Super-long-time static inertial course angle precision keeping method and keeping device

Abstract

The invention provides a super-long-time static inertial course angle precision keeping method and keeping device, and solves the technical problem that the precision of a carrier course angle is reduced under a specific working condition. The method comprises the following steps: determining inertial course angle drift control precision according to a precision keeping requirement of an inertial course angle; detecting the inertial course angle in the detection period in the working condition to obtain a drift error of the inertial course angle; and performing control precision correction on the course angle drift according to a drift error judgment rule. Dynamic forming factors of drift errors are isolated through initial alignment, and the dynamic forming factors are periodically processed by using sensor data in an inertial system, so that the precision of an inertial course angle is always kept in a relatively high precision range, and the guarantee capability and the response capability of related equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial positioning, and in particular to a method and a device for maintaining the accuracy of static inertial heading angle for an ultra-long period of time. Background Art

[0002] In the prior art, an inertial system with an inertial group as the main component generally obtains the carrier heading angle through initial alignment and performs inertial heading angle maintenance. However, the inertial heading angle usually has cumulative drift over time and cannot meet the heading maintenance accuracy requirements (such as no more than 4 arc minutes or higher accuracy) under ultra-long static standby conditions (such as three months or longer). Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention provides a method and a device for maintaining the accuracy of static inertial heading angle for an ultra-long period of time, so as to solve the technical problem that the accuracy of the heading angle of a carrier decreases under certain working conditions.

[0004] The method for maintaining the accuracy of static inertial heading angle for a very long time according to an embodiment of the present invention includes:

[0005] Determine the inertial heading angle drift control accuracy based on the inertial heading angle maintenance accuracy requirement;

[0006] The inertial heading angle is detected within the detection period in the working condition to obtain the drift error of the inertial heading angle;

[0007] The heading angle drift is corrected for control accuracy according to the drift error judgment rule.

[0008] In one embodiment of the present invention, determining the inertial heading angle drift control accuracy includes:

[0009] Set and maintain accuracy and quantify the inherent error factors therein;

[0010] The inertial heading angle drift control accuracy is quantified after maintaining the accuracy and eliminating the inherent error factors.

[0011] In one embodiment of the present invention, the drift error of obtaining the inertial heading angle includes:

[0012] Set periodic detection of inertial heading angle;

[0013] After eliminating the inherent error factors in the current inertial heading angle, the drift error data of the inertial heading angle is formed;

[0014] The drift error data formation timing is adjusted by adjusting the period of periodic detection.

[0015] In one embodiment of the present invention, the control accuracy correction of the heading angle drift according to the drift error determination rule includes:

[0016] Determine whether the drift error data exceeds the drift control accuracy according to the following drift error judgment rules:

[0017] |yaw(t)-yaw(0)|×60>((1-a)×α-β)

[0018] Wherein, yaw(t) is the inertial heading angle at the working time t, in degrees; yaw(0) is the inertial heading angle at the time of initial alignment completion, in degrees; a is the design margin, not greater than 1; the inertial heading angle maintenance accuracy is α (in arc minutes), and the initial alignment accuracy of the inertial group is β (in arc minutes);

[0019] When the drift control accuracy is exceeded, the initial alignment process of the heading angle is started to correct.

[0020] In one embodiment of the present invention, the holding accuracy is designed to be 4 arc minutes, the design margin is 25%, and the initial alignment accuracy is within 2 arc minutes.

[0021] The ultra-long-term static inertial heading angle accuracy maintaining device of the embodiment of the present invention comprises:

[0022] A memory, used to store program codes for the processing of the method for maintaining the accuracy of the ultra-long-term static inertial heading angle as described above;

[0023] A processor is used to execute the program code.

[0024] The ultra-long-term static inertial heading angle accuracy maintaining device of the embodiment of the present invention comprises:

[0025] The precision isolation module is used to determine the inertial heading angle drift control accuracy according to the inertial heading angle maintenance accuracy requirement;

[0026] The error acquisition module is used to detect the inertial heading angle within the detection cycle in the working condition to obtain the drift error of the inertial heading angle;

[0027] The judgment and correction module is used to perform control accuracy correction on the heading angle drift according to the drift error judgment rule.

[0028] In one embodiment of the present invention, the precision isolation module includes:

[0029] Factor isolation unit, used to set the hold accuracy and quantify the inherent error factors therein;

[0030] The factor quantization unit is used to quantify the inertial heading angle drift control accuracy after excluding the inherent error factor while maintaining the accuracy.

[0031] In one embodiment of the present invention, the error acquisition module includes:

[0032] A periodic acquisition unit is used to set periodic detection of the inertial heading angle;

[0033] An error forming unit, used to form drift error data of the inertial heading angle after eliminating the inherent error factors in the current inertial heading angle;

[0034] The period adjustment unit is used to adjust the timing of forming the drift error data by adjusting the period of periodic detection.

