Satellite / inertial integrated navigation semi-physical simulation timing correction method

Abstract

This invention belongs to the technical field of integrated navigation and guidance weapon systems, specifically relating to a timing correction method for semi-physical simulation of satellite / inertial integrated navigation. The method includes: Step 1: Calculating the inertial navigation simulation link time; Step 2: Calculating the satellite simulation link time; Step 3: Calculating the time difference between the two links; Step 4: Aligning the timing of the two links; Step 5: Integrated navigation solution. This method calculates the execution time required for the inertial navigation simulation link and the satellite simulation link, eliminating timing differences during the execution of different links. It solves the drawbacks of traditional satellite / inertial integrated navigation semi-physical simulations, such as timing mismatch between the inertial navigation simulation link and the satellite simulation link, inaccurate navigation and positioning information solution, and low simulation accuracy. The advantages of this invention are that the simulation process is closer to the actual working process of the integrated navigation device, resulting in higher simulation accuracy. This simulation method is simple, effective, and practical, with great potential for widespread application.

Description

Technical Field

[0001] This invention belongs to the technical field of integrated navigation and guidance weapon systems, specifically relating to a timing correction method for satellite / inertial integrated navigation hardware-in-the-loop simulation, and particularly to conducting hardware-in-the-loop simulation tests on weapon systems using satellite / inertial integrated navigation and guidance. Background Technology

[0002] Many current weapon systems employ a satellite + inertial navigation combined navigation and guidance system, requiring hardware-in-the-loop (HIL) simulation to fully evaluate and verify their performance. Traditional HIL simulation methods involve mounting the inertial navigation system (INS) on a three-axis turntable to simulate the weapon's attitude changes during flight. The satellite navigation receiver is placed at an appropriate position in front of a satellite signal simulator, which provides real-time navigation and positioning information. Finally, the combined navigation algorithm module within the system combines and calculates the information received from the INS and satellite navigation receiver to control the guided weapon's flight along a planned trajectory. However, traditional HIL simulation methods do not correct the timing of the entire simulation chain, which has the following drawbacks:

[0003] During actual flight, guided weapons are sensed by satellites and inertial navigation systems (INS) at the same moment in time, including signals such as position, velocity, and acceleration. However, in hardware-in-the-loop simulation, the INS senses the position, velocity, and acceleration signals after the signal travels from the simulation computer to the acceleration signal injection device and then to the three-axis turntable (INS simulation link). The satellite navigation receiver senses the position, velocity, and acceleration signals after the signal travels from the simulation computer to the radio frequency matrix switch and then to the satellite signal simulator (satellite simulation link). Because the signal propagation times differ between these two links, the position, velocity, and acceleration information used in the combined navigation algorithm's calculations is inconsistent, introducing additional calculation errors. This results in inaccurate navigation and positioning information, poor simulation accuracy, and an inability to perform high-confidence performance testing and verification of the weapon system. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] The technical problem to be solved by this invention is: how to provide a timing correction method for satellite / inertial navigation hardware-in-the-loop simulation, so as to solve the drawbacks of timing mismatch between inertial navigation simulation link and satellite simulation link, inaccurate navigation and positioning information calculation, and low simulation accuracy in traditional satellite / inertial navigation hardware-in-the-loop simulation.

[0006] (II) Technical Solution

[0007] To address the aforementioned technical problems, this invention provides a timing correction method for satellite / inertial integrated navigation hardware-in-the-loop simulation. The method is used to eliminate timing differences between the inertial navigation simulation link and the satellite simulation link during execution. The method includes:

[0008] Step 1: Calculate the inertial navigation simulation link time;

[0009] Step 2: Calculate the satellite simulation link time;

[0010] Step 3: Calculate the time difference between the two links;

[0011] Step 4: Align the timing of the two links;

[0012] Step 5: Integrated navigation solution.

[0013] In step 1, the process of calculating the inertial navigation simulation link time involves using an oscilloscope to measure the time t required for the inertial navigation simulation link to execute. G .

[0014] In step 2, the process of calculating the satellite simulation link time involves using an oscilloscope to measure the time t required for the satellite simulation link to execute. W .

[0015] In step 3, the process of calculating the time difference between the two links involves calculating the time difference t between the two links. WG =t W -t G .

[0016] In step 4, the process of aligning the timing of the two links is as follows:

[0017] When the test control system issues a firing command, the simulation computer immediately sends the calculated ballistic signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed ballistic information to the satellite signal simulator.

