Dynamic sports car testing method and system for installing double inertial navigation systems in partition mode

Abstract

The invention relates to the technical field of ship inertial navigation, and provides a dynamic sports car test method and system for installing a double inertial navigation system in a partitioned mode, and the method comprises the following steps: during a dynamic sports car test, synchronously recording navigation information of two sets of ship laser inertial navigation and a deformation angle vector of a deck deformation simulation support in real time; based on the deformation angle vector, determining an attitude transfer matrix corresponding to deck deformation; determining an attitude matrix of a rocking center carrier coordinate system based on an attitude transfer matrix corresponding to the deck deformation and a mounting base attitude matrix of any inertial navigation in the navigation information; and performing lever arm vector conversion based on the attitude matrix of the rocking center carrier coordinate system to obtain a satellite guide lever arm position difference and any inertial navigation lever arm position difference under a navigation coordinate system. According to the method and the system provided by the invention, the deck deformation between the double inertial navigation systems can be emphatically considered during data compensation, and the influence of the deformation on the information fusion precision of the double inertial navigation systems can be checked in a dynamic environment of a sports car.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship inertial navigation, and in particular to a dynamic running car test method and system for partition installation of a dual inertial navigation system. BACKGROUND

[0002] An inertial navigation device measures linear motion and angular motion parameters of a carrier relative to inertial space by using gyroscopes, accelerometers and other inertial sensitive elements, and calculates instantaneous velocity, position and attitude information of the carrier according to Newton's law of motion under given initial conditions of motion. In the process of inertial navigation, no external information is needed, only the information of the two inertial instruments of gyroscopes and accelerometers is needed, and autonomous navigation can be completed. It can continuously provide navigation parameters such as position, velocity and attitude of the carrier, and has high short-time accuracy and stability, strong concealment, all-weather, no geographical restrictions and not easy to be interfered by human external interference, and other outstanding advantages, and is widely used in aerospace, aviation and navigation fields.

[0003] As a core navigation means of a large ship integrated navigation system, in order to ensure the reliability of ship navigation information guarantee, two sets of inertial navigation redundant configuration schemes are generally used for ships at home and abroad. In order to further improve the autonomous navigation accuracy and information availability of the dual inertial navigation system under dynamic environmental conditions, based on a series of technologies such as dual inertial navigation system information optimal fusion, the purpose of improving autonomous navigation accuracy and mutual redundancy backup is realized.

[0004] In order to fully verify the autonomous navigation accuracy of the inertial navigation system, the position, velocity, attitude and other full-parameter navigation information need to be tested and accepted. The traditional ship inertial navigation accuracy test needs to simulate the linear motion and angular motion of the ship by using the dynamic running car test, mainly tests the single set of inertial navigation device, does not consider the influence of the deck deformation of the partition installation of the real ship on the information fusion accuracy of the dual inertial navigation system, and cannot ensure that the running car test accuracy can truly reflect the performance of the dual inertial navigation system. Therefore, a reasonable test method needs to be designed for the partition installation of the dual inertial navigation system of a certain type of ship in a specific use environment. SUMMARY

[0005] The present application provides a dynamic running car test method and system for partition installation of a dual inertial navigation system, to solve the defects in the prior art that mainly test a single set of inertial navigation device, and cannot ensure that the running car test accuracy can truly reflect the performance of the dual inertial navigation system.

[0006] The present application provides a dynamic running car test method for partition installation of a dual inertial navigation system, comprising: During the dynamic running car test, the navigation information of two sets of ship laser inertial navigation devices and the deformation angle vector of the deck deformation simulation support are synchronously recorded in real time; Based on the deformation angle vector, an attitude transfer matrix corresponding to the deck deformation is determined. Based on the attitude transfer matrix corresponding to the deck deformation and the attitude matrix of the mounting base of any inertial navigation system in the navigation information, the attitude matrix of the rocking center carrier coordinate system is determined. Based on the attitude matrix of the solenoid carrier coordinate system, the lever arm vector transformation is performed to obtain the position difference of the satellite guide lever arm and the position difference of any inertial guide lever arm in the navigation coordinate system.

