Online calibration method for measurement delay of bionic polarized light compass and integrated navigation system

Abstract

The method for online calibration of measurement delay of a bionic polarized light compass and an integrated navigation system provided by the present invention comprises the following steps: online alignment of the bionic polarized light compass and the calculation coordinate system of the integrated navigation system; based on the aligned calculation coordinate system, calibrating the bionic polarized light compass; establishing an optimization model including the measurement delay of the calibrated bionic polarized light compass; constructing a measurement delay estimation optimization equation based on the optimization model, and solving it to obtain the measurement delay, thereby realizing real-time synchronization of the bionic polarized light compass and the integrated navigation system. The present invention can effectively estimate the measurement delay between the bionic polarized light compass and the integrated navigation system online, realize the real-time synchronization of the bionic polarized light compass and the integrated navigation system, and improve the rapid adaptability between various sensors in the integrated navigation system.

Description

Technical Field

[0001] The invention relates to the technical field of bionic intelligent navigation, and in particular to an online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system. Background Art

[0002] At present, a lot of research results have been achieved in the research of autonomous navigation systems under satellite denial conditions, and autonomous navigation of some mobile robots, unmanned platforms, etc. in the absence of satellites has been realized. In some navigation systems that lack global position observation, such as visual inertial navigation systems, drift in heading and position will inevitably occur. However, the polarized light compass can provide reliable global heading observation under satellite denial conditions, but in the absence of sensor hardware synchronization, there is an inherent measurement delay between the polarized light compass and the navigation system measurement. Therefore, how to quickly and efficiently deploy the polarized light compass to the existing navigation system without the need for additional hardware synchronization modification has become a difficult problem. Summary of the invention

[0003] In view of the defects in the prior art, the present invention provides an online calibration method for the measurement delay of a bionic polarized light compass and an integrated navigation system.

[0004] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are as follows:

[0005] The present invention provides a method for online calibration of measurement delay of a bionic polarized light compass and an integrated navigation system, comprising the following steps:

[0006] S1, online alignment of the bionic polarized light compass and the calculation coordinate system of the integrated navigation system;

[0007] S2. Calibrate the bionic polarized light compass based on the aligned calculated coordinate system;

[0008] S3, establishing an optimization model including the calibrated bionic polarized light compass measurement delay;

[0009] S4. Based on the optimization model, a measurement delay estimation optimization equation is constructed and solved to obtain the measurement delay, thereby realizing real-time synchronization between the bionic polarized light compass and the integrated navigation system.

[0010] Furthermore, the calculation coordinate system of the online alignment bionic polarized light compass and the integrated navigation system includes:

[0011] from The alignment process between the bionic polarized light compass and the calculation coordinate system of the integrated navigation system begins at this moment until During the process, the ambiguity consistency is determined. If an ambiguity jump occurs, the alignment process of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is restarted. If no ambiguity jump occurs, the alignment optimization equation of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is established:

[0012] ;

[0013] in, is the time span; is any starting time; Bionic polarized compass i At all times, Calculate coordinate system for biomimetic polarized light compass; Integrated navigation system i At all times, Calculate coordinate system for integrated navigation system; To calculate the coordinate system alignment error;

[0014] Judge the effectiveness of the optimization results.

[0015] Furthermore, the ambiguity consistency is determined according to the following steps:

[0016] Determine the continuous posture before and after and Is there a 180° heading rotation between the two? If so, it means that an ambiguity jump has occurred; if not, it means that no ambiguity jump has occurred.

[0017] Furthermore, the effectiveness of the optimization result is determined by the following steps:

[0018] like When, meet

[0019] ;

[0020] This indicates that the optimization result is valid. If it does not satisfy the above formula, the bionic polarized light compass and the calculation coordinate system of the integrated navigation system are aligned online again;

[0021] in, Convert Euler angles and preserve heading angles; is the error threshold.

[0022] Furthermore, the calibrating of the bionic polarized light compass comprises the following steps:

[0023] The output attitude and alignment rotation quaternion of the integrated navigation system are used to calculate the horizontal angle of the carrier and the heading angle of the integrated navigation system;

[0024] Input the horizontal angle of the carrier into the bionic polarized light compass, compensate the horizontal angle of the bionic polarized light compass, and reduce the error of the bionic polarized light compass;

[0025] The ambiguity of bionic polarized compass is corrected by using the heading angle of the integrated navigation system.

[0026] Furthermore, the ambiguity of the bionic polarized light compass is corrected according to the following formula:

[0027] ;

[0028] in, It is the heading output of the bionic polarized compass with ambiguity; It is the heading output after the ambiguity correction of the bionic polarized light compass; is the blur correction parameter.

[0029] Furthermore, the ambiguity correction parameter By combining the heading angle of the integrated navigation system Heading output with ambiguity from the bionic polarized compass Comparison yields:

[0030] ;

[0031] in, is the error tolerance threshold.