[0018] Meanwhile, the simulation computer delays the calculated X, Y, and Z axis acceleration signals by t. WG The signal is then transmitted to the acceleration signal injection device, which performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system. At this time, the execution time required by the inertial navigation simulation link is strictly aligned with the execution time required by the satellite simulation link.

[0019] In step 5, the process of solving the integrated navigation is as follows:

[0020] The pre-set integrated navigation algorithm in the integrated navigation device is used to combine and calculate the information sensitive to the inertial navigation and satellite navigation receivers after time alignment, so as to control the guided weapon to fly according to the planned ballistic trajectory.

[0021] In step 1, the inertial navigation simulation link includes: a simulation computer, an acceleration signal injection device, and a three-axis turntable;

[0022] The information sensed by the inertial navigation system is the position, velocity, and acceleration signals at the moment of response from the simulation computer to the acceleration signal injection device and the three-axis turntable.

[0023] The inertial navigation simulation link time is calculated as follows:

[0024] The simulation computer calculates the current trajectory of the guided weapon and transmits the calculated X, Y, and Z axis acceleration signals to the acceleration signal injection device. The acceleration signal injection device performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system.

[0025] The time t required for the inertial navigation simulation link to execute G For: t G =t G1 +t G2 +t G3 +t G4 +t G5 ;

[0026] Among them, t G1 For the simulation computer calculation time; t G2 To simulate the signal transmission time between the computer outputting the acceleration signal and the acceleration signal inputting the acceleration signal into the acceleration signal injection device; t G3 t is the processing time of the acceleration signal injection device. G4 The signal transmission time between the output of the acceleration signal injection device and the input of the three-axis rotary table; t G5 This refers to the processing time for the three-axis rotary table.

[0027] In step 2, the satellite simulation link includes: a simulation computer, an RF matrix switch, and a satellite signal simulator;

[0028] The information that a satellite navigation receiver is sensitive to is the position, velocity, and acceleration signals at the moment of the response from the simulation computer → radio frequency matrix switch → satellite signal simulator;

[0029] The satellite simulation link time is calculated as follows:

[0030] The simulation computer calculates the current trajectory of the guided weapon and transmits the calculated trajectory signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed trajectory signal to the satellite signal simulator. The execution time t required for the satellite simulation link is as follows: W For: t W =t W1 +t W2 +t W3 +t W4 +t W5 .

[0031] Among them, t W1 For the simulation computer calculation time; t W2 To simulate the signal transmission time between the computer outputting the ballistic signal and the RF matrix switch inputting the ballistic signal; t W3 t represents the RF matrix switching processing time. W4 t is the signal transmission time between the output of the RF matrix switch and the input of the satellite signal simulator. W5 This refers to the processing time for the satellite signal simulator.

[0032] (III) Beneficial Effects

[0033] Compared with existing technologies, the key aspects of this invention in conducting semi-physical simulation of satellite / inertial integrated navigation are threefold:

[0034] 1) Install the inertial navigation system onto a three-axis turntable and use the three-axis turntable to simulate the attitude changes of the guided weapon during flight;

[0035] 2) Place the satellite navigation receiver at an appropriate position in front of the satellite signal simulator, and use the satellite signal simulator to provide the satellite navigation receiver with real-time navigation and positioning information;

[0036] 3) The integrated navigation algorithm in the integrated navigation device combines and calculates the information sensed by the inertial navigation and satellite navigation receivers to control the guided weapon to fly along the planned trajectory.

[0037] The timing correction method for satellite / inertial navigation hardware-in-the-loop (WILO) integrated simulation provided by this invention eliminates the timing differences between the inertial navigation (INS) simulation link and the satellite simulation link during execution. It solves the drawbacks of traditional WILO integrated simulations, such as timing mismatch between the INS and satellite simulation links, inaccurate navigation and positioning information calculation, and low simulation accuracy. Simulations using this method more closely resemble the actual working process of the integrated navigation device, achieving higher simulation accuracy. This simulation method is simple, effective, and practical, with significant potential for widespread application.

[0038] The method of this invention has also achieved good results in a hardware-in-the-loop simulation test of a guided weapon for the Army. In summary, this invention has many advantages and broad prospects for military applications. Attached Figure Description

[0039] Figure 1 This is a timing diagram of the signal transmission link in a hardware-inertial navigation system. Detailed Implementation

[0040] 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.