[0007] According to the dynamic sports car testing method for partitioned installation of dual inertial navigation systems provided by the present invention, the step of performing lever vector transformation based on the attitude matrix of the rocker center carrier coordinate system to obtain the position difference between the satellite navigation levers and the position difference between any inertial navigation lever in the navigation coordinate system includes: Based on the attitude matrix of the coordinate system of the yaw center carrier, a vector transformation is performed on the arm of the satellite guide relative to the yaw center to obtain the position difference of the satellite guide arm in the navigation coordinate system; Based on the attitude matrix of the center-of-motion carrier coordinate system, a vector transformation is performed on the arm of any inertial navigation system relative to the center-of-motion to obtain the position difference of any inertial navigation arm in the navigation coordinate system.

[0008] The dynamic sports car testing method for partitioned installation of dual inertial navigation systems provided by the present invention further includes: Based on the attitude matrix of the mounting base, the attitude transfer matrix corresponding to the deck deformation, and the difference between the lever arm of the satellite guide relative to the center of rotation and the lever arm of any inertial navigation system relative to the center of rotation, the lever arm velocity difference between the satellite guide and any inertial navigation system is calculated. Based on the attitude matrix of the coordinate system of the rocking center carrier, the deformation angle vector, and the arm of any inertial navigation system relative to the rocking center, calculate the arm velocity difference of any inertial navigation system relative to the rocking center.

[0009] According to the present invention, a dynamic sports car testing method for partitioned installation of dual inertial navigation systems further includes performing installation calibration of the inertial navigation systems before the dynamic sports car test, the installation calibration including: The test device was installed on the test vehicle, and two sets of ship laser inertial navigation systems were installed on the front and rear inertial navigation mounting brackets of the test device, respectively. The heading and horizontal attitude of the two sets of ship laser inertial navigation systems were aligned using digital binding.

[0010] According to the dynamic sports car testing method for partitioned installation of dual inertial navigation systems provided by the present invention, after the installation and calibration, the method further includes: Confirm that the internal connections of the inertial navigation system are correct, and confirm that the connection between the inertial navigation system and the synchronous recording device is correct.

[0011] According to the present invention, the dynamic sports car test method for partitioned installation of dual inertial navigation systems includes a first time period of alignment at sea followed by a second time period of autonomous navigation, wherein the second time period is longer than the first time period.

[0012] The application further provides a dynamic running test system for partition installation of a double inertial navigation system, comprising: a synchronous recording device, configured to synchronously record navigation information of two sets of ship laser inertial navigation systems and deformation angle vectors of a deck deformation simulation support during dynamic running test; a data compensation device, configured to determine a posture transfer matrix corresponding to deck deformation based on the deformation angle vectors, determine a posture matrix of a gimbal carrier coordinate system based on the posture transfer matrix corresponding to deck deformation and a mounting base posture matrix of any inertial navigation system in the navigation information, and perform a boom vector conversion based on the posture matrix of the gimbal carrier coordinate system to obtain a position difference of a navigation boom and a position difference of any inertial navigation boom in a navigation coordinate system.

[0013] According to the application, the dynamic running test system for partition installation of a double inertial navigation system further comprises a test device, and the test device comprises: a deck deformation simulation support, configured to simulate deck deformation in a ship partitioned into front and rear parts; a front zone inertial navigation system mounting support, configured to fixedly mount a front zone laser inertial navigation system; a rear zone inertial navigation system mounting support, configured to fixedly mount a rear zone laser inertial navigation system; a test device mounting base, configured to fixedly mount the test device to a test vehicle; an optical autocollimation measuring instrument and a dynamic differential inclinometer, configured to test deformation angle vectors of the deck deformation simulation support in real time.

[0014] According to the application, the distance from the inertial navigation system mounting center of the front zone inertial navigation system mounting support and the rear zone inertial navigation system mounting support to the center of the test device mounting base is the same, and the distance is not less than 1 meter.

[0015] According to the application, the dynamic running test system for partition installation of a double inertial navigation system further comprises a first serial port recording box and a second serial port recording box connected with the synchronous recording device; the first serial port recording box is connected with a navigation boom, an optical autocollimation measuring instrument, a dynamic differential inclinometer and two sets of ship laser inertial navigation systems through serial ports respectively; the second serial port recording box is connected with the two sets of ship laser inertial navigation systems through a serial port.

