Dynamic running test method and system for partition installation of dual-inertial navigation system

Abstract

The present application relates to the technical field of ship inertial navigation, and provides a dynamic running car test method and system for partition installation of a double inertial navigation system, wherein the method comprises: during dynamic running car testing, 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; determining a posture transfer matrix corresponding to deck deformation based on the deformation angle vector; determining a posture matrix of a rocking core carrier coordinate system based on the posture transfer matrix corresponding to deck deformation and a mounting base posture matrix of any inertial navigation in the navigation information; and performing a boom vector conversion based on the posture matrix of the rocking core 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. The method and system provided by the present application can focus on deck deformation between the double inertial navigation systems when compensating data, and can test the influence of deformation on the information fusion accuracy of the double inertial navigation system in the dynamic environment of the running car.

Description

Technical Field

[0001] This invention relates to the field of ship inertial navigation technology, and in particular to a dynamic test method and system for installing dual inertial navigation systems in different zones. Background Technology

[0002] Inertial navigation devices utilize inertial sensing elements such as gyroscopes and accelerometers to measure the linear and angular motion parameters of a carrier relative to inertial space. Under given initial motion conditions, they calculate the carrier's instantaneous velocity, position, and attitude information based on Newton's laws of motion. During inertial navigation, no external information is required; autonomous navigation can be achieved solely by the sensitive output of the gyroscopes and accelerometers. They continuously provide navigation parameters such as position, velocity, and attitude of the carrier and possess high short-term accuracy and stability. They also offer significant advantages such as strong concealment, all-weather capability, lack of geographical limitations, and resistance to human interference, making them widely used in aerospace, aviation, and maritime fields.

[0003] As the core navigation method of integrated navigation systems for large ships, inertial navigation equipment is typically used in both domestic and international vessels with a redundant configuration of two inertial navigation systems to ensure the reliability of navigation information. To further improve the autonomous navigation accuracy and information availability under dynamic environmental conditions of the dual inertial navigation systems, a series of technologies, including optimal information fusion between the two systems, have been developed, achieving both improved autonomous navigation accuracy and mutual redundancy backup.

[0004] To fully verify the autonomous navigation accuracy of an inertial navigation system (INS), it is necessary to test and accept its full range of navigation parameters, including position, velocity, and attitude. Traditional ship INS accuracy testing requires dynamic trolley tests to simulate the ship's linear and angular motion, primarily testing a single INS unit. This approach does not consider the impact of deck deformation during actual ship installation on the information fusion accuracy of dual INS systems, and therefore cannot ensure that the trolley test accuracy truly reflects the performance of the dual INS systems. Therefore, a reasonable testing method needs to be designed for the specific operating environment of a certain type of ship with dual INS systems installed in fore and aft sections. Summary of the Invention

[0005] This invention provides a dynamic sports car testing method and system for partitioned installation of dual inertial navigation systems, which solves the problem that existing technologies mainly test a single set of inertial navigation equipment and cannot ensure that the sports car test accuracy can truly reflect the performance of the dual inertial navigation system.

[0006] This invention provides a dynamic sports car testing method for partitioned installation of dual inertial navigation systems, comprising: 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.

[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 present invention also provides a dynamic sports car testing system for partitioned installation of dual inertial navigation systems, comprising: 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. The data compensation device is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; determine the attitude matrix of the rocking center carrier coordinate system 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; and perform a lever arm vector transformation based on the attitude matrix of the rocking center carrier coordinate system to obtain the position difference of the satellite navigation lever arm and the position difference of any inertial navigation lever arm in the navigation coordinate system.

[0013] According to the dynamic sports car testing system for partitioned installation of dual inertial navigation systems provided by the present invention, the system further includes a testing device, the testing device comprising: 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; An optical autocollimation measuring instrument and a dynamic differential inclinometer are used to test the deformation angle vector of a deck deformation simulation support in real time.

[0014] According to the dynamic sports car test system for partitioned installation of dual inertial navigation systems provided by the present invention, 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.

[0015] According to the present invention, a dynamic sports car test system for partitioned installation of dual inertial navigation systems is provided, the system further 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.

[0016] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the dynamic sports car testing method for partitioned installation of dual inertial navigation systems as described above.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dynamic sports car testing method for partitioned installation of dual inertial navigation systems as described above.

[0018] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the dynamic sports car testing method for partitioned installation of dual inertial navigation systems as described above.