[0041] To address the aforementioned technical problems, this invention provides a timing correction method for satellite / inertial integrated navigation hardware-in-the-loop simulation. The method is used to eliminate timing differences between the inertial navigation simulation link and the satellite simulation link during execution. The method includes:

[0042] Step 1: Calculate the inertial navigation simulation link time;

[0043] Step 2: Calculate the satellite simulation link time;

[0044] Step 3: Calculate the time difference between the two links;

[0045] Step 4: Align the timing of the two links;

[0046] Step 5: Integrated navigation solution.

[0047] In step 1, the process of calculating the inertial navigation simulation link time involves using an oscilloscope to measure the time t required for the inertial navigation simulation link to execute. G .

[0048] In step 2, the process of calculating the satellite simulation link time involves using an oscilloscope to measure the time t required for the satellite simulation link to execute. W .

[0049] In step 3, the process of calculating the time difference between the two links involves calculating the time difference t between the two links. WG =t W -t G .

[0050] In step 4, the process of aligning the timing of the two links is as follows:

[0051] When the test control system issues a firing command, the simulation computer immediately sends the calculated ballistic signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed ballistic information to the satellite signal simulator.

[0052] Meanwhile, the simulation computer delays the calculated X, Y, and Z axis acceleration signals by t. WG The signal is then transmitted to the acceleration signal injection device, which performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system. At this time, the execution time required by the inertial navigation simulation link is strictly aligned with the execution time required by the satellite simulation link.

[0053] In step 5, the process of solving the integrated navigation is as follows:

[0054] The pre-set integrated navigation algorithm in the integrated navigation device is used to combine and calculate the information sensitive to the inertial navigation and satellite navigation receivers after time alignment, so as to control the guided weapon to fly according to the planned ballistic trajectory.

[0055] In step 1, the inertial navigation simulation link includes: a simulation computer, an acceleration signal injection device, and a three-axis turntable;

[0056] The information sensed by the inertial navigation system is the position, velocity, and acceleration signals at the moment of response from the simulation computer to the acceleration signal injection device and the three-axis turntable.

[0057] The inertial navigation simulation link time is calculated as follows:

[0058] The simulation computer calculates the current trajectory of the guided weapon and transmits the calculated X, Y, and Z axis acceleration signals to the acceleration signal injection device. The acceleration signal injection device performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system.

[0059] The time t required for the inertial navigation simulation link to execute G For: t G =t G1 +t G2 +t G3 +t G4 +t G5 ;

[0060] Among them, t G1 For the simulation computer calculation time; t G2 To simulate the signal transmission time between the computer outputting the acceleration signal and the acceleration signal inputting the acceleration signal into the acceleration signal injection device; t G3 t is the processing time of the acceleration signal injection device. G4 The signal transmission time between the output of the acceleration signal injection device and the input of the three-axis rotary table; t G5 This refers to the processing time for the three-axis rotary table.

[0061] In step 2, the satellite simulation link includes: a simulation computer, an RF matrix switch, and a satellite signal simulator;

[0062] The information that a satellite navigation receiver is sensitive to is the position, velocity, and acceleration signals at the moment of the response from the simulation computer → radio frequency matrix switch → satellite signal simulator;

[0063] The satellite simulation link time is calculated as follows:

[0064] The simulation computer calculates the current trajectory of the guided weapon and transmits the calculated trajectory signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed trajectory signal to the satellite signal simulator. The execution time t required for the satellite simulation link is as follows: W For: t W =t W1 +t W2 +t W3 +t W4 +t W5 .

[0065] Among them, t W1 For the simulation computer calculation time; t W2 To simulate the signal transmission time between the computer outputting the ballistic signal and the RF matrix switch inputting the ballistic signal; t W3 t represents the RF matrix switching processing time. W4 t is the signal transmission time between the output of the RF matrix switch and the input of the satellite signal simulator. W5 This refers to the processing time for the satellite signal simulator.

[0066] Example 1

[0067] To ensure consistency in the position, velocity, and acceleration information used by the integrated navigation algorithm during combined calculations, the key lies in the execution time t required by the inertial navigation simulation link. G The time t required for satellite simulation link execution W Alignment requires correcting the timing of the simulated link.