[0016] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the dynamic running test method for partition installation of a double inertial navigation system as described above when executing the computer program.

[0017] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the dynamic running test method for partition-mounted dual inertial navigation systems according to any one of the above.

[0018] The application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the dynamic running test method for partition-mounted dual inertial navigation systems according to any one of the above.

[0019] The dynamic running test method and system for partition-mounted dual inertial navigation systems provided by the application can ensure that the dynamic running test precision can truly reflect the performance of the dual inertial navigation system, the deck deformation simulation support is designed to simulate the deck deformation, so that the deck deformation between the dual inertial navigation systems can be considered in data compensation, and the application can test the influence of the deformation on the information fusion precision of the dual inertial navigation system in the dynamic environment of the running vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0021] Figure 1 Fig. 1 is a flowchart of the dynamic running test method for partition-mounted dual inertial navigation systems provided by the application.

[0022] Figure 2 Fig. 2 is a structural diagram of the test device provided by the application.

[0023] Figure 3 Fig. 3 is a schematic diagram of a deck deformation model provided by the application.

[0024] Figure 4 Fig. 4 is a schematic diagram of a dynamic running test installation provided by the application.

[0025] Figure 5 Fig. 5 is a schematic diagram of a dynamic running test connection provided by the application.

[0026] Figure 6 Fig. 6 is a schematic diagram of a laser inertial navigation dynamic running test profile provided by the application.

[0027] Figure 7 Fig. 7 is a structural diagram of the dynamic running test system for partition-mounted dual inertial navigation systems provided by the application.

[0028] Figure 8It is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present application.

[0030] The prior art mainly tests a single set of inertial navigation equipment, and cannot ensure that the test precision of the dynamic running test can truly reflect the performance of the double inertial navigation system. In view of the above problem, the embodiment of the present application provides a dynamic running test method for partition installation of a double inertial navigation system. In the method, during the dynamic running test, the navigation information of two sets of ship laser inertial navigation and the deformation angle vector of the deck deformation simulation support are synchronously recorded in real time. Based on the deformation angle vector, the attitude transfer matrix corresponding to the deck deformation is determined. Based on the attitude transfer matrix corresponding to the deck deformation and the installation base attitude matrix of any inertial navigation in the navigation information, the attitude matrix of the rocker arm carrier coordinate system is determined. Based on the attitude matrix of the rocker arm carrier coordinate system, the rod arm position difference and the rod arm position difference of any inertial navigation in the navigation coordinate system are obtained through rod arm vector conversion.

[0031] The method provided by the embodiment of the present application can ensure that the test precision of the dynamic running test can truly reflect the performance of the double inertial navigation system, and the deck deformation simulation support is designed to simulate the deck deformation, so that the deck deformation between the double inertial navigation systems can be considered as the focus during data compensation. The present application can test the influence of the deformation on the information fusion precision of the double inertial navigation system in the dynamic environment of the running test.

[0032] In the description of the embodiments of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0033] Figure 1 It is a flowchart of the dynamic running test method for partition installation of a double inertial navigation system provided by the present application, as shown in Figure 1 The method comprises the following steps: Step 110, during the dynamic running test, the navigation information of two sets of ship laser inertial navigation and the deformation angle vector of the deck deformation simulation support are synchronously recorded in real time.

[0034] Specifically, since the distance between the front and rear cabins of a large ship can reach dozens of meters, the deck deformation becomes the main error source affecting the transmission accuracy of the inertial navigation equipment. In order to ensure the accuracy of the navigation information obtained by other equipment in the front and rear cabins, the ship adopts a front and rear partition installation scheme of two sets of laser inertial navigation equipment, and the front zone inertial navigation equipment is used to support the navigation information user equipment installed in the front zone, and the rear zone inertial navigation equipment is used to support the navigation information user equipment installed in the rear zone.

[0035] In order to ensure that the test device can simulate the deck deformation of the front and rear partition installation under the condition of the car excitation, and solve the problem that the traditional car test cannot meet the error excitation of the partition installation double inertial navigation system, the embodiment of the present application designs a test device with adjustable stiffness before the dynamic car test.