[0019] The present invention provides a dynamic sports car test method and system for partitioned installation of dual inertial navigation systems. In order to ensure that the dynamic sports car test accuracy can truly reflect the performance of the dual inertial navigation system, a deck deformation simulation support is designed to simulate deck deformation. This allows the deck deformation between the two inertial navigation systems to be considered in the data compensation. The present invention can examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in the dynamic environment of the sports car. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the dynamic sports car testing method for partitioned installation of dual inertial navigation systems provided by the present invention.

[0022] Figure 2 This is a schematic diagram of the testing device provided by the present invention.

[0023] Figure 3 This is a schematic diagram of the deck deformation model provided by the present invention.

[0024] Figure 4 This is an installation diagram of the dynamic sports car testing method provided by the present invention.

[0025] Figure 5 This is a schematic diagram of the dynamic sports car test connection provided by the present invention.

[0026] Figure 6 This is a schematic diagram of the cross-sectional view of the laser inertial navigation dynamic sports car test provided by the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of the dynamic sports car testing system for partitioned installation of dual inertial navigation systems provided by the present invention.

[0028] Figure 8This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0030] Existing technologies primarily test single-set inertial navigation systems (INS), failing to ensure that the test accuracy accurately reflects the performance of a dual INS system. To address this issue, this invention proposes a dynamic test method for dual INS systems installed in partitions. In this method, during the dynamic test, navigation information from two sets of ship laser INS systems, as well as the deformation angle vector of the deck deformation simulation support, are recorded synchronously 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 attitude matrix of the mounting base of any INS in the navigation information, the attitude matrix of the rocking center carrier coordinate system is determined. Based on the attitude matrix of the rocking center carrier coordinate system, a lever arm vector transformation is performed to obtain the position difference between the satellite INS lever arms and the position difference between any INS lever arms in the navigation coordinate system.

[0031] The method provided in this invention, in order to ensure that the dynamic sports car test accuracy can truly reflect the performance of the dual inertial navigation system, designs a deck deformation simulation support to simulate deck deformation, thereby enabling the deck deformation between the two inertial navigation systems to be considered in the data compensation. This invention can examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in the dynamic environment of the sports car.

[0032] In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of the present invention, "multiple" means two or more, unless otherwise explicitly specified.

[0033] Figure 1 This is a flowchart illustrating the dynamic sports car testing method for partitioned installation of dual inertial navigation systems provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps: Step 110: During the dynamic vehicle test, the navigation information of two sets of ship laser inertial navigation systems and the deformation angle vector of the deck deformation simulation support are recorded in real time.

[0034] Specifically, because the distance between the fore and aft compartments of a certain large ship can reach tens of meters, deck deformation becomes the main source of error affecting the accuracy of the heading and attitude information transmission of inertial navigation equipment. To ensure the accuracy of the heading and attitude information acquired by other equipment in the fore and aft compartments, the ship adopts a two-stage installation scheme for laser inertial navigation equipment, with the fore-and-aft inertial navigation system providing close support to the navigation information user equipment installed in the fore-and-aft area, and the aft inertial navigation system providing close support to the navigation information user equipment installed in the aft area.

[0035] To ensure that the testing device can simulate the deformation of the front and rear partitioned installation decks under sports car excitation conditions and to solve the problem that traditional sports car tests cannot meet the error excitation of the partitioned installation dual inertial navigation system, this embodiment of the invention designs a testing device with adjustable stiffness before dynamic sports car testing.

[0036] Figure 2 This is a schematic diagram of the testing device provided by the present invention, as shown below. Figure 2 As shown, the testing apparatus includes: 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; An angle measuring instrument consisting of an optical autocollimator, an optical reflector, and a dynamic differential inclinometer is used to test the deformation angle vector of the deck deformation simulation support in real time.

[0037] To accommodate the vertical information detection requirements of the dual inertial navigation systems, 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 not less than 1 meter. The optical autocollimation measuring instrument and the dynamic differential inclinometer can receive external synchronization signals to trigger angle measurement.

[0038] To simulate the deck deformation of a certain type of ship, the deck deformation simulation support is designed as follows: Figure 3 This is a schematic diagram of the deck deformation model provided by the present invention. Please refer to it. Figure 3 The front and rear inertial navigation system mounting brackets are fixedly connected to the deck deformation simulation bracket. The deck deformation simulation bracket is a cantilever beam structure, and its moment of inertia can be adjusted by replacing the diagonal tie rods. To adapt to the sports car scenario and generate sufficient deformation.

