not affected by any other forces. The attitude angles inside the launch tube will not change. At this time, the values ​​of wx, wy, and wz are zero. For projectile-type carriers, when they are inside the launch tube, the simulation computer calculates in real time using the following formula: （7） （8） （9） （10） （11） （12）。

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