[0036] Figure 2 The structure diagram of the test device provided by the present application is shown in Figure 2 , and the test device comprises: a deck deformation simulation support for simulating the deck deformation of the front and rear partition installation of the ship; a front zone inertial navigation installation support for fixedly installing the front zone laser inertial navigation equipment; a rear zone inertial navigation installation support for fixedly installing the rear zone laser inertial navigation equipment; a test device installation base for fixedly installing the test device on the test vehicle; an angle measuring instrument composed of an optical autocollimator measuring instrument, an optical reflector and a dynamic differential inclination instrument, for testing the deformation angle vector of the deck deformation simulation support in real time.

[0037] In order to consider the vertical information detection requirement of the double inertial navigation system, the distance from the inertial navigation installation center of the front zone inertial navigation installation support and the rear zone inertial navigation installation support to the center of the test device installation base is the same and not less than 1 meter, and the optical autocollimator measuring instrument and the dynamic differential inclination instrument can receive external synchronous signals to trigger angle measurement.

[0038] In order to simulate the deck deformation of a certain type of ship, the deck deformation simulation support is designed as follows: Figure 3 The deck deformation model diagram provided by the present application is shown in Figure 3 , the front zone inertial navigation installation support and the rear zone inertial navigation installation support are fixedly connected with the deck deformation simulation support, the deck deformation simulation support is a cantilever beam structure, and the cross-sectional moment of inertia of the deck deformation simulation support can be adjusted by replacing the inclined rods thereon to adapt to sufficient deformation under the car scene.

[0039] The rotation angle and the deflection of the cantilever beam under the action of the concentrated load or the bending moment are respectively: ; (Formula 1) ; (Formula 2) ; (Formula 3) ; (Formula 4) In the formula: is the rotation angle generated under the action of concentrated load ; (Formula 4) is the deflection generated under the action of concentrated load ; (Formula 4) is the bending moment is the rotation angle generated under the action of concentrated load is the bending moment is the deflection generated under the action of concentrated load is the distance from the fixed end to the point of action of concentrated load or bending moment ; (Formula 4) is the elastic modulus of the material.

[0040] Under the condition of angular motion, the tangential acceleration and the centripetal acceleration are respectively: (Formula 5) (Formula 6) In the formula: denotes the length of the rod arm from the rotation center of angular motion to the inertial navigation, is the length of the rod arm vector, denotes the angle, is the angle vector; is the angular velocity vector, is the angular acceleration vector.

[0041] The tangential acceleration and the centripetal acceleration acting on the inertial navigation device at the free end are then generated, thereby exerting concentrated force and bending moment on the free end of the deck deformation simulation support. Substituting Formula 5 and Formula 6 into Formula 1-4, the rotation angle and deflection generated by the free end of the deck deformation simulation support are: (Formula 7) (Formula 8) (Formula 9) (Formula 10) In the formula, denotes the height from the center of mass of the inertial navigation to the mounting surface; is the angle between the line connecting the center of mass and the center of rotation of the inertial navigation system and the installation surface of the test device, m is the mass of the inertial navigation system, and then the rotation angle and the deflection after superposition of the concentrated force and the bending moment are: (Formula 11) (Formula 12) then the relative rotation angle of the deck deformation simulation support at both ends and the deflection are: (Formula 13) (Formula 14) In the formula, represents the left end rotation angle, represents the right end rotation angle, represents the left end deflection, and represents the right end deflection.

[0042] Formulas 13-14 are the relative rotation angle and the deflection of the deck deformation simulation support at both ends when the motion angle is .

[0043] Therefore, the angular motion state is used, and the cross-sectional moment of inertia of the deck deformation simulation support is adjusted by adjusting the diagonal rods thereon to control the relative rotation angle and the deflection to a suitable range, so that the deck deformation simulation can be effectively performed.

[0044] After the test device is designed according to the above method, the car test can be prepared. Before the dynamic car test, the installation calibration of the inertial navigation system is performed, and the installation calibration includes: The test device is installed on the test vehicle by using a crane, two sets of ship laser inertial navigation systems are installed on the front and rear inertial navigation installation supports of the test device, and the heading and horizontal attitude of the two sets of ship laser inertial navigation systems are taken by using digital binding. Figure 4 is the installation schematic diagram of the dynamic car test mode provided by the application.

[0045] After the installation calibration, the correctness of the internal connection of the ship laser inertial navigation equipment is checked to ensure that the equipment is normally started; the correctness of the connection relationship between the synchronous recording device is checked to ensure that the test data is correctly received and stored.