[0068] To address the aforementioned technical issues, this embodiment provides a semi-physical simulation timing correction method for satellite / inertial integrated navigation, which includes: inertial navigation simulation link time calculation, satellite simulation link time calculation, two-link time difference calculation, two-link timing alignment, and integrated navigation solution.

[0069] in,

[0070] The inertial navigation simulation link time is calculated by measuring the time t required for the inertial navigation simulation link to execute using an oscilloscope. G ;

[0071] The satellite simulation link time calculation uses an oscilloscope to measure the time t required for the satellite simulation link to execute.W ;

[0072] The time difference between the two links is calculated as the time difference t between the two links. WG =t W -t G ;

[0073] In practice, the time t required for satellite simulation link execution is... W It must be greater than the time t required for the inertial navigation simulation link to execute. G The error ranges from tens of milliseconds (generally between 50ms and 200ms), which causes inconsistencies in the position, velocity, and acceleration information used by the integrated navigation algorithm during the integrated solution process. This results in an integrated navigation solution error between 5m and 20m, leading to poor simulation accuracy and making it impossible to conduct high-confidence assessment and verification of the weapon system's performance indicators.

[0074] The timing alignment of the two links is as follows: after the test control system issues the firing command, the simulator immediately sends the calculated ballistic signal to the RF matrix switch. The RF matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed ballistic information to the satellite signal simulator. At the same time, the simulator delays the calculated X, Y, and Z acceleration signals by t. WG The signal is then transmitted to the acceleration signal injection device, which performs interface conversion on the X, Y, and Z acceleration signals and then injects these signals into the inertial navigation system. At this time, the time required for the inertial navigation simulation link to execute is strictly aligned with the time required for the satellite simulation link to execute.

[0075] The integrated navigation solution refers to the integrated navigation algorithm in the integrated navigation device combining and solving the information sensed by the time-aligned inertial navigation and satellite navigation receivers to control the guided weapon to fly according to the planned ballistic trajectory.

[0076] The hardware-in-the-loop simulation of satellite / inertial navigation involves two links: an inertial navigation simulation link and a satellite simulation link. The signal transmission timing on these links is as follows: Figure 1 As shown. According to the above-described satellite / inertial integrated navigation hardware-in-the-loop (HIBL) link timing correction method, the inertial navigation simulation link time is calculated as follows:

[0077] The simulator calculates the current trajectory of the guided weapon and transmits the calculated X, Y, and Z acceleration signals to the acceleration signal injection device. The acceleration signal injection device performs interface conversion on the X, Y, and Z acceleration signals and then injects these signals into the inertial navigation system. Figure 1 It can be seen that the time t required for the inertial navigation simulation link to execute is G For: t G =t G1 +t G2 +t G3+t G4 +t G5 .

[0078] According to the above-mentioned satellite / inertial integrated navigation hardware-in-the-loop simulation link timing correction method, the satellite simulation link time is calculated as follows:

[0079] The simulator calculates the current trajectory of the guided weapon and transmits the calculated trajectory signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed trajectory information to the satellite signal simulator; Figure 1 It can be seen that the execution time t required for the satellite simulation link is... W For: t W =t W1 +t W2 +t W3 +t W4 +t W5 .

[0080] Example 2

[0081] In a semi-physical simulation test of a guided weapon for the Army, the guidance and control components involved in the semi-physical simulation included a satellite navigation receiver, inertial navigation system, onboard computer, and servo motors. The simulation equipment used included a three-axis turntable, a satellite signal simulator, a simulation computer, and a test control system. The specific implementation steps of the test are as follows:

[0082] (1) Install the inertial navigation system on a three-axis rotary table;

[0083] (2) Place the satellite navigation receiver at an appropriate position in front of the satellite signal simulator transmitting antenna;

[0084] (3) Debug all simulation equipment, including the three-axis turntable, satellite signal simulator, simulation computer and test control system, etc.;

[0085] (4) Connect the test components such as satellite navigation receiver, inertial navigation system, missile-borne computer, and servo motor to each simulation device according to the communication protocol;

[0086] (5) Use an oscilloscope to measure the time t required for the inertial navigation simulation link to execute. G ;

[0087] (6) Use an oscilloscope to measure the time t required for the satellite simulation link to execute. W ;

[0088] (7) Calculate the time difference t between the two links. WG =t W -t G ;

[0089] (8) At this point, the hardware-in-the-loop simulation system is completed, and all simulation equipment and test components are ready to go.