[0032] Furthermore, the establishment of an optimization model including the calibrated bionic polarized light compass measurement delay comprises the following steps:

[0033] Get the attitude of the calibrated bionic polarized light compass and the attitude of the integrated navigation system, and construct an optimization model including the measurement delay of the calibrated bionic polarized light compass in quaternion form:

[0034] ;

[0035] in, To measure the delay residual; for arrive Attitude observation of the calibrated bionic polarized light compass and integrated navigation system between moments; Measuring delay for a biomimetic polarized light compass; The calibrated bionic polarized light compass at the sampling time forward The posture of the moment; The integrated navigation system at the sampling time The posture of the moment; is the state variable to be optimized, is the collection of state variables.

[0036] Furthermore, the measurement delay estimation optimization equation is:

[0037] ;

[0038] in, is the squared 2-norm of the measured delay residual.

[0039] Furthermore, the measurement delay estimation optimization equation can be solved by the Levenberg-Marquardt method to obtain the measurement delay.

[0040] Compared with the prior art, the beneficial technical effects of the present invention are:

[0041] The present invention provides an online calibration method for the measurement delay of a bionic polarized light compass and an integrated navigation system. The method aligns the computational coordinate systems of the bionic polarized light compass and the integrated navigation system, calibrates the bionic polarized light compass on this basis, and then constructs an optimization model for the measurement delay of the calibrated bionic polarized light compass. The method further constructs a measurement delay estimation optimization equation to solve the measurement delay, thereby obtaining the measurement delay, thereby achieving real-time synchronization of the bionic polarized light compass and the integrated navigation system.

[0042] The present invention can effectively estimate the measurement delay between the bionic polarized light compass and the integrated navigation system online, and can improve the rapid adaptability between sensors in the integrated navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0044] Figure 1 A flow chart of an online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system provided in an embodiment. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0046] Reference Figure 1An embodiment provides an online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system, comprising the following steps:

[0047] S1, online alignment of the bionic polarized light compass and the calculation coordinate system of the integrated navigation system;

[0048] S2. Calibrate the bionic polarized light compass based on the aligned calculated coordinate system;

[0049] S3, establishing an optimization model including the calibrated bionic polarized light compass measurement delay;

[0050] S4. Based on the optimization model, a measurement delay estimation optimization equation is constructed and solved to obtain the measurement delay, thereby realizing real-time synchronization between the bionic polarized light compass and the integrated navigation system.

[0051] from The alignment process between the bionic polarized light compass and the calculation coordinate system of the integrated navigation system begins at this moment until During the process, the ambiguity consistency is determined. If an ambiguity jump occurs, the alignment process of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is restarted. If no ambiguity jump occurs, the alignment optimization equation of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is established:

[0052] ;

[0053] in, is the time span; is any starting time; Bionic polarized compass i At all times, Calculate coordinate system for biomimetic polarized light compass; Integrated navigation system i At all times, Calculate coordinate system for integrated navigation system; To calculate the coordinate system alignment error;

[0054] Judge the effectiveness of the optimization results.

[0055] The ambiguity consistency is determined according to the following steps:

[0056] Determine the continuous posture before and after and Is there a 180° heading rotation between the two? If so, it means that an ambiguity jump has occurred; if not, it means that no ambiguity jump has occurred.

[0057] Through ambiguity judgment, it is ensured that the heading output by the bionic polarized light compass changes continuously during the alignment of the computational coordinate system, thereby ensuring the reliability of the alignment process of the computational coordinate system.

[0058] The effectiveness of the optimization results is determined by the following steps:

[0059] like When, meet

[0060] ;

[0061] This indicates that the optimization result is valid. If it does not satisfy the above formula, the bionic polarized light compass and the calculation coordinate system of the integrated navigation system are aligned online again;

[0062] in, Convert Euler angles and preserve heading angles; is the error threshold.

[0063] The calibrating of the bionic polarized light compass comprises the following steps:

[0064] The output attitude and alignment rotation quaternion of the integrated navigation system are used to calculate the horizontal angle of the carrier and the heading angle of the integrated navigation system;

[0065] Input the horizontal angle of the carrier into the bionic polarized light compass, compensate the horizontal angle of the bionic polarized light compass, and reduce the error of the bionic polarized light compass;

[0066] Since the calculation results of the bionic polarized light compass include two solutions that differ by 180 degrees, the heading angle of the integrated navigation system is needed to assist in selecting the correct solution.

[0067] The ambiguity of bionic polarized compass is corrected by using the heading angle of the integrated navigation system.

[0068] The bionic polarized light compass ambiguity is corrected according to the following formula:

[0069] ;

[0070] in, It is the heading output of the bionic polarized compass with ambiguity; It is the heading output after the ambiguity correction of the bionic polarized light compass; is the blur correction parameter.

[0071] The ambiguity correction parameters By combining the heading angle of the integrated navigation system Heading output with ambiguity from the bionic polarized compass Comparison yields:

[0072] ;

[0073] in, is the error tolerance threshold.