[0035] In one embodiment of the present invention, the judgment and correction module includes:

[0036] The error judgment unit is used to judge whether the drift error data exceeds the drift control accuracy according to the following drift error judgment rules:

[0037] |yaw(t)-yaw(0)|×60>((1-a)×α-β)

[0038] Wherein, yaw(t) is the inertial heading angle at the working time t, in degrees; yaw(0) is the inertial heading angle at the time of initial alignment completion, in degrees; a is the design margin, not greater than 1; the inertial heading angle maintenance accuracy is α (in arc minutes), and the initial alignment accuracy of the inertial group is β (in arc minutes);

[0039] The correction trigger unit is used to start the correction of the initial alignment process of the heading angle when the drift control accuracy is exceeded.

[0040] The ultra-long-term static inertial heading angle accuracy maintaining method and maintaining device of the embodiment of the present invention isolates the dynamic formation factors of drift error through initial alignment, and uses sensor data in the inertial system to periodically process the dynamic formation factors so that the inertial heading angle accuracy is always maintained in a high accuracy range, thereby improving the guarantee capability and response capability of related equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 FIG. 1 is a flow chart of a method for maintaining static inertial heading angle accuracy for an ultra-long period of time according to an embodiment of the present invention.

[0042] Figure 2 The figure is a schematic diagram of the application process of a method for maintaining static inertial heading angle accuracy for an ultra-long period of time according to an embodiment of the present invention.

[0043] Figure 3 FIG. 1 is a schematic diagram of the structure of a device for maintaining static inertial heading angle accuracy for an ultra-long period of time according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] A method for maintaining static inertial heading angle accuracy for an ultra-long period of time according to an embodiment of the present invention is as follows: Figure 1 As shown. Figure 1 In this embodiment, the present invention includes:

[0046] Step 100: Determine the inertial heading angle drift control accuracy according to the inertial heading angle maintenance accuracy requirement.

[0047] In the long-term static standby condition, there is a requirement for the accuracy of the inertial heading angle. The inertial heading will accumulate drift errors over time. At the same time, there is an alignment error when the inertial system is aligned with the initial heading angle. The maximum allowable range of the two errors is the required accuracy of the inertial heading angle. By eliminating the inherent error factors in the holding accuracy, the inertial heading angle drift control accuracy in the long-term static inertial heading state can be determined.

[0048] Step 200: Detect the inertial heading angle within a detection period in the working condition to obtain the drift error of the inertial heading angle.

[0049] The detection of the inertial heading angle in the working condition can utilize the inherent heading angle data, sensors and signal detection process in the inertial system, and obtain the detection result through the forwarding of relevant detection signals. By optimizing the detection cycle, a balance can be achieved between the inertial heading angle detection accuracy and the detection frequency.

[0050] Step 300: Correct the heading angle drift for control accuracy according to the drift error determination rule.

[0051] By using the drift error judgment rule, we can determine whether to trigger the correction process while eliminating the inherent error factors of the detection data. This can achieve the initial alignment correction of the heading angle in a timely manner in the working condition, accurately eliminate the heading angle drift, and maintain the inertial heading angle accuracy in the working condition.

[0052] The ultra-long-term static inertial heading angle accuracy maintenance method of the embodiment of the present invention isolates the dynamic formation factors of the drift error through initial alignment, and uses the sensor data in the inertial system to periodically process the dynamic formation factors so that the inertial heading angle accuracy is always maintained in a high accuracy range, thereby improving the guarantee capability and response capability of related equipment.

[0053] like Figure 1 As shown, in one embodiment of the present invention, step 100 includes:

[0054] Step 110: Set the maintenance accuracy and quantify the inherent error factors therein.

[0055] In one embodiment of the present invention, the holding accuracy is designed to be 4 arc minutes, and if it exceeds 4 arc minutes, it is considered that the inertial heading angle is not effectively maintained.

[0056] Two types of inherent error factors are formed through statistical quantification, including the initial alignment error of the inertial system and the system design margin. By optimizing the assembly accuracy of the inertial system components and components and improving the performance indicators of the components and components, the error of the initial alignment accuracy of the inertial heading angle can be controlled within 2 arc minutes. The design margin is equivalent to the system error and can be adjusted according to the technical requirements of the actual project. According to the most stringent accuracy requirements of the inertial system, the lower limit of 25% is the maximum quantified result.

[0057] Step 120: quantify the inertial heading angle drift control accuracy after maintaining the accuracy and eliminating the inherent error factor.

[0058] In one embodiment of the present invention, the inertial heading angle drift control accuracy is 4-2-1=1 arc minute.