[0090] (9) When the test control system issues a firing command, the simulation computer sends the calculated ballistic signal to the radio frequency matrix switch in real time. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed ballistic information to the satellite signal simulator. At the same time, the simulation computer delays the calculated X, Y, and Z acceleration signals by t. WG The signal is then sent to the acceleration signal injection device after a certain time. The acceleration signal injection device performs interface conversion on the X, Y, and Z acceleration signals and then injects these signals into the inertial navigation system.

[0091] (10) The combined navigation algorithm in the combined navigation device combines and solves the information sensed by the time-aligned inertial navigation and satellite navigation receivers, conducts formal hardware-in-the-loop simulation tests, and controls the guided weapon to fly according to the planned trajectory.

[0092] 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 satellite / inertial integrated navigation semi-physical simulation timing correction method, characterized in that, The method is used to eliminate timing differences between the inertial navigation simulation link and the satellite simulation link during execution. The method includes: Step 1: Calculate the inertial navigation simulation link time; Step 2: Calculate the satellite simulation link time; Step 3: Calculate the time difference between the two links; Step 4: Align the timing of the two links; Step 5: Integrated navigation solution; In the step 1, the process of calculating the inertial navigation simulation link time is to measure the time required for the inertial navigation simulation link execution using an oscilloscope ; In the step 2, the process of calculating the satellite simulation link time is to measure the time required for the satellite simulation link execution using an oscilloscope ; In the step 3, the process of calculating the time difference of the two links is to calculate the time difference of the two links ; In step 4, the process of aligning the timing of the two links is as follows: When the test control system issues a firing command, the simulation computer immediately sends the calculated ballistic signal to the radio frequency matrix switch. The radio frequency matrix switch selects the link where the corresponding satellite signal transmitting antenna is located, and then transmits the processed ballistic information to the satellite signal simulator. Meanwhile, the simulation computer delays the calculated X, Y, and Z axis acceleration signals. The signal is then transmitted to the acceleration signal injection device, which performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system. At this time, the execution time of the inertial navigation simulation link is strictly aligned with the execution time of the satellite simulation link. In step 5, the process of solving the integrated navigation is as follows: The pre-set integrated navigation algorithm in the integrated navigation device is used to combine and calculate the information sensed by the time-aligned inertial navigation and satellite navigation receivers, and control the guided weapon to fly according to the planned ballistic trajectory. In step 1, the inertial navigation simulation link includes: a simulation computer, an acceleration signal injection device, and a three-axis turntable; The information sensed by the inertial navigation system is the position, velocity, and acceleration signals at the moment of response from the simulation computer to the acceleration signal injection device and the three-axis turntable. The inertial navigation simulation link time is calculated as follows: The simulation computer calculates the current trajectory of the guided weapon and transmits the calculated X, Y, and Z axis acceleration signals to the acceleration signal injection device. The acceleration signal injection device performs interface conversion on the X, Y, and Z axis acceleration signals and then injects these signals into the inertial navigation system. Time required for execution of the INS simulation link To: ; Among them, t G1 For the simulation computer calculation time; t G2 To simulate the signal transmission time between the computer outputting the acceleration signal and the acceleration signal inputting the acceleration signal into the acceleration signal injection device; t G3 t is the processing time of the acceleration signal injection device. G4 The signal transmission time between the output of the acceleration signal injection device and the input of the three-axis rotary table; t G5 This refers to the processing time of the three-axis rotary table; In step 2, the satellite simulation link includes: a simulation computer, an RF matrix switch, and a satellite signal simulator; The information that a satellite navigation receiver is sensitive to is the position, velocity, and acceleration signals at the moment of the response from the simulation computer → radio frequency matrix switch → satellite signal simulator; The satellite simulation link time is calculated as follows: The simulation computer calculates the current trajectory of the guided weapon, transmits the calculated trajectory signal to the radio frequency matrix switch, the radio frequency matrix switch selects the corresponding satellite signal transmitting antenna link, and then transmits the processed trajectory signal to the satellite signal simulator; the satellite simulation link executes the required time To: ; Among them, t W1 The time required for computer simulation; t W2 To simulate the signal transmission time between the computer outputting the ballistic signal and the RF matrix switch inputting the ballistic signal; t W3 t represents the RF matrix switching processing time. W4 t is the signal transmission time between the output of the RF matrix switch and the input of the satellite signal simulator. W5 This refers to the processing time for the satellite signal simulator.

Images