[0046] Figure 5 is the connection schematic diagram of the dynamic car test provided by the application, as shown in Figure 5 , the first serial recording box (serial recording box 1) and the second serial recording box (serial recording box 2) are connected with the synchronous recording device respectively.

[0047] The first serial port recording box is connected with a satellite navigation system, an optical autocollimation measuring instrument, a dynamic differential inclination instrument and two sets of ship laser inertial navigation systems through serial ports respectively. The second serial port recording box is connected with the two sets of ship laser inertial navigation systems through a serial port, and the inertial navigation system 1 is connected with the inertial navigation system 2.

[0048] After the correct connection is determined, a dynamic running test is started. The dynamic running test process includes: according to actual test requirements, a test outline is prepared. Taking a conventional running test profile as an example, Figure 6 is a dynamic running test profile schematic diagram of the laser inertial navigation system provided by the application, as shown in Figure 6 After the test is started, first, sea alignment is performed for a first time length, for example, the first time length can be 12 hours; after the sea alignment is completed, autonomous navigation is performed for a second time length, wherein the second time length is greater than the first time length, for example, the second time length can be 48 hours.

[0049] Different from the conventional dynamic running test, the embodiment of the application needs to record the navigation information and the angle measurement value of the two sets of ship laser inertial navigation devices in real time and synchronously during the test, that is, step 110 is performed, and specifically, the deformation angle vector of the deck deformation simulation support is measured by the optical autocollimation measuring instrument and the dynamic differential inclination instrument, and is transmitted to the synchronous recording device by the first serial port recording box. Meanwhile, the second serial port recording box records the navigation information of the two sets of ship laser inertial navigation systems in real time and synchronously.

[0050] In step 120, the attitude transfer matrix corresponding to the deck deformation is determined based on the deformation angle vector.

[0051] Specifically, in order to ensure the accuracy of the test results, the lever arm influence between the satellite navigation system and the test inertial navigation system needs to be considered, and therefore, the lever arm compensation problem between the satellite navigation system and the test inertial navigation system needs to be carried out.

[0052] Different from the conventional running test lever arm error compensation, the attitude matrix needs to consider the deck deformation introduced by the test device, that is, the attitude transfer matrix introduced by the deck deformation is obtained through the angle measurement output by the optical autocollimation measuring instrument and the dynamic differential inclination instrument.

[0053] Let the deck deformation angle vector measured by the optical autocollimation measuring instrument and the dynamic differential inclination instrument be , which is represented as: (Formula 15) The attitude transfer matrix corresponding to the deck deformation is , which is represented as:

[0054] (Formula 16) Step 130, based on the attitude transfer matrix corresponding to the deck deformation and the installation base attitude matrix of any inertial navigation in the navigation information, determine the attitude matrix of the gimbal carrier coordinate system.

[0055] After obtaining the attitude transfer matrix corresponding to the deck deformation, the installation base attitude matrix calculated by the inertial navigation is combined to calculate the attitude matrix of the gimbal carrier coordinate system. Taking any inertial navigation as an example, the attitude matrix of the gimbal carrier coordinate system is which is expressed by the formula as: (Formula 17) In the formula, is the installation base attitude matrix of any inertial navigation, which is calculated by the inertial navigation; is the attitude transfer matrix corresponding to the deck deformation.

[0056] Step 140, based on the attitude matrix of the gimbal carrier coordinate system, the arm vector conversion is carried out to obtain the position difference of the satellite guide arm and the position difference of the arm of any inertial navigation in the navigation coordinate system.

[0057] Specifically, on the basis of obtaining the attitude matrix of the gimbal carrier coordinate system, the arm compensation between the satellite guide and the test inertial navigation can be carried out.

[0058] In some embodiments, step 140 specifically includes: based on the attitude matrix of the gimbal carrier coordinate system, the arm vector conversion is carried out on the arm of the satellite guide relative to the gimbal to obtain the position difference of the satellite guide arm in the navigation coordinate system; based on the attitude matrix of the gimbal carrier coordinate system, the arm vector conversion is carried out on the arm of any inertial navigation relative to the gimbal to obtain the position difference of the arm of the inertial navigation in the navigation coordinate system.