[0059] The ultra-long-term static inertial heading angle accuracy maintenance method of the embodiment of the present invention determines that the dynamic inertial heading angle drift corresponding to the inertial heading angle maintenance process is the control accuracy that needs to be met through inherent error isolation, so that the control range required for the control accuracy can be accurately quantified to avoid over-adjustment of the output of the control signal.

[0060] like Figure 1 As shown, in one embodiment of the present invention, step 200 includes:

[0061] Step 210: Set periodic detection of the inertial heading angle.

[0062] Step 220: After eliminating the inherent error factors in the current inertial heading angle, the drift error data of the inertial heading angle is formed.

[0063] The inherent error factor is eliminated by comparing the initial heading angle with the current inertial heading angle (without direction).

[0064] Step 230: Adjust the timing of forming the drift error data by adjusting the period of the periodic detection.

[0065] The drift error data obtained through periodic detection establishes a time series. By adjusting the duration of periodic detection, a mechanism for adjusting the frequency of heading angle acquisition can be established, which provides the data basis for further feedback analysis.

[0066] The ultra-long-term static inertial heading angle accuracy maintaining method of the embodiment of the present invention obtains drift error data by forwarding the state signal conversion of the existing inertial system, thereby improving the processing efficiency and synchronization of data acquisition.

[0067] like Figure 1 As shown, in one embodiment of the present invention, step 300 includes:

[0068] Step 310: Determine whether the drift error data exceeds the drift control accuracy according to the following drift error determination rule:

[0069] |yaw(t)-yaw(0)|×60>((1-a)×α-β)

[0070] Wherein, yaw(t) is the inertial heading angle at working time t, in degrees;

[0071] yaw(0) is the inertial heading angle at the time when the initial alignment is completed, in degrees;

[0072] a is the design margin, not greater than 1;

[0073] The inertial heading angle maintenance accuracy is α (in arc minutes), and the inertial group initial alignment accuracy is β (in arc minutes).

[0074] The application of the method for maintaining the static inertial heading angle accuracy for a long time according to an embodiment of the present invention is as follows: Figure 2 As shown. Figure 2 In the equation, at time 0, the inertial heading angle yaw(0) when the initial alignment is completed is determined, and at time t, the current inertial heading angle yaw(t) can be detected and obtained. The drift error data |yaw(t)-yaw(0)| is <1 arc minute in normal state, and the inertial heading angle drift control accuracy is 1 arc minute.

[0075] Step 320: When the drift control accuracy is exceeded, the initial alignment process of the heading angle is started to be corrected.

[0076] The current inertial heading angle is recalibrated through the initial alignment process of the heading angle of the inertial system, so that the inertial heading angle in the static ultra-long working condition is maintained within a certain accuracy range.

[0077] An ultra-long-term static inertial heading angle accuracy maintaining device according to an embodiment of the present invention comprises:

[0078] A memory, used to store program code of the processing process of the method for maintaining the static inertial heading angle accuracy for an ultra-long period of time in the above-mentioned embodiment;

[0079] A processor is used to execute the program code of the processing process of the method for maintaining the static inertial heading angle accuracy for an ultra-long period of time in the above-mentioned embodiment.

[0080] The processor may be a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0081] An ultra-long-term static inertial heading angle accuracy maintaining device according to an embodiment of the present invention is as follows Figure 3 As shown. Figure 3 In this embodiment, the present invention includes:

[0082] The precision isolation module 10 is used to determine the inertial heading angle drift control accuracy according to the inertial heading angle maintenance accuracy requirement;

[0083] The error acquisition module 20 is used to detect the inertial heading angle within the detection period in the working condition to obtain the drift error of the inertial heading angle;

[0084] The judgment and correction module 30 is used to perform control accuracy correction on the heading angle drift according to the drift error judgment rule.

[0085] like Figure 3 As shown, in one embodiment of the present invention, the precision isolation module 10 includes:

[0086] A factor isolation unit 11, used for setting and maintaining accuracy and quantifying inherent error factors therein;

[0087] The factor quantification unit 12 is used to quantify the inertial heading angle drift control accuracy after maintaining the accuracy and eliminating the inherent error factor.

[0088] like Figure 3 As shown, in one embodiment of the present invention, the error acquisition module 20 includes:

[0089] The periodic acquisition unit 21 is used to set a periodic detection of the inertial heading angle;

[0090] The error forming unit 22 is used to form drift error data of the inertial heading angle after eliminating the inherent error factors in the current inertial heading angle;

[0091] The period adjustment unit 23 is used to adjust the timing of forming the drift error data by adjusting the period of periodic detection.