[0039] Cantilever beam under concentrated load or bending moment Angle generated by the action and deflection They are respectively: (Equation 1) (Equation 2) (Equation 3) (Equation 4) In the formula: For concentrated load The angle generated by the action; For concentrated load Deflection generated under action; For bending moment The angle generated by the action; For bending moment Deflection generated under action; For concentrated load or bending moment The distance from the point of application to the fixed end; This is the elastic modulus of the material.

[0040] Under angular motion conditions, tangential acceleration and centripetal acceleration They are respectively: (Equation 5) (Equation 6) In the formula: This represents the length of the lever arm from the center of rotation during angular motion to the inertial guide. The length vector of the lever arm. Indicates angle, It is an angle vector; Angular velocity vector It is the angular acceleration vector.

[0041] The inertial navigation equipment at the free end experiences tangential and centripetal acceleration, which in turn applies a concentrated force and bending moment to the free end. Substituting equations 5 and 6 into equations 1-4, the rotation angle and deflection generated at the free end of the deck deformation simulation support are: (Equation 7) (Equation 8) (Equation 9) (Equation 10) In the formula, This indicates the height of the inertial navigation system's center of mass from the mounting surface; Let m represent the angle between the line connecting the inertial navigation system's center of mass and center of rotation and the mounting surface of the testing device, and m be the mass of the inertial navigation system. Then, the rotation angle and deflection after being subjected to the superposition of concentrated force and bending moment are: (Equation 11) (Equation 12) The relative rotation angle at both ends of the deck deformation simulation support and deflection for: (Equation 13) (Equation 14) In the formula, Indicates the left-hand corner. Indicates the right-hand corner. Indicates the deflection at the left end. This indicates the deflection at the right end.

[0042] Equations 13 and 14 are for motion angles of... At that time, the relative rotation angle at both ends of the deck deformation simulation support and deflection .

[0043] Therefore, by utilizing the angular motion state and adjusting the cross-sectional moment of inertia of the deck deformation simulation support by replacing the diagonal tie rods, the deformation can be simulated. To control the relative rotation angle and deflection When the appropriate range is reached, deck deformation simulation can be effectively performed.

[0044] After designing the test setup according to the above method, preparations for the sports car test can begin. Before the dynamic sports car test, the inertial navigation system (INS) must be installed and calibrated. The installation and calibration include: The test device was installed on the test vehicle using a crane. 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. Figure 4 This is an installation diagram of the dynamic sports car testing method provided by the present invention.

[0045] After installation and calibration, check the correctness of the internal connections of the ship's laser inertial navigation equipment to ensure that the equipment starts normally; check the correctness of the connection relationship with the synchronous recording device to ensure that the test data is received and stored correctly.

[0046] Figure 5 This is a schematic diagram of the dynamic sports car test connection provided by the present invention, as shown below. Figure 5 As shown, the first serial port recording box (serial port recording box 1) and the second serial port recording box (serial port recording box 2) are respectively connected to the synchronous recording device.

[0047] 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 two sets of ship laser inertial navigation systems via a serial port, with inertial navigation system 1 connected to inertial navigation system 2.

[0048] After confirming the connections are correct, the dynamic sports car test begins. The dynamic sports car test process includes: developing a test outline based on actual test requirements. Taking a typical sports car test profile as an example... Figure 6 This is a schematic diagram of the cross-sectional view of the laser inertial navigation dynamic sports car test provided by the present invention, as shown below. Figure 6 As shown, after the experiment begins, the first alignment is performed at sea for a first duration, which can be, for example, 12 hours; after the alignment is completed at sea, autonomous navigation is performed for a second duration, which is longer than the first duration, and can be, for example, 48 hours.

[0049] Unlike conventional dynamic vehicle tests, this embodiment of the invention requires real-time synchronous recording of navigation information such as position, speed, and attitude, as well as angular measurements, from two sets of ship laser inertial navigation equipment during the test. Specifically, step 110 involves measuring the deformation angle vector of the deck deformation simulation support using an optical autocollimator and a dynamic differential inclinometer, and transmitting this vector to the synchronous recording device via a first serial port recording box. Simultaneously, a second serial port recording box synchronously records the navigation information from both sets of ship laser inertial navigation systems.

[0050] Step 120: Determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector.