[0059] Specifically, taking the inertial navigation 1 as an example, taking the test device gimbal as the reference point, the arm of the satellite guide relative to the gimbal is recorded as , and the arm of the inertial navigation 1 relative to the gimbal is recorded as The position difference of the satellite guide arm in the navigation coordinate system and the position difference of the inertial navigation arm are calculated: (Formula 18) (Formula 19) In the formula, is the attitude matrix of the gimbal carrier coordinate system, is the arm vector between the satellite guide and the inertial navigation 1.

[0060] In other embodiments, the arm speed error can also be compensated. Specifically, it includes: Based on the mounting base attitude matrix, the attitude transfer matrix corresponding to the deck deformation, and the difference between the lever arm of the satellite-borne inertial navigation system relative to the rocking center and the lever arm of any inertial navigation system relative to the rocking center, the lever arm velocity difference of the satellite-borne inertial navigation system relative to the inertial navigation system is calculated. Based on the attitude matrix of the rocking center carrier coordinate system, the deformation angle vector, and the lever arm of the inertial navigation system relative to the rocking center, the lever arm velocity difference of the inertial navigation system relative to the rocking center is calculated.

[0061] Specifically, the lever arm velocity difference includes the lever arm velocity difference of the satellite-borne inertial navigation system relative to the inertial navigation system and the lever arm velocity difference of the inertial navigation system relative to the rocking center .

[0062] wherein the lever arm velocity difference of the satellite-borne inertial navigation system relative to the inertial navigation system is expressed by a formula as follows: (Formula 20) In the formula, is the mounting base attitude matrix of the inertial navigation system, which is calculated by the inertial navigation system; is the attitude transfer matrix corresponding to the deck deformation, is the lever arm of the satellite-borne inertial navigation system relative to the rocking center, is the lever arm of the inertial navigation system relative to the rocking center.

[0063] The lever arm velocity difference of the inertial navigation system relative to the rocking center is expressed by a formula as follows: (Formula 21) In the formula, is the attitude matrix of the rocking center carrier coordinate system.

[0064] Based on any of the above embodiments, the embodiment of the present application proposes an information testing device for partitioned installation of a dual-inertial navigation system, which includes a deck deformation simulation support, a front zone inertial navigation system installation support, a rear zone inertial navigation system installation support, a testing device mounting base, an optical autocollimation measuring instrument, and a dynamic differential inclination instrument. In addition, a running car test method for partitioned installation of a dual-inertial navigation system is proposed, and the implementation steps include: Step 1) installation calibration of the information testing device and the measured equipment; Step 2) connection correctness check of the measured equipment; Step 3) test according to the test flow specified in the preset test outline, complete data recording, and perform data processing.

[0065] The embodiment of the present application ensures that the test precision of the dynamic running car test can truly reflect the performance of the dual-inertial navigation system, a specific testing device is designed to simulate the actual ship installation environment of the front and rear partitioned arrangement of the dual-inertial navigation system, and the deck deformation between the dual-inertial navigation systems is mainly considered, so that the influence of the deformation on the information fusion precision of the dual-inertial navigation system can be tested in the dynamic environment of the running car.

[0066] The dynamic running test system for installing the dual-inertial navigation system in the subarea provided by the application is described as follows, and the dynamic running test system described below can be correspondingly referred to the dynamic running test method described above.

[0067] Based on any of the above embodiments, Figure 7 is a structural schematic diagram of the dynamic running test system for installing the dual-inertial navigation system in the subarea provided by the application, as Figure 7 shown, the system comprises: a synchronous recording device 710, configured to synchronously record the navigation information of two sets of ship laser inertial navigation and the deformation angle vector of the deck deformation simulation support during the dynamic running test; a data compensation device 720, configured to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector, determine the attitude matrix of the gimbal carrier coordinate system based on the attitude transfer matrix corresponding to the deck deformation and the installation base attitude matrix of any inertial navigation in the navigation information, and perform vector conversion on the boom arm relative to the gimbal based on the attitude matrix of the gimbal carrier coordinate system to obtain the position difference of the satellite navigation boom arm in the navigation coordinate system and the position difference of the boom arm of any inertial navigation.