[0092] like Figure 3 As shown, in one embodiment of the present invention, the judgment and correction module 30 includes:

[0093] The error judgment unit 31 is used to judge whether the drift error data exceeds the drift control accuracy according to the following drift error judgment rule:

[0094] |yaw(t)-yaw(0)|×60>((1-a)×α-β)

[0095] Wherein, yaw(t) is the inertial heading angle at the working time t, in degrees; yaw(0) is the inertial heading angle at the time of initial alignment completion, in degrees; a is the design margin, not greater than 1; the inertial heading angle maintenance accuracy is α (in arc minutes), and the initial alignment accuracy of the inertial group is β (in arc minutes);

[0096] The correction trigger unit 32 is used to start the correction of the heading angle initial alignment process when the drift control accuracy is exceeded.

[0097] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for maintaining static inertial heading angle accuracy for an extremely long time, characterized in that: include: Determine the inertial heading angle drift control accuracy based on the inertial heading angle maintenance accuracy requirement; The inertial heading angle is detected within the detection period in the working condition to obtain the drift error of the inertial heading angle; The heading angle drift is corrected for control accuracy according to the drift error judgment rule.

2. The method for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 1, characterized in that: Determining the inertial heading angle drift control accuracy includes: Set and maintain accuracy and quantify the inherent error factors therein; The inertial heading angle drift control accuracy is quantified after maintaining the accuracy and eliminating the inherent error factors.

3. The method for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 1, characterized in that: The drift error of obtaining the inertial heading angle includes: Set periodic detection of inertial heading angle; After eliminating the inherent error factors in the current inertial heading angle, the drift error data of the inertial heading angle is formed; The drift error data formation timing is adjusted by adjusting the period of periodic detection.

4. The method for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 1, characterized in that: The control accuracy correction of the heading angle drift according to the drift error determination rule comprises: Determine whether the drift error data exceeds the drift control accuracy according to the following drift error judgment rules: |yaw(t)-yaw(0)|×60>((1-a)×α-β) Wherein, yaw(t) is the inertial heading angle at the working time t, in degrees; yaw(0) is the inertial heading angle at the time of initial alignment completion, in degrees; a is the design margin, not greater than 1; the inertial heading angle maintenance accuracy is α (in arc minutes), and the initial alignment accuracy of the inertial group is β (in arc minutes); When the drift control accuracy is exceeded, the initial alignment process of the heading angle is started to correct.

5. The method for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 1, characterized in that: The holding accuracy is designed to 4 arc minutes, the design margin is 25%, and the initial alignment accuracy is within 2 arc minutes.

6. A device for maintaining the accuracy of static inertial heading angle for an extremely long time, characterized in that: include: A memory, used to store a program code for a processing process of a method for maintaining the accuracy of an ultra-long static inertial heading angle as claimed in any one of claims 1 to 5; A processor is used to execute the program code.

7. A device for maintaining the accuracy of static inertial heading angle for an extremely long time, characterized in that: include: The precision isolation module is used to determine the inertial heading angle drift control accuracy according to the inertial heading angle maintenance accuracy requirement; The error acquisition module is used to detect the inertial heading angle within the detection cycle in the working condition to obtain the drift error of the inertial heading angle; The judgment and correction module is used to perform control accuracy correction on the heading angle drift according to the drift error judgment rule.

8. The device for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 8, characterized in that: The precision isolation module comprises: Factor isolation unit, used to set the hold accuracy and quantify the inherent error factors therein; The factor quantization unit is used to quantify the inertial heading angle drift control accuracy after excluding the inherent error factor while maintaining the accuracy.

9. The device for maintaining the accuracy of static inertial heading angle for an extremely long time as claimed in claim 8, characterized in that: The error acquisition module comprises: A periodic acquisition unit is used to set periodic detection of the inertial heading angle; An error forming unit, used to form drift error data of the inertial heading angle after eliminating the inherent error factors in the current inertial heading angle; The period adjustment unit is used to adjust the timing of forming the drift error data by adjusting the period of periodic detection.

10. The device for maintaining the accuracy of static inertial heading angle for an extremely long time according to claim 8, characterized in that: The judgment and correction module comprises: The error judgment unit is used to judge whether the drift error data exceeds the drift control accuracy according to the following drift error judgment rules: |yaw(t)-yaw(0)|×60>((1-a)×α-β) Wherein, yaw(t) is the inertial heading angle at the working time t, in degrees; yaw(0) is the inertial heading angle at the time of initial alignment completion, in degrees; a is the design margin, not greater than 1; the inertial heading angle maintenance accuracy is α (in arc minutes), and the initial alignment accuracy of the inertial group is β (in arc minutes); The correction trigger unit is used to start the correction of the initial alignment process of the heading angle when the drift control accuracy is exceeded.

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