[0051] Specifically, to ensure the accuracy of the test results, the influence of the lever arm between the satellite navigation system and the test inertial navigation system needs to be comprehensively considered. Therefore, it is necessary to address the lever arm compensation issue between the satellite navigation system and the test inertial navigation system.

[0052] Unlike conventional sports car test arm error compensation, the attitude matrix needs to take into account the deck deformation introduced by the test device. That is, the attitude transfer matrix introduced by the deck deformation is obtained by the angle measurement output synchronously by the optical autocollimation measuring instrument and the dynamic differential inclinometer.

[0053] The deck deformation angle vector simultaneously measured by the optical autocollimator and the dynamic differential inclinometer is denoted as . , represented as: (Equation 15) The attitude transition matrix corresponding to the deck deformation Represented as:

[0054] (Equation 16) Step 130: 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, determine the attitude matrix of the rocking center carrier coordinate system.

[0055] After obtaining the attitude transfer matrix corresponding to the deck deformation, the attitude matrix of the rocking center carrier coordinate system is calculated by combining it with the attitude matrix of the mounting base calculated by the inertial navigation system. Taking any inertial navigation system as an example, the attitude matrix of the rocking center carrier coordinate system is... Expressed as a formula: (Equation 17) In the formula, Let be the attitude matrix of the mounting base for any inertial navigation system, calculated from the inertial navigation system. This is the attitude transition matrix corresponding to the deck deformation.

[0056] Step 140: Perform lever vector transformation based on the attitude matrix of the rocker carrier coordinate system 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.

[0057] Specifically, based on the attitude matrix of the centering carrier coordinate system, lever compensation between the satellite navigation system and the test inertial navigation system can be performed.

[0058] In some embodiments, step 140 specifically includes: Based on the attitude matrix of the center of gravity carrier coordinate system, the satellite guide arm relative to the center of gravity is vector transformed to obtain the position difference of the satellite guide arm in the navigation coordinate system; Based on the attitude matrix of the center-of-rock carrier coordinate system, a vector transformation is performed on the arm of any inertial navigation system relative to the center-of-rock to obtain the position difference of the arm in the navigation coordinate system.

[0059] Specifically, taking Inertial Navigation System 1 as an example, with the rocking center of the test device as the reference point, the arm of the satellite navigation system relative to the rocking center is denoted as... The inertial navigation system 1 is denoted as the lever arm relative to the rocking center. Calculate the position difference of the satellite guide arm in the navigation coordinate system. Difference in position with inertial guide arm : (Equation 18) (Equation 19) In the formula, Let be the attitude matrix of the centering carrier coordinate system. The lever vector between the satellite navigation system and the inertial navigation system 1.

[0060] In other embodiments, compensation can also be made for lever speed errors. Specifically, this 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 rocking center and the lever arm of any inertial guide relative to the rocking center, the lever arm velocity difference of the satellite guide relative to the inertial guide is calculated. Based on the attitude matrix, deformation angle vector, and the link arm of the inertial navigation system relative to the center of the rocker, calculate the velocity difference between the inertial navigation system and the link arm of the center of the rocker.

[0061] Specifically, the lever arm velocity difference includes the lever arm velocity difference between the satellite navigation system and the inertial navigation system. The difference in lever arm speed relative to the inertial navigation system's center of gravity .

[0062] Among them, the difference in lever arm velocity between satellite navigation and inertial navigation Expressed as a formula: (Equation 20) In the formula, This is the attitude matrix of the mounting base of the inertial navigation system, which is calculated from the inertial navigation system. It is the attitude transition matrix corresponding to the deck deformation. It is the relatively stable lever arm of the satellite navigation system. It is the lever arm of the inertial navigation system relative to the center of the rock.

[0063] The velocity difference between the inertial navigation system and the lever arm relative to the rocking center can be expressed by the formula: (Equation 21) In the formula, It is the attitude matrix of the coordinate system of the rocking carrier.

[0064] Based on any of the above embodiments, this invention proposes an information testing device for partitioned installation of dual inertial navigation systems, including a deck deformation simulation support, a front inertial navigation system mounting support, a rear inertial navigation system mounting support, a testing device mounting base, an optical autocollimation measuring instrument, and a dynamic differential inclinometer. Furthermore, a vehicle testing method for partitioned installation of dual inertial navigation systems is also proposed, the implementation steps of which include: Step 1) Installation and calibration of the information testing device and the device under test; Step 2) Check the correctness of the connection of the device under test; Step 3) Conduct the test according to the test procedure specified in the pre-set test outline, complete the data recording, and perform data processing.

