Autonomous navigation system based on information feedback calibration mechanism

Abstract

The application discloses an autonomous navigation system based on an information feedback calibration mechanism, which comprises a multi-sensor assembly composed of MEMS inertial devices, chip-level atomic clocks and various sensor devices suitable for navigation information acquisition; an autonomous space-time reference maintenance system software composed of an autonomous combination navigation algorithm module and an inertial device control compensation parameter configuration module, which extracts navigation information features, realizes error and state quantity estimation and MEMS inertial device control parameter quantization; the multi-sensor assembly transmits initial information to the autonomous space-time reference maintenance system software through a standardized communication interface after being processed by a strapdown navigation algorithm, the autonomous space-time reference maintenance system software transmits navigation information to external equipment through an information output port, and simultaneously transmits feedback calibration parameters to the multi-sensor assembly through a parameter self-adaptive online feedback module, so that parameter feedback calibration of the sensor is realized, MEMS inertial device error items are suppressed in a high quality, and the navigation precision of the autonomous navigation system is improved.

Description

Technical Field

[0001] This invention belongs to the field of autonomous navigation, and in particular to an autonomous navigation system based on an information feedback calibration mechanism. Background Technology

[0002] Traditional autonomous navigation systems are navigation parameter calculation systems that use gyroscopes and accelerometers as sensing devices. At the same time, other autonomous sensors can send data to the calculation unit through standardized interfaces for data calculation. Through navigation algorithms, a navigation coordinate system can be established based on the sensor outputs. The velocity and position of the vehicle in the navigation coordinate system can be calculated based on the outputs of the sensors and autonomous sensors. In traditional navigation systems, the entire signal information calculation and computation is a serial link. The sensors only act as signal sensing elements to measure external angular rate signals, acceleration signals, geomagnetic signals, etc. However, due to the limitations of the accuracy of MEMS sensors, traditional autonomous navigation systems find it difficult to achieve long-term autonomous spatiotemporal maintenance when satellite signals are lost. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing an autonomous navigation system based on an information feedback calibration mechanism to improve the system's navigation accuracy and achieve long-term autonomous spatiotemporal maintenance.

[0004] The technical solution to achieve the purpose of this invention is: an autonomous navigation system based on an information feedback calibration mechanism, the system including a multi-sensor component, a standardized communication interface, autonomous spatiotemporal reference maintenance system software, a parameter adaptive online feedback module, and an information output port;

[0005] The multi-sensor assembly includes a variety of sensor devices, through which various natural parameters suitable for autonomous navigation are acquired;

[0006] The standardized communication interface is used to realize communication between the multi-sensor components and the autonomous spatiotemporal reference maintenance system software, and to establish an open, universal, plug-and-play standard interface specification.

[0007] The autonomous spatiotemporal reference maintenance system software includes an autonomous integrated navigation algorithm module and an inertial device control compensation parameter configuration module, which is used to output inertial device control compensation parameters and system navigation information;

[0008] The parameter adaptive online feedback module is used to realize parameter feedback calibration between the autonomous spatiotemporal reference maintenance system software and the multi-sensor components;

[0009] The information output port is used for outputting system navigation information.

[0010] Furthermore, the various sensor devices are mainly MEMS inertial devices, supplemented by other sensor devices suitable for acquiring navigation information.

[0011] Furthermore, the various sensor devices are primarily based on chip-level atomic clocks, used for time registration and time information maintenance of multi-sensor measurement information.

[0012] Furthermore, the MEMS inertial devices are MEMS accelerometers and MEMS gyroscopes, which provide raw parameters for the strapdown navigation algorithm.

[0013] Furthermore, the standardized communication interface receives the output parameters of the auxiliary sensors in the multi-sensor assembly in real time, and receives the output parameters of the main sensor after processing by the strapdown navigation algorithm.

[0014] Compared with the prior art, the significant advantages of this invention are as follows: The autonomous navigation system based on the information feedback calibration mechanism of this invention can instantly access autonomous sensor information by setting up a standardized information signal interface, and form feedback calibration parameters for core devices through error and state quantity estimation. This system architecture is a feedback loop with intelligent sensors as the core. The intelligent sensors are not only measurement units of physical quantities, but can also use the calculated signals for feedback calibration. Through adaptive closed-loop control, high-quality suppression of error terms of autonomous MEMS inertial devices is achieved, navigation accuracy is improved, and long-term autonomous spatiotemporal maintenance is achieved under conditions without external sensor information.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is the overall architecture diagram of the autonomous navigation system based on the information feedback calibration mechanism of this invention.

[0017] Figure 2 This is a flowchart of the operation of the autonomous navigation system based on the information feedback calibration mechanism of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] This invention proposes an autonomous navigation system based on an information feedback calibration mechanism. The system includes a multi-sensor component, a standardized communication interface, autonomous spatiotemporal reference maintenance system software, a parameter adaptive online feedback module, and an information output port. The multi-sensor component includes various sensor devices to acquire various natural parameters suitable for autonomous navigation. The standardized communication interface enables communication between the multi-sensor component and the autonomous spatiotemporal reference maintenance system software, establishing an open, universal, and plug-and-play standard interface specification. The autonomous spatiotemporal reference maintenance system software includes an autonomous integrated navigation algorithm module and an inertial device control compensation parameter configuration module, used to output inertial device control compensation parameters and system navigation information. The parameter adaptive online feedback module enables parameter feedback calibration between the autonomous spatiotemporal reference maintenance system software and the multi-sensor component. The information output port is used for outputting system navigation information.