[0068] Based on the above embodiment, the data compensation device is specifically configured to: perform vector conversion on the boom arm of the satellite navigation relative to the gimbal based on the attitude matrix of the gimbal carrier coordinate system to obtain the position difference of the satellite navigation boom arm in the navigation coordinate system; perform vector conversion on the boom arm of any inertial navigation relative to the gimbal based on the attitude matrix of the gimbal carrier coordinate system to obtain the position difference of the boom arm of any inertial navigation in the navigation coordinate system.

[0069] Based on the above embodiment, the data compensation device is specifically configured to: calculate the boom arm speed difference of the satellite navigation relative to any inertial navigation based on the installation base attitude matrix, the attitude transfer matrix corresponding to the deck deformation, and the difference between the boom arm of the satellite navigation relative to the gimbal and the boom arm of any inertial navigation relative to the gimbal; calculate the boom arm speed difference of any inertial navigation relative to the gimbal based on the attitude matrix of the gimbal carrier coordinate system, the deformation angle vector, and the boom arm of any inertial navigation relative to the gimbal.

[0070] Figure 8 An example of an entity structure schematic diagram of an electronic device is shown as Figure 8As shown, the electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 complete mutual communication through the communications bus 840. The processor 810 can invoke a logic instruction in the memory 830 to execute a dynamic running test method for partitioning and installing a dual-inertial navigation system, the method including: synchronously recording navigation information of two sets of ship laser inertial navigation and a deformation angle vector of a deck deformation simulation support in real time during dynamic running test; determining an attitude transfer matrix corresponding to deck deformation based on the deformation angle vector; determining an attitude matrix of a gimbal carrier coordinate system based on the attitude transfer matrix corresponding to deck deformation and an installation base attitude matrix of any inertial navigation in the navigation information; and performing a boom vector conversion based on the attitude matrix of the gimbal carrier coordinate system to obtain a position difference of a navigation boom and a position difference of any inertial navigation boom in a navigation coordinate system.

[0071] In addition, the logic instruction in the memory 830 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0072] In another aspect, the present application also provides a computer program product comprising a computer program, which can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to perform the dynamic running test method for partitioned installation of a dual-inertial navigation system, which comprises: during the dynamic running test, synchronously recording the navigation information of two sets of ship laser inertial navigation systems and the deformation angle vector of the deck deformation simulation support in real time; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; determining the attitude matrix of the gimbal carrier coordinate system based on the attitude transfer matrix corresponding to the deck deformation and the installation base attitude matrix of any inertial navigation system in the navigation information; and performing the boom vector conversion based on the attitude matrix of the gimbal carrier coordinate system to obtain the position difference of the satellite navigation boom and the position difference of any inertial navigation boom in the navigation coordinate system.

[0073] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, and the computer program can be executed by a processor to implement the dynamic running test method for partitioned installation of a dual-inertial navigation system, which comprises: during the dynamic running test, synchronously recording the navigation information of two sets of ship laser inertial navigation systems and the deformation angle vector of the deck deformation simulation support in real time; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; determining the attitude matrix of the gimbal carrier coordinate system based on the attitude transfer matrix corresponding to the deck deformation and the installation base attitude matrix of any inertial navigation system in the navigation information; and performing the boom vector conversion based on the attitude matrix of the gimbal carrier coordinate system to obtain the position difference of the satellite navigation boom and the position difference of any inertial navigation boom in the navigation coordinate system.

[0074] The device embodiments described above are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0075] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0076] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A dynamic sports car testing method for partitioned installation of dual inertial navigation systems, characterized in that, include: During the dynamic vehicle test, navigation information from two sets of ship laser inertial navigation systems and deformation angle vectors of the deck deformation simulation support were recorded in real time. Based on the deformation angle vector, determine the attitude transfer matrix corresponding to the deck deformation; Based on the attitude transfer matrix corresponding to the deck deformation and the attitude matrix of the mounting base of any inertial navigation system in the navigation information, the attitude matrix of the rocking center carrier coordinate system is determined. Based on the attitude matrix of the solenoid carrier coordinate system, the lever arm vector transformation is performed to obtain the position difference of the satellite guide lever arm and the position difference of any inertial guide lever arm in the navigation coordinate system.