[0065] The embodiments of the present invention ensure that the dynamic running car test accuracy can truly reflect the performance of the dual inertial navigation system. A specific test device is designed to simulate the actual ship installation environment with the dual inertial navigation system arranged in front and behind sections. The design focuses on deck deformation between the two inertial navigation systems, which can be used to examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in the dynamic environment of the running car.

[0066] The following describes the dynamic sports car test system for partitioned installation of dual inertial navigation systems provided by the present invention. The dynamic sports car test system described below can be referred to in correspondence with the dynamic sports car test method described above.

[0067] Based on any of the above embodiments Figure 7 This is a schematic diagram of the dynamic sports car testing system for partitioned installation of dual inertial navigation systems provided by the present invention, as shown below. Figure 7 As shown, the system includes: The synchronous recording device 710 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. The data compensation device 720 is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; determine the attitude matrix of the rocking center carrier coordinate system 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; and perform a lever arm vector transformation based on the attitude matrix of the rocking center carrier coordinate system to obtain the position difference of the satellite navigation lever arm and the position difference of any inertial navigation lever arm in the navigation coordinate system.

[0068] Based on the above embodiments, the data compensation device is specifically used for: 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.

[0069] Based on the above embodiments, the data compensation device is specifically used for: 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.

[0070] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a dynamic test method for installing dual inertial navigation systems in partitions. This method includes: during the dynamic test, synchronously recording navigation information from two sets of ship laser inertial navigation systems and deformation angle vectors of the deck deformation simulation support in real time; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vectors; determining the attitude matrix of the rocking center carrier coordinate system 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; and performing a lever vector transformation based on the attitude matrix of the rocking center carrier coordinate system to obtain the position difference between the satellite navigation lever arm and the position difference between any inertial navigation lever arm in the navigation coordinate system.

[0071] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0072] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the dynamic vehicle test method for partitioned installation of dual inertial navigation systems provided by the above methods. The method includes: during the dynamic vehicle test, synchronously recording navigation information of two sets of ship laser inertial navigation systems and deformation angle vectors of deck deformation simulation supports in real time; determining the attitude transfer matrix corresponding to deck deformation based on the deformation angle vectors; determining the attitude matrix of the rocking center carrier coordinate system based on the attitude transfer matrix corresponding to deck deformation and the installation base attitude matrix of any inertial navigation system in the navigation information; and performing a lever arm vector transformation based on the attitude matrix of the rocking center carrier coordinate system to obtain the position difference of the satellite guide lever arm and the position difference of any inertial navigation lever arm in the navigation coordinate system.

[0073] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a dynamic vehicle test method for partitioned installation of dual inertial navigation systems provided by the methods described above. The method includes: during the dynamic vehicle test, synchronously recording navigation information from two sets of ship laser inertial navigation systems and deformation angle vectors of the deck deformation simulation support in real time; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vectors; determining the attitude matrix of the rocking center 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 a lever arm vector transformation based on the attitude matrix of the rocking center carrier coordinate system to obtain the position difference between the satellite navigation lever arm and the position difference between any inertial navigation lever arm in the navigation coordinate system.

[0074] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or 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 invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

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. The front and rear inertial navigation system mounting brackets are fixedly connected to the deck deformation simulation bracket. The deck deformation simulation bracket is a cantilever beam structure. By replacing the diagonal tie rods on it, the cross-sectional moment of inertia of the deck deformation simulation bracket can be adjusted to adapt to sufficient deformation under sports car scenarios.

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 arm of the satellite navigation system relative to the center of rotation and the arm of any inertial navigation system relative to the center of rotation, the arm velocity difference of the satellite navigation system relative to any inertial navigation system is calculated; based on the attitude matrix of the center of rotation carrier coordinate system, the deformation angle vector, and the arm of any inertial navigation system relative to the center of rotation, the arm velocity difference of any inertial navigation system relative to the center of rotation is calculated.

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. The front and rear inertial navigation system mounting brackets are fixedly connected to the deck deformation simulation bracket. The deck deformation simulation bracket is a cantilever beam structure. By replacing the diagonal tie rods on it, the cross-sectional moment of inertia of the deck deformation simulation bracket can be adjusted to adapt to sufficient deformation under sports car scenarios.

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.

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