[0020] This invention relates to an autonomous navigation system based on an information feedback calibration mechanism. By setting up a standardized information signal interface, autonomous sensor information can be accessed in real time. Through error and state quantity estimation, feedback calibration parameters for core devices are formed. This system architecture is a feedback loop with intelligent sensors at its core. The intelligent sensors are not only physical quantity measurement units, but can also use the calculated signals for feedback calibration. Through an adaptive closed-loop control method, high-quality suppression of error terms of autonomous MEMS inertial devices is achieved, improving navigation accuracy and enabling long-term autonomous spatiotemporal maintenance under conditions without external sensor information.

[0021] In one embodiment, combined Figure 1This paper presents an autonomous navigation system based on an information feedback calibration mechanism, including a multi-sensor component, a standardized communication interface, autonomous spatiotemporal reference maintenance system software, a parameter adaptive online feedback module, and an information output port. The multi-sensor component consists of a variety of sensors, mainly MEMS inertial components and chip-level atomic clocks, supplemented by other sensors suitable for navigation information acquisition. The MEMS inertial components and chip-level atomic clocks serve as autonomous sensors and use their output information as the raw input information for the navigation algorithm. The other sensors serve as external sensors and connect their output information to the standardized communication interface in real time. The autonomous spatiotemporal reference maintenance system software architecture adopts a "four-layer + one-guarantee" model. An embedded real-time operating system ensures real-time fusion of acquired autonomous navigation information through process synchronization, saving the system overhead of sequential execution time function switching. The "four-layer" architecture consists of a progressively layered structure of "kernel layer – task layer – platform layer," with the application layer providing shared information services for flexible, rapid, and dynamic construction of core and plug-and-play sensor-based navigation solutions. The "guarantee layer" provides service status, equipment self-testing, a safety framework, and backup and upgrade functions. This software aims to output MEMS inertial device control compensation parameters to achieve adaptive online feedback calibration and acquire system navigation information via an output port for external interaction.

[0022] like Figure 2 As shown, this system extracts environmental and motion features based on the output information of a multi-sensor group, performs strapdown navigation calculations on acceleration, angular velocity, and time information, and calculates velocity, position, and attitude. Simultaneously, it integrates output information from other external sensors in real time. Based on the calculated velocity, position, and attitude information, state variables and observations, as well as sensor parameter information, it further estimates errors and state variables using intelligent parameter identification methods such as open-loop filtering estimation algorithms and neural networks. This information is then output to the strapdown navigation calculation module to achieve closed-loop feedback control. Simultaneously, based on this information, a combined intelligent navigation algorithm is used to obtain navigation information and inertial navigation control compensation parameters. Based on the compensation parameters, MEMS micro-inertial device error parameters, and the parameter identification module, quantized control parameters for the gyroscope and accelerometer are obtained to achieve feedback calibration of core device errors, realizing adaptive closed-loop control of the system. This achieves high-quality suppression of error terms in the autonomous MEMS inertial devices, improving the navigation accuracy of the autonomous navigation system.

[0023] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit and essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0024] Finally, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An autonomous navigation system based on an information feedback calibration mechanism, characterized in that, The system includes a multi-sensor component, a standardized communication interface, autonomous spatiotemporal reference maintenance system software, a parameter adaptive online feedback module, and an information output port. The multi-sensor assembly includes a variety of sensor devices, through which various natural parameters suitable for autonomous navigation are acquired; The standardized communication interface is used to realize communication between the multi-sensor components and the autonomous spatiotemporal reference maintenance system software, and to establish an open, universal, plug-and-play standard interface specification. The autonomous spatiotemporal reference maintenance system software includes an autonomous integrated navigation algorithm module and an inertial device control compensation parameter configuration module, used to output inertial device control compensation parameters and system navigation information; the autonomous integrated navigation algorithm module is specifically based on the strapdown navigation algorithm; The parameter adaptive online feedback module is used to realize parameter feedback calibration between the autonomous spatiotemporal reference maintenance system software and the multi-sensor components; The information output port is used for outputting system navigation information; The various sensor devices are mainly MEMS inertial devices, supplemented by other sensor devices suitable for navigation information acquisition; The various sensor devices are primarily based on chip-level atomic clocks, which are used for time registration and time information maintenance of multi-sensor measurement information. The MEMS inertial devices are MEMS accelerometers and MEMS gyroscopes, which provide raw parameters for the strapdown navigation algorithm; The system's operation process includes: Environmental and motion features are extracted based on the output information of multi-sensor components. Strapdown navigation is performed on acceleration, angular velocity and time information, and velocity, position and attitude are calculated. At the same time, the output information of other external sensors is accessed in real time. Based on the calculated velocity, position, and attitude information, as well as the state variables and observations, and the sensor parameter information, further error and state variable estimation is achieved using an open-loop filtering estimation algorithm and a neural network parameter identification intelligent method. All information is then output to the strapdown navigation solution module to achieve closed-loop feedback control. Simultaneously, based on this information, navigation information is obtained through the autonomous combined navigation algorithm module, and inertial navigation control compensation parameters are acquired. Based on the compensation parameters and MEMS inertial device error parameter information, and the parameter identification module, the quantized control parameters of the gyroscope and accelerometer are obtained to realize the feedback calibration of the core device error, thereby achieving the adaptive closed-loop control of the system.

2. The autonomous navigation system based on the information feedback calibration mechanism according to claim 1, characterized in that, The standardized communication interface receives the output parameters of the auxiliary sensors in the multi-sensor assembly in real time, and receives the output parameters of the main sensor after being processed by the strapdown navigation algorithm.

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