2. The dynamic sports car testing method for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The process of performing a lever vector transformation based on the attitude matrix of the rocker carrier coordinate system to obtain the position difference between the satellite navigation levers and any inertial navigation lever in the navigation coordinate system includes: Based on the attitude matrix of the coordinate system of the yaw center carrier, a vector transformation is performed on the arm of the satellite guide relative to the yaw center to obtain the position difference of the satellite guide arm in the navigation coordinate system; Based on the attitude matrix of the center-of-motion carrier coordinate system, a vector transformation is performed on the arm of any inertial navigation system relative to the center-of-motion to obtain the position difference of any inertial navigation arm in the navigation coordinate system.

3. The dynamic sports car testing method for partitioned installation of dual inertial navigation systems according to claim 2, characterized in that, The method further includes: Based on the attitude matrix of the mounting base, the attitude transfer matrix corresponding to the deck deformation, and the difference between the lever arm of the satellite guide relative to the center of rotation and the lever arm of any inertial navigation system relative to the center of rotation, the lever arm velocity difference between the satellite guide and any inertial navigation system is calculated. Based on the attitude matrix of the coordinate system of the rocking center carrier, the deformation angle vector, and the arm of any inertial navigation system relative to the rocking center, calculate the arm velocity difference of any inertial navigation system relative to the rocking center.

4. The dynamic sports car testing method for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The method further includes performing inertial navigation system installation calibration prior to dynamic sports car testing, the installation calibration including: The test device was installed on the test vehicle, and two sets of ship laser inertial navigation systems were installed on the front and rear inertial navigation mounting brackets of the test device, respectively. The heading and horizontal attitude of the two sets of ship laser inertial navigation systems were aligned using digital binding.

5. The dynamic sports car testing method for partitioned installation of dual inertial navigation systems according to claim 4, characterized in that, After the installation and calibration, the method further includes: Confirm that the internal connections of the inertial navigation system are correct, and confirm that the connection between the inertial navigation system and the synchronous recording device is correct.

6. The dynamic sports car testing method for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The dynamic sports car test includes a first period of alignment at sea, followed by a second period of autonomous navigation, the second period being longer than the first period.

7. A dynamic sports car testing system for partitioned installation of dual inertial navigation systems, characterized in that, include: The synchronous recording device is used to synchronously record navigation information from two sets of ship laser inertial navigation systems and the deformation angle vector of the deck deformation simulation support in real time during dynamic vehicle testing. A data compensation device is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector. Based on the attitude transfer matrix corresponding to the deck deformation and the attitude matrix of the mounting base of any inertial navigation system in the navigation information, the attitude matrix of the rocking center carrier coordinate system is determined. Based on the attitude matrix of the solenoid carrier coordinate system, the lever arm vector transformation is performed to obtain the position difference of the satellite guide lever arm and the position difference of any inertial guide lever arm in the navigation coordinate system.

8. The dynamic sports car testing system for partitioned installation of dual inertial navigation systems according to claim 7, characterized in that, The system also includes a testing device, which comprises: Deck deformation simulation bracket, used to simulate the deformation of the fore and aft decks of a ship; Front-zone inertial navigation system mounting bracket, used for fixing and installing the front-zone laser inertial navigation system; Rear zone inertial navigation mounting bracket, used for fixing and installing the rear zone laser inertial navigation system; The test device mounting base is used to fix the test device to the test vehicle; The goniometer includes an optical autocollimation measuring instrument and a dynamic differential inclinometer. The goniometer is used to test the deformation angle vector of the deck deformation simulation support in real time.

9. The dynamic sports car testing system for partitioned installation of dual inertial navigation systems according to claim 8, characterized in that, The distance from the inertial navigation installation center of the front inertial navigation mounting bracket and the rear inertial navigation mounting bracket to the center of the test device mounting base is the same, and the distance is not less than 1 meter.

10. The dynamic sports car testing system for partitioned installation of dual inertial navigation systems according to claim 8, characterized in that, The system also includes a first serial port recording box and a second serial port recording box connected to the synchronous recording device; The first serial port recording box is connected to the satellite navigation system, the optical autocollimation measuring instrument, the dynamic differential inclinometer, and two sets of ship laser inertial navigation systems via serial ports. The second serial port recording box is connected to the two sets of ship laser inertial navigation systems via a serial port.

Images