[0074] The method of establishing an optimization model including a calibrated biomimetic polarized light compass measurement delay comprises the following steps:

[0075] Get the attitude of the calibrated bionic polarized light compass and the attitude of the integrated navigation system, and construct an optimization model including the measurement delay of the calibrated bionic polarized light compass in quaternion form:

[0076] ;

[0077] in, To measure the delay residual; for arrive Attitude observation of the calibrated bionic polarized light compass and integrated navigation system between moments; Measuring delay for a biomimetic polarized light compass; The calibrated bionic polarized light compass at the sampling time forward The posture at the moment, using spherical interpolation to obtain the corresponding posture at the moment; The integrated navigation system at the sampling time The posture of the moment; is the state variable to be optimized, is the collection of state variables.

[0078] The measurement delay estimation optimization equation is:

[0079] ;

[0080] in, is the squared 2-norm of the measured delay residual.

[0081] The measurement delay estimation optimization equation can be solved by the Levenberg-Marquardt method to obtain the measurement delay.

[0082] Through the above processing, the measurement delay between the bionic polarized light compass and the integrated navigation system can be effectively estimated online. The problem that the bionic polarized light compass and the integrated navigation system cannot be synchronized due to an inherent measurement delay between the bionic polarized light compass and the integrated navigation system in the absence of sensor hardware synchronization is solved, and the rapid adaptability between the sensors in the integrated navigation system can be improved.

[0083] Matters not covered by the present invention are known technologies.

[0084] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for online calibration of measurement delay of a bionic polarized light compass and an integrated navigation system, characterized in that: The following steps are involved: S1, online alignment of the bionic polarized light compass and the calculation coordinate system of the integrated navigation system; S2. Calibrate the bionic polarized light compass based on the aligned calculated coordinate system; S3, establishing an optimization model including the calibrated bionic polarized light compass measurement delay, comprising the following steps: Get the attitude of the calibrated bionic polarized light compass and the attitude of the integrated navigation system, and construct an optimization model including the measurement delay of the calibrated bionic polarized light compass in quaternion form: ； in, To measure the delay residual; for arrive Attitude observation of the calibrated bionic polarized light compass and integrated navigation system between moments; Measuring delay for a biomimetic polarized light compass; The calibrated bionic polarized light compass at the sampling time forward The posture of the moment; The integrated navigation system at the sampling time posture; is the state variable to be optimized, is the collection of state variables; S4. Constructing a measurement delay estimation optimization equation based on the optimization model, and solving it to obtain the measurement delay, thereby realizing real-time synchronization between the bionic polarized light compass and the integrated navigation system; The measurement delay estimation optimization equation is: in, is the squared 2-norm of the measured delay residual.

2. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system according to claim 1, characterized in that: The calculation coordinate system of the online alignment bionic polarized light compass and the integrated navigation system includes: from The alignment process between the bionic polarized light compass and the calculation coordinate system of the integrated navigation system begins at this moment until During the process, the ambiguity consistency is determined. If an ambiguity jump occurs, the alignment process of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is restarted. If no ambiguity jump occurs, the alignment optimization equation of the computational coordinate system of the bionic polarized light compass and the integrated navigation system is established: in, is the time span; is any starting time; Bionic polarized compass At all times, Calculate the coordinate system for the biomimetic polarized light compass; Integrated navigation system At all times, Calculate coordinate system for integrated navigation system; To calculate the coordinate system alignment error; Judge the effectiveness of the optimization results.

3. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system as claimed in claim 2, characterized in that: The ambiguity consistency is determined according to the following steps: Determine the continuous posture before and after and Is there a 180° heading rotation between the two? If so, it means that an ambiguity jump has occurred; if not, it means that no ambiguity jump has occurred.

4. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system as claimed in claim 2, characterized in that: The effectiveness of the optimization results is determined by the following steps: like When, meet This indicates that the optimization result is valid. If it does not satisfy the above formula, the bionic polarized light compass and the calculation coordinate system of the integrated navigation system are aligned online again; in, Convert Euler angles and preserve heading angles; is the error threshold.

5. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system according to claim 1, characterized in that: The calibrating of the bionic polarized light compass comprises the following steps: Calculate the carrier horizontal angle and the heading angle of the integrated navigation system by using the output attitude of the integrated navigation system and the calculated coordinate system alignment error; Input the horizontal angle of the carrier into the bionic polarized light compass, compensate the horizontal angle of the bionic polarized light compass, and reduce the error of the bionic polarized light compass; The ambiguity of bionic polarized compass is corrected by using the heading angle of the integrated navigation system.

6. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system as claimed in claim 5, characterized in that: The bionic polarized light compass ambiguity is corrected according to the following formula: in, It is the heading output of the bionic polarized compass with ambiguity; It is the heading output after the ambiguity correction of the bionic polarized light compass; is the blur correction parameter.

7. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system as claimed in claim 6, characterized in that: The ambiguity correction parameters By combining the heading angle of the integrated navigation system Heading output with ambiguity from the bionic polarized compass Comparison yields: in, is the error tolerance threshold.

8. The online calibration method for measuring delay of a bionic polarized light compass and an integrated navigation system according to claim 1, characterized in that: The measurement delay estimation optimization equation can be solved by the Levenberg-Marquardt method to obtain the measurement delay.

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